diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0110.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0110.h5
new file mode 100644
index 0000000000000000000000000000000000000000..228d860a92dd33b5b852daa3fb38a05e4ee8b0c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0110.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05fe5fb61df9b5c6e6bc02c74221158796a1d9e0e42d1e76040243ebe987bd4a
+size 4980367
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0111.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0111.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc859365df138388214a2bb5c997990f2ee66818
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0111.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b96a1f59fdf015d39e840fec2f084bb396545f1f57956ea2677a504e853cc40a
+size 6809521
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0113.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0113.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2267d54d1b152f7781dc7885e6d1f626d959b369
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0113.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:615ed99e6c64ac5cc427396fc9aedd6468a1f5525e8bc479b0bbc9d484d6a4cd
+size 6576317
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0114.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0114.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ff47efcd5d13278f8b35c66715e8ebdbed665c57
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0114.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:708391a669144f4a54994bb0305e0e7d11e4b42033bb55ac43fd490de5eda06a
+size 5485113
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0115.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0115.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2b07ca74e42b19a67ce750d4a99ead7c2ed262ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0115.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db1269737f2fef38322af9ebed36eabba067edb6aa6ece5d3e788b6621d30ea
+size 8640911
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f5e90a4dcfc0629e7ceca338de07122646266dee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1090,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":100,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":101,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":104,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1130,"success":true,"robot_type":"ur5e"}
+{"episode_index":105,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":106,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":107,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":108,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1129,"success":true,"robot_type":"ur5e"}
+{"episode_index":110,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":111,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1127,"success":true,"robot_type":"ur5e"}
+{"episode_index":113,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1128,"success":true,"robot_type":"ur5e"}
+{"episode_index":114,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1132,"success":true,"robot_type":"ur5e"}
+{"episode_index":115,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..089b3177119eb925ed5da959586c618cfb43e07e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-04T16:43:43","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[-0.05944804047768826,0.14533195433830937,0.71338606911949],"aabb_xy":[[-0.10944803991788386,0.09536402985399303],[-0.009448041037492624,0.19529987882262564]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[0.610643065327477,-0.7468474416589874,0.71338606911949],"aabb_xy":[[0.5466430629846754,-0.7917882929031199],[0.6746430676702785,-0.7019065904148549]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[0.45813387215627777,-1.980387996514672,0.71338606911949],"aabb_xy":[[0.42698695331269465,-2.050387995201479],[0.4892807909998609,-1.9103879978278646]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[0.1701069520066828,1.3096108257504353,0.71338606911949],"aabb_xy":[[0.12013365800342232,1.2596108251958877],[0.22008024600994322,1.3596108263049824]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.41811656925188184,0.47959977752104166,0.71338606911949],"aabb_xy":[[-0.4556165693574747,0.4727776156680606],[-0.3806165691462888,0.48642193937402284]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.02410566583868845,-0.769389207050768,0.71338606911949],"aabb_xy":[[0.016861899792443125,-0.8493892052543703],[0.031349431884933776,-0.6893892088471656]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_6","position":[0.2526620079513785,1.440603874451789,0.71338606911949],"aabb_xy":[[0.23749913497444142,1.4254384171566703],[0.2678248809283156,1.4557693317469078]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_7","position":[-0.22757326262269267,-2.3206280896942335,0.71338606911949],"aabb_xy":[[-0.23407489913069734,-2.3303959117205433],[-0.2210716261146881,-2.3108602676679237]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[-0.5209404090894981,0.5663896198483456,0.71338606911949],"aabb_xy":[[-0.5334077671992338,0.5539242952150222],[-0.5084730509797625,0.5788549444816692]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_9","position":[0.6541039828894666,-1.5439689541039332,0.71338606911949],"aabb_xy":[[0.6069746038876308,-1.607968955148335],[0.7012333618913021,-1.479968953059531]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[-0.5570003000061154,-1.2132590800386305,0.71338606911949],"aabb_xy":[[-0.564261547576523,-1.22604609030214],[-0.5497390524357081,-1.200472069775121]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[-0.3624978156103912,-0.5729093671186618,0.71338606911949],"aabb_xy":[[-0.3666137657224638,-0.5770249221515071],[-0.35838186549831846,-0.568793812085816]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[0.38678022748130036,-1.6240987904549447,0.71338606911949],"aabb_xy":[[0.31678022534987077,-1.64686075608064],[0.45678022961272985,-1.6013368248292488]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.2712853905016832,0.6945563736832945,0.71338606911949],"aabb_xy":[[0.19128539353864404,0.617480732039521],[0.3512853874647224,0.7716320153270679]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.45786071902652514,0.7129575664388104,0.71338606911949],"aabb_xy":[[-0.5056668866402938,0.6479575637317514],[-0.41005455141275643,0.7779575691458692]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[0.47007679031726624,0.5958339333686582,0.71338606911949],"aabb_xy":[[0.41507679069552045,0.5408502405811856],[0.5250767899390121,0.650817626156131]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[0.1361689359308338,-0.7455759541118214,0.71338606911949],"aabb_xy":[[0.09866893750743341,-0.7587401680796519],[0.1736689343542341,-0.7324117401439907]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[0.42875694898544814,-0.6320370089806135,0.71338606911949],"aabb_xy":[[0.3877390055990773,-0.6820370096115709],[0.4697748923718191,-0.5820370083496562]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[-0.49550723978159683,1.2298226715444023,0.71338606911949],"aabb_xy":[[-0.5495228360634968,1.165822668652145],[-0.44149164349969683,1.2938226744366592]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_19","position":[-0.07835260191763549,-2.3471385397305804,0.71338606911949],"aabb_xy":[[-0.12833001878288905,-2.3971385412198285],[-0.028375185052381898,-2.2971385382413314]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.43018812597252454,0.19362858899938207,0.71338606911949],"aabb_xy":[[-0.43426628387957433,0.18954760875111873],[-0.42610996806547485,0.19770956924764535]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[0.5691534554788307,0.35403143889764577,0.71338606911949],"aabb_xy":[[0.48915963190027245,0.2740314363048042],[0.6491472790573889,0.43403144149048734]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[-0.38355398408143243,-0.8304202199658484,0.71338606911949],"aabb_xy":[[-0.4475539857594298,-0.8789376114451626],[-0.3195539824034351,-0.7819028284865341]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[-0.36678615656335667,1.0305486573437421,0.71338606911949],"aabb_xy":[[-0.43078615295892975,0.9665853689250083],[-0.3027861601677836,1.0945119457624755]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[-0.11817331315183632,-2.1186843151297987,0.71338606911949],"aabb_xy":[[-0.1731687909724957,-2.173684316563705],[-0.06317783533117692,-2.0636843136958913]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_25","position":[0.41360003516202437,-0.7601038605619244,0.71338606911949],"aabb_xy":[[0.40567675492327604,-0.7826038607999277],[0.4215233154007727,-0.737603860323921]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_26","position":[0.6549425249680769,0.8626868428034822,0.71338606911949],"aabb_xy":[[0.599968802931744,0.807686843239249],[0.7099162470044098,0.9176868423677154]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_27","position":[-0.36736924449974695,-1.9820632685060706,0.71338606911949],"aabb_xy":[[-0.4313692409270689,-2.0292328923281677],[-0.3033692480724251,-1.9348936446839746]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6524101708323602,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7478.png","name":"7478"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7478.png","name":"7478"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5896.png","name":"5896"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2662.png","name":"2662"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3656.png","name":"3656"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9828.png","name":"9828"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":720.3370800845033,"rotation_z_degrees":103.13238501468143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018159480668970284,0.011319089051123454,-0.008572321199152326]},{"name":"camera_2","offset_m":[0.005590092338033991,0.012277317034122322,-0.01640134771876402]},{"name":"camera_3","offset_m":[-0.012654555585692836,0.01358012114797411,0.013812097376774208]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007428295667546714,-0.0008150583797350186,-0.001007142240951739],"end_effector_yaw_offset_degrees":-0.1204788780956545},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012669597964269012,0.0006146835749428615,0.0015266616490038033],"end_effector_yaw_offset_degrees":0.9913845861270276},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018644259927173665,-0.0016652085457844535,0.0014708494693840236],"end_effector_yaw_offset_degrees":0.6264671878078873},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008366361090069337,0.0004017547249024942,-0.0016625405933021007],"end_effector_yaw_offset_degrees":0.04024053117418758}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004685735180422652,0.002002777232431888],"position_m":[0.21871426481957734,-0.027397222767568112,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004652448155316231,0.004453802059568262],"position_m":[0.25614755184468374,-0.3002461979404318,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006279970768034151,-0.0037225753670674057],"position_m":[0.14087200292319657,0.2814774246329326,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005702253015241977,0.002402882708112608],"position_m":[0.32727022530152416,0.18590288270811262,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b5f7f24aeb66cb6ebc2a03c9b7a1230190140b11ae28c07faaefe5880f8c281e","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7478/tex_ceiling_textures_9828/tex_floor_textures_3656/tex_table_textures_5896/tex_wall_textures_2662","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7093668575060804381,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7093668575060804381,"visual_seed":7093668575060804381,"scene_id":"lab_003","finished_at":"2026-09-04T16:47:04"}
+{"episode_id":"ep_000001","started_at":"2026-09-04T16:51:51","dimensions":{"distractor":{"count":34,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[0.0018644003263799114,1.7943911251464537,0.71338606911949],"aabb_xy":[[-0.03546687619886271,1.7597380703516017],[0.039195676851622535,1.8290441799413062]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[-0.27498428341557796,1.1921720509713345,0.71338606911949],"aabb_xy":[[-0.32899987969747796,1.1281720480790773],[-0.22096868713367795,1.2561720538635917]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.5374324191032027,-2.4635584873441463,0.71338606911949],"aabb_xy":[[0.4474324226023309,-2.509470129762604],[0.6274324156040744,-2.4176468449256876]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[-0.07453563129805107,-1.8246279697768353,0.71338606911949],"aabb_xy":[[-0.12453563087438581,-1.8746085487289414],[-0.02453563172171637,-1.7746473908247296]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[0.410175212360846,1.5623266412560821,0.71338606911949],"aabb_xy":[[0.39267521308275916,1.5449885411897362],[0.4276752116389329,1.579664741322428]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.02092102074908253,-1.0134882899904358,0.71338606911949],"aabb_xy":[[-0.01657898004291292,-1.019856130948626],[0.05842102154107798,-1.0071204490322456]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[0.5795040530255693,-0.8432882632062266,0.71338606911949],"aabb_xy":[[0.5722428054551618,-0.856075273469736],[0.5867653005959768,-0.830501252942717]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.5132746908194072,-1.7715824516789807,0.71338606911949],"aabb_xy":[[-0.5238421704775063,-1.7821274817919892],[-0.5027072111613082,-1.761037421565972]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.5219853017440039,-0.9289538385099021,0.71338606911949],"aabb_xy":[[-0.5296095698341822,-0.9365870620464459],[-0.5143610336538257,-0.9213206149733585]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_9","position":[-0.4297841195931553,-1.4013271192894168,0.71338606911949],"aabb_xy":[[-0.49978412119543486,-1.4147599124910744],[-0.3597841179908759,-1.3878943260877592]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.04142773652691434,-2.213407507401746,0.71338606911949],"aabb_xy":[[-0.06394142835037153,-2.2834075080027536],[-0.018914044703457138,-2.1434075068007385]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_11","position":[0.15061708835254728,1.4113507333805009,0.71338606911949],"aabb_xy":[[0.1339399523594518,1.3946508094065704],[0.1672942243456428,1.428050657354431]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.45005771799761773,1.4178375667162029,0.71338606911949],"aabb_xy":[[-0.465229887279251,1.4026687097879997],[-0.43488554871598434,1.4330064236444064]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[0.6001469368482104,-2.329475777694631,0.71338606911949],"aabb_xy":[[0.582353429913294,-2.3472755232904285],[0.6179404437831268,-2.311676032098833]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[-0.46205675944093166,-2.3406742000774163,0.71338606911949],"aabb_xy":[[-0.5270567604414322,-2.3914605652320917],[-0.39705675844043115,-2.289887834922742]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[-0.44465603131454334,-0.4694103673742518,0.71338606911949],"aabb_xy":[[-0.5096560294704624,-0.495706611924164],[-0.3796560331586243,-0.4431141228243396]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.48680157678616043,-1.1665620875106395,0.71338606911949],"aabb_xy":[[-0.49330321329416515,-1.1763299095369495],[-0.4802999402781559,-1.15679426548433]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[-0.6545891201823932,-1.9681379397306002,0.71338606911949],"aabb_xy":[[-0.6920891201261595,-1.9764310297654366],[-0.6170891202386267,-1.9598448496957634]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[0.663783712586234,-1.383862503919972,0.71338606911949],"aabb_xy":[[0.6412837127723316,-1.3883371202904529],[0.6862837124001364,-1.3793878875494914]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_19","position":[-0.10431844829900982,1.1670832709004597,0.71338606911949],"aabb_xy":[[-0.13480269842603998,1.1170832711189638],[-0.07383419817197967,1.2170832706819557]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[-0.3384903270331525,-1.0723520702676912,0.71338606911949],"aabb_xy":[[-0.34890188571363623,-1.0776978036035896],[-0.3280787683526688,-1.0670063369317928]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.18924581733410473,-1.4779265932617456,0.71338606911949],"aabb_xy":[[-0.2792458210110228,-1.5393589998388497],[-0.09924581365718649,-1.4164941866846412]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.04968361104928076,-2.534541556295364,0.71338606911949],"aabb_xy":[[-0.015316388985021974,-2.5812422329756917],[0.11468361108358349,-2.487840879615037]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[0.6205904310517296,0.05359681904380498,0.71338606911949],"aabb_xy":[[0.5655972197145929,-0.0014031812949886274],[0.6755836423888664,0.1085968193825986]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[0.2922944686326423,1.1307222942194426,0.71338606911949],"aabb_xy":[[0.28253847912346836,1.120959760160208],[0.30205045814181614,1.1404848282786768]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_25","position":[-0.23996075927207489,-2.3655067034797903,0.71338606911949],"aabb_xy":[[-0.2632426014702062,-2.450506704777018],[-0.21667891707394352,-2.280506702182562]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_26","position":[0.14076090815037134,-1.7631197362422166,0.71338606911949],"aabb_xy":[[0.1032609076530131,-1.767088419790335],[0.1782609086477296,-1.7591510526940979]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[-0.09942480348779448,0.7691619941342562,0.71338606911949],"aabb_xy":[[-0.1634248037617727,0.7190958939369683],[-0.03542480321381625,0.8192280943315442]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_28","position":[0.6337035083780582,1.776781756126533,0.71338606911949],"aabb_xy":[[0.5637035065693127,1.7554279873623457],[0.7037035101868035,1.7981355248907205]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_29","position":[-0.3096916742538621,0.7475459679997845,0.71338606911949],"aabb_xy":[[-0.3896916745274691,0.6745964201740677],[-0.22969167398025517,0.8204955158255012]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_30","position":[0.3522575991371566,1.368768102641532,0.71338606911949],"aabb_xy":[[0.3022575981866238,1.3372189556380105],[0.4022576000876894,1.4003172496450533]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_31","position":[0.22789920403190722,-1.3935580900886153,0.71338606911949],"aabb_xy":[[0.21527241674471084,-1.4031041637901882],[0.24052599131910354,-1.3840120163870424]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_32","position":[-0.3386593206935333,-2.1334833790919787,0.71338606911949],"aabb_xy":[[-0.39628978958080396,-2.1934833780186884],[-0.2810288518062623,-2.0734833801652672]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_33","position":[-0.2034214395280866,1.6265876470290963,0.71338606911949],"aabb_xy":[[-0.21163598464377054,1.6179110567314545],[-0.19520689441240258,1.6352642373267372]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6614746022487032,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4403.png","name":"4403"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4403.png","name":"4403"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2846.png","name":"2846"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2729.png","name":"2729"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/470.png","name":"470"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8646.png","name":"8646"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":708.6403446214567,"rotation_z_degrees":234.60237072310446,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011197446427614222,0.0038279406138352796,0.011236671098367165]},{"name":"camera_2","offset_m":[-0.008052560967319305,-0.005836796363570542,-0.000190912230094719]},{"name":"camera_3","offset_m":[-0.014035527066688886,0.007844996049421623,-0.002858673041163131]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015634900432328883,0.0001147676268181577,-0.0014536836668435004],"end_effector_yaw_offset_degrees":-0.23056658110203254},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002459518455750311,-0.0012423758849432654,0.0013651101684173847],"end_effector_yaw_offset_degrees":0.39092202504382456},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018545610113025776,0.0015298211633213983,0.0018971393148767128],"end_effector_yaw_offset_degrees":0.34283051792416974},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007377847450063403,0.0019449071936720316,0.0016721895137442018],"end_effector_yaw_offset_degrees":0.18631611593622144}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029603439060691,-0.003181004658673166],"position_m":[0.2263603439060691,-0.03258100465867317,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008078986232001248,-0.004657468118401299],"position_m":[0.2616078986232001,-0.3093574681184013,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010981860476025262,0.004337382946900719],"position_m":[0.14259818604760252,0.28953738294690073,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003950204446921926,-0.004429407276180404],"position_m":[0.3306502044469219,0.1790705927238196,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0b04354a53fd7defe81951e8e30f044460d9c1795b0655dba07273bfeef4e94b","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4403/tex_ceiling_textures_8646/tex_floor_textures_470/tex_table_textures_2846/tex_wall_textures_2729","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7990960750248383561,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7990960750248383561,"visual_seed":7990960750248383561,"scene_id":"lab_003","finished_at":"2026-09-04T16:55:39"}
+{"episode_id":"ep_000002","started_at":"2026-09-04T16:55:43","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[-0.036804089897036985,1.7257422348406037,0.71338606911949],"aabb_xy":[[-0.04093994622973718,1.688242235396247],[-0.03266823356433679,1.763242234284961]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.5860250692787294,0.45426831628276165,0.71338606911949],"aabb_xy":[[0.5731531657777893,0.37426831586892556],[0.5988969727796696,0.5342683166965978]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[-0.008434055575191834,1.441254536822513,0.71338606911949],"aabb_xy":[[-0.04593405592341959,1.4294631412414291],[0.029065944773035923,1.4530459324035963]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[-0.2467342527725448,-1.4722642352447706,0.71338606911949],"aabb_xy":[[-0.2558941317164214,-1.4787954532883076],[-0.2375743738286682,-1.4657330172012335]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[-0.2873728620491163,1.6302645326573075,0.71338606911949],"aabb_xy":[[-0.31191907767186694,1.6000156361082702],[-0.2628266464263655,1.6605134292063444]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_5","position":[0.6251799159804592,-2.1086286278599733,0.71338606911949],"aabb_xy":[[0.5927182150985315,-2.138761459974875],[0.6576416168623864,-2.0784957957450696]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[-0.44119033713111244,-2.077068076513723,0.71338606911949],"aabb_xy":[[-0.5051903393515195,-2.1214411606390113],[-0.3771903349107054,-2.0326949923884348]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.6414270549752337,-1.3057412187874229,0.71338606911949],"aabb_xy":[[0.6114353922413632,-1.3357412181242232],[0.6714187177091039,-1.2757412194506221]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.6440401376373064,1.0132641726039804,0.71338606911949],"aabb_xy":[[0.6271294052009645,0.9997919670113657],[0.6609508700736481,1.0267363781965948]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[0.18080569039062588,-2.3257205039335456,0.71338606911949],"aabb_xy":[[0.17281220059534388,-2.3337186358740216],[0.18879918018590797,-2.3177223719930704]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[-0.17439817653145773,-1.1324059487437053,0.71338606911949],"aabb_xy":[[-0.1890415820854907,-1.1470646684004893],[-0.15975477097742474,-1.1177472290869208]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[0.16173404790467383,1.068223255217382,0.71338606911949],"aabb_xy":[[0.12423404638904209,1.0569964822012368],[0.1992340494203055,1.0794500282335269]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[-0.31583199088165614,-0.3193146322469831,0.71338606911949],"aabb_xy":[[-0.3199101487887059,-0.3233956124952464],[-0.3117538329746064,-0.3152336519987198]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[-0.0828443690324,0.7584128470642577,0.71338606911949],"aabb_xy":[[-0.10534350475862696,0.7359128462859947],[-0.060345233306173016,0.7809128478425207]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[-0.2520529252387032,-0.6971897617008249,0.71338606911949],"aabb_xy":[[-0.3170529263446465,-0.7221551347689533],[-0.18705292413275992,-0.6722243886326967]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[0.616443449193933,-2.3526783114018643,0.71338606911949],"aabb_xy":[[0.5914434492614151,-2.3595609796227874],[0.6414434491264509,-2.3457956431809412]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[-0.22567116389074132,0.2381407854345099,0.71338606911949],"aabb_xy":[[-0.2631711624663621,0.22540448977095193],[-0.18817116531512051,0.2508770810980678]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.5970922848121046,-1.8359608170831914,0.71338606911949],"aabb_xy":[[-0.6620922833691775,-1.8657133504970738],[-0.5320922862550318,-1.8062082836693085]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[0.15292869778457985,0.874052964977563,0.71338606911949],"aabb_xy":[[0.07292869452673689,0.794056457185579],[0.2329287010424228,0.954049472769547]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[-0.29968894875190066,-0.778064226612045,0.71338606911949],"aabb_xy":[[-0.30780260342527777,-0.786170043066074],[-0.29157529407852356,-0.7699584101580158]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[-0.3199559858428448,1.0971479064169296,0.71338606911949],"aabb_xy":[[-0.3451768227026844,1.0719241555640424],[-0.29473514898300507,1.122371657269816]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_21","position":[0.5521523702913342,1.5731603987902703,0.71338606911949],"aabb_xy":[[0.48815236991380073,1.5234151319394578],[0.616152370668868,1.6229056656410823]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_22","position":[0.6233006288058627,-1.45767630676632,0.71338606911949],"aabb_xy":[[0.6098541021718193,-1.4711461584194112],[0.636747155439906,-1.4442064551132285]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569500774953994,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8505.png","name":"8505"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8505.png","name":"8505"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3097.png","name":"3097"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2995.png","name":"2995"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9360.png","name":"9360"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9979.png","name":"9979"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":675.3603023528983,"rotation_z_degrees":88.6944164766654,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018386674109080726,0.0032095898943354066,0.00721203716412416]},{"name":"camera_2","offset_m":[0.0004002323946342354,-0.017972728320323383,-0.018152036916460734]},{"name":"camera_3","offset_m":[0.0005696357906698687,0.019555976870845,0.013369778463170199]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007889198978496398,-0.0007572649262311182,0.0016036138303579992],"end_effector_yaw_offset_degrees":0.28202682354519215},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004815189742686894,0.0007559099408558788,8.018596616149627e-05],"end_effector_yaw_offset_degrees":-0.6509542532546964},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013269719677060031,-0.0010325486686062887,0.00034277301951666454],"end_effector_yaw_offset_degrees":-0.4089183470761486},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-8.411883571028743e-05,0.0006118541951712045,0.0014243150697987057],"end_effector_yaw_offset_degrees":-0.2899494311962387}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014908638896148972,-0.003310324350049969],"position_m":[0.2219091361103851,-0.03271032435004997,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038925018033360193,-0.0038629677691126244],"position_m":[0.256907498196664,-0.30856296776911263,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0040559186366402504,0.003079860530537986],"position_m":[0.13744408136335973,0.288279860530538,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00021122194799602732,-0.0020812110712022693],"position_m":[0.32691122194799604,0.18141878892879773,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"27e561f6e7d13874936753dc75318fc2badd7bf0adbe4aafb566e2ee2bd193ae","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0004.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8505/tex_ceiling_textures_9979/tex_floor_textures_9360/tex_table_textures_3097/tex_wall_textures_2995","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5541624813293859699,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5541624813293859699,"visual_seed":5541624813293859699,"scene_id":"lab_003","finished_at":"2026-09-04T16:59:23"}
+{"episode_id":"ep_000003","started_at":"2026-09-04T16:59:27","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[0.2207679817820063,-1.3312985464172473,0.71338606911949],"aabb_xy":[[0.18326798128464805,-1.3352672299653658],[0.25826798227936454,-1.3273298628691288]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[-0.526769315545401,1.2953752802958247,0.71338606911949],"aabb_xy":[[-0.5738986945472366,1.2313752792514225],[-0.4796399365435653,1.3593752813402264]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.5344295633453802,-1.1054545322398128,0.71338606911949],"aabb_xy":[[-0.5703430677703698,-1.1413680404565671],[-0.49851605892039047,-1.069541024023058]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[-0.23816603927413732,-2.2213314930231443,0.71338606911949],"aabb_xy":[[-0.31816603954774425,-2.294281040848861],[-0.15816603900053033,-2.1483819451974275]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.18705098268246312,-0.03489001487286458,0.71338606911949],"aabb_xy":[[-0.21704264541633345,-0.06489001420966511],[-0.1570593199485928,-0.004890015536064045]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.2653979020128151,-0.9230818061924035,0.71338606911949],"aabb_xy":[[-0.2875704289894659,-0.9452574733485266],[-0.2432253750361642,-0.9009061390362803]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[0.36742963218952895,1.162845932335982,0.71338606911949],"aabb_xy":[[0.3449648622181238,1.1403459314571216],[0.389894402160934,1.1853459332148426]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[-0.5285274806486053,1.462570642968053,0.71338606911949],"aabb_xy":[[-0.5635274820000871,1.442210907011232],[-0.49352747929712365,1.4829303789248736]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[-0.37385147032761756,0.8950032877267025,0.71338606911949],"aabb_xy":[[-0.3929637776855964,0.8758685088494604],[-0.3547391629696387,0.9141380666039445]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_9","position":[-0.614546644395351,-0.3014150838306886,0.71338606911949],"aabb_xy":[[-0.6645397565045429,-0.3514150845048843],[-0.5645535322861591,-0.251415083156493]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[0.5610108494232349,-2.3385485677518782,0.71338606911949],"aabb_xy":[[0.506037127386902,-2.3935485673161114],[0.6159845714595678,-2.283548568187645]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.11950696002086403,1.1549661643689815,0.71338606911949],"aabb_xy":[[-0.1275503199468192,1.0699661632736153],[-0.11146360009490885,1.2399661654643481]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.026662126537945197,-1.2757744679190732,0.71338606911949],"aabb_xy":[[0.019037858447766953,-1.283407691455617],[0.03428639462812344,-1.2681412443825295]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[0.024232910222456105,0.7750236511150108,0.71338606911949],"aabb_xy":[[0.016529719548379063,0.7673142804162728],[0.03193610089653315,0.7827330218137488]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[-0.16185705949203977,-0.6097262232885108,0.71338606911949],"aabb_xy":[[-0.18685705904377825,-0.6198687071536455],[-0.13685705994030128,-0.5995837394233761]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[-0.15315052868955148,-0.18715520652745132,0.71338606911949],"aabb_xy":[[-0.16439558426016931,-0.19839700425154663],[-0.14190547311893364,-0.17591340880335607]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[0.3024115955835722,1.2585790432859243,0.71338606911949],"aabb_xy":[[0.27991245985734525,1.236079042507661],[0.3249107313097992,1.281079044064187]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[-0.35334698284885246,-2.041218677888353,0.71338606911949],"aabb_xy":[[-0.43334698611286554,-2.0547787101972665],[-0.2733469795848393,-2.02765864557944]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[0.42313420228949994,-0.01220006024820508,0.71338606911949],"aabb_xy":[[0.39264995216246973,-0.06220006002970102],[0.45361845241653004,0.03779993953329086]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_19","position":[0.4162830302038416,-0.8873092764569159,0.71338606911949],"aabb_xy":[[0.38999420588340095,-0.913580710111567],[0.44257185452428227,-0.8610378428022646]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[-0.23518880768634826,-1.3653837410055392,0.71338606911949],"aabb_xy":[[-0.25107330095167335,-1.379736681304363],[-0.21930431442102305,-1.3510308007067149]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[-0.5851615707630938,-2.018602717161839,0.71338606911949],"aabb_xy":[[-0.6226615691864942,-2.031766931129669],[-0.5476615723396935,-2.0054385031940076]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[0.5995365237561194,-0.700319156826436,0.71338606911949],"aabb_xy":[[0.5750228996591136,-0.7245837501284724],[0.6240501478531253,-0.6760545635243995]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_23","position":[0.44932144254757733,-1.5089113575196946,0.71338606911949],"aabb_xy":[[0.44335490360684154,-1.514872502179059],[0.4552879814883131,-1.5029502128603307]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[0.2881671665371933,1.6699548073311719,0.71338606911949],"aabb_xy":[[0.22816716567638048,1.6185283773246852],[0.34816716739800607,1.721381237337658]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6557179194468927,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2683.png","name":"2683"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2683.png","name":"2683"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2596.png","name":"2596"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7662.png","name":"7662"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5442.png","name":"5442"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7816.png","name":"7816"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":733.1500583258435,"rotation_z_degrees":58.72396080903075,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010359967651391563,0.0031041434462366763,0.01709584954095494]},{"name":"camera_2","offset_m":[-0.012009345503940097,-0.0021653185088966395,-0.000916545193664714]},{"name":"camera_3","offset_m":[0.010605692613096643,-0.014032130467803078,0.009316680576078915]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003288048958831817,-0.001804439263381461,-0.0018579396669746754],"end_effector_yaw_offset_degrees":0.1828154876867072},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014390828561724983,-0.0019266949191971295,0.0007113803357709598],"end_effector_yaw_offset_degrees":-0.025356244164140174},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001227848328909418,-0.0002030261688351978,2.3977225811288617e-05],"end_effector_yaw_offset_degrees":-0.46087348199582134},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009078869850655145,0.00024004166628215345,0.0005236290534115211],"end_effector_yaw_offset_degrees":-0.8757683908674263}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0026466206919602796,0.003280618495957374],"position_m":[0.2207533793080397,-0.026119381504042624,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032933542370502736,-9.240970329440525e-05],"position_m":[0.2575066457629497,-0.3047924097032944,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00404384978600542,0.003312540579546078],"position_m":[0.13745615021399457,0.28851254057954606,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019204143096086057,0.0006348278136034348],"position_m":[0.3247795856903914,0.18413482781360344,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dbf3919554070b9d431715595a2eee126928abf09495394209a10eeefd38fc98","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2683/tex_ceiling_textures_7816/tex_floor_textures_5442/tex_table_textures_2596/tex_wall_textures_7662","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2544178774688321483,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2544178774688321483,"visual_seed":2544178774688321483,"scene_id":"lab_003","finished_at":"2026-09-04T17:03:05"}
+{"episode_id":"ep_000004","started_at":"2026-09-04T17:03:12","dimensions":{"distractor":{"count":34,"items":[{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_0","position":[-0.6391350916226386,1.6078256402105464,0.71338606911949],"aabb_xy":[[-0.6715967925045659,1.5776928080956436],[-0.606673390740711,1.6379584723254488]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[0.043749534829952474,-0.6930058795608889,0.71338606911949],"aabb_xy":[[0.01541982488141224,-0.6974666217546059],[0.0720792447784927,-0.6885451373671718]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[-0.4325976440951812,0.47440039025562664,0.71338606911949],"aabb_xy":[[-0.4700976425185815,0.461236176287796],[-0.3950976456717808,0.48756460422345727]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.6932246331954315,0.6285851705713021,0.71338606911949],"aabb_xy":[[0.6838776256131363,0.6142815483536582],[0.7025716407777267,0.6428887927889463]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.18300462346495738,-1.5674394704792374,0.71338606911949],"aabb_xy":[[0.11300462082837104,-1.5875443354751027],[0.25300462610154373,-1.5473346054833717]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.36235126009421076,-1.026282234895268,0.71338606911949],"aabb_xy":[[-0.3848649519176679,-1.0962822354962753],[-0.3398375682707535,-0.9562822342942603]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.6388893889510565,-0.3295462998018617,0.71338606911949],"aabb_xy":[[-0.6461331549973018,-0.409546298005464],[-0.6316456229048112,-0.24954630159825925]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[0.11777366801978806,-1.372607165424733,0.71338606911949],"aabb_xy":[[0.08912433565937182,-1.4012527247018085],[0.14642300038020428,-1.343961606147657]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[-0.26872928154357073,-2.213290503278951,0.71338606911949],"aabb_xy":[[-0.33272928476220853,-2.2600136151779595],[-0.20472927832493282,-2.166567391379943]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[-0.24597176004787907,-0.5239858304660991,0.71338606911949],"aabb_xy":[[-0.26347176030721575,-0.5380773726548719],[-0.2284717597885425,-0.5098942882773266]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[0.10945808236969479,-0.9091421425861239,0.71338606911949],"aabb_xy":[[0.029458083712808794,-0.9236470015103868],[0.1894580810265808,-0.8946372836618612]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[-0.02384423044427253,-1.640647644745925,0.71338606911949],"aabb_xy":[[-0.050133054764713185,-1.6669190784005763],[0.0024445938761681325,-1.6143762110912738]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_12","position":[-0.1575310338900342,0.8312681323667537,0.71338606911949],"aabb_xy":[[-0.22153103415050499,0.7862593330138257],[-0.09353103362956337,0.8762769317196817]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[-0.33002188605490207,-0.3625960802928394,0.71338606911949],"aabb_xy":[[-0.33813554072827917,-0.37070189674686843],[-0.32190823138152497,-0.35449026383881027]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[0.5937728908656332,-0.583332265519958,0.71338606911949],"aabb_xy":[[0.5591818080115879,-0.6483322658049889],[0.6283639737196783,-0.5183322652349268]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[-0.5189821323059315,-0.19052428345066907,0.71338606911949],"aabb_xy":[[-0.5789821339488533,-0.24252443274261326],[-0.45898213066300964,-0.1385241341587249]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[0.5884879141448196,0.2953954496172404,0.71338606911949],"aabb_xy":[[0.5509879129600266,0.2909772269211798],[0.6259879153296122,0.2998136723133008]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.448686211613478,0.7980231306962713,0.71338606911949],"aabb_xy":[[-0.45282206794617824,0.7605231312519143],[-0.44455035528077785,0.8355231301406283]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[0.3697567012900205,0.5926386535861461,0.71338606911949],"aabb_xy":[[0.35712991400282407,0.5830925798845732],[0.38238348857721677,0.602184727287719]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.4267389366812182,-1.3138629246313906,0.71338606911949],"aabb_xy":[[-0.444317238870165,-1.3314374142054954],[-0.4091606344922713,-1.2962884350572859]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_20","position":[-0.42128507470663795,-2.137875182910696,0.71338606911949],"aabb_xy":[[-0.4673701659613694,-2.2018751801632503],[-0.3751999834519064,-2.07387518565814]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_21","position":[-0.23217365560918057,-1.0563824007784997,0.71338606911949],"aabb_xy":[[-0.25245795833257934,-1.0766650259212083],[-0.2118893528857818,-1.0360997756357906]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.41540370610815874,1.088792697545109,0.71338606911949],"aabb_xy":[[-0.42597118576625775,1.0782476674321004],[-0.40483622645005973,1.0993377276581175]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[0.6594061513857354,-0.8840036645529434,0.71338606911949],"aabb_xy":[[0.6395151115053952,-0.8966594758376404],[0.6792971912660757,-0.8713478532682467]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[-0.3430533798214251,0.16043559947136643,0.71338606911949],"aabb_xy":[[-0.4230533769810003,0.1488879985135494],[-0.26305338266184974,0.17198320042918347]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_25","position":[-0.5215871911418488,-0.46306617532447003,0.71338606911949],"aabb_xy":[[-0.5303892464508214,-0.4708775014793991],[-0.512785135832876,-0.45525484916954095]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_26","position":[-0.274165918428907,-1.8800776711686262,0.71338606911949],"aabb_xy":[[-0.29022784588742456,-1.965077672981218],[-0.2581039909703893,-1.7950776693560344]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_27","position":[0.6473466787045288,-2.4366121794850373,0.71338606911949],"aabb_xy":[[0.6254569311155879,-2.5266121767742864],[0.6692364262934695,-2.346612182195788]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_28","position":[-0.31740032909931265,-0.677186032998307,0.71338606911949],"aabb_xy":[[-0.3624003305655415,-0.7221858898597878],[-0.2724003276330838,-0.6321861761368265]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_29","position":[0.5746676894930645,-1.7757131755640472,0.71338606911949],"aabb_xy":[[0.48466768581614605,-1.837145582141151],[0.6646676931699824,-1.7142807689869424]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_30","position":[-0.5830358377118379,1.2484089364998603,0.71338606911949],"aabb_xy":[[-0.6205358385038332,1.24204109554167],[-0.5455358369198423,1.2547767774580505]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_31","position":[0.44704888925793496,-2.1611911498551146,0.71338606911949],"aabb_xy":[[0.42994681129956686,-2.1782979553863844],[0.46415096721630317,-2.144084344323845]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_32","position":[-0.5454251729716084,-1.4567039839215696,0.71338606911949],"aabb_xy":[[-0.6054251735676246,-1.511516456466793],[-0.48542517237559224,-1.401891511376346]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_33","position":[0.09111374444126352,-2.251052972010057,0.71338606911949],"aabb_xy":[[0.06819803155621362,-2.273957269146481],[0.11402945732631344,-2.228148674873634]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6538129970361327,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1908.png","name":"1908"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1908.png","name":"1908"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8586.png","name":"8586"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/361.png","name":"361"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3644.png","name":"3644"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4524.png","name":"4524"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":824.2440731414798,"rotation_z_degrees":276.23646452430324,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010561263938159149,-0.014019628336181254,-0.019053621158997683]},{"name":"camera_2","offset_m":[-0.016877493294541274,-0.010959640578608388,-0.0009203456949453959]},{"name":"camera_3","offset_m":[0.019474445653847563,-0.019492777719216266,-0.004639770269642992]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017550797000639648,0.00032381137863250623,0.000567028343425896],"end_effector_yaw_offset_degrees":-0.6466932772112366},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00083803387960729,0.0019237926922669232,0.0009408593268938029],"end_effector_yaw_offset_degrees":-0.8501950476956603},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00104642859167865,0.0014895284931540813,0.000206018850102629],"end_effector_yaw_offset_degrees":-0.8092051291625457},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018725640681587405,-0.0012118992364832373,0.0019956709586565783],"end_effector_yaw_offset_degrees":0.9293012379358907}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002489895011694712,0.004003243235410147],"position_m":[0.22091010498830527,-0.025396756764589853,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030652142982842768,0.004468465114071877],"position_m":[0.2577347857017157,-0.30023153488592813,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034044921658286645,0.0012785052765671209],"position_m":[0.13809550783417132,0.28647850527656715,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024094597228821206,0.0003126709413387328],"position_m":[0.32910945972288214,0.18381267094133874,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3c2f3e7640242cdf7818ee647f22eb536c697ad252dcde358f150668d7d648cd","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0006.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1908/tex_ceiling_textures_4524/tex_floor_textures_3644/tex_table_textures_8586/tex_wall_textures_361","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8993011642960852652,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8993011642960852652,"visual_seed":8993011642960852652,"scene_id":"lab_003","finished_at":"2026-09-04T17:06:38"}
+{"episode_id":"ep_000005","started_at":"2026-09-04T17:06:43","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[-0.14805973570827236,1.5767576446990579,0.71338606911949],"aabb_xy":[[-0.1655596691422557,1.5592576447788231],[-0.13055980227428896,1.5942576446192922]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[0.4231585296805822,0.0029371901271164624,0.71338606911949],"aabb_xy":[[0.3998766874824508,-0.08206281117011159],[0.4464403718787135,0.08793719142434452]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[0.21869734067205338,1.4651286580677705,0.71338606911949],"aabb_xy":[[0.18119734224865303,1.4519644440999395],[0.2561973390954537,1.478292872035601]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[0.6418212787415949,0.0768661690771908,0.71338606911949],"aabb_xy":[[0.6337076240682178,0.06876035262316171],[0.649934933414972,0.08497198553121987]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[0.10721698509563093,-2.2267655054462616,0.71338606911949],"aabb_xy":[[0.06591244203189495,-2.2907655050143787],[0.14852152815936692,-2.1627655058781445]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[-0.41672406244233773,-0.3267100297792398,0.71338606911949],"aabb_xy":[[-0.4208022203493875,-0.33079101002750316],[-0.41264590453528804,-0.32262904953097654]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.4367015265760601,0.9829753275925359,0.71338606911949],"aabb_xy":[[-0.4459951448132106,0.945475329104402],[-0.42740790833890946,1.0204753260806698]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[0.3411642437618738,0.9292280141944529,0.71338606911949],"aabb_xy":[[0.29116424281134096,0.8976788671909315],[0.3911642447124066,0.9607771611979743]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[-0.3380807370732624,0.19745700455010562,0.71338606911949],"aabb_xy":[[-0.39808073871618427,0.14545685525816146],[-0.27808073543034056,0.24945715384204983]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[0.21204362852930492,0.5837284302376768,0.71338606911949],"aabb_xy":[[0.177043630259185,0.5766543025426887],[0.2470436267994248,0.590802557932665]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.027912910709653516,-0.821706721016924,0.71338606911949],"aabb_xy":[[-0.08791291121750643,-0.8785534547028453],[0.032087089798199395,-0.7648599873310027]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[0.25196317719842454,-1.1322958082723926,0.71338606911949],"aabb_xy":[[0.24804930400300196,-1.1410448236789494],[0.255877050393847,-1.1235467928658358]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[0.14262330765876308,-1.4392804668950376,0.71338606911949],"aabb_xy":[[0.05762330924133985,-1.5241547623573228],[0.2276233060761863,-1.3544061714327529]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[-0.3789834683918048,1.2537338145920325,0.71338606911949],"aabb_xy":[[-0.45898346637258985,1.2461322736301805],[-0.29898347041101975,1.2613353555538844]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[-0.2003415684289343,1.062047801234463,0.71338606911949],"aabb_xy":[[-0.29034156516454446,1.0088643379171685],[-0.11034157169332406,1.1152312645517575]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[0.12637603071797643,-1.9732613376009653,0.71338606911949],"aabb_xy":[[0.11314508518329511,-1.9864887566229648],[0.1396069762526577,-1.960033918578966]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[-0.3527928986196292,-0.797792704750556,0.71338606911949],"aabb_xy":[[-0.3674363041736622,-0.8124514244073402],[-0.3381494930655962,-0.7831339850937717]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.5236231944714258,0.9576853414355857,0.71338606911949],"aabb_xy":[[0.48984763528073283,0.9436468462224207],[0.5573987536621188,0.9717238366487507]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.2559209317134999,0.6134712694196689,0.71338606911949],"aabb_xy":[[-0.3057377111783347,0.5634712709353655],[-0.20610415224866518,0.6634712679039723]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[-0.5904094167365198,-0.8213441568074329,0.71338606911949],"aabb_xy":[[-0.6404094163128546,-0.8713247357595388],[-0.5404094171601852,-0.7713635778553269]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[-0.16049897387207868,0.06870419375356551,0.71338606911949],"aabb_xy":[[-0.2404989771360918,0.05514416144465217],[-0.08049897060806555,0.08226422606247885]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6545453730445884,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6433.png","name":"6433"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6433.png","name":"6433"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1841.png","name":"1841"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7135.png","name":"7135"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2875.png","name":"2875"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1568.png","name":"1568"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":670.3720784102368,"rotation_z_degrees":294.67128946468324,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0017832390256660828,-0.006319872986018301,-0.00718500048785542]},{"name":"camera_2","offset_m":[0.0025801215101741437,-0.011127800933758798,-0.011138140585545884]},{"name":"camera_3","offset_m":[0.019109308934859463,0.003390475097043731,0.0002426182083051509]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00022173422920090296,0.0006519044741937112,-0.0006884223998575574],"end_effector_yaw_offset_degrees":0.4070295534682091},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013433158397286454,-0.0016764821302138358,0.0007415920394896946],"end_effector_yaw_offset_degrees":-0.1560020480935227},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00012536885191702634,-0.0005087704395132233,-0.0004412219688171063],"end_effector_yaw_offset_degrees":0.5420022632341646},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011894035881934609,-0.0012465405891092366,-0.00015986386486773266],"end_effector_yaw_offset_degrees":-0.7376731658225584}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028665460932368715,0.002022809873091386],"position_m":[0.22053345390676313,-0.02737719012690861,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004398145370010368,0.0003257663614653194],"position_m":[0.2564018546299896,-0.3043742336385347,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022068302415089625,0.0034619591148227604],"position_m":[0.13929316975849101,0.2886619591148228,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017400935717123735,-0.002759144692605565],"position_m":[0.3284400935717124,0.18074085530739442,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bb1a1b0e32ad57aad9de3d6d7e65222e75fe21a78749211ab458672b47c7b615","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6433/tex_ceiling_textures_1568/tex_floor_textures_2875/tex_table_textures_1841/tex_wall_textures_7135","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5693340396567494764,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5693340396567494764,"visual_seed":5693340396567494764,"scene_id":"lab_003","finished_at":"2026-09-04T17:09:59"}
+{"episode_id":"ep_000006","started_at":"2026-09-04T17:10:02","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.10322553580737925,-2.1433689018686977,0.71338606911949],"aabb_xy":[[-0.14002016893228553,-2.18027477696528],[-0.066430902682473,-2.1064630267721154]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[-0.4324698151487889,0.41789498595756003,0.71338606911949],"aabb_xy":[[-0.4699698163335816,0.41347676326149946],[-0.394969813963996,0.4223132086536205]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.4487790145243423,-0.22234204222717935,0.71338606911949],"aabb_xy":[[-0.4574769768150576,-0.2344670165346541],[-0.44008105223362703,-0.21021706791970465]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[-0.5481400848055673,0.5709657633355318,0.71338606911949],"aabb_xy":[[-0.585640085153795,0.5591743677544482],[-0.5106400844573394,0.5827571589166153]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[-0.19188325703423492,1.074059304464479,0.71338606911949],"aabb_xy":[[-0.2171040938940746,1.048835553611592],[-0.16666242017439525,1.0992830553173656]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[0.10668335473933266,-1.0422438275848676,0.71338606911949],"aabb_xy":[[0.08967325744928199,-1.0583783160831413],[0.1236934520293833,-1.0261093390865934]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[-0.5226285729839318,-0.4740848768845143,0.71338606911949],"aabb_xy":[[-0.5401285732289812,-0.4915846647240811],[-0.5051285727388825,-0.4565850890449474]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[-0.1741627222398885,-0.7800949478211854,0.71338606911949],"aabb_xy":[[-0.23416272310070124,-0.8315213778276717],[-0.11416272137907564,-0.7286685178146989]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[0.0799112205900454,1.2625367869592026,0.71338606911949],"aabb_xy":[[-0.010088779133128776,1.2394634344240223],[0.16991122031321956,1.285610139494382]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[0.6273114043576047,-1.3587123422393492,0.71338606911949],"aabb_xy":[[0.5673114038497516,-1.4155590759252705],[0.6873114048654575,-1.301865608553428]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[-0.5078294721494923,1.143778770118539,0.71338606911949],"aabb_xy":[[-0.5578068890147457,1.0937787686292901],[-0.4578520552842386,1.1937787716077872]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_11","position":[-0.2648058734395816,-2.302329818738336,0.71338606911949],"aabb_xy":[[-0.30230587201520237,-2.3150661144018936],[-0.22730587486396078,-2.2895935230747777]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_12","position":[0.25817398600094144,-1.80017595283745,0.71338606911949],"aabb_xy":[[0.2507615304595529,-1.8060271632590776],[0.26558644154232985,-1.7943247424158217]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[0.27615145720796175,-2.337099099605856,0.71338606911949],"aabb_xy":[[0.24271128201194206,-2.370542725436785],[0.30959163240398124,-2.303655473774925]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[0.6009367501821263,-1.5860176749422095,0.71338606911949],"aabb_xy":[[0.5893677694351898,-1.6110176750591412],[0.6125057309290629,-1.5610176748252778]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[0.45163596285851293,-1.1757371725133667,0.71338606911949],"aabb_xy":[[0.4327515790900027,-1.1946230972937195],[0.47052034662702313,-1.156851247733014]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[0.41420136170385313,-0.6355885472001401,0.71338606911949],"aabb_xy":[[0.4010501157325638,-0.6605885469568268],[0.42735260767514255,-0.6105885474434537]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.456868645354666,1.4308260969020083,0.71338606911949],"aabb_xy":[[0.41953736882942344,1.396173042107156],[0.49419992187990863,1.4654791516968606]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.6478592480411549,-2.027267232216146,0.71338606911949],"aabb_xy":[[-0.6654920836346825,-2.0448901782317686],[-0.6302264124476273,-2.0096442862005226]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[0.4924372561771737,-1.6245476124429445,0.71338606911949],"aabb_xy":[[0.46743725662543517,-1.6346900963080793],[0.5174372557289122,-1.6144051285778098]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[-0.10091127978582115,1.5618172365378213,0.71338606911949],"aabb_xy":[[-0.13841128007799597,1.5577757611372178],[-0.06341127949364633,1.5658587119384249]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[0.3569279263238456,0.7414883250007809,0.71338606911949],"aabb_xy":[[0.30693481421465374,0.6914883243265852],[0.40692103843303756,0.7914883256749766]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[0.47412564693974635,-0.5203255074466258,0.71338606911949],"aabb_xy":[[0.41012564982764066,-0.5693578772410364],[0.538125644051852,-0.47129313765221514]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[-0.361979236312275,-0.26104646508800355,0.71338606911949],"aabb_xy":[[-0.36807386420039334,-0.2696158596396723],[-0.3558846084241567,-0.25247707053633484]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[0.1370355475419862,0.7236866675552518,0.71338606911949],"aabb_xy":[[0.05704172396342799,0.6436866649624103],[0.21702937112054443,0.8036866701480935]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_25","position":[-0.36115379237383505,-0.9049916010078811,0.71338606911949],"aabb_xy":[[-0.36928148056714827,-0.9139052094185889],[-0.3530261041805218,-0.8960779925971736]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[-0.49364535969268364,-1.6013624888192193,0.71338606911949],"aabb_xy":[[-0.5586453623304772,-1.6528420875186662],[-0.4286453570548902,-1.5498828901197723]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_27","position":[-0.3675098866198446,-1.098802000954448,0.71338606911949],"aabb_xy":[[-0.3780773662779435,-1.1093470310674565],[-0.3569424069617455,-1.0882569708414394]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_28","position":[0.6130423484453102,1.7466734935657118,0.71338606911949],"aabb_xy":[[0.6029606413667367,1.6666734956735967],[0.6231240555238836,1.826673491457826]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_29","position":[-0.6270450524207919,0.9024721960606077,0.71338606911949],"aabb_xy":[[-0.632502998057812,0.8224721927529486],[-0.6215871067837718,0.9824721993682668]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_30","position":[0.5036133370756446,-1.8169966260065136,0.71338606911949],"aabb_xy":[[0.4536303868881652,-1.8669966256490738],[0.5535962872631238,-1.766996626363953]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_31","position":[0.08851795393016682,-0.7192024488067859,0.71338606911949],"aabb_xy":[[0.05852629119629649,-0.7492024481435864],[0.11850961666403714,-0.6892024494699853]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_32","position":[0.27708742576702683,-2.0658958609889266,0.71338606911949],"aabb_xy":[[0.21308742848137818,-2.1074025799417706],[0.3410874230526755,-2.0243891420360827]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6565505100102071,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4608.png","name":"4608"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4608.png","name":"4608"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6873.png","name":"6873"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8983.png","name":"8983"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3700.png","name":"3700"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8202.png","name":"8202"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":517.5204358503154,"rotation_z_degrees":89.61022069287662,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0028215362813494363,-0.006985935703169171,-0.003458454503192581]},{"name":"camera_2","offset_m":[0.006433895857861544,-0.004313920535648257,0.005573482213263592]},{"name":"camera_3","offset_m":[0.014549578814585188,-0.0035787700876600097,-0.0015735386945698072]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017280199190563748,3.632228444560605e-05,-0.0003491336834469641],"end_effector_yaw_offset_degrees":-0.41883475867522013},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000352291306275915,0.0014136333450970365,0.00195681871578122],"end_effector_yaw_offset_degrees":-0.12236088702493642},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001280680972174745,0.00043661763791186204,0.0013415648761532601],"end_effector_yaw_offset_degrees":-0.9392866026488726},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016654425869799005,0.0019635244457293834,-0.0007431434769953444],"end_effector_yaw_offset_degrees":-0.3137349347923144}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023915124660109366,-0.0013151822134891454],"position_m":[0.22579151246601092,-0.030715182213489144,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[7.121913794805226e-05,0.004578358374563434],"position_m":[0.26087121913794803,-0.3001216416254366,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015638291640561598,0.0016182692018452873],"position_m":[0.13993617083594384,0.2868182692018453,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003908643343288053,0.0034547483759545658],"position_m":[0.32279135665671194,0.18695474837595455,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9870e3a192476febd4ba378e64f740dbc21a8b69565273bfb1545c67ce49e128","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4608/tex_ceiling_textures_8202/tex_floor_textures_3700/tex_table_textures_6873/tex_wall_textures_8983","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3719290017671557128,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3719290017671557128,"visual_seed":3719290017671557128,"scene_id":"lab_003","finished_at":"2026-09-04T17:13:38"}
+{"episode_id":"ep_000007","started_at":"2026-09-04T17:16:06","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[0.66845615819023,-0.036768701418882,0.71338606911949],"aabb_xy":[[0.6184568830217938,-0.08676870269482917],[0.7184554333586661,0.013231299857065164]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_1","position":[0.5561581462829823,0.3883412205151924,0.71338606911949],"aabb_xy":[[0.5481318756523563,0.3795897255378398],[0.5641844169136083,0.39709271549254505]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[0.0009055292686608318,1.3266066192976274,0.71338606911949],"aabb_xy":[[-0.016887977666255605,1.3088068737018297],[0.01869903620357727,1.344406364893425]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.4837594603037647,1.513854027894833,0.71338606911949],"aabb_xy":[[0.47817778866963595,1.5013540280770572],[0.48934113193789347,1.5263540277126082]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[-0.49806646793536785,-0.6234134125950823,0.71338606911949],"aabb_xy":[[-0.5323827451099858,-0.67341341256826],[-0.46375019076074986,-0.5734134126219046]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.17137729905691634,0.8958125888481572,0.71338606911949],"aabb_xy":[[-0.18294627980385292,0.8708125887312254],[-0.15980831830997977,0.9208125889650888]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[0.5527732600195716,-2.41890877323055,0.71338606911949],"aabb_xy":[[0.5466786321314533,-2.4274781677822186],[0.5588678879076899,-2.410339378678881]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_7","position":[0.0768220521243409,0.8525708850796612,0.71338606911949],"aabb_xy":[[0.04235970472619908,0.8180770026818384],[0.11128439952248267,0.8870647674774838]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[0.3514863868444411,1.7358613826942313,0.71338606911949],"aabb_xy":[[0.3359306174341759,1.7203109494498243],[0.36704215625470643,1.7514118159386387]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[0.4494123187584871,-0.58178140228397,0.71338606911949],"aabb_xy":[[0.36941232179544786,-0.6588570439277435],[0.5294123157215262,-0.5047057606401966]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[-0.5600086121000704,0.16795392531774,0.71338606911949],"aabb_xy":[[-0.5774393271790768,0.15068181065388916],[-0.5425778970210637,0.1852260399815908]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[0.32237179066989885,1.209708752389496,0.71338606911949],"aabb_xy":[[0.2573717896693983,1.1589223872348209],[0.3873717916703993,1.2604951175441708]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[0.26287126716473164,-0.8614891100605007,0.71338606911949],"aabb_xy":[[0.19887126548673428,-0.9100065015398149],[0.326871268842729,-0.8129717185811864]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.599246249870736,0.5384266610300532,0.71338606911949],"aabb_xy":[[0.5492688330054823,0.4884266595408047],[0.6492236667359895,0.5884266625193018]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_14","position":[0.03675741139970623,-1.3310027625312422,0.71338606911949],"aabb_xy":[[-0.033242585010255565,-1.3514406981829234],[0.106757407809668,-1.31056482687956]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_15","position":[0.3191929901847914,-1.4311485443023801,0.71338606911949],"aabb_xy":[[0.28489607916705073,-1.4654454305123212],[0.353489901202532,-1.3968516580924386]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.25876439045611616,-0.7177794011399017,0.71338606911949],"aabb_xy":[[-0.2713670895931926,-0.7303747973647673],[-0.2461616913190397,-0.7051840049150363]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[0.6860754419474939,0.7034397023390087,0.71338606911949],"aabb_xy":[[0.651612963934406,0.6967760251560857],[0.7205379199605816,0.7101033795219314]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[-0.49981491026284997,-1.673061491067657,0.71338606911949],"aabb_xy":[[-0.5149870795444833,-1.6882303479958602],[-0.4846427409812166,-1.6578926341394535]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[-0.060325025856711845,-1.6503432998455834,0.71338606911949],"aabb_xy":[[-0.14032502326030524,-1.7303358710437657],[0.01967497154688157,-1.5703507286474]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.4260811294550371,-1.578329940354172,0.71338606911949],"aabb_xy":[[-0.43021698578773737,-1.6158299397985292],[-0.421945273122337,-1.5408299409098152]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.20449020456748251,-1.3977745251422882,0.71338606911949],"aabb_xy":[[-0.21241348480623082,-1.4202745253802915],[-0.19656692432873415,-1.3752745249042848]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[0.016077929490257326,1.1389078080092072,0.71338606911949],"aabb_xy":[[-0.047922072422085016,1.082996658751197],[0.08007793140259967,1.1948189572672179]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[0.6311786522275051,1.0854808481032823,0.71338606911949],"aabb_xy":[[0.6145015162344096,1.068780924129352],[0.6478557882206006,1.1021807720772125]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[-0.6400881048861179,-2.1533615972288422,0.71338606911949],"aabb_xy":[[-0.6899708017638141,-2.2033615964751174],[-0.5902054080084217,-2.103361597982568]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[0.26477163667206394,0.496386631999564,0.71338606911949],"aabb_xy":[[0.214792828161748,0.4463866319938451],[0.31475044518237977,0.5463866320052827]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_26","position":[-0.41087529113111143,1.392158012972876,0.71338606911949],"aabb_xy":[[-0.416212866797116,1.367158012043736],[-0.40553771546510686,1.4171580139020157]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_27","position":[-0.07792894918639937,-0.05544483232993347,0.71338606911949],"aabb_xy":[[-0.1001014761630502,-0.07762049948605663],[-0.055756422209748524,-0.03326916517381028]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_28","position":[-0.6571430118121078,-0.05793782816618842,0.71338606911949],"aabb_xy":[[-0.6796394332459719,-0.08043782797293586],[-0.6346465903782437,-0.03543782835944099]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_29","position":[0.34887799805085473,-1.9116936096431134,0.71338606911949],"aabb_xy":[[0.2588780015499829,-1.9576052520615717],[0.43887799455172644,-1.8657819672246552]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_30","position":[0.6328770506811996,0.10710959114970997,0.71338606911949],"aabb_xy":[[0.5993978834201588,0.07363047777860297],[0.6663562179422406,0.140588704520817]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_31","position":[-0.5400134477151907,-0.16506117151712596,0.71338606911949],"aabb_xy":[[-0.5704115588143341,-0.19546807351879547],[-0.509615336616047,-0.13465426951545645]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6572495093201857,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6903.png","name":"6903"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6903.png","name":"6903"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7722.png","name":"7722"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5238.png","name":"5238"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5455.png","name":"5455"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8426.png","name":"8426"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":569.8146045850692,"rotation_z_degrees":330.54141970174595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004660814857705073,0.018431486366132784,-0.011572031334707966]},{"name":"camera_2","offset_m":[-0.002873711614983409,-0.012433490865344475,-0.01755512631286525]},{"name":"camera_3","offset_m":[-0.017862429590289587,0.019396941137664585,0.001987805364579119]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018822063286696863,-0.0002832368259757976,0.0009775920762957174],"end_effector_yaw_offset_degrees":0.8154714379313666},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001782050051389537,0.0008532158339762531,-0.0006847277426471892],"end_effector_yaw_offset_degrees":-0.19134018600005964},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012395320765833501,0.000594318679841224,-0.00041009668358331776],"end_effector_yaw_offset_degrees":0.8951699652567271},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015676517182470447,0.0019214968678579617,0.0018647886128076584],"end_effector_yaw_offset_degrees":0.6256644716918802}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0045806509331339515,-0.00041322005039928517],"position_m":[0.22798065093313394,-0.029813220050399283,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00202998092009412,-0.0009808376993572189],"position_m":[0.2587700190799059,-0.3056808376993572,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0040424295488260525,-0.0019850309088604167],"position_m":[0.13745757045117393,0.2832149690911396,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031010464890641244,0.004370557677495662],"position_m":[0.32359895351093587,0.18787055767749566,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e98796f6c1aa310b510352c34e3ed9716e2c138510ce37baee7523a514e08f0","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0010.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6903/tex_ceiling_textures_8426/tex_floor_textures_5455/tex_table_textures_7722/tex_wall_textures_5238","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5040408556533391254,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5040408556533391254,"visual_seed":5040408556533391254,"scene_id":"lab_003","finished_at":"2026-09-04T17:19:57"}
+{"episode_id":"ep_000008","started_at":"2026-09-04T17:20:01","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[0.18978793117908688,1.4648038812680784,0.71338606911949],"aabb_xy":[[0.12578793389343826,1.4232971623152344],[0.2537879284647355,1.5063106002209223]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[0.264890070464432,-1.313833318575419,0.71338606911949],"aabb_xy":[[0.25955755580981904,-1.3191576468206547],[0.270222585119045,-1.3085089903301836]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[-0.6119684104704607,0.8983989964865988,0.71338606911949],"aabb_xy":[[-0.619962399048164,0.8903989163915084],[-0.6039744218927572,0.9063990765816891]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.10237763387177401,1.201601854872599,0.71338606911949],"aabb_xy":[[-0.12226867375211427,1.1889460435879022],[-0.08248659399143377,1.214257666157296]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.3435268125827674,-1.8885746534533048,0.71338606911949],"aabb_xy":[[-0.34910848421689616,-1.9010746532710803],[-0.33794514094863864,-1.8760746536355293]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[0.55380865105946,1.2858560528755945,0.71338606911949],"aabb_xy":[[0.5346963437014811,1.2667212739983524],[0.5729209584174388,1.3049908317528365]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[-0.5321333584418606,0.21900822023319844,0.71338606911949],"aabb_xy":[[-0.5491434557319111,0.20287373173492454],[-0.5151232611518098,0.2351427087314724]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[0.3742348914360547,-0.43188620243545506,0.71338606911949],"aabb_xy":[[0.3102348892156476,-0.4762592865607433],[0.4382348936564617,-0.3875131183101667]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_8","position":[-0.06856584924537468,0.9139157546885532,0.71338606911949],"aabb_xy":[[-0.1485658525093878,0.9003557223796399],[0.011434154018638468,0.9274757869974666]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[-0.5738696895623187,-1.9095376069033159,0.71338606911949],"aabb_xy":[[-0.6438696859722802,-1.9299755425549971],[-0.5038696931523566,-1.8890996712516337]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_10","position":[0.12284053478439927,1.077073274641707,0.71338606911949],"aabb_xy":[[0.10497142702994378,1.0632403666644958],[0.14070964253885476,1.090906182618918]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[0.08012858841598691,-2.106834508813217,0.71338606911949],"aabb_xy":[[0.07381648887964848,-2.1126014480664357],[0.08644068795232535,-2.1010675695599983]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[0.22895601884440897,-1.5689892275463195,0.71338606911949],"aabb_xy":[[0.21708393583290786,-1.6539892272399699],[0.24082810185591008,-1.4839892278526692]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[0.3259635357194355,1.750299380618292,0.71338606911949],"aabb_xy":[[0.32132842056720207,1.746432045541143],[0.3305986508716688,1.7541667156954406]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[0.11118140660467801,-1.2912757226095073,0.71338606911949],"aabb_xy":[[0.10389909022801433,-1.3812757262190158],[0.11846372298134164,-1.2012757189999979]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_15","position":[-0.27897873004675316,-2.442443690733075,0.71338606911949],"aabb_xy":[[-0.34397872820267217,-2.468739935282987],[-0.21397873189083405,-2.4161474461831625]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[0.4377023687051844,-2.052117307165587,0.71338606911949],"aabb_xy":[[0.3827101180696736,-2.1071173089089004],[0.49269461934069547,-1.9971173054222748]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.4617480638395216,-0.17399258906952086,0.71338606911949],"aabb_xy":[[-0.47046203288945604,-0.19649258972870906],[-0.45303409478958706,-0.1514925884103326]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[-0.2132940220152496,-1.1033148090379474,0.71338606911949],"aabb_xy":[[-0.22142171020856283,-1.1122284174486554],[-0.2051663338219364,-1.09440120062724]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[-0.5514542680275355,-1.1092241001900556,0.71338606911949],"aabb_xy":[[-0.5739534037537625,-1.1317241009683183],[-0.5289551323013085,-1.0867240994117924]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[0.3623174788667307,1.0349004070276564,0.71338606911949],"aabb_xy":[[0.35741818656016716,1.0072234877250876],[0.36721677117329415,1.0625773263302252]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.3338330661487441,1.3270564116772294,0.71338606911949],"aabb_xy":[[0.2788330679469992,1.2865344450507918],[0.38883306435048887,1.367578378303667]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[0.5271875595553035,-2.2668042925852294,0.71338606911949],"aabb_xy":[[0.48968755876330794,-2.2731721335434196],[0.5646875603472988,-2.260436451627039]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[-0.2615031033025097,1.5390804497998558,0.71338606911949],"aabb_xy":[[-0.3164768253388426,1.4840804502356226],[-0.20652938126617681,1.594080449364089]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[0.071570138441447,-0.9227861783825286,0.71338606911949],"aabb_xy":[[0.062223130859151765,-0.9370898006001728],[0.08091714602374223,-0.9084825561648847]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[-0.40248633016059715,-1.107184499279892,0.71338606911949],"aabb_xy":[[-0.4395204395886569,-1.1415617066136012],[-0.3654522207325374,-1.0728072919461824]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_26","position":[0.21875022513619635,0.8786033235639272,0.71338606911949],"aabb_xy":[[0.16473462885429635,0.81460332067167],[0.27276582141809635,0.9426033264561843]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[-0.13941913331206868,0.7779038896136896,0.71338606911949],"aabb_xy":[[-0.22941913564608774,0.700421535028577],[-0.04941913097804962,0.8553862441988023]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_28","position":[-0.5586731348322727,0.7312467471894868,0.71338606911949],"aabb_xy":[[-0.613668612652932,0.6762467457555797],[-0.5036776570116133,0.7862467486233936]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582954039561444,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2685.png","name":"2685"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2685.png","name":"2685"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3672.png","name":"3672"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2073.png","name":"2073"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/659.png","name":"659"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8788.png","name":"8788"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":620.0276580210366,"rotation_z_degrees":158.5345425741903,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00022715357167736247,0.01934578170332699,-0.01097497046737998]},{"name":"camera_2","offset_m":[-0.017846140869519272,-0.01788126519100035,-0.0018307627755782124]},{"name":"camera_3","offset_m":[-0.004240955544421384,0.0068806701636024495,0.005793176664800358]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012965893886450397,0.0001320803499637352,-0.0013523135051664208],"end_effector_yaw_offset_degrees":0.5769497420334415},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015122365870456154,6.275822329055054e-05,0.0010267609575217518],"end_effector_yaw_offset_degrees":-0.7450929513352573},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001528316855672273,0.001129310432254896,0.0018450162541371346],"end_effector_yaw_offset_degrees":0.039930805313147966},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018924154004356026,-0.001171267976011222,0.0010199692517233864],"end_effector_yaw_offset_degrees":-0.5771460742733074}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009199256121559495,-0.000922251631942558],"position_m":[0.22431992561215594,-0.030322251631942555,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001689523599817477,0.003909930934099936],"position_m":[0.2624895235998175,-0.3007900690659001,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00489799148327699,-0.0024561657769751424],"position_m":[0.14639799148327698,0.28274383422302485,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001240545798548277,0.0040485627206637625],"position_m":[0.3254594542014517,0.18754856272066375,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"caebb4175eb66e496bdcd08a7e41604b1bf7515bea672d8d73cad5f68bc3919f","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2685/tex_ceiling_textures_8788/tex_floor_textures_659/tex_table_textures_3672/tex_wall_textures_2073","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6330604902908875209,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6330604902908875209,"visual_seed":6330604902908875209,"scene_id":"lab_003","finished_at":"2026-09-04T17:23:25"}
+{"episode_id":"ep_000009","started_at":"2026-09-04T17:23:30","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.08853024373594454,-0.8879496683710355,0.71338606911949],"aabb_xy":[[-0.1253248768608508,-0.9248555434676177],[-0.05173561061103828,-0.8510437932744531]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_1","position":[-0.17163855696176145,1.626551338744099,0.71338606911949],"aabb_xy":[[-0.20663855693825728,1.6170867226964827],[-0.1366385569852656,1.636015954791716]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[-0.6707510903930101,1.0067694075029907,0.71338606911949],"aabb_xy":[[-0.6877611876830607,0.9906349190047166],[-0.6537409931029594,1.0229038960012644]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.504835301431762,-0.19118927600104252,0.71338606911949],"aabb_xy":[[-0.5273353016752774,-0.20339391066081447],[-0.48233530118824663,-0.17898464134127057]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.259166399297021,-0.34207433943896115,0.71338606911949],"aabb_xy":[[-0.33916639957062794,-0.41502388726467787],[-0.179166399023414,-0.26912479161324443]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.3081711404420513,-2.4194992269628632,0.71338606911949],"aabb_xy":[[0.28458601697815644,-2.484499229208295],[0.33175626390594615,-2.3544992247174314]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_6","position":[0.5955961353198218,1.2300680170044247,0.71338606911949],"aabb_xy":[[0.5155961338896946,1.150550861991815],[0.675596136749949,1.309585172017034]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[0.3121816444407046,0.5427945476513236,0.71338606911949],"aabb_xy":[[0.24818164416672645,0.49272844745403555],[0.3761816447146829,0.5928606478486115]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[-0.6318888973712729,-2.518366438674276,0.71338606911949],"aabb_xy":[[-0.653166905514745,-2.583366441000349],[-0.6106108892278005,-2.453366436348203]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[0.30676667561706483,-2.092329685463489,0.71338606911949],"aabb_xy":[[0.23676667298047843,-2.112434550459354],[0.3767666782536511,-2.072224820467623]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[0.6381363481737725,-1.763744918163557,0.71338606911949],"aabb_xy":[[0.5781363475777563,-1.8185573907087804],[0.6981363487697887,-1.7089324456183335]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[0.5641003262584376,-1.0093208511501783,0.71338606911949],"aabb_xy":[[0.5001003245804402,-1.0578382426294926],[0.6281003279364349,-0.9608034596708641]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[0.27910315877856984,-1.8126551562337263,0.71338606911949],"aabb_xy":[[0.22411090814305895,-1.8676551579770395],[0.33409540941408084,-1.757655154490414]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[0.07862495880993381,0.8401481804876529,0.71338606911949],"aabb_xy":[[0.013624960928286026,0.7890245167811123],[0.14362495669158162,0.891271844194194]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[-0.4823037695255106,0.3416646785801376,0.71338606911949],"aabb_xy":[[-0.4947711276352463,0.32919935394681404],[-0.469836411415775,0.35413000321346105]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[-0.25839854911314186,1.4113734685668176,0.71338606911949],"aabb_xy":[[-0.2829447647358926,1.3811245720177805],[-0.23385233349039117,1.4416223651158546]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[-0.09099809656169833,0.5006883573369105,0.71338606911949],"aabb_xy":[[-0.15499809985140645,0.45735343833299286],[-0.02699809327199022,0.544023276340828]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[0.050912866083671404,1.1351224234240282,0.71338606911949],"aabb_xy":[[0.028412866559963997,1.1126264759734072],[0.0734128656073788,1.1576183708746488]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[-0.46027222342454294,1.3824735791213167,0.71338606911949],"aabb_xy":[[-0.4710451973459107,1.3474735809022778],[-0.44949924950317516,1.4174735773403557]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.2799091552390436,-1.1873844997887453,0.71338606911949],"aabb_xy":[[0.2487622363954604,-1.2573844984755522],[0.31105607408262664,-1.1173845011019379]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[-0.5672458948513357,0.6432200662690302,0.71338606911949],"aabb_xy":[[-0.6172458944276704,0.5932394873169243],[-0.517245895275001,0.6932006452211362]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[-0.3992097412231099,-2.0590672987581584,0.71338606911949],"aabb_xy":[[-0.42420974077484835,-2.069209782623293],[-0.3742097416713714,-2.0489248148930237]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[0.2050158301279139,-2.2743543783338196,0.71338606911949],"aabb_xy":[[0.12501583147102793,-2.2888592372580825],[0.2850158287847999,-2.2598495194095567]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_23","position":[-0.4428771612351209,0.8913015859381792,0.71338606911949],"aabb_xy":[[-0.44631783747517817,0.8874401529638147],[-0.4394364849950638,0.8951630189125437]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[0.1082809125745563,-2.136308951312639,0.71338606911949],"aabb_xy":[[0.07078091105892459,-2.147535724328784],[0.145780914090188,-2.125082178296494]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_25","position":[-0.061386184904414165,-2.1385793224677148,0.71338606911949],"aabb_xy":[[-0.06842763585516176,-2.145606074205509],[-0.05434473395366657,-2.1315525707299203]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_26","position":[0.0991644793925589,-0.782935222651937,0.71338606911949],"aabb_xy":[[0.06486756837481826,-0.8172321088618782],[0.13346139041029953,-0.7486383364419956]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_27","position":[0.15460895312162093,1.8074789861234604,0.71338606911949],"aabb_xy":[[0.1458068978126482,1.7996676599685313],[0.1634110084305936,1.8152903122783894]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_28","position":[-0.5516541260732438,1.3226089915043078,0.71338606911949],"aabb_xy":[[-0.5691541252076109,1.3127293644667197],[-0.5341541269388765,1.3324886185418954]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_29","position":[0.010738295666886,-2.4971720596805116,0.71338606911949],"aabb_xy":[[-0.02676170275651435,-2.510336273648342],[0.04823829409028635,-2.4840078457126804]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_30","position":[0.6705122313296257,1.6852277823799464,0.71338606911949],"aabb_xy":[[0.62338285232779,1.6212277813355442],[0.7176416103314613,1.7492277834243481]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_31","position":[0.14110321983355423,1.4170527942136562,0.71338606911949],"aabb_xy":[[0.09610321836732541,1.3720529373521755],[0.1861032212997831,1.4620526510751368]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6640375202028524,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6052.png","name":"6052"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6052.png","name":"6052"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8079.png","name":"8079"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2203.png","name":"2203"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8595.png","name":"8595"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5857.png","name":"5857"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":654.3382669491322,"rotation_z_degrees":305.9891437863267,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006064912176663079,-0.003917590408889938,-0.019989389226372323]},{"name":"camera_2","offset_m":[-0.010322220334446906,0.0010416334087541626,-0.004897332576921407]},{"name":"camera_3","offset_m":[0.0088870844682731,0.01706559036820875,0.011431556374879335]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001815547443040281,-0.0016180597501882625,0.0012002922044477221],"end_effector_yaw_offset_degrees":-0.3697621735902976},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00053952949992048,0.0013338701269116023,-0.0008418167556768555],"end_effector_yaw_offset_degrees":-0.41653236940921845},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000645341275663193,-0.0006475257138814938,-0.0004147634711445384],"end_effector_yaw_offset_degrees":0.4805790257398195},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.41809254682984e-05,0.0014988902295568793,-0.00016304653184906525],"end_effector_yaw_offset_degrees":0.5951580701255084}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032799727069709557,0.0009912337617842375],"position_m":[0.22667997270697093,-0.02840876623821576,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00426401587200572,-0.003595152865053463],"position_m":[0.2650640158720057,-0.3082951528650535,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00011103670731183769,-0.002827196602583515],"position_m":[0.14138896329268816,0.2823728033974165,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022224688536865867,0.003809877868209111],"position_m":[0.3289224688536866,0.1873098778682091,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0fb85b0db6338f68ba851586267af8268623e2eb52e032c775b4a12ea97e95f3","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0012.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6052/tex_ceiling_textures_5857/tex_floor_textures_8595/tex_table_textures_8079/tex_wall_textures_2203","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5609693507165238062,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5609693507165238062,"visual_seed":5609693507165238062,"scene_id":"lab_003","finished_at":"2026-09-04T17:26:54"}
+{"episode_id":"ep_000010","started_at":"2026-09-04T17:26:57","dimensions":{"distractor":{"count":29,"items":[{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_0","position":[-0.5024929610676405,-0.6346239483641876,0.71338606911949],"aabb_xy":[[-0.518554888526158,-0.7196239501767793],[-0.4864310336091228,-0.5496239465515956]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[0.26472273652608314,-0.9259027338730645,0.71338606911949],"aabb_xy":[[0.24113761306218834,-0.9909027361184963],[0.28830785998997804,-0.8609027316276328]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[0.5479558564448492,0.6261630471413073,0.71338606911949],"aabb_xy":[[0.4839558560673156,0.5764177802904951],[0.6119558568223828,0.6759083139921196]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[-0.09660772233097958,-2.3189767531639687,0.71338606911949],"aabb_xy":[[-0.1766077203117646,-2.3265782941258206],[-0.016607724350194527,-2.3113752122021167]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[-0.3965081108638109,-0.8103239920216696,0.71338606911949],"aabb_xy":[[-0.4605081079759165,-0.8593563618160802],[-0.33250811375170514,-0.761291622227259]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.4938572086662236,0.659491368726401,0.71338606911949],"aabb_xy":[[-0.5838572123431418,0.5980589621492965],[-0.4038572049893054,0.7209237753035053]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[0.25683823146679985,1.5919730605589293,0.71338606911949],"aabb_xy":[[0.25042441782361485,1.5855632403112607],[0.26325204510998473,1.5983828808065974]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[0.017568867790621612,-1.9121994946864755,0.71338606911949],"aabb_xy":[[-0.04643113079595085,-1.9592064580859843],[0.08156886637719407,-1.8651925312869668]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[0.5350689711931675,-0.5198755156346557,0.71338606911949],"aabb_xy":[[0.5311550979977451,-0.5286245310412125],[0.53898284438859,-0.5111265002280989]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[-0.18943463493742563,-1.6688394665888486,0.71338606911949],"aabb_xy":[[-0.19647608588817322,-1.6758662183266433],[-0.18239318398667803,-1.6618127148510544]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[0.3399045318406526,-1.610789647743235,0.71338606911949],"aabb_xy":[[0.32899875575308996,-1.6907896441420642],[0.3508103079282154,-1.530789651344406]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_11","position":[-0.07237521665288638,-1.5469442058632905,0.71338606911949],"aabb_xy":[[-0.1363752169268646,-1.5970103060605783],[-0.008375216378908146,-1.4968781056660023]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.6689175846955513,-1.1390172097240248,0.71338606911949],"aabb_xy":[[0.6191008052307164,-1.1890172082083281],[0.7187343641603859,-1.0890172112397214]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[-0.2141810143404268,0.08819507464167842,0.71338606911949],"aabb_xy":[[-0.2342394259536671,0.06812998773252087],[-0.1941226027271865,0.10826016155083594]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.4329287273917009,1.425455885165127,0.71338606911949],"aabb_xy":[[-0.4410564155850141,1.4165422767544193],[-0.4248010391983877,1.4343694935758349]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[0.5509823198206736,0.303563495781896,0.71338606911949],"aabb_xy":[[0.5331132120662181,0.2897305878046851],[0.5688514275751291,0.31739640375910694]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.32354953038086887,-1.240847873106438,0.71338606911949],"aabb_xy":[[0.263549529520056,-1.2922743031129242],[0.3835495312416816,-1.1894214430999515]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[0.2846618565676243,1.7215034612452915,0.71338606911949],"aabb_xy":[[0.26645603290637665,1.7104780606632999],[0.302867680228872,1.7325288618272832]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.007589402567378167,1.6096436140955377,0.71338606911949],"aabb_xy":[[-0.0031835713539896107,1.574643615876499],[0.018362376488745946,1.644643612314577]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_19","position":[-0.13884397766683865,-0.9180208114580022,0.71338606911949],"aabb_xy":[[-0.2285310539749541,-1.0080208117124527],[-0.04915690135872319,-0.8280208112035516]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[-0.5975194125988762,-1.6542666935518597,0.71338606911949],"aabb_xy":[[-0.6875194123220503,-1.6773400460870393],[-0.5075194128757019,-1.6311933410166797]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[-0.6643091297249362,-0.9733897166041896,0.71338606911949],"aabb_xy":[[-0.6855871378684083,-1.0383897189302627],[-0.6430311215814638,-0.9083897142781165]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[0.02855835845928778,-0.6659596658825704,0.71338606911949],"aabb_xy":[[-0.0364416426466555,-0.6909250389506988],[0.09355835956523106,-0.6409942928144422]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_23","position":[-0.3837076296239013,-1.4036697478895555,0.71338606911949],"aabb_xy":[[-0.44770762692624766,-1.4480361748574122],[-0.31970763232155486,-1.3593033209216987]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_24","position":[-0.5677371904405725,-2.030170026929635,0.71338606911949],"aabb_xy":[[-0.5910190326387037,-2.1151700282268626],[-0.544455348242441,-1.9451700256324067]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_25","position":[-0.015440571525507707,0.6806499932127776,0.71338606911949],"aabb_xy":[[-0.1054405709438786,0.6472744963685878],[0.07455942789286318,0.7140254900569672]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_26","position":[-0.23013804848261188,0.6007681628495494,0.71338606911949],"aabb_xy":[[-0.2801222841907891,0.5507681640360538],[-0.18015381277443465,0.650768161663045]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_27","position":[-0.16541008538133106,-0.09903047313502222,0.71338606911949],"aabb_xy":[[-0.17625056360784597,-0.11621675442567103],[-0.15456960715481616,-0.08184419184437342]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_28","position":[0.32991740450966356,-0.4745435181831539,0.71338606911949],"aabb_xy":[[0.3238803915089988,-0.4805702192521022],[0.33595441751032823,-0.4685168171142058]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6614132067691976,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4540.png","name":"4540"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4540.png","name":"4540"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/101.png","name":"101"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1372.png","name":"1372"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1994.png","name":"1994"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5299.png","name":"5299"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":665.8383862318153,"rotation_z_degrees":51.4312187085448,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017360222364978434,-0.015933645214437426,0.005913489728779385]},{"name":"camera_2","offset_m":[0.013614349124429496,0.009406606744907266,0.014247784009143002]},{"name":"camera_3","offset_m":[-0.004161413222064123,-0.01900487004669437,0.006917318181184302]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010740066662590442,0.0009600723296828359,0.0006149770814308717],"end_effector_yaw_offset_degrees":0.40933779946609516},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00044162825411212295,0.0003049830633225781,0.0016971067095640493],"end_effector_yaw_offset_degrees":-0.19392209935097648},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004753730659821289,-0.0009021471056721566,-0.0014719386940134213],"end_effector_yaw_offset_degrees":0.6835395787521716},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000827582705591088,0.0014962150915422139,-0.0014931080341073987],"end_effector_yaw_offset_degrees":0.4146927001277898}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017861073074443594,0.0031328690185757303],"position_m":[0.22518610730744434,-0.026267130981424268,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003077824545048731,-0.00019574449877208036],"position_m":[0.2638778245450487,-0.3048957444987721,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002007303716539759,0.0008144863633678494],"position_m":[0.13949269628346023,0.28601448636336785,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022931487198120945,0.00024706256398211637],"position_m":[0.3289931487198121,0.1837470625639821,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4841f67ebdd89aebb094c53550e51994b82567b7e1d8175a46521186c0dd8266","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4540/tex_ceiling_textures_5299/tex_floor_textures_1994/tex_table_textures_101/tex_wall_textures_1372","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":252979467145775747,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":252979467145775747,"visual_seed":252979467145775747,"scene_id":"lab_003","finished_at":"2026-09-04T17:30:18"}
+{"episode_id":"ep_000011","started_at":"2026-09-04T17:30:24","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[-0.268586730136065,-1.670647463581529,0.71338606911949],"aabb_xy":[[-0.3185641470013186,-1.720647465070777],[-0.21860931327081143,-1.62064746209228]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.480744789943385,1.1023713361628125,0.71338606911949],"aabb_xy":[[-0.5307180839466454,1.052371335608265],[-0.43077149594012454,1.1523713367173596]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.6234640150620889,-0.9182474658887028,0.71338606911949],"aabb_xy":[[0.5869681944348102,-0.9547314083154603],[0.6599598356893677,-0.8817635234619452]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_3","position":[-0.29373987588656714,1.2841571253454624,0.71338606911949],"aabb_xy":[[-0.37373987284960625,1.207081483701689],[-0.21373987892352792,1.361232766989236]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[0.2372403600758073,-1.814583641026278,0.71338606911949],"aabb_xy":[[0.2317824144387872,-1.8945836443339368],[0.24269830571282733,-1.7345836377186186]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[-0.12627909753942157,-0.038878032213292446,0.71338606911949],"aabb_xy":[[-0.17627909920091633,-0.08887647446899515],[-0.07627909587792682,0.011120410042410265]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_6","position":[0.17175532531901427,-2.3484930240714195,0.71338606911949],"aabb_xy":[[0.13320963249381323,-2.387038795127608],[0.2103010181442153,-2.3099472530152307]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[0.664872270791705,0.2903165950945157,0.71338606911949],"aabb_xy":[[0.6273722706198329,0.2576158597116085],[0.7023722709635768,0.32301733047742287]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[0.5896618534932851,1.2586912916646624,0.71338606911949],"aabb_xy":[[0.5398450740284504,1.2086912931803588],[0.6394786329581199,1.3086912901489656]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[0.33542218383182343,-2.360848532906734,0.71338606911949],"aabb_xy":[[0.2554221827587031,-2.3706265792441186],[0.41542218490494376,-2.3510704865693497]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[-0.25687973791385493,-1.3462953818384091,0.71338606911949],"aabb_xy":[[-0.278788420053206,-1.3681960486584996],[-0.2349710557745039,-1.3243947150183182]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[0.2295340992960624,1.315027407692436,0.71338606911949],"aabb_xy":[[0.19913598819691875,1.2846205056907662],[0.25993221039520586,1.3454343096941053]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.2721483833274009,1.7011313771455927,0.71338606911949],"aabb_xy":[[-0.2891584806174515,1.684996888647319],[-0.25513828603735017,1.7172658656438669]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_13","position":[-0.16580231397701228,1.5360494834264053,0.71338606911949],"aabb_xy":[[-0.20330231432524004,1.5242580878453216],[-0.12830231362878453,1.5478408790074887]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_14","position":[-0.016672926145854916,-1.8128986012566721,0.71338606911949],"aabb_xy":[[-0.031835799122792004,-1.8280640585517909],[-0.0015100531689178358,-1.7977331439615534]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[0.5258485947018443,-0.3190198041987111,0.71338606911949],"aabb_xy":[[0.5022634712379495,-0.3840198064441429],[0.5494337181657392,-0.25401980195327933]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.3780363144546539,1.7428961937216338,0.71338606911949],"aabb_xy":[[0.34303631447815813,1.7334315776740172],[0.4130363144311498,1.7523608097692505]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_17","position":[0.1619402712660004,-1.824806321355735,0.71338606911949],"aabb_xy":[[0.14414676433108398,-1.8426060669515327],[0.17973377820091685,-1.8070065757599374]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[-0.44501537391014906,-2.3302088269865417,0.71338606911949],"aabb_xy":[[-0.48001537304010466,-2.335954048062206],[-0.41001537478019334,-2.3244636059108776]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.07713113039671415,-2.51122700930361,0.71338606911949],"aabb_xy":[[-0.09463112953108133,-2.5211066363411976],[-0.05963113126234699,-2.501347382266022]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[-0.4413926734101284,-1.7764921408098875,0.71338606911949],"aabb_xy":[[-0.5063926744106289,-1.8272785059645624],[-0.3763926724096278,-1.7257057756552125]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[-0.277830198998406,0.5868409032773401,0.71338606911949],"aabb_xy":[[-0.3102918998803333,0.5567080711624374],[-0.2453684981164784,0.6169737353922425]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[-0.2958081054764859,1.5059200641281838,0.71338606911949],"aabb_xy":[[-0.30044322062871925,1.5020527290510348],[-0.2911729903242524,1.5097873992053323]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[0.5821778870344023,-0.803724267031023,0.71338606911949],"aabb_xy":[[0.5321778860152672,-0.8401904827688509],[0.6321778880535377,-0.767258051293195]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_24","position":[-0.6184592470316668,-1.4583194034196358,0.71338606911949],"aabb_xy":[[-0.6422954646722719,-1.5483194042281225],[-0.5946230293910618,-1.3683194026111494]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6618304565242332,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7621.png","name":"7621"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7621.png","name":"7621"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9520.png","name":"9520"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2151.png","name":"2151"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9599.png","name":"9599"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6208.png","name":"6208"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":642.198637359385,"rotation_z_degrees":268.54187857643876,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010824562080389694,-0.003784189959239046,-0.0029092602109105255]},{"name":"camera_2","offset_m":[-0.007278000544410452,-0.014141221607576929,0.014361628911331106]},{"name":"camera_3","offset_m":[0.0175114550116176,0.0044940715367709945,0.007214627586986232]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[2.8437086870311372e-05,-0.001957773285564111,-0.0011235712831292842],"end_effector_yaw_offset_degrees":0.9849471831692576},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019637109299030396,-0.0010434634107492026,-0.0005788947695015226],"end_effector_yaw_offset_degrees":-0.026283467613166245},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018511801326111486,0.0009794818236361306,0.0008098844571490633],"end_effector_yaw_offset_degrees":0.2661966733822809},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018844594350849314,-8.21673410757878e-05,1.0022722634737795e-05],"end_effector_yaw_offset_degrees":0.18689237962546912}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033740146082967557,-0.0018280385294375122],"position_m":[0.22677401460829674,-0.03122803852943751,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003209274863327433,-0.0008473828118604129],"position_m":[0.2640092748633274,-0.30554738281186045,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00151245449630913,-0.002275131044392984],"position_m":[0.14301245449630912,0.28292486895560703,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004268943962822917,-0.0017243675891302091],"position_m":[0.3224310560371771,0.18177563241086978,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4721a1887609792f608b3509fc22b034237821583279002c752584c0749a9447","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0014.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7621/tex_ceiling_textures_6208/tex_floor_textures_9599/tex_table_textures_9520/tex_wall_textures_2151","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":741680143549973280,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":741680143549973280,"visual_seed":741680143549973280,"scene_id":"lab_003","finished_at":"2026-09-04T17:34:03"}
+{"episode_id":"ep_000012","started_at":"2026-09-04T17:34:06","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[-0.35628406026980053,1.1910998366135996,0.71338606911949],"aabb_xy":[[-0.42628406187208007,1.1776670434119423],[-0.2862840586675211,1.2045326298152574]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_1","position":[-0.6247760886643944,0.2178462036022326,0.71338606911949],"aabb_xy":[[-0.6897760872214672,0.18809367018835],[-0.5597760901073215,0.24759873701611523]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[0.43533795389597385,-1.7963367267851869,0.71338606911949],"aabb_xy":[[0.38033795471938436,-1.8513264015601443],[0.49033795307256334,-1.741347052010229]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.12922978463489398,0.6843460140398694,0.71338606911949],"aabb_xy":[[-0.15919734154471965,0.6543460137419836],[-0.09926222772506832,0.7143460143377551]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[0.39807560466485237,-1.1155313193899339,0.71338606911949],"aabb_xy":[[0.3921090657241165,-1.121492464049298],[0.4040421436055881,-1.1095701747305697]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.4221103485953353,-0.29602894928014,0.71338606911949],"aabb_xy":[[-0.42915065852887235,-0.37602894867981146],[-0.41507003866179837,-0.2160289498804686]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[0.2388200469378816,0.852843312962428,0.71338606911949],"aabb_xy":[[0.21630635511442442,0.7828433123614202],[0.2613337387613388,0.9228433135634353]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[0.24198425072240948,1.4303158208836675,0.71338606911949],"aabb_xy":[[0.17798425044843125,1.3802497206863793],[0.3059842509963877,1.4803819210809552]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.37235844438956256,-0.8016645679208871,0.71338606911949],"aabb_xy":[[-0.4523584454626829,-0.8114426142582716],[-0.29235844331644223,-0.7918865215835027]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.5147716802067813,-2.323075527596806,0.71338606911949],"aabb_xy":[[-0.5847716828433676,-2.343180392592671],[-0.44477167757019487,-2.30297066260094]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[-0.286220183251936,-0.7291840540457004,0.71338606911949],"aabb_xy":[[-0.32372018443672873,-0.7336022767417608],[-0.24872018206714316,-0.7247658313496398]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[0.2652761595230636,-0.9149058108644315,0.71338606911949],"aabb_xy":[[0.20127616035329363,-0.961672497983394],[0.3292761586928335,-0.8681391237454691]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[-0.23979550075834616,-1.7141446433157814,0.71338606911949],"aabb_xy":[[-0.2772954991817465,-1.727308857283612],[-0.2022955023349458,-1.700980429347951]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.5653221563778548,1.8234334822122782,0.71338606911949],"aabb_xy":[[0.5308596783647669,1.8167698050293553],[0.5997846343909424,1.8300971593952007]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_14","position":[0.5874258362358151,-2.202638560353187,0.71338606911949],"aabb_xy":[[0.5324258380340702,-2.2431605269796244],[0.6424258344375599,-2.1621165937267492]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[0.003884709932755026,1.526234338183182,0.71338606911949],"aabb_xy":[[-0.03741983313098096,1.462234338615065],[0.045189252996491014,1.590234337751299]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.6666061518123332,-0.4995001971065145,0.71338606911949],"aabb_xy":[[0.6441061518021848,-0.5135964167461177],[0.6891061518224814,-0.4854039774669111]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[-0.42663498242438874,1.3740702941941159,0.71338606911949],"aabb_xy":[[-0.4906349797267351,1.329703867226259],[-0.3626349851220423,1.4184367211619726]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[-0.044506358103050814,0.9437042210544209,0.71338606911949],"aabb_xy":[[-0.12450635550664423,0.8637116498562379],[0.035493639300542605,1.0236967922526035]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[0.5525775501037247,1.473991520223628,0.71338606911949],"aabb_xy":[[0.5025782749352885,1.4239915189476808],[0.6025768252721608,1.5239915214995752]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[0.027722086146860003,-1.8279294329019016,0.71338606911949],"aabb_xy":[[0.02043976977019634,-1.9179294365114103],[0.035004402523523645,-1.7379294292923924]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[0.6980691625476332,-0.8708451925349028,0.71338606911949],"aabb_xy":[[0.6755691627337308,-0.8753198089053836],[0.7205691623615356,-0.8663705761644221]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[-0.267187421069702,0.6997013523381903,0.71338606911949],"aabb_xy":[[-0.2832493485282196,0.6147013505255984],[-0.2511254936111843,0.784701354150782]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[-0.47965912653506415,-2.519325963541509,0.71338606911949],"aabb_xy":[[-0.5696591232706743,-2.572509426858803],[-0.3896591297994539,-2.466142500224214]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_24","position":[0.29124857381696845,-1.9249749325668981,0.71338606911949],"aabb_xy":[[0.24124857286643558,-1.956524079570419],[0.3412485747675012,-1.8934257855633763]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_25","position":[-0.44807278075300605,-0.5761307349087526,0.71338606911949],"aabb_xy":[[-0.5280727787337911,-0.5837322758706044],[-0.368072782772221,-0.5685291939469005]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[-0.20954771910901132,-0.9971407948034654,0.71338606911949],"aabb_xy":[[-0.21725090978308834,-1.0048501655022033],[-0.20184452843493425,-0.9894314241047274]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[-0.3851476381923534,-1.3477216481863405,0.71338606911949],"aabb_xy":[[-0.44514763878836955,-1.402534120731564],[-0.3251476375963372,-1.292909175641117]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_28","position":[-0.10829020194470973,1.5524677002659062,0.71338606911949],"aabb_xy":[[-0.1301799495336505,1.4624677029766568],[-0.08640045435576892,1.642467697555155]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_29","position":[0.5966842170969597,1.7244197054389896,0.71338606911949],"aabb_xy":[[0.5834532715622783,1.7111922864169897],[0.6099151626316409,1.7376471244609886]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_30","position":[-0.5631360901729305,-1.1300234597879535,0.71338606911949],"aabb_xy":[[-0.6006360887485512,-1.1427597554515114],[-0.5256360915973096,-1.1172871641243955]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_31","position":[-0.15278251869854376,0.23157691246914602,0.71338606911949],"aabb_xy":[[-0.17778251863106165,0.2246942442482227],[-0.12778251876602587,0.23845958069006934]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_32","position":[-0.11081379302117789,-1.0760702037747158,0.71338606911949],"aabb_xy":[[-0.17581379117709695,-1.102366448324628],[-0.04581379486525883,-1.0497739592248037]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6556358008518726,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2033.png","name":"2033"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2033.png","name":"2033"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9349.png","name":"9349"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9417.png","name":"9417"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4540.png","name":"4540"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3953.png","name":"3953"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":820.917611128623,"rotation_z_degrees":279.906095922111,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011898267200829067,0.014496889790327271,-0.011779089625991262]},{"name":"camera_2","offset_m":[0.007411302817806043,0.0024807098401336963,-0.015873674806818627]},{"name":"camera_3","offset_m":[0.006083010758425031,0.014875059455593021,0.001533660602773046]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009900642258062532,-0.0003173709689865932,-0.00032351144479208474],"end_effector_yaw_offset_degrees":0.8770561353413369},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-9.024924696265381e-05,-0.0018271627003812318,0.0017809507792103472],"end_effector_yaw_offset_degrees":-0.11770697790055307},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001273296916397364,-0.0014984417783301717,-0.0010857324760417167],"end_effector_yaw_offset_degrees":0.29666016857500876},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001367018271205049,-0.00123362601726366,0.0012480349594196998],"end_effector_yaw_offset_degrees":0.9300283123329991}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013955806623460994,0.002145707784912569],"position_m":[0.2247955806623461,-0.02725429221508743,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002832326627885603,0.0009645693385393469],"position_m":[0.25796767337211435,-0.3037354306614607,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003667083814400388,0.00186718763061609],"position_m":[0.1378329161855996,0.2870671876306161,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003711338310049662,0.0018184499970537614],"position_m":[0.32298866168995033,0.18531844999705377,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"29b25a38d4eb2baec0c0a1e877744482f5f9b39c320fb6a20a43cbf91b564586","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2033/tex_ceiling_textures_3953/tex_floor_textures_4540/tex_table_textures_9349/tex_wall_textures_9417","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7417004128266653798,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7417004128266653798,"visual_seed":7417004128266653798,"scene_id":"lab_003","finished_at":"2026-09-04T17:37:32"}
+{"episode_id":"ep_000013","started_at":"2026-09-04T17:37:36","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[0.433663752665995,0.37163279945741934,0.71338606911949],"aabb_xy":[[0.42603948457581675,0.3639995759208756],[0.44128802075617324,0.3792660229939631]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_1","position":[0.23979870054057795,-1.4831044518477234,0.71338606911949],"aabb_xy":[[0.1497986982065589,-1.5605868064328363],[0.329798702874597,-1.405622097262611]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.57295126877728,-2.451489130874422,0.71338606911949],"aabb_xy":[[0.48295127227640816,-2.49740077329288],[0.6629512652781516,-2.4055774884559633]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[-0.2221609485922753,1.5313201367750566,0.71338606911949],"aabb_xy":[[-0.23301255484115085,1.5204608460474054],[-0.21130934234339965,1.5421794275027074]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_4","position":[-0.05436183169505293,-2.177280198278374,0.71338606911949],"aabb_xy":[[-0.07686183170520122,-2.191376417917977],[-0.03186183168490463,-2.1631839786387705]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[-0.41265527120778583,0.08439201253854112,0.71338606911949],"aabb_xy":[[-0.4666708674896858,0.020392009646283946],[-0.3586396749258858,0.14839201543079827]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[-0.5718571674741345,0.4378613191019718,0.71338606911949],"aabb_xy":[[-0.5981459917945751,0.4115898854473205],[-0.5455683431536937,0.46413275275662297]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.04710198389907372,-2.3915861013839024,0.71338606911949],"aabb_xy":[[-0.08986869077849391,-2.455586104805705],[-0.004335277019653527,-2.3275860979621]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[-0.636214241009435,-0.24150753299623995,0.71338606911949],"aabb_xy":[[-0.6537142402875219,-0.2588456330625859],[-0.6187142417313481,-0.224169432929894]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_9","position":[0.4900755696621628,-1.4774020037303475,0.71338606911949],"aabb_xy":[[0.41007557100527686,-1.4919068626546101],[0.5700755683190488,-1.4628971448060848]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[-0.5077035719100631,-0.38080180744672987,0.71338606911949],"aabb_xy":[[-0.5149648194804706,-0.39358881771023935],[-0.5004423243396556,-0.3680147971832204]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[0.5280475089138288,-0.06550214016886491,0.71338606911949],"aabb_xy":[[0.5105475754798454,-0.08300214008909944],[0.5455474423478122,-0.04800214024863035]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.39782427367305107,-0.4762273136257158,0.71338606911949],"aabb_xy":[[0.33282427267255055,-0.5270136787803907],[0.4628242746735516,-0.4254409484710408]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[0.5680269532131366,-2.0158082847106686,0.71338606911949],"aabb_xy":[[0.5305269516975049,-2.0270350577268137],[0.6055269547287683,-2.0045815116945236]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.6475165491972219,0.7759037857924165,0.71338606911949],"aabb_xy":[[0.583516548936751,0.7308949864394884],[0.7115165494576926,0.8209125851453444]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[-0.38768982843376193,0.9419231253385729,0.71338606911949],"aabb_xy":[[-0.3941914649417666,0.9321553033122632],[-0.38118819192575737,0.9516909473648827]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[0.23215289301826425,-2.2119717591280463,0.71338606911949],"aabb_xy":[[0.18215806009032265,-2.26197175802329],[0.28214772594620585,-2.161971760232803]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[0.35184260890239316,-1.9986945826702414,0.71338606911949],"aabb_xy":[[0.31738026150425125,-2.033188465068064],[0.38630495630053485,-1.9642007002724187]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[-0.6106298129394552,-1.1269327573535468,0.71338606911949],"aabb_xy":[[-0.6215355890270179,-1.206932753752376],[-0.5997240368518925,-1.0469327609547177]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_19","position":[-0.46462422365201517,1.7374006420733834,0.71338606911949],"aabb_xy":[[-0.4690548530068554,1.7319522703387007],[-0.46019359429717505,1.7428490138080657]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.2334786676816304,-1.1372506878863884,0.71338606911949],"aabb_xy":[[-0.2584786672333689,-1.147393171751523],[-0.20847866812989194,-1.1271082040212537]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[0.12029653688064978,0.7487229478401174,0.71338606911949],"aabb_xy":[[0.10274984196453087,0.7112229462758661],[0.13784323179676872,0.7862229494043687]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[0.31069137902477917,1.4319632969722753,0.71338606911949],"aabb_xy":[[0.2763944680070385,1.3976664107623338],[0.34498829004251974,1.4662601831822164]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_23","position":[0.4556165012156299,1.232658621809187,0.71338606911949],"aabb_xy":[[0.43203137775173506,1.167658619563755],[0.47920162467952476,1.2976586240546186]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[-0.6790074868606415,1.5515298931371055,0.71338606911949],"aabb_xy":[[-0.6827107481897804,1.5478278748283878],[-0.6753042255315026,1.5552319114458233]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_25","position":[-0.6002798291167272,-0.9569017307013035,0.71338606911949],"aabb_xy":[[-0.6502627793042063,-1.0069017303438637],[-0.5502968789292476,-0.9069017310587429]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_26","position":[-0.19980255983670187,0.2164395606465508,0.71338606911949],"aabb_xy":[[-0.24980256085583719,0.17997334490872285],[-0.14980255881756663,0.2529057763843787]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_27","position":[0.2854994039280644,0.7520000668900297,0.71338606911949],"aabb_xy":[[0.22049940604641666,0.700876403183489],[0.35049940180971223,0.8031237305965708]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_28","position":[-0.33011775748542305,0.49858067064943157,0.71338606911949],"aabb_xy":[[-0.3941177538809961,0.434617382230698],[-0.26611776108984997,0.5625439590681651]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[0.6288595382305315,1.1849458861767674,0.71338606911949],"aabb_xy":[[0.5648595365525342,1.136428494697453],[0.6928595399085289,1.2334632776560814]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_30","position":[0.6274368406314514,-1.1171022877340413,0.71338606911949],"aabb_xy":[[0.5474368426506663,-1.124703828695893],[0.7074368386122364,-1.1095007467721891]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_31","position":[-0.20803267537480274,1.4198129147965424,0.71338606911949],"aabb_xy":[[-0.24049437625673015,1.3896800826816393],[-0.17557097449287523,1.4499457469114445]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_32","position":[0.5382462500908958,-2.2988318140008617,0.71338606911949],"aabb_xy":[[0.5301325954175187,-2.3069376304548905],[0.5463599047642729,-2.290725997546833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6605678699592954,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1289.png","name":"1289"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1289.png","name":"1289"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9615.png","name":"9615"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6275.png","name":"6275"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3682.png","name":"3682"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5870.png","name":"5870"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":809.9822934006446,"rotation_z_degrees":6.414525984289057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017332831154048645,-0.008653421932076943,0.018350685854700014]},{"name":"camera_2","offset_m":[0.01690430683721848,-0.012971448351150893,-0.001167873925839738]},{"name":"camera_3","offset_m":[0.00153670606217755,-0.005443423885556391,-0.009542621267161863]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007479692352709427,-0.0005088590629944174,0.000569285939418442],"end_effector_yaw_offset_degrees":0.7250083057338128},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007471214129561607,0.0010422591451461787,-0.00022328170511361255],"end_effector_yaw_offset_degrees":-0.5942057003024523},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017031604000900416,0.00196796112141811,-0.0017780272972908833],"end_effector_yaw_offset_degrees":-0.06607811367344718},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006879360786294576,0.0012980783353829023,-0.0016328743480944334],"end_effector_yaw_offset_degrees":-0.14235458211515417}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007081990550397788,0.0015362781455195507],"position_m":[0.22410819905503976,-0.02786372185448045,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022089934148290984,-3.439396475960008e-05],"position_m":[0.2630089934148291,-0.30473439396475965,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031168193462658292,-0.0002497749148878169],"position_m":[0.13838318065373414,0.2849502250851122,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003887380151199947,0.0032426321427605253],"position_m":[0.3305873801511999,0.18674263214276052,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1b4172661044634466d2bdf616d3a2e29f47fbff6fe9744b17dbdf9ca9afcb27","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1289/tex_ceiling_textures_5870/tex_floor_textures_3682/tex_table_textures_9615/tex_wall_textures_6275","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7754220713964203227,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7754220713964203227,"visual_seed":7754220713964203227,"scene_id":"lab_003","finished_at":"2026-09-04T17:41:03"}
+{"episode_id":"ep_000014","started_at":"2026-09-04T17:41:09","dimensions":{"distractor":{"count":22,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.21760331254053478,1.3955634404010904,0.71338606911949],"aabb_xy":[[0.13760330927652165,1.382003408092177],[0.2976033158045479,1.4091234727100037]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[-0.39032263894891894,0.3232803927287815,0.71338606911949],"aabb_xy":[[-0.4402957044814345,0.27328039291624867],[-0.34034957341640354,0.37328039254131445]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[-0.27601798476847694,-0.36394233577148594,0.71338606911949],"aabb_xy":[[-0.30056420039122766,-0.39419123232052294],[-0.2514717691457262,-0.3336934392224488]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[-0.102840313908375,-1.3268645447630238,0.71338606911949],"aabb_xy":[[-0.1278403138408929,-1.3337472129839472],[-0.07784031397585711,-1.3199818765421005]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[-0.1562620485209565,-0.4814573999356324,0.71338606911949],"aabb_xy":[[-0.1626758621641414,-0.4878672201833006],[-0.14984823487777152,-0.4750475796879639]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.5069727384076809,-2.374033010712014,0.71338606911949],"aabb_xy":[[-0.5869727416655238,-2.4540295185039978],[-0.4269727351498379,-2.29403650292003]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[-0.4697577715275463,0.8499798532918312,0.71338606911949],"aabb_xy":[[-0.4922577715376945,0.835883633652228],[-0.44725777151739793,0.8640760729314345]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_7","position":[0.23428437498336308,-1.7675032837631646,0.71338606911949],"aabb_xy":[[0.21685365990435654,-1.7847753984270147],[0.25171509006236953,-1.750231169099313]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[-0.49982841128076716,0.5077715080343106,0.71338606911949],"aabb_xy":[[-0.5498276864492033,0.4577715067583634],[-0.449829136112331,0.5577715093102578]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[-0.27780235490769845,1.3206537091966144,0.71338606911949],"aabb_xy":[[-0.3678023546308726,1.2975803566614343],[-0.18780235518452423,1.343727061731794]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_10","position":[0.26286438255574696,1.2044749520768976,0.71338606911949],"aabb_xy":[[0.23657555823530627,1.178203518422246],[0.28915320687618756,1.2307463857315484]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[0.13297278192525352,-1.3728748517640557,0.71338606911949],"aabb_xy":[[0.11047364619902655,-1.3953748525423186],[0.1554719176514805,-1.3503748509857927]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.578277601855866,-1.162528432555175,0.71338606911949],"aabb_xy":[[0.4932776031637912,-1.1945142959500539],[0.6632776005479405,-1.1305425691602962]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.09595838226963482,-1.7359112077580576,0.71338606911949],"aabb_xy":[[0.08891693131888723,-1.742937959495852],[0.10299983322038242,-1.7288844560202632]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[-0.049806371807171845,0.610713613688254,0.71338606911949],"aabb_xy":[[-0.07230637231921244,0.5882217553228557],[-0.027306371295131242,0.6332054720536524]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[-0.5390336749782525,-1.7426639531318406,0.71338606911949],"aabb_xy":[[-0.6190336719925005,-1.762798504805252],[-0.4590336779640045,-1.7225294014584294]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[0.4201410956816267,-0.5100022093261343,0.71338606911949],"aabb_xy":[[0.4114271266316921,-0.5325022099853224],[0.4288550647315611,-0.487502208666946]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[0.06887996164058141,-2.11996504841332,0.71338606911949],"aabb_xy":[[0.004879959728239083,-2.175876197671331],[0.13287996355292375,-2.06405389915531]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[-0.39280885405568433,-0.9082131077257036,0.71338606911949],"aabb_xy":[[-0.4211385640042246,-0.9126738499194208],[-0.36447914410714416,-0.9037523655319867]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[-0.09611893279779593,-2.311295814891724,0.71338606911949],"aabb_xy":[[-0.17611893422792313,-2.3908129699043337],[-0.016118931367668718,-2.2317786598791147]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[0.5900364832515022,0.7457615510644935,0.71338606911949],"aabb_xy":[[0.5798834676973526,0.7096920094917529],[0.6001894988056513,0.7818310926372335]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[0.4699951658687145,-1.356696143159412,0.71338606911949],"aabb_xy":[[0.43296105644065475,-1.391073350493121],[0.5070292752967742,-1.3223189358257021]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6593939179605984,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5375.png","name":"5375"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5375.png","name":"5375"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4051.png","name":"4051"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3958.png","name":"3958"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6498.png","name":"6498"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8815.png","name":"8815"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":561.1266812109793,"rotation_z_degrees":58.92285744284001,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014452941222164093,-0.018147632410294504,-0.01431544765543824]},{"name":"camera_2","offset_m":[-0.006098238747605707,-0.0033255020539383444,0.018894549404785018]},{"name":"camera_3","offset_m":[-0.01616987091619006,-0.0019864035847874627,0.01035932380134117]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007001017326167748,-0.001063333320371341,-0.0011095382871985303],"end_effector_yaw_offset_degrees":0.20189242057989754},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010081499008003597,0.0012457814286497607,8.297621250314986e-05],"end_effector_yaw_offset_degrees":0.2971556711274119},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018724890849415709,-0.00014520847891953356,-0.0005460904967559061],"end_effector_yaw_offset_degrees":-0.4138873695438816},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012444746761518946,-0.0004331143379485219,0.0015991207380749847],"end_effector_yaw_offset_degrees":-0.9700711043965293}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004779319621094032,0.003933644318772853],"position_m":[0.21862068037890595,-0.025466355681227147,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013680454481842727,0.0008933164729767211],"position_m":[0.26216804544818423,-0.3038066835270233,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00310383581952963,0.0025955669116103468],"position_m":[0.14460383581952962,0.28779556691161035,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003876989988783085,-0.0009388612066446077],"position_m":[0.3305769899887831,0.1825611387933554,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"122864bcd4e611f68a3a9c4809afe8b18d5dc459cb1005d83b0d1286247b5f61","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5375/tex_ceiling_textures_8815/tex_floor_textures_6498/tex_table_textures_4051/tex_wall_textures_3958","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":538578600974153701,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":538578600974153701,"visual_seed":538578600974153701,"scene_id":"lab_003","finished_at":"2026-09-04T17:44:54"}
+{"episode_id":"ep_000015","started_at":"2026-09-04T17:44:57","dimensions":{"distractor":{"count":21,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[0.39638862348756576,0.311400346124191,0.71338606911949],"aabb_xy":[[0.37255240584696075,0.22140034531570452],[0.42022484112817093,0.4014003469326775]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.14402278317071515,0.1838640751979188,0.71338606911949],"aabb_xy":[[-0.14815863950341535,0.1463640757535618],[-0.13988692683801496,0.2213640746422758]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[0.48528881307526706,1.5333658866501465,0.71338606911949],"aabb_xy":[[0.44778881465186665,1.5202016726823158],[0.5227888114986674,1.5465301006179772]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[0.6364529934819461,0.5888753603284984,0.71338606911949],"aabb_xy":[[0.5564529930117301,0.58056465271415],[0.716452993952162,0.5971860679428468]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_4","position":[0.4049040944979938,-1.8520442277729021,0.71338606911949],"aabb_xy":[[0.387404095219907,-1.869382327839248],[0.42240409377608074,-1.8347061277065562]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[-0.05938671524634975,0.23477323415656404,0.71338606911949],"aabb_xy":[[-0.0958825358736285,0.19828929172980647],[-0.02289089461907101,0.2712571765833216]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.2562917730345386,1.5867441746708706,0.71338606911949],"aabb_xy":[[-0.2937917716101594,1.5740078790073124],[-0.21879177445891781,1.5994804703344283]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[0.4553297996516179,0.47192148988646565,0.71338606911949],"aabb_xy":[[0.45089917029677773,0.4664731181517831],[0.4597604290064581,0.4773698616211483]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[-0.3140617610478071,-0.5963964940505773,0.71338606911949],"aabb_xy":[[-0.3203738605841455,-0.6021634333037961],[-0.30774966151146865,-0.5906295547973585]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[0.1154316337290584,1.432375161705059,0.71338606911949],"aabb_xy":[[0.09293163321701778,1.4098833033396607],[0.13793163424109897,1.4548670200704574]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[0.09396189400889066,-2.0139592841546694,0.71338606911949],"aabb_xy":[[0.051195187129470465,-2.077959287576472],[0.13672860088831085,-1.949959280732867]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[0.2909908143398712,1.3211075985563703,0.71338606911949],"aabb_xy":[[0.2709324027266309,1.3010425116472129],[0.31104922595311146,1.3411726854655277]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[0.6391981324075311,-1.8357254897430613,0.71338606911949],"aabb_xy":[[0.575198129117823,-1.8790604087469784],[0.7031981356972392,-1.7923905707391432]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_13","position":[0.5704939841199757,-1.2743100142765973,0.71338606911949],"aabb_xy":[[0.5617960218292605,-1.2864349885840722],[0.579191946410691,-1.2621850399691228]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.17096709316929282,1.476811284423953,0.71338606911949],"aabb_xy":[[-0.22096709352985888,1.4268312972143498],[-0.12096709280872676,1.5267912716335557]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[-0.5474568404704182,-0.8230110937871395,0.71338606911949],"aabb_xy":[[-0.5724568396360514,-0.8299633394924961],[-0.5224568413047852,-0.816058848081783]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.29932327879873355,1.4555792313769111,0.71338606911949],"aabb_xy":[[-0.3049049504328623,1.4430792315591356],[-0.2937416071646048,1.4680792311946866]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.47749684424954936,-0.13183575101410838,0.71338606911949],"aabb_xy":[[-0.5474968460582947,-0.15318951977829576],[-0.407496842440804,-0.110481982249921]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.43172558109924464,-1.5307573040970335,0.71338606911949],"aabb_xy":[[0.3845962020974089,-1.594757305141435],[0.47885496010108025,-1.466757303052631]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[-0.13887155301861864,-2.559416704996972,0.71338606911949],"aabb_xy":[[-0.15578228545496042,-2.5728889105895867],[-0.12196082058227688,-2.5459444994043574]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[-0.608563214838823,-2.526015454339036,0.71338606911949],"aabb_xy":[[-0.6261960504323506,-2.543638400354659],[-0.5909303792452955,-2.508392508323413]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6561868544376418,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7311.png","name":"7311"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7311.png","name":"7311"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/735.png","name":"735"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6938.png","name":"6938"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/833.png","name":"833"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9911.png","name":"9911"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":727.4658464615416,"rotation_z_degrees":305.7091244605559,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00032272563634854964,-0.019917554866786806,-0.01237332159571019]},{"name":"camera_2","offset_m":[0.01713351376276605,-0.006916128492494896,0.015491509683250072]},{"name":"camera_3","offset_m":[-0.006715759000462632,-0.0010142154921117669,-0.0014342538934113622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017216894627780342,-0.0014809930945390995,0.001644333617827681],"end_effector_yaw_offset_degrees":0.4449920673943748},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000783241967006592,2.7798991762340974e-05,0.001628417580745068],"end_effector_yaw_offset_degrees":-0.027257502592562766},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001747091882647002,0.0007312275999301746,-0.0015831409265418782],"end_effector_yaw_offset_degrees":0.687348124494674},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013714473872046083,0.000893098229216576,0.00068623151019509],"end_effector_yaw_offset_degrees":-0.410955162223011}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003540469616241164,0.002700954394964452],"position_m":[0.21985953038375883,-0.026699045605035547,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026778881764620843,7.138808090323932e-05],"position_m":[0.2581221118235379,-0.3046286119190968,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003520523185060939,-0.0002406737592921095],"position_m":[0.14502052318506092,0.2849593262407079,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004016087851664886,-0.003688494368841844],"position_m":[0.3271016087851665,0.17981150563115816,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5401325fa61f3526c2ec6d6e2b344e595e814c4bb5c2b28f58bf45a07268f486","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0018.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7311/tex_ceiling_textures_9911/tex_floor_textures_833/tex_table_textures_735/tex_wall_textures_6938","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5310069608379165804,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5310069608379165804,"visual_seed":5310069608379165804,"scene_id":"lab_003","finished_at":"2026-09-04T17:48:25"}
+{"episode_id":"ep_000016","started_at":"2026-09-04T17:50:47","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[-0.578116998771788,-1.1602105524731583,0.71338606911949],"aabb_xy":[[-0.6231095854902384,-1.205210551747607],[-0.5331244120533376,-1.1152105531987095]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[-0.19266726091004405,0.9484283045445805,0.71338606911949],"aabb_xy":[[-0.2826672606332182,0.9253549520094004],[-0.10266726118686985,0.9715016570797601]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.09898402196440992,1.3345628269164371,0.71338606911949],"aabb_xy":[[0.0857530764297286,1.3213354078944375],[0.11221496749909118,1.3477902459384363]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[0.06236208642042296,-1.2045069534274382,0.71338606911949],"aabb_xy":[[0.012362085469890143,-1.2360561004309594],[0.11236208737095577,-1.1729578064239166]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[0.34909496278262764,-1.1465432931600856,0.71338606911949],"aabb_xy":[[0.29909496413670644,-1.196462836819548],[0.39909496142854883,-1.0966237495006232]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[0.09983580192301034,1.758691011462434,0.71338606911949],"aabb_xy":[[0.09179946722172548,1.750652892158017],[0.10787213662429516,1.7667291307668505]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[0.4634428889414419,-1.5037305818867752,0.71338606911949],"aabb_xy":[[0.4561816413710345,-1.5165175921502845],[0.47070413651184934,-1.4909435716232655]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[0.5789641485806254,1.1438561064960227,0.71338606911949],"aabb_xy":[[0.5288666845995518,1.0798561059862108],[0.629061612561699,1.2078561070058345]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[0.5002028093370201,-1.883192215803168,0.71338606911949],"aabb_xy":[[0.4362028079290294,-1.9349811673270925],[0.5642028107450107,-1.831403264279243]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.45438050122503937,-0.14561395647921138,0.71338606911949],"aabb_xy":[[-0.5143805020858521,-0.19704038648569774],[-0.3943805003642265,-0.09418752647272498]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_10","position":[-0.4822853351604541,1.0263325061794393,0.71338606911949],"aabb_xy":[[-0.5522853315704157,1.0058945705277573],[-0.4122853387504921,1.0467704418311208]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[-0.18517570802769145,-0.23448289621949892,0.71338606911949],"aabb_xy":[[-0.19387367031840677,-0.24660787052697367],[-0.17647774573697617,-0.22235792191202422]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[0.4406530692890962,1.4928071271140015,0.71338606911949],"aabb_xy":[[0.3996351259027253,1.4428071264830442],[0.4816710126754671,1.5428071277449589]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[0.27309365524735296,-1.7288724477655528,0.71338606911949],"aabb_xy":[[0.2230943800789168,-1.7788724490415],[0.3230929304157891,-1.6788724464896057]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[0.4122137666905248,-0.406225101353372,0.71338606911949],"aabb_xy":[[0.35722151605501384,-0.4612251030966848],[0.4672060173260358,-0.3512250996100592]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[0.1509651249086167,-1.0656562130074014,0.71338606911949],"aabb_xy":[[0.08696512848129481,-1.1128258368294979],[0.21496512133593862,-1.018486589185305]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[-0.2848536110012055,-2.5585000511462637,0.71338606911949],"aabb_xy":[[-0.3548536131326349,-2.581262016771959],[-0.21485360886977584,-2.5357380855205673]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.5068382773509013,1.1652949520801874,0.71338606911949],"aabb_xy":[[-0.5379851961944844,1.09529495339338],[-0.47569135850731814,1.2352949507669944]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[0.3342013985255232,-1.8489730866558989,0.71338606911949],"aabb_xy":[[0.29920139939556756,-1.8547183077315628],[0.3692013976554789,-1.8432278655802345]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.49730988032785706,-1.1180548230823695,0.71338606911949],"aabb_xy":[[0.44730987996729094,-1.1680348102919722],[0.547309880688423,-1.0680748358727663]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[0.03262683178981396,0.6164759072935984,0.71338606911949],"aabb_xy":[[0.021786353563299055,0.5992896260029495],[0.043467310016328864,0.6336621885842472]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_21","position":[-0.18106077902515805,-2.02846485879399,0.71338606911949],"aabb_xy":[[-0.2660607774425813,-2.113339154256275],[-0.09606078060773479,-1.9435905633317052]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[-0.4758214277161442,-1.5100169447897513,0.71338606911949],"aabb_xy":[[-0.4949337350741231,-1.5291517236669931],[-0.45670912035816535,-1.490882165912509]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.024744917527273258,-1.6617821844237783,0.71338606911949],"aabb_xy":[[-0.11474491986129232,-1.739264539008891],[0.0652550848067458,-1.5842998298386657]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[-0.19606131990311398,-0.9877985792802666,0.71338606911949],"aabb_xy":[[-0.2459440167808102,-1.0377985785265413],[-0.1461786230254178,-0.9377985800339919]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_25","position":[0.13346880015585338,0.7898688048113076,0.71338606911949],"aabb_xy":[[0.11156011801650234,0.7679681379912168],[0.15537748229520443,0.8117694716313982]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_26","position":[0.06632464129293536,1.6045617614946637,0.71338606911949],"aabb_xy":[[0.06224648338588562,1.6004807812464004],[0.0704027991999851,1.608642741742927]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_27","position":[0.31261451235444104,1.7174732503660288,0.71338606911949],"aabb_xy":[[0.2937301285859308,1.698587325585676],[0.3314988961229512,1.7363591751463816]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_28","position":[-0.5878112417246448,-0.04214858226544127,0.71338606911949],"aabb_xy":[[-0.6678112427977653,-0.05192662860282571],[-0.5078112406515246,-0.03237053592805683]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_29","position":[-0.4374286316336608,-1.1062356708174044,0.71338606911949],"aabb_xy":[[-0.4637174559541014,-1.1325071044720554],[-0.4111398073132201,-1.079964237162753]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_30","position":[-0.5710144594895903,-1.8307552861972014,0.71338606911949],"aabb_xy":[[-0.6350144566016961,-1.879787655991612],[-0.5070144623774847,-1.7817229164027908]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6594167473315558,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4961.png","name":"4961"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4961.png","name":"4961"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5148.png","name":"5148"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9137.png","name":"9137"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9274.png","name":"9274"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7791.png","name":"7791"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":790.3774827782131,"rotation_z_degrees":100.72227252224047,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0019032519032514197,-0.001608541040993717,0.005797380034997534]},{"name":"camera_2","offset_m":[0.014596047391503237,0.0009670445650771242,-0.004767039357190982]},{"name":"camera_3","offset_m":[-0.005397708391379066,-0.012934513100979154,0.0032080698691949946]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012209305484341413,8.637064037868162e-05,-0.00014948884375002441],"end_effector_yaw_offset_degrees":-0.6494575191380367},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001288263222951239,0.0013602070120284303,-0.0019792180603503988],"end_effector_yaw_offset_degrees":-0.252274018306311},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.8558015067602664e-05,0.0016321817481887752,0.001215508923794509],"end_effector_yaw_offset_degrees":-0.4588746134508701},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012887413674935889,-0.0015978904755468194,-0.00100716762141505],"end_effector_yaw_offset_degrees":0.4060035558552282}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002456513588940676,0.0036247544374534363],"position_m":[0.22585651358894065,-0.025775245562546564,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028318525739351513,0.003679777496279139],"position_m":[0.2636318525739351,-0.3010202225037209,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0049648446626063235,-0.00398663559335977],"position_m":[0.13653515533739366,0.28121336440664024,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004822699759943372,0.0007066919974058582],"position_m":[0.3218773002400566,0.18420669199740586,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fc18b7a8fce30088567ed91b0546268b9d74efc2a98ed5e5efe25408d3f6e8cd","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0020.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4961/tex_ceiling_textures_7791/tex_floor_textures_9274/tex_table_textures_5148/tex_wall_textures_9137","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4630221622160377322,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4630221622160377322,"visual_seed":4630221622160377322,"scene_id":"lab_003","finished_at":"2026-09-04T17:54:19"}
+{"episode_id":"ep_000017","started_at":"2026-09-04T17:56:42","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[0.5484150006597308,-0.8242516008396672,0.71338606911949],"aabb_xy":[[0.5109150005541377,-0.8310737626926483],[0.5859150007653237,-0.8174294389866861]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[-0.5759071392898668,-0.09580492843324251,0.71338606911949],"aabb_xy":[[-0.5799852971969166,-0.09988590868150582],[-0.571828981382817,-0.0917239481849792]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[-0.3029796129690062,-0.5088405461802799,0.71338606911949],"aabb_xy":[[-0.35295702983425975,-0.5588405476695283],[-0.2530021961037526,-0.45884054469103125]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[0.5149516137304484,0.498020663528997,0.71338606911949],"aabb_xy":[[0.4649516150845272,0.4481011198695345],[0.5649516123763696,0.5479402071884593]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.13035991355964704,-1.7270808730771017,0.71338606911949],"aabb_xy":[[-0.1764450048143785,-1.7910808703296566],[-0.08427482230491555,-1.6630808758245463]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[-0.12558822548810655,1.414511469293188,0.71338606911949],"aabb_xy":[[-0.1310461711251266,1.334511465985529],[-0.12013027985108646,1.4945114726008473]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.27213471327696914,0.7583955570852727,0.71338606911949],"aabb_xy":[[0.2578002881508057,0.7463353415307338],[0.2864691384031326,0.7704557726398115]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[-0.34712620892694823,-2.516699934195472,0.71338606911949],"aabb_xy":[[-0.38212620890344406,-2.526164550243089],[-0.3121262089504524,-2.5072353181478553]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_8","position":[-0.13371682792309447,0.8648241267753138,0.71338606911949],"aabb_xy":[[-0.14174309855372047,0.8560726317979612],[-0.12569055729246847,0.8735756217526665]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[0.2582426314180689,-2.2214411366284224,0.71338606911949],"aabb_xy":[[0.2519305318817305,-2.227208075881641],[0.26455473095440735,-2.2156741973752037]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[0.3947216061508523,-1.7111546705962932,0.71338606911949],"aabb_xy":[[0.3147277825722941,-1.7911546731891346],[0.47471542972941055,-1.6311546680034514]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[-0.13489391544422635,-1.3969778666922184,0.71338606911949],"aabb_xy":[[-0.18017253032537564,-1.460977866040402],[-0.08961530056307712,-1.3329778673440347]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[-0.01035320523028771,-1.5276868410850721,0.71338606911949],"aabb_xy":[[-0.018567750345971683,-1.536363431382713],[-0.0021386601146037277,-1.5190102507874303]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[0.1796429848773371,1.2054231424820085,0.71338606911949],"aabb_xy":[[0.1716494950820551,1.1974250105415332],[0.18763647467261918,1.2134212744224844]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[0.16542955726449204,1.0874875528007637,0.71338606911949],"aabb_xy":[[0.10142956083717017,1.0403179289786673],[0.22942955369181398,1.1346571766228601]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.19350584306098606,1.0934472957536046,0.71338606911949],"aabb_xy":[[-0.273505843334593,1.0204977479278876],[-0.11350584278737906,1.166396843579321]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[-0.39072568602030205,-1.8656750393033852,0.71338606911949],"aabb_xy":[[-0.4547256833059507,-1.9071817582562292],[-0.3267256887346534,-1.8241683203505412]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[-0.48408991858276507,1.7947974650380831,0.71338606911949],"aabb_xy":[[-0.5017227541762925,1.7771745190224604],[-0.46645708298923744,1.8124204110537063]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.17755140604899966,0.5830010734711246,0.71338606911949],"aabb_xy":[[0.17359092227926531,0.575333208885604],[0.18151188981873406,0.5906689380566452]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[-0.19110440363774206,0.5289155341179748,0.71338606911949],"aabb_xy":[[-0.2551044053157394,0.48039814263866043],[-0.12710440195974473,0.5774329255972889]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[0.572835834022414,-1.3960179250259381,0.71338606911949],"aabb_xy":[[0.5499201211373641,-1.4189222221623616],[0.5957515469074639,-1.3731136278895146]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_21","position":[0.40725993563419793,0.643688334624712,0.71338606911949],"aabb_xy":[[0.3622599341679691,0.5986884777632313],[0.45225993710042683,0.6886881914861926]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[-0.5607355948719412,1.3037392684614928,0.71338606911949],"aabb_xy":[[-0.5733382940090178,1.2911438722366275],[-0.5481328957348649,1.3163346646863585]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_23","position":[0.178286931677325,-1.325815683368126,0.71338606911949],"aabb_xy":[[0.15822852006408472,-1.3458807702772835],[0.1983453432905653,-1.3057505964589686]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_24","position":[0.25017674708542326,-0.9705809991819578,0.71338606911949],"aabb_xy":[[0.18618104969032662,-1.0345809974826663],[0.3141724444805198,-0.9065810008812489]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_25","position":[0.04225397750449389,1.2779259956366338,0.71338606911949],"aabb_xy":[[0.01975755607062979,1.2554259958298861],[0.06475039893835799,1.300425995443381]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_26","position":[-0.5298138876657336,0.4403505873399358,0.71338606911949],"aabb_xy":[[-0.5609608065093167,0.37035058865312864],[-0.49866696882215045,0.510350586026743]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6608160876919802,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6351.png","name":"6351"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6351.png","name":"6351"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/784.png","name":"784"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2881.png","name":"2881"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8158.png","name":"8158"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9516.png","name":"9516"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":545.832383244071,"rotation_z_degrees":325.3083416237907,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006051528565946783,0.01894737912795751,0.018619281501462883]},{"name":"camera_2","offset_m":[-0.002621907157843703,0.018539970786455525,0.01677200866249619]},{"name":"camera_3","offset_m":[0.0014742680384654192,-0.012059838392767355,0.01505495339535613]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-6.74422320351446e-05,-0.0018478882724124821,0.0014122491562244535],"end_effector_yaw_offset_degrees":0.7472451165336804},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016887132645349275,0.0007813103066847456,0.0005895022871950772],"end_effector_yaw_offset_degrees":0.48827407926938804},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002209481496616714,-0.00020365100745585972,-0.0013438567293420655],"end_effector_yaw_offset_degrees":0.3187957055791266},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012081219343570858,0.00040007018254131603,0.0016150347226916557],"end_effector_yaw_offset_degrees":0.05059865459953938}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004565659836428961,-4.804465133000958e-05],"position_m":[0.22796565983642894,-0.02944804465133001,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019853917424190737,-0.001000949788826054],"position_m":[0.26278539174241905,-0.30570094978882606,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022321661576728234,0.0013141204319801402],"position_m":[0.13926783384232716,0.28651412043198016,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008258893731229412,0.0005558748246142012],"position_m":[0.32587411062687704,0.1840558748246142,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6fd9c1abb11a5b28ddca92d46c230528487c3152ee727cd417e30ed856c601a6","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0022.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6351/tex_ceiling_textures_9516/tex_floor_textures_8158/tex_table_textures_784/tex_wall_textures_2881","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8907468151676270340,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8907468151676270340,"visual_seed":8907468151676270340,"scene_id":"lab_003","finished_at":"2026-09-04T18:00:09"}
+{"episode_id":"ep_000018","started_at":"2026-09-04T18:00:14","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[-0.12631241778795355,-2.3306361921099246,0.71338606911949],"aabb_xy":[[-0.191312420425747,-2.3821157908093715],[-0.06131241515016003,-2.2791565934104776]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[-0.07977084516283861,1.7772442557221901,0.71338606911949],"aabb_xy":[[-0.12975508087101584,1.7272442569086948],[-0.029786609454661384,1.827244254535686]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_2","position":[0.17310440407477823,-2.0193191220823072,0.71338606911949],"aabb_xy":[[0.10310440068321626,-2.0546348957857377],[0.2431044074663402,-1.9840033483788762]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_3","position":[0.13030142107562848,-2.4650948241252015,0.71338606911949],"aabb_xy":[[0.06030141843904213,-2.4851996891210666],[0.20030142371221482,-2.4449899591293356]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[-0.46199380297149245,-2.3202447288584187,0.71338606911949],"aabb_xy":[[-0.47942451805049885,-2.3375168435222693],[-0.44456308789248583,-2.3029726141945672]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[0.21196733301096948,-0.8456329858153016,0.71338606911949],"aabb_xy":[[0.14196733660100766,-0.8660709214669832],[0.2819673294209312,-0.8251950501636197]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[-0.1333819595190836,0.14699424156368446,0.71338606911949],"aabb_xy":[[-0.14159650463476756,0.13831765126604315],[-0.1251674144033996,0.15567083186132571]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[0.19959881778281852,1.417048785400635,0.71338606911949],"aabb_xy":[[0.18202051559387167,1.3994742958265298],[0.21717711997176536,1.4346232749747398]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[0.5490004683740513,1.7247718856686567,0.71338606911949],"aabb_xy":[[0.5115004685570176,1.7201336743575149],[0.5865004681910847,1.7294100969797985]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[0.02502067582911094,-0.7113105304753535,0.71338606911949],"aabb_xy":[[-0.012479324668247305,-0.7152792140234718],[0.06252067632646918,-0.707341846927235]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.5949888224929117,-1.1045743308573521,0.71338606911949],"aabb_xy":[[-0.6549888230007646,-1.1614210645432732],[-0.5349888219850587,-1.0477275971714306]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[-0.28673991108104013,-0.21742606682198984,0.71338606911949],"aabb_xy":[[-0.3242399095044405,-0.23059028078982044],[-0.24923991265763978,-0.20426185285415918]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.3109187239545362,0.5552061993140995,0.71338606911949],"aabb_xy":[[-0.3659187231311256,0.5002165245391418],[-0.25591872477794664,0.6101958740890571]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_13","position":[0.5826063050701369,-2.011356776575213,0.71338606911949],"aabb_xy":[[0.5466928006451474,-2.047270284791968],[0.6185198094951266,-1.9754432683584586]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.29671167849520563,-1.4779584709550382,0.71338606911949],"aabb_xy":[[-0.3867116749960773,-1.5238701133734964],[-0.2067116819943338,-1.43204682853658]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[-0.1278000257833951,0.9940725972553182,0.71338606911949],"aabb_xy":[[-0.13591368045677218,0.985966780801289],[-0.11968637111001798,1.002178413709347]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[-0.4228886845448251,0.013163539507993871,0.71338606911949],"aabb_xy":[[-0.48051915343209584,-0.04683645941871672],[-0.3652582156575542,0.07316353843470445]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.46110284626164577,0.8997096538167493,0.71338606911949],"aabb_xy":[[0.45019707017408306,0.81970965741792],[0.4720086223492085,0.9797096502155783]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[0.573323210340756,-0.6625454202642298,0.71338606911949],"aabb_xy":[[0.5679856346747515,-0.6875454211933696],[0.5786607860067606,-0.63754541933509]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.5185485696238954,-0.1892852936324969,0.71338606911949],"aabb_xy":[[0.5105222989932694,-0.19803678860984952],[0.5265748402545214,-0.1805337986551443]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_20","position":[0.3635155692727028,-1.3325384089781693,0.71338606911949],"aabb_xy":[[0.3261842927474602,-1.3671914637730216],[0.4008468457979454,-1.297885354183317]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[0.474110186455575,0.4965191678051837,0.71338606911949],"aabb_xy":[[0.4263040188418063,0.43151916509812477],[0.5219163540693437,0.5615191705122426]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_22","position":[0.17754470833406288,-1.7200772734658702,0.71338606911949],"aabb_xy":[[0.14254471002336744,-1.7277922883894157],[0.21254470664475833,-1.7123622585423244]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[0.6106802606954864,-0.38832953675168946,0.71338606911949],"aabb_xy":[[0.5861340450727357,-0.4185784333007265],[0.6352264763182371,-0.3580806402026524]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[0.4347582380917572,1.2590083904695621,0.71338606911949],"aabb_xy":[[0.42595618278278435,1.251197064314633],[0.4435602934007298,1.2668197166244912]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[-0.42475746222444893,-1.7168322496652424,0.71338606911949],"aabb_xy":[[-0.47188684122628455,-1.7808322507096441],[-0.3776280832226132,-1.6528322486208402]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_26","position":[0.6988444312314035,-2.28305711831166,0.71338606911949],"aabb_xy":[[0.6908509414361216,-2.291055250252136],[0.7068379210266856,-2.2750589863711848]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_27","position":[-0.556997088489749,-0.979566043796734,0.71338606911949],"aabb_xy":[[-0.5919970884662449,-0.9890306598443506],[-0.5219970885132532,-0.9701014277491173]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_28","position":[-0.4434017900954602,1.2245727185137856,0.71338606911949],"aabb_xy":[[-0.4612708978499157,1.2107398105365748],[-0.4255326823410047,1.2384056264909968]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627453293684654,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5015.png","name":"5015"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5015.png","name":"5015"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3430.png","name":"3430"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5192.png","name":"5192"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2783.png","name":"2783"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8205.png","name":"8205"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":564.2654786598893,"rotation_z_degrees":308.00326167845117,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007849042870189244,-0.010621711436589827,-0.008861733885286882]},{"name":"camera_2","offset_m":[-0.0073516381256322864,-0.012408391030401304,0.01109091231932597]},{"name":"camera_3","offset_m":[-0.0003556392485682923,-0.015493327507795317,-0.019941490815096108]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00020951199781061593,-0.0002715335196297945,0.0008319942879833025],"end_effector_yaw_offset_degrees":-0.5261906830644059},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00013288054925893232,0.0017929013733460086,0.0006095126658046076],"end_effector_yaw_offset_degrees":-0.6490570617389086},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008589994714889478,0.0015626287646240732,-0.0006467505893701486],"end_effector_yaw_offset_degrees":0.742615050185889},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00012560438689942057,-0.0011661105411577308,-0.0017541488215595607],"end_effector_yaw_offset_degrees":-0.7197233873633002}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003643918101972116,0.0027802109669013385],"position_m":[0.21975608189802787,-0.02661978903309866,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003840488363782874,-0.0016159698384808708],"position_m":[0.26464048836378284,-0.3063159698384809,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0003813705075182009,-0.0005636277475496772],"position_m":[0.1418813705075182,0.2846363722524503,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001344285000362596,0.0034683024811309445],"position_m":[0.3253557149996374,0.18696830248113094,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3b85bf5267e9c273d6e0a2ea1519dbb69cfa04da8b287820bbe377381315fcd4","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5015/tex_ceiling_textures_8205/tex_floor_textures_2783/tex_table_textures_3430/tex_wall_textures_5192","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":438270790916668751,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":438270790916668751,"visual_seed":438270790916668751,"scene_id":"lab_003","finished_at":"2026-09-04T18:03:41"}
+{"episode_id":"ep_000019","started_at":"2026-09-04T18:03:46","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[-0.536385192550838,1.6443473499669312,0.71338606911949],"aabb_xy":[[-0.5816638074319873,1.5803473506187475],[-0.4911065776696888,1.708347349315115]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.49667434601758953,1.069542291741186,0.71338606911949],"aabb_xy":[[-0.5666743494091514,1.034226518037755],[-0.4266743426260275,1.1048580654446167]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[-0.38944469638876206,-0.35701135752870883,0.71338606911949],"aabb_xy":[[-0.41194111782262616,-0.37951135733545627],[-0.36694827495489796,-0.3345113577219614]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[0.48851027481923537,-1.0403297537801528,0.71338606911949],"aabb_xy":[[0.4787542853100614,-1.0500922878393872],[0.4982662643284092,-1.0305672197209184]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[0.648617577129946,-0.7276478083464908,0.71338606911949],"aabb_xy":[[0.5846175800178405,-0.7766801781409014],[0.7126175742420519,-0.6786154385520802]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[-0.34552473607715434,-2.109251542931831,0.71338606911949],"aabb_xy":[[-0.4255247363507613,-2.1822010907575478],[-0.26552473580354735,-2.0363019951061143]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.5644766022792679,-1.1555072468864114,0.71338606911949],"aabb_xy":[[-0.5732578294265042,-1.1642869941749419],[-0.5556953751320318,-1.1467274995978813]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.27649501561427914,0.6928750676154078,0.71338606911949],"aabb_xy":[[-0.29899501562442743,0.6787788479758046],[-0.25399501560413085,0.7069712872550111]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[-0.36024664932077755,-2.2849513867488405,0.71338606911949],"aabb_xy":[[-0.42424665154118457,-2.329324470874129],[-0.2962466471003705,-2.2405783026235526]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[0.6317150639760687,0.2102328701393903,0.71338606911949],"aabb_xy":[[0.5417150602991504,0.1488004635622859],[0.7217150676529868,0.2716652767164946]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[-0.3340286962774473,-1.926729983463341,0.71338606911949],"aabb_xy":[[-0.3448016701988151,-1.9617299816823797],[-0.3232557223560795,-1.8917299852443017]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_11","position":[0.6525902389760463,0.8458861711782175,0.71338606911949],"aabb_xy":[[0.6460886024680417,0.8361183491519077],[0.6590918754840509,0.8556539932045273]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_12","position":[0.4924258821294887,-2.3824305837188677,0.71338606911949],"aabb_xy":[[0.47654138886416353,-2.396783524017691],[0.5083103753948138,-2.3680776434200435]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[-0.3731726995048459,1.5589099896945497,0.71338606911949],"aabb_xy":[[-0.401017736285453,1.528125490956238],[-0.34532766272423876,1.5896944884328614]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[0.32763221439398804,1.025729021825478,0.71338606911949],"aabb_xy":[[0.2376322149756172,0.9923535249812883],[0.417632213812359,1.0591045186696677]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[0.08173830778281721,-1.0948653765343421,0.71338606911949],"aabb_xy":[[0.04673830780632138,-1.1043299925819587],[0.11673830775931304,-1.0854007604867255]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[-0.6208739586830201,-1.75535935487853,0.71338606911949],"aabb_xy":[[-0.6383739589280695,-1.772859142718097],[-0.6033739584379707,-1.7378595670389634]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[-0.20805676759387548,0.8117935572660206,0.71338606911949],"aabb_xy":[[-0.21568103568405375,0.8041603337294772],[-0.20043249950369726,0.8194267808025646]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.621168221415715,-1.9240393574501762,0.71338606911949],"aabb_xy":[[0.5740388424138793,-1.988039358494578],[0.6682976004175506,-1.860039356405774]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[-0.6294300425121645,0.9017648015152573,0.71338606911949],"aabb_xy":[[-0.6794300435312998,0.8652985857774295],[-0.5794300414930292,0.9382310172530853]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.24487109589342415,-0.8094929783250018,0.71338606911949],"aabb_xy":[[0.1648710954232082,-0.8178036859393504],[0.3248710963636401,-0.8011822707106536]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[-0.4405972954148495,-1.588925637145287,0.71338606911949],"aabb_xy":[[-0.47622645131480923,-1.6245583039021398],[-0.40496813951488975,-1.553292970388434]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[-0.28779521399916325,0.5100545979125548,0.71338606911949],"aabb_xy":[[-0.33767791087685944,0.46005459866628007],[-0.23791251712146705,0.5600545971588295]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.18715927296028634,1.086770708527006,0.71338606911949],"aabb_xy":[[-0.19249178761489935,1.0814463802817704],[-0.18182675830567338,1.0920950367722415]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_24","position":[-0.2937654959804146,-1.31501779292097,0.71338606911949],"aabb_xy":[[-0.34876549515700406,-1.3700074676959275],[-0.23876549680382508,-1.2600281181460122]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_25","position":[-0.41442328318115296,-0.11336483238526052,0.71338606911949],"aabb_xy":[[-0.4642400626459877,-0.16336483086956388],[-0.3646065037163182,-0.06336483390095714]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[0.5952644160900846,-1.255972998386828,0.71338606911949],"aabb_xy":[[0.5452856075797687,-1.3059729983925465],[0.6452432246004005,-1.205972998381109]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_27","position":[0.2975674700904346,-1.6840342275808875,0.71338606911949],"aabb_xy":[[0.26408830282939366,-1.7175133409519945],[0.33104663735147555,-1.6505551142097805]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626095685061144,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5817.png","name":"5817"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5817.png","name":"5817"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8136.png","name":"8136"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6304.png","name":"6304"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2351.png","name":"2351"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8356.png","name":"8356"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":767.2147612483402,"rotation_z_degrees":172.85339444059497,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003245213547326542,0.015054622734510702,0.011429657452336869]},{"name":"camera_2","offset_m":[0.0129293521759604,-0.007812619202213234,-0.006777776148538117]},{"name":"camera_3","offset_m":[0.010731783602355112,-0.003733956819785781,0.004929148036648023]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001919610099820365,0.0016495216398563642,-0.0016806056832290577],"end_effector_yaw_offset_degrees":-0.5976593688646172},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001564875555007722,-0.0003919121198609878,-0.001583666973304785],"end_effector_yaw_offset_degrees":0.9341184353753766},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016382336840703843,5.2114449594229274e-05,-0.0014697750314822066],"end_effector_yaw_offset_degrees":-0.26822938021353915},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014199813801207921,-0.0006398288819423187,-0.001097441931426216],"end_effector_yaw_offset_degrees":-0.4316237769771363}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009718446150718627,-0.0002519702076287933],"position_m":[0.22242815538492813,-0.029651970207628792,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003093097969003607,-0.002753176534814078],"position_m":[0.26389309796900356,-0.3074531765348141,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029124956995496424,-0.001249451795739168],"position_m":[0.14441249569954964,0.28395054820426086,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020213042093107083,4.202030206902109e-06],"position_m":[0.3246786957906893,0.1835042020302069,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"41ec6fba063a709e40e6e735e2f973e15ac24d718c9bc66b41bd1717275f609d","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5817/tex_ceiling_textures_8356/tex_floor_textures_2351/tex_table_textures_8136/tex_wall_textures_6304","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7143787312065056229,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7143787312065056229,"visual_seed":7143787312065056229,"scene_id":"lab_003","finished_at":"2026-09-04T18:07:20"}
+{"episode_id":"ep_000020","started_at":"2026-09-04T18:07:24","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[0.028347644197338262,-1.1614875674499796,0.71338606911949],"aabb_xy":[[0.020424363958589934,-1.183987567687983],[0.03627092443608659,-1.1389875672119762]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[-0.34573997389144173,-2.432651420538277,0.71338606911949],"aabb_xy":[[-0.4107399765292352,-2.484131019237724],[-0.28073997125364825,-2.38117182183883]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[0.43718920648595816,-1.7098176987774716,0.71338606911949],"aabb_xy":[[0.4278955882488076,-1.7473176972656053],[0.44648282472310874,-1.6723177002893375]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[0.4543053577029734,1.514400090209492,0.71338606911949],"aabb_xy":[[0.4508646814629163,1.5105386572351278],[0.45774603394303065,1.5182615231838568]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[-0.035891576741625464,-2.320524841485581,0.71338606911949],"aabb_xy":[[-0.09589157658819225,-2.3773434636786197],[0.024108423104941316,-2.2637062192925423]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[0.2675546684834753,0.605332028487537,0.71338606911949],"aabb_xy":[[0.23309232108533348,0.570838146089714],[0.30201701588161706,0.6398259108853593]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[-0.47067036484938185,-1.2767363933608442,0.71338606911949],"aabb_xy":[[-0.5049866420239999,-1.326736393334022],[-0.43635408767476397,-1.2267363933876665]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[0.40534940019737986,0.7414555447224864,0.71338606911949],"aabb_xy":[[0.3972217120040667,0.7325419363117788],[0.41347708839069314,0.7503691531331941]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_8","position":[-0.5477277988328644,-1.8867700392917008,0.71338606911949],"aabb_xy":[[-0.6277277959924396,-1.8983176402495177],[-0.467727801673289,-1.8752224383338836]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_9","position":[-0.013828162642873343,0.7057443053158545,0.71338606911949],"aabb_xy":[[-0.02086961359362094,0.69871755357806],[-0.006786711692125746,0.7127710570536491]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.3957292791664215,1.5548290974166092,0.71338606911949],"aabb_xy":[[-0.41484158652440034,1.5356943185393672],[-0.3766169718084426,1.5739638762938513]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.07655586296427008,-1.4526106473356215,0.71338606911949],"aabb_xy":[[-0.11358997239232979,-1.486987854669331],[-0.03952175353621037,-1.418233440001912]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[0.6275333547584103,-2.0703201941881444,0.71338606911949],"aabb_xy":[[0.5775333534745702,-2.120299048578766],[0.6775333560422502,-2.020341339797522]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[0.10425312714389057,-0.7755176161098478,0.71338606911949],"aabb_xy":[[0.07081295194787095,-0.8089612419407779],[0.13769330233991015,-0.7420739902789177]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[-0.3745103548337742,-1.8410627401274162,0.71338606911949],"aabb_xy":[[-0.3846633703879234,-1.8771322817001561],[-0.3643573392796247,-1.8049931985546754]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[-0.543104544043356,-2.5143162905460588,0.71338606911949],"aabb_xy":[[-0.565013226182707,-2.5362169573661495],[-0.5211958619040049,-2.492415623725968]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.35253159678933116,0.843027649478667,0.71338606911949],"aabb_xy":[[-0.3700315959236983,0.8331480224410791],[-0.33503159765496393,0.8529072765162548]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[0.3847252079594672,-2.470761241902343,0.71338606911949],"aabb_xy":[[0.36704957737086885,-2.4884414581817453],[0.4024008385480655,-2.45308102562294]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_18","position":[-0.482332123429853,0.4528906569836373,0.71338606911949],"aabb_xy":[[-0.4867627527846932,0.44744228524895474],[-0.47790149407501287,0.45833902871831994]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[0.5588570569049565,-0.6659032418615332,0.71338606911949],"aabb_xy":[[0.5462543577678801,-0.6784986380863985],[0.571459756042033,-0.6533078456366676]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.11481715673456228,1.4039594379122664,0.71338606911949],"aabb_xy":[[0.06484386273130181,1.3539594373577188],[0.16479045073782272,1.4539594384668135]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[0.5928345861714877,1.558695110035028,0.71338606911949],"aabb_xy":[[0.5228345827799257,1.5233793363315968],[0.6628345895630496,1.5940108837384586]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[-0.5989316224708562,-1.20506792535687,0.71338606911949],"aabb_xy":[[-0.6364316226427281,-1.2377686607397769],[-0.5614316222989842,-1.1723671899739625]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_23","position":[-0.5901216059060996,0.6239321976806975,0.71338606911949],"aabb_xy":[[-0.6019936889176007,0.5389321979870472],[-0.5782495228945985,0.7089321973743479]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_24","position":[-0.4630130028100541,-0.036815094529181636,0.71338606911949],"aabb_xy":[[-0.5430130030836611,-0.10976464235489836],[-0.3830130025364471,0.03613445329653507]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_25","position":[-0.2799463872139859,0.9900798897245826,0.71338606911949],"aabb_xy":[[-0.28552805884811466,0.9775798899068071],[-0.27436471557985714,1.0025798895423579]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[0.4272986693752905,-0.8235928813307096,0.71338606911949],"aabb_xy":[[0.409429561620835,-0.8374257893079204],[0.445167777129746,-0.8097599733534986]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_27","position":[0.15683314915748858,0.6610690290220771,0.71338606911949],"aabb_xy":[[0.12183315088736865,0.6539949013270889],[0.19183314742760846,0.6681431567170653]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_28","position":[0.34614753291753164,-0.39690726567478496,0.71338606911949],"aabb_xy":[[0.33744957062681635,-0.40903223998225974],[0.35484549520824693,-0.3847822913673103]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6554650226772566,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9054.png","name":"9054"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9054.png","name":"9054"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5573.png","name":"5573"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6637.png","name":"6637"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5940.png","name":"5940"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9067.png","name":"9067"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":741.434221534959,"rotation_z_degrees":1.3198846691507038,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004819188731454363,0.013431167028066324,-0.0017065401329019424]},{"name":"camera_2","offset_m":[0.017390149867066006,-0.006765659695138896,0.0014916657249198495]},{"name":"camera_3","offset_m":[-0.015702938959850796,0.009714381333993192,0.008266748790082882]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018346884704261766,-0.000826597849264866,0.0015580640720304914],"end_effector_yaw_offset_degrees":0.23587137238887768},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000506302909028459,-0.0002566444510560073,0.0016831267523299302],"end_effector_yaw_offset_degrees":-0.5143436285376046},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010299953782978576,0.0014078363356768218,-0.0007519184382483606],"end_effector_yaw_offset_degrees":0.6424904656586481},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001151128808907484,-0.001389853859345703,-0.0009416191983316145],"end_effector_yaw_offset_degrees":-0.5148337229505715}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037534566084801583,0.0008252767140072515],"position_m":[0.22715345660848016,-0.028574723285992747,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017863688895354214,0.0033450971193528427],"position_m":[0.25901363111046455,-0.3013549028806472,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00020489108202783896,0.004617543264907246],"position_m":[0.14170489108202783,0.2898175432649073,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002527808745186452,-0.00374707150181527],"position_m":[0.3292278087451864,0.17975292849818472,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e02fb968c92ef8ee6aeebee1944be65d03542729c1819b2666bfc668dd4f9716","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0025.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9054/tex_ceiling_textures_9067/tex_floor_textures_5940/tex_table_textures_5573/tex_wall_textures_6637","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6921565119644115543,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6921565119644115543,"visual_seed":6921565119644115543,"scene_id":"lab_003","finished_at":"2026-09-04T18:11:11"}
+{"episode_id":"ep_000021","started_at":"2026-09-04T18:11:14","dimensions":{"distractor":{"count":30,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[0.4864201356545783,0.42723356481568775,0.71338606911949],"aabb_xy":[[0.46142013610283983,0.4170910809505531],[0.5114201352063168,0.4373760486808225]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[-0.27298783158565937,-1.0501161584649024,0.71338606911949],"aabb_xy":[[-0.33698783392846093,-1.0950570097090346],[-0.20898782924285783,-1.0051753072207696]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[-0.16790275538368093,0.7623634112217865,0.71338606911949],"aabb_xy":[[-0.2579027577177,0.6848810566366739],[-0.07790275304966188,0.8398457658068992]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.255814695411748,0.36263529051216814,0.71338606911949],"aabb_xy":[[-0.27831469592378855,0.3401434321467698],[-0.23331469489970735,0.3851271488775665]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[0.22680309317595948,-1.6769348590847923,0.71338606911949],"aabb_xy":[[0.13680309458148954,-1.6931854453982136],[0.3168030917704294,-1.6606842727713715]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[-0.3702869975924747,1.3255912810518868,0.71338606911949],"aabb_xy":[[-0.4047493449906164,1.2910973986540637],[-0.3358246501943328,1.360085163449709]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.6483569455810037,-1.7023698750803289,0.71338606911949],"aabb_xy":[[0.5883569457344369,-1.7591884972733676],[0.7083569454275704,-1.6455512528872902]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[0.6469542884560466,1.2060300090777898,0.71338606911949],"aabb_xy":[[0.611040784031057,1.170116500861035],[0.6828677928810363,1.241943517294544]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[0.6213529980136567,-0.5741604496825041,0.71338606911949],"aabb_xy":[[0.5573530016180835,-0.6381237381012377],[0.6853529944092297,-0.5101971612637706]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[0.3960144730414874,0.8507071774425365,0.71338606911949],"aabb_xy":[[0.31101447434941265,0.8187213140476577],[0.48101447173356193,0.8826930408374154]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[-0.5371576146890112,1.1410350511264764,0.71338606911949],"aabb_xy":[[-0.5477250943471103,1.1304900210134676],[-0.5265901350309122,1.1515800812394847]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[0.4506031548467895,-0.08854494732186291,0.71338606911949],"aabb_xy":[[0.432734047092334,-0.10237785529907384],[0.46847226260124497,-0.07471203934465198]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.6041274754038438,-0.7377793407320228,0.71338606911949],"aabb_xy":[[-0.612255163597157,-0.7466929491427305],[-0.5959997872105306,-0.7288657323213152]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.3777701322719812,-0.25719187482137773,0.71338606911949],"aabb_xy":[[-0.38427176877998587,-0.2669596968476875],[-0.3712684957639766,-0.24742405279506796]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[-0.35809572093989506,0.7025675066146699,0.71338606911949],"aabb_xy":[[-0.4130911987605544,0.6475675051807629],[-0.3031002431192356,0.7575675080485768]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_15","position":[-0.06745621220828502,0.07631484830337865,0.71338606911949],"aabb_xy":[[-0.0723555045148485,0.048637929000809876],[-0.0625569199017215,0.10399176760594742]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[-0.19405603982131392,-0.8005721027775996,0.71338606911949],"aabb_xy":[[-0.2590560409272572,-0.825537475845728],[-0.12905603871537066,-0.7756067297094714]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.29399886524531943,-1.9075687691550502,0.71338606911949],"aabb_xy":[[-0.30221341036100335,-1.9162453594526911],[-0.2857843201296354,-1.8988921788574085]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[0.2757532363271018,-2.0321500110187505,0.71338606911949],"aabb_xy":[[0.19575323306925885,-2.1121465188107345],[0.35575323958494476,-1.9521535032267665]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.16079028570599407,-1.7544289193415015,0.71338606911949],"aabb_xy":[[-0.19579028401668952,-1.7621439342650471],[-0.12579028739529863,-1.7467139044179558]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[-0.3250665046214478,0.5345951261037043,0.71338606911949],"aabb_xy":[[-0.3304040802874524,0.5095951251745645],[-0.31972892895544325,0.5595951270328441]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[0.18062995875743193,-1.2288386487128955,0.71338606911949],"aabb_xy":[[0.12550475312784115,-1.2888386501541826],[0.2357551643870227,-1.1688386472716084]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_22","position":[0.3956406771962364,0.44499096980657216,0.71338606911949],"aabb_xy":[[0.38486770327486863,0.4099909715875331],[0.4064136511176042,0.4799909680256111]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[-0.4412881191342538,-1.6839971324388736,0.71338606911949],"aabb_xy":[[-0.4485704355109174,-1.7739971360483822],[-0.4340058027575901,-1.5939971288293642]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[-0.5529181485584922,-0.4894757488733128,0.71338606911949],"aabb_xy":[[-0.6028969570688082,-0.5394757488790316],[-0.5029393400481764,-0.43947574886759394]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_25","position":[-0.3295055540440519,-0.4459802528018786,0.71338606911949],"aabb_xy":[[-0.36700555439227966,-0.45777164838296214],[-0.29200555369582415,-0.43418885722079503]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_26","position":[-0.07440614097811449,-0.9895472710000619,0.71338606911949],"aabb_xy":[[-0.1384061413556481,-1.0392925378508742],[-0.010406140600580871,-0.9398020041492496]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_27","position":[-0.22140642718472098,1.1651164363935793,0.71338606911949],"aabb_xy":[[-0.2714064258306422,1.115196892734117],[-0.17140642853879978,1.2150359800530417]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_28","position":[0.28228244868054964,-0.5836815411811735,0.71338606911949],"aabb_xy":[[0.2663979554152245,-0.5980344814799976],[0.2981669419458748,-0.5693286008823495]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_29","position":[0.4250651315672529,-1.3921406801704894,0.71338606911949],"aabb_xy":[[0.37006513239066335,-1.447130354945447],[0.4800651307438423,-1.3371510053955318]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582941712901202,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4179.png","name":"4179"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4179.png","name":"4179"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5735.png","name":"5735"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9443.png","name":"9443"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8750.png","name":"8750"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8480.png","name":"8480"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":623.8166869155594,"rotation_z_degrees":166.55504979823192,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01143807276294989,-0.019707852938043186,-0.015508477393231627]},{"name":"camera_2","offset_m":[-0.018462939961101408,0.006661863860984944,0.016977025821414967]},{"name":"camera_3","offset_m":[-0.005406186726571597,0.012821414979796334,-0.015616253720434192]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013971046484703691,-0.0007484420245828845,-0.0004894392168074133],"end_effector_yaw_offset_degrees":-0.30615890117956357},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007822086162644331,0.0008167963926688994,0.0010360097032314475],"end_effector_yaw_offset_degrees":-0.43574126376490385},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002111822269257541,-0.0014300470847478737,-0.00110341742405763],"end_effector_yaw_offset_degrees":-0.4237070898173789},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015779488797589237,-0.0005280273924357299,-0.0006770939692719096],"end_effector_yaw_offset_degrees":-0.10874135869521262}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017956419824981043,0.004260735835161718],"position_m":[0.22519564198249808,-0.02513926416483828,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001239514650747303,-0.0017222503329517138],"position_m":[0.2595604853492527,-0.30642225033295173,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004332161122349535,-0.0024908373079769786],"position_m":[0.13716783887765044,0.282709162692023,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011533684289342272,-0.004751713255800319],"position_m":[0.3255466315710658,0.17874828674419968,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4e99aadb2c9bc7ace26c6bcea4ff91c7b825c1c92f6ede7a3cd676e198f56715","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4179/tex_ceiling_textures_8480/tex_floor_textures_8750/tex_table_textures_5735/tex_wall_textures_9443","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8216732042723363936,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8216732042723363936,"visual_seed":8216732042723363936,"scene_id":"lab_003","finished_at":"2026-09-04T18:14:44"}
+{"episode_id":"ep_000022","started_at":"2026-09-04T18:14:48","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[-0.3721563438765117,-0.14408606157588055,0.71338606911949],"aabb_xy":[[-0.4221563442370777,-0.1940660487854835],[-0.3221563435159456,-0.09410607436627762]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[0.1783057426453517,-1.189233411478507,0.71338606911949],"aabb_xy":[[0.1433057427493328,-1.197607646990447],[0.21330574254137055,-1.180859175966567]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[-0.6262644613954049,0.28993307632168985,0.71338606911949],"aabb_xy":[[-0.6878552206193979,0.22593307821264302],[-0.5646737021714122,0.3539330744307368]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[0.400928847924205,-0.4492700362970652,0.71338606911949],"aabb_xy":[[0.3746400236037643,-0.4755414699517164],[0.42721767224464563,-0.42299860264241396]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_4","position":[0.5221160748211116,-0.5168282771226611,0.71338606911949],"aabb_xy":[[0.504685359742105,-0.5341003917865118],[0.5395467899001181,-0.49955616245881024]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[0.5304854322964951,0.6435011536217652,0.71338606911949],"aabb_xy":[[0.47048543143568217,0.5920747236152786],[0.5904854331573077,0.6949275836282514]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.049346104886478726,-1.348786642939213,0.71338606911949],"aabb_xy":[[-0.10431982692281161,-1.4037866425034462],[0.005627617149854158,-1.2937866433749798]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[-0.05519443905607535,-1.064665973050411,0.71338606911949],"aabb_xy":[[-0.09082359495603509,-1.1002986398072638],[-0.01956528315611561,-1.029033306293558]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.05064284037612632,1.5251163306161746,0.71338606911949],"aabb_xy":[[0.04260650567484147,1.5170782113117578],[0.058679175077411154,1.5331544499205914]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[-0.4430446337197568,1.2437851427294646,0.71338606911949],"aabb_xy":[[-0.5230446369837699,1.230225110420551],[-0.36304463045574364,1.2573451750383777]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_10","position":[-0.2212827464310091,-0.4581049523584886,0.71338606911949],"aabb_xy":[[-0.22852651247725442,-0.538104950562091],[-0.21403898038476377,-0.3781049541548862]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[-0.6613576918162755,-1.320997088019588,0.71338606911949],"aabb_xy":[[-0.6765205647932127,-1.336162545314707],[-0.6461948188393385,-1.3058316307244695]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[0.15444733537086153,0.9822881479836028,0.71338606911949],"aabb_xy":[[0.11853383094587185,0.946374639766848],[0.19036083979585122,1.018201656200357]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_13","position":[-0.4775632018408233,-1.91614451366509,0.71338606911949],"aabb_xy":[[-0.5004789147258732,-1.9390488108015138],[-0.4546474889557734,-1.8932402165286668]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[0.28172164963859603,-1.6617090660198064,0.71338606911949],"aabb_xy":[[0.23644303475744677,-1.72570906536799],[0.3270002645197453,-1.5977090666716227]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.08755320603763095,-2.1761965291464005,0.71338606911949],"aabb_xy":[[-0.15155320629810176,-2.221205328499328],[-0.023553205777160146,-2.131187729793472]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[0.6583571877655658,1.291748324861469,0.71338606911949],"aabb_xy":[[0.6523201747649012,1.2857216237925209],[0.6643942007662307,1.297775025930417]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[0.3734714646192083,0.5429581072113105,0.71338606911949],"aabb_xy":[[0.3233740006381347,0.47895810670149874],[0.42356892860028195,0.6069581077211224]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[0.10440182006427046,-0.6576801805085253,0.71338606911949],"aabb_xy":[[0.0949843454944077,-0.6670963576462443],[0.11381929463413319,-0.6482640033708063]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.4809515549284946,0.5174734691894982,0.71338606911949],"aabb_xy":[[0.47217032778125845,0.5086937219009682],[0.4897327820757309,0.5262532164780285]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_20","position":[-0.46600652052879754,-2.223492527105174,0.71338606911949],"aabb_xy":[[-0.515983937394051,-2.2734925285944225],[-0.4160291036635439,-2.1734925256159254]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_21","position":[-0.09034618831859986,-2.4986606186437634,0.71338606911949],"aabb_xy":[[-0.15434619160830793,-2.5419955376476806],[-0.026346185028891727,-2.4553256996398454]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.47366717685979043,-1.0419149120654225,0.71338606911949],"aabb_xy":[[-0.5336671785027123,-1.0939150613573667],[-0.4136671752168686,-0.9899147627734783]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[0.4514849696363563,-1.305102698112992,0.71338606911949],"aabb_xy":[[0.4269713455393504,-1.3293672914150283],[0.4759985937333621,-1.2808381048109554]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[0.6179295073024351,-0.7697561125330306,0.71338606911949],"aabb_xy":[[0.5639139110205351,-0.8337561154252877],[0.6719451035843351,-0.7057561096407734]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_25","position":[-0.2401992512810402,0.15007533806227613,0.71338606911949],"aabb_xy":[[-0.2776992513866331,0.143253176209295],[-0.2026992511754472,0.15689749991525725]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[-0.11292509286102459,0.3319595415763672,0.71338606911949],"aabb_xy":[[-0.1629201038204766,0.2819595425407755],[-0.06293008190157257,0.38195954061195897]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_27","position":[-0.5277013254531293,1.7286351478634967,0.71338606911949],"aabb_xy":[[-0.6077013287109723,1.648638640071513],[-0.44770132219528636,1.808631655655481]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_28","position":[-0.32059232465746995,-2.3100916296975917,0.71338606911949],"aabb_xy":[[-0.3352357302115029,-2.324750349354376],[-0.3059489191034369,-2.2954329100408075]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6616710680677286,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4343.png","name":"4343"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4343.png","name":"4343"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/456.png","name":"456"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7376.png","name":"7376"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4386.png","name":"4386"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1116.png","name":"1116"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":540.3697310596726,"rotation_z_degrees":48.58802989221519,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01516559816844572,-0.010568509244036406,0.003932993077251763]},{"name":"camera_2","offset_m":[-0.005353481461733596,0.00542913443137992,0.01657281936428286]},{"name":"camera_3","offset_m":[-0.0028348520373951067,0.00039685240609077174,0.01196875312141225]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017634190567926687,-0.0016441426291582202,0.0003735803063262804],"end_effector_yaw_offset_degrees":0.6302823547022767},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013415023515976486,-0.0018699260898108246,-0.0008495745312896278],"end_effector_yaw_offset_degrees":-0.7484221179050419},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015655340780489553,-0.0011158453335981026,-0.0009889847153933653],"end_effector_yaw_offset_degrees":-0.769098145731131},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009180570981268429,0.0017345222134857166,-0.0016869339105858258],"end_effector_yaw_offset_degrees":-0.25617477010363743}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00024375438643220188,-0.00028679253569999317],"position_m":[0.22315624561356778,-0.02968679253569999,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021590601402948183,-0.002513655707673088],"position_m":[0.2629590601402948,-0.3072136557076731,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[5.808389305278147e-05,-0.004851461798784746],"position_m":[0.14155808389305277,0.28034853820121525,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003823764695276277,-0.004527300629403042],"position_m":[0.3305237646952763,0.17897269937059695,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c7c3a410870accfd504962ea3c988cac9549c70cdafdb4641070154abed36645","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0027.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4343/tex_ceiling_textures_1116/tex_floor_textures_4386/tex_table_textures_456/tex_wall_textures_7376","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6330083443999381128,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6330083443999381128,"visual_seed":6330083443999381128,"scene_id":"lab_003","finished_at":"2026-09-04T18:17:37"}
+{"episode_id":"ep_000023","started_at":"2026-09-04T18:17:42","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.32901974793416033,1.6366559627452175,0.71338606911949],"aabb_xy":[[0.2640197497782413,1.6103597181953055],[0.3940197460900794,1.66295220729513]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[-0.15888773712756266,-2.3337942050878664,0.71338606911949],"aabb_xy":[[-0.22288774041727075,-2.3771291240917836],[-0.09488773383785452,-2.2904592860839483]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[-0.1618269999274785,1.3359832480684815,0.71338606911949],"aabb_xy":[[-0.16625762928231871,1.3305348763337992],[-0.15739637057263836,1.3414316198031642]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_3","position":[-0.28267686308445045,0.5893898832757767,0.71338606911949],"aabb_xy":[[-0.3161560303454914,0.5559107699046698],[-0.2491976958234095,0.6228689966468838]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[-0.1591259691733472,-0.7844009668287242,0.71338606911949],"aabb_xy":[[-0.1816223906072113,-0.8069009666354716],[-0.1366295477394831,-0.7619009670219767]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[0.47217574028193243,-1.541560567689128,0.71338606911949],"aabb_xy":[[0.39217574312235715,-1.553108168646945],[0.5521757374415077,-1.530012966731311]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[0.37394855138605987,-0.6397793351448651,0.71338606911949],"aabb_xy":[[0.30894855282898703,-0.6695318685587477],[0.4389485499431327,-0.6100268017309824]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_7","position":[0.17169969762218962,-0.9085797370870963,0.71338606911949],"aabb_xy":[[0.08169969394527142,-0.9700121436642004],[0.26169970129910775,-0.8471473305099917]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.510547765483618,-0.4028865333421505,0.71338606911949],"aabb_xy":[[-0.5555403522020684,-0.44788653261659916],[-0.4655551787651676,-0.35788653406770166]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[-0.6074008910283897,-1.5153741907025298,0.71338606911949],"aabb_xy":[[-0.6191690778230473,-1.6003741906077515],[-0.5956327042337323,-1.4303741907973082]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[0.4809613460235025,0.6417862975996513,0.71338606911949],"aabb_xy":[[0.42096134542748637,0.5869738250544277],[0.5409613466195187,0.6965987701448747]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.484537329343866,-2.311070233690092,0.71338606911949],"aabb_xy":[[-0.5495373272255138,-2.3621938973966334],[-0.41953733146221833,-2.2599465699835517]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[-0.282519272003476,1.4454625380926234,0.71338606911949],"aabb_xy":[[-0.3725192717266501,1.422389185557443],[-0.19251927228030177,1.4685358906278028]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[0.6977375847856409,-0.8596668342617877,0.71338606911949],"aabb_xy":[[0.6752384490594139,-0.8821668350400508],[0.7202367205118678,-0.8371668334835248]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[0.2573510718922549,0.49348597597962396,0.71338606911949],"aabb_xy":[[0.2239108966962353,0.46004235014869377],[0.2907912470882745,0.5269296018105538]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.4328481692663543,-1.0222402466611265,0.71338606911949],"aabb_xy":[[-0.4968481684361242,-1.069006933780089],[-0.3688481700965843,-0.9754735595421641]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[0.711908451982046,-1.7870822702192637,0.71338606911949],"aabb_xy":[[0.7014968933015621,-1.7924280035551619],[0.7223200106625295,-1.781736536883365]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[-0.21947075249565928,-0.4542016435151104,0.71338606911949],"aabb_xy":[[-0.2569707529930175,-0.45817032706322885],[-0.181970751998301,-0.45023295996699203]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[-0.4206510871227301,-0.661952640819341,0.71338606911949],"aabb_xy":[[-0.4240917633627873,-0.6658140737937056],[-0.41721041088267297,-0.6580912078449767]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.3416014464784767,-1.6953556197598458,0.71338606911949],"aabb_xy":[[0.2988347395990565,-1.7593556231816483],[0.38436815335789687,-1.6313556163380434]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[-0.14798522744711207,-2.0579381395402785,0.71338606911949],"aabb_xy":[[-0.21198522815058146,-2.1039565220132],[-0.08398522674364274,-2.011919757067358]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[0.6273436753637993,1.6980641413112703,0.71338606911949],"aabb_xy":[[0.6180500571266487,1.6605641428231361],[0.6366372936009499,1.735564139799404]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_22","position":[-0.3669630490260721,-0.2034547071409869,0.71338606911949],"aabb_xy":[[-0.4169623241945083,-0.25345470841693407],[-0.31696377385763597,-0.15345470586503973]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_23","position":[-0.1271154620278735,0.746279628904313,0.71338606911949],"aabb_xy":[[-0.16274461792783326,0.7106469621474601],[-0.09148630612791378,0.781912295661166]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_24","position":[-0.562300432242367,-0.16797585508275903,0.71338606911949],"aabb_xy":[[-0.6423004296459603,-0.2479684262809418],[-0.48230043483877355,-0.08798328388457617]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6586370599831329,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3416.png","name":"3416"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3416.png","name":"3416"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2440.png","name":"2440"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2087.png","name":"2087"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6153.png","name":"6153"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7803.png","name":"7803"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":777.8193421071196,"rotation_z_degrees":261.2788718612697,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001644136737819362,-0.01382104896631108,0.010381698555492706]},{"name":"camera_2","offset_m":[-0.010397081062826215,-0.014232209298559569,0.018163540790318965]},{"name":"camera_3","offset_m":[-0.018652649489697394,-0.012287776681307223,-0.01849660013832707]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011517721341458642,-0.0014710485710427075,0.00075638541150149],"end_effector_yaw_offset_degrees":0.5921501995312757},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017380300446308424,0.0006206322036689752,0.0005095403506415754],"end_effector_yaw_offset_degrees":-0.08439800449357282},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003235016818486742,-0.0004896823183344679,0.0004986060192810784],"end_effector_yaw_offset_degrees":-0.5855272142324941},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00017324520352237412,-0.0010169648427838455,-0.00042187880823679356],"end_effector_yaw_offset_degrees":0.7992457769777106}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003240465566603812,-0.00019776347961545163],"position_m":[0.22015953443339617,-0.02959776347961545,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017603968309959838,-0.003444148096717484],"position_m":[0.259039603169004,-0.30814414809671753,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014349703367448154,-0.000584715879071095],"position_m":[0.14006502966325518,0.2846152841209289,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004025437266811679,0.004364105511149223],"position_m":[0.3226745627331883,0.1878641055111492,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"70fe23a5b75c17754f11480e032665d7599e509ac80e4c74203849cdb6fc5ffb","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0028.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3416/tex_ceiling_textures_7803/tex_floor_textures_6153/tex_table_textures_2440/tex_wall_textures_2087","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6032112450479750475,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6032112450479750475,"visual_seed":6032112450479750475,"scene_id":"lab_003","finished_at":"2026-09-04T18:21:03"}
+{"episode_id":"ep_000024","started_at":"2026-09-04T18:23:23","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[-0.17583136445733816,0.9805102493398676,0.71338606911949],"aabb_xy":[[-0.22583136547647348,0.94404403360204],[-0.12583136343820292,1.016976465077696]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[-0.041470603440228127,1.1089852522012258,0.71338606911949],"aabb_xy":[[-0.10547060665886598,1.0622621403022174],[0.022529399778409724,1.1557083641002341]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.43663616709313047,-0.7352610370838151,0.71338606911949],"aabb_xy":[[0.4130510436292356,-0.8002610393292469],[0.4602212905570253,-0.6702610348383833]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[-0.056142381978664724,-2.315228183649778,0.71338606911949],"aabb_xy":[[-0.12114238297916524,-2.366014548804453],[0.008857619021835794,-2.264441818495103]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[0.47964082346564374,0.41583748456287806,0.71338606911949],"aabb_xy":[[0.44230954694040114,0.3811844297680258],[0.5169720999908863,0.4504905393577304]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_5","position":[0.6089603135772681,-0.8098251277092048,0.71338606911949],"aabb_xy":[[0.6016779972006042,-0.8998251313187137],[0.6162426299539315,-0.7198251240996957]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[-0.5079067560728203,1.4035400956634838,0.71338606911949],"aabb_xy":[[-0.5144083925808249,1.3937722736371743],[-0.5014051195648157,1.4133079176897938]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_7","position":[-0.462425624370676,0.4519224337179657,0.71338606911949],"aabb_xy":[[-0.4733314004582387,0.3719224373191365],[-0.45151984828311326,0.5319224301167949]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.5295871603927516,0.1855861418483773,0.71338606911949],"aabb_xy":[[0.479609743527498,0.13558614035912875],[0.5795645772580051,0.23558614333762584]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[-0.5883332595275388,0.2526031143888634,0.71338606911949],"aabb_xy":[[-0.6523332615772708,0.21250863129955544],[-0.5243332574778068,0.29269759747817137]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[-0.5746167022880011,0.9263044752831813,0.71338606911949],"aabb_xy":[[-0.6596167009800756,0.8943186118883024],[-0.48961670359592635,0.9582903386780601]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[0.07043404446834634,1.307196312855031,0.71338606911949],"aabb_xy":[[0.04792035264488913,1.2371963122540233],[0.09294773629180351,1.3771963134560383]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_12","position":[0.5553768596282127,-1.700763588000947,0.71338606911949],"aabb_xy":[[0.4653768628926024,-1.7539470513182414],[0.6453768563638228,-1.6475801246836523]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[-0.3413324637661977,1.290397400168645,0.71338606911949],"aabb_xy":[[-0.3572169570315229,1.2760444598698206],[-0.3254479705008726,1.3047503404674687]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[0.542782734359065,0.996121744093347,0.71338606911949],"aabb_xy":[[0.5357412834083174,0.9890949923555525],[0.5498241853098126,1.0031484958311414]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_15","position":[0.1935352988693586,-1.108918650010163,0.71338606911949],"aabb_xy":[[0.17566619111490314,-1.1227515579873741],[0.21140440662381413,-1.095085742032952]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[-0.21476794577616948,-1.6060243305431179,0.71338606911949],"aabb_xy":[[-0.2336523295446797,-1.6249102553234707],[-0.1958835620076593,-1.587138405762765]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[-0.42668920106086233,-2.295873682735696,0.71338606911949],"aabb_xy":[[-0.5166892007840365,-2.318947035270875],[-0.33668920133768815,-2.2728003302005155]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[0.6838258512062791,-0.13187731096243782,0.71338606911949],"aabb_xy":[[0.6663258509612296,-0.14937709880200467],[0.7013258514513284,-0.11437752312287099]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[-0.38737275376441227,-0.6201834166189091,0.71338606911949],"aabb_xy":[[-0.40247505522543026,-0.6352849382499708],[-0.37227045230339406,-0.6050818949878471]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_20","position":[0.1224635711717913,-0.9577614261962335,0.71338606911949],"aabb_xy":[[0.08496357099991934,-0.9904621615791407],[0.15996357134366324,-0.9250606908133263]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.17319726554392878,1.2813215437317922,0.71338606911949],"aabb_xy":[[-0.218475880425078,1.2173215443836085],[-0.1279186506627795,1.3453215430799759]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6595681877403831,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/295.png","name":"295"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/295.png","name":"295"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7742.png","name":"7742"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6963.png","name":"6963"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5731.png","name":"5731"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7591.png","name":"7591"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":618.8715194488567,"rotation_z_degrees":206.8911742520286,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004928668662082875,0.004373061431217608,0.006681925395887273]},{"name":"camera_2","offset_m":[-0.007824214405693372,-0.0045320436054112085,-0.004178260222489412]},{"name":"camera_3","offset_m":[-0.004534564144890863,0.0194319811953643,0.0168183971581686]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012226186960727814,0.0006040699036262672,0.0015187101948902684],"end_effector_yaw_offset_degrees":0.15227564845259045},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00030385043663863306,-0.0014251538071672863,0.0017217971769616252],"end_effector_yaw_offset_degrees":0.9343140211386824},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00170539048778247,-0.0001149917689687841,0.001989687680608531],"end_effector_yaw_offset_degrees":0.056069291232112795},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007691221431664209,0.0016879761042222306,0.0015512728213942601],"end_effector_yaw_offset_degrees":-0.4248799363797575}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019442907760597928,-0.0023248208818064053],"position_m":[0.2214557092239402,-0.031724820881806406,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00019768947782181513,-0.002478270604441172],"position_m":[0.26060231052217814,-0.3071782706044412,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001274172330048372,-0.0036068814587784295],"position_m":[0.14277417233004835,0.2815931185412216,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0044088415193320124,0.003012083207628447],"position_m":[0.331108841519332,0.18651208320762844,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6d2ff513f027003b37d73e9eb046e357cca86121b5efe9c5d6ddb09241818a50","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_295/tex_ceiling_textures_7591/tex_floor_textures_5731/tex_table_textures_7742/tex_wall_textures_6963","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6858895135643134754,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6858895135643134754,"visual_seed":6858895135643134754,"scene_id":"lab_003","finished_at":"2026-09-04T18:26:53"}
+{"episode_id":"ep_000025","started_at":"2026-09-04T18:26:57","dimensions":{"distractor":{"count":25,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[-0.156850499868874,-1.5942913350882457,0.71338606911949],"aabb_xy":[[-0.19539619269407504,-1.6328371061444347],[-0.11830480704367297,-1.5557455640320572]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[-0.12088329735040326,0.15892095116646088,0.71338606911949],"aabb_xy":[[-0.21088329385127502,0.11300930874800262],[-0.030883300849531514,0.2048325935849191]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[0.3073459161628651,-2.378876159070505,0.71338606911949],"aabb_xy":[[0.242345918006946,-2.405172403620417],[0.3723459143187841,-2.3525799145205926]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_3","position":[0.41284058017146474,0.21821605720392911,0.71338606911949],"aabb_xy":[[0.3939561964029545,0.19933013242357636],[0.4317249639399749,0.23710198198428192]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[-0.3248783122294549,-2.3702528704802672,0.71338606911949],"aabb_xy":[[-0.3623783121732213,-2.378545960515104],[-0.2873783122856885,-2.3619597804454306]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.20437724167906945,-1.9998341812441702,0.71338606911949],"aabb_xy":[[-0.2543772426982047,-2.036300396981998],[-0.1543772406599342,-1.9633679655063423]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_6","position":[-0.5343732286268268,0.9325158696280598,0.71338606911949],"aabb_xy":[[-0.6143732257864021,0.9209682686702426],[-0.4543732314672515,0.9440634705858767]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_7","position":[0.13160970489142254,1.6494050921805123,0.71338606911949],"aabb_xy":[[0.09410970478582957,1.6425829303275312],[0.16910970499701547,1.6562272540334935]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[0.24721409581841758,-2.2082051463768355,0.71338606911949],"aabb_xy":[[0.18721409417549573,-2.2602052956687797],[0.30721409746133943,-2.1562049970848913]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[-0.37984645421801955,0.29351012967655565,0.71338606911949],"aabb_xy":[[-0.4438464561303619,0.2375989804185452],[-0.3158464523056772,0.3494212789345661]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[-0.2810994667728557,-1.4931157033947249,0.71338606911949],"aabb_xy":[[-0.3160994681243374,-1.5134754393515455],[-0.24609946542137398,-1.4727559674379038]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[-0.41983619756566665,1.6017751185288325,0.71338606911949],"aabb_xy":[[-0.4498037544754923,1.5717751182309467],[-0.389868640655841,1.6317751188267182]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[0.5536526835962718,0.8397209723967003,0.71338606911949],"aabb_xy":[[0.4896526833222935,0.7896548721994124],[0.61765268387025,0.8897870725939884]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.5280692095746773,-0.19074600668812103,0.71338606911949],"aabb_xy":[[0.49056921099905654,-0.20348230235167897],[0.5655692081502981,-0.1780097110245631]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.09504734107161894,-2.430565390869673,0.71338606911949],"aabb_xy":[[-0.1450247579368725,-2.4805653923589217],[-0.045069924206365346,-2.3805653893804246]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.6372218621940193,-0.7645772099484809,0.71338606911949],"aabb_xy":[[0.5672218588024573,-0.7998929836519117],[0.7072218655855813,-0.72926143624505]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[0.5376855719769416,1.585891332059623,0.71338606911949],"aabb_xy":[[0.45768557399615645,1.5782897910977711],[0.6176855699577265,1.593492873021475]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[-0.09740147053068937,-0.235438680173659,0.71338606911949],"aabb_xy":[[-0.10336800947142515,-0.24139982483302302],[-0.09143493158995357,-0.22947753551429495]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[-0.3443886830953729,0.6207381936506251,0.71338606911949],"aabb_xy":[[-0.36890230719237876,0.5964736003485888],[-0.31987505899836705,0.6450027869526617]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[-0.5533380372153398,1.2363414382641356,0.71338606911949],"aabb_xy":[[-0.6433380339509499,1.1831579749468408],[-0.4633380404797295,1.2895249015814298]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[-0.08322699790393828,-1.4225136830642864,0.71338606911949],"aabb_xy":[[-0.1472269971981065,-1.4864998234331408],[-0.019226998609770063,-1.3585275426954324]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.39614397312624366,-2.219134194542822,0.71338606911949],"aabb_xy":[[-0.48614397680316174,-2.2805666011199257],[-0.3061439694493254,-2.157701787965717]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_22","position":[0.6179928184972219,-1.8707596286768284,0.71338606911949],"aabb_xy":[[0.5379989949186637,-1.9507596312696702],[0.6979866420757801,-1.790759626083987]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[0.7061644950512223,-0.9375135228561078,0.71338606911949],"aabb_xy":[[0.6953240168247072,-0.9546998041467566],[0.717004973277737,-0.920327241565459]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[0.6050776601329533,-0.5022717779340158,0.71338606911949],"aabb_xy":[[0.52007766171553,-0.5871460733963009],[0.6900776585503765,-0.4173974824717309]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6597929346355197,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3129.png","name":"3129"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3129.png","name":"3129"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7565.png","name":"7565"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1584.png","name":"1584"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3796.png","name":"3796"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8377.png","name":"8377"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":744.7421191757727,"rotation_z_degrees":233.70385123941682,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004593663494783412,-0.004164986028633081,-0.019153424040398517]},{"name":"camera_2","offset_m":[0.0005736893461848261,0.017976368908608816,-0.010759260068252608]},{"name":"camera_3","offset_m":[-0.015868149689604115,-0.007249017931690718,-0.007441620294570668]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008157063092980804,-0.0019299663659333652,0.0018550587642476909],"end_effector_yaw_offset_degrees":-0.14372855052907085},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014209872231805672,-0.0015146938545070189,-0.00011944106296011138],"end_effector_yaw_offset_degrees":0.2709959023410262},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003195133971667704,0.0016288475852905054,-0.0011988285439309587],"end_effector_yaw_offset_degrees":0.7189395626671513},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019712454627548513,-0.0004316726529886737,0.0011935182364602153],"end_effector_yaw_offset_degrees":0.12083450383946093}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024706989251272087,-0.00019290637727146457],"position_m":[0.2258706989251272,-0.029592906377271463,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008715073530662669,-0.004235431710770457],"position_m":[0.2599284926469337,-0.3089354317107705,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000617475594307971,0.0007110657205678071],"position_m":[0.14088252440569202,0.2859110657205678,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006891677134532662,0.004589873826739419],"position_m":[0.3260108322865467,0.18808987382673942,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4abf4805ffc793da8a42fdb495461b5dc17eb23644574d8b8dbde27b95331c0a","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0031.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3129/tex_ceiling_textures_8377/tex_floor_textures_3796/tex_table_textures_7565/tex_wall_textures_1584","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":484643751256336698,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":484643751256336698,"visual_seed":484643751256336698,"scene_id":"lab_003","finished_at":"2026-09-04T18:30:25"}
+{"episode_id":"ep_000026","started_at":"2026-09-04T18:30:28","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[-0.03957219909055276,-0.6570593175612838,0.71338606911949],"aabb_xy":[[-0.056249335083648266,-0.6737592415352139],[-0.022895063097457258,-0.6403593935873534]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[-0.2051987707764409,-1.971397591272618,0.71338606911949],"aabb_xy":[[-0.2426987707202073,-1.9796906813074544],[-0.16769877083267448,-1.9631045012377812]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[-0.14546105312956525,-0.8829759544853581,0.71338606911949],"aabb_xy":[[-0.1954343471328257,-0.9329759550399053],[-0.0954877591263048,-0.8329759539308106]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[0.1677749479025139,-1.3852935808173716,0.71338606911949],"aabb_xy":[[0.11375935162061387,-1.4492935837096288],[0.22179054418441388,-1.3212935779251145]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_4","position":[0.3154462574788037,1.7548655998628875,0.71338606911949],"aabb_xy":[[0.2769005646536027,1.7163198288066988],[0.35399195030400477,1.7934113709190762]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_5","position":[-0.0054752208933803725,-2.436233272278924,0.71338606911949],"aabb_xy":[[-0.06947522280572271,-2.492144421536935],[0.05852478101896197,-2.380322123020914]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[-0.2300772899906504,0.7821690493903342,0.71338606911949],"aabb_xy":[[-0.2456330594009157,0.7666186161459271],[-0.21452152058038518,0.7977194826347415]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[-0.2959312992107425,0.9494116941419808,0.71338606911949],"aabb_xy":[[-0.3245806315711587,0.9207661348649049],[-0.26728196685032624,0.9780572534190565]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[0.52706665337432,-1.7069559222661526,0.71338606911949],"aabb_xy":[[0.5229307970416198,-1.7444559217105098],[0.5312025097070202,-1.6694559228217958]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[-0.40967244153574456,1.5092180957189867,0.71338606911949],"aabb_xy":[[-0.43467244070137767,1.50226585001363],[-0.38467244237011144,1.5161703414243433]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.29644797229249753,-0.9255136694480364,0.71338606911949],"aabb_xy":[[-0.3214479722250154,-0.9323963376689597],[-0.27144797235997964,-0.918631001227113]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[-0.3225504719244644,-1.456108954441039,0.71338606911949],"aabb_xy":[[-0.3725504728749972,-1.4876581014445602],[-0.2725504709739316,-1.4245598074375174]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[0.15672423960227633,-0.6420170016972024,0.71338606911949],"aabb_xy":[[0.10173198896676539,-0.6970170034405152],[0.2117164902377873,-0.5870169999538897]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[-0.6778411857588287,1.1178139609358473,0.71338606911949],"aabb_xy":[[-0.6904438848959051,1.1052185647109818],[-0.6652384866217522,1.1304093571607128]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.26883772918958637,-1.5548979662193618,0.71338606911949],"aabb_xy":[[0.21883772974939075,-1.604865890703678],[0.318837728629782,-1.5049300417350453]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[0.39853815739332,-1.8206076154298518,0.71338606911949],"aabb_xy":[[0.33453815417468213,-1.8673307273288604],[0.46253816061195785,-1.7738845035308437]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[0.5712416666079141,-2.3116246882685028,0.71338606911949],"aabb_xy":[[0.549332984468563,-2.3335253550885935],[0.5931503487472651,-2.289724021448412]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[0.3526772906772089,0.6361261788059829,0.71338606911949],"aabb_xy":[[0.3352465755982023,0.618854064142132],[0.37010800575621533,0.6533982934698336]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.4288490290142934,-1.3266777359885398,0.71338606911949],"aabb_xy":[[-0.4457597614506351,-1.3401499415811542],[-0.41193829657795156,-1.3132055303959254]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.16136697201785588,0.9786191468057632,0.71338606911949],"aabb_xy":[[0.1533407013872299,0.9698676518284107],[0.1693932426484819,0.987370641783116]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.606134216629253,-0.12316178619921914,0.71338606911949],"aabb_xy":[[-0.6561290495571946,-0.17316178509446267],[-0.5561393837013114,-0.0731617873039756]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_21","position":[0.4097201542021729,-0.41064706051026656,0.71338606911949],"aabb_xy":[[0.35974273733691925,-0.460647061999515],[0.4596975710674264,-0.3606470590210179]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.6869714982649187,-2.5682827178623264,0.71338606911949],"aabb_xy":[[0.6519714990721003,-2.5792497638599885],[0.7219714974577368,-2.5573156718646635]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[0.058839437645464066,0.786910444864628,0.71338606911949],"aabb_xy":[[0.003846226308327317,0.7319104445258343],[0.11383264898260084,0.8419104452034216]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_24","position":[-0.3688133704809283,0.013201945160674189,0.71338606911949],"aabb_xy":[[-0.40381337045742416,0.0037373291130575765],[-0.3338133705044325,0.022666561208290803]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6602784012226143,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8041.png","name":"8041"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8041.png","name":"8041"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5665.png","name":"5665"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6461.png","name":"6461"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4071.png","name":"4071"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7973.png","name":"7973"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":841.1945255134395,"rotation_z_degrees":326.82281044088137,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010450276766942594,-0.0014780843569436007,0.005979081745151892]},{"name":"camera_2","offset_m":[0.014157788850133034,0.013323902146615284,-0.012959224007420035]},{"name":"camera_3","offset_m":[-0.0009239228576160656,-0.01075089412268656,0.002135447302245762]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018530174366496778,0.001746206725668718,-0.0006980503885180415],"end_effector_yaw_offset_degrees":0.38941064653896307},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001312484410730739,0.0008628182197890845,0.0017602370771322494],"end_effector_yaw_offset_degrees":-0.6385497567788836},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005909215429288439,-0.0009076795838109009,-0.0003950839032678096],"end_effector_yaw_offset_degrees":-0.9479412818488715},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-7.242136523618594e-05,0.0008993540786824293,0.00010391844954767008],"end_effector_yaw_offset_degrees":-0.742190299691472}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002915352181588347,0.0030168650968883095],"position_m":[0.22631535218158833,-0.02638313490311169,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025029566754663883,0.0011607582225110118],"position_m":[0.2633029566754664,-0.30353924177748903,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027968102583767127,0.004522336003888092],"position_m":[0.1442968102583767,0.2897223360038881,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006425031184919818,0.0030009143742387072],"position_m":[0.32734250311849195,0.1865009143742387,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ca4cab1483ed8ae9da7c3433bd4b59cdcf676a416d2cb22cde5ae1f1908de268","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8041/tex_ceiling_textures_7973/tex_floor_textures_4071/tex_table_textures_5665/tex_wall_textures_6461","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3803291179918453215,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3803291179918453215,"visual_seed":3803291179918453215,"scene_id":"lab_003","finished_at":"2026-09-04T18:34:19"}
+{"episode_id":"ep_000027","started_at":"2026-09-04T18:38:19","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[-0.3574566442942377,0.3021444374813349,0.71338606911949],"aabb_xy":[[-0.3630383159283664,0.28964443766355935],[-0.35187497266010886,0.31464443729911035]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.3149133601666554,1.6166119710274711,0.71338606911949],"aabb_xy":[[-0.3949133571296946,1.5395363293836977],[-0.23491336320361628,1.6936876126712446]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[0.39091046516598515,-2.2881939209730184,0.71338606911949],"aabb_xy":[[0.37535469575571995,-2.303744354217426],[0.4064662345762505,-2.2726434877286117]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.5007901338605938,-1.1450447299912592,0.71338606911949],"aabb_xy":[[-0.5657901349665371,-1.1700101030593875],[-0.4357901327546505,-1.1200793569231309]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[-0.0021472371392309286,-1.9204808687895012,0.71338606911949],"aabb_xy":[[-0.09214723387484114,-1.9736643321067953],[0.08785275959637928,-1.8672974054722062]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_5","position":[0.4547199408111071,-1.472255623752308,0.71338606911949],"aabb_xy":[[0.4467264510158252,-1.480253755692784],[0.46271343060638925,-1.4642574918118327]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.36696924304934136,-0.3164112937827537,0.71338606911949],"aabb_xy":[[-0.43096924016144705,-0.3654436635771643],[-0.3029692459372357,-0.26737892398834306]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[0.20543154452730406,-2.139873001900779,0.71338606911949],"aabb_xy":[[0.11543154802643225,-2.1857846443192366],[0.2954315410281757,-2.09396135948232]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_8","position":[0.4092546067945275,0.3861024247267508,0.71338606911949],"aabb_xy":[[0.39983713222466477,0.3766862475890318],[0.41867208136439027,0.39551860186446985]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[0.278492714938804,-1.8030500384424673,0.71338606911949],"aabb_xy":[[0.27044935501284884,-1.8880500395378337],[0.2865360748647592,-1.7180500373471008]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[0.11471298057752699,1.6744342044645202,0.71338606911949],"aabb_xy":[[0.059712981400937504,1.6194445296895625],[0.16971297975411648,1.7294238792394778]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[0.29419288635760255,1.7403198715330421,0.71338606911949],"aabb_xy":[[0.2341928854967897,1.6888934415265557],[0.3541928872184153,1.7917463015395285]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.2599447068247186,0.9173622663940049,0.71338606911949],"aabb_xy":[[-0.26718847287096387,0.8373622681904026],[-0.2527009407784732,0.9973622645976074]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.5605044655807085,-0.2800970447465878,0.71338606911949],"aabb_xy":[[-0.6205044658321096,-0.3343783697830524],[-0.5005044653293073,-0.2258157197101231]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[-0.6370537239425752,-1.1294445312178847,0.71338606911949],"aabb_xy":[[-0.6595501453764393,-1.1519445310246321],[-0.6145573025087111,-1.1069445314111372]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[-0.2997151718790381,-1.1928229111784028,0.71338606911949],"aabb_xy":[[-0.349693980389354,-1.2428229111841214],[-0.24973636336872224,-1.1428229111726838]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_16","position":[-0.44421214014664084,-1.913403677846214,0.71338606911949],"aabb_xy":[[-0.45608422315814195,-1.9984036775398644],[-0.43234005713513973,-1.8284036781525637]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[-0.286785936932048,0.7463672539052024,0.71338606911949],"aabb_xy":[[-0.3068443485452883,0.7263021669960449],[-0.2667275253188077,0.76643234081436]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.22171861758357597,-1.5015874435971839,0.71338606911949],"aabb_xy":[[-0.23862935001991772,-1.5150596491897979],[-0.20480788514723416,-1.488115238004569]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[-0.29578342084423126,-1.0251685975370677,0.71338606911949],"aabb_xy":[[-0.34578342250572597,-1.0751670397927702],[-0.24578341918273647,-0.9751701552813649]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[0.217511830742797,-0.7625772692767991,0.71338606911949],"aabb_xy":[[0.18188267484283727,-0.7982099360336521],[0.25314098664275675,-0.7269446025199462]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[0.5739517091563722,0.6503822769849097,0.71338606911949],"aabb_xy":[[0.5675378955131872,0.6439724567372412],[0.5803655227995571,0.6567920972325779]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_22","position":[-0.23063692409585357,0.6712030006378109,0.71338606911949],"aabb_xy":[[-0.25563692364759205,0.6610605167726762],[-0.20563692454411509,0.6813454845029456]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_23","position":[0.00019648227167867738,1.0354676922635906,0.71338606911949],"aabb_xy":[[-0.015865445186838963,0.9504676904509987],[0.016258409730196318,1.1204676940761822]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[0.45971071620341064,0.1331045820706258,0.71338606911949],"aabb_xy":[[0.4247107178927152,0.12538956714708013],[0.4947107145141061,0.14081959699417143]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[0.42038570765495753,-2.42819539145595,0.71338606911949],"aabb_xy":[[0.41505319300034454,-2.433519719701186],[0.4257182223095705,-2.4228710632107147]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[0.32923605866354144,0.9728020462930678,0.71338606911949],"aabb_xy":[[0.23923605924517044,0.939426549448878],[0.4192360580819122,1.0061775431372575]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_27","position":[0.6380797940201617,0.1749581413981085,0.71338606911949],"aabb_xy":[[0.6155797942062593,0.1704835250276278],[0.6605797938340641,0.1794327577685892]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6580184944647643,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6927.png","name":"6927"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6927.png","name":"6927"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7291.png","name":"7291"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6811.png","name":"6811"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9381.png","name":"9381"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6493.png","name":"6493"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":638.7273139437565,"rotation_z_degrees":19.955867975011337,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006163403920743478,0.005445156861413364,-0.016204220540153042]},{"name":"camera_2","offset_m":[0.01293740645140078,-0.010488163500779581,-0.011017776900533316]},{"name":"camera_3","offset_m":[0.0008152358692884963,0.008092274073077176,0.0027946738322788163]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007710108265052951,-0.0013656850397834944,0.0015213162434678995],"end_effector_yaw_offset_degrees":0.7641233519750896},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005836950964091736,-0.0017225033632371032,0.0013189835375097786],"end_effector_yaw_offset_degrees":-0.4349547598493455},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018028102382737759,0.0003248634363112574,0.0012887885981646848],"end_effector_yaw_offset_degrees":-0.2707411991506685},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001089131338228017,0.0016068592830693106,0.0005407391938734387],"end_effector_yaw_offset_degrees":0.7293202682539135}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004515842830345775,-0.004838072622318597],"position_m":[0.22791584283034577,-0.034238072622318594,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000817272978367427,0.0028210711942239395],"position_m":[0.2616172729783674,-0.3018789288057761,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012836186055497408,-0.0012215644005650174],"position_m":[0.14278361860554972,0.283978435599435,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004491282390006897,-0.003856790755714653],"position_m":[0.3222087176099931,0.17964320924428534,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2e9333dac214ce1e388f65c64593c10f8fe5e9664cf749987972dd5b360c4635","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6927/tex_ceiling_textures_6493/tex_floor_textures_9381/tex_table_textures_7291/tex_wall_textures_6811","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":768769741535832256,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":768769741535832256,"visual_seed":768769741535832256,"scene_id":"lab_003","finished_at":"2026-09-04T18:41:45"}
+{"episode_id":"ep_000028","started_at":"2026-09-04T18:41:48","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[-0.6097233461352874,-0.42995222995850746,0.71338606911949],"aabb_xy":[[-0.6173476142254658,-0.4375854534950512],[-0.6020990780451093,-0.42231900642196374]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.533645320229005,-0.17141840843232758,0.71338606911949],"aabb_xy":[[-0.5396823332296699,-0.17744510950127582],[-0.5276083072283404,-0.1653917073633794]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.47769897454689403,-1.3756526026988902,0.71338606911949],"aabb_xy":[[-0.5416989718492404,-1.420019029666747],[-0.4136989772445476,-1.3312861757310335]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[0.15045105914184076,0.7346476684659504,0.71338606911949],"aabb_xy":[[0.1470103829017836,0.730786235491586],[0.15389173538189793,0.7385091014403149]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.4752675553525795,-0.8364840685752939,0.71338606911949],"aabb_xy":[[-0.4833952435458927,-0.8453976769860017],[-0.46713986715926625,-0.8275704601645864]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_5","position":[-0.23950506753015388,-1.302267017583179,0.71338606911949],"aabb_xy":[[-0.2512732543248114,-1.3872670174884008],[-0.22773688073549636,-1.2172670176779576]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[0.12149704216116086,-1.7565201119043246,0.71338606911949],"aabb_xy":[[0.1150832285179759,-1.7629299321519925],[0.12791085580434575,-1.7501102916566558]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[0.06940261481970977,-1.655706492987505,0.71338606911949],"aabb_xy":[[0.01940778189176816,-1.7057064918827487],[0.11939744774765136,-1.6057064940922616]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.5000641854349204,1.5224320977027,0.71338606911949],"aabb_xy":[[0.4907705671977697,1.4849320992145658],[0.5093578036720708,1.5599320961908336]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[0.6355528059465261,-2.2414111761590627,0.71338606911949],"aabb_xy":[[0.6281403504051377,-2.2472623865806907],[0.6429652614879147,-2.2355599657374348]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[0.4339465403159184,0.04939601939677418,0.71338606911949],"aabb_xy":[[0.4101103226753134,-0.040603981411712294],[0.4577827579565235,0.13939602020526068]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.3599327863974973,-0.4269412904897014,0.71338606911949],"aabb_xy":[[-0.36602741428561564,-0.4355106850413702],[-0.353838158509379,-0.41837189593803276]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[0.2623460395124242,-0.7493997874597855,0.71338606911949],"aabb_xy":[[0.23186178938539403,-0.7993997872412816],[0.29283028963945434,-0.6993997876782897]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[0.5366996204651278,-1.9038655815471368,0.71338606911949],"aabb_xy":[[0.4726996185527855,-1.9597767308051475],[0.6006996223774702,-1.8479544322891266]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_14","position":[-0.16423505135118976,1.642354984375436,0.71338606911949],"aabb_xy":[[-0.18674874317464693,1.5723549837744286],[-0.14172135952773254,1.7123549849764437]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[0.4736355339404157,-0.5304199662591689,0.71338606911949],"aabb_xy":[[0.44841469708057585,-0.5556437171120555],[0.4988563708002552,-0.505196215406282]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_16","position":[-0.36969267958949853,0.7077529999130321,0.71338606911949],"aabb_xy":[[-0.44969268284734154,0.6277564921210481],[-0.28969267633165563,0.7877495077050161]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.20407480402200362,-1.0153264475682877,0.71338606911949],"aabb_xy":[[-0.2640748048828163,-1.0667528775747737],[-0.14407480316119076,-0.963900017561801]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[0.5336776396107599,-0.9746691085282486,0.71338606911949],"aabb_xy":[[0.4636776369741734,-0.9947739735241138],[0.6036776422473461,-0.9545642435323828]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.38023306935272827,-1.2862708126769882,0.71338606911949],"aabb_xy":[[0.3252398580155916,-1.3412708130157818],[0.43522628068986513,-1.2312708123381946]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[0.4394282923438866,-1.6609247543647796,0.71338606911949],"aabb_xy":[[0.43150501210513825,-1.683424754602783],[0.4473515725826349,-1.6384247541267762]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[0.22005814979731175,0.9174468753767755,0.71338606911949],"aabb_xy":[[0.15005814798856631,0.8960931066125882],[0.2900581516060572,0.938800644140963]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[0.10803730024416214,0.639621937346809,0.71338606911949],"aabb_xy":[[0.05805849173384625,0.5896219373410903],[0.15801610875447802,0.6896219373525279]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[0.28268070874784645,-2.303539112723456,0.71338606911949],"aabb_xy":[[0.21768070774734594,-2.3543254778781306],[0.34768070974834697,-2.2527527475687807]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[-0.43061948708064324,-0.5803687700266438,0.71338606911949],"aabb_xy":[[-0.46491639809838375,-0.614665656236585],[-0.3963225760629025,-0.5460718838167024]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_25","position":[-0.5385778980326413,0.43524026744747024,0.71338606911949],"aabb_xy":[[-0.5795958414190121,0.3852402668165129],[-0.49755995464627034,0.4852402680784276]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_26","position":[0.04631951286326352,0.9283574212717332,0.71338606911949],"aabb_xy":[[-0.0008098661385721531,0.8643574202273312],[0.09344889186509919,0.9923574223161351]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_27","position":[-0.62582260518218,-0.8995900915695301,0.71338606911949],"aabb_xy":[[-0.6759200691632536,-0.9635900920793419],[-0.5757251412011064,-0.8355900910597183]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_28","position":[-0.39990053604697756,0.14495729157198678,0.71338606911949],"aabb_xy":[[-0.40523305070159055,0.13963296332675118],[-0.3945680213923646,0.15028161981722238]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_29","position":[0.6048999951251697,0.8102679353103559,0.71338606911949],"aabb_xy":[[0.5968566351992144,0.7252679342149895],[0.6129433550511247,0.8952679364057223]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_30","position":[0.18723082125065027,1.16975777890173,0.71338606911949],"aabb_xy":[[0.17807094230677367,1.163226560858193],[0.19639070019452687,1.1762889969452672]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_31","position":[0.4687240966994737,-0.7628340703916547,0.71338606911949],"aabb_xy":[[0.43122409688244007,-0.7674722817027965],[0.5062240965165072,-0.7581958590805128]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_32","position":[0.19903968339907507,-1.1927457799571044,0.71338606911949],"aabb_xy":[[0.1615396832272031,-1.2254465153400114],[0.23653968357094698,-1.160045044574197]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_33","position":[-0.14129379892056326,-0.6997314221418158,0.71338606911949],"aabb_xy":[[-0.18646511676873223,-0.7637314192863545],[-0.0961224810723943,-0.6357314249972775]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6603990026839073,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5691.png","name":"5691"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5691.png","name":"5691"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3694.png","name":"3694"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5282.png","name":"5282"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3238.png","name":"3238"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7200.png","name":"7200"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":668.9963996945562,"rotation_z_degrees":149.86309736073767,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005415331754260646,-0.01610267963420084,-0.00037535244391306496]},{"name":"camera_2","offset_m":[0.00794101020485748,-0.0020087496016601564,-0.018277569889996]},{"name":"camera_3","offset_m":[0.016257629487390634,0.007516192450240159,-0.010258063310666744]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00013145446690411566,-0.00015287334702008344,-0.0005360508512329263],"end_effector_yaw_offset_degrees":0.5828748732305356},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000989881632779484,-0.00017268281252516104,-0.0004909913258437481],"end_effector_yaw_offset_degrees":-0.9425461814587517},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011672905041364653,-0.0014269459880108526,0.0007841469350913016],"end_effector_yaw_offset_degrees":-0.9694809709402574},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015694344666634667,0.001226665438841069,5.059650372564797e-06],"end_effector_yaw_offset_degrees":-0.9418692550675671}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030160657546641325,0.004744591237699877],"position_m":[0.22038393424533587,-0.024655408762300123,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003031028422121212,0.0019198953162783963],"position_m":[0.2638310284221212,-0.30278010468372163,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003285448757340055,-0.0032744749664846673],"position_m":[0.13821455124265994,0.28192552503351537,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004225376428306372,0.0034700981361183046],"position_m":[0.3309253764283064,0.1869700981361183,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2985630f2270d015c992ebc02a267c932176d73e8f8ec6b12daa17105a4253d4","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0035.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5691/tex_ceiling_textures_7200/tex_floor_textures_3238/tex_table_textures_3694/tex_wall_textures_5282","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5069005073162586216,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5069005073162586216,"visual_seed":5069005073162586216,"scene_id":"lab_003","finished_at":"2026-09-04T18:45:27"}
+{"episode_id":"ep_000029","started_at":"2026-09-04T18:45:30","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[0.04735297503784908,-0.9066951129430172,0.71338606911949],"aabb_xy":[[-0.0026203189654113793,-0.9566951134975643],[0.09732626904110953,-0.8566951123884696]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[-0.3037183230820421,-1.188693419009812,0.71338606911949],"aabb_xy":[[-0.32621832359408265,-1.21118527737521],[-0.28121832257000146,-1.1662015606444134]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[-0.15098420096646148,-1.3121096471721128,0.71338606911949],"aabb_xy":[[-0.20096161783171504,-1.362109648661361],[-0.10100678410120788,-1.262109645682864]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[0.5956882239494121,-1.897213597217071,0.71338606911949],"aabb_xy":[[0.5456951118402202,-1.947213597891267],[0.645681336058604,-1.8472135965428758]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[0.5511480287129387,0.7509944616198965,0.71338606911949],"aabb_xy":[[0.5292393465735875,0.7290937947998056],[0.5730567108522896,0.7728951284399871]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.5775306825327211,-0.5299932391940212,0.71338606911949],"aabb_xy":[[-0.5812339438618599,-0.5336952575027389],[-0.5738274212035821,-0.5262912208853032]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.005365908633715555,1.3053100603409264,0.71338606911949],"aabb_xy":[[-0.05053722648188454,1.241310063196388],[0.03980540921445342,1.3693100574854649]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[0.42176686540809816,0.6829114282857858,0.71338606911949],"aabb_xy":[[0.38426686389246645,0.6716846552696407],[0.45926686692372987,0.6941382013019308]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.5205101592703862,-0.45875828293274257,0.71338606911949],"aabb_xy":[[-0.538010159529723,-0.47284982512151524],[-0.5030101590110497,-0.44466674074397]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[0.7002141307443286,-2.341148854076896,0.71338606911949],"aabb_xy":[[0.6925898626541503,-2.34878207761344],[0.7078383988345068,-2.3335156305403526]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[0.6289244237534861,0.5978139943492362,0.71338606911949],"aabb_xy":[[0.5737992181238953,0.537813992907949],[0.6840496293830769,0.6578139957905232]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[0.5931370794237032,1.1218532105583576,0.71338606911949],"aabb_xy":[[0.5315463201997105,1.0578532124493107],[0.6547278386476961,1.1858532086674045]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[-0.320112562490863,-1.7319610157482437,0.71338606911949],"aabb_xy":[[-0.32652637613404795,-1.7383708359959118],[-0.31369874884767807,-1.7255511955005751]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[0.4460068104679453,-1.7083101060060506,0.71338606911949],"aabb_xy":[[0.42821330353302894,-1.726109851601848],[0.4638003174028618,-1.6905103604102527]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[0.4273017617778392,-1.4041872871691334,0.71338606911949],"aabb_xy":[[0.34730176130762325,-1.412497994783482],[0.5073017622480551,-1.395876579554785]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[-0.525862151019804,-0.7353969015718809,0.71338606911949],"aabb_xy":[[-0.5313200966568241,-0.8153969048795399],[-0.520404205382784,-0.6553968982642217]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[-0.22299850972024188,-2.4190534453894394,0.71338606911949],"aabb_xy":[[-0.26049850814364217,-2.4322176593572697],[-0.18549851129684147,-2.4058892314216083]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[-0.017170510193086685,1.639828974659173,0.71338606911949],"aabb_xy":[[-0.054204619621146394,1.6054517673254634],[0.019863599234973033,1.6742061819928822]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[-0.44529930868068135,-1.7573810997452943,0.71338606911949],"aabb_xy":[[-0.49527237421319686,-1.8073810995578274],[-0.39532624314816595,-1.7073810999327617]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[-0.49233839713064786,0.5959881205700497,0.71338606911949],"aabb_xy":[[-0.507501270107585,0.580822663274931],[-0.47717552415371084,0.6111535778651686]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.5999249532333354,-1.2611550769152184,0.71338606911949],"aabb_xy":[[-0.6342218642510759,-1.2954519631251598],[-0.5656280422155947,-1.2268581907052771]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[-0.37560555764913794,1.0302827157021133,0.71338606911949],"aabb_xy":[[-0.4356055579005391,0.9760013906656486],[-0.31560555739773677,1.084564040738578]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6559262452872697,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5229.png","name":"5229"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5229.png","name":"5229"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1443.png","name":"1443"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9187.png","name":"9187"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5200.png","name":"5200"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1093.png","name":"1093"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":603.7566329863703,"rotation_z_degrees":346.69114787119537,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0154290973132998,-0.012386500779186141,-0.019443969882057845]},{"name":"camera_2","offset_m":[-0.0156705732330216,0.017975690958206388,-0.0027540056812084164]},{"name":"camera_3","offset_m":[0.0027339443162241114,-0.016420490895987627,0.014838325912438308]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002320215435120084,0.0014887542235676545,-0.0018346390676598969],"end_effector_yaw_offset_degrees":-0.11814832013282661},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003392013939768775,-0.0005079419009094389,-0.0015976911524756693],"end_effector_yaw_offset_degrees":0.22925010518720912},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016556920202206692,0.0015669209613913093,0.0017861814853183003],"end_effector_yaw_offset_degrees":-0.04642004372456032},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013648297583884403,-0.0009920261079303155,0.0006649518217361518],"end_effector_yaw_offset_degrees":0.7307081153474577}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004435556483389277,-0.0006977242755223699],"position_m":[0.2238435556483389,-0.030097724275522368,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009257208847157465,0.004005866862450073],"position_m":[0.2598742791152842,-0.30069413313754995,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015795591670453302,-0.004511011727215407],"position_m":[0.14307955916704532,0.2806889882727846,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034251379195617314,-0.0012635888147241071],"position_m":[0.32327486208043826,0.1822364111852759,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"69b3e0e252bccd98f9ad22825bd57a605a52749d75d88e9fbcf382fddec52043","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5229/tex_ceiling_textures_1093/tex_floor_textures_5200/tex_table_textures_1443/tex_wall_textures_9187","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8667835800228219,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8667835800228219,"visual_seed":8667835800228219,"scene_id":"lab_003","finished_at":"2026-09-04T18:48:58"}
+{"episode_id":"ep_000030","started_at":"2026-09-04T18:49:01","dimensions":{"distractor":{"count":32,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.05308594019417223,1.1317880364541524,0.71338606911949],"aabb_xy":[[-0.0662371861654616,1.1067880366974658],[-0.03993469422288288,1.156788036210839]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_1","position":[0.4836863065141035,-0.299546266109032,0.71338606911949],"aabb_xy":[[0.4196863041713019,-0.34448711735316445],[0.5476863088569051,-0.25460541486489946]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[0.3175410531006513,-0.7385873281468656,0.71338606911949],"aabb_xy":[[0.3095475633053693,-0.7465854600873412],[0.32553454289593337,-0.73058919620639]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[-0.0695187884829156,-0.7847902416110488,0.71338606911949],"aabb_xy":[[-0.07510046011704434,-0.7972902414288242],[-0.06393711684878682,-0.7722902417932732]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[-0.484268943417696,1.3367524360498177,0.71338606911949],"aabb_xy":[[-0.5078540668815908,1.271752433804386],[-0.46068381995380114,1.4017524382952495]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.3694407391545992,-1.540583688517509,0.71338606911949],"aabb_xy":[[-0.3734012229243336,-1.5482515531030296],[-0.3654802553848649,-1.5329158239319884]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[0.43203500869787237,1.6068465922064452,0.71338606911949],"aabb_xy":[[0.36803500728988164,1.5550576406825205],[0.496035010105863,1.65863554373037]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_7","position":[0.6536905446944581,-0.11036547298488397,0.71338606911949],"aabb_xy":[[0.6036974325852662,-0.16036547365907963],[0.70368365680365,-0.06036547231068835]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.35882844837498135,-2.0229704792640035,0.71338606911949],"aabb_xy":[[-0.42382844693205424,-2.052723012677886],[-0.29382844981790857,-1.993217945850121]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[0.4932322946605272,-2.0406436080845087,0.71338606911949],"aabb_xy":[[0.47806942168359023,-2.055809065379628],[0.5083951676374644,-2.0254781507893904]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[0.012661654996192317,-0.7370584479834172,0.71338606911949],"aabb_xy":[[0.0025799479176188394,-0.8170584458755318],[0.022743362074765794,-0.6570584500913025]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[0.1356043069537669,1.6638605425686177,0.71338606911949],"aabb_xy":[[0.1259726707333373,1.6542232297889088],[0.14523594317419652,1.6734978553483266]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[-0.650459222890469,-0.6837133294231539,0.71338606911949],"aabb_xy":[[-0.6612997011169839,-0.7008996107138026],[-0.6396187446639541,-0.666527048132505]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.6609731666284603,0.7831751483525551,0.71338606911949],"aabb_xy":[[-0.6765289360387255,0.7676247151081481],[-0.645417397218195,0.7987255815969625]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[-0.5705710120664026,-2.2910903068508834,0.71338606911949],"aabb_xy":[[-0.604867923084143,-2.3253871930608243],[-0.5362741010486619,-2.2567934206409417]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_15","position":[-0.30035832310429067,1.6123384837318873,0.71338606911949],"aabb_xy":[[-0.36435831953161263,1.5651688599097908],[-0.23635832667696882,1.6595081075539837]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[0.603160910251562,1.1617635308836758,0.71338606911949],"aabb_xy":[[0.5381609120956431,1.1354672863337636],[0.6681609084074812,1.188059775433588]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.3771261419220707,-0.4672953279846448,0.71338606911949],"aabb_xy":[[-0.3917695474761037,-0.481954047641429],[-0.36248273636803774,-0.45263660832786046]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[0.7070862859216689,-1.4967997172418466,0.71338606911949],"aabb_xy":[[0.6969332703675193,-1.5328692588145865],[0.717239301475818,-1.460730175669106]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[0.4707251307929463,-0.759047999272793,0.71338606911949],"aabb_xy":[[0.44883538320400557,-0.8490479965620421],[0.49261487838188717,-0.6690480019835439]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[-0.48622363497101073,1.1247629783343878,0.71338606911949],"aabb_xy":[[-0.5759107112791262,1.0347629780799372],[-0.39653655866289533,1.2147629785888383]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[-0.5633202713222629,-1.1152307746343026,0.71338606911949],"aabb_xy":[[-0.5677509006771032,-1.1206791463689856],[-0.5588896419674229,-1.1097824028996202]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[-0.5041773180521668,-0.8983469509764037,0.71338606911949],"aabb_xy":[[-0.5416773166277875,-0.9110832466399617],[-0.46667731947654595,-0.8856106553128458]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[-0.1844893908883002,-0.6880529871015475,0.71338606911949],"aabb_xy":[[-0.19152970082183723,-0.7680529865012191],[-0.17744908095476322,-0.6080529877018762]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_24","position":[-0.40734092465074406,-2.326817864084332,0.71338606911949],"aabb_xy":[[-0.48734092330763007,-2.341322723008595],[-0.32734092599385806,-2.3123130051600693]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[0.43466599931712246,0.41605135047573594,0.71338606911949],"aabb_xy":[[0.4220392120299261,0.40650527677416304],[0.4472927866043188,0.42559742417730884]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_26","position":[0.5914775585007959,-1.9972105182126296,0.71338606911949],"aabb_xy":[[0.5695688763614448,-2.0191111850327204],[0.6133862406401469,-1.9753098513925387]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_27","position":[0.6065744073700372,-2.366325985734525,0.71338606911949],"aabb_xy":[[0.5566011133667766,-2.416325986289072],[0.6565477013732975,-2.316325985179977]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_28","position":[-0.3410299728618519,-1.324756803888221,0.71338606911949],"aabb_xy":[[-0.39100303839436745,-1.374756803700754],[-0.2910569073293365,-1.2747568040756883]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_29","position":[-0.24423435616361622,1.0576236046771736,0.71338606911949],"aabb_xy":[[-0.2894056740117852,0.9936236075326355],[-0.19906303831544728,1.1216236018217123]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_30","position":[-0.5826835014079074,0.5953923060368607,0.71338606911949],"aabb_xy":[[-0.640313970295178,0.53539230711015],[-0.5250530325206363,0.6553923049635711]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_31","position":[0.44732919257647596,0.28681599764383225,0.71338606911949],"aabb_xy":[[0.39220398694688513,0.22681599620254508],[0.5024543982060666,0.34681599908511934]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626924449784665,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1646.png","name":"1646"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1646.png","name":"1646"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8794.png","name":"8794"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1870.png","name":"1870"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4041.png","name":"4041"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5442.png","name":"5442"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":739.82921215662,"rotation_z_degrees":211.82809195078164,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014283763797338731,0.0008207521660115007,-0.017133516377634838]},{"name":"camera_2","offset_m":[0.010411293698210387,-0.0013633694193099094,0.006451830780312872]},{"name":"camera_3","offset_m":[0.0017204079275170633,0.0002699954964974667,-0.011351467555172641]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00020737290172690836,-0.0010503132661474322,-0.0003200789165093321],"end_effector_yaw_offset_degrees":-0.8530426011878203},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011869590731242875,-0.00031240920277900933,-0.0015108972697419668],"end_effector_yaw_offset_degrees":-0.3027091774765851},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012356835491129947,-0.001752582297553139,0.0010188956957321764],"end_effector_yaw_offset_degrees":0.556273072247341},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018273911136735947,6.718901866403131e-05,0.0006503518472990273],"end_effector_yaw_offset_degrees":0.09323544616671087}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002708917160375848,0.0028871643911075997],"position_m":[0.22367089171603757,-0.0265128356088924,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035201314905859574,-0.0021156101217798683],"position_m":[0.2643201314905859,-0.3068156101217799,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004488258127060755,-0.004137606539988677],"position_m":[0.14598825812706073,0.28106239346001133,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008629720824666186,0.00041297536881653926],"position_m":[0.3258370279175334,0.18391297536881654,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bda363f54cc0dee75b791f2dc5caa77006b5eefea442f344bbf52b4c31f49b08","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1646/tex_ceiling_textures_5442/tex_floor_textures_4041/tex_table_textures_8794/tex_wall_textures_1870","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7177062831742085639,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7177062831742085639,"visual_seed":7177062831742085639,"scene_id":"lab_003","finished_at":"2026-09-04T18:52:51"}
+{"episode_id":"ep_000031","started_at":"2026-09-04T18:52:54","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.45211624323144073,0.57580612099063,0.71338606911949],"aabb_xy":[[0.4346163097974573,0.5583061210703953],[0.46961617666542405,0.5933061209108644]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[0.10125969828644354,0.9366533043857959,0.71338606911949],"aabb_xy":[[0.09209981934256693,0.9301220863422588],[0.11041957723032013,0.9431845224293329]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[-0.5203224595614274,-0.626255301282677,0.71338606911949],"aabb_xy":[[-0.5853224581185003,-0.6560078346965597],[-0.4553224610043546,-0.5965027678687944]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[0.13964991692490936,-1.91734265536179,0.71338606911949],"aabb_xy":[[0.13314828041690474,-1.9271104773880998],[0.14615155343291397,-1.9075748333354803]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[0.46263953717671935,-0.44880305523972197,0.71338606911949],"aabb_xy":[[0.4576835169918382,-0.47130305544184364],[0.4675955573616005,-0.4263030550376004]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[-0.18101051736875107,-0.8615311967057779,0.71338606911949],"aabb_xy":[[-0.18634303202336408,-0.8668555249510136],[-0.1756780027141381,-0.8562068684605425]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.5053612950457691,1.393962351378228,0.71338606911949],"aabb_xy":[[0.4403612971641213,1.3428386876716873],[0.5703612929274169,1.445086015084769]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[0.4723777943058911,-1.094544909705577,0.71338606911949],"aabb_xy":[[0.39237779714631577,-1.106092510663394],[0.5523777914654664,-1.08299730874776]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_8","position":[-0.6513095937657469,-0.2492310824389805,0.71338606911949],"aabb_xy":[[-0.6679867297588423,-0.2659310064129108],[-0.6346324577726513,-0.23253115846505024]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.3338652009612903,-0.2856383361863237,0.71338606911949],"aabb_xy":[[-0.3978652002554585,-0.3496244765551779],[-0.2698652016671221,-0.22165219581746953]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[0.4182516192799892,0.7424260608558244,0.71338606911949],"aabb_xy":[[0.3606211503927183,0.6824260619291137],[0.47588208816725996,0.8024260597825348]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[0.4511052441043304,-0.16389119400617114,0.71338606911949],"aabb_xy":[[0.4011210083961532,-0.21389119281966673],[0.5010894798125076,-0.11389119519267554]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[0.579390433163329,-1.4038407093272953,0.71338606911949],"aabb_xy":[[0.48939043374495816,-1.4372162061714848],[0.6693904325817,-1.3704652124831054]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[0.1544148888792708,1.6791266168816992,0.71338606911949],"aabb_xy":[[0.14628720068595757,1.6702130084709916],[0.16254257707258402,1.6880402252924072]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[0.4346282456506987,-0.6114589810198028,0.71338606911949],"aabb_xy":[[0.4170499434617518,-0.6290334705939076],[0.4522065478396455,-0.5938844914456978]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[-0.37516385472055147,1.4984701865986154,0.71338606911949],"aabb_xy":[[-0.3973363816972022,1.4762945194424923],[-0.3529913277439006,1.5206458537547383]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[0.6816652442052373,-0.7844528166124003,0.71338606911949],"aabb_xy":[[0.6685139982339481,-0.8094528163690868],[0.6948164901765268,-0.7594528168557138]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.41865490033371233,1.6334396692560715,0.71338606911949],"aabb_xy":[[0.33365490191628916,1.5485653737937866],[0.5036548987511356,1.7183139647183565]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_18","position":[0.30434861514288714,-0.5969576740940561,0.71338606911949],"aabb_xy":[[0.2693486151663913,-0.6064222901416727],[0.33934861511938297,-0.5874930580464395]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.505912800445419,-1.273963683520925,0.71338606911949],"aabb_xy":[[-0.5859128007190259,-1.3469132313466416],[-0.42591280017181193,-1.2010141356952082]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.37870191739411796,-2.3934564431244714,0.71338606911949],"aabb_xy":[[-0.4162019185789107,-2.3978746658205314],[-0.3412019162093251,-2.3890382204284104]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[0.45759786576908557,1.8057553306199075,0.71338606911949],"aabb_xy":[[0.4515032378809673,1.7971859360682392],[0.46369249365720394,1.8143247251715766]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_22","position":[-0.5708795506490116,-0.8192565822504643,0.71338606911949],"aabb_xy":[[-0.5933795504629139,-0.8237311986209451],[-0.5483795508351091,-0.8147819658799836]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[0.6311341213886803,-2.056461421321303,0.71338606911949],"aabb_xy":[[0.5925884285634792,-2.095007192377492],[0.6696798142138812,-2.0179156502651145]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[-0.06767381105562098,-1.2745705357172714,0.71338606911949],"aabb_xy":[[-0.1316738143453291,-1.3179054547211888],[-0.0036738077659128755,-1.2312356167133536]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6620441502185492,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3795.png","name":"3795"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3795.png","name":"3795"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9689.png","name":"9689"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/845.png","name":"845"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7013.png","name":"7013"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2564.png","name":"2564"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":558.327904972689,"rotation_z_degrees":5.927351801687402,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010957601377710256,0.013464257045929396,-0.004547498617548084]},{"name":"camera_2","offset_m":[0.00346480153583955,0.003718091644811388,0.01952540317073208]},{"name":"camera_3","offset_m":[0.010355924483685004,-0.0029963845607537537,0.00010185054252665263]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018804893886816437,-0.0005364559047991082,0.0012399988451431165],"end_effector_yaw_offset_degrees":-0.6067977514567255},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012776223285530435,0.0018108316474402674,-0.0004934690834554978],"end_effector_yaw_offset_degrees":0.08404650044224438},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017159467363427041,-0.00034802984126848144,-6.1560593593067495e-06],"end_effector_yaw_offset_degrees":0.16117694579814068},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006432280873882145,-0.0013477163763514306,-0.0004721996812447329],"end_effector_yaw_offset_degrees":-0.7381150281302886}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003389461429234434,-0.002212473843045919],"position_m":[0.22001053857076555,-0.03161247384304592,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027412452704994403,-0.002206178296677097],"position_m":[0.26354124527049944,-0.3069061782966771,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00044244181815413213,0.001983394053990145],"position_m":[0.14105755818184584,0.2871833940539902,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017621806522499714,-0.0027159554955614095],"position_m":[0.32846218065224997,0.18078404450443858,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"88d695826215571f33f314c4922e2ad0d04f4eedcfd51264c8b50533ff523386","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3795/tex_ceiling_textures_2564/tex_floor_textures_7013/tex_table_textures_9689/tex_wall_textures_845","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8122113718804148935,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8122113718804148935,"visual_seed":8122113718804148935,"scene_id":"lab_003","finished_at":"2026-09-04T18:56:25"}
+{"episode_id":"ep_000032","started_at":"2026-09-04T18:56:28","dimensions":{"distractor":{"count":26,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[-0.33811853267879133,0.9235629340744826,0.71338606911949],"aabb_xy":[[-0.4281185294144015,0.870379470757188],[-0.24811853594318106,0.976746397391777]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.4823353631924975,1.2828028992933076,0.71338606911949],"aabb_xy":[[-0.5068489872895033,1.2585383059912714],[-0.4578217390954916,1.3070674925953443]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.6602498537856666,1.0398844145298844,0.71338606911949],"aabb_xy":[[-0.6700058432948404,1.0301218804706498],[-0.6504938642764926,1.0496469485891187]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[-0.40822232172917966,0.6368286868779931,0.71338606911949],"aabb_xy":[[-0.4457223223937583,0.6211416288777708],[-0.3707223210646009,0.6525157448782152]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[-0.07921086649125053,1.5207948550982393,0.71338606911949],"aabb_xy":[[-0.13420407782838728,1.4657948547594457],[-0.024217655154113775,1.5757948554370331]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[0.4220156478169814,-2.2177499353817174,0.71338606911949],"aabb_xy":[[0.3849815383889217,-2.252127142715427],[0.45904975724504116,-2.183372728048008]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.21797297478657368,1.7413457465906075,0.71338606911949],"aabb_xy":[[-0.2679729751471397,1.6913657593810045],[-0.16797297442600762,1.7913257338002104]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[0.41295972924711943,1.7986694664015563,0.71338606911949],"aabb_xy":[[0.37849725123403166,1.7920057892186334],[0.4474222072602072,1.8053331435844788]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[-0.5502151940306765,1.133039042975032,0.71338606911949],"aabb_xy":[[-0.5723877210073274,1.110863375818909],[-0.5280426670540257,1.1552147101311552]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[0.36736646763469016,1.7162431818422044,0.71338606911949],"aabb_xy":[[0.3298664674628182,1.6835424464592974],[0.4048664678065621,1.7489439172251118]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_10","position":[0.11821270707119014,-1.6025002756503397,0.71338606911949],"aabb_xy":[[0.10736110082231454,-1.6133595663779907],[0.12906431332006574,-1.5916409849226887]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[0.40210875040519434,-0.7270106848911837,0.71338606911949],"aabb_xy":[[0.3948475028347869,-0.7397976951546933],[0.40936999797560175,-0.7142236746276743]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[-0.33498818417989534,1.098592387109743,0.71338606911949],"aabb_xy":[[-0.34506989125846876,1.018592389217628],[-0.3249064771013218,1.1785923850018574]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.033042548590574095,-1.7744917287003696,0.71338606911949],"aabb_xy":[[-0.051957449826849134,-1.8593660241626548],[0.11804254700799732,-1.6896174332380849]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.2199756086393746,0.8392256129767186,0.71338606911949],"aabb_xy":[[0.18247560745458177,0.834807390280658],[0.25747560982416734,0.843643835672779]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[0.4021692390338394,1.1215888247704457,0.71338606911949],"aabb_xy":[[0.3797044690624342,1.0990888238915852],[0.42463400900524445,1.1440888256493063]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[0.5956181578985786,0.6903630209058238,0.71338606911949],"aabb_xy":[[0.5316181558488466,0.6502685378165157],[0.6596181599483106,0.7304575039951317]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.17484278627628969,-0.41984371336824466,0.71338606911949],"aabb_xy":[[-0.19234271971027306,-0.4373437132884792],[-0.1573428528423063,-0.4023437134480101]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[0.4979459041076384,-0.5298356054475062,0.71338606911949],"aabb_xy":[[0.4129459054155638,-0.561821468842385],[0.582945902799713,-0.49784974205262733]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.5358377299455435,-0.7134778632561909,0.71338606911949],"aabb_xy":[[-0.5998377263411165,-0.7774411516749243],[-0.4718377335499704,-0.6495145748374572]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.6699749359096714,-1.2899554151233898,0.71338606911949],"aabb_xy":[[-0.6781894810253551,-1.2986320054210307],[-0.6617603907939872,-1.281278824825748]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[0.4689860420645031,-0.8227629373120597,0.71338606911949],"aabb_xy":[[0.4339860421684842,-0.8311371728239997],[0.5039860419605219,-0.8143887018001198]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_22","position":[0.5469792079436262,1.0472199221930727,0.71338606911949],"aabb_xy":[[0.49700179107837256,0.997219920703824],[0.5969566248088797,1.097219923682321]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[-0.5726744345553723,-1.9289807497876232,0.71338606911949],"aabb_xy":[[-0.6526744350255883,-1.9372914574019717],[-0.49267443408515643,-1.9206700421732752]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_24","position":[-0.10860796006411111,-1.617175846120558,0.71338606911949],"aabb_xy":[[-0.1274923438326213,-1.636061770900911],[-0.0897235762956009,-1.5982899213402055]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[-0.6231113155379301,0.1476614878380924,0.71338606911949],"aabb_xy":[[-0.6881113166438734,0.12269611476996414],[-0.5581113144319868,0.17262686090622073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6579011855270178,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8696.png","name":"8696"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8696.png","name":"8696"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8292.png","name":"8292"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4904.png","name":"4904"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1860.png","name":"1860"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9978.png","name":"9978"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":801.2449039895102,"rotation_z_degrees":4.500930500493361,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006714264938995594,-0.01641205449239652,0.003233260053543078]},{"name":"camera_2","offset_m":[0.0005982944797792572,0.014962868562243544,0.014291197941186728]},{"name":"camera_3","offset_m":[-0.0026524537259030624,-0.008854370420746122,-0.001182027367350312]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015115618883185375,0.0007681834754765457,0.00041778845598043016],"end_effector_yaw_offset_degrees":0.27482689162368934},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007744416794462589,-0.0004856871040989832,0.0007151167563655453],"end_effector_yaw_offset_degrees":-0.560567588639318},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011592955992029887,0.0015539660091233838,0.0006867971247109263],"end_effector_yaw_offset_degrees":-0.6832672804779332},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00036938565700823,0.00011353481019235265,0.0010128773362108445],"end_effector_yaw_offset_degrees":-0.7984738791169053}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026678327848687015,-0.003887566203602295],"position_m":[0.2260678327848687,-0.03328756620360229,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017621165553414388,-0.0018714204464901642],"position_m":[0.25903788344465856,-0.3065714204464902,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004174888612357107,-0.0007836139617065389],"position_m":[0.14567488861235708,0.28441638603829345,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005359200345700036,0.0023573531910246227],"position_m":[0.32723592003456997,0.18585735319102462,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"614b779b61b77999822314b5bbc68b3a460a3230511376ad91e870fbd1c2d9b6","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0039.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8696/tex_ceiling_textures_9978/tex_floor_textures_1860/tex_table_textures_8292/tex_wall_textures_4904","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7640022280074052031,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7640022280074052031,"visual_seed":7640022280074052031,"scene_id":"lab_003","finished_at":"2026-09-04T19:00:00"}
+{"episode_id":"ep_000033","started_at":"2026-09-04T19:00:03","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_0","position":[0.5473535049289042,-0.5846303694158528,0.71338606911949],"aabb_xy":[[0.5139133297328845,-0.6180739952467827],[0.5807936801249237,-0.5511867435849226]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[0.04824195073697568,1.5056405775398658,0.71338606911949],"aabb_xy":[[0.023728326639969828,1.4813759842378293],[0.07275557483398154,1.5299051708419023]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.11258917349251862,1.0515569978419537,0.71338606911949],"aabb_xy":[[-0.1765848708876152,0.987556999541245],[-0.048593476097422025,1.1155569961426623]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[0.43940354175321383,-1.8613160817883063,0.71338606911949],"aabb_xy":[[0.41440354182069594,-1.8681987500092299],[0.4644035416857317,-1.8544334135673832]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[-0.3283573494197186,0.5582218414975464,0.71338606911949],"aabb_xy":[[-0.3336898640743316,0.5528975132523108],[-0.32302483476510563,0.5635461697427819]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[0.3594171398049968,0.42761243637723023,0.71338606911949],"aabb_xy":[[0.3369171399910944,0.42313782000674954],[0.38191713961889917,0.4320870527477109]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.19903380266704807,1.5712954985257848,0.71338606911949],"aabb_xy":[[0.19460317331220792,1.5658471267911023],[0.20346443202188827,1.5767438702604673]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.1741065224218774,-1.5774054562946498,0.71338606911949],"aabb_xy":[[-0.2168732293012976,-1.6414054597164522],[-0.13133981554245722,-1.5134054528728473]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[-0.09441560365333135,0.037982207090156095,0.71338606911949],"aabb_xy":[[-0.10704239094052767,0.02843613338858319],[-0.08178881636613497,0.04752828079172899]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[0.671807585355366,0.9965813678299047,0.71338606911949],"aabb_xy":[[0.6657129574672477,0.9880119732782361],[0.6779022132434843,1.0051507623815734]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[-0.37637512045999694,0.9280734871786986,0.71338606911949],"aabb_xy":[[-0.3940079560535245,0.9104505411630758],[-0.35874228486646936,0.9456964331943217]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[-0.15694480278122258,-1.8007316038187922,0.71338606911949],"aabb_xy":[[-0.2469447995168328,-1.8539150671360867],[-0.06694480604561237,-1.7475481405014976]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[0.060148321447035746,-0.9013341643254078,0.71338606911949],"aabb_xy":[[0.022648320782457033,-0.9170212223256299],[0.09764832211161442,-0.8856471063251855]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[-0.12464515265010356,0.7771303000266299,0.71338606911949],"aabb_xy":[[-0.16992376753125282,0.7131303006784462],[-0.0793665377689543,0.8411302993748135]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.318099804869556,-0.6307523382423839,0.71338606911949],"aabb_xy":[[0.2978155021461572,-0.6510349633850926],[0.33838410759295473,-0.6104697130996749]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[0.5707895781243368,-1.2774709455054913,0.71338606911949],"aabb_xy":[[0.5057895771672095,-1.3294191574391967],[0.6357895790814639,-1.2255227335717855]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[0.1425897598073519,1.1943967892626275,0.71338606911949],"aabb_xy":[[0.0875942819866925,1.1393967878287203],[0.19758523762801128,1.2493967906965342]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.2500724019778622,0.501022717485887,0.71338606911949],"aabb_xy":[[0.23923192375134728,0.4838364361952381],[0.2609128802043771,0.5182089987765357]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[0.6248289128057343,-1.1493829248502063,0.71338606911949],"aabb_xy":[[0.615481905223439,-1.1636865470678504],[0.6341759203880295,-1.1350793026325623]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.22936609101764305,-1.853769900630005,0.71338606911949],"aabb_xy":[[0.2240285153516385,-1.878769901559145],[0.23470366668364764,-1.8287698997008655]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[-0.2318632560242066,-1.4178678579384205,0.71338606911949],"aabb_xy":[[-0.24056121831492192,-1.4299928322458955],[-0.22316529373349134,-1.405742883630946]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[-0.03471997840907204,-1.977899473169976,0.71338606911949],"aabb_xy":[[-0.09871997868305027,-2.027965573367264],[0.02928002186490619,-1.9278333729726878]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_22","position":[0.36812584368902157,0.694097144735176,0.71338606911949],"aabb_xy":[[0.3556584855792859,0.6816318201018525],[0.3805932017987572,0.7065624693684995]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_23","position":[0.067706962016152,-1.0607246643197077,0.71338606911949],"aabb_xy":[[0.04270696274418973,-1.07707002791587],[0.09270696128811429,-1.0443793007235453]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_24","position":[0.09794285239541856,1.3535030946128321,0.71338606911949],"aabb_xy":[[0.06294285320260028,1.3425360486151694],[0.13294285158823682,1.3644701406104944]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_25","position":[0.5067140557867635,-2.1308736640102617,0.71338606911949],"aabb_xy":[[0.4467140541438417,-2.182873813302206],[0.5667140574296854,-2.0788735147183175]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_26","position":[-0.12928967390670043,1.2676130718330683,0.71338606911949],"aabb_xy":[[-0.13750421902238438,1.2589364815354265],[-0.12107512879101644,1.2762896621307092]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_27","position":[-0.30472383898962196,0.65770507181497,0.71338606911949],"aabb_xy":[[-0.3406373434146116,0.6217915635982152],[-0.2688103345646322,0.6936185800317245]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_28","position":[0.20535250372964642,-1.1154149117769334,0.71338606911949],"aabb_xy":[[0.1437617445056536,-1.1794149098859805],[0.26694326295363924,-1.0514149136678868]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6595647493642361,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/529.png","name":"529"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/529.png","name":"529"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6393.png","name":"6393"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1091.png","name":"1091"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4475.png","name":"4475"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/948.png","name":"948"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":556.8145609660086,"rotation_z_degrees":114.98594742669954,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018779613117013146,0.007423731794854418,0.013424503979402726]},{"name":"camera_2","offset_m":[0.000508148756853094,-0.01026922241862284,-0.005967832787009511]},{"name":"camera_3","offset_m":[-0.0053065221933781045,0.0179444351132363,0.006426881235236919]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001889747736074309,0.00023067029912193044,0.0015097078781265622],"end_effector_yaw_offset_degrees":0.9123838665465478},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014831164101851467,-0.0016405963804220663,0.00021425419876800692],"end_effector_yaw_offset_degrees":0.059068434261668745},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005899923570637875,0.0009562009178456787,-1.5709853364885302e-05],"end_effector_yaw_offset_degrees":-0.9127681431363166},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005939993044581605,-0.0016738085887752585,-0.001090341512848011],"end_effector_yaw_offset_degrees":-0.5395525060202242}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003924889803956917,0.004779267221247098],"position_m":[0.2273248898039569,-0.024620732778752902,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003346554285855359,0.004359884775313399],"position_m":[0.2641465542858553,-0.3003401152246866,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-9.030433990376424e-05,-0.004330623051424437],"position_m":[0.14140969566009623,0.28086937694857556,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002420596417083888,0.0012526134131272916],"position_m":[0.32912059641708385,0.1847526134131273,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cebdbb0b9b3f3303785bb52c5e44f1da9771f44855b5273812e0dfbe053a7bf2","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0040.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_529/tex_ceiling_textures_948/tex_floor_textures_4475/tex_table_textures_6393/tex_wall_textures_1091","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1946927580801471861,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1946927580801471861,"visual_seed":1946927580801471861,"scene_id":"lab_003","finished_at":"2026-09-04T19:03:34"}
+{"episode_id":"ep_000034","started_at":"2026-09-04T19:03:39","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[0.17852303854187257,0.9606359695022637,0.71338606911949],"aabb_xy":[[0.15941073118389368,0.9415011906250218],[0.1976353458998514,0.9797707483795058]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[0.43012786952411486,1.2905748414598759,0.71338606911949],"aabb_xy":[[0.4192220934365522,1.2105748450610467],[0.4410336456116776,1.370574837858705]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[-0.15115051269904978,1.17838016856722,0.71338606911949],"aabb_xy":[[-0.23115051067983483,1.1707786276053678],[-0.07115051471826474,1.1859817095290717]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[0.08370445792800218,1.0674008645891546,0.71338606911949],"aabb_xy":[[0.053220207800972016,1.0174008648076587],[0.11418870805503233,1.1174008643706506]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[-0.06185963215280421,0.11085680610303106,0.71338606911949],"aabb_xy":[[-0.08544475561669906,0.04585680385759927],[-0.03827450868890936,0.17585680834846285]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[-0.4384108159845895,1.5442207723049504,0.71338606911949],"aabb_xy":[[-0.4456545820308348,1.464220774101348],[-0.43116704993834415,1.6242207705085527]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_6","position":[-0.41540709135727727,-0.29163051415099384,0.71338606911949],"aabb_xy":[[-0.4529070915291492,-0.32433124953390097],[-0.37790709118540533,-0.2589297787680866]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[-0.3258740317477154,-2.2395983599177396,0.71338606911949],"aabb_xy":[[-0.36087403005841084,-2.2473133748412852],[-0.29087403343701995,-2.231883344994194]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[0.6759021237650651,0.2876376059278538,0.71338606911949],"aabb_xy":[[0.6688606728143175,0.2806108541900593],[0.6829435747158127,0.2946643576656484]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[0.22733226653957772,1.6895779485815887,0.71338606911949],"aabb_xy":[[0.1373322628626595,1.6281455420044841],[0.31733227021649585,1.7510103551586929]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[-0.12522001306792818,-0.03719420019711528,0.71338606911949],"aabb_xy":[[-0.14276670798404711,-0.07469420176136654],[-0.10767331815180925,0.0003058013671359827]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[-0.5919714399142655,-1.6374755360423006,0.71338606911949],"aabb_xy":[[-0.6257469991049585,-1.6515140312554653],[-0.5581958807235725,-1.6234370408291354]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_12","position":[0.12168949471655988,-2.4498148762284617,0.71338606911949],"aabb_xy":[[0.05668949683491209,-2.500938539935003],[0.18668949259820766,-2.3986912125219213]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.16231682858324892,-2.2701984363134353,0.71338606911949],"aabb_xy":[[-0.1738858093301855,-2.295198436430367],[-0.15074784783631234,-2.2451984361965036]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[-0.38757254736435076,1.287228221433549,0.71338606911949],"aabb_xy":[[-0.40507254649871793,1.277348594395961],[-0.3700725482299836,1.2971078484711367]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[0.44915640827779524,-1.508057888783557,0.71338606911949],"aabb_xy":[[0.4431193952771305,-1.5140845898525053],[0.45519342127845996,-1.502031187714609]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[0.2744142300983142,0.8418223902464006,0.71338606911949],"aabb_xy":[[0.25191422958627363,0.8193305318810021],[0.2969142306103548,0.8643142486117988]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[-0.14938152454071452,-2.416846551974977,0.71338606911949],"aabb_xy":[[-0.23938152104158625,-2.4627581943934347],[-0.05938152803984275,-2.370934909556518]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[-0.5380227908380171,-1.4201529908766586,0.71338606911949],"aabb_xy":[[-0.5551248687963852,-1.4372597964079286],[-0.5209207128796489,-1.403046185345389]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[0.14225548993219694,0.873540228405226,0.71338606911949],"aabb_xy":[[0.10725549166207701,0.8664661007102378],[0.17725548820231682,0.8806143561002141]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[-0.2058025710023476,0.31672712819998905,0.71338606911949],"aabb_xy":[[-0.2308025709348655,0.3098444599790658],[-0.18080257106982972,0.3236097964209124]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[0.1432226486411592,1.3874190184159931,0.71338606911949],"aabb_xy":[[0.09324958310864374,1.3374190186034602],[0.1931957141736747,1.437419018228526]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[-0.028123199389969877,-1.4341554917916877,0.71338606911949],"aabb_xy":[[-0.058521310489113465,-1.4645623937933572],[0.002274911709173703,-1.4037485897900182]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[0.3768126370810043,-1.0540190916728271,0.71338606911949],"aabb_xy":[[0.29681263661078844,-1.0623297992871759],[0.45681263755122037,-1.0457083840584789]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[-0.38586925449708637,-1.3869486072519566,0.71338606911949],"aabb_xy":[[-0.41583681140691203,-1.416948607549842],[-0.3559016975872607,-1.3569486069540706]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_25","position":[-0.3668292302782916,-2.1019133644885555,0.71338606911949],"aabb_xy":[[-0.40114550745290956,-2.151913364461733],[-0.3325129531036737,-2.0519133645153778]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6615448131258508,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9257.png","name":"9257"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9257.png","name":"9257"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9642.png","name":"9642"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8834.png","name":"8834"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9626.png","name":"9626"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5100.png","name":"5100"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":592.4031777117228,"rotation_z_degrees":173.80634295670953,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0026772946147265476,-0.002106963979546333,-0.005763025240801443]},{"name":"camera_2","offset_m":[0.006527408350097998,0.010986804678353192,0.00844954562490112]},{"name":"camera_3","offset_m":[-0.018879225879208227,-0.01720926062918502,0.0007123914089448881]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006963751881028791,0.0002056468523029117,-0.0011660256394852501],"end_effector_yaw_offset_degrees":0.00621644330563087},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015006345338420494,0.001944235623069627,0.0014305750594933902],"end_effector_yaw_offset_degrees":-0.14321744318911667},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.618214794107204e-05,-0.0009513177905123031,-0.001167946486729164],"end_effector_yaw_offset_degrees":-0.10663625475991556},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000504098998089499,0.0016554918397052231,-0.0005814114539108002],"end_effector_yaw_offset_degrees":-0.278240690793744}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004940853713168202,-0.000736848845391198],"position_m":[0.22290591462868317,-0.030136848845391195,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032142845334212624,-0.000218542311116985],"position_m":[0.26401428453342124,-0.30491854231111704,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027287408517781588,-0.0017153650533442365],"position_m":[0.13877125914822183,0.28348463494665577,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003395620980662235,-0.0010934032507816651],"position_m":[0.32330437901933773,0.18240659674921833,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"03eed89e661717b6bd29ace1d8850085d052f30f2ff5907c706a4ae1009bf25b","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0041.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9257/tex_ceiling_textures_5100/tex_floor_textures_9626/tex_table_textures_9642/tex_wall_textures_8834","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":140130684081223189,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":140130684081223189,"visual_seed":140130684081223189,"scene_id":"lab_003","finished_at":"2026-09-04T19:07:25"}
+{"episode_id":"ep_000035","started_at":"2026-09-04T19:07:29","dimensions":{"distractor":{"count":35,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[-0.4943764283036132,0.7725873016374258,0.71338606911949],"aabb_xy":[[-0.5743764315676263,0.7590272693285125],[-0.4143764250396001,0.7861473339463392]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.08495519341869173,-2.3412311759252145,0.71338606911949],"aabb_xy":[[-0.10282430117314721,-2.355064083902425],[-0.06708608566423623,-2.327398267948003]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.4466978328048212,-0.019341461238714608,0.71338606911949],"aabb_xy":[[-0.45984907877611064,-0.04434146099540116],[-0.4335465868335319,0.005658538517971935]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_3","position":[-0.2579701982133751,-0.6768355526894847,0.71338606911949],"aabb_xy":[[-0.30405528946810656,-0.7408355499420398],[-0.21188510695864363,-0.6128355554369296]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.5446968539938712,-1.1268590533874265,0.71338606911949],"aabb_xy":[[0.536482308878187,-1.1355356436850674],[0.552911399109555,-1.1181824630897848]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[0.21422459089758306,-1.5887639409552454,0.71338606911949],"aabb_xy":[[0.1966778959814641,-1.6262639425194967],[0.23177128581370196,-1.5512639393909942]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.426190215567275,-2.4278722207567016,0.71338606911949],"aabb_xy":[[0.366190215059422,-2.4847189544426223],[0.48619021607512786,-2.37102548707078]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_7","position":[0.5265258845674352,-1.2659719989832452,0.71338606911949],"aabb_xy":[[0.4465258874078598,-1.2775195999410622],[0.6065258817270104,-1.2544243980254282]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.5619137278008429,-2.374193128597956,0.71338606911949],"aabb_xy":[[-0.6170389334304337,-2.4341931300392425],[-0.5067885221712521,-2.3141931271566683]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[0.26798810563753295,0.9433187740302516,0.71338606911949],"aabb_xy":[[0.18798810867449378,0.8662431323864781],[0.3479881026005721,1.020394415674025]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[-0.07264813338608644,-2.000810864751611,0.71338606911949],"aabb_xy":[[-0.09014813363113582,-2.0183106525911776],[-0.05514813314103705,-1.9833110769120441]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.18747270634309143,1.3637986455680897,0.71338606911949],"aabb_xy":[[0.17046260905304075,1.3476641570698156],[0.20448280363314206,1.3799331340663634]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[-0.18882618657557038,-1.586858229928878,0.71338606911949],"aabb_xy":[[-0.2528261887959774,-1.631231314054166],[-0.12482618435516332,-1.5424851458035895]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_13","position":[0.014296406781282855,-2.1213232301329565,0.71338606911949],"aabb_xy":[[-0.0026143256550589257,-2.1347954357255707],[0.03120713921762463,-2.1078510245403415]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[-0.5887803000264834,1.4101039215267157,0.71338606911949],"aabb_xy":[[-0.6112803000366316,1.3960077018871124],[-0.566280300016335,1.424200141166319]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[0.1413654864386953,0.6926465400272868,0.71338606911949],"aabb_xy":[[0.10006094337495927,0.6286465404591696],[0.18267002950243125,0.7566465395954037]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[0.3920880820480366,1.5261882286926007,0.71338606911949],"aabb_xy":[[0.3449587030462009,1.4621882276481986],[0.43921746104987225,1.5901882297370025]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[0.021701540852037682,-2.5011306266883855,0.71338606911949],"aabb_xy":[[-0.05829846057808952,-2.5806477817009945],[0.10170154228216488,-2.4216134716757756]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[-0.2575333347018742,0.8494921566222393,0.71338606911949],"aabb_xy":[[-0.2919958127149619,0.8428284794393165],[-0.22307085668878635,0.8561558338051621]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[-0.10442489228620466,-1.8454734225572547,0.71338606911949],"aabb_xy":[[-0.1544248918625394,-1.895454001509361],[-0.05442489270986997,-1.7954928436051492]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[0.17590270438574518,-0.596893736225256,0.71338606911949],"aabb_xy":[[0.12580524040467156,-0.6608937367350677],[0.2260001683668188,-0.5328937357154441]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[0.07493526606821022,0.9520118497749199,0.71338606911949],"aabb_xy":[[0.05135014260431536,0.8870118475294883],[0.09852038953210507,1.0170118520203517]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[-0.22030370432530677,-0.47601604471740533,0.71338606911949],"aabb_xy":[[-0.30030370230609177,-0.4836175856792573],[-0.1403037063445217,-0.4684145037555534]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_23","position":[0.32472150617286033,-2.1212576011360174,0.71338606911949],"aabb_xy":[[0.24472150915861235,-2.141392152809429],[0.4047215031871083,-2.101123049462606]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_24","position":[-0.4131745121348093,0.9130232562798155,0.71338606911949],"aabb_xy":[[-0.4181305323196906,0.890523256077694],[-0.40821849194992815,0.9355232564819372]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_25","position":[-0.28347136314099525,-2.4312994742131573,0.71338606911949],"aabb_xy":[[-0.3169505304020362,-2.4647785875842643],[-0.2499921958799543,-2.3978203608420503]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[0.544146757770051,1.656479170093983,0.71338606911949],"aabb_xy":[[0.5270446798116828,1.6393723645627134],[0.5612488357284191,1.673585975625253]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_27","position":[0.27490532665800416,-1.096826732517186,0.71338606911949],"aabb_xy":[[0.21090532460827216,-1.136921215606494],[0.33890532870773615,-1.0567322494278781]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_28","position":[0.6763949596976311,-0.18897768555510552,0.71338606911949],"aabb_xy":[[0.6393608502695712,-0.22335489288881497],[0.7134290691256907,-0.15460047822139608]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_29","position":[-0.2989270612433303,-1.8116721907763327,0.71338606911949],"aabb_xy":[[-0.33455621714329004,-1.8473048575331854],[-0.26329790534337055,-1.7760395240194795]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_30","position":[0.4894794064727066,-0.6357548243771656,0.71338606911949],"aabb_xy":[[0.4394794048112117,-0.6857532666328682],[0.5394794081342011,-0.5857563821214627]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_31","position":[-0.5653866076225788,-1.075903666671515,0.71338606911949],"aabb_xy":[[-0.6203866072443246,-1.1308873594589877],[-0.5103866080008329,-1.0209199738840422]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_32","position":[-0.3453664821957409,-0.7942651256071358,0.71338606911949],"aabb_xy":[[-0.370366481361374,-0.8012173713124924],[-0.3203664830301078,-0.7873128799017792]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_33","position":[0.5271220249338453,0.004775449348265237,0.71338606911949],"aabb_xy":[[0.4621220270521976,-0.04634821435827564],[0.5921220228154932,0.05589911305480612]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_34","position":[-0.42819896446299704,-0.3617855023196519,0.71338606911949],"aabb_xy":[[-0.5119211899630796,-0.45178550585434785],[-0.34447673896291453,-0.27178549878495595]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6615945088100307,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1713.png","name":"1713"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1713.png","name":"1713"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3431.png","name":"3431"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5528.png","name":"5528"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3603.png","name":"3603"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8529.png","name":"8529"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":514.4325889352453,"rotation_z_degrees":264.8222778910583,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00083946686423296,0.0023014501076141815,-0.006815468203206266]},{"name":"camera_2","offset_m":[0.019008090557574176,-0.00014246786014715865,-0.01036336324732535]},{"name":"camera_3","offset_m":[0.006118442131251012,0.0021618187843419137,-0.0004142121517139198]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015090773007501797,-0.001387487446548329,-0.001725753494769953],"end_effector_yaw_offset_degrees":0.9548170987159732},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001674650333483161,-0.0016153758178729313,-0.00017891199485392095],"end_effector_yaw_offset_degrees":-0.21049765815149746},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00016425275867669605,0.0017760546386380643,-0.0013343134266261259],"end_effector_yaw_offset_degrees":0.7888064099849825},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001016505829445873,0.0004393409176326121,-0.0006087366071359916],"end_effector_yaw_offset_degrees":-0.569274515436111}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030182650091245917,-0.0002949728040540908],"position_m":[0.22641826500912457,-0.02969497280405409,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002319690802788167,-0.002041971205037566],"position_m":[0.26311969080278813,-0.3067419712050376,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004057953425817492,0.004433503283836617],"position_m":[0.1374420465741825,0.28963350328383664,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013083755533567264,-0.0016635478280292706],"position_m":[0.32539162444664327,0.18183645217197072,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b77011c840b41a2cdc4f5ae8eb77eeccc33505867dd3c01d2f0875f18a4a01ad","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0042.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1713/tex_ceiling_textures_8529/tex_floor_textures_3603/tex_table_textures_3431/tex_wall_textures_5528","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7179164736453997202,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7179164736453997202,"visual_seed":7179164736453997202,"scene_id":"lab_003","finished_at":"2026-09-04T19:10:55"}
+{"episode_id":"ep_000036","started_at":"2026-09-04T19:10:59","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.19339570131429695,-0.3036581214783136,0.71338606911949],"aabb_xy":[[-0.24349316529537054,-0.3676581219881254],[-0.1432982373332233,-0.2396581209685018]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[0.5792262998435826,1.130199944607838,0.71338606911949],"aabb_xy":[[0.5342337131251322,1.0851999453333891],[0.6242188865620331,1.1751999438822867]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[0.6404359754447484,-0.5025539764079676,0.71338606911949],"aabb_xy":[[0.6300244167642646,-0.507899709743866],[0.650847534125232,-0.497208243072069]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[0.5377976509076727,-0.17440199205856288,0.71338606911949],"aabb_xy":[[0.4677976487762431,-0.1971639576842585],[0.6077976530391022,-0.1516400264328672]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[-0.11737613164571814,-1.8184173491036866,0.71338606911949],"aabb_xy":[[-0.18137613369545014,-1.8585118321929948],[-0.053376129595986144,-1.7783228660143788]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[-0.09895024964571286,-1.0690697545920678,0.71338606911949],"aabb_xy":[[-0.14883294652340906,-1.1190697538383425],[-0.04906755276801665,-1.019069755345793]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[0.47098494544646163,-1.4270528123744965,0.71338606911949],"aabb_xy":[[0.44101738853663597,-1.4570528126723823],[0.5009525023562873,-1.3970528120766108]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_7","position":[0.6514517014788763,-1.9200575071788382,0.71338606911949],"aabb_xy":[[0.6064517000126475,-1.965057364040319],[0.6964517029451052,-1.8750576503173577]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[-0.3444592951152649,-1.367867389679087,0.71338606911949],"aabb_xy":[[-0.43414637142338036,-1.4578673899335375],[-0.25477221880714945,-1.2778673894246364]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.19836747883565614,1.5013159814015835,0.71338606911949],"aabb_xy":[[-0.24836748019654337,1.4513380768261679],[-0.14836747747476892,1.5512938859769991]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[-0.557903674228029,1.4544499618098699,0.71338606911949],"aabb_xy":[[-0.5767880579965392,1.435564037029517],[-0.5390192904595188,1.4733358865902226]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[-0.12959133211682605,1.3300562023858231,0.71338606911949],"aabb_xy":[[-0.15176385909347687,1.3078805352297],[-0.10741880514017518,1.3522318695419462]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[-0.5106774900361205,1.7126841640843433,0.71338606911949],"aabb_xy":[[-0.5456774892289387,1.7017171180866804],[-0.47567749084330213,1.7236512100820054]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.6279255395104852,0.8001328532457781,0.71338606911949],"aabb_xy":[[0.5866767284805704,0.7451328537335605],[0.6691743505403999,0.8551328527579954]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.22123489965259463,1.2208005158207058,0.71338606911949],"aabb_xy":[[-0.24373489917630198,1.1983045683700846],[-0.19873490012888717,1.2432964632713261]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[0.5022183040424799,1.7384081019735533,0.71338606911949],"aabb_xy":[[0.4966366324083512,1.7259081021557776],[0.5077999756766087,1.7509081017913286]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_16","position":[0.061700886957365086,-2.2203358064226424,0.71338606911949],"aabb_xy":[[0.03170922422349476,-2.250335805759443],[0.09169254969123541,-2.190335807085842]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[0.3979505049715575,1.1496884202004098,0.71338606911949],"aabb_xy":[[0.3479505055313618,1.0997204957160935],[0.44795050441175305,1.1996563446847262]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.0569773829393968,0.8786429825217019,0.71338606911949],"aabb_xy":[[0.04233397738536381,0.8639842628649177],[0.07162078849342979,0.8933017021784861]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.5092968895877863,1.3945289336527456,0.71338606911949],"aabb_xy":[[0.419296885910868,1.333096527075641],[0.5992968932647044,1.4559613402298497]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.10609563899485963,-2.525276867038278,0.71338606911949],"aabb_xy":[[0.05612234499159917,-2.575276867592825],[0.15606893299812008,-2.47527686648373]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[-0.58566084532309,0.5607388634189303,0.71338606911949],"aabb_xy":[[-0.5902959604753233,0.5568715283417816],[-0.5810257301708566,0.5646061984960788]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[-0.28482352833907665,-0.5243816288537788,0.71338606911949],"aabb_xy":[[-0.2913251648470813,-0.5341494508800887],[-0.2783218918310721,-0.5146138068274692]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[-0.5344349343235344,-0.06707285850868772,0.71338606911949],"aabb_xy":[[-0.5456799898941521,-0.078314656232783],[-0.5231898787529164,-0.055831060784592434]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[-0.3778180898280782,0.20803999336065848,0.71338606911949],"aabb_xy":[[-0.38975082418990625,0.1956578405527991],[-0.3658853554662501,0.22042214616851785]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[-0.44237436993211887,-1.0011998675790341,0.71338606911949],"aabb_xy":[[-0.532374369655293,-1.0242732201142137],[-0.3523743702089447,-0.9781265150438542]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[0.2534207797997706,1.2502394806347943,0.71338606911949],"aabb_xy":[[0.21882969694572538,1.185239480349763],[0.2880118626538158,1.3152394809198251]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6616229662028887,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9289.png","name":"9289"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9289.png","name":"9289"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2120.png","name":"2120"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3299.png","name":"3299"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9171.png","name":"9171"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7967.png","name":"7967"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":738.6232466083088,"rotation_z_degrees":2.589965382583048,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01824255731101438,-0.005050974195232292,-0.010052861829037111]},{"name":"camera_2","offset_m":[0.008007177632311357,-0.017604916801852,-0.013256088018154838]},{"name":"camera_3","offset_m":[-0.014100991500474388,-0.01950755494146659,0.0035520569854185224]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017111583549850656,0.0010777621194484224,0.0006954755470753053],"end_effector_yaw_offset_degrees":-0.06454623028520778},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006807280217518384,-0.001747202692379389,6.137412309318874e-05],"end_effector_yaw_offset_degrees":0.5674236620157334},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015993881577709996,-0.0015795813628717902,0.001196692198924672],"end_effector_yaw_offset_degrees":-0.4216866065157405},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006518743475727178,0.0013035138276649774,0.0010147794407652858],"end_effector_yaw_offset_degrees":0.332834552972358}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003180995465292268,0.0029523032108410502],"position_m":[0.22021900453470772,-0.02644769678915895,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027846697049872735,-0.001213325035156163],"position_m":[0.26358466970498723,-0.30591332503515617,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0003676360371146596,-0.0018932818891239898],"position_m":[0.14186763603711464,0.28330671811087604,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005999798506036765,-0.001705992579770904],"position_m":[0.32729997985060366,0.18179400742022908,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6c3213f5e00da426bc1dac617fa9931f19d1b8853a6a4d95c9110a8c8b5557b6","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0043.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9289/tex_ceiling_textures_7967/tex_floor_textures_9171/tex_table_textures_2120/tex_wall_textures_3299","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":299007648741725679,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":299007648741725679,"visual_seed":299007648741725679,"scene_id":"lab_003","finished_at":"2026-09-04T19:14:45"}
+{"episode_id":"ep_000037","started_at":"2026-09-04T19:14:49","dimensions":{"distractor":{"count":35,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[0.09057274448915342,-2.291822595144397,0.71338606911949],"aabb_xy":[[0.010572747329578122,-2.303370196102214],[0.1705727416487287,-2.28027499418658]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[0.27820315163107556,-1.3575544925053329,0.71338606911949],"aabb_xy":[[0.22820831870313396,-1.4075544914005766],[0.32819798455901716,-1.3075544936100896]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[0.6397674383279814,0.19880006209376777,0.71338606911949],"aabb_xy":[[0.5757674412158758,0.14976769229935716],[0.7037674354400871,0.24783243188817838]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[-0.5619015725991268,0.749083687980229,0.71338606911949],"aabb_xy":[[-0.6259015690264488,0.7019140641581326],[-0.49790157617180497,0.7962533118023255]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[-0.14438440121397822,-1.9945739539053067,0.71338606911949],"aabb_xy":[[-0.17553132005756134,-2.064573952592114],[-0.1132374823703951,-1.9245739552184993]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[-0.34039676221058535,-1.29419921246356,0.71338606911949],"aabb_xy":[[-0.39038987431977734,-1.3441992131377556],[-0.2904036501013935,-1.2441992117893643]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.08176621884305157,-0.6796965740146774,0.71338606911949],"aabb_xy":[[0.07785234564762905,-0.6884455894212341],[0.0856800920384741,-0.6709475586081205]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[-0.12017392596484577,0.5125250351915396,0.71338606911949],"aabb_xy":[[-0.15767392646220402,0.5085563516434211],[-0.08267392546748752,0.5164937187396579]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_8","position":[-0.30866249838781373,0.8516403558897143,0.71338606911949],"aabb_xy":[[-0.3190740570682974,0.8462946225538158],[-0.29825093970732997,0.8569860892256128]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[-0.38793409246497923,-1.4227684879579505,0.71338606911949],"aabb_xy":[[-0.3928333847715427,-1.4504454072605188],[-0.38303480015841573,-1.3950915686553813]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_10","position":[-0.041696895686739954,0.7039137904777495,0.71338606911949],"aabb_xy":[[-0.049321163776918205,0.6962805669412058],[-0.03407262759656171,0.7115470140142932]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[-0.4168756122985954,1.6778921346626174,0.71338606911949],"aabb_xy":[[-0.4506511714892883,1.6638536394494523],[-0.38310005310790235,1.6919306298757821]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[0.06461614067657706,1.291829595548608,0.71338606911949],"aabb_xy":[[0.06053798276952732,1.2877486153003448],[0.0686942985836268,1.2959105757968714]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_13","position":[-0.29159469762828494,-0.13553786412035418,0.71338606911949],"aabb_xy":[[-0.306757570605222,-0.15070332141547294],[-0.27643182465134786,-0.12037240682523542]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[-0.3697374803476518,-1.9739491814847607,0.71338606911949],"aabb_xy":[[-0.38490964962928514,-1.9891180384129643],[-0.35456531106601846,-1.9587803245565576]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[-0.4506032564230036,-1.7740757109117844,0.71338606911949],"aabb_xy":[[-0.4586295270536296,-1.782827205889137],[-0.4425769857923776,-1.7653242159344318]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[0.16108245389296194,1.5121965712702905,0.71338606911949],"aabb_xy":[[0.08108245342274599,1.5038858636559427],[0.2410824543631779,1.5205072788846392]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[0.5133927759572676,1.2730649054461285,0.71338606911949],"aabb_xy":[[0.45839729813660823,1.2180649040122216],[0.568388253777927,1.3280649068800354]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[0.5062064474256878,0.7990669023754031,0.71338606911949],"aabb_xy":[[0.4891043694673195,0.7819600968441335],[0.5233085253840558,0.816173707906673]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_19","position":[0.6414813444922705,-2.228821282828257,0.71338606911949],"aabb_xy":[[0.6189813449685629,-2.2513172302788775],[0.6639813440159777,-2.206325335377636]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[0.31805167412872737,-2.3537667254759285,0.71338606911949],"aabb_xy":[[0.28358932673058546,-2.3882606078737507],[0.35251402152686906,-2.3192728430781053]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_21","position":[0.19637804485846078,1.0260454399984495,0.71338606911949],"aabb_xy":[[0.15887804334282907,1.0148186669823045],[0.23387804637409249,1.0372722130145946]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[-0.181474850193583,-1.6490020784480182,0.71338606911949],"aabb_xy":[[-0.18917804086766005,-1.6567114491467563],[-0.17377165951950596,-1.64129270774928]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[-0.5800002015802118,1.7441711012162844,0.71338606911949],"aabb_xy":[[-0.5977937085151283,1.7263713556204867],[-0.5622066946452954,1.761970846812082]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[-0.32419702888863894,0.24601216897852884,0.71338606911949],"aabb_xy":[[-0.36169702899423195,0.2391900071255477],[-0.28669702878304604,0.2528343308315099]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_25","position":[-0.6704208765501659,-1.1897051813713757,0.71338606911949],"aabb_xy":[[-0.6805738921043151,-1.2257747229441158],[-0.6602678609960163,-1.1536356397986351]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[-0.07388229937646584,1.1608204145515653,0.71338606911949],"aabb_xy":[[-0.16388229587733757,1.1149087721331068],[0.016117697124405913,1.2067320569700233]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_27","position":[0.2743537727351286,1.3773341444025418,0.71338606911949],"aabb_xy":[[0.2544627328547884,1.364678333117845],[0.29424481261546886,1.3899899556872386]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_28","position":[-0.2849144109102724,0.16990576248161027,0.71338606911949],"aabb_xy":[[-0.2921756584806799,0.1571187522181008],[-0.27765316333986506,0.18269277274511975]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_29","position":[-0.01120055390794672,-0.6761022407882045,0.71338606911949],"aabb_xy":[[-0.0219735278293145,-0.7111022390072435],[-0.0004275799865789409,-0.6411022425691655]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_30","position":[-0.43764856331987606,-0.9501642715550553,0.71338606911949],"aabb_xy":[[-0.46629789568029223,-0.978809830832131],[-0.4089992309594598,-0.9215187122779794]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_31","position":[-0.18936386936024263,1.653798660881328,0.71338606911949],"aabb_xy":[[-0.20703949994884094,1.636118444601925],[-0.17168823877164427,1.6714788771607305]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_32","position":[0.5083067132880463,-0.6796391489173741,0.71338606911949],"aabb_xy":[[0.5008942577466579,-0.685490359339002],[0.5157191688294348,-0.6737879384957461]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_33","position":[-0.6378555898286175,-1.8737602528043562,0.71338606911949],"aabb_xy":[[-0.6603692816520746,-1.943760253405364],[-0.6153418980051603,-1.803760252203349]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_34","position":[-0.38817103582699214,1.200535715061029,0.71338606911949],"aabb_xy":[[-0.4381710344729133,1.1506161714015666],[-0.3381710371810709,1.2504552587204913]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662116342693309,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8184.png","name":"8184"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8184.png","name":"8184"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5304.png","name":"5304"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3700.png","name":"3700"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5868.png","name":"5868"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9043.png","name":"9043"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":613.0091498215259,"rotation_z_degrees":145.70428989978595,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018537012617492916,0.013772319071691613,0.01228469657421884]},{"name":"camera_2","offset_m":[0.011737454537316488,-0.004605899462106567,0.019986808751523994]},{"name":"camera_3","offset_m":[0.005453568306803942,0.007041731807021532,0.011267021954196783]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00164857968414293,0.001603023227454048,-5.476593421190989e-05],"end_effector_yaw_offset_degrees":0.41092574349958655},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001760795641893489,-0.00048813444424019854,-0.0011865430010266566],"end_effector_yaw_offset_degrees":-0.2666170353045416},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006293252988734204,-0.00019810011125102715,-0.0016794900545618785],"end_effector_yaw_offset_degrees":0.9161789778239604},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001981332461740225,0.0001983448287542688,-0.001633879248978328],"end_effector_yaw_offset_degrees":-0.4777229599590991}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0047544857329454415,-0.0021505888509031844],"position_m":[0.21864551426705456,-0.031550588850903186,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014700142151210785,-0.0047782112900372],"position_m":[0.26227001421512103,-0.3094782112900372,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011083245330208522,0.0006912790009330734],"position_m":[0.14260832453302083,0.2858912790009331,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004526988613674915,-0.002361496098612559],"position_m":[0.3312269886136749,0.18113850390138744,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"25ff020664c408ed702c656108a3768ee3f5716146c78a0c89ab6484bbf46623","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8184/tex_ceiling_textures_9043/tex_floor_textures_5868/tex_table_textures_5304/tex_wall_textures_3700","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":547901746711646489,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":547901746711646489,"visual_seed":547901746711646489,"scene_id":"lab_003","finished_at":"2026-09-04T19:18:17"}
+{"episode_id":"ep_000038","started_at":"2026-09-04T19:18:20","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[-0.3104664990316938,0.4651010279157659,0.71338606911949],"aabb_xy":[[-0.35759587803352944,0.4011010268713639],[-0.2633371200298581,0.5291010289601679]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[0.45510460374341966,-2.406145401618993,0.71338606911949],"aabb_xy":[[0.42264290286149214,-2.4362782337338955],[0.48756630462534706,-2.37601256950409]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[-0.5584419419815561,-1.2268257707575358,0.71338606911949],"aabb_xy":[[-0.5809419422250713,-1.239030405417308],[-0.5359419417380406,-1.2146211360977641]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.3995078418002145,1.5058313843278266,0.71338606911949],"aabb_xy":[[-0.48950784121858537,1.472455887483637],[-0.3095078423818436,1.5392068811720165]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[0.06625400830072858,-1.4757690009313214,0.71338606911949],"aabb_xy":[[0.04915193034236043,-1.492875806462591],[0.08335608625909674,-1.4586621954000516]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.45350854620465325,-0.5045235718824124,0.71338606911949],"aabb_xy":[[-0.4650775269515899,-0.5295235719993442],[-0.44193956545771673,-0.47952357176548077]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.42322775617252545,-1.8426530745982852,0.71338606911949],"aabb_xy":[[-0.4375621812986889,-1.854713290152824],[-0.408893331046362,-1.8305928590437464]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[-0.48697374496445334,-2.2094978280487094,0.71338606911949],"aabb_xy":[[-0.5219737449409492,-2.218962444096326],[-0.4519737449879575,-2.200033212001092]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.4014822756434575,1.1809681853388168,0.71338606911949],"aabb_xy":[[0.391329260089308,1.1448986437660762],[0.4116352911976068,1.2170377269115569]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[0.3968874269010756,-0.4693497674846294,0.71338606911949],"aabb_xy":[[0.3368874263932226,-0.5261965011705506],[0.45688742740892846,-0.41250303379870806]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[0.29620942862365174,-0.7562142722118905,0.71338606911949],"aabb_xy":[[0.23220942540501388,-0.802937384110899],[0.3602094318422896,-0.7094911603128823]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[0.13313016029603886,-2.3106546414128286,0.71338606911949],"aabb_xy":[[0.06313016388607702,-2.33109257706451],[0.2031301567060006,-2.2902167057611464]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[-0.42416169418262817,-1.2932323611443735,0.71338606911949],"aabb_xy":[[-0.48816169276920063,-1.340239324543882],[-0.3601616955960557,-1.2462253977448645]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_13","position":[-0.41957689606321186,0.7736622221031744,0.71338606911949],"aabb_xy":[[-0.5095768957863859,0.7505888695679944],[-0.3295768963400376,0.7967355746383541]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.25949342183774315,1.5072872857654454,0.71338606911949],"aabb_xy":[[0.17577119633766075,1.4172872822307494],[0.34321564733782567,1.5972872893001413]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[0.5635256051873496,0.6795948848518099,0.71338606911949],"aabb_xy":[[0.5135523111840891,0.6295948842972624],[0.61349889919061,0.7295948854063571]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[-0.5451733370934562,-1.0668964333418791,0.71338606911949],"aabb_xy":[[-0.582673337385631,-1.0709379087424826],[-0.5076733368012813,-1.0628549579412756]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.3680786138838268,0.9421371035187636,0.71338606911949],"aabb_xy":[[0.3040786122058295,0.8936197120394492],[0.4320786155618242,0.9906544949980777]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.06154365434707121,0.7556365468187831,0.71338606911949],"aabb_xy":[[0.011570588814555758,0.7056365470062503],[0.1115167198795867,0.8056365466313162]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.4226115814615443,0.5022152352456106,0.71338606911949],"aabb_xy":[[0.40511158120220775,0.4881236930568381],[0.440111581720881,0.5163067774343834]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.06269781158652643,0.241154398371497,0.71338606911949],"aabb_xy":[[-0.12269781322944828,0.1891542490795528],[-0.002697809943604579,0.2931545476634412]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_21","position":[-0.23902042262816098,-0.877202817874414,0.71338606911949],"aabb_xy":[[-0.24246109886821818,-0.8810642508487785],[-0.23557974638810383,-0.8733413849000495]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_22","position":[0.31442592943593795,-0.579258943438155,0.71338606911949],"aabb_xy":[[0.3052660504920613,-0.585790161481692],[0.3235858083798145,-0.5727277253946179]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[0.13116370574990477,1.1937975770915954,0.71338606911949],"aabb_xy":[[0.09670135835176293,1.1593036946937725],[0.16562605314804651,1.2282914594894179]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_24","position":[-0.003110000134898261,0.9000588466655359,0.71338606911949],"aabb_xy":[[-0.06710999743724466,0.8556924196976792],[0.06088999716744814,0.9444252736333927]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_25","position":[-0.12094168327065746,-2.451905344271336,0.71338606911949],"aabb_xy":[[-0.1559416824634757,-2.462872390268998],[-0.08594168407783917,-2.440938298273673]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[-0.6569869083056927,1.3439885625070809,0.71338606911949],"aabb_xy":[[-0.6904270835017121,1.3105449366761506],[-0.6235467331096729,1.3774321883380107]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[-0.44620825663917696,0.9451579933969199,0.71338606911949],"aabb_xy":[[-0.47120825580481007,0.9382057476915632],[-0.42120825747354385,0.9521102391022763]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_28","position":[0.504708510310923,0.21019690499687416,0.71338606911949],"aabb_xy":[[0.4934634547403052,0.19895510727277887],[0.5159535658815408,0.22143870272096944]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_29","position":[-0.6055674116327657,-0.845811021613277,0.71338606911949],"aabb_xy":[[-0.6555605237419577,-0.8958110222874728],[-0.555574299523574,-0.7958110209390815]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6591041323056744,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4056.png","name":"4056"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4056.png","name":"4056"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5041.png","name":"5041"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/631.png","name":"631"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7529.png","name":"7529"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4646.png","name":"4646"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":672.3095380130367,"rotation_z_degrees":163.0060270869284,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0024235424065016803,0.011163706872191387,-0.019797657010816344]},{"name":"camera_2","offset_m":[-0.01883797111436083,-0.008021719098001104,-0.01889968172478854]},{"name":"camera_3","offset_m":[0.012123890389379801,-0.012465460481956129,-7.680980075989302e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003509463393558652,-0.0001967827408235988,-0.000820951669313934],"end_effector_yaw_offset_degrees":-0.23226287175780524},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001539840478336379,-0.0011079979626530331,0.001161893592153308],"end_effector_yaw_offset_degrees":0.6133255425483553},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003292451105250734,-0.00045626820382437656,-0.0005590956782844762],"end_effector_yaw_offset_degrees":-0.018999095882900496},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007272993388362241,-0.0003541419948677046,-0.0009402420074505224],"end_effector_yaw_offset_degrees":0.17896260980665457}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004192918200841896,-0.004895337184480482],"position_m":[0.2192070817991581,-0.03429533718448048,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009965223662217774,0.0008067053673218635],"position_m":[0.26179652236622175,-0.30389329463267817,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016114760623300874,-0.0004861440682729047],"position_m":[0.1398885239376699,0.2847138559317271,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002927297304440632,-0.000410098797115779],"position_m":[0.3296272973044406,0.1830899012028842,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"90cffb4144fa09c68c713765077f48e595b2407a20562d702424e50b0b6f840d","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0045.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4056/tex_ceiling_textures_4646/tex_floor_textures_7529/tex_table_textures_5041/tex_wall_textures_631","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":240187897086084999,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":240187897086084999,"visual_seed":240187897086084999,"scene_id":"lab_003","finished_at":"2026-09-04T19:21:49"}
+{"episode_id":"ep_000039","started_at":"2026-09-04T19:21:52","dimensions":{"distractor":{"count":31,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.0035136399539980046,1.4306828936921447,0.71338606911949],"aabb_xy":[[-0.014419416041560718,1.3506828972933154],[0.0073921361335647084,1.5106828900909737]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.020818963322896233,-0.740263142032975,0.71338606911949],"aabb_xy":[[-0.057613596447802506,-0.7771690171295573],[0.01597566980201004,-0.7033572669363928]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.3622369415454292,-1.0118768213531426,0.71338606911949],"aabb_xy":[[0.27223694504455737,-1.0577884637716006],[0.4522369380463009,-0.9659651789346843]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[-0.46345681104838,-1.5284728232020592,0.71338606911949],"aabb_xy":[[-0.5134568104885756,-1.5784407476863755],[-0.41345681160818437,-1.478504898717743]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_4","position":[0.5769054905100832,-2.224673441715955,0.71338606911949],"aabb_xy":[[0.5598034125517151,-2.241780247247225],[0.5940075684684514,-2.2075666361846853]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[-0.4724967481177094,-2.098999941845773,0.71338606911949],"aabb_xy":[[-0.532496748978522,-2.1504263718522587],[-0.4124967472568965,-2.0475735118392855]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[-0.20298051274817774,-2.0970871019865265,0.71338606911949],"aabb_xy":[[-0.23860966864813749,-2.1327197687433794],[-0.167351356848218,-2.0614544352296735]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.029065415295269514,0.7674788141489381,0.71338606911949],"aabb_xy":[[-0.06338169246988745,0.7174788141757604],[0.0052508618793484264,0.8174788141221159]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[0.16458261658565176,-0.725570616740935,0.71338606911949],"aabb_xy":[[0.07458261290873357,-0.7870030233180393],[0.2545826202625699,-0.6641382101638307]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.08477485895132353,-1.7895592282787791,0.71338606911949],"aabb_xy":[[0.07981883876644233,-1.812059228480901],[0.08973087913620473,-1.7670592280766577]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[0.4831067265129796,1.0977467208611373,0.71338606911949],"aabb_xy":[[0.4770697135123149,1.0917200197921895],[0.48914373951364437,1.1037734219300857]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[-0.15121075654865268,0.9610308021316243,0.71338606911949],"aabb_xy":[[-0.1625724912019388,0.9496623357253362],[-0.1398490218953665,0.9723992685379124]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[-0.5181230776921057,1.679826883056236,0.71338606911949],"aabb_xy":[[-0.5681230789759456,1.6298480286656136],[-0.4681230764082657,1.7298057374468578]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[-0.2442762177554222,-0.31370470766454694,0.71338606911949],"aabb_xy":[[-0.24917551006198563,-0.34138162696711566],[-0.23937692544885864,-0.2860277883619781]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.2994584388965926,1.754988616436084,0.71338606911949],"aabb_xy":[[0.20945843656257357,1.6775062618509715],[0.3894584412306117,1.8324709710211968]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_15","position":[-0.3487265077777403,1.1770326346962232,0.71338606911949],"aabb_xy":[[-0.383188985790828,1.1703689575133003],[-0.31426402976465245,1.1836963118791457]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[0.10540183188824448,-1.590287114773643,0.71338606911949],"aabb_xy":[[0.08753272413378899,-1.604120022750854],[0.12327093964269997,-1.576454206796432]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[0.43216903068534673,1.4629911847616497,0.71338606911949],"aabb_xy":[[0.3521690336710987,1.4428566330882382],[0.5121690276995947,1.4831257364350607]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_18","position":[0.4797842232539109,1.6485376801697478,0.71338606911949],"aabb_xy":[[0.46785148889208283,1.6361555273618886],[0.49171695761573897,1.6609198329776074]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.13064373814056718,1.655574503779238,0.71338606911949],"aabb_xy":[[-0.16814373893256263,1.6492066628210478],[-0.09314373734857173,1.6619423447374282]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[-0.25084204655447895,1.655967940690751,0.71338606911949],"aabb_xy":[[-0.28769259449146656,1.6184679398677175],[-0.21399149861749134,1.693467941513785]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[0.008421715988591871,1.0578160470598075,0.71338606911949],"aabb_xy":[[-0.03012397683660916,1.0192702760036187],[0.0469674088137929,1.0963618181159962]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[0.598578248236397,-0.5142153010424142,0.71338606911949],"aabb_xy":[[0.5760782477243565,-0.5367071594078124],[0.6210782487484376,-0.49172344267701573]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[-0.32609912591229573,0.7027314355134751,0.71338606911949],"aabb_xy":[[-0.4060991261859027,0.6297818876877584],[-0.24609912563868877,0.7756809833391919]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[0.6433457745516975,1.0164757188405158,0.71338606911949],"aabb_xy":[[0.6083457732002158,0.9961159828836949],[0.6783457759031792,1.0368354547973364]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_25","position":[-0.21061916182334006,-0.5156351011093636,0.71338606911949],"aabb_xy":[[-0.2295035455918503,-0.5345210258897164],[-0.19173477805482989,-0.49674917632901083]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_26","position":[0.33053529737126497,-1.4758786866593465,0.71338606911949],"aabb_xy":[[0.3179085100840686,-1.4854247603609194],[0.3431620846584613,-1.4663326129577736]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[0.12349705402483535,-1.9938502821333763,0.71338606911949],"aabb_xy":[[0.10832488474320202,-2.0090191390615795],[0.1386692233064687,-1.9786814252051732]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_28","position":[0.4220089477306541,1.2496509822881725,0.71338606911949],"aabb_xy":[[0.36200894713463794,1.194838509742949],[0.4820089483266703,1.304463454833396]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_29","position":[0.12176444801905284,-0.9002496228703516,0.71338606911949],"aabb_xy":[[0.1086132020477635,-0.9252496226270381],[0.1349156939903422,-0.875249623113665]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[-0.22274773685244087,-1.2500254777761821,0.71338606911949],"aabb_xy":[[-0.3027477373226568,-1.2583361853905306],[-0.14274773638222493,-1.241714770161834]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6570061987810172,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9981.png","name":"9981"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9981.png","name":"9981"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2270.png","name":"2270"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5585.png","name":"5585"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2424.png","name":"2424"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3766.png","name":"3766"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":726.7011303932002,"rotation_z_degrees":92.78704009338809,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002577462199564784,-0.00799943358645368,0.006149203034412246]},{"name":"camera_2","offset_m":[0.004486156923075614,0.01155960715803295,-0.011182262767158231]},{"name":"camera_3","offset_m":[-0.00393439273236941,-0.00617831654186852,-0.018476245434887607]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009463568007051966,-0.0008916923794319352,0.00010129462123757184],"end_effector_yaw_offset_degrees":-0.895608419595636},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00012918295455375877,-0.0018503073975151693,-0.0012705479224768943],"end_effector_yaw_offset_degrees":0.852840695718295},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006149328503836241,0.0001295501072300742,-0.0011707737023988521],"end_effector_yaw_offset_degrees":0.15292637407880894},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010570379117322243,0.0009790763440596208,-4.304245667343092e-05],"end_effector_yaw_offset_degrees":0.03139184992812338}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017666666559448185,0.0019487653148898164],"position_m":[0.2251666666559448,-0.027451234685110182,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00042310880446434426,0.004266176599331835],"position_m":[0.2612231088044643,-0.3004338234006682,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004219273323340375,-0.00046882750622308494],"position_m":[0.14571927332334036,0.28473117249377694,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004052810343606427,0.002395899569981378],"position_m":[0.32264718965639355,0.18589589956998137,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"24389b878372209603bb1c66c5240a3e07d775fbf0b77f54e1bdbb2a99b3c619","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0046.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9981/tex_ceiling_textures_3766/tex_floor_textures_2424/tex_table_textures_2270/tex_wall_textures_5585","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2915524282903426514,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2915524282903426514,"visual_seed":2915524282903426514,"scene_id":"lab_003","finished_at":"2026-09-04T19:25:33"}
+{"episode_id":"ep_000040","started_at":"2026-09-04T19:25:36","dimensions":{"distractor":{"count":34,"items":[{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_0","position":[-0.511189693841104,0.5173167723143233,0.71338606911949],"aabb_xy":[[-0.5911896910006793,0.5057691713565061],[-0.43118969668152873,0.5288643732721402]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.6806784552839285,1.187407810690806,0.71338606911949],"aabb_xy":[[-0.6915842313714912,1.1074078142919765],[-0.6697726791963657,1.2674078070896349]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.3816357028267793,1.662837443806041,0.71338606911949],"aabb_xy":[[-0.417549207251769,1.6269239355892864],[-0.3457221984017896,1.6987509520227955]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_3","position":[-0.6283761629878464,-2.2248851085467978,0.71338606911949],"aabb_xy":[[-0.6923761633653799,-2.27463037539761],[-0.5643761626103126,-2.1751398416959855]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[0.17168243807325612,-1.0689200909431258,0.71338606911949],"aabb_xy":[[0.10768244164593424,-1.1160897147652225],[0.23568243450057805,-1.0217504671210296]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[-0.27472534592462877,1.6191052151001109,0.71338606911949],"aabb_xy":[[-0.2810374454609672,1.613338275846892],[-0.26841324638829034,1.6248721543533298]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_6","position":[-0.5454486619683596,1.5842741835468641,0.71338606911949],"aabb_xy":[[-0.5955461259494333,1.5202741830370525],[-0.4953511979872861,1.6482741840566761]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[-0.0974888743670207,-1.0890689243547587,0.71338606911949],"aabb_xy":[[-0.11777317709041943,-1.1093515494974673],[-0.0772045716436219,-1.0687862992120496]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.530924573898635,-1.4636147112030489,0.71338606911949],"aabb_xy":[[-0.5659245721687549,-1.470688838898037],[-0.4959245756285151,-1.4565405835080607]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[0.36413856882801543,-0.8732336576695743,0.71338606911949],"aabb_xy":[[0.3291385696351971,-0.8842007036672368],[0.39913856802083364,-0.8622666116719115]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_10","position":[-0.30081556117389396,-0.6579937825517224,0.71338606911949],"aabb_xy":[[-0.3179176391322621,-0.6751005880829921],[-0.2837134832155258,-0.6408869770204526]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[-0.0634499659549893,-2.135892392113381,0.71338606911949],"aabb_xy":[[-0.08233434972349951,-2.1547783168937342],[-0.0445655821864791,-2.1170064673330287]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[-0.2554135527280357,-1.8228096964071416,0.71338606911949],"aabb_xy":[[-0.292913551151436,-1.8359739103749724],[-0.21791355430463533,-1.809645482439311]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[-0.2892130284080017,0.24837189942016336,0.71338606911949],"aabb_xy":[[-0.32269219566904267,0.21489278604905637],[-0.2557338611469608,0.28185101279127034]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[0.12934668596100451,-1.249461441028576,0.71338606911949],"aabb_xy":[[0.08832874257463363,-1.2994614416595334],[0.1703646293473754,-1.1994614403976187]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.06357845127658257,-2.35811166167946,0.71338606911949],"aabb_xy":[[-0.12757844838868826,-2.4071440314738703],[0.0004215458355231183,-2.309079291885049]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_16","position":[-0.37154733158048586,-2.531423806554741,0.71338606911949],"aabb_xy":[[-0.4215302817679651,-2.581423806197301],[-0.3215643813930064,-2.48142380691218]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[0.46239090652563664,-0.9443411155215089,0.71338606911949],"aabb_xy":[[0.43989448509177254,-0.9668411153282561],[0.48488732795950074,-0.9218411157147612]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[0.24786264152517146,1.6476041582379026,0.71338606911949],"aabb_xy":[[0.19786264050603622,1.6111379425000751],[0.2978626425443067,1.684070373975731]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[0.24132109014660164,-1.8758059810103178,0.71338606911949],"aabb_xy":[[0.23075361048850263,-1.8863510111233264],[0.25188856980470065,-1.8652609508973093]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[0.08523377557775302,-2.2451680112245658,0.71338606911949],"aabb_xy":[[0.07651980652781852,-2.267668011883753],[0.0939477446276875,-2.2226680105653767]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.3746258887382097,-1.7393647126567329,0.71338606911949],"aabb_xy":[[0.3632641540849235,-1.750733179063021],[0.38598762339149584,-1.7279962462504448]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[-0.3727615743660954,-0.8535500011347577,0.71338606911949],"aabb_xy":[[-0.4014109067265116,-0.8821955604118333],[-0.34411224200567914,-0.8249044418576817]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[0.5925150705153841,0.0798373780597168,0.71338606911949],"aabb_xy":[[0.5750843554363775,0.06256526339586599],[0.6099457855943905,0.09710949272356761]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[0.678201344363303,-1.4161372037951536,0.71338606911949],"aabb_xy":[[0.6630384713863661,-1.4313026610902726],[0.6933642173402402,-1.400971746500035]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[-0.332886272969149,-1.221916113902333,0.71338606911949],"aabb_xy":[[-0.3498963702591996,-1.2380506024006066],[-0.3158761756790983,-1.2057816254040588]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[0.45287832562485963,-2.337307625129456,0.71338606911949],"aabb_xy":[[0.37287832866182047,-2.4143832667732292],[0.5328783225878988,-2.2602319834856823]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[-0.15711050956290873,-2.498981204265945,0.71338606911949],"aabb_xy":[[-0.20708357509542422,-2.548981204078478],[-0.10713744403039327,-2.4489812044534123]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_28","position":[-0.24196210100645987,-1.6139645659586004,0.71338606911949],"aabb_xy":[[-0.33196210334047893,-1.6914469205437128],[-0.1519620986724408,-1.5364822113734875]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_29","position":[0.37352108315656785,-1.1548617441317215,0.71338606911949],"aabb_xy":[[0.33133666899573716,-1.2188617444089327],[0.41570549731739864,-1.0908617438545103]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_30","position":[-0.2819496380246579,-2.4005537323454726,0.71338606911949],"aabb_xy":[[-0.30441440799606295,-2.423053733224333],[-0.2594848680532527,-2.378053731466612]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_31","position":[-0.11135998713757944,0.3556892140650798,0.71338606911949],"aabb_xy":[[-0.1463599854482749,0.34797419914153416],[-0.076359988826884,0.36340422898862546]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_32","position":[0.3125706302629543,1.4843359605326714,0.71338606911949],"aabb_xy":[[0.2947015225084988,1.4705030525554603],[0.3304397380174098,1.4981688685098824]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_33","position":[-0.06772743836732398,-1.9698423798498879,0.71338606911949],"aabb_xy":[[-0.15772743778569487,-2.0032178766940776],[0.022272561051046927,-1.9364668830056981]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6583649709658209,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8932.png","name":"8932"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8932.png","name":"8932"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5030.png","name":"5030"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/146.png","name":"146"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2425.png","name":"2425"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6102.png","name":"6102"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":645.8886798830706,"rotation_z_degrees":274.00427771833813,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00951983294477151,0.001746106493603742,0.005715649226426919]},{"name":"camera_2","offset_m":[0.0009060407654617013,0.0003225552258579664,0.017688649002809916]},{"name":"camera_3","offset_m":[-0.0018107094338418693,-0.016643387388655465,0.016202828131202617]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011257401818807146,-0.0007797353814995561,0.000778106938591188],"end_effector_yaw_offset_degrees":0.7733728664895287},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006316850176500831,0.0009752138047558071,-0.0018503211085011359],"end_effector_yaw_offset_degrees":0.9929427166944282},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008255136388691077,-0.0008973592485874479,0.00016893726551515421],"end_effector_yaw_offset_degrees":-0.3760955533855779},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014238900781242672,0.0005003074240700215,-0.001467268286606645],"end_effector_yaw_offset_degrees":-0.95279994651898}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016868103853751228,0.0019124961006284323],"position_m":[0.22508681038537512,-0.027487503899371567,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002280149521659227,-0.0038438350357936756],"position_m":[0.25851985047834075,-0.3085438350357937,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016360928349596461,0.0007413778253931216],"position_m":[0.13986390716504035,0.28594137782539314,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003943127314197769,-0.001047395869885251],"position_m":[0.33064312731419776,0.18245260413011474,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"52541a585a5d3383bf2ccc44462f8a762167230d3e533e41f302b4bf74cdbbe4","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8932/tex_ceiling_textures_6102/tex_floor_textures_2425/tex_table_textures_5030/tex_wall_textures_146","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2671017299716430494,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2671017299716430494,"visual_seed":2671017299716430494,"scene_id":"lab_003","finished_at":"2026-09-04T19:29:09"}
+{"episode_id":"ep_000041","started_at":"2026-09-04T19:29:13","dimensions":{"distractor":{"count":33,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.3288496155486582,0.9174389148374855,0.71338606911949],"aabb_xy":[[0.29134961475666277,0.9110710738792953],[0.36634961634065366,0.9238067557956755]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[0.3156580451444382,-0.9482105285865094,0.71338606911949],"aabb_xy":[[0.2605328395148474,-1.0082105300277964],[0.37078325077402896,-0.8882105271452222]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_2","position":[-0.021013474723622805,0.8930687518183325,0.71338606911949],"aabb_xy":[[-0.046013473995585086,0.87672338822217],[0.003986524548339472,0.9094141154144947]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[-0.278090302985834,1.3627579191921733,0.71338606911949],"aabb_xy":[[-0.3580903032594409,1.2898083713664565],[-0.19809030271222697,1.43570746701789]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.5173347549497986,0.8499688086873238,0.71338606911949],"aabb_xy":[[0.4523347539492981,0.7991824435326489],[0.5823347559502992,0.9007551738419988]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[-0.35649372833314447,-0.8308619112683038,0.71338606911949],"aabb_xy":[[-0.42149373097093795,-0.8823415099677508],[-0.291493725695351,-0.7793823125688569]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[-0.3069627249914667,-0.22548418102299017,0.71338606911949],"aabb_xy":[[-0.3769627271228962,-0.24824614664868577],[-0.2369627228600371,-0.20272221539729446]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[-0.18716397008433017,0.17948359987413554,0.71338606911949],"aabb_xy":[[-0.20722238169757046,0.159418512964978],[-0.16710555847108988,0.19954868678329307]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[-0.5239267155857996,-2.0672282155481,0.71338606911949],"aabb_xy":[[-0.5651755266157142,-2.122228215060317],[-0.48267790455588483,-2.012228216035882]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[0.20929774710593074,-2.5079095251166064,0.71338606911949],"aabb_xy":[[0.19954175759675682,-2.5176720591758404],[0.2190537366151046,-2.4981469910573715]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[-0.5582268328088053,0.8462479275447592,0.71338606911949],"aabb_xy":[[-0.6232268337659324,0.7942997156110536],[-0.493226831851678,0.8981961394784648]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[-0.20657541921132,-1.9113706546348757,0.71338606911949],"aabb_xy":[[-0.256575419571886,-1.9613506418444784],[-0.1565754188507539,-1.8613906674252725]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[-0.5502752702443685,0.7219882120897938,0.71338606911949],"aabb_xy":[[-0.585275268555064,0.7142731971662482],[-0.5152752719336731,0.7297032270133395]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.5695831243667324,-2.3295526788787546,0.71338606911949],"aabb_xy":[[-0.6335831275853703,-2.3762757907777634],[-0.5055831211480946,-2.2828295669797467]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_14","position":[0.5760063170363627,-0.38262678328477584,0.71338606911949],"aabb_xy":[[0.516006317189796,-0.4394454054778145],[0.6360063168829295,-0.32580816109173716]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.6097922853246645,-0.912576948500819,0.71338606911949],"aabb_xy":[[0.5868765724396147,-0.9354812456372428],[0.6327079982097145,-0.8896726513643958]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[-0.11553195117263848,-2.2839531969600073,0.71338606911949],"aabb_xy":[[-0.1498288621903791,-2.3182500831699486],[-0.08123504015489784,-2.249656310750066]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[0.41302975089803184,-2.075702296889583,0.71338606911949],"aabb_xy":[[0.40422769558905913,-2.0835136230445115],[0.42183180620700456,-2.0678909707346533]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[0.5469430507102755,0.45809263920834375,0.71338606911949],"aabb_xy":[[0.4969480397508236,0.40809264017275204],[0.5969380616697276,0.5080926382439355]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[-0.4905875236546834,0.97699767787166,0.71338606911949],"aabb_xy":[[-0.5127600506313342,0.9548220107155367],[-0.46841499667803255,0.9991733450277831]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[0.6388305929534981,-2.4048912707809,0.71338606911949],"aabb_xy":[[0.6209614851990426,-2.418724178758111],[0.6566997007079536,-2.391058362803689]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[-0.0727205418286414,0.44715832379730314,0.71338606911949],"aabb_xy":[[-0.10271220456251173,0.4171583244605026],[-0.04272887909477108,0.47715832313410367]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[-0.33575333450898515,0.4715016310197928,0.71338606911949],"aabb_xy":[[-0.3427947854597328,0.46447487928199827],[-0.3287118835582376,0.47852838275758736]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[0.28284651609834255,-1.550545343202287,0.71338606911949],"aabb_xy":[[0.24784651474686079,-1.5709050791591077],[0.31784651744982423,-1.530185607245466]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_24","position":[-0.008650861983046876,1.4619638834758528,0.71338606911949],"aabb_xy":[[-0.04615086248040512,1.4579951999277343],[0.028849138514311368,1.4659325670239713]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[0.17822009851384013,-2.13200790325228,0.71338606911949],"aabb_xy":[[0.1310907195120044,-2.1960079042966814],[0.22534947751567574,-2.0680079022078774]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[0.4964675238397671,-2.4152764782559286,0.71338606911949],"aabb_xy":[[0.43246752216176976,-2.4637938697352424],[0.5604675255177645,-2.366759086776614]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_27","position":[0.009946139924891795,-0.6731599913582147,0.71338606911949],"aabb_xy":[[-0.012552995801335178,-0.6956599921364777],[0.032445275651118766,-0.6506599905799517]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[0.39330726491028334,-1.445319700878421,0.71338606911949],"aabb_xy":[[0.313307267750708,-1.456867301836238],[0.47330726206985857,-1.4337720999206038]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_29","position":[-0.31081059974510095,0.8547373286274969,0.71338606911949],"aabb_xy":[[-0.37581060085104423,0.8297719555593686],[-0.24581059863915766,0.8797027016956251]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_30","position":[-0.11211073236292546,-0.020095175541501753,0.71338606911949],"aabb_xy":[[-0.11981392303700247,-0.027804546240239758],[-0.10440754168884839,-0.012385804842763748]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_31","position":[-0.0031963808520789616,-0.8896850355888475,0.71338606911949],"aabb_xy":[[-0.022308688210057825,-0.9088198144660896],[0.015915926505899902,-0.8705502567116056]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_32","position":[-0.18906683787985012,0.6228874044343766,0.71338606911949],"aabb_xy":[[-0.2064975529588566,0.6056152897705256],[-0.1716361228008436,0.6401595190982272]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6547969697431472,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9187.png","name":"9187"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9187.png","name":"9187"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4487.png","name":"4487"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3365.png","name":"3365"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4734.png","name":"4734"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8113.png","name":"8113"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":546.3227612765866,"rotation_z_degrees":175.15684385367626,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00806733041843282,0.019286864690073045,0.0008255079279442593]},{"name":"camera_2","offset_m":[-0.013757710244415185,-0.008355059291142544,-0.0020154548728288264]},{"name":"camera_3","offset_m":[-0.007991343188678309,0.0128131751823304,0.019274950232188]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-1.6627498653058043e-05,0.00023728630390218745,-0.0006637083026389218],"end_effector_yaw_offset_degrees":-0.19387344881962365},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019978633957205894,0.0017643982895823801,0.001415662000546217],"end_effector_yaw_offset_degrees":-0.3112855542869075},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[5.1511582424168534e-05,-0.0010487729029697657,0.001875907408684624],"end_effector_yaw_offset_degrees":0.4342974441955396},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00036196161620894287,-0.0010056623643706951,0.00032484001028319125],"end_effector_yaw_offset_degrees":-0.4690850905020887}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014999743738997253,-0.004108963911434248],"position_m":[0.22190002562610026,-0.03350896391143425,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004087732928594203,0.00037573604858560407],"position_m":[0.25671226707140576,-0.30432426395141443,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00046004053586198336,-0.0001411651565613103],"position_m":[0.141039959464138,0.2850588348434387,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002853667443952204,-0.004932082179270753],"position_m":[0.32641463325560477,0.17856791782072926,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7dc955efc4fb28090caf5d324f891112aaa7017d620802c3bd0c01739f90336a","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9187/tex_ceiling_textures_8113/tex_floor_textures_4734/tex_table_textures_4487/tex_wall_textures_3365","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2914163461834379191,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2914163461834379191,"visual_seed":2914163461834379191,"scene_id":"lab_003","finished_at":"2026-09-04T19:32:51"}
+{"episode_id":"ep_000042","started_at":"2026-09-04T19:35:23","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[0.3740423275873237,0.34622213172579697,0.71338606911949],"aabb_xy":[[0.3677302280509853,0.34045519247257816],[0.3803544271236622,0.3519890709790158]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_1","position":[-0.26087022162388895,0.981296475771031,0.71338606911949],"aabb_xy":[[-0.31035064283784775,0.917296477858179],[-0.21138980040993016,1.0452964736838828]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[0.43558110427760743,0.6247492775695171,0.71338606911949],"aabb_xy":[[0.38560803874509203,0.5747492777569844],[0.48555416981012295,0.6747492773820501]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[0.15966317559638132,-0.8953811975602708,0.71338606911949],"aabb_xy":[[0.12216317565261492,-0.9036742875951073],[0.19716317554014773,-0.8870881075254341]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[-0.499459757873681,-0.36933984458982305,0.71338606911949],"aabb_xy":[[-0.54463107572185,-0.4333398417343615],[-0.45428844002551205,-0.30533984744528464]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_5","position":[0.3457422114192119,1.7535882180276148,0.71338606911949],"aabb_xy":[[0.3413115820643718,1.7481398462929323],[0.35017284077405214,1.7590365897622973]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.40644006056503806,1.2294525814532475,0.71338606911949],"aabb_xy":[[-0.4704400609425717,1.179707314602435],[-0.34244006018750445,1.2791978483040596]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[0.270223232696421,-1.1811563248994086,0.71338606911949],"aabb_xy":[[0.2663093595009985,-1.1899053403059654],[0.27413710589184354,-1.1724073094928518]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[-0.3813296759669067,-1.126045777055968,0.71338606911949],"aabb_xy":[[-0.4063296758994246,-1.1329284452768913],[-0.3563296760343888,-1.1191631088350447]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[0.28379679475798947,-2.4758571297662693,0.71338606911949],"aabb_xy":[[0.26616395916446184,-2.4934800757818922],[0.301429630351517,-2.4582341837506463]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[-0.5499422500901892,-2.135337344407365,0.71338606911949],"aabb_xy":[[-0.6139422464857622,-2.1993006328260987],[-0.4859422536946161,-2.0713740559886316]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.470389924562143,-2.19491360622349,0.71338606911949],"aabb_xy":[[0.46694924832208584,-2.1987750391978547],[0.4738306008022002,-2.1910521732491257]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[0.374813301386143,1.071753270674825,0.71338606911949],"aabb_xy":[[0.36136677475209966,1.0582834190217334],[0.3882598280201863,1.085223122327916]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[0.36844619266056533,-0.6077809365942124,0.71338606911949],"aabb_xy":[[0.3434461934949322,-0.614733182299569],[0.39344619182619844,-0.6008286908888558]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[0.19396068309879133,-1.7533512963273812,0.71338606911949],"aabb_xy":[[0.15177626893796062,-1.8173512966045926],[0.2361450972596221,-1.6893512960501702]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[-0.21470590845362136,1.5158920623268597,0.71338606911949],"aabb_xy":[[-0.22269939824890342,1.5078939303863843],[-0.20671241865833936,1.5238901942673355]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[0.05245177154114167,1.4329806184205487,0.71338606911949],"aabb_xy":[[0.0024567605816896436,1.382980619384957],[0.10244678250059372,1.4829806174561404]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[0.40578870393951716,-0.741500601293366,0.71338606911949],"aabb_xy":[[0.34578870343166423,-0.7983473349792872],[0.4657887044473701,-0.6846538676074446]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[-0.14243881781572,-2.070845176682556,0.71338606911949],"aabb_xy":[[-0.17743881612641543,-2.078560191606102],[-0.10743881950502454,-2.0631301617590108]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[0.43926821182671505,-2.44412415920913,0.71338606911949],"aabb_xy":[[0.42493378670055165,-2.4561843747636685],[0.45360263695287856,-2.432063943654591]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[-0.0964485448721053,-2.4426235038950543,0.71338606911949],"aabb_xy":[[-0.11973038707023664,-2.527623505192282],[-0.07316670267397396,-2.357623502597826]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[-0.4863085753034698,1.7505308747239963,0.71338606911949],"aabb_xy":[[-0.5228043959307485,1.7140469322972385],[-0.44981275467619103,1.7870148171507536]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[0.5277468361029445,1.6850113378008147,0.71338606911949],"aabb_xy":[[0.5032332120059386,1.660746744498778],[0.5522604601999503,1.709275931102851]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[0.5321702737420508,-1.320476779155396,0.71338606911949],"aabb_xy":[[0.515259541305709,-1.3339489847480104],[0.5490810061783925,-1.307004573562781]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_24","position":[-0.34204491989878427,0.20953499169659917,0.71338606911949],"aabb_xy":[[-0.36588113753938933,0.11953499088811273],[-0.3182087022581792,0.2995349925050857]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_25","position":[-0.574841614353444,-1.042877802482642,0.71338606911949],"aabb_xy":[[-0.5789197722604938,-1.0469587827309053],[-0.5707634564463945,-1.0387968222343786]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_26","position":[0.13209142173419286,-0.8092014752210344,0.71338606911949],"aabb_xy":[[0.1265097501000641,-0.82170147503881],[0.13767309336832162,-0.796701475403259]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_27","position":[0.2833135068203724,1.6079266112656039,0.71338606911949],"aabb_xy":[[0.23831350535414358,1.5629267544041237],[0.3283135082866013,1.652926468127085]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_28","position":[-0.3945816100747525,-0.019670824475213955,0.71338606911949],"aabb_xy":[[-0.4290440880878403,-0.026334501658136777],[-0.36011913206166474,-0.013007147292291132]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_29","position":[-0.220221573922749,-0.6878931804318245,0.71338606911949],"aabb_xy":[[-0.2293814528666256,-0.6944243984753615],[-0.2110616949788724,-0.6813619623882874]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_30","position":[0.5162611094090115,-0.6447131415720933,0.71338606911949],"aabb_xy":[[0.5113618171024479,-0.6723900608746619],[0.5211604017155749,-0.6170362222695244]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_31","position":[-0.5524937634308147,-1.7715490249668235,0.71338606911949],"aabb_xy":[[-0.6024937643813475,-1.8030981719703452],[-0.5024937624802819,-1.7399998779633024]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_32","position":[-0.5185342312913965,-1.1552328185795575,0.71338606911949],"aabb_xy":[[-0.525795478861804,-1.1680198288430668],[-0.5112729837209891,-1.1424458083160478]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_33","position":[-0.3552922019790952,1.4444047220755167,0.71338606911949],"aabb_xy":[[-0.43529220524310835,1.4308446897666032],[-0.2752921987150821,1.4579647543844299]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6567577203758963,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6074.png","name":"6074"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6074.png","name":"6074"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4683.png","name":"4683"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2016.png","name":"2016"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/737.png","name":"737"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9863.png","name":"9863"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":737.6768746898744,"rotation_z_degrees":291.5799410161277,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01736140616969568,0.004283854683069625,0.003831648383496273]},{"name":"camera_2","offset_m":[0.006886442662728882,-0.01071845018688093,-0.016161946031575183]},{"name":"camera_3","offset_m":[0.012661694129904321,-0.017535696863946033,0.005832967900478898]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013392900997254184,0.0005317147748131927,-0.0005680232292141962],"end_effector_yaw_offset_degrees":0.5772254275840478},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016375661991661864,-0.0013801314199892592,0.0009834324214122911],"end_effector_yaw_offset_degrees":0.4202895902513135},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00019939570105266926,-0.0018919128333140054,-0.0010317947226798788],"end_effector_yaw_offset_degrees":-0.23940964603032922},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003655965922594209,0.00184841319387877,5.862565097488823e-05],"end_effector_yaw_offset_degrees":-0.21814142723931162}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037624570103921865,0.0012661703414834045],"position_m":[0.22716245701039217,-0.028133829658516595,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003851212788405778,0.004735939724796952],"position_m":[0.2611851212788405,-0.29996406027520306,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001829031845957503,-0.0014676061104223238],"position_m":[0.1433290318459575,0.28373239388957766,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026982641104057138,0.003860303870902107],"position_m":[0.3293982641104057,0.1873603038709021,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c8f1a07d417dec639ae600b9661eca5d99ff356f351afb5e62da6be2ca43d4cd","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6074/tex_ceiling_textures_9863/tex_floor_textures_737/tex_table_textures_4683/tex_wall_textures_2016","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8300595533267550598,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8300595533267550598,"visual_seed":8300595533267550598,"scene_id":"lab_003","finished_at":"2026-09-04T19:38:59"}
+{"episode_id":"ep_000043","started_at":"2026-09-04T19:39:02","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_0","position":[-0.4773229004429405,1.108821299327107,0.71338606911949],"aabb_xy":[[-0.5273228998831361,1.0588533748427906],[-0.4273229010027449,1.1587892238114232]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[-0.25571894710822096,-0.6093791643149942,0.71338606911949],"aabb_xy":[[-0.3055357265730557,-0.6593791627992975],[-0.2059021676433862,-0.5593791658306908]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[0.6454838245405765,-0.7805816626724746,0.71338606911949],"aabb_xy":[[0.6104838253477582,-0.7915487086701372],[0.6804838237333948,-0.7696146166748119]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[0.5593337673746437,1.6299804793810293,0.71338606911949],"aabb_xy":[[0.4693337706390335,1.5767970160637346],[0.6493337641102539,1.6831639426983236]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.6462389981173775,1.2163241721430627,0.71338606911949],"aabb_xy":[[0.6212389988454152,1.1999788085469003],[0.6712389973893398,1.232669535739225]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[-0.5636163921400812,0.9146866749231277,0.71338606911949],"aabb_xy":[[-0.5729633997223764,0.9003830527054836],[-0.554269384557786,0.9289902971407716]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.11678235256057334,0.9841693509974712,0.71338606911949],"aabb_xy":[[0.0755335415306586,0.9291693514852536],[0.15803116359048805,1.0391693505096884]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.6548099635071583,-0.6517911096201063,0.71338606911949],"aabb_xy":[[0.6048099618456635,-0.7017895518758089],[0.704809965168653,-0.6017926673644035]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_8","position":[-0.007178746262772706,1.4808950672523706,0.71338606911949],"aabb_xy":[[-0.03217874542840582,1.473942821547014],[0.017821252902860407,1.4878473129577272]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[0.08830346815781498,-2.4525721043321744,0.71338606911949],"aabb_xy":[[0.07080346789847837,-2.466663646520947],[0.10580346841715163,-2.438480562143402]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[-0.6064953997288836,0.7996974245183002,0.71338606911949],"aabb_xy":[[-0.651487986447334,0.7546974252438513],[-0.5615028130104331,0.8446974237927488]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[-0.20955626828303153,-1.673575163709381,0.71338606911949],"aabb_xy":[[-0.27355626558537793,-1.7179415906772377],[-0.1455562709806851,-1.6292087367415242]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_12","position":[-0.011443642847805413,-1.0085811933109203,0.71338606911949],"aabb_xy":[[-0.045740553865546034,-1.0428780795208614],[0.022853268169935208,-0.9742843071009788]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[0.2380324484018288,0.8473441152507428,0.71338606911949],"aabb_xy":[[0.20053244810965398,0.8433026398501391],[0.2755324486940036,0.8513855906513463]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.6084931917903259,-1.9492355678683597,0.71338606911949],"aabb_xy":[[-0.6734931918246286,-1.995936244548687],[-0.5434931917560232,-1.9025348911880324]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[-0.36917752382923774,0.9714751449753196,0.71338606911949],"aabb_xy":[[-0.3995756349283813,0.9410682429736499],[-0.3387794127300941,1.0018820469769887]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.044245823719182176,-2.2405172385760963,0.71338606911949],"aabb_xy":[[-0.1242458269831953,-2.2540772708850096],[0.03575417954483096,-2.226957206267183]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[0.21445611552657584,1.1504513162320094,0.71338606911949],"aabb_xy":[[0.16457341864887964,1.1004513169857346],[0.26433881240427204,1.200451315478284]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[-0.19595364944545035,1.572367802625283,0.71338606911949],"aabb_xy":[[-0.22428335939399058,1.567907060431566],[-0.16762393949691012,1.576828544819]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_19","position":[0.24726654525316327,-1.4134817005243299,0.71338606911949],"aabb_xy":[[0.19728230954498605,-1.4634816993378255],[0.2972507809613405,-1.3634817017108343]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[0.4665970262585384,1.2565722219867115,0.71338606911949],"aabb_xy":[[0.44909702698045156,1.2392341219203655],[0.4840970255366253,1.2739103220530574]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[-0.39983531476126954,-0.7811422240487333,0.71338606911949],"aabb_xy":[[-0.41651245075436505,-0.7978421480226636],[-0.38315817876817404,-0.7644423000748031]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.656977433870475,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9668.png","name":"9668"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9668.png","name":"9668"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7094.png","name":"7094"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5229.png","name":"5229"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2694.png","name":"2694"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8145.png","name":"8145"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":836.2275245989829,"rotation_z_degrees":144.31159640020812,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00615880949459696,0.01932405045705515,-0.011820593972455962]},{"name":"camera_2","offset_m":[-0.002638163835334297,0.009631958938979973,-0.0001422017306683468]},{"name":"camera_3","offset_m":[-0.002935884984522151,-0.015003076819847031,-0.010330687991582335]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001147188703105409,0.001911302664631743,-0.0005285657016648106],"end_effector_yaw_offset_degrees":0.568448013038553},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014374944540881136,0.0001959600122681802,-0.000605156825888991],"end_effector_yaw_offset_degrees":-0.33116198313215595},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.2554068800300755e-05,0.001395010903767533,-2.1953644789169877e-05],"end_effector_yaw_offset_degrees":-0.940852564831504},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003474267993671604,0.0015630967954008974,-0.00010118489144555066],"end_effector_yaw_offset_degrees":-0.5805523127286525}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031609017312502147,-0.0033407438410976487],"position_m":[0.2265609017312502,-0.032740743841097646,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017572511695758486,0.00012524495899799305],"position_m":[0.2590427488304241,-0.304574755041002,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002573127510838869,-0.0030080566266057706],"position_m":[0.14175731275108389,0.28219194337339426,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002561302760437761,-0.0007136605647387094],"position_m":[0.32926130276043775,0.1827863394352613,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8b8d75101bfab2610047dccd10c4905a3504a02cf8a48697728e3b2fef6fa644","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0051.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9668/tex_ceiling_textures_8145/tex_floor_textures_2694/tex_table_textures_7094/tex_wall_textures_5229","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5993702408616916233,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5993702408616916233,"visual_seed":5993702408616916233,"scene_id":"lab_003","finished_at":"2026-09-04T19:42:27"}
+{"episode_id":"ep_000044","started_at":"2026-09-04T19:42:30","dimensions":{"distractor":{"count":23,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[0.34517924472121075,-2.528551948709852,0.71338606911949],"aabb_xy":[[0.33646527567127615,-2.551051949369039],[0.35389321377114513,-2.5060519480506627]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[-0.26664032941672483,-2.347866852872862,0.71338606911949],"aabb_xy":[[-0.35664032591759653,-2.3937784952913193],[-0.17664033291585304,-2.3019552104544028]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[0.5816502556350072,-1.6064207327916415,0.71338606911949],"aabb_xy":[[0.5591502561112996,-1.628916680242262],[0.6041502551587145,-1.5839247853410205]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.18424114389990887,-1.247966171822736,0.71338606911949],"aabb_xy":[[-0.195602878553195,-1.259334638229024],[-0.17287940924662268,-1.2365977054164479]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.49217006308396205,0.38800986927285575,0.71338606911949],"aabb_xy":[[0.43704485745437127,0.32800986783156855],[0.5472952687135528,0.44800987071414283]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[0.47425143431482786,0.6947111439635525,0.71338606911949],"aabb_xy":[[0.41025143197202624,0.6497702927194199],[0.5382514366576293,0.7396519952076849]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[0.517076674107332,0.8838201025746635,0.71338606911949],"aabb_xy":[[0.4820766757966366,0.8761050876511178],[0.5520766724180275,0.8915351174982091]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[0.4859351773866516,-0.5459634091070633,0.71338606911949],"aabb_xy":[[0.45002167296166196,-0.5818769173238179],[0.5218486818116412,-0.5100499008903085]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[-0.26032486863537596,1.8161796819936238,0.71338606911949],"aabb_xy":[[-0.3403248691055919,1.8078689743792757],[-0.18032486816516,1.8244903896079723]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.0317112852056578,-1.6274055105927872,0.71338606911949],"aabb_xy":[[-0.005083347919248471,-1.6643113856893694],[0.06850591833056408,-1.5904996354962049]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.2572774368341797,1.0606881904570495,0.71338606911949],"aabb_xy":[[-0.3472774362525506,1.0273126936128598],[-0.1672774374158088,1.0940636873012393]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.4971969073398754,-1.1134530880101945,0.71338606911949],"aabb_xy":[[0.47976619226086886,-1.1307252026740449],[0.5146276224188818,-1.0961809733463432]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[0.2713629087552428,0.7275945133627246,0.71338606911949],"aabb_xy":[[0.20736291146959412,0.6860877944098807],[0.3353629060408914,0.7691012323155686]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[-0.11658287312889204,-2.176446693678643,0.71338606911949],"aabb_xy":[[-0.1515828723217103,-2.187413739676305],[-0.08158287393607377,-2.16547964768098]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.45810938668780543,1.7651349526193125,0.71338606911949],"aabb_xy":[[0.4521428477470696,1.7591738079599484],[0.46407592562854116,1.7710960972786767]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[0.6482876853583217,-0.5765635013019152,0.71338606911949],"aabb_xy":[[0.578287683226892,-0.5993254669276107],[0.718287687489751,-0.5538015356762194]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[0.49446779472383606,-0.14906540854285977,0.71338606911949],"aabb_xy":[[0.46200609384190855,-0.17919824065776235],[0.5269294956057634,-0.11893257642795714]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.19277246695815153,-0.9166237107844399,0.71338606911949],"aabb_xy":[[-0.2527724678189643,-0.9680501407909262],[-0.1327724660973387,-0.8651972807779534]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[-0.4703337147390446,-1.1332438265697238,0.71338606911949],"aabb_xy":[[-0.5253337139156341,-1.1882335013446812],[-0.41533371556245513,-1.078254151794766]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[-0.6160001018090299,-2.5676494016128157,0.71338606911949],"aabb_xy":[[-0.6336329374025572,-2.5852723476284383],[-0.5983672662155021,-2.5500264555971923]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[0.14099151612461913,1.6387990078425676,0.71338606911949],"aabb_xy":[[0.12349151684653223,1.6214609077762219],[0.15849151540270598,1.6561371079089138]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[0.20341103068200672,-2.4886787096285863,0.71338606911949],"aabb_xy":[[0.14843730864567384,-2.5436787091928195],[0.2583847527183396,-2.433678710064353]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[-0.47501165070039303,-2.242530128261053,0.71338606911949],"aabb_xy":[[-0.4813237502367314,-2.2482970675142715],[-0.46869955116405454,-2.236763189007834]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6608702675742896,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2161.png","name":"2161"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2161.png","name":"2161"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8877.png","name":"8877"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4629.png","name":"4629"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6750.png","name":"6750"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5917.png","name":"5917"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":774.8664443592911,"rotation_z_degrees":3.024068263597841,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016189610911928724,0.010431600207887758,0.012630938641794692]},{"name":"camera_2","offset_m":[0.006977261976549,0.0039033923919072934,-0.0006792642299854497]},{"name":"camera_3","offset_m":[-0.003956694111056702,-0.0030962943018875977,0.012604078411110522]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017477795622665242,-0.0010934584690732536,-0.000949558701214042],"end_effector_yaw_offset_degrees":0.1199172117613061},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017519738437557458,0.0017042134230562988,-0.0019749868319771467],"end_effector_yaw_offset_degrees":-0.7374243115304382},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.399790675209145e-05,0.001840503306934783,0.00023151593316922793],"end_effector_yaw_offset_degrees":0.8920560991414219},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011058307272473595,-0.0019311082675197437,0.000384195074576028],"end_effector_yaw_offset_degrees":0.8455363103228133}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038556222330235123,-0.002926219264616965],"position_m":[0.21954437776697647,-0.032326219264616964,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017723062602858818,-0.001525893910462307],"position_m":[0.2625723062602859,-0.30622589391046234,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005337333639365283,-0.0031220918936086983],"position_m":[0.14203373336393652,0.28207790810639133,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013153181780598874,0.0024297500541909855],"position_m":[0.3280153181780599,0.185929750054191,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4d7781450bbff54f465f90517121678c27c3cfa7ac6c0e1e7ade99ee2ef405fb","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0052.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2161/tex_ceiling_textures_5917/tex_floor_textures_6750/tex_table_textures_8877/tex_wall_textures_4629","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8468285738642336643,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8468285738642336643,"visual_seed":8468285738642336643,"scene_id":"lab_003","finished_at":"2026-09-04T19:46:13"}
+{"episode_id":"ep_000045","started_at":"2026-09-04T19:46:17","dimensions":{"distractor":{"count":24,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[0.37648447007459707,0.7492245391269061,0.71338606911949],"aabb_xy":[[0.36924070402835174,0.6692245409233037],[0.3837282361208424,0.8292245373305085]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[-0.08335384349248132,-2.4173356604957283,0.71338606911949],"aabb_xy":[[-0.15335384612906766,-2.437440525491594],[-0.013353840855894972,-2.397230795499863]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[-0.6166357734941366,-1.8346617564943075,0.71338606911949],"aabb_xy":[[-0.6541357738423643,-1.8464531520753906],[-0.5791357731459088,-1.8228703609132235]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[0.24262630197462354,1.3442334754352103,0.71338606911949],"aabb_xy":[[0.2013774909447088,1.2892334759229924],[0.28387511300453827,1.3992334749474273]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[-0.44035564748387646,-0.05174676836017156,0.71338606911949],"aabb_xy":[[-0.4535068934551659,-0.0767467681168581],[-0.4272044015125872,-0.026746768603485016]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_5","position":[0.6537227800099166,-1.5749452354251272,0.71338606911949],"aabb_xy":[[0.6292091559129108,-1.5992098287271634],[0.6782364041069225,-1.5506806421230905]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[0.21632026109674196,-0.791493656522023,0.71338606911949],"aabb_xy":[[0.20927881014599434,-0.7985204082598174],[0.22336171204748953,-0.7844669047842283]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[-0.4188876020766237,1.3599031933914638,0.71338606911949],"aabb_xy":[[-0.42830507664648637,1.3504870162537448],[-0.4094701275067609,1.3693193705291828]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.1903987949587761,-0.39953068578831585,0.71338606911949],"aabb_xy":[[-0.2102898348391164,-0.4121864970730128],[-0.17050775507843588,-0.3868748745036191]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[-0.022724517325030003,-1.312119704928192,0.71338606911949],"aabb_xy":[[-0.047724516876768486,-1.322262188793327],[0.0022754822267084807,-1.3019772210630576]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[-0.1990379123464459,-1.3247845514234924,0.71338606911949],"aabb_xy":[[-0.26403791238074864,-1.3714852281038197],[-0.13403791231214318,-1.278083874743165]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[-0.2490976149975372,0.5835786872265052,0.71338606911949],"aabb_xy":[[-0.28659761342093754,0.5704144732586746],[-0.21159761657413684,0.5967429011943358]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_12","position":[-0.2572930677915992,1.3273348589924971,0.71338606911949],"aabb_xy":[[-0.2775773705149979,1.307052233849788],[-0.23700876506820043,1.3476174841352058]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.01641611454365599,1.102091499110283,0.71338606911949],"aabb_xy":[[-0.024630659659339967,1.0934149088126415],[-0.008201569427972009,1.1107680894079242]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[-0.06367898007910577,0.7807356462389423,0.71338606911949],"aabb_xy":[[-0.1114851476928744,0.7157356435318832],[-0.015872812465337113,0.8457356489460011]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[0.16628235495245558,-0.6689644728515163,0.71338606911949],"aabb_xy":[[0.10228665755735897,-0.732964471152225],[0.23027805234755214,-0.6049644745508076]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[0.5376025455145323,0.10663671373053418,0.71338606911949],"aabb_xy":[[0.5026025472444123,0.099562586035546],[0.5726025437846521,0.11371084142552233]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[0.4875530329818911,1.3827815311296408,0.71338606911949],"aabb_xy":[[0.4743220874472098,1.369554112107641],[0.5007839785165724,1.39600895015164]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_18","position":[0.4876188696872017,-1.3554724884318399,0.71338606911949],"aabb_xy":[[0.4839156083580627,-1.3591745067405576],[0.4913221310163405,-1.3517704701231217]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[0.6296325347081642,-1.3966641184235278,0.71338606911949],"aabb_xy":[[0.5646325365522451,-1.42296036297344],[0.6946325328640832,-1.3703678738736156]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_20","position":[-0.009424755905034665,0.8986973362092998,0.71338606911949],"aabb_xy":[[-0.01683721144642314,0.8928461257876719],[-0.0020123003636461894,0.9045485466309278]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[0.17692320931654404,-2.2862160603851605,0.71338606911949],"aabb_xy":[[0.1394232088191858,-2.290184743933279],[0.21442320981390228,-2.282247376837042]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[0.35535050440450844,1.6067814735051225,0.71338606911949],"aabb_xy":[[0.31785050373992974,1.5910944155049],[0.39285050506908714,1.6224685315053444]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_23","position":[0.4301331593833988,-1.5114147375749198,0.71338606911949],"aabb_xy":[[0.40014149664952847,-1.5414147369117204],[0.4601248221172691,-1.4814147382381193]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6567902280531069,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9704.png","name":"9704"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9704.png","name":"9704"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6547.png","name":"6547"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7238.png","name":"7238"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3624.png","name":"3624"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/364.png","name":"364"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":667.6194701505236,"rotation_z_degrees":185.07264557768517,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010815936087506101,0.013779359387446146,0.014569398142963392]},{"name":"camera_2","offset_m":[0.01597895567932277,0.005164606338873848,-0.016158130963149126]},{"name":"camera_3","offset_m":[-0.0009583594104479384,-0.006573284857211554,0.01932831377018265]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017980118666626162,-0.0017525352481133542,0.0016033049735520413],"end_effector_yaw_offset_degrees":-0.5834557523380455},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-9.01514293968563e-05,-0.0006838679222444157,0.0012771478463696369],"end_effector_yaw_offset_degrees":0.2781555927852226},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019212991935818643,-0.00030725852951895356,-0.0005321250620330821],"end_effector_yaw_offset_degrees":0.6392542363517604},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009311585501754385,-0.00037516892627731087,-0.0017627570354430877],"end_effector_yaw_offset_degrees":-0.3715334402535735}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00035316006653622525,0.002935639015153803],"position_m":[0.22304683993346378,-0.026464360984846197,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011114059592651606,0.0017684190886746607],"position_m":[0.2596885940407348,-0.3029315809113254,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037233007597745763,-0.0019166378979449373],"position_m":[0.14522330075977458,0.28328336210205507,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-2.437607700244218e-05,-0.0029742424987129223],"position_m":[0.32667562392299754,0.18052575750128708,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d0df8cc028f2ab520c9b88a34ce4f8a5cd33e905f1286e2b8d1f076b28fc9c29","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0053.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9704/tex_ceiling_textures_364/tex_floor_textures_3624/tex_table_textures_6547/tex_wall_textures_7238","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5878874737470444849,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5878874737470444849,"visual_seed":5878874737470444849,"scene_id":"lab_003","finished_at":"2026-09-04T19:49:54"}
+{"episode_id":"ep_000046","started_at":"2026-09-04T19:49:58","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[-0.5134533482260228,1.656551775245425,0.71338606911949],"aabb_xy":[[-0.5509533494108155,1.6521335525493643],[-0.47595334704123,1.6609699979414854]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.05438744375318416,-2.5709976463305053,0.71338606911949],"aabb_xy":[[0.036181620091936484,-2.5820230469124974],[0.07259326741443184,-2.559972245748514]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_2","position":[-0.5486030195579767,1.403153082297579,0.71338606911949],"aabb_xy":[[-0.6186030213667222,1.381799313533392],[-0.4786030177492313,1.4245068510617667]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[-0.40595427278987,-2.118022412456244,0.71338606911949],"aabb_xy":[[-0.45577105225470477,-2.1680224109405475],[-0.35613749332503525,-2.0680224139719408]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[-0.18060833538148502,-2.121677809019864,0.71338606911949],"aabb_xy":[[-0.24460403277658155,-2.1856778073205727],[-0.11661263798638838,-2.0576778107191553]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_5","position":[-0.056762416321030074,-1.3819269387672795,0.71338606911949],"aabb_xy":[[-0.12176241447694913,-1.4082231833171917],[0.008237581834888985,-1.3556306942173673]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[0.6998096269462801,-2.2055272553187564,0.71338606911949],"aabb_xy":[[0.6879375439347789,-2.2905272550124067],[0.7116817099577811,-2.120527255625106]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.39951884034881746,-1.4513080553432494,0.71338606911949],"aabb_xy":[[0.34953460464064023,-1.5013080541567447],[0.4495030760569947,-1.4013080565297535]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[-0.24294470274644164,1.2554715832432097,0.71338606911949],"aabb_xy":[[-0.2468585759418642,1.2467225678366527],[-0.23903082955101915,1.2642205986497663]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[0.392190986345367,-0.03379826752603199,0.71338606911949],"aabb_xy":[[0.386858471690754,-0.03912259577126759],[0.39752350099997996,-0.02847393928079639]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.5378231942861078,1.5126905559764707,0.71338606911949],"aabb_xy":[[-0.6178231914456831,1.5011429550186537],[-0.4578231971265325,1.5242381569342878]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[0.2992388411320508,-1.793166351246062,0.71338606911949],"aabb_xy":[[0.25143267351828213,-1.858166353953121],[0.34704500874581945,-1.728166348539003]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_12","position":[0.46684488242404654,1.5086817754672261,0.71338606911949],"aabb_xy":[[0.3768448787471282,1.4472493688901216],[0.5568448861009645,1.57011418204433]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_13","position":[-0.5408045330277657,0.9406543765292268,0.71338606911949],"aabb_xy":[[-0.6308045327509398,0.9175810239940468],[-0.4508045333045915,0.9637277290644065]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[-0.6166571476159023,-0.6538458601360038,0.71338606911949],"aabb_xy":[[-0.6616571490821312,-0.6988457169974845],[-0.5716571461496736,-0.6088460032745232]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[0.6523078271060978,-0.6495471374292983,0.71338606911949],"aabb_xy":[[0.6023304102408441,-0.6995471389185467],[0.7022852439713513,-0.5995471359400496]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[0.5882560654767,-0.21617630741800298,0.71338606911949],"aabb_xy":[[0.5523425610517103,-0.2520898156347576],[0.6241695699016896,-0.18026279920124835]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.26414924548500146,0.1701869239202045,0.71338606911949],"aabb_xy":[[-0.28605792762435245,0.14828625710011376],[-0.24224056334565036,0.19208759074029522]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.31244601851616416,0.8243626179269699,0.71338606911949],"aabb_xy":[[-0.3250487176532406,0.8117672217021044],[-0.2998433193790877,0.8369580141518353]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[-0.43781573667710216,-1.7480888016430394,0.71338606911949],"aabb_xy":[[-0.48781573703766823,-1.798068788852642],[-0.3878157363165361,-1.6981088144334362]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.5973259610553097,-2.3656314701707584,0.71338606911949],"aabb_xy":[[0.5891982728619964,-2.374545078581466],[0.6054536492486229,-2.3567178617600506]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[-0.5707623815770069,-2.3366987848951926,0.71338606911949],"aabb_xy":[[-0.6258875872065975,-2.3966987863364793],[-0.515637175947416,-2.276698783453905]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6526210355231019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9381.png","name":"9381"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9381.png","name":"9381"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6484.png","name":"6484"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1144.png","name":"1144"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/790.png","name":"790"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6240.png","name":"6240"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":513.653421230258,"rotation_z_degrees":98.90096223233529,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019544089583704797,0.0053023995536229974,-0.003127825074241787]},{"name":"camera_2","offset_m":[-0.010486963744411569,-0.014452159210789794,0.015515444390561916]},{"name":"camera_3","offset_m":[-0.002468659410104577,0.000799633646980772,-0.011106785455052148]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004254784864094856,0.0015327478142963492,0.0009015088479902818],"end_effector_yaw_offset_degrees":-0.9325586295331549},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001088880188336663,-0.0011299493161206198,0.0010335835627733308],"end_effector_yaw_offset_degrees":-0.42912284868863715},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001056698812031698,-0.00040440702258664725,0.001895227753225892],"end_effector_yaw_offset_degrees":-0.8019093971283708},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011475620544131018,-0.0007327974967181437,0.001141252402947596],"end_effector_yaw_offset_degrees":-0.990488942219852}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00038517006323641155,0.002847048556645692],"position_m":[0.22301482993676358,-0.026552951443354306,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049350109505626166,0.003452267365441999],"position_m":[0.2558649890494374,-0.301247732634558,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002639117150395515,0.0009617570855839442],"position_m":[0.13886088284960446,0.28616175708558395,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002873275431202857,-0.0009248426928164556],"position_m":[0.32957327543120285,0.18257515730718354,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f36191377b8fd7e83a60f7c0fe4acdb24e986e9d9fc4285551a5bf338835c7d6","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9381/tex_ceiling_textures_6240/tex_floor_textures_790/tex_table_textures_6484/tex_wall_textures_1144","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6103184285814441382,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6103184285814441382,"visual_seed":6103184285814441382,"scene_id":"lab_003","finished_at":"2026-09-04T19:53:48"}
+{"episode_id":"ep_000047","started_at":"2026-09-04T19:53:52","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[-0.3627840090495629,-0.2714232854749885,0.71338606911949],"aabb_xy":[[-0.3704871997236399,-0.2791326561737265],[-0.35508081837548583,-0.2637139147762505]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.5707616660280764,-1.5303839089957563,0.71338606911949],"aabb_xy":[[-0.6347616679404189,-1.586295058253767],[-0.5067616641157342,-1.474472759737746]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[-0.412523846448133,-2.2190351697232256,0.71338606911949],"aabb_xy":[[-0.45470826060896385,-2.283035170000437],[-0.3703394322873024,-2.155035169446015]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_3","position":[-0.4054139297068584,-0.05297413518775462,0.71338606911949],"aabb_xy":[[-0.47541393130913795,-0.0664069283894122],[-0.335413928104579,-0.039541341986097045]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[-0.2622733254032753,-0.7116451960077204,0.71338606911949],"aabb_xy":[[-0.32627332457304525,-0.7584118831266828],[-0.19827332623350538,-0.6648785088887579]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[0.5781554234437556,1.1531354252966883,0.71338606911949],"aabb_xy":[[0.5431554251736357,1.1460612976017002],[0.6131554217138755,1.1602095529916765]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[0.38863299776751625,1.3220812543521414,0.71338606911949],"aabb_xy":[[0.3386329991215951,1.2721617106926792],[0.4386329964134375,1.372000798011604]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[0.5669118564212097,0.25795791391584855,0.71338606911949],"aabb_xy":[[0.5029118543714777,0.21786343082654058],[0.6309118584709417,0.2980523970051565]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_8","position":[0.6239563941733635,-2.2221301684219457,0.71338606911949],"aabb_xy":[[0.6142004046641895,-2.23189270248118],[0.6337123836825372,-2.212367634362711]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[-0.31125073937492237,0.5801630528091222,0.71338606911949],"aabb_xy":[[-0.3416488504740659,0.5497561508074527],[-0.2808526282757787,0.6105699548107917]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.16551503532088363,-0.8723239661147535,0.71338606911949],"aabb_xy":[[-0.2068195783846196,-0.9363239656828706],[-0.12421049225714761,-0.8083239665466364]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[0.05397497970312026,-0.8058140733231844,0.71338606911949],"aabb_xy":[[-0.011025018452798803,-0.8321103178730967],[0.11897497785903932,-0.7795178287732724]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[0.3502724738192564,1.1726735947485696,0.71338606911949],"aabb_xy":[[0.31464331791929673,1.1370409279917166],[0.3859016297192162,1.2083062615054225]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[-0.290535295350384,0.9938378569672657,0.71338606911949],"aabb_xy":[[-0.29423855667952287,0.9901358386585477],[-0.2868320340212451,0.9975398752759834]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[0.14906498725780137,-1.3082398174859717,0.71338606911949],"aabb_xy":[[0.06906498618468104,-1.318017863823356],[0.2290649883309217,-1.298461771148587]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[-0.5421921119555264,1.6379662620164166,0.71338606911949],"aabb_xy":[[-0.6061921136335239,1.5894488705371022],[-0.47819211027752917,1.6864836534957306]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[0.2867236262765728,-0.8904896207682627,0.71338606911949],"aabb_xy":[[0.25240734910195484,-0.9404896207414403],[0.3210399034511907,-0.8404896207950848]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[0.13531972561918615,-2.3421566424564166,0.71338606911949],"aabb_xy":[[0.07531972511133321,-2.3990033761423377],[0.19531972612703905,-2.2853099087704947]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[-0.25508158447711343,1.561124981051337,0.71338606911949],"aabb_xy":[[-0.3028877520908821,1.496124978344278],[-0.20727541686334477,1.6261249837583958]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[0.4324021831072784,-2.0279636977846636,0.71338606911949],"aabb_xy":[[0.3825194862295823,-2.0779636970309383],[0.4822848799849747,-1.9779636985383888]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.04317865638584584,-2.068131632853621,0.71338606911949],"aabb_xy":[[-0.07432557522942895,-2.1381316315404275],[-0.012031737542262722,-1.9981316341668132]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[-0.32231101863295136,1.349250816875712,0.71338606911949],"aabb_xy":[[-0.3374133200939693,1.3341492952446496],[-0.3072087171719331,1.3643523385067735]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6549828592181834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7260.png","name":"7260"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7260.png","name":"7260"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8363.png","name":"8363"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1039.png","name":"1039"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6094.png","name":"6094"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7523.png","name":"7523"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":655.8472660838823,"rotation_z_degrees":345.1145738980501,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015168130586328097,0.011409229217834629,-0.010082999804351242]},{"name":"camera_2","offset_m":[-0.0012219757335711415,0.006001118715114936,-0.019266611383865623]},{"name":"camera_3","offset_m":[0.002480822806172518,-0.003370316558997319,-0.01885604245417692]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015461935915180628,-0.0013674443586740625,-0.001098289650850682],"end_effector_yaw_offset_degrees":-0.3328819593160113},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008712532062834422,0.00022460753127038612,-0.0008244483107855819],"end_effector_yaw_offset_degrees":-0.566688235119438},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-6.436141929341854e-05,-0.0010487717006823255,-0.0010328796691271948],"end_effector_yaw_offset_degrees":-0.33207377943346716},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010794091118690474,0.0004530937002317492,-0.001540581722504657],"end_effector_yaw_offset_degrees":-0.11165536255942876}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037154863966234923,-0.0019321627176134759],"position_m":[0.2271154863966235,-0.03133216271761347,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002065916302507419,0.0038540359835509313],"position_m":[0.25873408369749257,-0.3008459640164491,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004201669830137881,-0.0015833301450952088],"position_m":[0.1372983301698621,0.2836166698549048,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017594049154023828,0.0003501701828734381],"position_m":[0.3249405950845976,0.18385017018287345,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"14bab065b7969dc944d6dc97591a4855eabf9abec530b5c3bfa45f954639b235","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0055.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7260/tex_ceiling_textures_7523/tex_floor_textures_6094/tex_table_textures_8363/tex_wall_textures_1039","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6179311855646380445,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6179311855646380445,"visual_seed":6179311855646380445,"scene_id":"lab_003","finished_at":"2026-09-04T19:57:22"}
+{"episode_id":"ep_000048","started_at":"2026-09-04T19:57:25","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.4751528211617275,1.2609085928477728,0.71338606911949],"aabb_xy":[[-0.5173372353225583,1.1969085925705616],[-0.4329684070008968,1.324908593124984]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.024767419673958235,-2.0783880490339808,0.71338606911949],"aabb_xy":[[-0.10476124325251646,-2.1583880516268223],[0.055226403904599985,-1.9983880464411392]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[0.22221085272610153,1.5510221559426216,0.71338606911949],"aabb_xy":[[0.13221085300292731,1.5279488034074415],[0.31221085244927566,1.5740955084778012]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.6692517886552627,1.5094089896741605,0.71338606911949],"aabb_xy":[[0.6605538263645473,1.4972840153666858],[0.6779497509459779,1.5215339639816354]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.4488610175844804,0.9527303019575126,0.71338606911949],"aabb_xy":[[-0.5088610178358816,0.8984489769210479],[-0.3888610173330792,1.007011626993977]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.5315954147223622,0.13596242621833765,0.71338606911949],"aabb_xy":[[-0.5787247937241977,0.07196242517393567],[-0.4844660357205264,0.19996242726273958]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[0.4519265079568091,-1.400919793515465,0.71338606911949],"aabb_xy":[[0.41062196489307307,-1.464919793083582],[0.49323105102054504,-1.3369197939473478]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[0.5226902366217032,-1.773723655770159,0.71338606911949],"aabb_xy":[[0.4726902362611372,-1.823703642979762],[0.5726902369822693,-1.723743668560556]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.37573010544677693,-0.6346844843404229,0.71338606911949],"aabb_xy":[[-0.42353627306054553,-0.6996844870474819],[-0.32792393783300827,-0.5696844816333639]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[-0.050551168966845306,-1.5888578804523044,0.71338606911949],"aabb_xy":[[-0.13055117223085844,-1.6024179127612175],[0.029448834297167825,-1.5752978481433908]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[0.2984978862414993,-1.3470382308913362,0.71338606911949],"aabb_xy":[[0.28385448068746627,-1.3616969505481202],[0.31314129179553224,-1.3323795112345518]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.6772978347012393,0.2490316979042828,0.71338606911949],"aabb_xy":[[-0.6885428902718571,0.23778990018018756],[-0.6660527791306214,0.2602734956283781]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[-0.5457921980045992,-0.04447220343770297,0.71338606911949],"aabb_xy":[[-0.563292198263936,-0.05856374562647561],[-0.5282921977452627,-0.03038066124893036]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[0.176659664528098,-2.3542625364086485,0.71338606911949],"aabb_xy":[[0.15307454106420318,-2.41926253865408],[0.20024478799199288,-2.2892625341632162]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[0.16095616011266822,1.3406077881866225,0.71338606911949],"aabb_xy":[[0.15562364545805527,1.3352834599413872],[0.16628867476728124,1.3459321164318583]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[-0.40115985256809084,-0.3233959692402424,0.71338606911949],"aabb_xy":[[-0.41431109853938014,-0.34839596899692893],[-0.3880086065968014,-0.29839596948355585]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[0.13473463511786887,-1.176895808120375,0.71338606911949],"aabb_xy":[[0.08973463365164001,-1.2218956649818558],[0.17973463658409772,-1.1318959512588944]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_17","position":[-0.5342178515551204,-0.4481758176899442,0.71338606911949],"aabb_xy":[[-0.5541088914354606,-0.4608316289746411],[-0.5143268116747801,-0.4355200064052474]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.4692237601739171,0.6399946730646917,0.71338606911949],"aabb_xy":[[0.37922375783989803,0.562512318479579],[0.5592237625079362,0.7174770276498044]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[0.4714178992494087,0.09484790701558143,0.71338606911949],"aabb_xy":[[0.4461970623895689,0.06962415616269467],[0.49663873610924825,0.12007165786846817]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[0.36988973032666217,0.38974563238808235,0.71338606911949],"aabb_xy":[[0.35400523706133696,0.37539269208925835],[0.38577422359198726,0.40409857268690647]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.3253969501974729,0.6955333085443094,0.71338606911949],"aabb_xy":[[-0.3893969516054635,0.6437443570203847],[-0.26139694878948216,0.7473222600682341]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[0.09574228489052405,-0.801406314082753,0.71338606911949],"aabb_xy":[[0.06328058400859658,-0.8315391461976555],[0.12820398577245148,-0.7712734819678503]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[0.39545692591915493,-1.1085553053216126,0.71338606911949],"aabb_xy":[[0.3104569272270803,-1.1405411687164912],[0.4804569246112296,-1.0765694419267335]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_24","position":[-0.0661960391130817,1.3267781571129729,0.71338606911949],"aabb_xy":[[-0.10323014854114139,1.2924009497792632],[-0.029161929685021966,1.361155364446682]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_25","position":[-0.6073396136372118,1.6337013358326247,0.71338606911949],"aabb_xy":[[-0.6351846504178189,1.6029168370943128],[-0.5794945768566047,1.6644858345709361]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[-0.32781499056843805,1.2017087663158015,0.71338606911949],"aabb_xy":[[-0.3918149876805438,1.1526763965213906],[-0.2638149934563324,1.2507411361102119]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[-0.2998289023413685,-1.48694174834796,0.71338606911949],"aabb_xy":[[-0.33429138035445627,-1.4936054255308824],[-0.2653664243282807,-1.480278071165037]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_28","position":[-0.03330144853279415,1.5884719614118903,0.71338606911949],"aabb_xy":[[-0.08327886539804773,1.5384719599226417],[0.01667596833245943,1.6384719629011388]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_29","position":[0.2957017817871048,-1.7727992487523592,0.71338606911949],"aabb_xy":[[0.21570178477285684,-1.7929338004257707],[0.3757017788013528,-1.7526646970789481]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_30","position":[0.042598672330029785,1.706719746489529,0.71338606911949],"aabb_xy":[[0.007598672434010917,1.698345510977589],[0.07759867222604866,1.715093982001469]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_31","position":[0.5882457140205661,-1.3209517989246664,0.71338606911949],"aabb_xy":[[0.5657457137770507,-1.3331564335844384],[0.6107457142640815,-1.3087471642648945]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_32","position":[0.13272115798505035,-2.5465801598176774,0.71338606911949],"aabb_xy":[[0.11949021245036903,-2.5598075788396764],[0.14595210351973162,-2.5333527407956775]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569698280423948,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6953.png","name":"6953"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6953.png","name":"6953"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4441.png","name":"4441"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/818.png","name":"818"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2197.png","name":"2197"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6466.png","name":"6466"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":793.9344070130379,"rotation_z_degrees":96.20046955882911,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0067253610268616665,-0.018938767094369795,-0.017864869461856895]},{"name":"camera_2","offset_m":[-0.019380495191331858,-0.008463205053752212,0.003927188786895991]},{"name":"camera_3","offset_m":[0.012581396118171637,-0.013905255188042066,0.0041616939227539715]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018852345533054984,-0.001266354433644858,0.0012788246142581253],"end_effector_yaw_offset_degrees":-0.38244685680873425},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00017126035071366634,-0.0011682900198941013,-0.0002505515772529062],"end_effector_yaw_offset_degrees":-0.06853764306955634},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011418390868444118,-0.001937270055705946,-0.0004700543898519291],"end_effector_yaw_offset_degrees":-0.0045979668290314635},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00021505905325225382,-0.0005221780666156853,-0.0011328790630185353],"end_effector_yaw_offset_degrees":-0.3806150605792622}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002645983499412972,-0.0025372282030001504],"position_m":[0.22604598349941296,-0.03193722820300015,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[8.055211859959045e-05,0.003680285210892997],"position_m":[0.26088055211859956,-0.30101971478910705,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0041571969044467295,4.127472423870113e-05],"position_m":[0.13734280309555325,0.2852412747242387,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000651234170248558,-0.004270284565901306],"position_m":[0.32604876582975145,0.17922971543409869,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e0bce287343b186d4ea3191cc1173de7e9a9390b175cfbbd16caf315e362d7c4","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0056.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6953/tex_ceiling_textures_6466/tex_floor_textures_2197/tex_table_textures_4441/tex_wall_textures_818","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4561903393790113081,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4561903393790113081,"visual_seed":4561903393790113081,"scene_id":"lab_003","finished_at":"2026-09-04T20:00:56"}
+{"episode_id":"ep_000049","started_at":"2026-09-04T20:01:01","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[0.32268538586466566,-0.6933199924299416,0.71338606911949],"aabb_xy":[[0.31710371423053685,-0.7058199922477171],[0.32826705749879437,-0.6808199926121661]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_1","position":[-0.3582988347968649,0.38717901968457813,0.71338606911949],"aabb_xy":[[-0.42229883409103314,0.32319287931572394],[-0.2942988355026967,0.4511651600534323]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[0.5909507181505653,1.621456176654092,0.71338606911949],"aabb_xy":[[0.5800449420630026,1.5414561802552624],[0.601856494238128,1.7014561730529207]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[-0.19524659203397143,-1.778488406667466,0.71338606911949],"aabb_xy":[[-0.22573084216100162,-1.8284884064489617],[-0.1647623419069413,-1.7284884068859698]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[-0.21783682065727278,-2.377926974131886,0.71338606911949],"aabb_xy":[[-0.26282940737572325,-2.4229269734063346],[-0.1728442339388224,-2.332926974857437]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_5","position":[-0.4704159827871981,-1.6074896970394397,0.71338606911949],"aabb_xy":[[-0.481256461013713,-1.6246759783300884],[-0.4595755045606832,-1.590303415748791]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[-0.2724176115381075,1.3227095978430055,0.71338606911949],"aabb_xy":[[-0.28176461912040274,1.3084059756253614],[-0.2630706039558123,1.3370132200606495]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[-0.6182520107844941,-2.1889554608253357,0.71338606911949],"aabb_xy":[[-0.6782520112923469,-2.2458021945112567],[-0.5582520102766411,-2.1321087271394137]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[-0.6039949491140052,-0.5911547855023078,0.71338606911949],"aabb_xy":[[-0.6539791848221824,-0.6411547843158034],[-0.554010713405828,-0.5411547866888122]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_9","position":[0.41227243813566394,0.7219103781402616,0.71338606911949],"aabb_xy":[[0.37477243819189754,0.7136172881054249],[0.44977243807943035,0.7302034681750981]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_10","position":[0.6301597190015573,0.9771193408907104,0.71338606911949],"aabb_xy":[[0.6193081127526816,0.9662600501630593],[0.6410113252504328,0.9879786316183613]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.3321035708590048,0.21979345216314927,0.71338606911949],"aabb_xy":[[-0.39610357111947564,0.17478465281022124],[-0.268103570598534,0.2648022515160772]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_12","position":[-0.05524554670032622,-2.3486900954176626,0.71338606911949],"aabb_xy":[[-0.06787233398752257,-2.3582361691192353],[-0.04261875941312986,-2.339144021716089]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[-0.11256049202555485,0.32248670571628635,0.71338606911949],"aabb_xy":[[-0.19256049061287428,0.24317110377812542],[-0.03256049343823542,0.4018023076544472]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.2484831281407623,0.12609944011597873,0.71338606911949],"aabb_xy":[[-0.258894686821246,0.12075370678008027],[-0.23807156946027858,0.1314451734518772]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[-0.40527531868797434,0.021839661064666505,0.71338606911949],"aabb_xy":[[-0.4402753169986698,0.014124646141120856],[-0.3702753203772789,0.029554675988212153]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[0.6378053045107672,0.3104163255477501,0.71338606911949],"aabb_xy":[[0.5928053030445385,0.26541646868626945],[0.6828053059769962,0.3554161824092308]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[0.05827501990850725,-1.948234543378723,0.71338606911949],"aabb_xy":[[-0.005724976487065818,-2.0121978317974563],[0.12227501630408033,-1.8842712549599892]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.009424482247782695,1.2295218250941162,0.71338606911949],"aabb_xy":[[-0.07056934133077553,1.1495218225012744],[0.08941830582634092,1.3095218276869576]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.49025903938151627,-1.1575513014012446,0.71338606911949],"aabb_xy":[[0.48541544462028635,-1.1624029538802287],[0.4951026341427463,-1.1526996489222605]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.19921875186524796,1.475460365736882,0.71338606911949],"aabb_xy":[[0.14924545786198748,1.4254603651823345],[0.24919204586850838,1.5254603662914292]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[-0.14438381244708787,1.5894771469917512,0.71338606911949],"aabb_xy":[[-0.2093838110041607,1.5597246135778686],[-0.07938381389001503,1.6192296804056339]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[0.18348708719239915,1.7564094645581876,0.71338606911949],"aabb_xy":[[0.17535939899908592,1.7474958561474796],[0.19161477538571237,1.7653230729688951]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[-0.3880686360486489,0.8819087158107104,0.71338606911949],"aabb_xy":[[-0.3941056490493137,0.8758820147417623],[-0.38203162304798427,0.8879354168796587]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.6662214198187281,-1.1641969596926132,0.71338606911949],"aabb_xy":[[-0.6786887779284638,-1.1766622843259367],[-0.6537540617089925,-1.1517316350592897]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_25","position":[-0.6112346714663001,-2.4233390527556735,0.71338606911949],"aabb_xy":[[-0.6752346718438337,-2.473084319606486],[-0.5472346710887664,-2.3735937859048613]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_26","position":[0.4228831576406802,-1.5046103944443183,0.71338606911949],"aabb_xy":[[0.3983369420179294,-1.5348592909933554],[0.44742937326343085,-1.4743614978952813]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_27","position":[0.09545868548554859,0.6026293959611029,0.71338606911949],"aabb_xy":[[0.077825849892021,0.5850064499454798],[0.11309152107907615,0.6202523419767257]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6561626517356168,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4944.png","name":"4944"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4944.png","name":"4944"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/283.png","name":"283"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3049.png","name":"3049"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7602.png","name":"7602"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2626.png","name":"2626"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":781.6243971504168,"rotation_z_degrees":139.24257649442706,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012897354027381493,-0.014288518008727876,-0.018278788745359452]},{"name":"camera_2","offset_m":[0.007474172528319074,0.007291482337856307,0.0014112843372336495]},{"name":"camera_3","offset_m":[-0.016618747945422188,-0.012175476807798704,0.017597323708876827]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018514591983351868,0.000850873108021117,-0.0004738557042454584],"end_effector_yaw_offset_degrees":-0.04892608152759226},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010698616595665586,0.0002316423552535551,0.0007999085211334725],"end_effector_yaw_offset_degrees":0.8196367038989372},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004782502703749793,0.0016170625774745936,-0.0005256788675086863],"end_effector_yaw_offset_degrees":0.1483029624604375},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-2.307866917450937e-05,-6.338908697886753e-05,0.0019308709979886877],"end_effector_yaw_offset_degrees":-0.5305755394566829}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002982901257677906,0.0019802235531985327],"position_m":[0.22041709874232207,-0.027419776446801467,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028471961666706913,-0.00019931938567902506],"position_m":[0.2579528038333293,-0.30489931938567905,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001826869350145365,-0.0001907453145742529],"position_m":[0.13967313064985462,0.28500925468542576,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00425267422947602,0.0019020573103195213],"position_m":[0.330952674229476,0.18540205731031953,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"68b571b66a59a84b7e76b90e38be6b3a4ed2494a904ad0b004786abc098ccd5e","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0057.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4944/tex_ceiling_textures_2626/tex_floor_textures_7602/tex_table_textures_283/tex_wall_textures_3049","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2754237035851097343,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2754237035851097343,"visual_seed":2754237035851097343,"scene_id":"lab_003","finished_at":"2026-09-04T20:04:28"}
+{"episode_id":"ep_000050","started_at":"2026-09-04T20:04:31","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[-0.3035166251415772,1.515296464733202,0.71338606911949],"aabb_xy":[[-0.3122978522888135,1.5065167174446723],[-0.29473539799434106,1.5240762120217328]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_1","position":[0.6101693602929537,1.6956188491874058,0.71338606911949],"aabb_xy":[[0.6013673049839808,1.6878075230324767],[0.6189714156019263,1.7034301753423349]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_2","position":[0.6295747161756857,1.6115785895304495,0.71338606911949],"aabb_xy":[[0.5960955489146449,1.5780994761593428],[0.6630538834367268,1.6450577029015567]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[-0.08816033598993056,-1.7492452374142562,0.71338606911949],"aabb_xy":[[-0.10566033526801744,-1.766583337480602],[-0.07066033671184369,-1.73190713734791]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[-0.061746898375844905,-1.9207387814953722,0.71338606911949],"aabb_xy":[[-0.13174690018459034,-1.9420925502595594],[0.008253103432900526,-1.8993850127311847]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[-0.07648381983274921,0.30952019557893706,0.71338606911949],"aabb_xy":[[-0.08895117794248486,0.29705487094561356],[-0.06401646172301356,0.32198552021226057]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_6","position":[0.07313419655097719,0.8688256125713822,0.71338606911949],"aabb_xy":[[0.00913419420817564,0.8238847613272496],[0.13713419889377876,0.9137664638155146]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[-0.4021824820045603,0.8139121128595357,0.71338606911949],"aabb_xy":[[-0.43921659143262004,0.779534905525826],[-0.36514837257650057,0.8482893201932449]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[0.5666420526702136,0.2869938529620226,0.71338606911949],"aabb_xy":[[0.5066420524188123,0.2327125279255579],[0.6266420529216147,0.3412751779984872]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[-0.1962815359482693,-2.4189197699972143,0.71338606911949],"aabb_xy":[[-0.26028153325061565,-2.4632861969650706],[-0.13228153864592285,-2.374553343029357]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[0.6837428845868321,-2.0386623631523193,0.71338606911949],"aabb_xy":[[0.6777763456460962,-2.0446235078116834],[0.6897094235275677,-2.032701218492955]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[0.3336778912804743,0.45551200243596757,0.71338606911949],"aabb_xy":[[0.2786846799433375,0.4005120020971741],[0.38867110261761106,0.5105120027747613]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.5720073895310207,0.0376029890278371,0.71338606911949],"aabb_xy":[[0.5020073861394586,0.002287215324406226],[0.6420073929225826,0.07291876273126793]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.11198717350858367,-0.9018028110192142,0.71338606911949],"aabb_xy":[[-0.12206888058715715,-0.9818028089113288],[-0.1019054664300102,-0.8218028131270995]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[-0.20872514081371646,-0.11747916939793068,0.71338606911949],"aabb_xy":[[-0.21949811473508424,-0.15247916761696967],[-0.19795216689234868,-0.08247917117889171]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[-0.33815514681557696,-0.8392413574815585,0.71338606911949],"aabb_xy":[[-0.3881551480994169,-0.8892202118721805],[-0.288155145531737,-0.7892625030909363]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[0.5590517657786398,-1.5159463866217346,0.71338606911949],"aabb_xy":[[0.4940517631408463,-1.5674259853211816],[0.6240517684164333,-1.4644667879222877]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[0.6975476623595518,-2.5288601371171127,0.71338606911949],"aabb_xy":[[0.6804455844011836,-2.5459669426483824],[0.71464974031792,-2.511753331585843]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[-0.5475306390931972,1.7182099881234447,0.71338606911949],"aabb_xy":[[-0.6115306411429292,1.6781155050341368],[-0.4835306370434652,1.7583044712127527]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[0.6473781580752986,1.2544934003310924,0.71338606911949],"aabb_xy":[[0.583378157697765,1.20474813348028],[0.7113781584528323,1.3042386671819046]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[-0.667613642818169,-2.4778751829929484,0.71338606911949],"aabb_xy":[[-0.690078412789574,-2.500375183871809],[-0.6451488728467638,-2.455375182114088]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_21","position":[0.053825299256703873,-0.8605481434961857,0.71338606911949],"aabb_xy":[[0.050384623016646715,-0.8644095764705504],[0.05726597549676106,-0.8566867105218214]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6616816871489368,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7016.png","name":"7016"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7016.png","name":"7016"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6062.png","name":"6062"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5761.png","name":"5761"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5046.png","name":"5046"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8821.png","name":"8821"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":846.9249442839266,"rotation_z_degrees":178.83663748862952,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018266033823654042,0.007608965622375969,-0.005025006672883872]},{"name":"camera_2","offset_m":[0.010950185755142918,0.010290322357625326,0.0077771086158687636]},{"name":"camera_3","offset_m":[-0.014085346365232655,0.006564404223747454,0.018813538956358334]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008893360430616752,0.001154174763064134,-0.00146492888914268],"end_effector_yaw_offset_degrees":-0.581464726248526},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008286537874471805,0.0018972962087735789,-0.00176850839435015],"end_effector_yaw_offset_degrees":0.26301960098910926},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011504263909979952,0.00138493130181445,0.0017843480249223709],"end_effector_yaw_offset_degrees":0.14891851772579945},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017637114979671274,-0.001434203156527441,0.0005260865152930177],"end_effector_yaw_offset_degrees":-0.9747424758203922}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011737499737029368,-0.0016838280240587767],"position_m":[0.2245737499737029,-0.031083828024058777,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004579204999343319,0.0021244312709376148],"position_m":[0.2653792049993433,-0.30257556872906244,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036336831233422856,-0.004511570350703577],"position_m":[0.14513368312334227,0.2806884296492964,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023788906615355375,0.001826797540120331],"position_m":[0.3243211093384645,0.18532679754012032,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"29484509ac0a8fcbcfbdb59dfb1d65d2a08f46437c9cbf90c4fdea3b41bb507c","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7016/tex_ceiling_textures_8821/tex_floor_textures_5046/tex_table_textures_6062/tex_wall_textures_5761","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4038070127664189239,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4038070127664189239,"visual_seed":4038070127664189239,"scene_id":"lab_003","finished_at":"2026-09-04T20:08:02"}
+{"episode_id":"ep_000051","started_at":"2026-09-04T20:08:05","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[0.6200903695794306,-0.8627976460994995,0.71338606911949],"aabb_xy":[[0.5560903709928581,-0.9098046094990081],[0.684090368166003,-0.8157906826999907]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[0.29243665856265455,-1.5126982509055562,0.71338606911949],"aabb_xy":[[0.2589574913016136,-1.5461773642766632],[0.3259158258236955,-1.4792191375344492]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.3641418401314791,-1.2493059911943811,0.71338606911949],"aabb_xy":[[0.2841418387013519,-1.3288231462069906],[0.4441418415616063,-1.1697888361817717]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[0.3722239152923026,-0.9491545135722159,0.71338606911949],"aabb_xy":[[0.2922239148220867,-0.9574652211865645],[0.45222391576251864,-0.9408438059578678]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.25694084343477835,0.25210408743221047,0.71338606911949],"aabb_xy":[[-0.2629073823755141,0.24614294277284643],[-0.2509743044940425,0.2580652320915745]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[0.5186047708005113,-1.7094287341998733,0.71338606911949],"aabb_xy":[[0.46860476913901644,-1.759427176455576],[0.5686047724620059,-1.6594302919441706]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.5080369058856156,1.1279706754533638,0.71338606911949],"aabb_xy":[[-0.5720369062631492,1.0782254086025513],[-0.44403690550808195,1.1777159423041759]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.49120068823001306,-1.3861214810309892,0.71338606911949],"aabb_xy":[[0.4537006875654343,-1.4018085390312112],[0.5287006888945917,-1.3704344230307668]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[-0.5836115664895039,-1.8176352570075234,0.71338606911949],"aabb_xy":[[-0.6006216637795545,-1.8337697455057973],[-0.5666014691994532,-1.8015007685092495]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[-0.41239458615779173,-2.0568108500247932,0.71338606911949],"aabb_xy":[[-0.5023945858809657,-2.0798842025599726],[-0.32239458643461744,-2.033737497489613]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.25186544514081066,0.5811989429685176,0.71338606911949],"aabb_xy":[[0.21727436228676542,0.5161989426834863],[0.2864565279948558,0.6461989432535484]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[0.6062334898234358,0.2112863131006124,0.71338606911949],"aabb_xy":[[0.5262334887503155,0.20150826676322794],[0.6862334908965562,0.22106435943799682]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[0.6456672485213355,0.02152369683152644,0.71338606911949],"aabb_xy":[[0.6369532794714008,-0.0009763038276617875],[0.6543812175712698,0.04402369749071465]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[-0.06992402986577306,-2.521673680375826,0.71338606911949],"aabb_xy":[[-0.09621285418621373,-2.547945114030477],[-0.04363520554533241,-2.4954022467211745]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_14","position":[0.7163161118792065,-1.5162525896132064,0.71338606911949],"aabb_xy":[[0.7090548643087992,-1.5290395998767161],[0.7235773594496141,-1.5034655793496972]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[-0.13562338814779962,-1.1268365185366307,0.71338606911949],"aabb_xy":[[-0.17062338641791952,-1.1339106462316186],[-0.10062338987767971,-1.1197623908416423]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[0.4851961647864844,-0.30698991690638966,0.71338606911949],"aabb_xy":[[0.47757189669630623,-0.3146231404429334],[0.4928204328766627,-0.29935669336984594]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[0.6827289377378296,-0.14582928945491336,0.71338606911949],"aabb_xy":[[0.6766343098497112,-0.1543986840065821],[0.6888235656259478,-0.13725989490324467]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[0.5144462697284695,-2.3353944909645996,0.71338606911949],"aabb_xy":[[0.4894462705628365,-2.342346736669956],[0.5394462688941027,-2.328442245259243]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[0.5067764559540866,-2.466402977204316,0.71338606911949],"aabb_xy":[[0.484276455442046,-2.4888948355697145],[0.5292764564661272,-2.4439111188389178]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[0.6943900236517004,0.9040291073873434,0.71338606911949],"aabb_xy":[[0.6693900237191827,0.8971464391664201],[0.7193900235842184,0.9109117756082667]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.21534609842497432,1.0038586736681991,0.71338606911949],"aabb_xy":[[0.20735210984727093,0.9958585935731088],[0.2233400870026777,1.0118587537632895]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6588555127667448,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5691.png","name":"5691"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5691.png","name":"5691"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6265.png","name":"6265"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/758.png","name":"758"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8939.png","name":"8939"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9378.png","name":"9378"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":575.2539822181553,"rotation_z_degrees":304.6056029154203,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004764005486863111,0.012338738809923606,-0.0034347691641612027]},{"name":"camera_2","offset_m":[-0.019467466769991663,0.009192031706213032,0.0036173538101896864]},{"name":"camera_3","offset_m":[0.013482553027759619,-0.009391718211558828,-0.004250487143790806]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013002642919075543,-0.0006121007658405385,0.0002937827679180983],"end_effector_yaw_offset_degrees":0.08394799543583131},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015213712410268264,-0.0016192024842026074,0.001545388024673599],"end_effector_yaw_offset_degrees":0.004866547003003596},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004460221653418716,0.0010987719626819707,-0.00011965368705603202],"end_effector_yaw_offset_degrees":0.8172268294502179},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001647389434146571,0.00013805131683819732,-0.000996564846842399],"end_effector_yaw_offset_degrees":0.4819483276443588}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00017366232897602068,-0.0003239048649257663],"position_m":[0.22322633767102396,-0.029723904864925765,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002078725244052012,0.0034418755624658686],"position_m":[0.262878725244052,-0.30125812443753414,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00033212448977794524,0.0032943781349921127],"position_m":[0.14183212448977794,0.2884943781349921,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007913601863356393,0.0010912715779865488],"position_m":[0.32590863981366436,0.18459127157798655,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"84968c0f44efe27fed0817c0c190c786132ea179fd663b9d1414c7d57b8acb34","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0059.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5691/tex_ceiling_textures_9378/tex_floor_textures_8939/tex_table_textures_6265/tex_wall_textures_758","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5053129325716350655,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5053129325716350655,"visual_seed":5053129325716350655,"scene_id":"lab_003","finished_at":"2026-09-04T20:11:48"}
+{"episode_id":"ep_000052","started_at":"2026-09-04T20:11:51","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[-0.15701745419320667,-2.211971036680842,0.71338606911949],"aabb_xy":[[-0.21464792308047745,-2.271971035607552],[-0.09938698530593576,-2.151971037754131]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[-0.16188627419239898,0.7764198918010377,0.71338606911949],"aabb_xy":[[-0.2518862739155731,0.7533465392658577],[-0.07188627446922478,0.7994932443362174]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.44940003703014453,0.9283409006457402,0.71338606911949],"aabb_xy":[[0.4367732497429481,0.9187948269441673],[0.4620268243173408,0.937886974347313]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.5910684090363301,0.49687603613323095,0.71338606911949],"aabb_xy":[[-0.6135684088502326,0.49240141976275037],[-0.5685684092224278,0.5013506525037118]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[0.5293319052935825,-0.6866882731113593,0.71338606911949],"aabb_xy":[[0.4943319069828871,-0.6944032880349049],[0.564331903604278,-0.6789732581878136]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[-0.39012855260843166,0.6048560954951152,0.71338606911949],"aabb_xy":[[-0.39815482323905765,0.5961046005177626],[-0.38210228197780566,0.6136075904724678]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[0.12742157151869005,1.788334425683813,0.71338606911949],"aabb_xy":[[0.08992157309528967,1.775170211715982],[0.16492156994209037,1.8014986396516435]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_7","position":[0.2784291708390503,-0.511005212853636,0.71338606911949],"aabb_xy":[[0.26085086865010343,-0.5285797024277409],[0.2960074730279971,-0.4934307232795311]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.058693636386641046,-1.0682511179051213,0.71338606911949],"aabb_xy":[[-0.13869363340088903,-1.0883856695785326],[0.021306360627606942,-1.04811656623171]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[0.6861068830163606,-0.5199913783884131,0.71338606911949],"aabb_xy":[[0.6796930693731755,-0.5264011986360814],[0.6925206966595454,-0.5135815581407447]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[-0.2604959204901215,1.3497903574947694,0.71338606911949],"aabb_xy":[[-0.2782894274250379,1.3319906118989717],[-0.24270241355520505,1.367590103090567]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_11","position":[-0.4406658605496148,0.7523071327213371,0.71338606911949],"aabb_xy":[[-0.490665859195536,0.7023875890618748],[-0.3906658619036936,0.8022266763807996]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[-0.5154215773761255,-2.393753558892065,0.71338606911949],"aabb_xy":[[-0.5210032490102542,-2.4062535587098406],[-0.5098399057419966,-2.381253559074289]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[0.44413470722771264,1.0800994208143644,0.71338606911949],"aabb_xy":[[0.3791347061217694,1.0551340477462359],[0.5091347083336559,1.1050647938824925]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[0.5236579344630319,-0.5013891721754073,0.71338606911949],"aabb_xy":[[0.47865793299680304,-0.546389029036888],[0.5686579359292607,-0.4563893153139267]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_15","position":[-0.40525767773553567,-0.9027430098569311,0.71338606911949],"aabb_xy":[[-0.4271474253244764,-0.9927430071461801],[-0.3833679301465948,-0.8127430125676819]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.4304978867008833,-1.3565895760081945,0.71338606911949],"aabb_xy":[[0.42636203036818315,-1.3940895754525515],[0.43463374303358354,-1.3190895765638375]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.20655678773326913,0.998987629736114,0.71338606911949],"aabb_xy":[[-0.24305260836054784,0.9625036873093563],[-0.17006096710599036,1.0354715721628716]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[0.23236744270293497,-1.0753935172782694,0.71338606911949],"aabb_xy":[[0.14268036639481949,-1.16539351753272],[0.3220545190110504,-0.9853935170238188]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.656773148232715,-2.5614316049645427,0.71338606911949],"aabb_xy":[[0.6506785203445967,-2.5700009995162114],[0.6628677761208334,-2.552862210412874]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.2672390635062616,-1.211006989964776,0.71338606911949],"aabb_xy":[[-0.31723389643420324,-1.2610069888600195],[-0.21724423057832004,-1.1610069910695324]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.1901050271145428,1.6768040456138205,0.71338606911949],"aabb_xy":[[0.13510502749279696,1.621820352826348],[0.24510502673628864,1.7317877384012934]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6594905014560395,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1170.png","name":"1170"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1170.png","name":"1170"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8442.png","name":"8442"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7932.png","name":"7932"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7827.png","name":"7827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1549.png","name":"1549"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":755.8726357547177,"rotation_z_degrees":19.21304501829674,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0037268459881325405,-0.0002855150700341001,0.014810551647157593]},{"name":"camera_2","offset_m":[0.005554875097641097,-0.001836943435408949,-0.010535540415617915]},{"name":"camera_3","offset_m":[-0.0017666343206586034,-0.012101266750223978,-0.004224657572373728]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009173367313613482,-0.00017670912544752145,-0.0019691949648366616],"end_effector_yaw_offset_degrees":0.23489333254779488},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00034896237482039,-0.0014910187223527403,-0.001223528604416147],"end_effector_yaw_offset_degrees":-0.9613297245930934},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003819655268272931,0.0005628304935268022,-0.0012365941715078276],"end_effector_yaw_offset_degrees":-0.9501534598727939},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00034652513373301065,-0.00037032231813541837,-0.00026679171444863366],"end_effector_yaw_offset_degrees":0.9425482217046028}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018026511164237436,0.0018191076604546956],"position_m":[0.22520265111642374,-0.027580892339545304,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008869971265527731,-0.0002404606293707305],"position_m":[0.26168699712655275,-0.30494046062937075,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00313535898100647,0.0034523872584599985],"position_m":[0.1383646410189935,0.28865238725846,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004886902504846023,-0.002183688148280286],"position_m":[0.32181309749515397,0.1813163118517197,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c01497ed63e2ccf317587994cab3c8dfbe494353c377bac8f3cccc2ead3ddf71","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0060.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1170/tex_ceiling_textures_1549/tex_floor_textures_7827/tex_table_textures_8442/tex_wall_textures_7932","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1429233494161482618,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1429233494161482618,"visual_seed":1429233494161482618,"scene_id":"lab_003","finished_at":"2026-09-04T20:15:22"}
+{"episode_id":"ep_000053","started_at":"2026-09-04T20:15:25","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.27561643872564096,-1.7794386305222765,0.71338606911949],"aabb_xy":[[-0.30426577108605707,-1.808084189799352],[-0.24696710636522462,-1.7507930712452004]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_1","position":[-0.08301534794278242,0.6560416761599095,0.71338606911949],"aabb_xy":[[-0.10551534818629782,0.6438370415001375],[-0.06051534769926703,0.6682463108196814]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[0.5650369287448667,0.9914692693244729,0.71338606911949],"aabb_xy":[[0.5449785171316264,0.9714041824153155],[0.585095340358107,1.0115343562336303]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_3","position":[-0.5290830309478163,-1.9004814403157138,0.71338606911949],"aabb_xy":[[-0.5635455089609039,-1.9071451174986367],[-0.4946205529347284,-1.8938177631327913]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.2870396068650293,1.756506665795302,0.71338606911949],"aabb_xy":[[-0.3770396065882034,1.733433313260122],[-0.19703960714185506,1.7795800183304817]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[0.6749133042510627,0.6305708980022384,0.71338606911949],"aabb_xy":[[0.6546290015276637,0.6102882728595294],[0.6951976069744612,0.650853523144947]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[-0.2600213012307677,-2.1543952982347254,0.71338606911949],"aabb_xy":[[-0.2680646611567229,-2.239395299330092],[-0.25197794130481255,-2.069395297139359]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_7","position":[-0.429016483607498,-2.4657594848266235,0.71338606911949],"aabb_xy":[[-0.43605679354103505,-2.545759484226295],[-0.42197617367396106,-2.385759485426952]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[-0.166615135054332,1.5580361188676393,0.71338606911949],"aabb_xy":[[-0.236615138445894,1.5227203451642084],[-0.09661513166277004,1.5933518925710701]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[0.3536988623556281,1.3155984094750672,0.71338606911949],"aabb_xy":[[0.26869886393820486,1.2307241140127823],[0.4386988607730513,1.4004727049373522]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[0.22278885050941621,-1.5025929595244825,0.71338606911949],"aabb_xy":[[0.20577875321936556,-1.5187274480227562],[0.23979894779946687,-1.4864584710262083]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_11","position":[-0.04013765231019806,-1.0620833331711648,0.71338606911949],"aabb_xy":[[-0.12013765556804101,-1.1420798409631487],[0.03986235094764489,-0.9820868253791808]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[-0.4196245860994538,-0.8133443922996386,0.71338606911949],"aabb_xy":[[-0.4571245860432202,-0.8216374823344752],[-0.3821245861556874,-0.805051302264802]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_13","position":[-0.07918421275126553,-2.44148870897953,0.71338606911949],"aabb_xy":[[-0.11262438794728512,-2.4749323348104593],[-0.04574403755524591,-2.4080450831485987]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[0.10366382020745524,0.6220794179513578,0.71338606911949],"aabb_xy":[[0.09970333643772086,0.6144115533658372],[0.10762430397718961,0.6297472825368784]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.1972151487545592,0.2408334349502863,0.71338606911949],"aabb_xy":[[-0.2872151524314773,0.17940102837318195],[-0.10721514507764099,0.30226584152739067]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[-0.4053085185303793,-0.38068946950256155,0.71338606911949],"aabb_xy":[[-0.41301170920445623,-0.3883988402012995],[-0.39760532785630215,-0.3729800988038235]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_17","position":[-0.5729013053004283,-2.03548414842223,0.71338606911949],"aabb_xy":[[-0.5948099874397792,-2.0573848152423206],[-0.5509926231610771,-2.013583481602139]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[-0.23939804066088965,1.364905951722315,0.71338606911949],"aabb_xy":[[-0.3193980411311056,1.3565952441079672],[-0.15939804019067372,1.3732166593366637]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[-0.2521028044065553,0.883055447105412,0.71338606911949],"aabb_xy":[[-0.2733808125500275,0.8180554447793389],[-0.230824796263083,0.948055449431485]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[-0.6698896248113608,-0.6547256868449849,0.71338606911949],"aabb_xy":[[-0.692403316634818,-0.7247256874459923],[-0.6473759329879036,-0.5847256862439772]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[-0.09391594073236531,1.10715973026159,0.71338606911949],"aabb_xy":[[-0.11159157132096363,1.0894795139821871],[-0.07624031014376696,1.1248399465409926]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[-0.2443863524256783,-2.000957238415669,0.71338606911949],"aabb_xy":[[-0.32438635349879863,-2.0107352847530535],[-0.16438635135255797,-1.9911791920782846]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_23","position":[0.5292679774749485,1.2010720957617096,0.71338606911949],"aabb_xy":[[0.5183622013873856,1.1210720993628804],[0.5401737535625111,1.2810720921605387]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[0.6832524466173859,-1.5114408818054956,0.71338606911949],"aabb_xy":[[0.6482524452659042,-1.5318006177623162],[0.7182524479688677,-1.4910811458486746]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_25","position":[0.4947951511239046,-1.5623663181320537,0.71338606911949],"aabb_xy":[[0.48550153288675396,-1.5998663166201876],[0.5040887693610552,-1.5248663196439198]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_26","position":[0.2465089432665304,-2.0552565982710083,0.71338606911949],"aabb_xy":[[0.23772771611929422,-2.064036345559539],[0.25529017041376667,-2.0464768509824784]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_27","position":[0.14894034584717253,1.7451356749324964,0.71338606911949],"aabb_xy":[[0.12644034533513193,1.7226438165670976],[0.17144034635921312,1.7676275332978943]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_28","position":[-0.31088080139253926,-0.942155643690928,0.71338606911949],"aabb_xy":[[-0.3307718412728795,-0.9548114549756248],[-0.290989761512199,-0.9294998324062311]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_29","position":[-0.4649099058405074,0.2512274655564437,0.71338606911949],"aabb_xy":[[-0.5289099022360805,0.18726417713771015],[-0.4009099094449343,0.31519075397517726]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_30","position":[-0.23451378436326842,-0.29290336313397036,0.71338606911949],"aabb_xy":[[-0.26799295162430936,-0.32638247650507735],[-0.2010346171022275,-0.2594242497628634]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_31","position":[-0.5082282978232444,0.5753287494256161,0.71338606911949],"aabb_xy":[[-0.5882282999860068,0.49537356579947245],[-0.4282282956604818,0.6552839330517597]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625143519013987,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9930.png","name":"9930"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9930.png","name":"9930"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/672.png","name":"672"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5695.png","name":"5695"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7613.png","name":"7613"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3852.png","name":"3852"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":654.2285100980588,"rotation_z_degrees":286.4393804944031,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012177132770232309,-0.01294019521353047,-0.009078878215043678]},{"name":"camera_2","offset_m":[-0.015026634860368954,0.007351443332036637,0.019463597397319118]},{"name":"camera_3","offset_m":[-0.017821001309918608,-0.01577609122627812,0.010424117026760854]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00046644846594740756,-0.00035661722856473945,0.001522665054159912],"end_effector_yaw_offset_degrees":0.46236560300353147},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012250034632021616,0.0019833107208521985,-0.0019373762821654733],"end_effector_yaw_offset_degrees":-0.7636055958587809},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011437865254068469,-0.0010453130479097306,-0.0018773627268319647],"end_effector_yaw_offset_degrees":-0.7834937023106687},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012571052281729856,-0.0007015638748920524,-0.00167011130204537],"end_effector_yaw_offset_degrees":0.024762455826625063}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001166971891488582,-0.0025392448689938295],"position_m":[0.22456697189148858,-0.03193924486899383,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021177227833617434,-0.004404047991700906],"position_m":[0.26291772278336173,-0.30910404799170094,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005230122063878137,0.0032732471398393545],"position_m":[0.1420230122063878,0.28847324713983935,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034774288439722713,0.0007773521161053643],"position_m":[0.3232225711560277,0.18427735211610535,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"84f5ecd5c65f1f7d162bfcbda956a6a772f4dc5b22193d06921d3e67f0bb49d3","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0061.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9930/tex_ceiling_textures_3852/tex_floor_textures_7613/tex_table_textures_672/tex_wall_textures_5695","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":36995853744511536,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":36995853744511536,"visual_seed":36995853744511536,"scene_id":"lab_003","finished_at":"2026-09-04T20:18:55"}
+{"episode_id":"ep_000054","started_at":"2026-09-04T20:21:20","dimensions":{"distractor":{"count":28,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[-0.19086939811585368,-1.3450388423428243,0.71338606911949],"aabb_xy":[[-0.20274148112735482,-1.4300388420364747],[-0.1789973151043526,-1.260038842649174]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[0.19122708999190008,-2.3453533698394837,0.71338606911949],"aabb_xy":[[0.1361018843623093,-2.405353371280771],[0.24635229562149086,-2.2853533683981966]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[-0.2086919377253969,-0.3947167758940795,0.71338606911949],"aabb_xy":[[-0.26368741554605624,-0.44971677732798643],[-0.15369645990473746,-0.33971677446017257]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_3","position":[0.22907723719754713,-2.168722329843658,0.71338606911949],"aabb_xy":[[0.2175082564506106,-2.1937223299605897],[0.24064621794448374,-2.1437223297267263]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[-0.4913953810668254,-2.339032707657052,0.71338606911949],"aabb_xy":[[-0.4978091947100103,-2.34544252790472],[-0.4849815674236404,-2.332622887409384]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[-0.3742660731484957,-0.5309822443572352,0.71338606911949],"aabb_xy":[[-0.41176607296552925,-0.535620455668377],[-0.33676607333146213,-0.5263440330460933]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[-0.6232486823750792,-2.442602472801712,0.71338606911949],"aabb_xy":[[-0.6543956012186624,-2.512602471488519],[-0.5921017635314961,-2.3726024741149048]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[-0.3568035353813022,-0.23372437516060574,0.71338606911949],"aabb_xy":[[-0.3913946182353474,-0.2987243754456368],[-0.32221245252725694,-0.16872437487557468]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.14434800882554255,-1.9243240986248282,0.71338606911949],"aabb_xy":[[0.13901043315953798,-1.9493240995539682],[0.14968558449154712,-1.8993240976956887]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_9","position":[-0.4546261199506537,-2.0975047103399502,0.71338606911949],"aabb_xy":[[-0.4717281979090218,-2.11461151587122],[-0.4375240419922855,-2.0803979048086805]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[-0.584486433185626,0.6268146564364581,0.71338606911949],"aabb_xy":[[-0.5917476807560335,0.6140276461729486],[-0.5772251856152187,0.6396016666999675]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.32176987120805933,-1.6580179784313889,0.71338606911949],"aabb_xy":[[-0.35676987255954107,-1.6783777143882095],[-0.2867698698565776,-1.6376582424745678]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_12","position":[-0.384568679580477,-0.6904136124084803,0.71338606911949],"aabb_xy":[[-0.4070686798239924,-0.7026182470682523],[-0.36206867933696163,-0.6782089777487084]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[-0.4534929646238597,1.596136179808847,0.71338606911949],"aabb_xy":[[-0.5174929610194328,1.5321728913901134],[-0.3894929682282866,1.6600994682275805]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.4183145456742901,-0.8053823070403581,0.71338606911949],"aabb_xy":[[-0.4683145452506248,-0.8553628859924641],[-0.3683145460979554,-0.7554017280882522]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[-0.07501300296561464,0.30452525271539166,0.71338606911949],"aabb_xy":[[-0.08229531934227827,0.21452524910588264],[-0.06773068658895096,0.3945252563249006]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_16","position":[-0.17102807429402445,-1.505752915221456,0.71338606911949],"aabb_xy":[[-0.1885280745390738,-1.5232527030610228],[-0.15352807404897503,-1.488253127381889]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_17","position":[0.3419575193081088,-2.441937136987098,0.71338606911949],"aabb_xy":[[0.2919745691206294,-2.491937136629658],[0.3919404694955881,-2.391937137344537]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.6092329586613656,-0.20483194382130598,0.71338606911949],"aabb_xy":[[0.5984599847399978,-0.239831942040345],[0.6200059325827334,-0.16983194560226703]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[-0.6218159861520619,-1.026266383655404,0.71338606911949],"aabb_xy":[[-0.6387267185884036,-1.0397385892480184],[-0.60490525371572,-1.0127941780627892]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[0.4931171371037293,0.04468327620941803,0.71338606911949],"aabb_xy":[[0.4805144379666529,0.03208787998455255],[0.5057198362408057,0.05727867243428354]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.27654648958902844,1.7848548753543851,0.71338606911949],"aabb_xy":[[-0.31154648956552433,1.7753902593067687],[-0.24154648961253267,1.794319491402002]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[0.44614836099895605,1.77678024750749,0.71338606911949],"aabb_xy":[[0.44130476623772613,1.7719285950285064],[0.4509919557601861,1.7816318999864746]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[-0.4045540991040889,0.23569609508853695,0.71338606911949],"aabb_xy":[[-0.4543708785689237,0.18569609660423358],[-0.3547373196392542,0.2856960935728403]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_24","position":[-0.18625359478615366,-1.6493442825693116,0.71338606911949],"aabb_xy":[[-0.23624842771409527,-1.6993442814645554],[-0.13625876185821206,-1.5993442836740683]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[-0.18124162279365397,0.9803901500687484,0.71338606911949],"aabb_xy":[[-0.21874162397844674,0.9759719273726878],[-0.14374162160886114,0.9848083727648088]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_26","position":[-0.05656889850476188,0.9078637397166913,0.71338606911949],"aabb_xy":[[-0.06586251674191246,0.8703637412285573],[-0.0472752802676113,0.9453637382048251]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_27","position":[-0.6016865333993369,1.6306871495026782,0.71338606911949],"aabb_xy":[[-0.6168587026809703,1.615518292574475],[-0.5865143641177036,1.6458560064308818]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6592599582590241,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7866.png","name":"7866"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7866.png","name":"7866"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4778.png","name":"4778"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7391.png","name":"7391"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6934.png","name":"6934"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/858.png","name":"858"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":544.8842898506058,"rotation_z_degrees":331.3039664826403,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004195015259351228,0.005754764809152789,-0.00034921444807000865]},{"name":"camera_2","offset_m":[0.006138937564606265,0.013694262726241597,0.0053263113687514844]},{"name":"camera_3","offset_m":[0.015841196258627187,0.004368916055012172,0.011678943066519062]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004269289433128168,-0.001185265169924672,-0.0012443445657691892],"end_effector_yaw_offset_degrees":-0.4853050276142836},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006110124866352349,0.0004335700468621256,0.001823437514776103],"end_effector_yaw_offset_degrees":0.739069423763949},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014030773324524874,-0.0004351955852107685,0.0003111212695278017],"end_effector_yaw_offset_degrees":-0.49190880579906815},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019334682700208213,-0.0006155355775518409,-0.001012288906560875],"end_effector_yaw_offset_degrees":-0.24083198185326515}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015144565413561448,-0.004594298230815065],"position_m":[0.22491445654135614,-0.03399429823081507,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00023306380675403027,-0.0018832511814956066],"position_m":[0.26056693619324595,-0.30658325118149565,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008027570348153575,0.003999719532181642],"position_m":[0.14230275703481535,0.28919971953218165,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038990310764835823,0.004833042796875578],"position_m":[0.3228009689235164,0.18833304279687557,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3b9f56bb758511bcab9ed469bc621b38e949858b0b0dafde801cf073f2f4fe50","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0063.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7866/tex_ceiling_textures_858/tex_floor_textures_6934/tex_table_textures_4778/tex_wall_textures_7391","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8244549538895533423,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8244549538895533423,"visual_seed":8244549538895533423,"scene_id":"lab_003","finished_at":"2026-09-04T20:24:56"}
+{"episode_id":"ep_000055","started_at":"2026-09-04T20:24:59","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.5731242678417269,-0.1488954920976675,0.71338606911949],"aabb_xy":[[-0.5801657187924745,-0.15592224383546205],[-0.5660828168909793,-0.14186874035987296]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[0.43376369326339304,-1.0310594807318283,0.71338606911949],"aabb_xy":[[0.3962636927660348,-1.0350281642799466],[0.4712636937607513,-1.02709079718371]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[-0.6462623202334895,-2.0454671386879424,0.71338606911949],"aabb_xy":[[-0.6687587416673535,-2.06796713849469],[-0.6237658987996253,-2.022967138881195]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[0.2664558401116953,-1.1573352763657383,0.71338606911949],"aabb_xy":[[0.2545231057498673,-1.1697174291735977],[0.27838857447352344,-1.144953123557879]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[0.007094193869281007,-0.8706341136640101,0.71338606911949],"aabb_xy":[[-0.07290580411150403,-0.8782356546258621],[0.08709419185006605,-0.8630325727021582]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[-0.3480077197199182,1.3515593120094387,0.71338606911949],"aabb_xy":[[-0.383007719696414,1.342094695961822],[-0.31300771974342234,1.3610239280570553]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_6","position":[0.023907833668540546,-1.563730639771653,0.71338606911949],"aabb_xy":[[-0.001092165603421735,-1.5800760033678152],[0.04890783294050282,-1.5473852761754905]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[-0.1775478638209652,-2.225585878755602,0.71338606911949],"aabb_xy":[[-0.20206148791797107,-2.2498504720576387],[-0.15303423972395935,-2.2013212854535658]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[0.19136869871456985,-1.291097768227632,0.71338606911949],"aabb_xy":[[0.18337520891928782,-1.2990959001681077],[0.1993621885098519,-1.2830996362871565]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[0.6093574297130615,-2.1265563452513034,0.71338606911949],"aabb_xy":[[0.5593574280515666,-2.1765547875070057],[0.6593574313745562,-2.0765579029956003]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.6321656172170429,-0.8047153409716676,0.71338606911949],"aabb_xy":[[0.5681699198219463,-0.8687153392723762],[0.6961613146121395,-0.7407153426709588]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[-0.17597222845872973,1.3440800334491523,0.71338606911949],"aabb_xy":[[-0.18238604210191467,1.3376702132014837],[-0.1695584148155448,1.3504898536968204]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[0.47968793473736504,0.9299326956268845,0.71338606911949],"aabb_xy":[[0.3996879377743259,0.852857053983111],[0.5596879317004042,1.007008337270658]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.13551954944107225,-1.5807528552817345,0.71338606911949],"aabb_xy":[[-0.1531523850345998,-1.5983758012973572],[-0.11788671384754466,-1.5631299092661113]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[0.6731583620149066,0.5071563613247037,0.71338606911949],"aabb_xy":[[0.6279870441667378,0.44315636418016535],[0.7183296798630757,0.5711563584692422]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.46212369229490413,0.1171918421246323,0.71338606911949],"aabb_xy":[[-0.5521236959718223,0.05575943554752792],[-0.37212368861798595,0.17862424870173663]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[-0.6144640707199398,-2.3381975420091687,0.71338606911949],"aabb_xy":[[-0.6694640703416856,-2.393181234796641],[-0.559464071098194,-2.2832138492216956]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.0357118005361543,0.6625972862336011,0.71338606911949],"aabb_xy":[[-0.02828820114184305,0.6140798947542869],[0.09971180221415166,0.7111146777129154]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.08360696857501115,-2.235138153466905,0.71338606911949],"aabb_xy":[[0.06573786082055566,-2.2489710614441165],[0.10147607632946665,-2.2213052454896944]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[0.22191559715839781,0.9097290146818362,0.71338606911949],"aabb_xy":[[0.2146718311121525,0.8297290164782337],[0.22915936320464314,0.9897290128854385]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6592946730961504,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9415.png","name":"9415"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9415.png","name":"9415"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8798.png","name":"8798"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4726.png","name":"4726"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/295.png","name":"295"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/625.png","name":"625"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":707.0253152845247,"rotation_z_degrees":351.4667561537968,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00405638927605205,0.01811140661427599,0.004710677756109449]},{"name":"camera_2","offset_m":[0.005387632372332422,0.011084014495946842,0.01766693525747676]},{"name":"camera_3","offset_m":[-0.0009305627232693049,0.018106511974884252,-0.014290788860336422]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[4.666158864059626e-05,0.00022507600322693808,0.00048734383763421795],"end_effector_yaw_offset_degrees":-0.6480237421972457},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012187742850567136,0.00024071263363950992,-0.001166628092395789],"end_effector_yaw_offset_degrees":0.8460819756222904},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008500222876886014,-0.0017067063406770474,-0.001379781315421207],"end_effector_yaw_offset_degrees":-0.6670554250804424},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014387067158617918,0.0010566982074873333,0.00013769259881317832],"end_effector_yaw_offset_degrees":0.6041944225634193}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002757978351048843,0.0001908842295131278],"position_m":[0.22615797835104884,-0.02920911577048687,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004615023682949882,-0.0006323749346955447],"position_m":[0.261261502368295,-0.30533237493469556,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00392339618595676,-0.0030056183297339214],"position_m":[0.14542339618595676,0.2821943816702661,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002540935858109966,0.0048731292102078905],"position_m":[0.32924093585811,0.18837312921020788,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"51738f0531f0af2322f0e9c8777d4ef734b2db7932bacbaa88a298dc05b4ec17","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9415/tex_ceiling_textures_625/tex_floor_textures_295/tex_table_textures_8798/tex_wall_textures_4726","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8581598675656650937,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8581598675656650937,"visual_seed":8581598675656650937,"scene_id":"lab_003","finished_at":"2026-09-04T20:28:27"}
+{"episode_id":"ep_000056","started_at":"2026-09-04T20:28:31","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[-0.30695487910854863,-1.6859562485049178,0.71338606911949],"aabb_xy":[[-0.34195487741924413,-1.6936712634284632],[-0.27195488079785324,-1.678241233581372]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[0.019580591779849943,1.3489633929935114,0.71338606911949],"aabb_xy":[[-0.04441940738991999,1.302196705874549],[0.08358059094961989,1.395730080112474]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[0.32128145298139277,1.4405000269676846,0.71338606911949],"aabb_xy":[[0.2596906937574,1.376500028858638],[0.38287221220538564,1.5045000250767318]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[-0.6438412784821447,-0.9723123268633542,0.71338606911949],"aabb_xy":[[-0.6613412787414813,-0.986403869052127],[-0.626341278222808,-0.9582207846745817]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_4","position":[0.3468396595941574,-1.3255162521517339,0.71338606911949],"aabb_xy":[[0.2973592383801986,-1.389516250064586],[0.3963200808081162,-1.2615162542388823]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[0.5219758551089051,0.5938136388396806,0.71338606911949],"aabb_xy":[[0.5142726644348281,0.5861042681409426],[0.5296790457829821,0.6015230095384186]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[-0.22765840818507999,-0.8729221036791552,0.71338606911949],"aabb_xy":[[-0.2626584081615758,-0.882386719726772],[-0.19265840820858413,-0.8634574876315387]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[0.3916428861425596,1.018042961500632,0.71338606911949],"aabb_xy":[[0.38079127989368394,1.0071836707729809],[0.40249449239143514,1.028902252228283]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[0.21535934650860644,-1.763946670119219,0.71338606911949],"aabb_xy":[[0.16535934614804035,-1.813926657328822],[0.26535934686917245,-1.713966682909616]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.04729011518721815,-2.480241073840518,0.71338606911949],"aabb_xy":[[-0.11129011158279123,-2.5442043622592516],[0.01670988120835492,-2.4162777854217845]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_10","position":[0.5986726742185722,0.11086160447656734,0.71338606911949],"aabb_xy":[[0.5486726732680393,0.07931245747304591],[0.6486726751691049,0.14241075148008872]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[0.06803881514439647,-0.8595596718883112,0.71338606911949],"aabb_xy":[[0.00303881511009374,-0.9062603485686385],[0.1330388151786992,-0.8128589952079839]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_12","position":[0.1983678465615203,0.6699632018031427,0.71338606911949],"aabb_xy":[[0.13437214916642368,0.6059632035024339],[0.2623635439566169,0.7339632001038513]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[-0.57751211409541,0.8573942498882698,0.71338606911949],"aabb_xy":[[-0.5829700597324301,0.7773942465806106],[-0.57205416845839,0.9373942531959288]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[-0.3395113240756466,-0.3446159112180327,0.71338606911949],"aabb_xy":[[-0.39450357471115766,-0.3996159129613456],[-0.2845190734401357,-0.28961590947472]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.38036953280495345,-2.4199657730114543,0.71338606911949],"aabb_xy":[[0.32536953460320867,-2.4604877396378915],[0.43536953100669834,-2.3794438063850163]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[0.22694463849464608,-1.5598358077436465,0.71338606911949],"aabb_xy":[[0.21970087244840075,-1.639835805947249],[0.2341884045408914,-1.4798358095400443]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[-0.573463189371397,-2.5149109837559633,0.71338606911949],"aabb_xy":[[-0.5903739218077386,-2.5283831893485775],[-0.5565524569350551,-2.5014387781633483]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[-0.6576570768607551,-1.6601566109230461,0.71338606911949],"aabb_xy":[[-0.6880551879598986,-1.6905635129247154],[-0.6272589657616114,-1.6297497089213764]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[0.6057904594489931,-1.0409547183879608,0.71338606911949],"aabb_xy":[[0.5819542418083882,-1.1309547191964475],[0.6296266770895983,-0.9509547175794746]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_20","position":[-0.3820217194492999,-1.155947632138932,0.71338606911949],"aabb_xy":[[-0.43190441632699617,-1.2059476313852067],[-0.3321390225716037,-1.1059476328926572]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[0.106958479495457,-1.9970825884815775,0.71338606911949],"aabb_xy":[[0.09766486125830641,-2.0345825869697114],[0.11625209773260757,-1.9595825899934434]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[-0.4535949782108201,0.1550805464667726,0.71338606911949],"aabb_xy":[[-0.47127060879941846,0.13740033018736983],[-0.4359193476222218,0.17276076274617533]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_23","position":[-0.5396135554178738,0.6041318762608126,0.71338606911949],"aabb_xy":[[-0.619613552380913,0.5270562346170391],[-0.45961355845483465,0.681207517904586]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_24","position":[-0.5411776663838163,1.7587342635931162,0.71338606911949],"aabb_xy":[[-0.5864562812649655,1.6947342642449326],[-0.495899051502667,1.8227342629413]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_25","position":[0.07805878474243866,0.9493391384716778,0.71338606911949],"aabb_xy":[[-0.00694121367498457,0.8644648430093929],[0.1630587831598619,1.0342134339339628]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_26","position":[-0.30832063885875455,0.2908496788536987,0.71338606911949],"aabb_xy":[[-0.38832064028888175,0.2113325238410892],[-0.22832063742862735,0.37036683386630814]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[0.4557719648525078,-0.5708451092411719,0.71338606911949],"aabb_xy":[[0.4258044079426821,-0.6008451095390578],[0.4857395217623334,-0.5408451089432863]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_28","position":[-0.09919730483309563,-2.2705586365531607,0.71338606911949],"aabb_xy":[[-0.10569894134110028,-2.2803264585794705],[-0.09269566832509103,-2.260790814526851]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_29","position":[0.26506505030329464,-0.9718768020940822,0.71338606911949],"aabb_xy":[[0.17506504796927558,-1.0493591566791949],[0.3550650526373137,-0.8943944475089696]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_30","position":[0.41399818736750515,-1.9254262243345048,0.71338606911949],"aabb_xy":[[0.3239981876443309,-1.9484995768696844],[0.5039981870906792,-1.9023528717993248]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_31","position":[0.4725810501908303,-1.008691493682662,0.71338606911949],"aabb_xy":[[0.4684451938581301,-1.046191493127019],[0.4767169065235305,-0.9711914942383051]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_32","position":[-0.6053463833432045,-0.7475915085509299,0.71338606911949],"aabb_xy":[[-0.6106788979978175,-0.7529158367961655],[-0.6000138686885914,-0.7422671803056944]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6613120396190468,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2015.png","name":"2015"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2015.png","name":"2015"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2192.png","name":"2192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7591.png","name":"7591"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9763.png","name":"9763"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2536.png","name":"2536"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":807.970285906139,"rotation_z_degrees":193.63255688648718,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012494159983550218,-0.004504068203305773,-0.008598057362376293]},{"name":"camera_2","offset_m":[-0.0002448766644444107,0.015640130015305214,0.0007561640519848228]},{"name":"camera_3","offset_m":[-0.013434041053542192,-0.000613709546450257,-0.005879117787625057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008041733166650226,-0.0011645360588707202,0.0016294145115433936],"end_effector_yaw_offset_degrees":-0.02904522019413025},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[9.995399867215177e-05,0.00030625409883818086,-0.0007099980802062187],"end_effector_yaw_offset_degrees":-0.029616606820637825},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018629840008579919,0.001563648707933278,-0.001496316394710879],"end_effector_yaw_offset_degrees":-0.7407870204025107},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00041300345538348104,6.442663341850452e-05,-0.00017320557640367095],"end_effector_yaw_offset_degrees":-0.6741916734257334}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004955180382293984,0.002163647744178966],"position_m":[0.22835518038229397,-0.027236352255821033,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003638723918739065,0.0011067304867639158],"position_m":[0.264438723918739,-0.3035932695132361,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003742338538577759,-0.0009348056724717826],"position_m":[0.14524233853857774,0.2842651943275282,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00203012230297003,0.00022504330834923793],"position_m":[0.32466987769703,0.18372504330834924,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"79d6273a022d161d50789bae94a23a41e6d81409d2b1034ed3af83a6e3c94914","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0065.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2015/tex_ceiling_textures_2536/tex_floor_textures_9763/tex_table_textures_2192/tex_wall_textures_7591","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6796190427441152618,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6796190427441152618,"visual_seed":6796190427441152618,"scene_id":"lab_003","finished_at":"2026-09-04T20:32:00"}
+{"episode_id":"ep_000057","started_at":"2026-09-04T20:34:33","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[-0.21636493044731397,-1.0706348755670014,0.71338606911949],"aabb_xy":[[-0.23547723780529284,-1.0897696544442435],[-0.1972526230893351,-1.0515000966897594]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[0.34152082976700515,1.0984288422934858,0.71338606911949],"aabb_xy":[[0.26152082760424256,1.018473658667342],[0.4215208319297675,1.1783840259196292]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_2","position":[0.5426490500549372,1.114249116274106,0.71338606911949],"aabb_xy":[[0.5193672078568058,1.0292491149768777],[0.5659308922530685,1.1992491175713338]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[-0.12323642130620138,0.6054837247422569,0.71338606911949],"aabb_xy":[[-0.14144224496744906,0.5944583241602653],[-0.10503059764495372,0.6165091253242486]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[0.4448923901041215,0.6810161400347856,0.71338606911949],"aabb_xy":[[0.36117016460403906,0.5910161365000896],[0.528614615604204,0.7710161435694814]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.4700403003096864,-0.8736003299340764,0.71338606911949],"aabb_xy":[[-0.507540301494479,-0.8780185526301368],[-0.4325402991248935,-0.8691821072380158]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.11952606712218117,0.11882488506135447,0.71338606911949],"aabb_xy":[[-0.15398841452032294,0.08433100266353177],[-0.08506371972403935,0.15331876745917716]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.05179756215306197,1.697813474730871,0.71338606911949],"aabb_xy":[[-0.11579756537169983,1.651090362831863],[0.01220244106557588,1.7445365866298796]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[0.709184119046735,0.544634812183991,0.71338606911949],"aabb_xy":[[0.697312036035234,0.45963481249034066],[0.7210562020582362,0.6296348118776414]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[-0.15549039609320892,-1.403849962897564,0.71338606911949],"aabb_xy":[[-0.1599210254480491,-1.4092983346322467],[-0.15105976673836874,-1.3984015911628818]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[-0.06901896212664649,-1.9714585965321951,0.71338606911949],"aabb_xy":[[-0.07817884107052309,-1.9779898145757322],[-0.05985908318276989,-1.964927378488658]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[-0.3018396008730032,-2.3980549843697183,0.71338606911949],"aabb_xy":[[-0.30679562105788444,-2.4205549845718406],[-0.2968835806881221,-2.375554984167597]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[0.11506775435641392,-1.0367484004053324,0.71338606911949],"aabb_xy":[[0.08006775604571849,-1.044463415328878],[0.15006775266710937,-1.0290333854817868]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[-0.14068900415845986,-0.6657240293495144,0.71338606911949],"aabb_xy":[[-0.16286153113511068,-0.6878996965056374],[-0.118516477181809,-0.6435483621933911]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_14","position":[-0.6501677321407899,1.3833120998851043,0.71338606911949],"aabb_xy":[[-0.6730834450258398,1.360407802748681],[-0.62725201925574,1.406216397021528]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[-0.026962997589654703,1.2913569147841297,0.71338606911949],"aabb_xy":[[-0.09096299950199704,1.2354457655261193],[0.03703700432268764,1.3472680640421402]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[-0.38157339751944436,0.12688296365988716,0.71338606911949],"aabb_xy":[[-0.39907333095342773,0.10938296373965259],[-0.364073464085461,0.14438296358012168]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.4342270851559997,-2.0709223288420793,0.71338606911949],"aabb_xy":[[0.4129490770125274,-2.135922331168152],[0.4555050932994719,-2.0059223265160058]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[-0.47391653188764826,-1.8616428567162062,0.71338606911949],"aabb_xy":[[-0.5379165321481191,-1.9066516560691342],[-0.4099165316271775,-1.8166340573632782]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_19","position":[-0.5627388516356382,-1.6048930365817093,0.71338606911949],"aabb_xy":[[-0.5865750692762433,-1.694893037390196],[-0.5389026339950331,-1.514893035773223]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[0.2675579348900553,-2.4233029907882875,0.71338606911949],"aabb_xy":[[0.2035579384627334,-2.4704726146103844],[0.3315579313173772,-2.3761333669661915]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[0.43008823766291737,0.2664379488886772,0.71338606911949],"aabb_xy":[[0.35008823719270143,0.2581272412743289],[0.5100882381331333,0.27474865650302566]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_22","position":[0.14730372618352294,-1.3475760885164736,0.71338606911949],"aabb_xy":[[0.09730445101508681,-1.3975760897924208],[0.19730300135195913,-1.2975760872405264]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_23","position":[-0.13273848741248317,-0.3168220181395962,0.71338606911949],"aabb_xy":[[-0.1627301501463535,-0.3468220174763968],[-0.10274682467861285,-0.28682201880279573]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[0.341991759409916,-0.8148594273653349,0.71338606911949],"aabb_xy":[[0.33803127564018165,-0.8225272919508556],[0.34595224317965034,-0.8071915627798144]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_25","position":[-0.37306396052587404,0.5509583090884296,0.71338606911949],"aabb_xy":[[-0.38269559674630366,0.5413209963087207],[-0.3634323243054444,0.5605956218681385]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[-0.28842812056085443,-0.25735541864529177,0.71338606911949],"aabb_xy":[[-0.32592812207648614,-0.26858219166143676],[-0.2509281190452227,-0.24612864562914666]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[0.010860021975443557,1.5278508569535147,0.71338606911949],"aabb_xy":[[8.704805407577787e-05,1.4928508587344758],[0.021632995896811336,1.5628508551725537]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_28","position":[0.05525211752103665,-1.548430805236881,0.71338606911949],"aabb_xy":[[0.05117395961398691,-1.5525117854851442],[0.05933027542808639,-1.5443498249886176]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6631578852224982,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7717.png","name":"7717"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7717.png","name":"7717"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9544.png","name":"9544"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/332.png","name":"332"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3113.png","name":"3113"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5939.png","name":"5939"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":517.5181621769509,"rotation_z_degrees":197.1994912570598,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012213882408949609,0.0188687125453389,0.0019942750452341847]},{"name":"camera_2","offset_m":[-0.01191620232317618,0.00630525591368403,0.01959816989210775]},{"name":"camera_3","offset_m":[0.015852705651742977,0.016926314004718158,0.0028385087314835647]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018968047093982246,-0.001255776350631213,0.0003354055349177702],"end_effector_yaw_offset_degrees":-0.9071276401527857},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011714752477264018,-0.0016503731835704727,-0.0012556794339318757],"end_effector_yaw_offset_degrees":0.9741416082781662},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004649334035441192,0.00023315673703841033,0.00032698043906321216],"end_effector_yaw_offset_degrees":-0.13053049716553433},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001070432687982183,3.451757317139356e-05,-0.0005244660556843036],"end_effector_yaw_offset_degrees":0.47540698518951086}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031523554374734914,-0.0028861460558168395],"position_m":[0.22655235543747348,-0.03228614605581684,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031455212617109056,-0.003833363012956551],"position_m":[0.2639455212617109,-0.3085333630129566,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035040491285606217,0.00196486808220223],"position_m":[0.1450040491285606,0.28716486808220226,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007772734147538322,0.0036049249019038656],"position_m":[0.3274772734147538,0.18710492490190386,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d107abc738413cdcba30f6c627a66d47d81dadfee28f245d108605831ea449a5","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7717/tex_ceiling_textures_5939/tex_floor_textures_3113/tex_table_textures_9544/tex_wall_textures_332","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6536140430147202360,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6536140430147202360,"visual_seed":6536140430147202360,"scene_id":"lab_003","finished_at":"2026-09-04T20:38:26"}
+{"episode_id":"ep_000058","started_at":"2026-09-04T20:38:31","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[0.4933585650066248,1.6998636602226358,0.71338606911949],"aabb_xy":[[0.42835856712497716,1.6487399965160952],[0.5583585628882728,1.7509873239291769]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[-0.548379692351076,0.059982596773330066,0.71338606911949],"aabb_xy":[[-0.5654817703094441,0.04287579124206031],[-0.5312776143927078,0.07708940230459982]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[-0.06152652137217718,-0.786705110945566,0.71338606911949],"aabb_xy":[[-0.07068640031605378,-0.793236328989103],[-0.05236664242830058,-0.7801738929020289]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[0.5551953905304103,0.40528091717400105,0.71338606911949],"aabb_xy":[[0.5376953912523234,0.38794281710765516],[0.5726953898084971,0.42261901724034706]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[-0.18652897953181136,-2.5712112681751993,0.71338606911949],"aabb_xy":[[-0.19415324762198963,-2.578844491711743],[-0.1789047114416331,-2.5635780446386556]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[-0.27750859269963296,0.2606942200240825,0.71338606911949],"aabb_xy":[[-0.3225011794180834,0.21569422074963368],[-0.23251600598118255,0.3056942192985312]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[0.6840773291127331,-0.7162449421321901,0.71338606911949],"aabb_xy":[[0.6665773288676836,-0.7337447299717569],[0.7015773293577824,-0.6987451542926232]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[0.1534552750655832,-0.9893374565603725,0.71338606911949],"aabb_xy":[[0.08945527272278163,-1.034278307804505],[0.21745527740838475,-0.94439660531624]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_8","position":[0.12721285360442514,1.134362559350282,0.71338606911949],"aabb_xy":[[0.06321285138401811,1.0899894752249937],[0.19121285582483216,1.1787356434755702]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[-0.6148046572504118,-2.215128196495387,0.71338606911949],"aabb_xy":[[-0.6948046542134508,-2.29220383813916],[-0.5348046602873725,-2.138052554851613]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[-0.36936002081935676,0.65014154350808,0.71338606911949],"aabb_xy":[[-0.4068600209912287,0.6174408081251727],[-0.3318600206474848,0.682842278890987]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[0.380072042482384,-1.496978406202617,0.71338606911949],"aabb_xy":[[0.34257204219020915,-1.5010198816032205],[0.4175720427745588,-1.4929369308020135]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[0.5830810971596958,0.20049829053960933,0.71338606911949],"aabb_xy":[[0.5729280816055463,0.164428748966869],[0.5932341127138451,0.23656783211234964]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_13","position":[-0.03464501996561098,-2.313724332500086,0.71338606911949],"aabb_xy":[[-0.06812418722665192,-2.347203445871193],[-0.0011658527045700431,-2.280245219128979]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_14","position":[0.18990835489629687,-0.8219322117381822,0.71338606911949],"aabb_xy":[[0.16740835508239452,-0.8264068281086628],[0.21240835471019928,-0.8174575953677014]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[0.2779936157481323,1.296167608873421,0.71338606911949],"aabb_xy":[[0.2541573981075273,1.2061676080649348],[0.3018298333887374,1.3861676096819078]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_16","position":[-0.5198646329113225,1.4311382994117934,0.71338606911949],"aabb_xy":[[-0.5233053091513797,1.4272768664374287],[-0.5164239566712654,1.4349997323861576]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[-0.37490039702176375,-1.2498854783200228,0.71338606911949],"aabb_xy":[[-0.44490039965835004,-1.2699903433158883],[-0.30490039438517735,-1.2297806133241573]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[0.6838702854149012,-0.2745081151334934,0.71338606911949],"aabb_xy":[[0.6719982024034,-0.35950811482714373],[0.6957423684264022,-0.18950811543984303]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.5425351389749173,1.135253261450035,0.71338606911949],"aabb_xy":[[0.49254202686572546,1.0852532607758396],[0.5925282510841092,1.1852532621242309]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[-0.16486936302427047,-2.018545426896139,0.71338606911949],"aabb_xy":[[-0.17367141833324315,-2.0263567530510675],[-0.15606730771529773,-2.0107341007412094]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[-0.4292264508186981,-1.8836753292238768,0.71338606911949],"aabb_xy":[[-0.4932264481043468,-1.9251820481767206],[-0.3652264535330495,-1.8421686102710326]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[-0.22450372324375234,0.9131103654689188,0.71338606911949],"aabb_xy":[[-0.271633102245588,0.8491103644245167],[-0.17737434424191664,0.9771103665133206]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.17367538523235704,1.4646730414432123,0.71338606911949],"aabb_xy":[[-0.18237334752307235,1.4525480671357376],[-0.16497742294164178,1.476798015750687]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_24","position":[-0.1794728091464134,-1.462607291168624,0.71338606911949],"aabb_xy":[[-0.23947280974242957,-1.5174197637138476],[-0.11947280855039721,-1.4077948186234006]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_25","position":[0.45362000116694356,-0.23912319743979404,0.71338606911949],"aabb_xy":[[0.4311200006549029,-0.2616150558051924],[0.4761200016789841,-0.21663133907439566]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_26","position":[0.6707121121545434,-1.4891826239601411,0.71338606911949],"aabb_xy":[[0.6614184939173929,-1.526682622448275],[0.6800057303916941,-1.4516826254720072]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_27","position":[0.6655443262156766,1.791808954946331,0.71338606911949],"aabb_xy":[[0.6310819788175346,1.7573150725485078],[0.7000066736138182,1.8263028373441532]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_28","position":[-0.4733248385017523,1.1623058087550162,0.71338606911949],"aabb_xy":[[-0.5533248417657655,1.1487457764461029],[-0.39332483523773915,1.1758658410639296]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_29","position":[-0.45981499688308397,-0.5487157093924844,0.71338606911949],"aabb_xy":[[-0.5498149933839557,-0.5946273518109426],[-0.36981500038221216,-0.5028040669740261]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_30","position":[0.2586997911710497,-2.1578426111282285,0.71338606911949],"aabb_xy":[[0.2547859179756271,-2.1665916265347853],[0.26261366436647215,-2.1490935957216717]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_31","position":[-0.6109858353575054,-0.769464692951644,0.71338606911949],"aabb_xy":[[-0.6570709266122369,-0.8334646902041991],[-0.5649007441027739,-0.7054646956990889]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569792675522196,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6035.png","name":"6035"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6035.png","name":"6035"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7045.png","name":"7045"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3477.png","name":"3477"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/341.png","name":"341"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6164.png","name":"6164"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":606.8737858864598,"rotation_z_degrees":174.4272421994022,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0036919816134253873,0.017161682188646676,0.0090072168031286]},{"name":"camera_2","offset_m":[-0.012345211009217209,0.008014623500098992,-0.00988347917521879]},{"name":"camera_3","offset_m":[-0.0015653988744873393,0.01932149736226652,0.01229794958519766]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009857747641011843,-0.00029018685753740676,-0.0012749316174134205],"end_effector_yaw_offset_degrees":0.7403894462380807},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018945294637583731,0.000941033078135946,0.0014218153698668193],"end_effector_yaw_offset_degrees":-0.07842672316855692},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013392371046907568,0.0008162452625880994,-0.0005052130612590623],"end_effector_yaw_offset_degrees":-0.5194898571843809},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019210773780048828,0.0012396727262067677,7.98325339973374e-05],"end_effector_yaw_offset_degrees":0.46168589648153313}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002048079217416813,0.0019343238023083586],"position_m":[0.22135192078258317,-0.027465676197691642,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002679424270986301,0.0029846660953466936],"position_m":[0.2605320575729013,-0.3017153339046533,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004731707954867977,0.0014949761416154705],"position_m":[0.14623170795486795,0.2866949761416155,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019897081343273905,-0.001448650386185427],"position_m":[0.3247102918656726,0.18205134961381456,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"36ea6ec425db05a5cfb505e09455e14a51a3665039506fb4e729bccf163cb18a","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0068.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6035/tex_ceiling_textures_6164/tex_floor_textures_341/tex_table_textures_7045/tex_wall_textures_3477","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1626868078120429150,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1626868078120429150,"visual_seed":1626868078120429150,"scene_id":"lab_003","finished_at":"2026-09-04T20:42:22"}
+{"episode_id":"ep_000059","started_at":"2026-09-04T20:42:25","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[-0.2466270677858341,-0.59073280432082,0.71338606911949],"aabb_xy":[[-0.256383057295008,-0.6004953383800544],[-0.23687107827666018,-0.5809702702615855]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[-0.5671417009914912,-1.2201382068862672,0.71338606911949],"aabb_xy":[[-0.5841517982815417,-1.236272695384541],[-0.5501316037014404,-1.2040037183879932]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.4524969066852178,1.1211280967580644,0.71338606911949],"aabb_xy":[[0.3874969066509151,1.074427420077737],[0.5174969067195205,1.1678287734383916]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[-0.1985448620865301,-0.6795055184949053,0.71338606911949],"aabb_xy":[[-0.23300720948467185,-0.7139994008927278],[-0.16408251468838825,-0.6450116360970825]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.40735131771604643,1.668277621969303,0.71338606911949],"aabb_xy":[[-0.4419424005700916,1.603277621684272],[-0.37276023486200116,1.733277622254334]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_5","position":[-0.3849177098886227,-0.8142690754749009,0.71338606911949],"aabb_xy":[[-0.4389333061705227,-0.878269078367158],[-0.33090211360672267,-0.7502690725826436]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.10137554528495707,-1.323773194524224,0.71338606911949],"aabb_xy":[[-0.1356724563026977,-1.358070080734165],[-0.06707863426721644,-1.2894763083142824]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[-0.031499243907101904,1.785339566405106,0.71338606911949],"aabb_xy":[[-0.06899924425532966,1.7735481708240222],[0.006000756441125861,1.7971309619861893]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[0.19986485507502705,-1.7078175749896185,0.71338606911949],"aabb_xy":[[0.1890918811536593,-1.7428175732086575],[0.21063782899639485,-1.6728175767705795]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[0.6344043143613174,-0.5923859652942753,0.71338606911949],"aabb_xy":[[0.6155199305928073,-0.6112718900746281],[0.6532886981298277,-0.5735000405139226]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[-0.43421433284183564,-0.06544398852891264,0.71338606911949],"aabb_xy":[[-0.4379175941709746,-0.0691460068376305],[-0.4305110715126968,-0.06174197022019479]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_11","position":[-0.3784226537724035,-0.23376699136609425,0.71338606911949],"aabb_xy":[[-0.42823943323723834,-0.2837669898503976],[-0.3286058743075688,-0.18376699288179088]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.28023084527331427,0.2046877434596026,0.71338606911949],"aabb_xy":[[-0.37023084469168516,0.1713122466154129],[-0.19023084585494338,0.23806324030379233]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[-0.25156135071539987,-2.399780088650548,0.71338606911949],"aabb_xy":[[-0.25651737090028104,-2.4222800888526703],[-0.24660533053051867,-2.3772800884484266]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[-0.5287090526252282,-2.256536275947678,0.71338606911949],"aabb_xy":[[-0.5598559714688112,-2.326536274634485],[-0.49756213378164493,-2.1865362772608705]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_15","position":[-0.28769469114664953,-0.39510161519464937,0.71338606911949],"aabb_xy":[[-0.34769469165450245,-0.45194834888057067],[-0.22769469063879663,-0.33825488150872807]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.10923968511577575,1.2496659738722284,0.71338606911949],"aabb_xy":[[-0.1992396816166475,1.20375433145377],[-0.019239688614904004,1.2955776162906865]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.14560132893241828,1.7834274623135236,0.71338606911949],"aabb_xy":[[0.11182576974172531,1.7693889671003589],[0.17937688812311126,1.7974659575266887]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.31209922457288003,0.5822459611708091,0.71338606911949],"aabb_xy":[[-0.3207971868635953,0.5701209868633343],[-0.30340126228216474,0.5943709354782838]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[-0.16760137848466328,-1.0318965252160204,0.71338606911949],"aabb_xy":[[-0.1926013784171812,-1.038779193436944],[-0.1426013785521454,-1.0250138569950973]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.6490375712903171,-0.41040641270638334,0.71338606911949],"aabb_xy":[[-0.6740375705622793,-0.4267517763025457],[-0.6240375720183547,-0.394061049110221]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[0.005278274444338482,0.8049401115306427,0.71338606911949],"aabb_xy":[[-0.05872172746800386,0.7490289622726324],[0.06927827635668082,0.8608512607886533]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[-0.34296548511866726,-2.0619739390346967,0.71338606911949],"aabb_xy":[[-0.3929604960781194,-2.111973938070289],[-0.2929704741592153,-2.0119739399991055]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[-0.6192289091045232,-1.8495063437328416,0.71338606911949],"aabb_xy":[[-0.6272223988998052,-1.8575044756733174],[-0.6112354193092412,-1.8415082117923662]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[-0.6509257536364133,1.5939449735287536,0.71338606911949],"aabb_xy":[[-0.6581870012068207,1.5811579632652444],[-0.6436645060660058,1.6067319837922633]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[0.2809119403684769,0.8954430337256967,0.71338606911949],"aabb_xy":[[0.2169119411987069,0.8486763466067342],[0.3449119395382468,0.9422097208446591]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6599378724737834,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6596.png","name":"6596"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6596.png","name":"6596"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4270.png","name":"4270"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5329.png","name":"5329"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6757.png","name":"6757"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4967.png","name":"4967"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":565.5904061345153,"rotation_z_degrees":78.81344983728007,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013565467479451535,-0.007005550899832196,-0.00029665098241407964]},{"name":"camera_2","offset_m":[0.007643143508851681,-0.015521065851500752,0.017110534399566068]},{"name":"camera_3","offset_m":[-0.006611455193133829,-0.007492089162174734,0.016645532596266752]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001826258152457399,0.0013101915499978654,7.4886230989541e-05],"end_effector_yaw_offset_degrees":0.9422161774047291},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001817803030867967,-0.0014144711621147112,-0.0017885821641412426],"end_effector_yaw_offset_degrees":0.27576640094492233},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00035295008223020603,-0.0006547120695676951,-0.00025245637328438156],"end_effector_yaw_offset_degrees":-0.4638688003183413},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00170253844048453,-0.00043434758391577323,3.8866598395456264e-05],"end_effector_yaw_offset_degrees":0.7869819408674299}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015297845087860196,0.0015333834445699487],"position_m":[0.22187021549121397,-0.02786661655543005,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002787990109761086,-0.0034248962410850384],"position_m":[0.26052120098902387,-0.3081248962410851,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001509027733887859,-0.0009694191464680417],"position_m":[0.13999097226611212,0.284230580853532,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001303452038416315,0.00020011476434973492],"position_m":[0.3253965479615837,0.18370011476434972,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"07deb0f076b0ab522f1bafc54cfa7010c2f4ccbd6993c98b3e3f6904f5de77d4","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0069.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6596/tex_ceiling_textures_4967/tex_floor_textures_6757/tex_table_textures_4270/tex_wall_textures_5329","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3905498547846575042,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3905498547846575042,"visual_seed":3905498547846575042,"scene_id":"lab_003","finished_at":"2026-09-04T20:46:06"}
+{"episode_id":"ep_000060","started_at":"2026-09-04T20:46:11","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[0.6319253333763803,1.6387969752090075,0.71338606911949],"aabb_xy":[[0.5819253324258474,1.6072478282054858],[0.681925334326913,1.6703461222125287]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.18387441643756675,-0.41193669876864636,0.71338606911949],"aabb_xy":[[-0.18991142943823153,-0.4179633998375946],[-0.17783740343690205,-0.4059099976996982]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[0.11529571863061183,1.5960057455915204,0.71338606911949],"aabb_xy":[[0.10920109074249353,1.587436351039852],[0.12139034651873017,1.6045751401431894]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_3","position":[-0.2211718842931914,-1.6466914337703145,0.71338606911949],"aabb_xy":[[-0.2299739396021641,-1.6545027599252433],[-0.2123698289842187,-1.6388801076153852]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.6192762624448548,1.2669253878341062,0.71338606911949],"aabb_xy":[[-0.6414487894215055,1.244749720677983],[-0.5971037354682038,1.289101054990229]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_5","position":[-0.002138545408285064,-1.9124438400339365,0.71338606911949],"aabb_xy":[[-0.036601023421372836,-1.9191075172168595],[0.03232393260480271,-1.9057801628510136]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[0.41029891222693227,1.254080976440306,0.71338606911949],"aabb_xy":[[0.37279891228316586,1.2457878864054692],[0.44779891217069867,1.2623740664751424]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[0.10994744837434822,-1.815917608124868,0.71338606911949],"aabb_xy":[[0.03994745196438639,-1.836355543776549],[0.17994744478430996,-1.7954796724731856]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[-0.05655904999170003,1.351362162851927,0.71338606911949],"aabb_xy":[[-0.10655904956803475,1.3013815838998213],[-0.006559050415365315,1.4013427418040332]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.491017559436974,-2.172096731919802,0.71338606911949],"aabb_xy":[[-0.5007735489461479,-2.1818592659790363],[-0.4812615699278001,-2.1623341978605675]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[-0.14865783368503604,-1.4729028759908116,0.71338606911949],"aabb_xy":[[-0.15209850992509324,-1.476764308965176],[-0.1452171574449789,-1.4690414430164471]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[0.504915501855798,-1.3796303632521714,0.71338606911949],"aabb_xy":[[0.41491550243742703,-1.413005860096361],[0.5949155012741688,-1.3462548664079816]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[-0.6316861290938101,-1.9425561205749178,0.71338606911949],"aabb_xy":[[-0.6541861296058507,-1.9650479789403161],[-0.6091861285817695,-1.9200642622095194]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[-0.5518428303866215,-1.3997835506921048,0.71338606911949],"aabb_xy":[[-0.5650737759213027,-1.4130109697141042],[-0.5386118848519401,-1.3865561316701054]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[0.4018031044277188,-0.8589099485546721,0.71338606911949],"aabb_xy":[[0.38917631714052237,-0.8684560222562447],[0.41442989171491507,-0.8493638748530989]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[0.5100321816685698,-1.1811229911228727,0.71338606911949],"aabb_xy":[[0.47503218169207395,-1.1905876071704895],[0.5450321816450656,-1.1716583750752563]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[-0.20416794722776882,-0.7528164956103256,0.71338606911949],"aabb_xy":[[-0.2376081224237884,-0.7862601214412556],[-0.1707277720317492,-0.7193728697793954]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[-0.3704476258642197,-0.4264052247750656,0.71338606911949],"aabb_xy":[[-0.3745635759762923,-0.43052077980791104],[-0.366331675752147,-0.42228966974222004]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[-0.5840178677507343,1.0056003376869431,0.71338606911949],"aabb_xy":[[-0.639143073380325,0.9456003362456561],[-0.5288926621211435,1.0656003391282303]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[-0.513633292248561,0.5439097899261749,0.71338606911949],"aabb_xy":[[-0.5586258789670113,0.49890979065172614],[-0.4686407055301105,0.5889097892006236]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[-0.5744349535717013,-1.243037485835426,0.71338606911949],"aabb_xy":[[-0.5994349535042192,-1.2499201540563494],[-0.5494349536391834,-1.2361548176145027]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[-0.16158750000515731,0.7880196248462354,0.71338606911949],"aabb_xy":[[-0.1697011546785344,0.7799138083922064],[-0.15347384533178018,0.7961254413002645]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[0.24101098507005914,1.4978127293850378,0.71338606911949],"aabb_xy":[[0.22667655994389568,1.485752513830499],[0.2553454101962226,1.5098729449395767]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_23","position":[0.5016729903484727,1.3995364277696085,0.71338606911949],"aabb_xy":[[0.4908325121219578,1.3823501464789598],[0.5125134685749876,1.4167227090602572]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[0.05710563617443021,-1.6003623806400218,0.71338606911949],"aabb_xy":[[-0.0028943640769709678,-1.6546437056764862],[0.11710563642583138,-1.546081055603557]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_25","position":[-0.12047285231521321,-1.7793914374965363,0.71338606911949],"aabb_xy":[[-0.14238153445456425,-1.8012921043166268],[-0.09856417017586216,-1.7574907706764453]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[0.16399278243894433,-0.8112176816719769,0.71338606911949],"aabb_xy":[[0.14147909061548714,-0.8812176822729844],[0.18650647426240152,-0.7412176810709693]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_27","position":[-0.6159432925955768,-2.3502071800543187,0.71338606911949],"aabb_xy":[[-0.6534432933875721,-2.356575021012509],[-0.5784432918035812,-2.3438393390961285]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_28","position":[0.5123570097751016,-2.0851923361897606,0.71338606911949],"aabb_xy":[[0.4898570102513941,-2.107688283640381],[0.5348570092988089,-2.0626963887391394]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_29","position":[0.49775397760938733,-0.1537266867139393,0.71338606911949],"aabb_xy":[[0.4177539805951393,-0.17386123838735054],[0.5777539746236353,-0.133592135040528]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_30","position":[0.43031954214206936,0.38384569595022233,0.71338606911949],"aabb_xy":[[0.4125260352071529,0.36604595035442467],[0.4481130490769858,0.40164544154602]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_31","position":[0.264055296746184,0.5842647078064713,0.71338606911949],"aabb_xy":[[0.2599771388391343,0.580183727558208],[0.2681334546532338,0.5883456880547346]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_32","position":[0.2136433127636138,1.0812726585542656,0.71338606911949],"aabb_xy":[[0.12364331304043961,1.0581993060190855],[0.30364331248678794,1.1043460110894452]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_33","position":[-0.34308856991536374,-1.4283376244567152,0.71338606911949],"aabb_xy":[[-0.42308857038557984,-1.4366483320710637],[-0.2630885694451479,-1.4200269168423671]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6586896479786735,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/130.png","name":"130"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/130.png","name":"130"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3743.png","name":"3743"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6897.png","name":"6897"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4969.png","name":"4969"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9452.png","name":"9452"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":559.6953558837843,"rotation_z_degrees":177.5834657296401,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014872510539657349,0.0009412793434831444,-0.018499977648498596]},{"name":"camera_2","offset_m":[0.0038168226822988434,-0.0034325218886513027,3.810170674380109e-05]},{"name":"camera_3","offset_m":[0.019363474257757755,-0.0033320812037116176,0.019101097741248737]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009793727129335907,0.001574505356452273,0.0017356395164079032],"end_effector_yaw_offset_degrees":-0.35983745741954354},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0001443924923120502,-0.0006393670945576023,0.0008333311782920414],"end_effector_yaw_offset_degrees":0.7996788738928449},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00020104689194572894,0.0010748824851948523,0.0011232434380178476],"end_effector_yaw_offset_degrees":-0.16306309917985207},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008109916164460219,-0.0008185040215998494,0.0006630401965705417],"end_effector_yaw_offset_degrees":-0.6492945446306817}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012740273244850817,-0.0027159278623003556],"position_m":[0.22467402732448508,-0.03211592786230035,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018227369060102995,-0.00367422220035746],"position_m":[0.25897726309398966,-0.3083742222003575,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036109116212589684,0.004260158157594966],"position_m":[0.14511091162125894,0.28946015815759496,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018728629328607117,-0.003084541946543632],"position_m":[0.3285728629328607,0.18041545805345635,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"97937a5210892293a7903ee36a6d3b14ef1ff2a69a7115ba193ceeeb9e3b89b4","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_130/tex_ceiling_textures_9452/tex_floor_textures_4969/tex_table_textures_3743/tex_wall_textures_6897","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6223879590156138421,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6223879590156138421,"visual_seed":6223879590156138421,"scene_id":"lab_003","finished_at":"2026-09-04T20:49:58"}
+{"episode_id":"ep_000061","started_at":"2026-09-04T20:50:01","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[0.6118386928014061,0.7417473573798481,0.71338606911949],"aabb_xy":[[0.6038124221707801,0.7329958624024955],[0.6198649634320321,0.7504988523572007]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[-0.2596801065139124,-1.2939638808543816,0.71338606911949],"aabb_xy":[[-0.2821448764853175,-1.3164638817332421],[-0.23721533654250726,-1.2714638799755211]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[0.11295455902833706,-0.9033529827483435,0.71338606911949],"aabb_xy":[[0.047954560872418006,-0.9296492272982557],[0.17795455718425612,-0.8770567381984313]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[-0.10105332166262349,0.4372801481883193,0.71338606911949],"aabb_xy":[[-0.16505332357496583,0.38136899893030884],[-0.03705331975028116,0.4931912974463297]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_4","position":[-0.37109383395134765,0.9701637092441309,0.71338606911949],"aabb_xy":[[-0.40224075279493077,0.9001637105573236],[-0.33994691510776454,1.040163707930938]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.35158032025824965,-0.3517742066901879,0.71338606911949],"aabb_xy":[[-0.38908032144304233,-0.35619242938624834],[-0.31408031907345674,-0.3473559839941273]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.07772036914677438,-1.7808424720303289,0.71338606911949],"aabb_xy":[[-0.08500268552343802,-1.8708424756398376],[-0.07043805277011071,-1.6908424684208196]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.03195006002580236,-0.007517299990607462,0.71338606911949],"aabb_xy":[[-0.05486577291085227,-0.03042159712703097],[-0.009034347140752458,0.015386997145816043]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.12379735345395315,0.015978014753466052,0.71338606911949],"aabb_xy":[[-0.12875337363883438,-0.006521985448655567],[-0.11884133326907198,0.038478014955587676]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.37010303547775614,-1.5357211696832729,0.71338606911949],"aabb_xy":[[0.2804159591696407,-1.6257211699377232],[0.4597901117858716,-1.4457211694288221]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[-0.41077685595678326,0.45176186809500374,0.71338606911949],"aabb_xy":[[-0.43577685512241643,0.44480962238964716],[-0.3857768567911502,0.4587141138003603]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[0.05228065386001102,-2.3763176026215005,0.71338606911949],"aabb_xy":[[0.029781518133784046,-2.398817603399763],[0.07477978958623799,-2.3538176018432373]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[-0.567094006718519,-0.09239755077750278,0.71338606911949],"aabb_xy":[[-0.6120940081847478,-0.13739740763898345],[-0.5220940052522901,-0.04739769391602211]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[-0.2686538981721951,-2.298549087145454,0.71338606911949],"aabb_xy":[[-0.2787356052507685,-2.378549085037568],[-0.25857219109362156,-2.218549089253339]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_14","position":[0.1565703874526596,-1.6096864857567703,0.71338606911949],"aabb_xy":[[0.1206568830276699,-1.6455999939735249],[0.19248389187764928,-1.5737729775400158]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[-0.5029338483807007,-2.503786430169321,0.71338606911949],"aabb_xy":[[-0.5669338497886912,-2.555575381693245],[-0.43893384697270993,-2.4519974786453957]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[-0.15643933455986736,1.3781717070665285,0.71338606911949],"aabb_xy":[[-0.21406980344713814,1.3181717081398177],[-0.09880886567259645,1.4381717059932388]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[0.5919810805455012,1.1412758605659894,0.71338606911949],"aabb_xy":[[0.5269810826638536,1.0901521968594485],[0.6569810784271491,1.1923995242725303]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.2528478007065963,-1.6502900028462708,0.71338606911949],"aabb_xy":[[-0.28784780060261517,-1.6586642383582109],[-0.21784780081057745,-1.6419157673343308]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.43145150516262004,-2.118059416812784,0.71338606911949],"aabb_xy":[[-0.4533412527515609,-2.2080594141020327],[-0.4095617575736793,-2.0280594195235344]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.494723227797349,-2.2498438418563627,0.71338606911949],"aabb_xy":[[0.42972322776304633,-2.2965445185366895],[0.5597232278316517,-2.203143165176035]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_21","position":[-0.4066980665287972,0.635936729696549,0.71338606911949],"aabb_xy":[[-0.4185701495402983,0.5509367300028987],[-0.3948259835172961,0.7209367293901994]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[-0.6314499551393183,1.4261772773157042,0.71338606911949],"aabb_xy":[[-0.6460933606933512,1.4115185576589198],[-0.6168065495852852,1.4408359969724882]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[-0.3331021836303623,1.2377248200270041,0.71338606911949],"aabb_xy":[[-0.36756453102850406,1.2032309376291812],[-0.29863983623222046,1.2722187024248266]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[-0.3805248687577382,-0.5547110149448287,0.71338606911949],"aabb_xy":[[-0.4445248704357355,-0.603228406424143],[-0.3165248670797408,-0.5061936234655146]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_25","position":[0.39888050164171873,0.3309772019242452,0.71338606911949],"aabb_xy":[[0.37388050170920084,0.32409453370332186],[0.4238805015742366,0.3378598701451685]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[0.15336160074213123,0.6310742138645264,0.71338606911949],"aabb_xy":[[0.10336160116579654,0.5810936349124206],[0.20336160031846598,0.6810547928166325]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_27","position":[0.23967363094548633,-0.6171953752369093,0.71338606911949],"aabb_xy":[[0.22774089658365826,-0.6295775280447686],[0.2516063653073144,-0.6048132224290499]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[0.5388099260686077,-0.18785056126259736,0.71338606911949],"aabb_xy":[[0.5044936488939897,-0.23785056123577508],[0.5731262032432256,-0.13785056128941964]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_29","position":[-0.3915063349602746,0.07673147946802805,0.71338606911949],"aabb_xy":[[-0.44150561012871076,0.026731478192080882],[-0.34150705979183843,0.12673148074397522]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_30","position":[0.6366844264457485,-1.535158321563401,0.71338606911949],"aabb_xy":[[0.6029088672550557,-1.549196816776566],[0.6704599856364416,-1.5211198263502357]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_31","position":[-0.4557614626718076,-1.4498039390494672,0.71338606911949],"aabb_xy":[[-0.5057564736312596,-1.499803938085059],[-0.40576645171235565,-1.3998039400138755]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6553103907894626,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2542.png","name":"2542"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2542.png","name":"2542"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/422.png","name":"422"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9951.png","name":"9951"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/719.png","name":"719"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6228.png","name":"6228"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":506.21738669321655,"rotation_z_degrees":206.0737214128509,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011485878203702091,0.0025895466721587747,-0.011096209821408189]},{"name":"camera_2","offset_m":[0.01077505458789272,-0.0067699668214356475,-0.01838228894585116]},{"name":"camera_3","offset_m":[-0.01412291175066287,-0.017114987495517982,-0.006002697225311318]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017867207944370737,-0.0016519038420770979,0.0018756389735699076],"end_effector_yaw_offset_degrees":0.9502661009148399},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012359564528074958,-0.001326413117315817,0.0012680190129508283],"end_effector_yaw_offset_degrees":-0.554753876882228},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001005722603408829,0.0011814520783754692,0.00025229780672540334],"end_effector_yaw_offset_degrees":0.7858724036905802},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001978616453029736,-0.00037907568259720704,-0.00023694728500932663],"end_effector_yaw_offset_degrees":0.08751109249430145}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035202020977814098,0.0029841179999857076],"position_m":[0.21987979790221857,-0.026415882000014292,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001743815527488053,0.0037638675935748296],"position_m":[0.25905618447251194,-0.3009361324064252,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003396106485325695,-0.004098418576167526],"position_m":[0.13810389351467428,0.28110158142383246,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004047131205845374,0.0027710044460184154],"position_m":[0.3226528687941546,0.1862710044460184,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bce753eb379d9833e07767c9fd65dbeb6f032f2611d9aeaf9545317ab005bfd5","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_2542/tex_ceiling_textures_6228/tex_floor_textures_719/tex_table_textures_422/tex_wall_textures_9951","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7647265260264358586,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7647265260264358586,"visual_seed":7647265260264358586,"scene_id":"lab_003","finished_at":"2026-09-04T20:53:19"}
+{"episode_id":"ep_000062","started_at":"2026-09-04T20:53:22","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[0.3590930103839063,-2.1185102932571587,0.71338606911949],"aabb_xy":[[0.32159301027831333,-2.1253324551101396],[0.39659301048949924,-2.111688131404177]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[-0.51704166084186,-2.2433041297232394,0.71338606911949],"aabb_xy":[[-0.5970416611154669,-2.316253677548956],[-0.43704166056825294,-2.1703545818975227]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[-0.18266244791728647,-1.6661411118920557,0.71338606911949],"aabb_xy":[[-0.18824411955141523,-1.6786411117098312],[-0.17708077628315771,-1.6536411120742802]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.02620099763137873,-1.3443470428780202,0.71338606911949],"aabb_xy":[[-0.03431465230475583,-1.352452859332049],[-0.018087342958001625,-1.336241226423991]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.4727306535304978,1.4129906137809747,0.71338606911949],"aabb_xy":[[0.40873065024078964,1.3696556947770568],[0.5367306568202058,1.456325532784892]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[0.57915483794801,1.2711274439140432,0.71338606911949],"aabb_xy":[[0.5241593601273506,1.216127442480136],[0.6341503157686694,1.32612744534795]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.4302718701920447,0.8832394860074131,0.71338606911949],"aabb_xy":[[0.3802889200045653,0.8332394863648525],[0.480254820379524,0.9332394856499733]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[-0.47284371270829284,0.5988220760925547,0.71338606911949],"aabb_xy":[[-0.5078437126847888,0.5893574600449382],[-0.43784371273179706,0.6082866921401714]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[-0.6434033732791015,-1.2795863944756827,0.71338606911949],"aabb_xy":[[-0.6494403862797662,-1.2856130955446312],[-0.6373663602784367,-1.2735596934067346]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[-0.17125301029396278,0.2502819884906713,0.71338606911949],"aabb_xy":[[-0.20875301011099634,0.24564377717952937],[-0.13375301047692922,0.2549201998018131]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[-0.19122915091133852,0.8621337803425395,0.71338606911949],"aabb_xy":[[-0.19732377879945684,0.8535643857908709],[-0.1851345230232202,0.8707031748942083]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[0.08578704092704492,-1.7164509151098304,0.71338606911949],"aabb_xy":[[0.07937322728385997,-1.7228607353574985],[0.09220085457022985,-1.7100410948621618]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_12","position":[-0.2582646231727945,0.8661106601146527,0.71338606911949],"aabb_xy":[[-0.26962635782608063,0.8547421937083645],[-0.2469028885195083,0.8774791265209406]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[0.11721342284680514,-1.9382725362572324,0.71338606911949],"aabb_xy":[[0.07444671596738495,-2.002272539679035],[0.15998012972622533,-1.87427253283543]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[0.651327937652241,-1.3559273597403532,0.71338606911949],"aabb_xy":[[0.6103099942658702,-1.4059273603713105],[0.6923458810386119,-1.3059273591093958]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.5362252851696909,-0.2610432715133628,0.71338606911949],"aabb_xy":[[0.48909590616785514,-0.32504327255776466],[0.5833546641715265,-0.19704327046896075]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[0.5334149770934167,0.683227048213475,0.71338606911949],"aabb_xy":[[0.4984149788232968,0.6761529205184869],[0.5684149753635366,0.6903011759084632]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[0.20119058677112478,-1.0085806558000587,0.71338606911949],"aabb_xy":[[0.12119676319256659,-1.0885806583929003],[0.281184410349683,-0.9285806532072172]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[-0.5480400561019437,0.7792613735154186,0.71338606911949],"aabb_xy":[[-0.5855400562738156,0.7465606381325115],[-0.5105400559300717,0.8119621088983259]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[0.5508945676303159,0.8346442051489191,0.71338606911949],"aabb_xy":[[0.5357316946533789,0.8194787478538005],[0.566057440607253,0.849809662444038]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_20","position":[0.6239382888390979,-1.8319015970756256,0.71338606911949],"aabb_xy":[[0.563938288992531,-1.888720219268664],[0.6839382886856645,-1.7750829748825867]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[-0.25467820060041446,-0.5136588954234345,0.71338606911949],"aabb_xy":[[-0.26551867882692937,-0.5308451767140833],[-0.24383772237389956,-0.49647261413278565]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_22","position":[-0.1023229285959627,-2.401379461389798,0.71338606911949],"aabb_xy":[[-0.1261591462365678,-2.4913794621982848],[-0.07848671095535766,-2.311379460581312]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[0.27215406162125744,0.5214665700293923,0.71338606911949],"aabb_xy":[[0.26682154696664445,0.5161422417841568],[0.2774865762758704,0.5267908982746279]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_24","position":[0.2886304218262078,-1.4951796961607242,0.71338606911949],"aabb_xy":[[0.2336566997898749,-1.5501796957249574],[0.3436041438625407,-1.440179696596491]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[0.20289073394893398,-1.1412193976939335,0.71338606911949],"aabb_xy":[[0.16789073563823853,-1.1489344126174792],[0.23789073225962942,-1.133504382770388]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[-0.5591870684194026,0.9631146712505916,0.71338606911949],"aabb_xy":[[-0.566599523960791,0.9572634608289635],[-0.5517746128780141,0.9689658816722194]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_27","position":[0.08523002646628708,1.1927944058339386,0.71338606911949],"aabb_xy":[[0.005230025036159894,1.113277250821329],[0.16523002789641428,1.2723115608465478]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_28","position":[-0.6418439717806044,-1.464053651103385,0.71338606911949],"aabb_xy":[[-0.6752841469766239,-1.4974972769343147],[-0.6084037965845847,-1.4306100252724545]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_29","position":[-0.5083784418040218,0.1892170738381349,0.71338606911949],"aabb_xy":[[-0.5583517358072821,0.1392170732835875],[-0.45840514780076125,0.2392170743926822]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638792256290602,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/211.png","name":"211"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/211.png","name":"211"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3934.png","name":"3934"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8421.png","name":"8421"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5302.png","name":"5302"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6437.png","name":"6437"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":790.8908300074761,"rotation_z_degrees":215.96249623906232,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016819230969048266,0.016582472531399686,-0.015594417597740197]},{"name":"camera_2","offset_m":[-0.015444311879324095,0.011908372133607664,-0.004101252038660474]},{"name":"camera_3","offset_m":[-0.013324979805476107,0.012889965472683989,-0.012725006296015917]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000674990908932517,0.001224563746309058,-0.00010499666008065094],"end_effector_yaw_offset_degrees":0.4261264082241538},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005041400406813822,0.0009030728608398291,0.0006666324138309924],"end_effector_yaw_offset_degrees":-0.804122673108224},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012169381281722058,0.0017351758330138053,0.0015400150843934974],"end_effector_yaw_offset_degrees":-0.6802115750099886},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001785182100517657,-0.0010850151704015162,-0.0012441765682447952],"end_effector_yaw_offset_degrees":0.24369019973711858}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004285010956769355,0.004091794703582404],"position_m":[0.22297149890432305,-0.025308205296417596,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036719644426253502,-0.004382094362033094],"position_m":[0.26447196444262533,-0.3090820943620331,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022585832893353853,-0.0024496797823091022],"position_m":[0.1392414167106646,0.2827503202176909,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001529115285312038,0.0008176428293323115],"position_m":[0.328229115285312,0.1843176428293323,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"97df29585f04777f3938c2270b3ef6a06410119e62b161af133c4aefd7e43cc2","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_211/tex_ceiling_textures_6437/tex_floor_textures_5302/tex_table_textures_3934/tex_wall_textures_8421","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8913814023911249520,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8913814023911249520,"visual_seed":8913814023911249520,"scene_id":"lab_003","finished_at":"2026-09-04T20:56:18"}
+{"episode_id":"ep_000063","started_at":"2026-09-04T20:56:21","dimensions":{"distractor":{"count":23,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.6634334830261073,-0.006440869746218603,0.71338606911949],"aabb_xy":[[-0.6760602703133037,-0.015986943447791502],[-0.650806695738911,0.0031052039553542956]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[-0.06581111344123336,0.24685226896181067,0.71338606911949],"aabb_xy":[[-0.12981111665987122,0.20012915706280232],[-0.0018111102225955161,0.293575380860819]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[0.33125549934234133,-1.285072073948183,0.71338606911949],"aabb_xy":[[0.26725550017257144,-1.3318387610671454],[0.39525549851211134,-1.2383053868292204]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[-0.3453550665631267,1.4934292737208614,0.71338606911949],"aabb_xy":[[-0.3828550680787584,1.4822025007047162],[-0.307855065047495,1.5046560467370063]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.5502740905998479,-0.8440199121443324,0.71338606911949],"aabb_xy":[[-0.575274089765481,-0.8509721578496889],[-0.5252740914342148,-0.8370676664389758]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[0.3185977290763804,-1.5397469100261951,0.71338606911949],"aabb_xy":[[0.29609772883286506,-1.5519515446859669],[0.34109772931989585,-1.527542275366423]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.3922164234361363,-0.16764485303353371,0.71338606911949],"aabb_xy":[[-0.4822164257701553,-0.24512720761864637],[-0.30221642110211716,-0.09016249844842106]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.5539641813177107,-2.423846291999529,0.71338606911949],"aabb_xy":[[0.5166329047924682,-2.458499346794381],[0.5912954578429533,-2.3891932372046765]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[0.6574267483781442,1.0601802226151213,0.71338606911949],"aabb_xy":[[0.593426748104166,1.0101141224178334],[0.7214267486521224,1.1102463228124093]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[-0.33072339848910737,1.2359419148726545,0.71338606911949],"aabb_xy":[[-0.33416407472916454,1.23208048189829],[-0.3272827222490502,1.239803347847019]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[0.053971113204704824,-2.032592884059653,0.71338606911949],"aabb_xy":[[0.03886881174368671,-2.0476944056907143],[0.0690734146657229,-2.0174913624285904]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[0.6535516995141104,-0.8835794747486325,0.71338606911949],"aabb_xy":[[0.5985562216934509,-0.9385794761825395],[0.7085471773347697,-0.8285794733147256]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.2574055300485023,-1.9884087390046612,0.71338606911949],"aabb_xy":[[-0.3373993536270605,-2.068408741597503],[-0.17741170646994409,-1.9084087364118199]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.225581484403449,-1.5572572912834648,0.71338606911949],"aabb_xy":[[-0.2755814856872889,-1.6072361456740867],[-0.17558148311960897,-1.5072784368928425]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[0.25907245058084793,1.6677258646767972,0.71338606911949],"aabb_xy":[[0.20959202936688914,1.6037258667639454],[0.3085528717948067,1.731725862589649]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[0.15813607181676037,-2.452404188877532,0.71338606911949],"aabb_xy":[[0.13184724749631968,-2.4786756225321827],[0.184424896137201,-2.42613275522288]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[-0.597446729832634,-0.7206708115738631,0.71338606911949],"aabb_xy":[[-0.6152402367675505,-0.7384705571696608],[-0.5796532228977176,-0.7028710659780655]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[0.6776786569895081,1.6463748041836808,0.71338606911949],"aabb_xy":[[0.6417651525645185,1.610461295966926],[0.7135921614144978,1.682288312400435]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[0.0911684006912209,-2.5671533042310326,0.71338606911949],"aabb_xy":[[0.05616840079520203,-2.5755275397429727],[0.12616840058723977,-2.5587790687190926]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.32833699258225435,-2.1652343287126175,0.71338606911949],"aabb_xy":[[0.2483369955680063,-2.1853688803860285],[0.4083369895965023,-2.1450997770392064]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[-0.3247121611884881,-0.702743789782039,0.71338606911949],"aabb_xy":[[-0.3622121610055216,-0.7073820010931807],[-0.2872121613714545,-0.698105578470897]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.18347282840295676,0.7787740915473935,0.71338606911949],"aabb_xy":[[-0.26347282983308395,0.699256936534784],[-0.10347282697282956,0.858291246560003]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[-0.24137432959835936,-0.9330632527915537,0.71338606911949],"aabb_xy":[[-0.289180497212128,-0.9980632554986124],[-0.19356816198459068,-0.8680632500844945]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6562710830306159,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9939.png","name":"9939"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9939.png","name":"9939"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7364.png","name":"7364"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2228.png","name":"2228"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7688.png","name":"7688"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1768.png","name":"1768"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":559.0148181294722,"rotation_z_degrees":152.0453537265411,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004331314733018319,0.006403830425631706,0.01405588574737503]},{"name":"camera_2","offset_m":[-0.010590069496782647,0.019338496576855425,0.012750407392878433]},{"name":"camera_3","offset_m":[0.016584056204477633,0.01549503002398563,-0.010020245184050203]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00143727079365731,-0.0008161643109615246,0.0017498807711848483],"end_effector_yaw_offset_degrees":-0.3035510574620479},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000792327953393842,-0.0010519864597176199,-0.0016434140665525048],"end_effector_yaw_offset_degrees":0.29549150240986544},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005793866910050022,-0.0019061092460514546,-0.001963840110851772],"end_effector_yaw_offset_degrees":0.528157954319465},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00034532375676938373,-0.0014901824621964192,-0.0017806917692718078],"end_effector_yaw_offset_degrees":-0.28047340881387606}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038090637851378303,-0.0021284935215819876],"position_m":[0.2272090637851378,-0.031528493521581984,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002666450792588593,0.004532331733138333],"position_m":[0.26053335492074114,-0.3001676682668617,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004019484840757643,-0.0039716916286441405],"position_m":[0.13748051515924234,0.2812283083713559,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-6.664574587841518e-05,0.002846203291278747],"position_m":[0.3266333542541216,0.18634620329127874,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d2cc5f5b717ddf51d48d4c7285a18a7374efef6493fb191137eade83019cadc3","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9939/tex_ceiling_textures_1768/tex_floor_textures_7688/tex_table_textures_7364/tex_wall_textures_2228","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7554984795796990973,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7554984795796990973,"visual_seed":7554984795796990973,"scene_id":"lab_003","finished_at":"2026-09-04T20:59:56"}
+{"episode_id":"ep_000064","started_at":"2026-09-04T21:02:16","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[-0.2146160160787997,0.6637636038071717,0.71338606911949],"aabb_xy":[[-0.2746160159253665,0.6069449816141329],[-0.15461601623223292,0.7205822260002103]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[0.392728474101554,-1.5480898094535562,0.71338606911949],"aabb_xy":[[0.3776261726405358,-1.5631913310846177],[0.40783077556257197,-1.5329882878224939]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[-0.07516270069080855,1.74373039193688,0.71338606911949],"aabb_xy":[[-0.0870954350526366,1.7313482391290207],[-0.06322996632898047,1.7561125447447394]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[0.2920673837828258,1.6287343690138312,0.71338606911949],"aabb_xy":[[0.27439175319422743,1.611054152734428],[0.3097430143714241,1.6464145852932335]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.0925325380102725,-1.794015857652856,0.71338606911949],"aabb_xy":[[-0.1338370810740085,-1.858015857220973],[-0.0512279949465365,-1.730015858084739]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.5642665221035389,1.531431958008739,0.71338606911949],"aabb_xy":[[-0.5724810672192227,1.5227553677110972],[-0.5560519769878547,1.5401085483063799]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.47911251754206885,0.9317927497557474,0.71338606911949],"aabb_xy":[[-0.516612518039427,0.927824066207629],[-0.4416125170447105,0.9357614333038659]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.5453428658378778,-1.0274927619438177,0.71338606911949],"aabb_xy":[[-0.6003383436585371,-1.0824927633777244],[-0.49034738801721833,-0.9724927605099105]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[-0.4669885293346734,-0.4850864089140208,0.71338606911949],"aabb_xy":[[-0.5168712262123697,-0.5350864081602956],[-0.4171058324569773,-0.43508640966774614]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[0.16181940432637432,-1.241818655516453,0.71338606911949],"aabb_xy":[[0.10181940346556152,-1.2932450855229392],[0.22181940518718712,-1.1903922255099664]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[0.593639668699713,0.13660187289064885,0.71338606911949],"aabb_xy":[[0.5883071540450999,0.13127754464541325],[0.598972183354326,0.14192620113588444]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[0.25052950639060223,-1.8907420558912678,0.71338606911949],"aabb_xy":[[0.2170503391295613,-1.9242211692623747],[0.2840086736516432,-1.8572629425201608]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[0.11831076746465108,-1.0169117164232406,0.71338606911949],"aabb_xy":[[0.1075377935432833,-1.0519117146422796],[0.12908374138601886,-0.9819117182042016]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[0.4423192196437409,0.4575075632027854,0.71338606911949],"aabb_xy":[[0.40481921935156606,0.4534660878021818],[0.4798192199359157,0.46154903860338903]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.6230805849505228,1.576701058008434,0.71338606911949],"aabb_xy":[[0.6122401067240077,1.559514776717785],[0.6339210631770376,1.5938873392990824]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.35374731378915647,1.2964253831803303,0.71338606911949],"aabb_xy":[[0.2997317175072564,1.232425380288073],[0.4077629100710564,1.3604253860725872]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[-0.044025225478052876,-1.3494278066636956,0.71338606911949],"aabb_xy":[[-0.06290960924656308,-1.368313731444048],[-0.02514084170954267,-1.3305418818833425]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_17","position":[0.591291935450271,-2.542505864188629,0.71338606911949],"aabb_xy":[[0.5811389198961215,-2.578575405761369],[0.6014449510044203,-2.506436322615888]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[-0.18991740380556066,-0.18663333162212759,0.71338606911949],"aabb_xy":[[-0.20508027678249774,-0.20179878891724637],[-0.17475453082862355,-0.17146787432700883]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[0.5821359355780604,1.7920304406676864,0.71338606911949],"aabb_xy":[[0.5452853876410728,1.7545304398446526],[0.618986483515048,1.82953044149072]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[-0.3176360848743144,-0.5053902553231184,0.71338606911949],"aabb_xy":[[-0.3401497766977716,-0.5753902559241258],[-0.2951223930508572,-0.4353902547221108]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[-0.0831867693192826,-1.5081486990400257,0.71338606911949],"aabb_xy":[[-0.08808606162584608,-1.5358256183425945],[-0.07828747701271908,-1.480471779737457]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[0.3890345739688881,-1.6554677499471406,0.71338606911949],"aabb_xy":[[0.37588332799759877,-1.680467749703827],[0.4021858199401775,-1.6304677501904539]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6557638194007478,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6248.png","name":"6248"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6248.png","name":"6248"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8212.png","name":"8212"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2766.png","name":"2766"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8458.png","name":"8458"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7684.png","name":"7684"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":560.2049264674769,"rotation_z_degrees":191.7626412175439,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0038844048032798985,0.00077577972475458,0.013201611879817474]},{"name":"camera_2","offset_m":[0.01627566051673007,0.014385749701039233,-0.014317558295434596]},{"name":"camera_3","offset_m":[0.0026118944845097657,0.01802899626867861,-0.01780390198967707]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00039091184990968676,-0.00014237295099355993,-0.00028854179758068944],"end_effector_yaw_offset_degrees":0.16232824339310392},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009320471368737472,-0.0002638843441642544,-0.0005411895093479901],"end_effector_yaw_offset_degrees":0.8569988862063902},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001871763424233213,0.0005388183046361058,0.0008777499494699902],"end_effector_yaw_offset_degrees":0.5204913549309655},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00022609602411800453,0.0006122288712078709,0.001053791697762181],"end_effector_yaw_offset_degrees":0.9018605730340901}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029789904588929284,0.0038811310637182914],"position_m":[0.22042100954110705,-0.02551886893628171,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017278992909702108,0.00280848169977889],"position_m":[0.25907210070902975,-0.30189151830022115,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000416248250011254,-0.0002702539620489993],"position_m":[0.14191624825001123,0.284929746037951,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0039048399714276304,-0.0039236550753250264],"position_m":[0.33060483997142764,0.17957634492467497,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f426eb4a31c0a93f608a7bcb07e0b59f4e0813a69ff60b530f6ea2a5f28d4790","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6248/tex_ceiling_textures_7684/tex_floor_textures_8458/tex_table_textures_8212/tex_wall_textures_2766","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1972395027289893454,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1972395027289893454,"visual_seed":1972395027289893454,"scene_id":"lab_003","finished_at":"2026-09-04T21:05:49"}
+{"episode_id":"ep_000065","started_at":"2026-09-04T21:05:52","dimensions":{"distractor":{"count":23,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[0.5939023805001673,-0.4601917923655905,0.71338606911949],"aabb_xy":[[0.5039023810817963,-0.4935672892097802],[0.6839023799185381,-0.42681629552140077]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[-0.12970826502049326,-0.47894411391087743,0.71338606911949],"aabb_xy":[[-0.14127724576742984,-0.5039441140278091],[-0.11813928427355669,-0.4539441137939457]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_2","position":[0.09945621851048081,-2.1723367716275424,0.71338606911949],"aabb_xy":[[0.09175302783640377,-2.18004614232628],[0.10715940918455785,-2.164627400928804]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[-0.44964883614385365,1.6671123165352761,0.71338606911949],"aabb_xy":[[-0.4559609356801921,1.661345377282057],[-0.4433367366075152,1.6728792557884948]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[0.31555826908602613,-1.7893050339259575,0.71338606911949],"aabb_xy":[[0.3012238439598627,-1.8013652494804961],[0.3298926942121896,-1.7772448183714185]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.6205386178013087,1.2057694780883788,0.71338606911949],"aabb_xy":[[-0.6845386150869573,1.1642627591355348],[-0.55653862051566,1.2472761970412227]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[-0.05043947093404133,1.5504655142656758,0.71338606911949],"aabb_xy":[[-0.08793947122621615,1.546424038865072],[-0.012939470641866513,1.554506989666279]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_7","position":[-0.22979231894198754,0.5111456916078092,0.71338606911949],"aabb_xy":[[-0.28478456957749854,0.45614568986449644],[-0.1748000683064766,0.566145693351122]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_8","position":[0.66539381131031,1.225859691308938,0.71338606911949],"aabb_xy":[[0.6471879876490624,1.2148342907269465],[0.6835996349715577,1.2368850918909298]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[-0.39956229808534716,0.056106472969776,0.71338606911949],"aabb_xy":[[-0.4370622988773426,0.04973863201158591],[-0.3620622972933517,0.0624743139279661]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[-0.02498508415797296,1.7244077278536483,0.71338606911949],"aabb_xy":[[-0.08498508466582587,1.667560994167727],[0.03501491634987996,1.7812544615395696]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[0.0383169438865556,-0.9612278419991656,0.71338606911949],"aabb_xy":[[-0.05168305979036257,-1.0226602485762697],[0.12831694756347375,-0.899795435422061]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[0.5360312476296496,-1.6974654066748618,0.71338606911949],"aabb_xy":[[0.48605818209713425,-1.747465406487395],[0.5860043131621652,-1.6474654068623291]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[0.4684702819563169,-2.102931128610994,0.71338606911949],"aabb_xy":[[0.43167564883141063,-2.1398370037075765],[0.5052649150812232,-2.066025253514412]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[-0.6206076113179324,1.1089977488037737,0.71338606911949],"aabb_xy":[[-0.6556076095880522,1.1019236211087855],[-0.5856076130478124,1.1160718764987618]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_15","position":[0.6316443844238449,0.7938723517540867,0.71338606911949],"aabb_xy":[[0.6184931384525556,0.7688723519974003],[0.6447956303951343,0.8188723515107734]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[-0.23650102550234198,1.3040344654082254,0.71338606911949],"aabb_xy":[[-0.2708173026769599,1.2540344654350477],[-0.202184748327724,1.3540344653814032]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_17","position":[-0.22654679040630926,1.0352202991747705,0.71338606911949],"aabb_xy":[[-0.2905467918142999,0.9834313476508457],[-0.1625467889983186,1.087009250698695]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[-0.23631930644413712,-1.6844283636372865,0.71338606911949],"aabb_xy":[[-0.2456129246812877,-1.7219283621254202],[-0.22702568820698654,-1.6469283651491524]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[-0.1653673282413628,-0.9242978199745644,0.71338606911949],"aabb_xy":[[-0.19058816510120244,-0.949521570827451],[-0.1401464913815231,-0.8990740691216775]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.6021131450276231,0.27363718432536954,0.71338606911949],"aabb_xy":[[-0.6304428549761634,0.26917644213165254],[-0.5737834350790829,0.27809792651908666]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_21","position":[0.285710823188709,-1.444009592132228,0.71338606911949],"aabb_xy":[[0.26353829621205815,-1.466185259288351],[0.30788335016535984,-1.421833924976105]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_22","position":[0.10497907901206838,-1.2874249705425058,0.71338606911949],"aabb_xy":[[0.07632974665165213,-1.3160705298195816],[0.13362841137248457,-1.25877941126543]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6557852967921393,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7801.png","name":"7801"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7801.png","name":"7801"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2402.png","name":"2402"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1470.png","name":"1470"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6824.png","name":"6824"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4517.png","name":"4517"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":634.7209478146311,"rotation_z_degrees":32.68994543508255,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001417646826215823,-0.013422182678318207,-0.011034146443729713]},{"name":"camera_2","offset_m":[0.014608203413919888,-0.014734337561460649,0.00025951907375749983]},{"name":"camera_3","offset_m":[0.00012544031893135452,-0.01295261033044372,0.0170272520309153]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015743397991344263,0.0005176665304472447,0.00041735833707656897],"end_effector_yaw_offset_degrees":0.48355061818772604},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006205702069374964,-0.0008874686234893634,0.001040278914531571],"end_effector_yaw_offset_degrees":0.4088757935193015},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018582025987659268,-0.0007901675133452906,-0.001309163565407085],"end_effector_yaw_offset_degrees":-0.2512638844125632},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011507068477414968,-0.0002295675414615958,-0.0007134635786286143],"end_effector_yaw_offset_degrees":0.7106893408807957}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019237531616471638,-0.004579559799835224],"position_m":[0.22532375316164716,-0.033979559799835225,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011239257643608914,0.003929123654472097],"position_m":[0.2596760742356391,-0.3007708763455279,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00010822495801200184,0.0013463982664307962],"position_m":[0.141391775041988,0.2865463982664308,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012080438254718842,0.0037565523923759345],"position_m":[0.3279080438254719,0.18725655239237593,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"49c7dd85ba94c728aaab01c0868f0840390073c8bfa2f7fe5ddc391ba3e4a0ce","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0076.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7801/tex_ceiling_textures_4517/tex_floor_textures_6824/tex_table_textures_2402/tex_wall_textures_1470","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":9007788578974895912,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":9007788578974895912,"visual_seed":9007788578974895912,"scene_id":"lab_003","finished_at":"2026-09-04T21:09:22"}
+{"episode_id":"ep_000066","started_at":"2026-09-04T21:09:25","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_0","position":[-0.03508352580692231,-0.6825768599636934,0.71338606911949],"aabb_xy":[[-0.07071268170688205,-0.7182095267205464],[0.0005456300930374233,-0.6469441932068405]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_1","position":[-0.04229943665280278,0.4860961786083582,0.71338606911949],"aabb_xy":[[-0.056942842206835764,0.47143745895157385],[-0.027656031098769795,0.5007548982651424]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[0.3760842809145546,-2.10175660951486,0.71338606911949],"aabb_xy":[[0.35358428139084713,-2.1242525569654798],[0.39858428043826194,-2.079260662064238]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[0.36640532317659624,0.975049902855599,0.71338606911949],"aabb_xy":[[0.3214053217103674,0.9300500459941184],[0.41140532464282514,1.0200497597170797]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[0.5237517685419464,-1.7273921465825213,0.71338606911949],"aabb_xy":[[0.5157254979113204,-1.736143641559874],[0.5317780391725724,-1.7186406516051689]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_5","position":[0.2270776471701088,1.0430237609545374,0.71338606911949],"aabb_xy":[[0.20940201658151045,1.0253435446751347],[0.24475327775870712,1.0607039772339402]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.5055758080009263,1.1543593008135469,0.71338606911949],"aabb_xy":[[-0.5555708189603784,1.1043593017779554],[-0.45558079704147436,1.2043592998491388]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[-0.615756008130405,-2.250049965797947,0.71338606911949],"aabb_xy":[[-0.6270010637010228,-2.261291763522042],[-0.6045109525597872,-2.2388081680738514]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[-0.5023014403201268,-2.204053716333046,0.71338606911949],"aabb_xy":[[-0.5095626878905343,-2.2168407265965553],[-0.4950401927497195,-2.1912667060695363]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.2555195367961312,-1.4637709974317785,0.71338606911949],"aabb_xy":[[-0.2651511730165608,-1.4734083102114877],[-0.2458879005757016,-1.4541336846520698]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[0.5506255140087231,-1.0789465578933677,0.71338606911949],"aabb_xy":[[0.5427022337699747,-1.101446558131371],[0.5585487942474714,-1.0564465576553643]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_11","position":[-0.18565074666069958,-2.3965809043787867,0.71338606911949],"aabb_xy":[[-0.20476305401867845,-2.415715683256029],[-0.16653843930272072,-2.377446125501545]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[0.5390205992439048,0.6257211949026766,0.71338606911949],"aabb_xy":[[0.505580424047885,0.5922775690717464],[0.5724607744399242,0.6591648207336066]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[0.20679873629057555,-2.025507446306393,0.71338606911949],"aabb_xy":[[0.16929873618498253,-2.032329608159374],[0.24429873639616845,-2.018685284453411]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_14","position":[0.12570638486839059,-2.1345304576759054,0.71338606911949],"aabb_xy":[[0.10750056120714291,-2.145555858257897],[0.14391220852963826,-2.123505057093914]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_15","position":[-0.2952105012562834,-0.21624613181942154,0.71338606911949],"aabb_xy":[[-0.3652105038928697,-0.236350996815287],[-0.225210498619697,-0.196141266823556]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_16","position":[0.7064991503405869,-2.478803112130401,0.71338606911949],"aabb_xy":[[0.6971521427582916,-2.493106734348045],[0.7158461579228821,-2.464499489912757]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.5178358014837994,1.1024097593571605,0.71338606911949],"aabb_xy":[[0.4840602422931064,1.0883712641439955],[0.5516113606744923,1.1164482545703254]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[0.5946544690586455,0.521329658035226,0.71338606911949],"aabb_xy":[[0.5912137928185883,0.5174682250608615],[0.5980951452987027,0.5251910910095905]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[-0.4032381917879035,-1.8016843999079657,0.71338606911949],"aabb_xy":[[-0.43671735904894443,-1.8351635132790727],[-0.36975902452686255,-1.7682052865368587]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_20","position":[-0.30042995294358993,0.6085901301378387,0.71338606911949],"aabb_xy":[[-0.3377612294688326,0.5739370753429865],[-0.2630986764183473,0.6432431849326911]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[-0.06003286292308385,-2.3073162376342147,0.71338606911949],"aabb_xy":[[-0.07011457000165733,-2.387316235526329],[-0.049951155844510375,-2.2273162397420996]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[-0.44164417687495827,0.030606315693600283,0.71338606911949],"aabb_xy":[[-0.47212842700198837,-0.01939368408789566],[-0.41115992674792806,0.08060631547509622]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[-0.519474367581358,-1.5257522517321234,0.71338606911949],"aabb_xy":[[-0.5844743657372771,-1.5520484962820356],[-0.45447436942543895,-1.4994560071822112]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[-0.37604088432153354,-0.793933955974186,0.71338606911949],"aabb_xy":[[-0.383453339862922,-0.7997851663958141],[-0.36862842878014507,-0.7880827455525582]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[0.1390152617784376,-0.8012369179740377,0.71338606911949],"aabb_xy":[[0.08401978395777818,-0.8562369194079446],[0.19401073959909695,-0.7462369165401307]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_26","position":[0.177033906992776,-1.1353762808232637,0.71338606911949],"aabb_xy":[[0.10703390486134642,-1.158138246448959],[0.2470339091242055,-1.1126143151975676]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_27","position":[-0.6074159928998313,0.07241780893312288,0.71338606911949],"aabb_xy":[[-0.6574159945613258,0.022419366677420168],[-0.5574159912383363,0.12241625118882558]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_28","position":[-0.14586667710203538,-1.5210639001466948,0.71338606911949],"aabb_xy":[[-0.1958666784629226,-1.5710418047221104],[-0.09586667574114817,-1.4710859955712792]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_29","position":[-0.34110828883833383,1.551848468685821,0.71338606911949],"aabb_xy":[[-0.3776041094656125,1.5153645262590631],[-0.30461246821105503,1.5883324111125783]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_30","position":[-0.6438265222103733,-0.4415130926035804,0.71338606911949],"aabb_xy":[[-0.6671083644085045,-0.5265130939008084],[-0.6205446800122418,-0.3565130913063523]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_31","position":[0.24143293034800084,-1.7229769741964431,0.71338606911949],"aabb_xy":[[0.19145412183768493,-1.7729769742021617],[0.2914117388583167,-1.672976974190724]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_32","position":[-0.17297547806505598,-1.1194259089537093,0.71338606911949],"aabb_xy":[[-0.1896526140581515,-1.1361258329276396],[-0.1562983420719605,-1.102725984979779]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_33","position":[-0.008921840332001607,0.7601711274111311,0.71338606911949],"aabb_xy":[[-0.01662503100607865,0.7524617567123931],[-0.0012186496579245625,0.7678804981098691]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6584895542812368,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5362.png","name":"5362"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5362.png","name":"5362"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3639.png","name":"3639"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5861.png","name":"5861"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3739.png","name":"3739"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9291.png","name":"9291"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":797.6179503029733,"rotation_z_degrees":14.975605947316266,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00211219173439179,-0.0146694540103067,-0.012601893353191295]},{"name":"camera_2","offset_m":[0.018290578612168203,0.019842803498029745,-0.015553794242740709]},{"name":"camera_3","offset_m":[0.0015402414444443575,-0.0014361105842839797,-0.015709071340412658]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017860882379380234,-0.0008753467527599463,-0.0004570402916376768],"end_effector_yaw_offset_degrees":0.3258999929015367},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013089115565044678,0.0015650132799825875,-0.001282430492773119],"end_effector_yaw_offset_degrees":0.773292979310948},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019028419046169108,0.0016699167989236755,-0.001548650901439491],"end_effector_yaw_offset_degrees":0.23126591900141102},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00019004207961925354,0.0011255739089911358,0.0017496058912859287],"end_effector_yaw_offset_degrees":-0.6623798376880821}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035459937683257484,0.0029544699344049965],"position_m":[0.21985400623167423,-0.026445530065595003,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001027757506162093,0.0022023061179033496],"position_m":[0.26182775750616205,-0.3024976938820967,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004247426235956913,0.0024391049515486065],"position_m":[0.1457474262359569,0.2876391049515486,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004210383039272272,0.0007433395110931496],"position_m":[0.3309103830392723,0.18424333951109315,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"889a8f76b2c140cdfe31239c0140759e6f73d992c953a32230ab8bc11d2b4f4a","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5362/tex_ceiling_textures_9291/tex_floor_textures_3739/tex_table_textures_3639/tex_wall_textures_5861","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5263256755605315847,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5263256755605315847,"visual_seed":5263256755605315847,"scene_id":"lab_003","finished_at":"2026-09-04T21:13:05"}
+{"episode_id":"ep_000067","started_at":"2026-09-04T21:13:09","dimensions":{"distractor":{"count":25,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[-0.21452828132492785,-1.1213858220046882,0.71338606911949],"aabb_xy":[[-0.25202827990054866,-1.134122117668246],[-0.17702828274930704,-1.1086495263411302]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[0.12017541420236233,-1.3662755759793754,0.71338606911949],"aabb_xy":[[0.08162972137716129,-1.4048213470355642],[0.15872110702756337,-1.3277298049231867]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[0.3634794513871633,1.0515683496587247,0.71338606911949],"aabb_xy":[[0.3409794513770151,1.0374721300191214],[0.38597945139731166,1.065664569298328]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.17427086970954764,0.19878442765658066,0.71338606911949],"aabb_xy":[[-0.2241535665872439,0.14878442841030595],[-0.12438817283185147,0.24878442690285546]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_4","position":[-0.5804677277988535,-1.0478591266052038,0.71338606911949],"aabb_xy":[[-0.6304677273751883,-1.09783970555731],[-0.5304677282225189,-0.997878547653098]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[-0.11055142208748625,-1.8415315412885649,0.71338606911949],"aabb_xy":[[-0.19555142050490948,-1.92640583675085],[-0.025551423670063023,-1.7566572458262801]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_6","position":[0.37705733735472746,1.2162512020009082,0.71338606911949],"aabb_xy":[[0.3717248227001144,1.2109268737556727],[0.3823898520093404,1.2215755302461437]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.042024037982369866,-2.160724561055822,0.71338606911949],"aabb_xy":[[-0.06724487484220952,-2.185948311908708],[-0.016803201122530195,-2.135500810202935]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[-0.06954471547555285,1.1609644204545884,0.71338606911949],"aabb_xy":[[-0.07889172305784808,1.1466607982369443],[-0.060197707893257624,1.1752680426722324]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.6026152637807246,-1.9929190629589855,0.71338606911949],"aabb_xy":[[-0.6826152611843179,-2.072911634157168],[-0.5226152663771311,-1.9129264917608026]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[-0.235160679869801,-0.8847479699219007,0.71338606911949],"aabb_xy":[[-0.25270737478591987,-0.9222479714861521],[-0.21761398495368203,-0.8472479683576496]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[-0.4070646131863772,1.1219132377286973,0.71338606911949],"aabb_xy":[[-0.41622449213025375,1.1153820196851603],[-0.39790473424250056,1.1284444557722344]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[0.6553540232801176,0.115288267745286,0.71338606911949],"aabb_xy":[[0.6103614365616672,0.07028826847083723],[0.700346609998568,0.16028826701973475]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.42367717548461886,-1.558961342642387,0.71338606911949],"aabb_xy":[[-0.46586158964544966,-1.6229613429195984],[-0.3814927613237882,-1.494961342365176]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.21595609095422108,-2.0596809511340446,0.71338606911949],"aabb_xy":[[0.1659772824439052,-2.1096809511397634],[0.26593489946453697,-2.009680951128326]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[-0.08950143823005952,-2.523999284273201,0.71338606911949],"aabb_xy":[[-0.1545014391871867,-2.575947496206907],[-0.0245014372729323,-2.4720510723394957]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[0.6420157261552966,-1.2565851596711275,0.71338606911949],"aabb_xy":[[0.6347334097786327,-1.346585163280636],[0.64929804253196,-1.166585156061618]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.5697649786049147,-2.3745972844995715,0.71338606911949],"aabb_xy":[[-0.6337649789824483,-2.4243425513503833],[-0.5057649782273811,-2.324852017648759]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[-0.2027277028435484,0.826915018101277,0.71338606911949],"aabb_xy":[[-0.266723400238645,0.7629150198005683],[-0.13873200544845182,0.8909150164019857]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[0.19194354996636653,-0.6092886900038792,0.71338606911949],"aabb_xy":[[0.12794354855837584,-0.6610776415278038],[0.25594355137435715,-0.5574997384799544]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[0.3230392180182817,0.7583585311332826,0.71338606911949],"aabb_xy":[[0.29307166110845606,0.7283585308353967],[0.3530067749281074,0.7883585314311682]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[0.6500710673711256,0.4045935207045992,0.71338606911949],"aabb_xy":[[0.6412898402238895,0.3958137734160691],[0.658852294518362,0.4133732679931294]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_22","position":[-0.4246221994964543,1.7000512682058289,0.71338606911949],"aabb_xy":[[-0.49462219590641604,1.679613332554147],[-0.35462220308649245,1.7204892038575104]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[0.5075394594715077,-1.4680337533928887,0.71338606911949],"aabb_xy":[[0.48503945994780023,-1.490529700843509],[0.530039458995215,-1.4455378059422674]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_24","position":[-0.34753844908435033,1.0081651868673838,0.71338606911949],"aabb_xy":[[-0.3524377413909138,0.9804882675648148],[-0.3426391567777868,1.0358421061699523]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627675738721275,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4250.png","name":"4250"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4250.png","name":"4250"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9599.png","name":"9599"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7546.png","name":"7546"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6143.png","name":"6143"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3335.png","name":"3335"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":716.2807803185048,"rotation_z_degrees":110.53749561946448,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01053038586014471,-0.015838308939600074,-0.0076126313024026705]},{"name":"camera_2","offset_m":[-0.017840871858885624,0.017798697830882556,0.017205277962172628]},{"name":"camera_3","offset_m":[-0.014731087037251065,-0.015539316211968485,0.013357166018061088]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007806477499109814,-0.0005275093417618226,-0.0005902242998020938],"end_effector_yaw_offset_degrees":-0.7240683479096592},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001800963747244548,0.0017151194312102218,-0.0007185210813633271],"end_effector_yaw_offset_degrees":-0.5691979409196628},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018288009987117815,-0.0018908983786721078,0.00180151917496592],"end_effector_yaw_offset_degrees":-0.006546798958148914},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008847225066254856,-0.0015125440007730312,-0.0003599163697862826],"end_effector_yaw_offset_degrees":0.629919917029552}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001063479940370711,-0.0030239006258068147],"position_m":[0.2244634799403707,-0.032423900625806815,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004373217967427433,-0.0006399982879417652],"position_m":[0.26517321796742743,-0.3053399982879418,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003300836528057224,-0.004981226355900692],"position_m":[0.13819916347194278,0.2802187736440993,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012846843646352035,-0.003401084626886666],"position_m":[0.3279846843646352,0.18009891537311334,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9e9beb9a686c66be1d784254ce71246cec03400e644ebcfcee0385fbaa9d7bbb","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4250/tex_ceiling_textures_3335/tex_floor_textures_6143/tex_table_textures_9599/tex_wall_textures_7546","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6992193544829872497,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6992193544829872497,"visual_seed":6992193544829872497,"scene_id":"lab_003","finished_at":"2026-09-04T21:16:36"}
+{"episode_id":"ep_000068","started_at":"2026-09-04T21:16:41","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[0.13360888479663702,1.4287654875653089,0.71338606911949],"aabb_xy":[[0.1289737696444036,1.4248981524881599],[0.13824399994887038,1.4326328226424574]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[-0.07838646431622842,-1.8845141058558634,0.71338606911949],"aabb_xy":[[-0.14238646653663545,-1.9288871899811517],[-0.014386462095821381,-1.8401410217305751]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_2","position":[0.0376397839160828,-0.702948315398783,0.71338606911949],"aabb_xy":[[-0.012360217367757163,-0.752927169789405],[0.08763978519992276,-0.6529694610081608]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_3","position":[-0.2598131753573961,-0.3568395849994457,0.71338606911949],"aabb_xy":[[-0.3050917902385454,-0.42083958434762936],[-0.21453456047624686,-0.292839585651262]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_4","position":[-0.13706617677764232,-0.588585216370674,0.71338606911949],"aabb_xy":[[-0.14347999042082724,-0.5949950366183422],[-0.13065236313445736,-0.5821753961230055]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[0.09298419217151377,0.6635729881028491,0.71338606911949],"aabb_xy":[[0.0666953678510731,0.6373015544481979],[0.11927301649195443,0.6898444217575004]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[0.5142368184818646,-0.7603329838786346,0.71338606911949],"aabb_xy":[[0.5079247189455264,-0.7660999231318534],[0.5205489180182031,-0.7545660446254158]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[-0.18758915535117693,1.730079006835855,0.71338606911949],"aabb_xy":[[-0.20508915448554407,1.7201993797982666],[-0.17008915621680973,1.7399586338734423]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.36384342825121596,1.1106105712759158,0.71338606911949],"aabb_xy":[[0.2738434259171969,1.0331282166908031],[0.453843430585235,1.1880929258610284]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[-0.07126772258560332,1.7195925852548837,0.71338606911949],"aabb_xy":[[-0.07672566822262339,1.6395925819472243],[-0.06580977694858325,1.7995925885625426]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[0.5700793252446459,-2.287247892650467,0.71338606911949],"aabb_xy":[[0.4900793272638609,-2.294849433612319],[0.6500793232254309,-2.279646351688615]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[0.34731097584963266,-1.7856131255716894,0.71338606911949],"aabb_xy":[[0.2896805069623617,-1.8456131244983995],[0.40494144473690336,-1.7256131266449783]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[-0.5728586335348577,-2.0701062844840705,0.71338606911949],"aabb_xy":[[-0.6199880125366932,-2.134106285528472],[-0.5257292545330219,-2.006106283439668]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[-0.1775507729443322,1.2847329478376137,0.71338606911949],"aabb_xy":[[-0.19456087023438282,1.2685984593393396],[-0.1605406756542815,1.3008674363358874]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[0.08985034520566215,-1.2266977185412895,0.71338606911949],"aabb_xy":[[0.05525926235161694,-1.2916977188263203],[0.12444142805970737,-1.1616977182562582]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[0.546715647778458,-1.6735342659912114,0.71338606911949],"aabb_xy":[[0.5254376396349858,-1.7385342683172844],[0.5679936559219303,-1.6085342636651383]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[-0.4906013252197702,0.02744223674198265,0.71338606911949],"aabb_xy":[[-0.5131004609459971,0.004942235963719673],[-0.4681021894935432,0.049942237520245625]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.3866591363567289,1.655799671694694,0.71338606911949],"aabb_xy":[[0.33665913499584166,1.6058217671192787],[0.4366591377176161,1.70577757627011]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_18","position":[-0.48910554193642175,-0.8494658756709272,0.71338606911949],"aabb_xy":[[-0.4995171006169054,-0.8548116090068256],[-0.478693983255938,-0.8441201423350286]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[-0.3972945527095199,-1.976858527728068,0.71338606911949],"aabb_xy":[[-0.40499774338359695,-1.9845678984268056],[-0.38959136203544287,-1.9691491570293294]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_20","position":[0.6065956038170963,1.7683882525736476,0.71338606911949],"aabb_xy":[[0.5690956034688684,1.7565968569925638],[0.644095604165324,1.780179648154731]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_21","position":[-0.3949432278503215,1.7585313888665488,0.71338606911949],"aabb_xy":[[-0.4319773372783812,1.724154181532839],[-0.35790911842226175,1.7929085962002578]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[-0.08307862911920383,-2.1761183706443723,0.71338606911949],"aabb_xy":[[-0.10559232094266101,-2.24611837124538],[-0.06056493729574662,-2.1061183700433648]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[0.21872370659870344,-1.5093446898114002,0.71338606911949],"aabb_xy":[[0.16373049526156666,-1.5643446901501938],[0.2737169179358402,-1.4543446894726064]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[-0.6561615282871363,-1.5931358178559454,0.71338606911949],"aabb_xy":[[-0.6896017034831557,-1.6265794436868748],[-0.6227213530911165,-1.5596921920250146]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6605478578289652,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7164.png","name":"7164"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7164.png","name":"7164"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1523.png","name":"1523"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3103.png","name":"3103"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1487.png","name":"1487"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7885.png","name":"7885"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":639.7371129558958,"rotation_z_degrees":188.5483819959557,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004286866840530083,-0.0037507990112582885,-0.0014318116496239465]},{"name":"camera_2","offset_m":[0.006743526781050533,-0.018544218362099164,-0.014498491075822316]},{"name":"camera_3","offset_m":[0.012247941515767174,-0.0129531890196099,-0.0063389858181615594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017808170315583836,0.0006003965134583375,0.0007541022661282436],"end_effector_yaw_offset_degrees":-0.4041365382720079},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011456489966603588,0.00022912807851941525,0.0008412542769776861],"end_effector_yaw_offset_degrees":-0.18881155290119933},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008497236475063074,0.0014040196682405088,0.0013461331229000966],"end_effector_yaw_offset_degrees":-0.19937984155042798},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003049705458388443,-0.0011932967385211506,0.0007397100212896378],"end_effector_yaw_offset_degrees":0.19518471617715671}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018903102345658894,0.0017761732242706227],"position_m":[0.2215096897654341,-0.027623826775729377,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007268901424909678,-0.002824982821626376],"position_m":[0.2615268901424909,-0.3075249828216264,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0001809478196005635,-0.00010936404601461468],"position_m":[0.14131905218039942,0.28509063595398537,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019703542911673503,0.0007540316454159625],"position_m":[0.32867035429116737,0.18425403164541596,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f78afb6193848df6af4f27a9a3a19fa2e0e2e18325a73319345c4e0c5fa3b1ee","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7164/tex_ceiling_textures_7885/tex_floor_textures_1487/tex_table_textures_1523/tex_wall_textures_3103","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4750076722573481845,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4750076722573481845,"visual_seed":4750076722573481845,"scene_id":"lab_003","finished_at":"2026-09-04T21:20:45"}
+{"episode_id":"ep_000069","started_at":"2026-09-04T21:20:49","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.24809166099667634,0.5201940074009066,0.71338606911949],"aabb_xy":[[0.23833567148750243,0.510431473341672],[0.25784765050585023,0.5299565414601409]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[-0.30047973980146203,1.620598264003235,0.71338606911949],"aabb_xy":[[-0.38547973821888526,1.5357239685409498],[-0.2154797413840388,1.7054725594655198]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[0.28801084632394425,-1.168948947658018,0.71338606911949],"aabb_xy":[[0.1980108477294743,-1.185199533971439],[0.3780108449184142,-1.152698361344597]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[-0.2653059634850746,-0.15866001504698035,0.71338606911949],"aabb_xy":[[-0.2761575697339502,-0.16951930577463137],[-0.254454357236199,-0.14780072431932934]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.5837750785640564,-1.2960879113741408,0.71338606911949],"aabb_xy":[[-0.6062750783779588,-1.3005625277446216],[-0.561275078750154,-1.29161329500366]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[-0.45712017247262315,1.247845292900434,0.71338606911949],"aabb_xy":[[-0.46523382714600026,1.2397394764464047],[-0.44900651779924605,1.2559511093544629]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.41689613570235146,-1.4175468731550287,0.71338606911949],"aabb_xy":[[-0.42417845207901506,-1.5075468767645375],[-0.40961381932568774,-1.3275468695455195]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.5700916326045906,-2.0773599605887894,0.71338606911949],"aabb_xy":[[0.5201142157393369,-2.1273599620780375],[0.6200690494698441,-2.0273599590995404]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[-0.5756895300289172,0.03394470787912596,0.71338606911949],"aabb_xy":[[-0.6131895312137099,0.02952648518306541],[-0.5381895288441243,0.03836293057518649]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[0.5724956313262592,1.5917191445133265,0.71338606911949],"aabb_xy":[[0.5659939948182546,1.5819513224870172],[0.5789972678342639,1.6014869665396367]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.45677632120119416,-2.277921203055611,0.71338606911949],"aabb_xy":[[0.38677631906976456,-2.300683168681306],[0.5267763233326237,-2.255159237429915]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.2836803667184722,0.9461629897751007,0.71338606911949],"aabb_xy":[[0.24868036752565387,0.9351959437774379],[0.3186803659112904,0.9571300357727631]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[0.17525272325471575,0.5655487399069998,0.71338606911949],"aabb_xy":[[0.1609182981285523,0.553488524352461],[0.1895871483808792,0.5776089554615387]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[0.1980994294614915,-2.5422808460370336,0.71338606911949],"aabb_xy":[[0.17989360580024383,-2.5533062466190257],[0.21630525312273918,-2.5312554454550424]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[-0.3893936125508256,-1.180108921979463,0.71338606911949],"aabb_xy":[[-0.453393609853172,-1.2244753489473197],[-0.3253936152484792,-1.1357424950116062]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.20929517636565376,0.7824629283230244,0.71338606911949],"aabb_xy":[[0.17179517642188738,0.7741698382881879],[0.2467951763094202,0.790756018357861]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_16","position":[-0.19348567458628563,0.9260781822961457,0.71338606911949],"aabb_xy":[[-0.2734856716005336,0.9059436306227345],[-0.11348567757203765,0.9462127339695571]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_17","position":[-0.6537389650792381,-0.21407346178800335,0.71338606911949],"aabb_xy":[[-0.6712389643573249,-0.23141156185434933],[-0.6362389658011511,-0.19673536172165743]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.49694442578935893,0.5889579795284514,0.71338606911949],"aabb_xy":[[-0.5098163292902991,0.5089579791146153],[-0.4840725222884188,0.6689579799422876]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.09971298398952799,1.115307776966536,0.71338606911949],"aabb_xy":[[0.07516676836677727,1.0850588804174988],[0.12425919961227871,1.1455566735155729]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[0.27951748445232194,0.4612849327837836,0.71338606911949],"aabb_xy":[[0.27607680821226477,0.45742349980941915],[0.2829581606923791,0.4651463657581481]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.5192013573241416,1.3943534335839516,0.71338606911949],"aabb_xy":[[0.5078396226708554,1.382984967177663],[0.5305630919774277,1.4057218999902392]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[-0.4585972683990134,-1.9730586286307348,0.71338606911949],"aabb_xy":[[-0.493597267528969,-1.9788038497063989],[-0.42359726926905766,-1.9673134075550707]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[0.7037582215480711,-0.2225570453873731,0.71338606911949],"aabb_xy":[[0.687873728282746,-0.23690998568619714],[0.7196427148133963,-0.20820410508854903]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_24","position":[0.566147475703757,0.8759880603038215,0.71338606911949],"aabb_xy":[[0.5161632399955798,0.8259880614903259],[0.6161317114119342,0.9259880591173171]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[-0.38374812625396776,-0.21598878798003085,0.71338606911949],"aabb_xy":[[-0.4337474014224039,-0.265988789255978],[-0.3337488510855316,-0.1659887867040837]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_26","position":[-0.4297858726475435,-0.5146507317989735,0.71338606911949],"aabb_xy":[[-0.4358228856482083,-0.5206774328679217],[-0.42374885964687886,-0.5086240307300253]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[0.5341905019034854,0.0067108560067365985,0.71338606911949],"aabb_xy":[[0.5091905027378523,-0.0002413896986199768],[0.5591905010691185,0.013663101712093173]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_28","position":[-0.5932883773201301,1.4001775304038966,0.71338606911949],"aabb_xy":[[-0.6572883759067024,1.3531705670043879],[-0.5292883787335575,1.4471844938034053]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_29","position":[-0.5930965386199801,1.0327929423851918,0.71338606911949],"aabb_xy":[[-0.6082594115969174,1.017627485090073],[-0.5779336656430433,1.0479583996803106]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_30","position":[-0.1400395347843869,-1.22717167269954,0.71338606911949],"aabb_xy":[[-0.1493331530215375,-1.2646716711876738],[-0.13074591654723633,-1.189671674211406]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_31","position":[0.14441248455580746,-0.8543954371390625,0.71338606911949],"aabb_xy":[[0.1288567151455422,-0.8699458703834699],[0.15996825396607273,-0.8388450038946555]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_32","position":[-0.26311231862593965,0.4227161543356086,0.71338606911949],"aabb_xy":[[-0.26952613226912453,0.4163063340879402],[-0.25669850498275465,0.4291259745832769]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6529084453511788,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5448.png","name":"5448"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5448.png","name":"5448"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/612.png","name":"612"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3333.png","name":"3333"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2409.png","name":"2409"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5625.png","name":"5625"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":652.095268059508,"rotation_z_degrees":293.79946520089055,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004860090978088968,0.005517628879603612,-0.014601172836752548]},{"name":"camera_2","offset_m":[0.004090947701150101,-0.017192912402949023,0.015256851626503847]},{"name":"camera_3","offset_m":[-0.0015213557880962118,0.019398203226369367,0.00022734952024027963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016518685406334802,0.001790262006868363,-4.863900758993764e-05],"end_effector_yaw_offset_degrees":0.38127546995702044},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018052380634333263,-0.0007431690083755473,0.0009708295184040457],"end_effector_yaw_offset_degrees":-0.6667798771643343},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011392459775141424,-0.001867881017036015,0.0012857757092422347],"end_effector_yaw_offset_degrees":0.5731708970003009},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018657212302879396,0.0015411567562041554,-0.0019929777520114335],"end_effector_yaw_offset_degrees":0.6976118531948563}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025262499518227,0.004757244944008189],"position_m":[0.2259262499518227,-0.02464275505599181,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049327968264877495,0.002834392292884797],"position_m":[0.25586720317351225,-0.30186560770711524,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034999368586205734,0.0040144074656704295],"position_m":[0.13800006314137941,0.28921440746567045,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004523064890813848,0.0024435383858985825],"position_m":[0.32217693510918616,0.18594353838589858,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"73e9116b17f2621d01532be26768528b96bf0e6b1a5fe174c429e26b913a5f9b","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0080.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5448/tex_ceiling_textures_5625/tex_floor_textures_2409/tex_table_textures_612/tex_wall_textures_3333","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1495094752328504217,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1495094752328504217,"visual_seed":1495094752328504217,"scene_id":"lab_003","finished_at":"2026-09-04T21:24:18"}
+{"episode_id":"ep_000070","started_at":"2026-09-04T21:24:22","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_0","position":[0.30791036230204205,-1.1543888411648437,0.71338606911949],"aabb_xy":[[0.24391036313227213,-1.2011555282838062],[0.371910361471812,-1.1076221540458813]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.23207852145859326,0.28913644763451885,0.71338606911949],"aabb_xy":[[-0.31207852288872046,0.20961929262190937],[-0.15207852002846606,0.3686536026471283]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_2","position":[0.490576928544884,0.10809978442577828,0.71338606911949],"aabb_xy":[[0.4405769291046884,0.05813185994146197],[0.5405769279850796,0.15806770891009458]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[-0.08013570234389289,1.526427575662781,0.71338606911949],"aabb_xy":[[-0.08383896367303174,1.522725557354063],[-0.07643244101475401,1.5301295939714985]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[-0.6554582492805338,0.6451228214795228,0.71338606911949],"aabb_xy":[[-0.6779582495240493,0.632918186819751],[-0.6329582490370185,0.6573274561392949]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_5","position":[-0.19262618291949063,-0.6636245863080177,0.71338606911949],"aabb_xy":[[-0.20025045100966887,-0.6712578098445615],[-0.18500191482931236,-0.6559913627714741]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[-0.5807739140761085,-0.16503408749856696,0.71338606911949],"aabb_xy":[[-0.591185472756592,-0.1703798208344654],[-0.5703623553956245,-0.15968835416266847]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.6568520607302624,0.08583106515704486,0.71338606911949],"aabb_xy":[[0.6377397533722835,0.06669628627980284],[0.6759643680882412,0.10496584403428688]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[-0.5902776925575388,-1.518397128106278,0.71338606911949],"aabb_xy":[[-0.5990589197047752,-1.5271768753948085],[-0.5814964654103026,-1.5096173808177484]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[0.4299276632257629,-0.7237590929792719,0.71338606911949],"aabb_xy":[[0.4140431699604377,-0.7381120332780959],[0.445812156491088,-0.7094061526804478]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[0.4737882529596191,1.4109963116177484,0.71338606911949],"aabb_xy":[[0.40978825258208545,1.3612510447669361],[0.5377882533371527,1.4607415784685607]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.6493567108189684,0.2903921343547671,0.71338606911949],"aabb_xy":[[0.5843567129373206,0.23926847064822626],[0.7143567087006162,0.341515798061308]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[0.23735238256030033,0.9302982486761753,0.71338606911949],"aabb_xy":[[0.22301795743413685,0.9182380331216362],[0.2516868076864638,0.9423584642307139]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_13","position":[0.6978742787787766,-1.5187321252121462,0.71338606911949],"aabb_xy":[[0.6906305127325313,-1.5987321234157486],[0.7051180448250219,-1.4387321270085438]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.5379632546657706,-0.9890430107486072,0.71338606911949],"aabb_xy":[[-0.572963252976466,-0.9967580256721529],[-0.5029632563550751,-0.9813279958250616]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.17619160006527512,-0.5248722726784893,0.71338606911949],"aabb_xy":[[-0.22119160153150397,-0.56987212953997],[-0.13119159859904625,-0.4798724158170087]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.4286677270229473,0.34368034182175045,0.71338606911949],"aabb_xy":[[0.3916336175948876,0.3093031344880409],[0.46570183645100705,0.37805754915545986]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.5015204799605426,-0.5978277464773736,0.71338606911949],"aabb_xy":[[0.4375204776177411,-0.642768597721506],[0.5655204823033442,-0.552886895233241]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_18","position":[0.4834475194562424,-1.800460540629133,0.71338606911949],"aabb_xy":[[0.4715754364447413,-1.8854605403227838],[0.49531960246774354,-1.715460540935483]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[-0.3018485916016269,-0.1811216315502282,0.71338606911949],"aabb_xy":[[-0.36584859187560514,-0.23118773174751617],[-0.23784859132764868,-0.13105553135294024]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_20","position":[0.5517924017927263,-0.2581534527937479,0.71338606911949],"aabb_xy":[[0.4968186797563935,-0.3131534523579811],[0.6067661238290593,-0.20315345322951472]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[-0.5551714941058579,1.024826759241361,0.71338606911949],"aabb_xy":[[-0.5926714925292582,1.01166254527353],[-0.5176714956824575,1.0379909732091914]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_22","position":[-0.0189235305839216,-1.3592500246528894,0.71338606911949],"aabb_xy":[[-0.02501815847203992,-1.367819419204558],[-0.01282890269580328,-1.3506806301012206]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[0.3239405541457814,1.7573434813411324,0.71338606911949],"aabb_xy":[[0.30147578417437626,1.7348434804622717],[0.3464053241171865,1.7798434822199927]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[-0.5386951505686499,-2.4554440542085763,0.71338606911949],"aabb_xy":[[-0.5865013181824185,-2.5204440569156352],[-0.49088898295488115,-2.3904440515015173]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_25","position":[-0.3795597828544924,-0.3599291166403358,0.71338606911949],"aabb_xy":[[-0.4445597828887951,-0.406629793320663],[-0.31455978282018965,-0.31322843996000843]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_26","position":[0.057295598244231916,1.4679054007015844,0.71338606911949],"aabb_xy":[[0.00781517703027313,1.4039054027887328],[0.10677601945819071,1.5319053986144364]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_27","position":[-0.4516799218605069,0.8696876122489403,0.71338606911949],"aabb_xy":[[-0.47690075872034654,0.8444638613960535],[-0.4264590850006672,0.894911363101827]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_28","position":[-0.07024627053187815,0.1405472877064975,0.71338606911949],"aabb_xy":[[-0.07570421616889822,0.06054728439883836],[-0.06478832489485808,0.22054729101415657]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_29","position":[0.28132833937362567,-1.5425671015806905,0.71338606911949],"aabb_xy":[[0.23132833835449046,-1.5790333173185187],[0.331328340392761,-1.5061008858428628]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_30","position":[-0.6003936380990227,-0.8092644385416448,0.71338606911949],"aabb_xy":[[-0.6643936373931909,-0.873250578910499],[-0.5363936388048545,-0.7452782981727906]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_31","position":[0.377202387747533,-2.5510319291173165,0.71338606911949],"aabb_xy":[[0.3659573321769152,-2.5622737268414117],[0.38844744331815084,-2.539790131393221]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6589057166739375,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7157.png","name":"7157"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1060.png","name":"1060"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5534.png","name":"5534"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3952.png","name":"3952"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1609.png","name":"1609"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":812.9889696399639,"rotation_z_degrees":152.87562231341113,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017285423070700665,-0.01325186075930565,0.005165612740774032]},{"name":"camera_2","offset_m":[0.0016677233610655727,0.007354223184519313,-0.006599036736872694]},{"name":"camera_3","offset_m":[-0.012958063239882316,0.002323518130469441,-0.005279080112711658]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016460183586871832,0.0010571284193155537,0.001827813611056329],"end_effector_yaw_offset_degrees":-0.39969959356606033},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009362129970651415,0.0017274458435750039,-0.00010884690629556454],"end_effector_yaw_offset_degrees":-0.05312154492462917},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001583802713756583,0.0014707428766549805,-0.00030951010283426545],"end_effector_yaw_offset_degrees":-0.4230304676306813},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009214681088143451,0.0006565456380232728,0.000599909436917052],"end_effector_yaw_offset_degrees":-0.6668970462763859}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030690691793229226,-0.004384275181282965],"position_m":[0.2264690691793229,-0.03378427518128296,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022787723464921953,0.003721352623247379],"position_m":[0.2630787723464922,-0.3009786473767527,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003790299811965033,-0.004508392899398316],"position_m":[0.145290299811965,0.2806916071006017,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014999456035357803,0.0005233880127228753],"position_m":[0.32819994560353577,0.18402338801272286,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cbc25e352b13b7ae0ed3ec4d6dce0889da8c44af9fb60f0ec1a606ae6cb43b95","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7157/tex_ceiling_textures_1609/tex_floor_textures_3952/tex_table_textures_1060/tex_wall_textures_5534","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4325700560868473179,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4325700560868473179,"visual_seed":4325700560868473179,"scene_id":"lab_003","finished_at":"2026-09-04T21:27:57"}
+{"episode_id":"ep_000071","started_at":"2026-09-04T21:28:00","dimensions":{"distractor":{"count":29,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[0.18478242524790656,-0.9976547261727133,0.71338606911949],"aabb_xy":[[0.10478242477769065,-1.0059654337870616],[0.26478242571812255,-0.9893440185583651]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[-0.18958067079126728,0.08644974821353779,0.71338606911949],"aabb_xy":[[-0.2595806734278536,0.06634488321767228],[-0.11958066815468094,0.10655461320940328]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[-0.20249479414096827,0.27610172251404386,0.71338606911949],"aabb_xy":[[-0.21572573967564954,0.2628743034920443],[-0.18926384860628695,0.28932914153604317]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[0.29623619402468726,-2.2072085734812017,0.71338606911949],"aabb_xy":[[0.23123619291874398,-2.23217394654933],[0.36123619513063054,-2.1822432004130734]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[-0.05125986661833726,0.41211741673282765,0.71338606911949],"aabb_xy":[[-0.09625986808456612,0.36711755987134703],[-0.0062598651521084,0.4571172735943084]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[0.5037242573136698,0.717131536101602,0.71338606911949],"aabb_xy":[[0.494306782743807,0.7077153589638828],[0.5131417318835325,0.7265477132393209]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_6","position":[-0.5823353166435741,1.7773214182502497,0.71338606911949],"aabb_xy":[[-0.6523353184523195,1.7559676494860625],[-0.5123353148348286,1.7986751870144373]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_7","position":[0.3075831168458609,-1.6074101811542048,0.71338606911949],"aabb_xy":[[0.24258311828878815,-1.6371627145680874],[0.3725831154029338,-1.5776576477403221]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.5448951767001289,1.4043075498809006,0.71338606911949],"aabb_xy":[[-0.634895176423303,1.3812341973457205],[-0.45489517697695464,1.4273809024160802]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_9","position":[-0.260591852668595,-1.6067983976123927,0.71338606911949],"aabb_xy":[[-0.26858584124629836,-1.614798477707483],[-0.2525978640908916,-1.5987983175173024]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.09620163400750903,0.6487290221516959,0.71338606911949],"aabb_xy":[[0.03620163416094223,0.5919103999586572],[0.15620163385407582,0.7055476443447346]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[-0.5643414432082222,-1.4991905790728781,0.71338606911949],"aabb_xy":[[-0.6011919911452098,-1.5366905798959116],[-0.5274908952712346,-1.4616905782498442]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[-0.13283778526182688,1.714690156922543,0.71338606911949],"aabb_xy":[[-0.1415517543117613,1.6921901562633543],[-0.12412381621189235,1.7371901575817308]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.5570424918731982,-0.9065330932766189,0.71338606911949],"aabb_xy":[[-0.5635441283812028,-0.9163009153029288],[-0.5505408553651936,-0.8967652712503092]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[-0.3283672714912703,-1.3483698389685195,0.71338606911949],"aabb_xy":[[-0.34527800392761204,-1.361842044561134],[-0.3114565390549285,-1.3348976333759046]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.20297753848273858,1.3409957163479973,0.71338606911949],"aabb_xy":[[-0.25010691748457425,1.276995715303595],[-0.1558481594809029,1.4049957173923988]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[0.2967433981490294,1.0846447815175435,0.71338606911949],"aabb_xy":[[0.20674339581501033,1.0071624269324309],[0.38674340048304845,1.1621271361026562]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_17","position":[-0.293596817901361,-1.1228298344566765,0.71338606911949],"aabb_xy":[[-0.30948131116668615,-1.1371827747555006],[-0.27771232463603585,-1.1084768941578524]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_18","position":[0.5129627762503464,0.051533372724578363,0.71338606911949],"aabb_xy":[[0.505719010204101,-0.028466625479024024],[0.5202065422965917,0.13153337092818074]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[0.5463622502213701,1.3848119383729918,0.71338606911949],"aabb_xy":[[0.5362092346672205,1.3487423968002512],[0.5565152657755192,1.4208814799457319]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[0.0758015011460168,-2.199175629982933,0.71338606911949],"aabb_xy":[[0.07166564481331661,-2.2366756294272903],[0.079937357478717,-2.1616756305385763]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.6458504345378737,-0.9537391074546515,0.71338606911949],"aabb_xy":[[0.6388101246043368,-1.0337391068543231],[0.6528907444714108,-0.8737391080549803]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.015137065655756343,-0.8884583151765091,0.71338606911949],"aabb_xy":[[-0.051931698780662616,-0.9253641902730914],[0.02165756746914993,-0.8515524400799268]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[0.03306275771591349,-0.7904805721955388,0.71338606911949],"aabb_xy":[[0.029102273946179126,-0.7981484367810594],[0.037023241485647874,-0.7828127076100182]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[0.3654551138249238,-2.556162651326237,0.71338606911949],"aabb_xy":[[0.33548755691509813,-2.5861626516241225],[0.39542267073474946,-2.5261626510283515]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[-0.03213687256486475,-1.2753691156978597,0.71338606911949],"aabb_xy":[[-0.08712912320037569,-1.3303691174411725],[0.022855378070646203,-1.220369113954547]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_26","position":[-0.3508962451949568,0.3683277555240836,0.71338606911949],"aabb_xy":[[-0.430896242354532,0.35678015456626655],[-0.2708962480353814,0.37987535648190063]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[0.4649662510609096,-0.6944163379754773,0.71338606911949],"aabb_xy":[[0.42933709516094987,-0.7300490047323303],[0.5005954069608693,-0.6587836712186244]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_28","position":[-0.6148785313929894,1.1227126882444853,0.71338606911949],"aabb_xy":[[-0.6327476391474449,1.1088797802672743],[-0.5970094236385339,1.1365455962216964]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6568249569490058,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3170.png","name":"3170"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3170.png","name":"3170"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9961.png","name":"9961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9190.png","name":"9190"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8429.png","name":"8429"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5340.png","name":"5340"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":810.3657470153054,"rotation_z_degrees":95.37364867069199,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013564653605310856,-0.0007132115767912138,0.003883924590470121]},{"name":"camera_2","offset_m":[0.003536665555146614,-0.003262737696043169,-0.015893005009627842]},{"name":"camera_3","offset_m":[0.0002107185879848851,-0.007470061718496145,-0.019100964977059206]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019933973325556285,0.0010187322525698362,0.00046418179224923944],"end_effector_yaw_offset_degrees":-0.611178269885237},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00014897972799903024,0.0007701820598193165,-0.0018057093168846827],"end_effector_yaw_offset_degrees":0.4436473530323972},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003804350091207273,0.0002260085354546951,0.0015042998483164069],"end_effector_yaw_offset_degrees":0.5483310441357996},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-9.302841992580744e-05,0.001063737540425692,0.0012563599654593556],"end_effector_yaw_offset_degrees":-0.859904265136076}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004252158333355312,0.00290558021008746],"position_m":[0.2276521583333553,-0.02649441978991254,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005563809191091625,0.004922390610874056],"position_m":[0.2613563809191091,-0.29977760938912595,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004144407536078708,-0.004457766361333606],"position_m":[0.14564440753607868,0.2807422336386664,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004593665158900716,0.0012841495182856853],"position_m":[0.3221063348410993,0.18478414951828567,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c259d621fa088c876ee4cd85dc26d5e7e26b5c244be930280b777a8e145a29b8","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3170/tex_ceiling_textures_5340/tex_floor_textures_8429/tex_table_textures_9961/tex_wall_textures_9190","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2314360752881117688,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2314360752881117688,"visual_seed":2314360752881117688,"scene_id":"lab_003","finished_at":"2026-09-04T21:31:35"}
+{"episode_id":"ep_000072","started_at":"2026-09-04T21:31:39","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[0.1079744742769082,-1.0866975072385578,0.71338606911949],"aabb_xy":[[0.0905437591979017,-1.1039696219024084],[0.12540518935591471,-1.0694253925747068]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[-0.20698096564072316,-1.392385049602149,0.71338606911949],"aabb_xy":[[-0.2719809667466665,-1.4173504226702776],[-0.1419809645347799,-1.367419676534021]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.022001304121024745,-0.8721753890496093,0.71338606911949],"aabb_xy":[[-0.10200130519414508,-0.8819534353869938],[0.057998696952095585,-0.8623973427122249]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[0.08203443761045659,1.3232739939559086,0.71338606911949],"aabb_xy":[[0.017034436653329373,1.271325782022203],[0.14703443856758378,1.3752222058896142]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_4","position":[-0.5077059385348114,0.5513147387107464,0.71338606911949],"aabb_xy":[[-0.5626796605711444,0.49631473914651336],[-0.4527322164984786,0.6063147382749797]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[-0.3370748742887748,-1.5505658366971824,0.71338606911949],"aabb_xy":[[-0.3443361218591822,-1.5633528469606919],[-0.3298136267183674,-1.537778826433673]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.27250391578652555,-1.6375191650712473,0.71338606911949],"aabb_xy":[[0.2685434320167912,-1.6451870296567679],[0.2764643995562599,-1.6298513004857267]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.6099486908970091,0.8324866997758122,0.71338606911949],"aabb_xy":[[0.5880400087576579,0.8105860329557214],[0.63185737303636,0.8543873665959029]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[0.40652931351990107,-2.401047442770797,0.71338606911949],"aabb_xy":[[0.35153706288439013,-2.45604744451411],[0.46152156415541207,-2.3460474410274843]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[0.5703220063587973,-1.94970368234278,0.71338606911949],"aabb_xy":[[0.5203220069186016,-1.999671606827096],[0.6203220057989929,-1.8997357578584635]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_10","position":[0.36046126085970265,-1.4418600446046308,0.71338606911949],"aabb_xy":[[0.275461262167628,-1.4738459079995094],[0.4454612595517773,-1.4098741812097517]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[-0.4059077389889877,-1.7245778330995725,0.71338606911949],"aabb_xy":[[-0.4138310192277361,-1.7470778333375756],[-0.3979844587502394,-1.7020778328615689]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[0.527518688353807,-0.4985889139667963,0.71338606911949],"aabb_xy":[[0.5046029754687572,-0.5214932111032198],[0.550434401238857,-0.47568461683037283]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[0.0388724840264596,0.7724424136376293,0.71338606911949],"aabb_xy":[[0.01637248450275219,0.7499464661870086],[0.061372483550166994,0.7949383610882501]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[0.5785455025951431,-2.098058571439578,0.71338606911949],"aabb_xy":[[0.5725084895944785,-2.104085272508526],[0.584582515595808,-2.0920318703706298]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[-0.279313439181269,-1.2573923431031062,0.71338606911949],"aabb_xy":[[-0.3393134394326701,-1.3116736681395704],[-0.21931343892986777,-1.2031110180666411]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[-0.5246513829050565,1.2857714810364471,0.71338606911949],"aabb_xy":[[-0.5591138609181442,1.2791078038535244],[-0.49018890489196865,1.2924351582193698]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[0.5152321193981746,-1.005016832717486,0.71338606911949],"aabb_xy":[[0.4552321188903216,-1.061863566403407],[0.5752321199060274,-0.9481700990315646]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[0.2264819604467937,1.1831209011296635,0.71338606911949],"aabb_xy":[[0.2032001182486623,1.0981208998324352],[0.24976380264492498,1.2681209024268913]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.603687424408351,-1.7461532464374057,0.71338606911949],"aabb_xy":[[0.5955737697349739,-1.7542590628914345],[0.6118010790817281,-1.7380474299833764]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_20","position":[-0.6474209309705518,-1.0170748667347382,0.71338606911949],"aabb_xy":[[-0.664920864404535,-1.0345748666549728],[-0.6299209975365683,-0.9995748668145037]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_21","position":[-0.5313477019031336,0.017321590406790488,0.71338606911949],"aabb_xy":[[-0.5663477010330893,0.01157636933112638],[-0.49634770277317797,0.023066811482454597]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6522521966957895,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8298.png","name":"8298"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8298.png","name":"8298"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1639.png","name":"1639"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7991.png","name":"7991"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/556.png","name":"556"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1246.png","name":"1246"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":587.6595435486533,"rotation_z_degrees":104.65255217811786,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008594803402829334,-0.005534292465959751,0.011348321115396177]},{"name":"camera_2","offset_m":[-0.00612326857293752,-0.011240978242316011,0.016796589382163576]},{"name":"camera_3","offset_m":[0.019382217555641772,-0.0007776004383013187,-0.01304895099427403]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010463024665967116,0.0007427042521926013,-8.231575661991073e-05],"end_effector_yaw_offset_degrees":0.10741847379601199},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001093714289731148,-0.00034739901862993654,-0.000429301166530419],"end_effector_yaw_offset_degrees":0.8867040776817066},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006074024111353583,-4.732397690945106e-05,0.001539792514421932],"end_effector_yaw_offset_degrees":-0.9408029525476718},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019290778330150662,0.001645722651834222,-0.00032959469819118987],"end_effector_yaw_offset_degrees":-0.014971285836403503}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010213714961125738,-0.004476994799693811],"position_m":[0.22237862850388743,-0.03387699479969381,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004722345660996334,0.004662259391898303],"position_m":[0.25607765433900365,-0.30003774060810173,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007044389532114281,-0.0017895849431956478],"position_m":[0.14079556104678856,0.28341041505680437,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003986222339366591,8.745672592501766e-05],"position_m":[0.33068622233936656,0.18358745672592502,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ac896ad39cc4c517084675c889cc9728e765ac329c1019137e982921cb24658d","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8298/tex_ceiling_textures_1246/tex_floor_textures_556/tex_table_textures_1639/tex_wall_textures_7991","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5130956671830894025,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5130956671830894025,"visual_seed":5130956671830894025,"scene_id":"lab_003","finished_at":"2026-09-04T21:35:13"}
+{"episode_id":"ep_000073","started_at":"2026-09-04T21:35:17","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[-0.3094256847563779,-0.29067888394900177,0.71338606911949],"aabb_xy":[[-0.3261028207494734,-0.3073788079229321],[-0.2927485487632824,-0.27397895997507155]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.4651410071553053,-0.787212654507192,0.71338606911949],"aabb_xy":[[-0.5451410085854325,-0.8667298095198014],[-0.3851410057251781,-0.7076954994945824]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[-0.12060717582927927,0.08283628115813757,0.71338606911949],"aabb_xy":[[-0.15810717612145408,0.07879480575753396],[-0.08310717553710445,0.08687775655874115]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[-0.14647717040119612,1.304085634341459,0.71338606911949],"aabb_xy":[[-0.20410763928846692,1.244085635414748],[-0.08884670151392525,1.3640856332681692]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[-0.38512219425673,-1.2563353351180881,0.71338606911949],"aabb_xy":[[-0.40762219450024545,-1.26853996977786],[-0.36262219401321466,-1.2441307004583162]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[-0.11813477953149809,-1.0285988691594778,0.71338606911949],"aabb_xy":[[-0.19813478060461842,-1.0383769154968623],[-0.03813477845837776,-1.0188208228220934]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[-0.23036958955884956,-1.675639430413733,0.71338606911949],"aabb_xy":[[-0.23952946850272616,-1.68217064845727],[-0.22120971061497297,-1.669108212370196]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[-0.5218380502960185,1.2013285870055452,0.71338606911949],"aabb_xy":[[-0.5297613305347668,1.1788285867675419],[-0.5139147700572702,1.2238285872435486]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[0.4714052122287089,0.14805721124200755,0.71338606911949],"aabb_xy":[[0.4074052158331358,0.08409392282327399],[0.535405208624282,0.2120204996607411]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[0.6797352344238001,-1.7568623251389281,0.71338606911949],"aabb_xy":[[0.6422352358481793,-1.7695986208024863],[0.7172352329994209,-1.7441260294753704]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[-0.4646954901822985,-0.639893754349472,0.71338606911949],"aabb_xy":[[-0.4996954915337803,-0.660253490306293],[-0.4296954888308168,-0.6195340183926513]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.04442819863381753,0.39282585136751,0.71338606911949],"aabb_xy":[[-0.05567325420443536,0.3815840536434148],[-0.033183143063199694,0.40406764909160536]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[-0.6221681817700503,0.4552758867757887,0.71338606911949],"aabb_xy":[[-0.6396681809044173,0.44539625973820085],[-0.604668182635683,0.4651555138133765]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[-0.52660507445201,-1.2338113321605453,0.71338606911949],"aabb_xy":[[-0.5866050749598629,-1.2906580658464664],[-0.4666050739441571,-1.1769645984746238]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_14","position":[0.5190088939698416,0.8136182485918129,0.71338606911949],"aabb_xy":[[0.506541535860106,0.8011529239584895],[0.5314762520795773,0.8260835732251365]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[0.09037371296926866,-1.5638857548026377,0.71338606911949],"aabb_xy":[[0.020373711160523222,-1.585239523566825],[0.1603737147780141,-1.5425319860384503]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[-0.31237152976492116,-2.5226232217263327,0.71338606911949],"aabb_xy":[[-0.3623489466301747,-2.572623223215581],[-0.2623941128996675,-2.4726232202370837]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[-0.5238751922594083,0.5011619826216909,0.71338606911949],"aabb_xy":[[-0.5584662751134534,0.43616198233665976],[-0.489284109405363,0.5661619829067218]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.35301990951917045,1.3139511744456862,0.71338606911949],"aabb_xy":[[-0.42301990592913213,1.293513238794004],[-0.28301991310920854,1.3343891100973675]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.6572884850613662,-0.03514814089001961,0.71338606911949],"aabb_xy":[[-0.679178232650307,-0.1251481381792687],[-0.6353987374724254,0.05485185639922951]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_20","position":[-0.5687417498240064,-1.0075973217423146,0.71338606911949],"aabb_xy":[[-0.5748363777121247,-1.0161667162939834],[-0.5626471219358881,-0.9990279271906459]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6580133620249579,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2304.png","name":"2304"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2304.png","name":"2304"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3211.png","name":"3211"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9346.png","name":"9346"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/72.png","name":"72"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9346.png","name":"9346"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":647.1159905915238,"rotation_z_degrees":69.16996619254164,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004827268964701545,0.011885362793838016,0.006498590910967078]},{"name":"camera_2","offset_m":[0.017054494812092296,-0.017971107339544656,-0.006364773137714618]},{"name":"camera_3","offset_m":[-0.00790519694888571,0.002233803566532168,-0.007948142296528985]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008361270390681676,-0.00029056268335905604,-4.217061537126112e-05],"end_effector_yaw_offset_degrees":0.8110296983383352},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007093896544558809,0.000752975411029878,-0.0019183289722766053],"end_effector_yaw_offset_degrees":-0.9204212242112397},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005283269733142686,-0.0014342201364488827,-0.0017658907101287752],"end_effector_yaw_offset_degrees":-0.876991466511037},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004785569214997942,-0.0011197703706880007,-0.0004905162191730934],"end_effector_yaw_offset_degrees":-0.7019874393875343}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004067798024761291,-0.004084896122845489],"position_m":[0.2193322019752387,-0.03348489612284549,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004402508120554486,0.0021031464360764694],"position_m":[0.26124025081205543,-0.3025968535639236,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0041204179493888144,-0.002921047847691446],"position_m":[0.1456204179493888,0.2822789521523086,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007149993105257683,-0.0013337786426439202],"position_m":[0.32741499931052576,0.18216622135735608,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d60b16918015d2e85257ff65f0c74a58514ac0ba1d8ed179b12d4f916b85dd2f","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2304/tex_ceiling_textures_9346/tex_floor_textures_72/tex_table_textures_3211/tex_wall_textures_9346","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3623124643239770797,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3623124643239770797,"visual_seed":3623124643239770797,"scene_id":"lab_003","finished_at":"2026-09-04T21:38:42"}
+{"episode_id":"ep_000074","started_at":"2026-09-04T21:38:47","dimensions":{"distractor":{"count":33,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.33882761691754576,0.048581935303715795,0.71338606911949],"aabb_xy":[[-0.36132761692769405,0.034485715664112515],[-0.31632761690739747,0.06267815494331908]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[0.1953099518170177,-2.4322563318152426,0.71338606911949],"aabb_xy":[[0.14030995361527288,-2.4727782984416797],[0.25030995001876255,-2.3917343651888046]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.4990538880457134,1.3011653107547478,0.71338606911949],"aabb_xy":[[0.45686947388488264,1.2371653104775366],[0.5412383022065441,1.365165311031959]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[-0.57769248559126,-1.4641466811714412,0.71338606911949],"aabb_xy":[[-0.6228638034394289,-1.52814667831598],[-0.532521167743091,-1.400146684026903]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[0.671108692306551,-1.0623582895810046,0.71338606911949],"aabb_xy":[[0.646595068209545,-1.0866228828830413],[0.6956223164035568,-1.0380936962789684]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[0.5281759188108612,-0.7223421464903703,0.71338606911949],"aabb_xy":[[0.4944003596201684,-0.7363806417035353],[0.5619514780015543,-0.7083036512772053]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[-0.6330005642192398,0.16940451002556678,0.71338606911949],"aabb_xy":[[-0.6508696719736953,0.15557160204835585],[-0.6151314564647843,0.1832374180027777]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.018974587307471924,-1.1228309138745027,0.71338606911949],"aabb_xy":[[-0.031004221202843962,-1.1728309138802213],[0.06895339581778781,-1.0728309138687837]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[-0.36925043669878377,-1.2914361680114308,0.71338606911949],"aabb_xy":[[-0.377293796624739,-1.3764361691067972],[-0.36120707677282865,-1.2064361669160644]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[-0.04999999113807885,1.1098187296924826,0.71338606911949],"aabb_xy":[[-0.10401558741997885,1.0458187268002253],[0.004015605143821162,1.1738187325847396]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[-0.5675754743613757,-0.35782313888251815,0.71338606911949],"aabb_xy":[[-0.5888534825048478,-0.4228231412085912],[-0.5462974662179033,-0.2928231365564451]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[-0.03570948915264516,-1.7221052750930028,0.71338606911949],"aabb_xy":[[-0.06199831347308582,-1.7483767087476536],[-0.0094206648322045,-1.6958338414383511]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.2841809143592855,-1.2191517068945488,0.71338606911949],"aabb_xy":[[0.27655664626910725,-1.2267849304310925],[0.29180518244946374,-1.211518483358005]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.29234480948645425,1.5741002036153442,0.71338606911949],"aabb_xy":[[0.28508356191604683,1.5613131933518347],[0.29960605705686166,1.5868872138788537]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.03937454146518671,1.4153194155510014,0.71338606911949],"aabb_xy":[[-0.11937454472302966,1.3353229077590174],[0.04062546179265625,1.4953159233429854]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.20154427488556248,-0.8272309340622304,0.71338606911949],"aabb_xy":[[0.12154427162154935,-0.8407909663711437],[0.2815442781495756,-0.813670901753317]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.42736362129001804,-0.9988262386949083,0.71338606911949],"aabb_xy":[[0.3774809244123219,-1.0488262379411832],[0.4772463181677143,-0.9488262394486336]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[0.4874887335667124,1.7893673834531314,0.71338606911949],"aabb_xy":[[0.47624367799609457,1.7781255857290361],[0.49873378913733024,1.8006091811772267]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.2581694771472043,0.7780153046252423,0.71338606911949],"aabb_xy":[[0.17817565356864606,0.6980153020324008],[0.3381633007257625,0.858015307218084]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.18337186842167075,1.4228608034388643,0.71338606911949],"aabb_xy":[[0.17525821374829365,1.4147549869848353],[0.19148552309504785,1.4309666198928934]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[0.17678569207431127,1.0355929424535195,0.71338606911949],"aabb_xy":[[0.17047359253797287,1.0298260032003006],[0.18309779161064973,1.0413598817067384]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[-0.23293236545227047,-1.3428277497493857,0.71338606911949],"aabb_xy":[[-0.25043229888625385,-1.36032774966962],[-0.21543243201828707,-1.325327749829151]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_22","position":[0.624191848091957,-1.6005713484436557,0.71338606911949],"aabb_xy":[[0.6016927123657301,-1.6230713492219184],[0.646690983818184,-1.5780713476653925]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_23","position":[-0.3511328608926209,-2.250093460242865,0.71338606911949],"aabb_xy":[[-0.37362928232648507,-2.2725934600496123],[-0.32863643945875687,-2.2275934604361174]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[-0.08468864892126637,-2.2909684050559678,0.71338606911949],"aabb_xy":[[-0.13249481653503503,-2.3559684077630267],[-0.03688248130749772,-2.225968402348909]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_25","position":[0.18772082723348316,-1.4543530723801614,0.71338606911949],"aabb_xy":[[0.14163573597875168,-1.5183530696327165],[0.23380591848821464,-1.3903530751276063]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_26","position":[-0.5762464893994097,-0.5179581197401579,0.71338606911949],"aabb_xy":[[-0.6112464893759055,-0.5274227357877745],[-0.5412464894229139,-0.5084935036925413]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_27","position":[-0.603465419056357,-2.367451585385173,0.71338606911949],"aabb_xy":[[-0.6253741011957079,-2.389352252205264],[-0.5815567369170058,-2.3455509185650825]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_28","position":[-0.20558058232463328,-1.8489778915467179,0.71338606911949],"aabb_xy":[[-0.2695805787519552,-1.8961475153688145],[-0.14158058589731137,-1.8018082677246217]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_29","position":[0.36308098551946455,0.9989411901711049,0.71338606911949],"aabb_xy":[[0.3130859745600125,0.9489411911355135],[0.41307599647891663,1.0489411892066969]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_30","position":[-0.286230986456727,-0.8084418745946278,0.71338606911949],"aabb_xy":[[-0.3362309851026482,-0.8583614182540901],[-0.23623098781080581,-0.7585223309351653]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_31","position":[-0.36615029018678474,-0.3854282033056111,0.71338606911949],"aabb_xy":[[-0.43615028659674643,-0.40586613895729273],[-0.29615029377682284,-0.3649902676539293]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_32","position":[-0.3818262986958957,0.5440363662615364,0.71338606911949],"aabb_xy":[[-0.4177398031208853,0.5081228580447817],[-0.34591279427090593,0.579949874478291]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642922013301658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2455.png","name":"2455"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2455.png","name":"2455"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5407.png","name":"5407"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6279.png","name":"6279"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2855.png","name":"2855"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3189.png","name":"3189"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":788.8677342622718,"rotation_z_degrees":334.07689576440214,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017104946607350704,-0.016901440358942765,-0.014651718060955232]},{"name":"camera_2","offset_m":[0.01696947227644383,-0.011522087114027687,-0.01813192984360204]},{"name":"camera_3","offset_m":[-0.006018965282671193,0.0023021378189687185,0.006821000237388519]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00038351608648617974,-0.0012206675242514616,-0.001755107969161105],"end_effector_yaw_offset_degrees":-0.5169897837074884},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018935941175004971,0.001013092978498414,0.0010251744077966005],"end_effector_yaw_offset_degrees":0.5022771401217871},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010724830197779722,-0.001130611234450869,0.0016198581204471653],"end_effector_yaw_offset_degrees":0.4691285512408856},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00036677843511163,0.0015414420545371396,0.001953197668435715],"end_effector_yaw_offset_degrees":0.41209954131827975}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021683320617952627,0.0005602291172670968],"position_m":[0.22556833206179525,-0.0288397708827329,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004688264416571933,-0.0033340899659582623],"position_m":[0.2654882644165719,-0.30803408996595827,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004187646563942562,0.00351409861274882],"position_m":[0.14568764656394254,0.2887140986127488,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001778752968014696,0.0013668773365653145],"position_m":[0.3284787529680147,0.18486687733656532,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4d5239a93b187a3c67fe42834ae07b59e83ad650fcea64f118e1eda89d487689","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2455/tex_ceiling_textures_3189/tex_floor_textures_2855/tex_table_textures_5407/tex_wall_textures_6279","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8586771716344634785,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8586771716344634785,"visual_seed":8586771716344634785,"scene_id":"lab_003","finished_at":"2026-09-04T21:42:15"}
+{"episode_id":"ep_000075","started_at":"2026-09-04T21:42:18","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[0.25120218091508095,0.6468563155510139,0.71338606911949],"aabb_xy":[[0.22255284855466467,0.6182107562739378],[0.2798515132754971,0.6755018748280894]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[0.4846018750565788,-1.797198415107891,0.71338606911949],"aabb_xy":[[0.47199917591950247,-1.8097938113327567],[0.4972045741936554,-1.7846030188830257]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_2","position":[-0.2723826921394017,-1.0311193343898162,0.71338606911949],"aabb_xy":[[-0.2926669948628004,-1.051401959532525],[-0.2520983894160029,-1.0108367092471073]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_3","position":[0.6382514314609404,-1.9866142348041596,0.71338606911949],"aabb_xy":[[0.6078533203617968,-2.0170211368058286],[0.668649542560084,-1.9562073328024898]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[-0.14748604036479707,-2.245123125036668,0.71338606911949],"aabb_xy":[[-0.18339954478978676,-2.281036633253423],[-0.11157253593980739,-2.2092096168199133]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[0.6403713018551997,-2.288807907767204,0.71338606911949],"aabb_xy":[[0.623361204565149,-2.3049423962654774],[0.6573813991452503,-2.2726734192689295]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_6","position":[0.591700076679313,-0.5356326631395745,0.71338606911949],"aabb_xy":[[0.5301093174553203,-0.5996326612486215],[0.6532908359033059,-0.4716326650305277]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[0.06622587496690535,-1.2239857209369402,0.71338606911949],"aabb_xy":[[0.03376417408497787,-1.2541185530518424],[0.09868757584883278,-1.1938528888220372]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.17747561584072635,0.2347289689628087,0.71338606911949],"aabb_xy":[[-0.25747561285497433,0.2145944172893974],[-0.09747561882647834,0.25486352063622]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.7184663893626135,-1.7978485082087925,0.71338606911949],"aabb_xy":[[0.7140357600077735,-1.803296879943475],[0.7228970187174538,-1.79240013647411]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[-0.04940144930960577,-0.7931951255273286,0.71338606911949],"aabb_xy":[[-0.06631218174594754,-0.806667331119943],[-0.032490716873263985,-0.779722919934714]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[-0.404656093799941,1.7474395497401232,0.71338606911949],"aabb_xy":[[-0.40998860845455404,1.7421152214948876],[-0.39932357914532807,1.7527638779853587]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[-0.03624443750055162,-1.6774091987815363,0.71338606911949],"aabb_xy":[[-0.054450261161799296,-1.6884345993635281],[-0.01803861383930394,-1.6663837981995449]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.2797854350672365,-1.7696306467642837,0.71338606911949],"aabb_xy":[[0.2514557251186963,-1.7740913889580006],[0.30811514501577675,-1.7651699045705664]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[-0.46217891566441704,-2.1488849039889697,0.71338606911949],"aabb_xy":[[-0.49565808292545804,-2.1823640173600767],[-0.42869974840337616,-2.1154057906178627]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[0.39301218495915013,1.711453821085963,0.71338606911949],"aabb_xy":[[0.3290121845816165,1.6617085542351506],[0.45701218533668375,1.7611990879367752]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.030602749904099835,-1.8064148838001874,0.71338606911949],"aabb_xy":[[-0.11060275316811297,-1.8199749161091008],[0.049397253359913296,-1.792854851491274]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[0.1702865867354445,1.7159709612916267,0.71338606911949],"aabb_xy":[[0.12028658637487845,1.6659909740820236],[0.22028658709601057,1.7659509485012295]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[-0.48441636799548293,-1.2077509314343784,0.71338606911949],"aabb_xy":[[-0.5644163666523689,-1.2222557903586413],[-0.4044163693385969,-1.1932460725101155]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[0.04216899638980831,0.7594456013495017,0.71338606911949],"aabb_xy":[[-0.02183100583059871,0.7150725172242134],[0.10616899861021534,0.80381868547479]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[0.5426111224535968,1.2810301252741199,0.71338606911949],"aabb_xy":[[0.45261112595272496,1.2351184828556614],[0.6326111189544684,1.3269417676925779]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[-0.424653851460599,0.5632064739438003,0.71338606911949],"aabb_xy":[[-0.4796275734969319,0.5082064743795671],[-0.36968012942426615,0.6182064735080335]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.060597555590809926,-2.3413626031432977,0.71338606911949],"aabb_xy":[[0.025597556397991647,-2.3523296491409598],[0.09559755478362818,-2.3303955571456347]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[-0.3274849116770552,-1.1230664809196322,0.71338606911949],"aabb_xy":[[-0.3354789002547585,-1.1310665610147224],[-0.31949092309935173,-1.1150664008245417]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[-0.4386047469716321,-2.3767336813933055,0.71338606911949],"aabb_xy":[[-0.4986047472230333,-2.43101500642977],[-0.3786047467202309,-2.322452356356841]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[0.31536682906484614,-1.1270907180296514,0.71338606911949],"aabb_xy":[[0.31166356773570725,-1.1307927363383692],[0.31907009039398504,-1.1233886997209332]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_26","position":[0.34172816843883136,-0.6748972794758383,0.71338606911949],"aabb_xy":[[0.334484402392586,-0.7548972776794407],[0.34897193448507663,-0.594897281272236]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_27","position":[-0.41106859498766884,-0.2306998646977818,0.71338606911949],"aabb_xy":[[-0.44786322811257506,-0.2676057397943641],[-0.3742739618627625,-0.19379398960119953]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[0.10429416785646428,-2.187927253222108,0.71338606911949],"aabb_xy":[[0.08761703186336878,-2.2046271771960377],[0.12097130384955979,-2.171227329248177]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_29","position":[0.2028340665077648,-1.2343351897084758,0.71338606911949],"aabb_xy":[[0.18773176504674666,-1.2494367113395375],[0.21793636796878285,-1.2192336680774136]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_30","position":[-0.4851968673940604,0.15830619660907042,0.71338606911949],"aabb_xy":[[-0.5351798175815397,0.10830619696650999],[-0.43521391720658104,0.2083061962516308]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6572952625385534,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9612.png","name":"9612"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9612.png","name":"9612"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2411.png","name":"2411"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4168.png","name":"4168"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4085.png","name":"4085"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1922.png","name":"1922"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":794.76390517396,"rotation_z_degrees":347.3160095679168,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018643163894220237,0.0007429775541078765,-0.0011417748853435952]},{"name":"camera_2","offset_m":[-0.009072013662774513,-0.0191654267554772,0.004322011515296605]},{"name":"camera_3","offset_m":[0.01810556657616195,0.019539494253810536,-0.009159874235528656]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014366774442640439,0.0001252334247493379,-0.0012161248439199798],"end_effector_yaw_offset_degrees":-0.298740008676041},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004353778157047466,-5.2762315356919215e-05,-0.00018546165651607983],"end_effector_yaw_offset_degrees":-0.06448474626640399},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[3.672963227208982e-05,0.00028233440347129324,0.00016941472980248722],"end_effector_yaw_offset_degrees":0.363648644395306},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009196499906850195,0.001032988342652134,-0.0017701276523069632],"end_effector_yaw_offset_degrees":0.047384326706134905}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005092943951627675,-0.003219642264912148],"position_m":[0.22390929439516274,-0.032619642264912145,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032314959178077066,-0.0033545473926952485],"position_m":[0.2575685040821923,-0.3080545473926953,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016835035839130406,-0.00433936441504447],"position_m":[0.14318350358391302,0.28086063558495555,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012795561394106795,0.0033693794499365685],"position_m":[0.32797955613941066,0.18686937944993656,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0582e4f087c90da224aa07e4cf708d257469dc0e67f0e0cf69b7ad9c6cec8dd5","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0086.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9612/tex_ceiling_textures_1922/tex_floor_textures_4085/tex_table_textures_2411/tex_wall_textures_4168","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":4959576545959485281,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":4959576545959485281,"visual_seed":4959576545959485281,"scene_id":"lab_003","finished_at":"2026-09-04T21:45:54"}
+{"episode_id":"ep_000076","started_at":"2026-09-04T21:45:57","dimensions":{"distractor":{"count":30,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.4433975927765752,1.4729698180646102,0.71338606911949],"aabb_xy":[[0.36339759411968914,1.4584649591403478],[0.5233975914334612,1.4874746769888736]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[-0.3695008742712197,0.3025636697897549,0.71338606911949],"aabb_xy":[[-0.3735790321782694,0.29848268954149154],[-0.3654227163641699,0.30664465003801816]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[0.08634402875133784,1.800589377012106,0.71338606911949],"aabb_xy":[[0.04884403017571704,1.787853081348548],[0.12384402732695865,1.813325672675664]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[0.05596379823163833,-2.5308170594858637,0.71338606911949],"aabb_xy":[[0.04999725929090253,-2.536778204145228],[0.06193033717237411,-2.5248559148264995]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[-0.5226190750527449,-0.09755521340284945,0.71338606911949],"aabb_xy":[[-0.6063413005528273,-0.1875552169375454],[-0.4388968495526624,-0.007555209868153501]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[-0.5827178361175279,1.317338650525112,0.71338606911949],"aabb_xy":[[-0.6677178348096027,1.285352787130233],[-0.4977178374254534,1.3493245139199908]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.4815296748317688,1.788728006224813,0.71338606911949],"aabb_xy":[[-0.4861647899840021,1.784860671147664],[-0.47689455967953537,1.7925953413019615]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_7","position":[0.5250073932310033,-0.2339186276195191,0.71338606911949],"aabb_xy":[[0.4610073939368351,-0.2979047679883733],[0.5890073925251715,-0.1699324872506649]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.17961880336883018,-0.6957622950333857,0.71338606911949],"aabb_xy":[[-0.19711880361387954,-0.7132620828729526],[-0.16211880312378077,-0.6782625071938189]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_9","position":[0.46953418422133963,0.7733407031621149,0.71338606911949],"aabb_xy":[[0.4245415975028892,0.728340703887666],[0.51452677093979,0.8183407024365635]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[0.225860418998183,-0.8150700703975462,0.71338606911949],"aabb_xy":[[0.20836041986381582,-0.8249496974351339],[0.24336041813255016,-0.8051904433599583]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[-0.3273408037262104,-0.9448949271588636,0.71338606911949],"aabb_xy":[[-0.33742251080478375,-1.0248949250509782],[-0.3172590966476368,-0.8648949292667488]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[0.4280248871353445,1.070669546926922,0.71338606911949],"aabb_xy":[[0.3640248898329981,1.0263031199590653],[0.4920248844376909,1.1150359738947788]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[-0.12874040051803237,0.036045768626711716,0.71338606911949],"aabb_xy":[[-0.1366636807567807,0.013545768388708364],[-0.12081712027928404,0.05854576886471508]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[-0.3364577700104896,-2.2754729540201173,0.71338606911949],"aabb_xy":[[-0.4064577726470759,-2.2955778190159823],[-0.2664577673739032,-2.2553680890242513]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_15","position":[0.1551992421768137,0.9737086856918529,0.71338606911949],"aabb_xy":[[0.10519924260047897,0.923728106739747],[0.2051992417531484,1.0236892646439588]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_16","position":[0.3259781646881581,0.7152202594276931,0.71338606911949],"aabb_xy":[[0.31719693754092193,0.706440512139163],[0.3347593918353944,0.7240000067162233]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_17","position":[-0.6523000461805882,0.5038414004378762,0.71338606911949],"aabb_xy":[[-0.6636617808338744,0.492472934031588],[-0.6409383115273021,0.5152098668441641]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[-0.6080096359456018,-1.2396705216802786,0.71338606911949],"aabb_xy":[[-0.6680096364534546,-1.2965172553661999],[-0.5480096354377487,-1.1828237879943573]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[0.6705385082668753,-0.7753121312040063,0.71338606911949],"aabb_xy":[[0.6205385088266796,-0.8252800556883225],[0.7205385077070708,-0.7253442067196899]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[0.3732620798972661,-1.2432386424330035,0.71338606911949],"aabb_xy":[[0.2932620828830182,-1.2633731941064148],[0.45326207691151416,-1.2231040907595923]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[-0.1680800540289158,-1.8200262790013002,0.71338606911949],"aabb_xy":[[-0.17688210933788848,-1.8278376051562293],[-0.15927799871994305,-1.8122149528463711]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[0.12907090881926775,1.1610379769893324,0.71338606911949],"aabb_xy":[[0.1077929006757955,1.0960379746632591],[0.15034891696274,1.2260379793154053]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_23","position":[-0.1652635473218419,-2.2143890699825515,0.71338606911949],"aabb_xy":[[-0.2027635474937138,-2.247089805365458],[-0.12776354714996993,-2.181688334599644]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[-0.3822727356823088,0.7239897492991676,0.71338606911949],"aabb_xy":[[-0.4672727340997321,0.6391154538368826],[-0.2972727372648856,0.8088640447614526]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_25","position":[0.30969327613230346,-0.530717416508256,0.71338606911949],"aabb_xy":[[0.2547000647951667,-0.5857174168470496],[0.3646864874694402,-0.4757174161694624]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_26","position":[-0.541533423404864,-1.895008069453235,0.71338606911949],"aabb_xy":[[-0.5843001302842843,-1.9590080728750374],[-0.4987667165254439,-1.8310080660314325]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_27","position":[0.10417688643640743,-1.9767460779098718,0.71338606911949],"aabb_xy":[[0.04417688479348558,-2.028746227201816],[0.1641768880793293,-1.9247459286179276]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_28","position":[0.30611126244450415,-1.4299101638868346,0.71338606911949],"aabb_xy":[[0.3012676676832742,-1.4347618163658191],[0.3109548572057341,-1.425058511407851]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_29","position":[0.521860924403101,0.46971347765302296,0.71338606911949],"aabb_xy":[[0.4848268149750411,0.4353362703193135],[0.5588950338311606,0.5040906849867324]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6552821293876411,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/197.png","name":"197"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/197.png","name":"197"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4914.png","name":"4914"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3108.png","name":"3108"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8185.png","name":"8185"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2050.png","name":"2050"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":827.2256993641801,"rotation_z_degrees":27.111167244815746,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0070043893937615075,-0.010194113579245597,0.006588611073138316]},{"name":"camera_2","offset_m":[-0.013582477056604824,0.010623186360901603,0.001389951711140841]},{"name":"camera_3","offset_m":[0.00900979054289295,-0.015762924311563307,-0.01347152640287173]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00017531220649651168,-0.0015336957596563403,-0.001778218304581698],"end_effector_yaw_offset_degrees":0.6235335544672524},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015060358825751512,0.0002633213898051178,-0.000622108092257534],"end_effector_yaw_offset_degrees":0.2734592049498663},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010454864711263584,-0.001747459991860494,-0.0012449346602846],"end_effector_yaw_offset_degrees":0.537277762323012},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000687353873082296,0.0011241259422794512,0.0015450980059572975],"end_effector_yaw_offset_degrees":0.5453932725823616}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006301740124510747,-0.0005623493979352578],"position_m":[0.22403017401245107,-0.029962349397935257,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022165002038526385,0.0029126594895061758],"position_m":[0.25858349979614736,-0.30178734051049383,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017879318398007936,-0.0008483200609399376],"position_m":[0.1432879318398008,0.2843516799390601,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00027133458839223926,0.0004356371855739182],"position_m":[0.32642866541160775,0.1839356371855739,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9636f90bf1112c19e6bfb0ef7734a2da779028d7af2f11634b7e05a50ff82b8e","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_197/tex_ceiling_textures_2050/tex_floor_textures_8185/tex_table_textures_4914/tex_wall_textures_3108","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":680862543326240880,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":680862543326240880,"visual_seed":680862543326240880,"scene_id":"lab_003","finished_at":"2026-09-04T21:49:24"}
+{"episode_id":"ep_000077","started_at":"2026-09-04T21:49:27","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[-0.46536302184916156,0.9266785889950162,0.71338606911949],"aabb_xy":[[-0.5153630231330014,0.8766997346043939],[-0.41536302056532154,0.9766574433856381]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.6242887865731825,0.013342976393064365,0.71338606911949],"aabb_xy":[[0.5442887851430552,-0.06617417861954511],[0.7042887880033096,0.09286013140567384]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[-0.6087884792617624,0.9340512806593417,0.71338606911949],"aabb_xy":[[-0.6437884792382583,0.9245866646117251],[-0.5737884792852667,0.9435158967069583]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[0.48742182431255854,0.759190922651567,0.71338606911949],"aabb_xy":[[0.4374218248723628,0.7092229981672505],[0.537421823752754,0.8091588471358832]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[-0.39867616597349315,-2.166857972058467,0.71338606911949],"aabb_xy":[[-0.4063793566475702,-2.1745673427572045],[-0.3909729752994161,-2.1591486013597283]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.2765077472370326,-2.178969245705994,0.71338606911949],"aabb_xy":[[-0.2826023751251509,-2.187538640257663],[-0.27041311934891427,-2.1703998511543254]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.09705150005734853,-1.4378159244912172,0.71338606911949],"aabb_xy":[[0.07076267573690785,-1.464087358145868],[0.12334032437778918,-1.4115444908365655]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[0.3722280240075273,-0.46175031588816795,0.71338606911949],"aabb_xy":[[0.3668955093529144,-0.4670746441334036],[0.37756053866214034,-0.4564259876429324]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[-0.5809263583139652,0.26683363085216527,0.71338606911949],"aabb_xy":[[-0.6449263576081334,0.20284749048331113],[-0.516926359019797,0.3308197712210195]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.07377706422580954,0.3986665581444728,0.71338606911949],"aabb_xy":[[-0.13777706656861108,0.3537257069003403],[-0.009777061883007974,0.44360740938860527]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.2413815694916024,1.5176797834896232,0.71338606911949],"aabb_xy":[[0.23653797473037239,1.512828131010639],[0.24622516425283233,1.5225314359686073]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.6157713131757598,-1.7462022525124985,0.71338606911949],"aabb_xy":[[-0.6707450352120927,-1.801202252076732],[-0.560797591139427,-1.6912022529482655]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[-0.3614666206850775,0.75344830040701,0.71338606911949],"aabb_xy":[[-0.4085959996869131,0.689448299362608],[-0.3143372416832418,0.8174483014514119]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[0.3439876806098623,-2.4995239010702597,0.71338606911949],"aabb_xy":[[0.27998767838945526,-2.543896985195548],[0.4079876828302693,-2.4551508169449714]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.18647705149334348,1.3382331709793815,0.71338606911949],"aabb_xy":[[-0.24647705235415626,1.2868067409728947],[-0.12647705063253065,1.3896596009858675]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.6305900718550765,-0.6135678344811515,0.71338606911949],"aabb_xy":[[0.5807073749773802,-0.6635678337274262],[0.6804727687327726,-0.5635678352348767]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.5409046445292264,1.570205952584208,0.71338606911949],"aabb_xy":[[-0.5784046448774541,1.5584145570031245],[-0.5034046441809986,1.5819973481652916]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.3295001035946895,-0.12035966037218193,0.71338606911949],"aabb_xy":[[-0.36700010370028247,-0.12718182222516305],[-0.29200010348909655,-0.11353749851920082]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[-0.5149192649461246,-0.9243091013349971,0.71338606911949],"aabb_xy":[[-0.5789192622317733,-0.9658158202878412],[-0.45091926766047596,-0.8828023823821533]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.13405217165820815,1.197303150979125,0.71338606911949],"aabb_xy":[[0.12082122612352683,1.1840757319571251],[0.14728311719288942,1.210530570001124]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[-0.5621908497219659,-1.4175807948438028,0.71338606911949],"aabb_xy":[[-0.5675284253879704,-1.4425807957729428],[-0.5568532740559613,-1.3925807939146633]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[-0.1093180515264357,-1.5737927959430287,0.71338606911949],"aabb_xy":[[-0.13764776147497593,-1.578253538136746],[-0.08098834157789549,-1.5693320537493118]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_22","position":[0.32298785449842105,-1.9546046697772579,0.71338606911949],"aabb_xy":[[0.25798785186062756,-2.0060842684767053],[0.38798785713621453,-1.9031250710778114]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[0.4040605973769398,-2.1415771764464426,0.71338606911949],"aabb_xy":[[0.3815605978532324,-2.164073123897063],[0.4265605969006472,-2.1190812289958214]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_24","position":[0.6253557556959768,-1.3015767089739454,0.71338606911949],"aabb_xy":[[0.6173123957700215,-1.3865767100693116],[0.6333991156219319,-1.2165767078785787]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_25","position":[-0.24597003944939505,0.4345872008302618,0.71338606911949],"aabb_xy":[[-0.30997003584496813,0.3706239124115283],[-0.18197004305382197,0.4985504892489954]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6535286640529713,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2445.png","name":"2445"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2445.png","name":"2445"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5390.png","name":"5390"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/516.png","name":"516"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9085.png","name":"9085"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1495.png","name":"1495"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":818.8445831700948,"rotation_z_degrees":313.02880424070315,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018737591015151423,0.011308879740365197,-0.005163922897680955]},{"name":"camera_2","offset_m":[0.013993281423647395,0.01744200183176434,-0.012219941337439894]},{"name":"camera_3","offset_m":[0.01943560881018459,0.0035489525358479365,-0.007546137670066941]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004454116322449666,0.00042939324944669694,0.001223152847994566],"end_effector_yaw_offset_degrees":-0.3332789549391795},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016048697072416594,-0.000572138085804157,-0.0003570229189875716],"end_effector_yaw_offset_degrees":0.5864297452310943},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017280540834348343,0.0010229136621745351,-0.0007497831456842153],"end_effector_yaw_offset_degrees":-0.9668221644943213},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00013164402970055277,0.001571596601178993,-0.0018956323971349024],"end_effector_yaw_offset_degrees":-0.29216858238161514}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008745395661785439,-0.00012075370446814129],"position_m":[0.22427453956617854,-0.02952075370446814,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004591408851873272,0.002147997936377039],"position_m":[0.2562085911481267,-0.302552002063623,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004154131156140517,-0.0011820302577290331],"position_m":[0.13734586884385946,0.284017969742271,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009932305501741045,0.0034757317228358295],"position_m":[0.3276932305501741,0.18697573172283583,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"045baa03322ee737a4c57939b773c96d0baa945282c75886fd544d0df44dca4d","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0088.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2445/tex_ceiling_textures_1495/tex_floor_textures_9085/tex_table_textures_5390/tex_wall_textures_516","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8764268114932824150,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8764268114932824150,"visual_seed":8764268114932824150,"scene_id":"lab_003","finished_at":"2026-09-04T21:52:55"}
+{"episode_id":"ep_000078","started_at":"2026-09-04T21:52:59","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[0.20353926996496496,0.6095293857407409,0.71338606911949],"aabb_xy":[[0.18325496724156617,0.5892467605980319],[0.2238235726883637,0.6298120108834496]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_1","position":[0.5419706273359912,-0.21901068583105632,0.71338606911949],"aabb_xy":[[0.5287396818013098,-0.2322381048530557],[0.5552015728706724,-0.20578326680905687]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_2","position":[0.4725036057593912,-0.47515089407572386,0.71338606911949],"aabb_xy":[[0.46524235818898374,-0.48793790433923334],[0.47976485332979857,-0.4623638838122144]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[0.26288340092245366,-2.008025021666934,0.71338606911949],"aabb_xy":[[0.2077581952928629,-2.068025023108221],[0.31800860655204444,-1.948025020225647]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.385065861098264,-0.9718583475455769,0.71338606911949],"aabb_xy":[[-0.42006586244974575,-0.9922180835023976],[-0.3500658597467823,-0.9514986115887559]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.3822762377101804,-1.2294109784477814,0.71338606911949],"aabb_xy":[[-0.38597949903931933,-1.233112996756499],[-0.37857297638104154,-1.2257089601390632]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.5592426527555419,-1.157635171102958,0.71338606911949],"aabb_xy":[[0.5139640378743925,-1.2216351704511417],[0.604521267636691,-1.0936351717547743]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[0.3328191961954705,-1.3019263147820408,0.71338606911949],"aabb_xy":[[0.3248959159567221,-1.3244263150200444],[0.3407424764342188,-1.2794263145440377]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_8","position":[0.5268575183945217,-0.36826152812693635,0.71338606911949],"aabb_xy":[[0.514390160284786,-0.3807268527602599],[0.5393248765042573,-0.3557962034936129]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_9","position":[-0.12571775774496752,-0.9267997702797244,0.71338606911949],"aabb_xy":[[-0.19571775415492926,-0.947237705931406],[-0.05571776133500569,-0.9063618346280425]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[-0.14174776934560307,0.6000467289760856,0.71338606911949],"aabb_xy":[[-0.14771430828633886,0.5940855843167215],[-0.13578123040486728,0.6060078736354496]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[0.4177420120211235,0.422750786421616,0.71338606911949],"aabb_xy":[[0.4069015337946086,0.40556450513096715],[0.4285824902476384,0.43993706771226476]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.21245172834583875,0.07249919680375916,0.71338606911949],"aabb_xy":[[-0.2428498394449823,0.04209229480208964],[-0.18205361724669514,0.10290609880542866]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[-0.35261839518449445,-0.6845341583662838,0.71338606911949],"aabb_xy":[[-0.41761839782228793,-0.7360137570657308],[-0.28761839254670096,-0.6330545596668369]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[-0.5455000324612176,-0.6537056821141498,0.71338606911949],"aabb_xy":[[-0.6254938560397758,-0.7337056847069915],[-0.46550620888265937,-0.5737056795213084]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[0.5889054118005612,-0.8850105647640945,0.71338606911949],"aabb_xy":[[0.538921176092384,-0.93501056357759],[0.6388896475087384,-0.8350105659505989]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[-0.2794549367762042,1.168822245262282,0.71338606911949],"aabb_xy":[[-0.3294337452865201,1.1188222452565633],[-0.2294761282658883,1.2188222452680009]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[0.6640063050978136,1.6472427374602252,0.71338606911949],"aabb_xy":[[0.6390063059321803,1.6402904917548686],[0.6890063042634466,1.6541949831655818]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[0.3338882176373188,-0.7109787882486547,0.71338606911949],"aabb_xy":[[0.32660590126065503,-0.8009787918581636],[0.34117053401398234,-0.6209787846391456]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[-0.3302496502485901,-0.4797515654947606,0.71338606911949],"aabb_xy":[[-0.35215833238794114,-0.5016522323148512],[-0.30834096810923906,-0.45785089867466977]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[0.14067793939881912,-2.1064208534438302,0.71338606911949],"aabb_xy":[[0.12400080340572361,-2.12312077741776],[0.15735507539191462,-2.0897209294698995]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[0.28296443344387023,-1.7712483142885596,0.71338606911949],"aabb_xy":[[0.274921073517915,-1.8562483153839258],[0.29100779336982535,-1.686248313193193]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[-0.06457501325954562,0.13471972500982066,0.71338606911949],"aabb_xy":[[-0.07650774762137369,0.12233757220196129],[-0.052642278897717554,0.14710187781768003]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[0.46306751726366024,-1.3482841049324847,0.71338606911949],"aabb_xy":[[0.4581114970787792,-1.3707841051346066],[0.4680235374485415,-1.3257841047303633]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_24","position":[-0.021655944854094722,-0.30107635816657297,0.71338606911949],"aabb_xy":[[-0.038666042144145374,-0.3172108466648469],[-0.00464584756404407,-0.28494186966829904]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[-0.2271375596202057,-2.271051141882994,0.71338606911949],"aabb_xy":[[-0.2911375615325481,-2.3269622911410046],[-0.1631375577078634,-2.2151399926249837]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[-0.34578825749711645,-0.36700141060106084,0.71338606911949],"aabb_xy":[[-0.3499241138298167,-0.4045014100454179],[-0.3416524011644163,-0.3295014111567039]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_27","position":[0.06764657452132938,1.6501623909197956,0.71338606911949],"aabb_xy":[[0.029100881696128365,1.6116166198636068],[0.10619226734653044,1.6887081619759843]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_28","position":[0.6145162049452522,-0.6239364029374095,0.71338606911949],"aabb_xy":[[0.6084215770571338,-0.6325057974890782],[0.6206108328333705,-0.6153670083857408]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_29","position":[0.5442758250926092,0.20807520220803744,0.71338606911949],"aabb_xy":[[0.5092758251161134,0.1986105861604208],[0.579275825069105,0.21753981825565402]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_30","position":[-0.366584946812114,0.9577581604939054,0.71338606911949],"aabb_xy":[[-0.38426057740071234,0.9400779442145026],[-0.3489093162235157,0.9754383767733081]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_31","position":[-0.14762874726109154,-0.1379735536696347,0.71338606911949],"aabb_xy":[[-0.15678862620496817,-0.14450477171317172],[-0.13846886831721497,-0.1314423356260977]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_32","position":[-0.28290980396661136,-1.1524417435781,0.71338606911949],"aabb_xy":[[-0.29467799076126894,-1.2374417434833218],[-0.2711416171719539,-1.0674417436728787]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6561945563693222,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3816.png","name":"3816"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3816.png","name":"3816"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3808.png","name":"3808"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/95.png","name":"95"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4480.png","name":"4480"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3536.png","name":"3536"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":782.1508209979363,"rotation_z_degrees":316.6413027600383,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009200371814384614,-0.004695221097922659,-0.0039281414146647466]},{"name":"camera_2","offset_m":[0.011945188416724529,0.015004090147214637,-0.004954519202524557]},{"name":"camera_3","offset_m":[-0.01162974415982231,-0.011302184559102172,-0.018128398482837267]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017214752638558585,-0.0017123931532209919,-0.0002940997090467947],"end_effector_yaw_offset_degrees":-0.19379888629776998},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006419387769213243,0.00040452633914199367,0.0008501486173730075],"end_effector_yaw_offset_degrees":0.732137946927655},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001105528418656955,0.0007332054985301766,-0.0015144803635063666],"end_effector_yaw_offset_degrees":-0.9623830707003409},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017162767668616663,-0.0007237776528685599,-0.0002671515535672814],"end_effector_yaw_offset_degrees":-0.4074508977160931}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0039057485253996714,0.0018599807167635277],"position_m":[0.22730574852539967,-0.02754001928323647,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015830605664979148,0.00215259093590641],"position_m":[0.25921693943350205,-0.3025474090640936,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008257407693855641,0.00018047224509353324],"position_m":[0.14232574076938556,0.28538047224509355,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00023199498786373104,0.0046262696903796195],"position_m":[0.32693199498786374,0.18812626969037963,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8adcd22a687a15d463182a99beb0c272bb95eaacd2ad12b9cf9728062a7a8039","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0089.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3816/tex_ceiling_textures_3536/tex_floor_textures_4480/tex_table_textures_3808/tex_wall_textures_95","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6516081363045088824,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6516081363045088824,"visual_seed":6516081363045088824,"scene_id":"lab_003","finished_at":"2026-09-04T21:56:28"}
+{"episode_id":"ep_000079","started_at":"2026-09-04T21:59:00","dimensions":{"distractor":{"count":31,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[0.4022045666869183,-1.8463549124409413,0.71338606911949],"aabb_xy":[[0.3647045681112974,-1.8590912081044992],[0.43970456526253904,-1.8336186167773834]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[-0.5209931493793726,-0.43206364430212485,0.71338606911949],"aabb_xy":[[-0.5250713072864225,-0.4361446245503881],[-0.5169149914723229,-0.4279826640538615]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[0.2135612998947305,-1.1231266353585456,0.71338606911949],"aabb_xy":[[0.13356130273515518,-1.1346742363163627],[0.2935612970543058,-1.1115790344007286]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[-0.3378683499327249,-0.603378093023301,0.71338606911949],"aabb_xy":[[-0.3753683498764913,-0.6116711830581377],[-0.3003683499889585,-0.5950850029884646]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.3545683022567558,1.5389145179276666,0.71338606911949],"aabb_xy":[[-0.3605348411974915,1.5329533732683025],[-0.34860176331601994,1.5448756625870308]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[0.4777995271347173,1.5372068168937436,0.71338606911949],"aabb_xy":[[0.41779952653870117,1.4823943443485201],[0.5377995277307335,1.592019289438967]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.167269163253275,1.6421538475815702,0.71338606911949],"aabb_xy":[[0.10726916340670822,1.5853352253885316],[0.2272691630998418,1.698972469774609]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[-0.19970554896036763,-1.9979341518560751,0.71338606911949],"aabb_xy":[[-0.23720554975236308,-2.0043019928142654],[-0.16220554816837218,-1.9915663108978852]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[0.021145516226286576,1.326645413769418,0.71338606911949],"aabb_xy":[[-0.02882754930622889,1.276645413956885],[0.07111858175880205,1.3766454135819508]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.29290855833415175,1.334980222221291,0.71338606911949],"aabb_xy":[[0.27735278892388654,1.3194297889768836],[0.30846432774441707,1.350530655465698]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[-0.11440566575728306,-1.5764255570489725,0.71338606911949],"aabb_xy":[[-0.16440049868522466,-1.626425555944216],[-0.06441083282934147,-1.526425558153729]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.5696366165808922,-0.890555782526999,0.71338606911949],"aabb_xy":[[-0.5776799765068472,-0.9755557836223653],[-0.5615932566549369,-0.8055557814316324]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.530727804949858,1.2153998920353462,0.71338606911949],"aabb_xy":[[0.5136257269914898,1.1982930865040762],[0.5478298829082261,1.2325066975666157]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[-0.6250500662587353,1.3098069134461263,0.71338606911949],"aabb_xy":[[-0.6600500661547541,1.301432677934186],[-0.5900500663627164,1.3181811489580662]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.614160831592305,-1.6184733658162225,0.71338606911949],"aabb_xy":[[-0.6641382484575584,-1.6684733673054708],[-0.5641834147270512,-1.5684733643269737]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[0.4441262371846906,0.313544058992274,0.71338606911949],"aabb_xy":[[0.4380892241840259,0.30751735792332585],[0.45016325018535536,0.31957076006122226]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[0.4952725887014453,-0.9380516072658496,0.71338606911949],"aabb_xy":[[0.47769428651249846,-0.9556260968399544],[0.5128508908903922,-0.9204771176917446]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[-0.4876684587038283,-0.02242117242371755,0.71338606911949],"aabb_xy":[[-0.552668456585476,-0.07354483613025843],[-0.4226684608221805,0.028702491282823324]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.5780083334779039,-2.4167291586029207,0.71338606911949],"aabb_xy":[[-0.668008330213514,-2.469912621920215],[-0.4880083367422936,-2.363545695285626]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[0.36244941195543223,1.1868486451705906,0.71338606911949],"aabb_xy":[[0.312449413309511,1.1369291015111282],[0.4124494106013534,1.236768188830053]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_20","position":[0.3874583015277886,-1.2973749193778135,0.71338606911949],"aabb_xy":[[0.37816468329063796,-1.3348749178659474],[0.3967519197649391,-1.2598749208896796]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_21","position":[0.6196051378679477,-1.7871803421958512,0.71338606911949],"aabb_xy":[[0.5821051380509141,-1.7918185535069928],[0.6571051376849812,-1.7825421308847091]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_22","position":[0.5483118675745837,0.6347693714163611,0.71338606911949],"aabb_xy":[[0.5114613196375961,0.5972693705933275],[0.5851624155115713,0.672269372239395]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[0.5207774694407208,-0.5919686311731329,0.71338606911949],"aabb_xy":[[0.5025716457794731,-0.6029940317551246],[0.5389832931019685,-0.5809432305911413]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[-0.14995882417690332,1.772621695694697,0.71338606911949],"aabb_xy":[[-0.16311007014819268,1.7476216959380106],[-0.13680757820561396,1.7976216954513837]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[-0.5144658713178456,-1.9232378436571231,0.71338606911949],"aabb_xy":[[-0.5512605044427519,-1.9601437187537052],[-0.47767123819293933,-1.8863319685605406]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_26","position":[0.5585041607907644,-2.2708596350510133,0.71338606911949],"aabb_xy":[[0.4935041596848212,-2.2958250081191416],[0.6235041618967078,-2.245894261982885]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_27","position":[-0.4479773387260436,-1.5439218889235553,0.71338606911949],"aabb_xy":[[-0.47252355434879434,-1.5741707854725924],[-0.4234311231032929,-1.5136729923745182]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_28","position":[0.25968522106198,-2.4761468136021803,0.71338606911949],"aabb_xy":[[0.1956852178433422,-2.5228699255011886],[0.3236852242806179,-2.429423701703172]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_29","position":[0.20065436740503673,0.8888014973546401,0.71338606911949],"aabb_xy":[[0.19651851107233653,0.8513014979102832],[0.20479022373773692,0.9263014967989972]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_30","position":[0.2675978866923674,-2.1552756255692493,0.71338606911949],"aabb_xy":[[0.2547259831914272,-2.235275625983085],[0.2804697901933075,-2.0752756251554128]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6592884375811368,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9513.png","name":"9513"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9513.png","name":"9513"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/167.png","name":"167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5131.png","name":"5131"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7750.png","name":"7750"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9815.png","name":"9815"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":775.985830734465,"rotation_z_degrees":349.1719878651277,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018382450668707345,0.014184482264209954,0.011652642008248833]},{"name":"camera_2","offset_m":[0.0007213265519510903,0.00157735020296694,-0.005114146959635982]},{"name":"camera_3","offset_m":[0.01738237231012005,0.018254572886833898,-0.0017701372644271657]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003723135769823421,-0.0018060169117182473,0.001667671422211245],"end_effector_yaw_offset_degrees":0.4053560412912869},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014243737526345736,0.001941652423469168,-0.0014877166635911543],"end_effector_yaw_offset_degrees":-0.653485007024406},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014212150059618937,0.001575688391861885,0.00010549568021969843],"end_effector_yaw_offset_degrees":0.26554440567344884},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009246060392861999,0.0003612442845402791,-0.0007106770073722517],"end_effector_yaw_offset_degrees":0.8938174273797523}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010865821533600096,-0.0009812933624510642],"position_m":[0.22231341784663997,-0.030381293362451062,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015337391306412809,-0.004407327616014661],"position_m":[0.2592662608693587,-0.30910732761601467,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008515921366292548,-0.001695400354602398],"position_m":[0.14064840786337074,0.2835045996453976,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002962037972237176,-0.0024789190373509106],"position_m":[0.32966203797223714,0.18102108096264907,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2f32a84158f3aa0fe187063f6fc18261426967c1ef6752ffd3d1490014bad2e4","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9513/tex_ceiling_textures_9815/tex_floor_textures_7750/tex_table_textures_167/tex_wall_textures_5131","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":252292800318832536,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":252292800318832536,"visual_seed":252292800318832536,"scene_id":"lab_003","finished_at":"2026-09-04T22:02:29"}
+{"episode_id":"ep_000080","started_at":"2026-09-04T22:02:32","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[0.42027944565779696,1.7837752159269997,0.71338606911949],"aabb_xy":[[0.3852794473471015,1.776060201003454],[0.4552794439684924,1.7914902308505454]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[0.5135770145690675,1.4051234929336283,0.71338606911949],"aabb_xy":[[0.5001304879350241,1.3916536412805367],[0.5270235412031108,1.4185933445867194]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[0.6319855629661595,-0.7975336298196176,0.71338606911949],"aabb_xy":[[0.614309932377561,-0.8152138460990201],[0.6496611935547577,-0.7798534135402146]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[0.6306703326479999,-0.21382380313454252,0.71338606911949],"aabb_xy":[[0.5656703300102064,-0.2653034018339895],[0.6956703352857934,-0.16234420443509556]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[0.07210456020223144,-1.8962776638884589,0.71338606911949],"aabb_xy":[[0.012104559341418629,-1.947704093894945],[0.13210456106304422,-1.8448512338819723]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[-0.20906796964579905,-1.206771516293125,0.71338606911949],"aabb_xy":[[-0.2265679030797824,-1.2242715162133593],[-0.19156803621181565,-1.1892715163728902]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.38378547458494094,0.20830590681329975,0.71338606911949],"aabb_xy":[[0.37415383836451127,0.19866859403359083],[0.3934171108053705,0.21794321959300866]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.283397052924088,1.4234175085460463,0.71338606911949],"aabb_xy":[[-0.29064081897033334,1.3434175103424442],[-0.2761532868778427,1.503417506749649]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[0.4773751020278951,1.5305489335571854,0.71338606911949],"aabb_xy":[[0.4123751009219519,1.5055835604890573],[0.5423751031338384,1.5555143066253139]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[-0.6742565810664544,0.748346698398934,0.71338606911949],"aabb_xy":[[-0.679594156732459,0.7233466974697943],[-0.6689190054004499,0.7733466993280739]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[-0.4793309790663236,-0.3015788589737469,0.71338606911949],"aabb_xy":[[-0.5137934570794114,-0.3082425361566697],[-0.4448685010532359,-0.29491518179082404]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.0267978324324748,1.2928083552164513,0.71338606911949],"aabb_xy":[[-0.03289246032059312,1.2842389606647828],[-0.02070320454435648,1.3013777497681203]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[0.17811849270980984,-2.1479854920116974,0.71338606911949],"aabb_xy":[[0.15561849289590748,-2.152460108382178],[0.20061849252371225,-2.143510875641217]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.3172342289370551,0.24533300084826237,0.71338606911949],"aabb_xy":[[-0.38223422897135784,0.19863232416793503],[-0.2522342289027524,0.2920336775285896]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_14","position":[0.4121331807276778,-1.67965293354633,0.71338606911949],"aabb_xy":[[0.352133180881111,-1.7364715557393684],[0.4721331805742446,-1.622834311353291]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[-0.3012203823567711,0.6399602975339107,0.71338606911949],"aabb_xy":[[-0.3113733979109204,0.6038907559611701],[-0.29106736680262163,0.6760298391066508]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_16","position":[0.32318700789374777,1.1835621186173966,0.71338606911949],"aabb_xy":[[0.30498118423250015,1.172536718035405],[0.3413928315549955,1.1945875191993882]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[0.5567730512611149,-1.8936788430125193,0.71338606911949],"aabb_xy":[[0.5217730521311592,-1.899424064088183],[0.5917730503910705,-1.8879336219368548]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.624850114047715,1.7950825016359508,0.71338606911949],"aabb_xy":[[-0.6335640830976492,1.7725825009767624],[-0.6161361449977802,1.8175825022951388]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[0.46877491143439065,-0.8750220378928573,0.71338606911949],"aabb_xy":[[0.4087749111829894,-0.9293033629293219],[0.5287749116857918,-0.8207407128563926]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_20","position":[-0.5386971887726706,-2.2214041881108333,0.71338606911949],"aabb_xy":[[-0.5468108434460476,-2.2295100045648626],[-0.5305835340992934,-2.213298371656804]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[0.43556105082784335,0.36351718811692635,0.71338606911949],"aabb_xy":[[0.3855610498087082,0.3270509723790984],[0.48556105184697873,0.39998340385475434]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[0.5284236777121447,1.1214291333284554,0.71338606911949],"aabb_xy":[[0.46442368042649596,1.0799224143756114],[0.5924236749977932,1.1629358522812994]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.26803538555990836,-0.6139603743113176,0.71338606911949],"aabb_xy":[[-0.3320353819872303,-0.6611299981334141],[-0.2040353891325865,-0.5667907504892212]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[-0.47676913509906527,0.8700622878285174,0.71338606911949],"aabb_xy":[[-0.4861161426813605,0.8557586656108733],[-0.46742212751677004,0.8843659100461614]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_25","position":[0.6814677785029388,0.6382587402723883,0.71338606911949],"aabb_xy":[[0.6449719578756601,0.6017747978456307],[0.7179635991302176,0.6747426826991458]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_26","position":[0.6517391400808512,-0.565196514980483,0.71338606911949],"aabb_xy":[[0.6267391409152182,-0.5721487606858395],[0.6767391392464844,-0.5582442692751264]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[0.34406062565243456,-0.4658590672877576,0.71338606911949],"aabb_xy":[[0.28006062537845633,-0.5159251674850456],[0.4080606259264128,-0.41579296709046965]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_28","position":[-0.2713583048115719,-0.8297252347868482,0.71338606911949],"aabb_xy":[[-0.27861955238197933,-0.8425122450503577],[-0.2640970572411645,-0.8169382245233388]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_29","position":[0.08415809579784084,0.9721841032636487,0.71338606911949],"aabb_xy":[[0.0777442821546559,0.9657742830159801],[0.09057190944102578,0.9785939235113168]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_30","position":[-0.4547625015487936,0.3495264847812516,0.71338606911949],"aabb_xy":[[-0.47726250155894195,0.3354302651416483],[-0.43226250153864537,0.36362270442085487]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6560553636018325,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/475.png","name":"475"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/475.png","name":"475"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9824.png","name":"9824"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6561.png","name":"6561"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8445.png","name":"8445"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3329.png","name":"3329"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":712.9749704709268,"rotation_z_degrees":41.01610298899277,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01924770976058837,0.017625167831030002,0.015017677440648258]},{"name":"camera_2","offset_m":[0.007686421316343572,0.01303892658670899,-0.018639939808632086]},{"name":"camera_3","offset_m":[-0.01449240727905389,0.017429668872313977,-0.014507489629935994]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018377141188884107,0.0007022110131514451,-0.0008882782500631667],"end_effector_yaw_offset_degrees":-0.25079554561572825},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004990564179883417,-0.001455351738962662,-0.00021887334486954163],"end_effector_yaw_offset_degrees":0.5090399253246134},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013912153701653288,-0.0017970024515979453,-0.0006410111806908901],"end_effector_yaw_offset_degrees":-0.6291893939334992},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000721303353732062,0.0007774216224457797,-6.826957359760619e-05],"end_effector_yaw_offset_degrees":0.02361983164050807}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00046246600628876457,-0.0013696084428321499],"position_m":[0.22386246600628876,-0.03076960844283215,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004099926979939866,-0.0023454740465310353],"position_m":[0.2567000730200601,-0.30704547404653104,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003831855733302001,-7.363372611685244e-06],"position_m":[0.137668144266698,0.2851926366273883,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027378355376250865,-0.0020476451941974726],"position_m":[0.3239621644623749,0.18145235480580252,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ea93b24431164ce92823e560896551abb8b7a867378f75bef31eff51cf125b05","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_475/tex_ceiling_textures_3329/tex_floor_textures_8445/tex_table_textures_9824/tex_wall_textures_6561","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2542440292216745598,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2542440292216745598,"visual_seed":2542440292216745598,"scene_id":"lab_003","finished_at":"2026-09-04T22:06:24"}
+{"episode_id":"ep_000081","started_at":"2026-09-04T22:06:27","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[-0.6250386224800031,-1.6308358186649763,0.71338606911949],"aabb_xy":[[-0.6890386217741713,-1.6948219590338307],[-0.5610386231858349,-1.5668496782961223]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[-0.20967977964969114,-0.7259440349537674,0.71338606911949],"aabb_xy":[[-0.21375793755674088,-0.7300250152020307],[-0.2056016217426414,-0.721863054705504]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[-0.3638897044418917,-2.1714333235707723,0.71338606911949],"aabb_xy":[[-0.42788970174423807,-2.2157997505386287],[-0.29988970713954527,-2.127066896602915]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.5999098646414396,-1.0314476776108104,0.71338606911949],"aabb_xy":[[-0.6063236782846245,-1.0378574978584785],[-0.5934960509982546,-1.0250378573631418]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[0.6457446632737363,-2.3318131092833116,0.71338606911949],"aabb_xy":[[0.5817446668781633,-2.3957763977020448],[0.7097446596693094,-2.2678498208645776]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[-0.004862725829574588,0.7661593561439344,0.71338606911949],"aabb_xy":[[-0.02236265926355796,0.7486593562236998],[0.012637207604408784,0.7836593560641689]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.21534647293374093,-2.328857384771762,0.71338606911949],"aabb_xy":[[-0.25284647287750733,-2.3371504748065988],[-0.17784647298997452,-2.3205642947369256]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.5679219946123697,1.7361195183078055,0.71338606911949],"aabb_xy":[[0.5535875694862062,1.7240593027532667],[0.5822564197385331,1.7481797338623444]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_8","position":[0.38311806675087423,0.88098148395067,0.71338606911949],"aabb_xy":[[0.3131180641142878,0.8608766189548044],[0.45311806938746046,0.9010863489465354]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[0.10063847714891327,1.5340406049677822,0.71338606911949],"aabb_xy":[[0.09183642183994055,1.526229278812853],[0.10944053245788597,1.5418519311227112]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[0.3318597604364657,-1.658803298846247,0.71338606911949],"aabb_xy":[[0.3279458872410431,-1.6675523142528041],[0.33577363363188817,-1.6500542834396905]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.6811318327231022,-2.066369930817016,0.71338606911949],"aabb_xy":[[0.6637011176440957,-2.083642045480866],[0.6985625478021087,-2.0490978161531648]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_12","position":[0.309693276656253,-1.1602902230145444,0.71338606911949],"aabb_xy":[[0.28469327710451453,-1.1704327068796792],[0.3346932762079915,-1.1501477391494097]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[0.38010997861353335,0.7577291863184543,0.71338606911949],"aabb_xy":[[0.33010997996761215,0.7078096426589919],[0.43010997725945455,0.8076487299779167]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[-0.13946206672697747,-1.6855652591906227,0.71338606911949],"aabb_xy":[[-0.15709490232050502,-1.7031882052062457],[-0.12182923113344989,-1.6679423131749997]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[0.011827841688005325,-0.8349329135921235,0.71338606911949],"aabb_xy":[[-0.0033350312889317583,-0.8500983708872424],[0.026990714664942413,-0.8197674562970049]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[0.36186952786665083,-0.7244943504399965,0.71338606911949],"aabb_xy":[[0.3118702526982147,-0.7744943517159438],[0.41186880303508705,-0.6744943491640495]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_17","position":[0.6456782460655792,0.666290135627845,0.71338606911949],"aabb_xy":[[0.6407222258806982,0.6437901354257235],[0.6506342662504605,0.6887901358299667]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[0.09826546042164175,-1.3379836221499648,0.71338606911949],"aabb_xy":[[0.013265461729567107,-1.3699694855448437],[0.1832654591137164,-1.305997758755086]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.1262720832318397,-2.0633928937089383,0.71338606911949],"aabb_xy":[[0.036272086496229455,-2.116576357026233],[0.21627207996744988,-2.010209430391644]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[0.6552719309177522,1.668320888330285,0.71338606911949],"aabb_xy":[[0.6503726386111885,1.640643969027716],[0.6601712232243155,1.6959978076328535]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[0.42655297893771915,1.653499810379238,0.71338606911949],"aabb_xy":[[0.39155297974490083,1.6425327643815755],[0.46155297813053736,1.6644668563769005]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6597225573763377,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4767.png","name":"4767"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4767.png","name":"4767"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3280.png","name":"3280"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/190.png","name":"190"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3535.png","name":"3535"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1059.png","name":"1059"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":571.6151275293215,"rotation_z_degrees":123.11303553220871,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01799259619474892,-0.01910017404526027,-0.0003064835412291203]},{"name":"camera_2","offset_m":[0.015553535216955277,-0.0069680454548191224,-0.0015437259528094174]},{"name":"camera_3","offset_m":[-0.011940493196821573,0.004692338471046442,-0.015506355128354988]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005637792086614162,0.00017423418495735813,0.00029621697576428423],"end_effector_yaw_offset_degrees":0.21329035933504437},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001756646959550369,0.0015271857959704986,-0.0008578818840252827],"end_effector_yaw_offset_degrees":0.024818876988588867},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005158271677256645,0.000579424467333064,-0.0005029279632230437],"end_effector_yaw_offset_degrees":0.7907633445224658},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019483833372340139,-0.0013028868476492863,0.000197896091005336],"end_effector_yaw_offset_degrees":0.2730337350889447}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0031834834997879766,0.0013175346330656134],"position_m":[0.220216516500212,-0.028082465366934387,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002039261053241849,0.001474112608379017],"position_m":[0.26283926105324185,-0.303225887391621,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004723645605060789,-0.002805474548441412],"position_m":[0.1367763543949392,0.2823945254515586,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003994459039179485,-0.003804424769693946],"position_m":[0.3227055409608205,0.17969557523030605,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"15132fda93f71a185d919345b275512f83e89734a9080a97ffcbe5748f7da28e","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4767/tex_ceiling_textures_1059/tex_floor_textures_3535/tex_table_textures_3280/tex_wall_textures_190","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6713418137385921766,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6713418137385921766,"visual_seed":6713418137385921766,"scene_id":"lab_003","finished_at":"2026-09-04T22:09:57"}
+{"episode_id":"ep_000082","started_at":"2026-09-04T22:10:00","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.2321779208715683,0.860657667251163,0.71338606911949],"aabb_xy":[[0.2249166733011609,0.8478706569876535],[0.23943916844197574,0.8734446775146725]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.4899915304776501,-0.6765898869759284,0.71338606911949],"aabb_xy":[[-0.5267861636025564,-0.7134957620725105],[-0.45319689735274377,-0.639684011879346]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[-0.672877542813112,-1.5724858011299419,0.71338606911949],"aabb_xy":[[-0.6841225983837298,-1.5837275988540371],[-0.6616324872424941,-1.5612440034058466]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[0.45636486422727107,-0.16112890054989837,0.71338606911949],"aabb_xy":[[0.44908254785060736,-0.25112890415940725],[0.46364718060393467,-0.07112889694038933]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.5576544535601182,-0.7242167959026218,0.71338606911949],"aabb_xy":[[0.5504106875138729,-0.8042167941062242],[0.5648982196063635,-0.6442167976990194]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[-0.31833970583673493,0.6208797438466092,0.71338606911949],"aabb_xy":[[-0.36442479709146636,0.5568797465940539],[-0.2722546145820034,0.6848797410991642]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[-0.537368520114081,-0.4697758986213505,0.71338606911949],"aabb_xy":[[-0.5592772022534319,-0.49167656544144117],[-0.5154598379747298,-0.4478752318012597]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[-0.5428172874687316,0.046812657487775855,0.71338606911949],"aabb_xy":[[-0.6278172861608062,0.014826794092897],[-0.45781728877665695,0.07879852088265471]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[-0.2817482166035763,-1.7104949437382664,0.71338606911949],"aabb_xy":[[-0.3192482167091692,-1.7173171055912475],[-0.2442482164979833,-1.7036727818852853]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_9","position":[0.39242002573349266,0.4803407175552019,0.71338606911949],"aabb_xy":[[0.3511154826697567,0.4163407179870848],[0.43372456879722865,0.544340717123319]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[-0.10441726063756573,0.3906886183568834,0.71338606911949],"aabb_xy":[[-0.16841726392727382,0.34735369935296573],[-0.04041725734785761,0.43402353736080096]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_11","position":[-0.14671044734768102,-1.5318131260761754,0.71338606911949],"aabb_xy":[[-0.20171044652427048,-1.5868028008511328],[-0.0917104481710915,-1.4768234513012175]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[-0.041327186599973254,-1.1090939294652769,0.71338606911949],"aabb_xy":[[-0.04617078136120323,-1.1139455819442612],[-0.03648359183874328,-1.104242276986293]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[0.42997542369852826,1.0655452912622558,0.71338606911949],"aabb_xy":[[0.3949754253878328,1.05783027633871],[0.4649754220092237,1.0732603061858013]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.41315926566869043,1.2448589180605136,0.71338606911949],"aabb_xy":[[0.36315926702276924,1.1949393744010512],[0.46315926431461163,1.294778461719976]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.4912897389287043,-1.0387982816011894,0.71338606911949],"aabb_xy":[[-0.5087897380630714,-1.048677908638777],[-0.4737897397943371,-1.0289186545636013]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.41454755916012825,-1.7830322120097453,0.71338606911949],"aabb_xy":[[-0.452047560344921,-1.7874504347058056],[-0.3770475579753354,-1.7786139893136845]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[0.5658318463419194,-0.46204281639597156,0.71338606911949],"aabb_xy":[[0.5617158962298466,-0.466158371428817],[0.569947796453992,-0.457927261363126]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_18","position":[0.6537091791343002,0.24924819937301512,0.71338606911949],"aabb_xy":[[0.6431416994762013,0.23870316926000656],[0.6642766587923993,0.2597932294860237]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[0.5422155198360727,-2.484726974149746,0.71338606911949],"aabb_xy":[[0.5172155202843343,-2.4948694580148807],[0.5672155193878112,-2.4745844902846112]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_20","position":[0.4420698708391917,-2.115743991776365,0.71338606911949],"aabb_xy":[[0.43394218264587847,-2.124657600187073],[0.4501975590325049,-2.1068303833656574]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.65978698731532,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3042.png","name":"3042"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3042.png","name":"3042"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3485.png","name":"3485"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3072.png","name":"3072"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3850.png","name":"3850"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2681.png","name":"2681"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":829.1395417353889,"rotation_z_degrees":84.94472871025579,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008571062892942906,0.013342164067427869,0.005084498008251476]},{"name":"camera_2","offset_m":[-0.014413292052752267,0.0033800609586190737,-0.002040042455474133]},{"name":"camera_3","offset_m":[-0.01562404034128979,0.008760304963194167,0.015260940095894748]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007898898974776428,0.0014162150522319915,0.0016536674556866747],"end_effector_yaw_offset_degrees":-0.35867933680656683},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007211629996098034,0.0005824302775802627,0.0011547843536572127],"end_effector_yaw_offset_degrees":-0.9599885738592235},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019906205097647957,-0.0018558723433517246,-0.0017797783745672096],"end_effector_yaw_offset_degrees":-0.2444994517822492},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00016270005039863643,-0.0017673721986045524,0.0013796591467999256],"end_effector_yaw_offset_degrees":-0.5195369230534981}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00037288674117478583,0.003697112460369782],"position_m":[0.2230271132588252,-0.025702887539630216,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024591849283842494,0.0021463370763314107],"position_m":[0.26325918492838424,-0.30255366292366864,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004387804945366984,-0.0019542007620237303],"position_m":[0.14588780494536696,0.28324579923797627,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023949908901204496,0.0034583719208908055],"position_m":[0.3243050091098795,0.1869583719208908,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9a45e1d1e236d2441648c09050b2d7c52af97c0ea0cd3456dbd2d7dd86b4b092","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0094.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3042/tex_ceiling_textures_2681/tex_floor_textures_3850/tex_table_textures_3485/tex_wall_textures_3072","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7150079403871702476,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7150079403871702476,"visual_seed":7150079403871702476,"scene_id":"lab_003","finished_at":"2026-09-04T22:13:22"}
+{"episode_id":"ep_000083","started_at":"2026-09-04T22:13:25","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_0","position":[-0.6225917684573015,0.6867307266539489,0.71338606911949],"aabb_xy":[[-0.668676859712033,0.6227307294013937],[-0.57650667720257,0.750730723906504]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.2890857896378637,-2.2559878147154575,0.71338606911949],"aabb_xy":[[0.2803878273471484,-2.2681127890229322],[0.297783751928579,-2.243862840407983]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_2","position":[0.24183309745469606,-1.8389036594502528,0.71338606911949],"aabb_xy":[[0.18683309925295122,-1.8794256260766906],[0.2968330956564409,-1.7983816928238154]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[0.6882885880987755,-2.0516595941073374,0.71338606911949],"aabb_xy":[[0.6758212299890398,-2.064124918740661],[0.7007559462085111,-2.039194269474014]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[-0.35561048365532627,-2.571220372765118,0.71338606911949],"aabb_xy":[[-0.3806104832070648,-2.581362856630253],[-0.33061048410358784,-2.5610778888999834]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[0.5055302028981681,-0.12872564885375226,0.71338606911949],"aabb_xy":[[0.4603588850499991,-0.19272564599829073],[0.550701520746337,-0.06472565170921386]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[0.5671920768365364,-0.3815074918605825,0.71338606911949],"aabb_xy":[[0.4871920794329429,-0.46150006305876534],[0.6471920742401297,-0.3015149206623997]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.6016045342574283,-0.8913576804470833,0.71338606911949],"aabb_xy":[[-0.6656045364778354,-0.9357307645723715],[-0.5376045320370213,-0.8469845963217949]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_8","position":[-0.42968012211940154,-0.1052387568747557,0.71338606911949],"aabb_xy":[[-0.4846538441557344,-0.16023875643898888],[-0.37470640008306866,-0.05023875731052252]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[0.3786815707711255,-1.079345079946344,0.71338606911949],"aabb_xy":[[0.3411815702737672,-1.0833137634944623],[0.4161815712684837,-1.0753763963982257]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[-0.6627036846586916,-1.2315948068091793,0.71338606911949],"aabb_xy":[[-0.687924521518531,-1.2568185576620656],[-0.6374828477988517,-1.2063710559562921]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_11","position":[0.5266030957226322,0.7825515202496547,0.71338606911949],"aabb_xy":[[0.46260309404463484,0.7340341287703404],[0.5906030974006296,0.8310689117289688]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[-0.029529704804482693,-1.088387569827332,0.71338606911949],"aabb_xy":[[-0.0383317601134554,-1.0961988959822608],[-0.020727649495509978,-1.0805762436724027]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[-0.544262810280851,-1.6190978182564997,0.71338606911949],"aabb_xy":[[-0.6082628135705591,-1.662432737260417],[-0.48026280699114293,-1.5757628992525818]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[-0.001969557974355607,-2.3494398513707835,0.71338606911949],"aabb_xy":[[-0.06696955653142844,-2.379192384784666],[0.06303044058271723,-2.319687317956901]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[0.5349276486968191,1.4824936447589852,0.71338606911949],"aabb_xy":[[0.4849328157688775,1.4324936458637416],[0.5849224816247607,1.5324936436542287]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_16","position":[0.12275829538657479,1.6115416772566094,0.71338606911949],"aabb_xy":[[0.10512545979304723,1.5939187312409864],[0.14039113098010236,1.6291646232722323]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_17","position":[0.2938588948388662,-1.521088517886058,0.71338606911949],"aabb_xy":[[0.2771817588457707,-1.537788441859988],[0.3105360308319617,-1.5043885939121275]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[0.11068118692038909,-2.1133949703386903,0.71338606911949],"aabb_xy":[[0.06120076570643029,-2.1773949682515426],[0.16016160813434788,-2.049394972425839]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[-0.18067444503855912,-0.7182246334025117,0.71338606911949],"aabb_xy":[[-0.20195245318203134,-0.7832246357285847],[-0.15939643689508684,-0.6532246310764386]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_20","position":[-0.3342197214945156,0.23987464763911825,0.71338606911949],"aabb_xy":[[-0.3405318210308541,0.2341077083858994],[-0.32790762195817724,0.24564158689233706]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_21","position":[0.44422276768827174,-1.3424167604523585,0.71338606911949],"aabb_xy":[[0.35922276899619704,-1.3744026238472373],[0.5292227663803464,-1.3104308970574796]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.12374654642860461,1.3714912747177803,0.71338606911949],"aabb_xy":[[0.053746543792018237,1.3513864097219146],[0.19374654906519093,1.3915961397136456]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[0.37925195931344846,-1.9984036546184998,0.71338606911949],"aabb_xy":[[0.3292519583629156,-2.0299528016220205],[0.4292519602639812,-1.966854507614978]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[0.05355511904548371,-1.351603439480244,0.71338606911949],"aabb_xy":[[-0.016444883085945834,-1.3743654051059395],[0.12355512117691325,-1.3288414738545482]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[-0.4259859025543771,-1.358918236422529,0.71338606911949],"aabb_xy":[[-0.4388578060553172,-1.4389182368363649],[-0.41311399905343693,-1.2789182360086926]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_26","position":[-0.34654934344094335,-0.8567450548941895,0.71338606911949],"aabb_xy":[[-0.39654934510243806,-0.906743497149892],[-0.2965493417794485,-0.8067466126384866]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_27","position":[-0.07292459141247587,-1.9160081401719955,0.71338606911949],"aabb_xy":[[-0.1229088271206531,-1.966008138985491],[-0.022940355704298643,-1.8660081413585]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_28","position":[-0.438907454003091,-0.40859153908248924,0.71338606911949],"aabb_xy":[[-0.4667524907836981,-0.4393760378208009],[-0.4110624172224839,-0.37780704034417756]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6612784768849019,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6816.png","name":"6816"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6816.png","name":"6816"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8998.png","name":"8998"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8785.png","name":"8785"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6270.png","name":"6270"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3872.png","name":"3872"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":574.8423402019669,"rotation_z_degrees":64.79581430904481,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016301431256880924,0.006983273742806918,0.01695955201657456]},{"name":"camera_2","offset_m":[0.001098721326253927,-0.0022423246584908386,0.010843222864395392]},{"name":"camera_3","offset_m":[0.005730941992152419,0.019034909220221555,-0.008037652893215518]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013709138235802167,-0.00031576025672679585,0.0016260754300227156],"end_effector_yaw_offset_degrees":0.5369450957996651},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016381563781250898,-0.001389248103926994,0.0008828876700126801],"end_effector_yaw_offset_degrees":-0.8500080526033851},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009352820743248752,0.00012482064665760755,-0.0019641046962283067],"end_effector_yaw_offset_degrees":-0.7217945619136692},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001897419661131819,-0.00041615091383545317,-0.0012560534635355225],"end_effector_yaw_offset_degrees":0.2597849120226712}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0003055817717094742,-0.004129003568196707],"position_m":[0.22309441822829051,-0.03352900356819671,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002930836709297449,-0.00018642837867109859],"position_m":[0.2637308367092974,-0.30488642837867114,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014162292967857606,0.0015265831424137845],"position_m":[0.14291622929678574,0.2867265831424138,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020820866090549618,-0.0037249243083156192],"position_m":[0.32461791339094503,0.17977507569168438,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"df512deced9c1e612017df552d96e91eac8ce5a4da330d1b4617bd1997d98350","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6816/tex_ceiling_textures_3872/tex_floor_textures_6270/tex_table_textures_8998/tex_wall_textures_8785","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5215883297328012492,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5215883297328012492,"visual_seed":5215883297328012492,"scene_id":"lab_003","finished_at":"2026-09-04T22:17:06"}
+{"episode_id":"ep_000084","started_at":"2026-09-04T22:17:12","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[-0.03858807864857594,1.0084914099616107,0.71338606911949],"aabb_xy":[[-0.0735880777785316,1.0027461888859466],[-0.0035880795186202727,1.0142366310372748]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[-0.3027192364599393,-1.4235776227401884,0.71338606911949],"aabb_xy":[[-0.320925060121187,-1.43460302332218],[-0.28451341279869163,-1.4125522221581968]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[0.48615455890847925,0.429770511136081,0.71338606911949],"aabb_xy":[[0.43615954794902734,0.37977051210048934],[0.5361495698679314,0.47977051017167277]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[0.1271026447607907,-0.9927872145000203,0.71338606911949],"aabb_xy":[[0.08491823059995995,-1.0567872147772315],[0.16928705892162144,-0.9287872142228092]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[-0.3451533269234698,-0.8278454064672154,0.71338606911949],"aabb_xy":[[-0.3801533268194886,-0.8362196419791554],[-0.31015332702745085,-0.8194711709552756]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[-0.6507862691607741,0.09121592701873604,0.71338606911949],"aabb_xy":[[-0.6563679407949027,0.07871592720096053],[-0.6452045975266453,0.10371592683651153]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[0.6325619327891985,-0.11271444475805303,0.71338606911949],"aabb_xy":[[0.5425619304551794,-0.1901967993431657],[0.7225619351232175,-0.03523209017294039]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[0.6153709818916486,-0.41220757878038095,0.71338606911949],"aabb_xy":[[0.5353709814214327,-0.4205182863947294],[0.6953709823618646,-0.4038968711660326]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[0.5832777429605016,1.2574121106546783,0.71338606911949],"aabb_xy":[[0.533180278979428,1.1934121101448665],[0.6333752069415752,1.32141211116449]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[0.4451528563835889,-0.4828586733595994,0.71338606911949],"aabb_xy":[[0.43969491074656886,-0.5628586766672585],[0.450610802020609,-0.40285867005194026]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_10","position":[-0.6064749270654778,-2.0634221708584803,0.71338606911949],"aabb_xy":[[-0.6137361746358851,-2.07620918112199],[-0.5992136794950704,-2.050635160594971]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.03983925197374838,-1.8082228619856344,0.71338606911949],"aabb_xy":[[-0.08981231750626385,-1.8582228617981678],[0.010133813558767081,-1.758222862173102]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.25531992781286394,1.3902096084524938,0.71338606911949],"aabb_xy":[[0.23925800035434627,1.305209606639902],[0.27138185527138153,1.4752096102650856]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.2534345808394335,1.6679685860089797,0.71338606911949],"aabb_xy":[[0.23432227348145462,1.6488338071317377],[0.27254688819741235,1.6871033648862217]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[0.2564449871994767,-2.0247993755879845,0.71338606911949],"aabb_xy":[[0.2451999316288589,-2.0360411733120802],[0.26769004277009456,-2.0135575778638897]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[-0.10180710532108872,-1.37701112077629,0.71338606911949],"aabb_xy":[[-0.1445738122005089,-1.4410111241980925],[-0.05904039844166854,-1.3130111173544876]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[0.15625213839965346,-2.4702276495968376,0.71338606911949],"aabb_xy":[[0.13407961142300262,-2.4924033167529607],[0.1784246653763043,-2.4480519824407145]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[-0.5790385393662834,0.2850738603592222,0.71338606911949],"aabb_xy":[[-0.6240385408325122,0.2400740034977416],[-0.5340385379000545,0.33007371722070294]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[0.38935038013932854,0.13832979451568228,0.71338606911949],"aabb_xy":[[0.3811358350236445,0.12965320421804094],[0.39756492525501247,0.1470063848133235]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[-0.5304412969280582,-1.0609728336422317,0.71338606911949],"aabb_xy":[[-0.5944412976315276,-1.106991216115153],[-0.46644129622458896,-1.014954451169311]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[-0.48345933777715394,-0.1788841643250425,0.71338606911949],"aabb_xy":[[-0.5384593359788987,-0.21940613095148012],[-0.4284593395754091,-0.13836219769860494]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[-0.15425633322238985,0.5063406684452225,0.71338606911949],"aabb_xy":[[-0.24425633181685982,0.4900900821318015],[-0.06425633462791994,0.5225912547586435]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[0.503517989810643,1.7910034643034263,0.71338606911949],"aabb_xy":[[0.48763349654531785,1.7766505240046022],[0.5194024830759681,1.8053564046022503]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[-0.41898272366437983,-1.4889168381993447,0.71338606911949],"aabb_xy":[[-0.4231185799970801,-1.526416837643702],[-0.4148468673316797,-1.451416838754988]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_24","position":[-0.27356671767976765,-1.7230858457986886,0.71338606911949],"aabb_xy":[[-0.32854043971610053,-1.7780858453629218],[-0.21859299564343476,-1.6680858462344554]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[-0.6199237161622264,-2.458052539320893,0.71338606911949],"aabb_xy":[[-0.6899237182936558,-2.4808145049465886],[-0.5499237140307968,-2.435290573695197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6584593695974228,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1369.png","name":"1369"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1369.png","name":"1369"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8306.png","name":"8306"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/654.png","name":"654"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2051.png","name":"2051"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5002.png","name":"5002"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":699.0025520447653,"rotation_z_degrees":174.64449115062462,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018060310005881954,0.00913447652925466,-0.008363432564073774]},{"name":"camera_2","offset_m":[-0.019389515938375533,-0.015011747749503087,0.013570326262026613]},{"name":"camera_3","offset_m":[0.000937388668445515,-0.008855408081427431,-0.0024937657341081963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012899089332837265,-0.0006765304952311229,-0.0009682211770792827],"end_effector_yaw_offset_degrees":-0.4513204473429231},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000848625618958787,-0.0018040010745620837,0.0012484515367234936],"end_effector_yaw_offset_degrees":0.05801295038424592},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017391200225614118,0.0014029492619835188,0.0007293088466035127],"end_effector_yaw_offset_degrees":-0.5464131476263259},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016221760449355582,0.0008267615485100062,-0.0019719435375610697],"end_effector_yaw_offset_degrees":0.2880702434023097}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002312089596946473,0.003315808438801789],"position_m":[0.22571208959694647,-0.02608419156119821,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005471963022683872,0.0013404579898117532],"position_m":[0.2613471963022684,-0.3033595420101883,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026871198898544557,-0.0006797495053612011],"position_m":[0.14418711988985444,0.2845202504946388,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004954519769284098,-0.0016613405823709924],"position_m":[0.33165451976928406,0.181838659417629,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"73700b8bef498e10faac80b2575953efdebb547512dd649144702a24aece090b","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1369/tex_ceiling_textures_5002/tex_floor_textures_2051/tex_table_textures_8306/tex_wall_textures_654","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2920465368995512831,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2920465368995512831,"visual_seed":2920465368995512831,"scene_id":"lab_003","finished_at":"2026-09-04T22:20:44"}
+{"episode_id":"ep_000085","started_at":"2026-09-04T22:20:48","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[-0.23284784232417,0.6114780755256399,0.71338606911949],"aabb_xy":[[-0.2628395050580403,0.5814780761888394],[-0.20285617959029964,0.6414780748624405]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[-0.2535279026921506,1.6011939444588568,0.71338606911949],"aabb_xy":[[-0.3385279011095738,1.516319648996572],[-0.16852790427472736,1.686068239921142]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.4667692470092383,-0.050553901863826134,0.71338606911949],"aabb_xy":[[-0.47685095408781175,-0.13055389975594078],[-0.4566875399306648,0.029446096028288515]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[-0.2015118317266656,1.107152443546239,0.71338606911949],"aabb_xy":[[-0.2390118329114584,1.1027342208501782],[-0.1640118305418728,1.1115706662422993]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[0.11001971344933215,1.4033268670359056,0.71338606911949],"aabb_xy":[[0.020019713726157958,1.3802535145007255],[0.2000197131725063,1.4264002195710852]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.6583878910683725,1.2439163047364543,0.71338606911949],"aabb_xy":[[0.6354721781833226,1.2210120076000308],[0.6813036039534224,1.2668206018728778]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[-0.42036033955641977,1.157789756060898,0.71338606911949],"aabb_xy":[[-0.5003541631349779,1.0777897534680565],[-0.34036651597786155,1.2377897586537396]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[0.5975922516218612,-0.7641537007852517,0.71338606911949],"aabb_xy":[[0.5730786275248554,-0.7884182940872881],[0.6221058757188671,-0.7398891074832152]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_8","position":[0.7073574103551756,-0.8373038244381161,0.71338606911949],"aabb_xy":[[0.6922551088941573,-0.8524053460691778],[0.7224597118161935,-0.8222023028070542]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[0.39062253157256865,-0.425416739925494,0.71338606911949],"aabb_xy":[[0.360654974662743,-0.45541674022337975],[0.4205900884823943,-0.39541673962760826]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_10","position":[-0.05022698186993946,0.7906005997510319,0.71338606911949],"aabb_xy":[[-0.11522698287043998,0.7398142345963569],[0.01477301913056106,0.8413869649057067]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[-0.29697851395475866,-2.365200965528659,0.71338606911949],"aabb_xy":[[-0.3869785106903688,-2.4183844288459535],[-0.2069785172191484,-2.3120175022113645]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[0.10191275847991421,-1.4495872756811292,0.71338606911949],"aabb_xy":[[0.0900406754684131,-1.5345872753747796],[0.11378484149141532,-1.3645872759874789]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.10215287258817096,-1.227651517930073,0.71338606911949],"aabb_xy":[[0.06715287123668923,-1.2480112538868937],[0.1371528739396527,-1.207291781973252]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[0.10689956672987322,-0.791674758765494,0.71338606911949],"aabb_xy":[[0.036899564093286874,-0.8117796237613594],[0.17689956936645956,-0.7715698937696284]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_15","position":[0.4046390755290792,-0.899643122681345,0.71338606911949],"aabb_xy":[[0.389083306118814,-0.9151935559257525],[0.4201948449393445,-0.8840926894369381]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[0.45281428510860056,1.0963425556953137,0.71338606911949],"aabb_xy":[[0.4303142852946982,1.091867939324833],[0.47531428492250294,1.1008171720657944]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[0.007500958543311564,-1.9544712047498893,0.71338606911949],"aabb_xy":[[-0.0004925312519704629,-1.9624693366903652],[0.015494448338593595,-1.946473072809414]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[-0.5451822343948116,-1.605599943115668,0.71338606911949],"aabb_xy":[[-0.5628578649834098,-1.6232801593950705],[-0.5275066038062132,-1.587919726836265]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[0.44376654889714207,0.3453501063004043,0.71338606911949],"aabb_xy":[[0.4094696378794014,0.3110532200904629],[0.47806345991488264,0.3796469925103456]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[0.5357104066535756,-0.6085360024675044,0.71338606911949],"aabb_xy":[[0.4557104033895625,-0.6220960347764178],[0.6157104099175887,-0.5949759701585912]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[0.5737250667884601,0.004105816668501294,0.71338606911949],"aabb_xy":[[0.5362250666828671,-0.0027163451844798288],[0.611225066894053,0.010927978521482416]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_22","position":[-0.5795273197084733,0.6656266376646855,0.71338606911949],"aabb_xy":[[-0.6435230171035698,0.6016266393639768],[-0.5155316223133767,0.7296266359653941]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[0.6906375799372786,-1.998579398266605,0.71338606911949],"aabb_xy":[[0.6681728099658735,-2.0210793991454654],[0.7131023499086837,-1.9760793973877446]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[-0.5698941688206541,-1.1905709857542408,0.71338606911949],"aabb_xy":[[-0.6498941659802294,-1.2021185867120576],[-0.48989417166107885,-1.1790233847964235]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_25","position":[0.3590100909278111,-1.8155716299143005,0.71338606911949],"aabb_xy":[[0.3040168795906743,-1.870571630253094],[0.41400330226494786,-1.7605716295755067]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_26","position":[-0.19581406334526547,-0.9418287653285486,0.71338606911949],"aabb_xy":[[-0.2509392689748562,-1.0018287667698356],[-0.1406888577156747,-0.8818287638872614]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_27","position":[-0.621670796877432,0.9883179186400031,0.71338606911949],"aabb_xy":[[-0.6289145629236772,0.9083179204364008],[-0.6144270308311865,1.0683179168436054]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_28","position":[-0.07070638895357151,-1.9958925008907802,0.71338606911949],"aabb_xy":[[-0.07680101684168983,-2.0044618954424496],[-0.06461176106545319,-1.987323106339112]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_29","position":[0.6596262913850641,1.6520355832469114,0.71338606911949],"aabb_xy":[[0.609626290101224,1.602056728856289],[0.709626292668904,1.7020144376375332]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_30","position":[-0.644850656647758,1.7156120667922372,0.71338606911949],"aabb_xy":[[-0.6943310778617168,1.6516120688793856],[-0.5953702354337992,1.7796120647050893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6579944934660317,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/683.png","name":"683"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/683.png","name":"683"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6118.png","name":"6118"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8007.png","name":"8007"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8339.png","name":"8339"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/720.png","name":"720"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":801.4996672696166,"rotation_z_degrees":27.980384386332375,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003765486337704925,0.015890912654095233,-0.009841748770727828]},{"name":"camera_2","offset_m":[0.012110805099513861,-0.010478311804693684,-0.01627729480550705]},{"name":"camera_3","offset_m":[0.01579874440875104,0.004179979927934417,-0.01439943900916969]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012398849020509141,-0.001648792583139083,-0.0001378146767283539],"end_effector_yaw_offset_degrees":0.703437362082076},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006708430031783018,0.00011181615054784658,-0.001253408699128262],"end_effector_yaw_offset_degrees":-0.72964410494113},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019353547103813026,0.0005269907670734249,0.001068386357882751],"end_effector_yaw_offset_degrees":0.7934544232408394},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014928403223649998,0.00025607278210122274,-0.0003069285962451866],"end_effector_yaw_offset_degrees":0.9827203101459994}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027805563278175027,0.0008597907348526787],"position_m":[0.22061944367218247,-0.02854020926514732,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[2.518026493686723e-05,0.0013439454677288175],"position_m":[0.26082518026493684,-0.3033560545322712,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017444208060012545,0.0009587039236638797],"position_m":[0.14324442080600125,0.2861587039236639,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016753903074191731,0.0024574217456753387],"position_m":[0.3283753903074192,0.18595742174567534,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9abb78bd1d40bd22a0f5614b0a6804a9e84f9f6898619f93b7a33c4e129dcbc5","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_683/tex_ceiling_textures_720/tex_floor_textures_8339/tex_table_textures_6118/tex_wall_textures_8007","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":5622596216382631309,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":5622596216382631309,"visual_seed":5622596216382631309,"scene_id":"lab_003","finished_at":"2026-09-04T22:24:26"}
+{"episode_id":"ep_000086","started_at":"2026-09-04T22:24:30","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[0.46447186603060686,1.5219581852791184,0.71338606911949],"aabb_xy":[[0.45322681045998897,1.510716387555023],[0.47571692160122464,1.5331999830032135]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[0.6040197625786685,-2.5624448334406544,0.71338606911949],"aabb_xy":[[0.5665197622864936,-2.5664863088412586],[0.6415197628708432,-2.558403358040051]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[0.5099893534309994,-1.4710982306442484,0.71338606911949],"aabb_xy":[[0.5038947255428811,-1.4796676251959169],[0.5160839813191177,-1.4625288360925794]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[0.1956437424118178,-2.5351332336294337,0.71338606911949],"aabb_xy":[[0.12564374060307237,-2.556487002393621],[0.26564374422056325,-2.5137794648652463]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[0.6347232559726146,-1.9671275900393734,0.71338606911949],"aabb_xy":[[0.6253762483903194,-1.9814312122570175],[0.6440702635549098,-1.9528239678217294]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[0.32392330813975145,-2.1239559986277756,0.71338606911949],"aabb_xy":[[0.28642330764239315,-2.1279246821758937],[0.36142330863710964,-2.1199873150796567]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[-0.3982933007585019,1.3489656738606626,0.71338606911949],"aabb_xy":[[-0.43579330227413365,1.3377389008445175],[-0.36079329924287024,1.3601924468768076]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_7","position":[-0.057508988651072235,-0.7109680889438155,0.71338606911949],"aabb_xy":[[-0.09875779968098695,-0.7659680884560328],[-0.016260177621157498,-0.6559680894315979]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_8","position":[0.3727273978310859,1.3420661990633036,0.71338606911949],"aabb_xy":[[0.28272740109547567,1.2888827357460089],[0.4627273945666961,1.3952496623805979]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[0.4936299278615859,0.6581712304780303,0.71338606911949],"aabb_xy":[[0.4486299263953572,0.6131713736165497],[0.538629929327815,0.7031710873395111]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[0.2147519742882643,-2.0660236974879913,0.71338606911949],"aabb_xy":[[0.18953113742842462,-2.0912474483408774],[0.23997281114810395,-2.0407999466351034]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[0.15759863663465867,-1.4981090549133527,0.71338606911949],"aabb_xy":[[0.10759863497316392,-1.5481074971690552],[0.20759863829615344,-1.4481106126576497]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[-0.42487794923723593,-2.416399093368072,0.71338606911949],"aabb_xy":[[-0.48887794653958233,-2.4607655203359284],[-0.36087795193488953,-2.372032666400215]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[0.6220418877275389,0.80244296330648,0.71338606911949],"aabb_xy":[[0.5580418858151966,0.7465318140484696],[0.6860418896398813,0.8583541125644905]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[0.2483059716190532,-0.4643028002287384,0.71338606911949],"aabb_xy":[[0.21080597180201963,-0.4689410115398802],[0.28580597143608677,-0.45966458891759654]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[-0.06242285916260781,1.0184040344526188,0.71338606911949],"aabb_xy":[[-0.08491928059647191,0.9959040346458714],[-0.039926437728743706,1.0409040342593663]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.5957439117677905,0.18665470094283476,0.71338606911949],"aabb_xy":[[0.5869418564588177,0.17884337478790568],[0.6045459670767631,0.19446602709776384]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_17","position":[0.47683907967780903,0.07799228055113838,0.71338606911949],"aabb_xy":[[0.4688027449765242,0.0699541612467216],[0.48487541437909387,0.08603039985555516]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[0.2612354210908455,0.9340336832814367,0.71338606911949],"aabb_xy":[[0.25038381484196987,0.9231743925537857],[0.27208702733972107,0.9448929740090878]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[-0.3206476803080398,0.9396888613990875,0.71338606911949],"aabb_xy":[[-0.3307293873866132,0.8596888635069728],[-0.3105659732294663,1.0196888592912021]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_20","position":[0.27196282466096133,-1.7751909652839206,0.71338606911949],"aabb_xy":[[0.20796282754885564,-1.8242233350783312],[0.335962821773067,-1.72615859548951]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[0.03953635733258942,-2.0081059271667954,0.71338606911949],"aabb_xy":[[0.03542040722051675,-2.0122214821996405],[0.04365230744466208,-2.0039903721339494]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[0.31391146089147326,-1.1396404103624185,0.71338606911949],"aabb_xy":[[0.2678263696367418,-1.2036404076149736],[0.35999655214620474,-1.0756404131098634]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.2515494798686219,0.7497997612237506,0.71338606911949],"aabb_xy":[[-0.28586575704323985,0.6997997612505729],[-0.21723320269400398,0.7997997611969283]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[-0.6588076972754556,-0.17268410761459396,0.71338606911949],"aabb_xy":[[-0.6714103964125322,-0.18527950383945946],[-0.6462049981383793,-0.16008871138972847]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[0.07583379269045754,0.6950609449818494,0.71338606911949],"aabb_xy":[[0.06447205803717136,0.6836924785755613],[0.08719552734374368,0.7064294113881374]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_26","position":[-0.4900622744777061,-1.219652687460944,0.71338606911949],"aabb_xy":[[-0.5399449713554023,-1.2696526867072186],[-0.4401795776000099,-1.1696526882146692]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[0.011725212501338511,-2.377664162177572,0.71338606911949],"aabb_xy":[[-0.025606064023904113,-2.4123172169724247],[0.049056489026581135,-2.3430111073827202]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_28","position":[-0.0373026988207239,0.7607747737822024,0.71338606911949],"aabb_xy":[[-0.05980269883087219,0.7466785541425991],[-0.01480269881057561,0.7748709934218057]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6613046955950193,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/516.png","name":"516"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/516.png","name":"516"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8204.png","name":"8204"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7507.png","name":"7507"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7857.png","name":"7857"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7970.png","name":"7970"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":804.088118656171,"rotation_z_degrees":102.11133142078575,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00910144950158158,-0.01578811040103087,-0.010540049548364974]},{"name":"camera_2","offset_m":[-0.007680386198567275,0.001239692947986707,-0.008187305459808383]},{"name":"camera_3","offset_m":[0.002277534241887192,-0.008239517231513097,-0.00686157441574268]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007400191408963529,-2.476770867313816e-05,-0.0017192635339997118],"end_effector_yaw_offset_degrees":-0.49188905947401107},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006776860442029337,0.0017400257430844968,0.0002726355587372078],"end_effector_yaw_offset_degrees":-0.9646228773367342},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017604678044956914,0.0014628956502378957,0.0012705577293329706],"end_effector_yaw_offset_degrees":-0.3840237915271134},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00011303980002663359,0.00013501836846470253,-0.0012053630642819683],"end_effector_yaw_offset_degrees":0.9351361973321195}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002533429572536753,0.0016682579864005474],"position_m":[0.22086657042746324,-0.02773174201359945,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002875885702615751,-0.00034900435637967315],"position_m":[0.26367588570261574,-0.3050490043563797,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002479327472916255,-0.0008792772031871047],"position_m":[0.13902067252708372,0.2843207227968129,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0048217642284434465,-0.0033027183152182452],"position_m":[0.3315217642284434,0.18019728168478175,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0f8533933b83d105b5f35f13aad33429b9a84ff2d4744675c0e0be57ecea1cd3","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0098.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_516/tex_ceiling_textures_7970/tex_floor_textures_7857/tex_table_textures_8204/tex_wall_textures_7507","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1392656767673598947,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1392656767673598947,"visual_seed":1392656767673598947,"scene_id":"lab_003","finished_at":"2026-09-04T22:28:03"}
+{"episode_id":"ep_000087","started_at":"2026-09-04T22:28:07","dimensions":{"distractor":{"count":35,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[0.5888721829871852,-1.7938451108888733,0.71338606911949],"aabb_xy":[[0.5513721826389574,-1.8056365064699564],[0.6263721833354129,-1.7820537153077893]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[-0.11226553153442576,-1.484184552791788,0.71338606911949],"aabb_xy":[[-0.12104675868166202,-1.492964300080318],[-0.10348430438718957,-1.475404805503258]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[0.42569581422951086,-2.2799905019540088,0.71338606911949],"aabb_xy":[[0.36069581634786313,-2.3311141656605496],[0.49069581211115876,-2.228866838247468]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[-0.21323637351278557,1.0520789482516477,0.71338606911949],"aabb_xy":[[-0.24188570587320177,1.023433388974572],[-0.18458704115236932,1.0807245075287235]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[-0.17187012781721567,-0.8569001953097188,0.71338606911949],"aabb_xy":[[-0.2358701310358535,-0.9036233072087271],[-0.10787012459857778,-0.8101770834107104]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.39974640802601213,1.6986277250948114,0.71338606911949],"aabb_xy":[[-0.4797464051855874,1.687080124136994],[-0.31974641086643685,1.710175326052628]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.1858201149331602,-2.1253410371503842,0.71338606911949],"aabb_xy":[[-0.19045523008539356,-2.1292083722275326],[-0.18118499978092678,-2.121473702073235]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[0.6010335775291429,-1.6598174862580448,0.71338606911949],"aabb_xy":[[0.5370335771516093,-1.709562753108857],[0.6650335779066765,-1.6100722194072326]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_8","position":[-0.4831787094524377,-1.2257096849011393,0.71338606911949],"aabb_xy":[[-0.4880223042136677,-1.2305613373801236],[-0.47833511469120776,-1.2208580324221554]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[-0.5779688137331481,0.6078902533681818,0.71338606911949],"aabb_xy":[[-0.6154688143977268,0.5922031953679595],[-0.5404688130685694,0.6235773113684039]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[-0.10489873593577137,-1.8130098742410174,0.71338606911949],"aabb_xy":[[-0.15989873511236086,-1.8679995490159749],[-0.04989873675918187,-1.7580201994660596]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[0.27854032687833186,1.5392307362853752,0.71338606911949],"aabb_xy":[[0.21454032453553026,1.494289885041243],[0.34254032922113337,1.584171587529508]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[-0.16352913760175403,-1.2429894511634485,0.71338606911949],"aabb_xy":[[-0.21352913926324876,-1.292987893419151],[-0.11352913594025925,-1.1929910089077456]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[0.5487084652317655,-1.4040517182743353,0.71338606911949],"aabb_xy":[[0.5137084660389472,-1.4150187642719976],[0.5837084644245837,-1.393084672276672]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_14","position":[-0.4198842921839258,-1.9186575642059966,0.71338606911949],"aabb_xy":[[-0.4542005693585437,-1.9686575641791741],[-0.3855680150093078,-1.8686575642328187]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[0.5298474807460443,1.7929381677299223,0.71338606911949],"aabb_xy":[[0.4998799238362186,1.7629381674320366],[0.5598150376558699,1.822938168027808]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.40483183479984913,0.3657734207785497,0.71338606911949],"aabb_xy":[[-0.4353160849268793,0.31577342099705374],[-0.374347584672819,0.4157734205600456]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[0.6405856487821511,0.7105157513875429,0.71338606911949],"aabb_xy":[[0.5605856501948316,0.6312001494493819],[0.7205856473694705,0.7898313533257036]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.4756641360549526,-0.7877746770845122,0.71338606911949],"aabb_xy":[[-0.4843620983456679,-0.7998996513919869],[-0.4669661737642373,-0.7756497027770375]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[0.2603473185003675,-0.8065091628662882,0.71338606911949],"aabb_xy":[[0.25431030549970285,-0.8125358639352364],[0.2663843315010323,-0.80048246179734]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.0470096965304978,-1.4372999799092843,0.71338606911949],"aabb_xy":[[0.03145392712023254,-1.4528504131536912],[0.06256546594076307,-1.4217495466648769]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[-0.09788411840091837,-1.116103172796024,0.71338606911949],"aabb_xy":[[-0.12038411891295896,-1.1385950311614224],[-0.07538411788887776,-1.0936113144306256]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[0.03183232555469029,-0.8356996282462037,0.71338606911949],"aabb_xy":[[-0.038167676047589194,-0.8491324214478613],[0.10183232715696977,-0.8222668350445461]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[-0.17129491942494635,0.8270892780357122,0.71338606911949],"aabb_xy":[[-0.1925729275684186,0.7620892757096391],[-0.1500169112814741,0.8920892803617853]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_24","position":[0.4541851757427573,1.0065780011224592,0.71338606911949],"aabb_xy":[[0.40419016478330533,0.9565780020868677],[0.5041801867022093,1.0565780001580511]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[0.4979209717532378,-0.6643190552162568,0.71338606911949],"aabb_xy":[[0.4604209733298374,-0.6774832691840873],[0.5354209701766381,-0.651154841248426]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_26","position":[0.3294726329037643,1.7383620562803919,0.71338606911949],"aabb_xy":[[0.31684584561656787,1.7288159825788187],[0.34209942019096057,1.7479081299819645]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_27","position":[-0.26304140447118823,-1.4281176540245089,0.71338606911949],"aabb_xy":[[-0.2855414039948956,-1.4506136014751296],[-0.2405414049474808,-1.405621706573888]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_28","position":[-0.11697404423947244,-2.5213323403002543,0.71338606911949],"aabb_xy":[[-0.17697404510028525,-2.57275877030674],[-0.05697404337865964,-2.4699059102937677]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_29","position":[-0.14894118548141821,1.276252493475317,0.71338606911949],"aabb_xy":[[-0.18644118529845174,1.2716142821641752],[-0.11144118566438463,1.2808907047864588]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_30","position":[-0.3991431369393369,-1.6110172358721155,0.71338606911949],"aabb_xy":[[-0.43414313829081863,-1.6313769718289362],[-0.36414313558785516,-1.5906574999152945]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_31","position":[-0.3645709906928169,1.798065153715703,0.71338606911949],"aabb_xy":[[-0.40207099119017514,1.7940964701675846],[-0.32707099019545866,1.8020338372638216]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_32","position":[-0.16547050878536673,-0.4780489442412388,0.71338606911949],"aabb_xy":[[-0.1879696445115937,-0.5005489450195018],[-0.14297137305913976,-0.45554894346297586]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_33","position":[-0.24384057079936478,-1.754719043805061,0.71338606911949],"aabb_xy":[[-0.25728709743340805,-1.7681888954581522],[-0.23039404416532142,-1.7412491921519695]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_34","position":[-0.5374885004720718,-2.4419315682189375,0.71338606911949],"aabb_xy":[[-0.5526606697537051,-2.457100425147141],[-0.5223163311904384,-2.426762711290734]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6599074775049195,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/251.png","name":"251"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/251.png","name":"251"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9716.png","name":"9716"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3987.png","name":"3987"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2378.png","name":"2378"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1387.png","name":"1387"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":681.0444126871599,"rotation_z_degrees":249.49040529206135,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0027404894684160477,-0.014618803117189208,-0.012585274606918597]},{"name":"camera_2","offset_m":[0.016825106321770932,0.01741123464546532,0.013186790391528706]},{"name":"camera_3","offset_m":[-0.006266666093428026,0.01681753343447959,0.009842860253027275]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018992950543863935,-0.0004245462915097992,-0.0006484103210775811],"end_effector_yaw_offset_degrees":0.7414585586775517},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015967699319198595,-0.0014613827983440749,-0.0014422315398173679],"end_effector_yaw_offset_degrees":-0.5387269803556394},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017675152074723955,-0.001145517007625799,0.0019341706140719936],"end_effector_yaw_offset_degrees":-0.8343845229392546},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00013206515303373174,-0.001155781818223766,0.0003523923706668596],"end_effector_yaw_offset_degrees":0.4081189918600898}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000557331347323723,0.0045590887802481215],"position_m":[0.2239573313473237,-0.024840911219751877,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015762271115076255,0.00018018629344140457],"position_m":[0.2623762271115076,-0.3045198137065586,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004670331696702229,-0.0012411006839138016],"position_m":[0.13682966830329776,0.2839588993160862,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0049330860804559255,0.0018417677617777418],"position_m":[0.32176691391954404,0.18534176776177774,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a55f87f8bfd650ac0bdd482329be755f99d5c14470d6467cb2ac2398e62489c2","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0099.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_251/tex_ceiling_textures_1387/tex_floor_textures_2378/tex_table_textures_9716/tex_wall_textures_3987","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3586230643423217274,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3586230643423217274,"visual_seed":3586230643423217274,"scene_id":"lab_003","finished_at":"2026-09-04T22:31:36"}
+{"episode_id":"ep_000088","started_at":"2026-09-04T22:31:40","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[0.6364424523133874,1.100935545909147,0.71338606911949],"aabb_xy":[[0.598942452369621,1.0926424558743104],[0.6739424522571538,1.1092286359439836]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.35030649761035426,0.8259916505707108,0.71338606911949],"aabb_xy":[[-0.3781515343909614,0.795207151832399],[-0.32246146082974714,0.8567761493090224]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[0.12467445539942335,-0.8963972187233546,0.71338606911949],"aabb_xy":[[0.10688094846450688,-0.9141969643191523],[0.14246796233433975,-0.878597473127557]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_3","position":[0.3600509281170663,-1.6735118060875256,0.71338606911949],"aabb_xy":[[0.3100509264555715,-1.7235102483432283],[0.410050929778561,-1.6235133638318229]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.12393905019539575,0.4649603299540157,0.71338606911949],"aabb_xy":[[-0.16524359325913174,0.40096033038589857],[-0.08263450713165976,0.5289603295221328]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[0.6253292094533258,-0.39457473702347734,0.71338606911949],"aabb_xy":[[0.5613292072329187,-0.4389478211487657],[0.6893292116737327,-0.3502016528981891]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[-0.43323973765262447,0.15913722391824958,0.71338606911949],"aabb_xy":[[-0.4832328497618164,0.10913722324405395],[-0.38324662554343264,0.20913722459244524]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_7","position":[0.6088184165949027,-1.973406523160735,0.71338606911949],"aabb_xy":[[0.574521505577162,-2.0077034093706763],[0.6431153276126431,-1.9391096369507936]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.6006171393997236,-0.3007359427225804,0.71338606911949],"aabb_xy":[[-0.6484233070134922,-0.36573594542963933],[-0.5528109717859548,-0.2357359400155214]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[-0.559506331148554,0.9452741119124299,0.71338606911949],"aabb_xy":[[-0.5675326017791799,0.9365226169350773],[-0.5514800605179279,0.9540256068897826]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[0.27757545759063196,-1.8054757495579834,0.71338606911949],"aabb_xy":[[0.2525754580388935,-1.815618233423118],[0.30257545714237044,-1.7953332656928485]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[-0.2942387928164882,-1.0897554270627416,0.71338606911949],"aabb_xy":[[-0.3742387938896085,-1.099533473400126],[-0.21423879174336785,-1.0799773807253572]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[-0.13345578943450487,-0.8680609683136069,0.71338606911949],"aabb_xy":[[-0.15103409162345172,-0.8856354578877118],[-0.11587748724555802,-0.850486478739502]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.09022445295121218,-1.3292735362379948,0.71338606911949],"aabb_xy":[[-0.15022445320261335,-1.3835548612744595],[-0.030224452699810986,-1.2749922112015302]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.3216414441289424,-2.0105854922757325,0.71338606911949],"aabb_xy":[[-0.38564144440292064,-2.0606515924730204],[-0.2576414438549642,-1.9605193920784445]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.6306159977321695,-1.6405921438805717,0.71338606911949],"aabb_xy":[[0.5807333008544734,-1.6905921431268467],[0.6804986946098658,-1.5905921446342972]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.2616316712972103,1.538807714691083,0.71338606911949],"aabb_xy":[[0.2575157211851376,1.534692159658237],[0.26574762140928293,1.5429232697239281]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[-0.5290952472740565,-2.2766740143580013,0.71338606911949],"aabb_xy":[[-0.5465952464084236,-2.2865536413955887],[-0.5115952481396893,-2.266794387320413]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[0.35451741037399453,-1.0064301792036865,0.71338606911949],"aabb_xy":[[0.299517411197405,-1.0614198539786441],[0.40951740955058397,-0.9514405044287289]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[-0.19365439404653595,-0.25829633974556243,0.71338606911949],"aabb_xy":[[-0.28365439376971,-0.2813696922807422],[-0.10365439432336172,-0.23522298721038257]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[0.44116809213963704,1.0055282108339294,0.71338606911949],"aabb_xy":[[0.3511680956387652,0.959616568415471],[0.5311680886405087,1.0514398532523874]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_21","position":[-0.014667520899347752,-2.3289406687758296,0.71338606911949],"aabb_xy":[[-0.09466752416336088,-2.342500701084743],[0.06533248236466538,-2.3153806364669163]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_22","position":[-0.4468698592683262,0.4178472407597491,0.71338606911949],"aabb_xy":[[-0.4918698607345552,0.37284738389826844],[-0.4018698578020975,0.46284709762122983]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_23","position":[0.41717750633045503,-0.7174997604199358,0.71338606911949],"aabb_xy":[[0.3872099494206293,-0.7474997607178214],[0.44714506324028064,-0.6874997601220499]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[-0.5793941319759519,-1.3944400718079848,0.71338606911949],"aabb_xy":[[-0.6693941313943228,-1.427815568652174],[-0.489394132557581,-1.3610645749637946]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[0.5346593880282955,-1.7582094835176412,0.71338606911949],"aabb_xy":[[0.5238189098017805,-1.77539576480829],[0.5454998662548103,-1.7410232022269923]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_26","position":[0.3423787946960719,-2.460026181184253,0.71338606911949],"aabb_xy":[[0.3048787962726715,-2.4731903951520837],[0.3798787931194722,-2.4468619672164222]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_27","position":[0.08041880499406773,-1.3606874829759714,0.71338606911949],"aabb_xy":[[0.010418801602505743,-1.396003256679402],[0.15041880838562968,-1.3253717092725403]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_28","position":[-0.0004713492226857685,1.2826469311430886,0.71338606911949],"aabb_xy":[[-0.07047135185927211,1.2625420661472226],[0.06952865341390058,1.3027517961389536]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_29","position":[-0.4770621759871161,1.5700970920803612,0.71338606911949],"aabb_xy":[[-0.5265425972010749,1.5060970941675094],[-0.4275817547731573,1.634097089993213]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_30","position":[-0.5238301176528244,-1.6467764217781533,0.71338606911949],"aabb_xy":[[-0.5318664523541092,-1.6548145410825699],[-0.5157937829515395,-1.6387383024737363]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6567051471513,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2388.png","name":"2388"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2388.png","name":"2388"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6558.png","name":"6558"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1817.png","name":"1817"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3855.png","name":"3855"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9368.png","name":"9368"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":579.4913011235234,"rotation_z_degrees":32.17313618482975,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01939941769128715,-0.01042144679570931,-0.01962279542980879]},{"name":"camera_2","offset_m":[0.0030561421253665864,0.0164521922088841,0.0134004388944441]},{"name":"camera_3","offset_m":[0.010122952795908045,-0.0022052702821919075,0.01800431148918249]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007919805618671638,0.00043397085715036294,0.0012267762621842454],"end_effector_yaw_offset_degrees":0.2013808836463984},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00024201093642784344,0.0017659594122241599,0.000760974086112723],"end_effector_yaw_offset_degrees":0.7005531547845383},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000933067795640299,-0.0007375163518400618,-0.0008470727291841995],"end_effector_yaw_offset_degrees":0.8655304931036678},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-8.339535150560045e-05,0.001971342017233614,0.0008494021306622987],"end_effector_yaw_offset_degrees":-0.6881515302613108}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017276292730233267,-0.0044799230810861805],"position_m":[0.22512762927302332,-0.03387992308108618,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001649939867982011,0.0009185808743692458],"position_m":[0.25915006013201797,-0.3037814191256308,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00072086278873538,0.002061329232344364],"position_m":[0.14077913721126462,0.2872613292323444,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017907944524539606,0.00020150338341131703],"position_m":[0.32849079445245394,0.18370150338341132,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1be6a80f0434d66abbd95c082019d6109ebe2e9cfd4c476d2d365d381db7fab8","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0100.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2388/tex_ceiling_textures_9368/tex_floor_textures_3855/tex_table_textures_6558/tex_wall_textures_1817","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8847297858268524672,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8847297858268524672,"visual_seed":8847297858268524672,"scene_id":"lab_003","finished_at":"2026-09-04T22:35:21"}
+{"episode_id":"ep_000089","started_at":"2026-09-04T22:35:25","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.4673327154073095,-1.5733051765908772,0.71338606911949],"aabb_xy":[[0.4394876786267024,-1.604089675329189],[0.49517775218791665,-1.5425206778525655]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.3571573589026621,1.1661062089668421,0.71338606911949],"aabb_xy":[[-0.3651508486979441,1.1581080770263665],[-0.34916386910738006,1.1741043409073177]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.6646499167289862,-1.6345610949840341,0.71338606911949],"aabb_xy":[[-0.6896499166615042,-1.6414437632049577],[-0.6396499167964684,-1.627678426763111]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.11478992164586899,-1.0297507073254912,0.71338606911949],"aabb_xy":[[0.05078992305929653,-1.076757670725],[0.17878992023244145,-0.9827437439259825]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[-0.18709962206512287,0.46722049713264635,0.71338606911949],"aabb_xy":[[-0.1948028127391999,0.4595111264339084],[-0.1793964313910458,0.4749298678313844]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[-0.5134481083508599,1.1687147149644486,0.71338606911949],"aabb_xy":[[-0.5242997145997355,1.1578554242367975],[-0.5025965021019843,1.1795740056920996]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.42430386258150926,-2.457200608845442,0.71338606911949],"aabb_xy":[[-0.49430386521809555,-2.477305473841307],[-0.35430385994492286,-2.437095743849576]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[-0.10091231537835965,0.6827901458678056,0.71338606911949],"aabb_xy":[[-0.14804169438019532,0.6187901448234036],[-0.05378293637652398,0.7467901469122075]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.15226377598993057,0.9195574009121117,0.71338606911949],"aabb_xy":[[-0.21626377636746416,0.8698121340612994],[-0.08826377561239693,0.969302667762924]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[0.25735029419562694,-0.9404976590191976,0.71338606911949],"aabb_xy":[[0.25343642100020436,-0.9492466744257544],[0.2612641673910494,-0.9317486436126408]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_10","position":[0.4875088962474101,-0.571557885053517,0.71338606911949],"aabb_xy":[[0.45000889643037656,-0.5761960963646588],[0.5250088960644437,-0.5669196737423752]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[0.07685040048229852,1.7897704594578916,0.71338606911949],"aabb_xy":[[0.03999985254531091,1.752270458634858],[0.11370094841928613,1.8272704602809255]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[-0.5723306566111731,-1.062093578339769,0.71338606911949],"aabb_xy":[[-0.6069217394652183,-1.1270935786247998],[-0.5377395737571279,-0.9970935780547378]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[-0.5047877073973007,-0.3764148081701535,0.71338606911949],"aabb_xy":[[-0.5547825403252423,-0.42641480706539703],[-0.4547928744693591,-0.32641480927490996]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[0.3715413085127732,1.7730419164596092,0.71338606911949],"aabb_xy":[[0.35689790295874024,1.7583831968028247],[0.3861847140668062,1.7877006361163932]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.29246953728423186,1.7071898724358916,0.71338606911949],"aabb_xy":[[-0.322953787411262,1.6571898726543957],[-0.2619852871572017,1.7571898722173875]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[-0.3276342957476729,0.1878471687120884,0.71338606911949],"aabb_xy":[[-0.36981870990850363,0.12384716843487723],[-0.28544988158684215,0.2518471689892996]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[-0.29730758339076657,0.8133862267969691,0.71338606911949],"aabb_xy":[[-0.3148075836358159,0.7958864389574022],[-0.27980758314571713,0.8308860146365359]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[-0.45906518997078716,-0.06060653604093247,0.71338606911949],"aabb_xy":[[-0.4722961355054684,-0.07383395506293189],[-0.4458342444361058,-0.04737911701893304]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.42518330077102506,-1.7795053944415322,0.71338606911949],"aabb_xy":[[0.41715703014039907,-1.7882568894188848],[0.43320957140165106,-1.7707538994641796]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.6027638732764968,-0.5848061054120497,0.71338606911949],"aabb_xy":[[-0.6377638746279786,-0.6051658413688705],[-0.5677638719250151,-0.5644463694552289]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[-0.08906659546980211,1.5332182372134233,0.71338606911949],"aabb_xy":[[-0.17278882096988457,1.4432182336787271],[-0.0053443699697196395,1.623218240748119]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.5692218565321432,0.04171751711032945,0.71338606911949],"aabb_xy":[[-0.6332218588749446,-0.003223334133803039],[-0.5052218541893415,0.08665836835446195]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66070739824539,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5938.png","name":"5938"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5938.png","name":"5938"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6974.png","name":"6974"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8671.png","name":"8671"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2256.png","name":"2256"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7004.png","name":"7004"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":767.5442628852297,"rotation_z_degrees":170.90831687937558,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011779018258847408,-0.004228313984405513,-0.018463392161085786]},{"name":"camera_2","offset_m":[-0.011953131202702978,0.007905011461485173,0.011106961212535162]},{"name":"camera_3","offset_m":[-0.003118250138742812,0.017598359682030166,-0.0064693153325350045]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015736823531486898,-0.00019261338646646615,0.0010618316666131493],"end_effector_yaw_offset_degrees":-0.22808105865297756},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003748198330992495,-0.001356004694931258,0.001430391824168807],"end_effector_yaw_offset_degrees":0.7904812668514558},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011605008102910002,-0.0004252511965557671,-0.0012285853701839923],"end_effector_yaw_offset_degrees":-0.6753253329456899},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002769575889745323,-0.000863852888068263,0.001106687611550247],"end_effector_yaw_offset_degrees":0.1018449321431747}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002684352985406353,0.004121946929822586],"position_m":[0.22071564701459365,-0.025278053070177414,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004331736459803366,0.003776765680416215],"position_m":[0.26513173645980337,-0.3009232343195838,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019967850059807776,0.0009459378932935658],"position_m":[0.14349678500598076,0.28614593789329357,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002326194454014596,-0.0013110840767393286],"position_m":[0.3290261944540146,0.18218891592326067,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a74c59f7d8d6113d59c7d883d63e9da1567ef0e5687694e24c5274943b890a01","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0101.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5938/tex_ceiling_textures_7004/tex_floor_textures_2256/tex_table_textures_6974/tex_wall_textures_8671","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3784038632787731057,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3784038632787731057,"visual_seed":3784038632787731057,"scene_id":"lab_003","finished_at":"2026-09-04T22:38:53"}
+{"episode_id":"ep_000090","started_at":"2026-09-04T22:43:46","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[-0.5601629351889879,0.8442595595323574,0.71338606911949],"aabb_xy":[[-0.5748063407430207,0.8296008398755732],[-0.5455195296349548,0.8589182791891417]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_1","position":[-0.14807224341008884,0.3889459536184545,0.71338606911949],"aabb_xy":[[-0.15891272163660375,0.37175967232780566],[-0.13723176518357394,0.4061322349091033]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[0.6597473240916756,1.4392453769823335,0.71338606911949],"aabb_xy":[[0.5957473276643537,1.392075753160237],[0.7237473205189975,1.48641500080443]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[0.20580397535707529,-1.056025112980301,0.71338606911949],"aabb_xy":[[0.18330397484503463,-1.0785169713456992],[0.22830397586911583,-1.0335332546149025]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[-0.4210339510830896,1.264260022025161,0.71338606911949],"aabb_xy":[[-0.49103395321451915,1.241498056399465],[-0.35103394895166007,1.2870219876508564]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.2029766844793145,-2.056356652245798,0.71338606911949],"aabb_xy":[[-0.22060952007284204,-2.073979598261421],[-0.1853438488857869,-2.038733706230175]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[-0.5016952183909381,0.5777416306276191,0.71338606911949],"aabb_xy":[[-0.5391952182079716,0.5731034193164772],[-0.46419521857390444,0.5823798419387609]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[0.36105743401519463,0.6332198287365043,0.71338606911949],"aabb_xy":[[0.2810574354278752,0.5539042267983434],[0.44105743260251407,0.7125354306746652]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[0.5691677708133775,0.39295648664189287,0.71338606911949],"aabb_xy":[[0.4891677675555346,0.3129599788499089],[0.6491677740712205,0.47295299443387684]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[-0.5907827698805754,-2.057888129581353,0.71338606911949],"aabb_xy":[[-0.6282827706725709,-2.064255970539543],[-0.55328276908858,-2.0515202886231627]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.1430762461367696,0.8994744927694343,0.71338606911949],"aabb_xy":[[0.10557624619300318,0.8911814027345978],[0.180576246080536,0.907767582804271]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[0.21743438974789397,-0.7662273496271834,0.71338606911949],"aabb_xy":[[0.1598039208606231,-0.8262273485538938],[0.2750648586351648,-0.7062273507004727]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[0.4756617423959071,1.751536474235166,0.71338606911949],"aabb_xy":[[0.42566174374998583,1.7016169305757036],[0.5256617410418283,1.8014560178946284]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[-0.5871245728539374,-1.074484918533294,0.71338606911949],"aabb_xy":[[-0.6116707884766881,-1.1047338150823311],[-0.5625783572311867,-1.044236021984257]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[0.2802931807201189,-1.8281066109805217,0.71338606911949],"aabb_xy":[[0.24583083332197705,-1.8626004933783444],[0.31475552811826063,-1.793612728582699]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_15","position":[-0.6093868505821531,0.35237544445583735,0.71338606911949],"aabb_xy":[[-0.6438493285952408,0.3457117672729145],[-0.5749243725690653,0.3590391216387602]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[-0.21303225256855118,-1.4634434957391433,0.71338606911949],"aabb_xy":[[-0.26303225392943835,-1.513421400314559],[-0.16303225120766393,-1.4134655911637277]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[0.3925398562294484,-0.6112531566604842,0.71338606911949],"aabb_xy":[[0.380771669434791,-0.6962531565657059],[0.40430804302410606,-0.5262531567552627]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.36506230190224676,0.32148995499864697,0.71338606911949],"aabb_xy":[[0.3275623007174539,0.31707173230258645],[0.4025623030870395,0.3259081776947075]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.38476855587792125,1.2512978219467548,0.71338606911949],"aabb_xy":[[0.32076855948234817,1.1873345335280212],[0.4487685522734943,1.3152611103654883]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[-0.3812395053134376,-2.5077084430504644,0.71338606911949],"aabb_xy":[[-0.4612395067435648,-2.587225598063074],[-0.3012395038833104,-2.428191288037855]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[-0.43444828046020195,1.7402939487690436,0.71338606911949],"aabb_xy":[[-0.4400299520943307,1.7277939489512681],[-0.4288666088260732,1.7527939485868191]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[-0.6751229407644923,0.1297709292319693,0.71338606911949],"aabb_xy":[[-0.692033673200834,0.11629872363935477],[-0.6582122083281504,0.1432431348245838]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[-0.4141591343157609,-2.2502432772044467,0.71338606911949],"aabb_xy":[[-0.46363955552971975,-2.3142432751172985],[-0.36467871310180217,-2.186243279291595]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_24","position":[0.428340968836159,-0.4228128013349708,0.71338606911949],"aabb_xy":[[0.3908409684879312,-0.4346041969160543],[0.4658409691843867,-0.4110214057538872]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[-0.31993014250925766,-1.9826187016372465,0.71338606911949],"aabb_xy":[[-0.3611789535391724,-2.037618701149463],[-0.27868133147934293,-1.9276187021250286]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_26","position":[0.06969705118915237,1.6023875762040896,0.71338606911949],"aabb_xy":[[0.00569705092868157,1.5573787768511616],[0.13369705144962318,1.6473963755570176]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_27","position":[-0.1975425824041095,0.2815082961836852,0.71338606911949],"aabb_xy":[[-0.267542584006389,0.2680755029820277],[-0.12754258080183004,0.29494108938534286]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_28","position":[-0.21490754007306245,1.7048222974623255,0.71338606911949],"aabb_xy":[[-0.30490753657393416,1.658910655043867],[-0.12490754357219068,1.7507339398807835]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_29","position":[0.5218009879436909,1.5244252346358542,0.71338606911949],"aabb_xy":[[0.5176850378316181,1.5203096796030084],[0.5259169380557634,1.5285407896686996]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_30","position":[0.5034840432151877,-0.25118798185148616,0.71338606911949],"aabb_xy":[[0.4621795001514517,-0.3151879814196032],[0.5447885862789237,-0.18718798228336903]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_31","position":[0.5362234589025365,0.8306012854705913,0.71338606911949],"aabb_xy":[[0.5112234597369034,0.8236490397652347],[0.5612234580681696,0.8375535311759479]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6592499112844271,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/39.png","name":"39"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/39.png","name":"39"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3706.png","name":"3706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8495.png","name":"8495"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9349.png","name":"9349"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9541.png","name":"9541"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":725.761057484704,"rotation_z_degrees":112.30350418912684,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0013944667250813218,-0.016569757896375076,-0.01680815905119263]},{"name":"camera_2","offset_m":[0.01386325959170608,-0.013638174541556873,0.0012460935490188202]},{"name":"camera_3","offset_m":[-0.00026422244410264153,0.011609208667089772,-0.002705773406754125]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00031254509538830707,0.0012304914387746262,0.0011425476363877154],"end_effector_yaw_offset_degrees":-0.7747235942529627},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001223169102206748,-0.0017880836536472318,0.0019109543351834464],"end_effector_yaw_offset_degrees":0.44519721589236294},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007245461419185684,-0.001600770171418549,-0.0004914632206703469],"end_effector_yaw_offset_degrees":0.3512827388716693},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013583506054236595,0.0009809519816175337,-0.0019037065846530257],"end_effector_yaw_offset_degrees":-0.6011978529749165}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0047971883167385225,0.0029553720434593025],"position_m":[0.21860281168326146,-0.026444627956540696,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005724237867364692,-0.0025068362509969655],"position_m":[0.26022757621326353,-0.307206836250997,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036404327681701246,0.0019664747164407246],"position_m":[0.14514043276817012,0.28716647471644074,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003707036136474484,-0.0034547491168795876],"position_m":[0.3304070361364745,0.1800452508831204,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"112694954c7fb2d3e06924aa3909872802f5ccf1bdaca5ea953fd869d5c1daa2","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0104.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_39/tex_ceiling_textures_9541/tex_floor_textures_9349/tex_table_textures_3706/tex_wall_textures_8495","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7219678399447850447,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7219678399447850447,"visual_seed":7219678399447850447,"scene_id":"lab_003","finished_at":"2026-09-04T22:47:17"}
+{"episode_id":"ep_000091","started_at":"2026-09-04T22:47:21","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[-0.023629615307062424,-0.9297875941975215,0.71338606911949],"aabb_xy":[[-0.07862282664419919,-0.9847875945363153],[0.03136359603007434,-0.8747875938587281]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[0.39908744344602787,-0.5481099414516613,0.71338606911949],"aabb_xy":[[0.3340874424889006,-0.6000581533853667],[0.464087444403155,-0.4961617295179556]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.4105899990201576,-0.7945510512909648,0.71338606911949],"aabb_xy":[[0.37308999884828564,-0.8272517866738719],[0.4480899991920295,-0.7618503159080575]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[-0.24246656509915143,0.2910526412201673,0.71338606911949],"aabb_xy":[[-0.2974665647208973,0.23606894843269455],[-0.1874665654774056,0.34603633400764]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[-0.11929444302417047,1.4093796900327362,0.71338606911949],"aabb_xy":[[-0.15679444381616592,1.403011849074546],[-0.08179444223217504,1.4157475309909264]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[0.4435734097251649,0.07647220321619086,0.71338606911949],"aabb_xy":[[0.4339417735047353,0.06683489043648193],[0.4532050459455945,0.08610951599589976]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_6","position":[0.4890779672681369,1.6601760376508161,0.71338606911949],"aabb_xy":[[0.47973095968584173,1.6458724154331719],[0.4984249748504322,1.67447965986846]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[0.14849033520483235,-1.3953401671936407,0.71338606911949],"aabb_xy":[[0.1119945145775536,-1.4318241096203983],[0.1849861558321111,-1.3588562247668832]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[-0.3291192376553492,-1.9381423836973724,0.71338606911949],"aabb_xy":[[-0.3337543528075826,-1.9420097187745207],[-0.32448412250311576,-1.9342750486202236]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[0.24181778737797432,-2.40826587095422,0.71338606911949],"aabb_xy":[[0.23837711113791718,-2.4121273039285844],[0.24525846361803152,-2.4044044379798555]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[0.485630970479624,-1.2771387880042566,0.71338606911949],"aabb_xy":[[0.435652161969308,-1.3271387880099752],[0.5356097789899398,-1.2271387879985376]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[-0.5590067824595303,0.06209091308249581,0.71338606911949],"aabb_xy":[[-0.5761088604178984,0.04498410755122607],[-0.5419047045011621,0.07919771861376557]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[0.15916288153966607,-2.545599575496684,0.71338606911949],"aabb_xy":[[0.147230147177838,-2.557981728304543],[0.17109561590149414,-2.5332174226888244]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[-0.42732649444036847,-0.20807278542434604,0.71338606911949],"aabb_xy":[[-0.4386882290936546,-0.21944125183063412],[-0.4159647597870823,-0.19670431901805796]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.2636603619762909,-1.6745245772802488,0.71338606911949],"aabb_xy":[[-0.29362791888611656,-1.7045245775781346],[-0.23369280506646523,-1.644524576982363]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[0.32863054794753466,-1.0283267425538538,0.71338606911949],"aabb_xy":[[0.3209273572734576,-1.036036113252592],[0.3363337386216117,-1.0206173718551157]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[-0.10002536637393866,-2.277509057130608,0.71338606911949],"aabb_xy":[[-0.18002536853670115,-2.357464240756751],[-0.020025364211176164,-2.197553873504464]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[-0.45261035379130843,-1.4258117505183374,0.71338606911949],"aabb_xy":[[-0.4751240456147656,-1.495811751119345],[-0.43009666196785123,-1.35581174991733]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.3253148744953365,0.14390104238556223,0.71338606911949],"aabb_xy":[[-0.41531487099620823,0.09798939996710397],[-0.23531487799446474,0.18981268480402044]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[0.538006792885573,-0.7996515067841312,0.71338606911949],"aabb_xy":[[0.5158342659089221,-0.8218271739402542],[0.5601793198622238,-0.7774758396280078]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.13184463480833042,-1.940971836016317,0.71338606911949],"aabb_xy":[[-0.16017434475687067,-1.9454325782100341],[-0.10351492485979022,-1.9365110938226]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.25978039717475304,-0.22703565994963837,0.71338606911949],"aabb_xy":[[-0.32378039858274366,-0.2788246114735631],[-0.19578039576676234,-0.1752467084257137]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[0.33484401698019806,0.9609034743753484,0.71338606911949],"aabb_xy":[[0.25484401670659107,0.8879539265496316],[0.41484401725380504,1.033853022201065]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_23","position":[0.5066788723072135,0.9114430557248854,0.71338606911949],"aabb_xy":[[0.46391216542779334,0.8474430523030828],[0.5494455791866337,0.9754430591466877]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_24","position":[-0.49065193954887165,1.715880228260199,0.71338606911949],"aabb_xy":[[-0.5756519382409462,1.6838943648653202],[-0.40565194085679696,1.747866091655078]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6574927440324336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1172.png","name":"1172"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1172.png","name":"1172"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5948.png","name":"5948"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3508.png","name":"3508"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7627.png","name":"7627"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7303.png","name":"7303"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":664.8322558775824,"rotation_z_degrees":175.9650687680167,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004542383993522785,0.006186882493049155,0.006014507689019961]},{"name":"camera_2","offset_m":[0.01110834095756133,0.0012017983886276652,0.0026408031944435764]},{"name":"camera_3","offset_m":[-0.016955132910145162,-0.016126840205241258,0.00633863273265434]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000645642117363177,0.00022080383521678668,-0.0015024632152847905],"end_effector_yaw_offset_degrees":0.24094691501489995},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018054843614380817,0.0006694502279041793,0.001961098968539932],"end_effector_yaw_offset_degrees":0.38204691076025066},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007319070760863774,0.001502838667173338,0.0008427614758764889],"end_effector_yaw_offset_degrees":-0.9948505702128243},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005818684868977107,-0.0007552862182579805,-0.0011058628316615558],"end_effector_yaw_offset_degrees":0.5861457532268939}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004900115500993646,0.0024061793570120575],"position_m":[0.21849988449900634,-0.026993820642987942,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029528918994018018,-0.00325071215281154],"position_m":[0.2578471081005982,-0.30795071215281156,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001679864973051142,-0.003202067639247501],"position_m":[0.14317986497305113,0.2819979323607525,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003941330688265634,-0.003807386065935562],"position_m":[0.3306413306882656,0.17969261393406444,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fbfd40dfa8f281ddac32d2e7e4bbfda34d316b4468d8bc03ed872aeab2481b2b","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0105.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1172/tex_ceiling_textures_7303/tex_floor_textures_7627/tex_table_textures_5948/tex_wall_textures_3508","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":6331826116785756223,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":6331826116785756223,"visual_seed":6331826116785756223,"scene_id":"lab_003","finished_at":"2026-09-04T22:50:57"}
+{"episode_id":"ep_000092","started_at":"2026-09-04T22:51:01","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[-0.47066158575040806,0.7055111951845268,0.71338606911949],"aabb_xy":[[-0.48353348925134815,0.6255111947706905],[-0.45778968224946787,0.7855111955983628]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.38141685056858976,-1.9873814694115493,0.71338606911949],"aabb_xy":[[0.31741685417301674,-2.0513447578302832],[0.4454168469641629,-1.923418180992816]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[-0.12742675446926155,1.6581382156779827,0.71338606911949],"aabb_xy":[[-0.13899573521619812,1.6331382155610512],[-0.11585777372232497,1.6831382157949146]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[-0.2589135284296651,1.5903672775645794,0.71338606911949],"aabb_xy":[[-0.29641352892702333,1.5863985940164609],[-0.22141352793230684,1.594335961112698]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[0.691252661483986,-1.0215301204773726,0.71338606911949],"aabb_xy":[[0.6839914139135785,-1.034317130740882],[0.6985139090543935,-1.008743110213863]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[0.43194116722798515,-2.1841071758419286,0.71338606911949],"aabb_xy":[[0.3669411662274846,-2.2348935409966035],[0.49694116822848566,-2.1333208106872537]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.1685413700870021,-2.0791427922371515,0.71338606911949],"aabb_xy":[[-0.17578513613324742,-2.159142790440754],[-0.16129760404075677,-1.999142794033549]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_7","position":[-0.45272404881184647,1.23453082285585,0.71338606911949],"aabb_xy":[[-0.4653508360990427,1.224984749154277],[-0.44009726152465,1.2440768965574227]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[-0.541218770884909,-2.14559531773324,0.71338606911949],"aabb_xy":[[-0.5451792546546433,-2.1532631823187605],[-0.5372582871151746,-2.1379274531477193]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[-0.44400058301223266,-1.8716284795157887,0.71338606911949],"aabb_xy":[[-0.5277228085123151,-1.9616284830504849],[-0.36027835751215015,-1.781628475981093]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[0.3779846757164793,-1.5682072674156493,0.71338606911949],"aabb_xy":[[0.3139846754560085,-1.6132160667685773],[0.4419846759769501,-1.5231984680627213]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_11","position":[-0.4335633037860642,0.434623646220079,0.71338606911949],"aabb_xy":[[-0.483380083250899,0.3846236477357755],[-0.38374652432122947,0.48462364470438224]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[0.13886464747128036,-2.4967074473117155,0.71338606911949],"aabb_xy":[[0.12195391503493856,-2.510179652904329],[0.1557753799076221,-2.4832352417191]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_13","position":[0.027062073980347323,-1.6152091788723775,0.71338606911949],"aabb_xy":[[0.02002062302959973,-1.6222359306101721],[0.03410352493109492,-1.6081824271345833]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_14","position":[-0.1968609227507535,0.8349329980163493,0.71338606911949],"aabb_xy":[[-0.27685474632931173,0.7549329954235078],[-0.11686709917219532,0.9149330006091909]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_15","position":[-0.28520473766407395,-1.7863336016667026,0.71338606911949],"aabb_xy":[[-0.2912417506647387,-1.7923603027356512],[-0.2791677246634092,-1.780306900597755]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[0.02596253598329068,-1.200787087785941,0.71338606911949],"aabb_xy":[[-0.004521714143739475,-1.2507870875674367],[0.056446786110320835,-1.1507870880044448]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[0.08575264314713993,-2.0577055854703925,0.71338606911949],"aabb_xy":[[0.0607526439815068,-2.064657831175749],[0.11075264231277303,-2.050753339765036]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.23133291121756255,0.20686830901444297,0.71338606911949],"aabb_xy":[[-0.2963329121746897,0.1549200970807374],[-0.16633291026043534,0.25881652094814855]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[0.2956669780914646,1.6363631828959861,0.71338606911949],"aabb_xy":[[0.26526886699232094,1.6059562808943164],[0.3260650891906081,1.6667700848976554]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[-0.07478840368342199,-1.3855589253934617,0.71338606911949],"aabb_xy":[[-0.10826757094446293,-1.419038038764569],[-0.04130923642238105,-1.352079812022355]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6559871118200058,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2750.png","name":"2750"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2750.png","name":"2750"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7731.png","name":"7731"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7359.png","name":"7359"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/106.png","name":"106"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3076.png","name":"3076"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":630.5955630099667,"rotation_z_degrees":163.0896037805124,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005975467834512598,-0.019918583604129944,0.007035167684153413]},{"name":"camera_2","offset_m":[0.009915844862937059,0.006553969993551387,0.010401137178194252]},{"name":"camera_3","offset_m":[-0.0010794106906216148,-0.011765109178118531,0.012891188926191923]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001168647645409532,-0.0008651381319275814,-0.0007113995850176642],"end_effector_yaw_offset_degrees":0.6763261151835791},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001377840978851084,0.0017872629390156413,0.001615987843825511],"end_effector_yaw_offset_degrees":0.5653071551505944},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017557700919291817,-0.00024446111073868435,0.00010880185780426507],"end_effector_yaw_offset_degrees":-0.2612761703323596},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019376922150241256,-0.0002897442340219678,0.0017280851761825827],"end_effector_yaw_offset_degrees":0.8981738671288644}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00020585240685637354,0.0007542925123899544],"position_m":[0.22319414759314363,-0.028645707487610046,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004144256496414923,-0.002283345256284256],"position_m":[0.25665574350358505,-0.3069833452562843,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018829452314258442,-0.001291325848272845],"position_m":[0.13961705476857414,0.28390867415172716,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004958278583934398,-0.0025990221115251423],"position_m":[0.3316582785839344,0.18090097788847487,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a457a5f32e7ffcfe8962b2fc523647cd4444f0acad95745b2efa244386d78a9a","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0106.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2750/tex_ceiling_textures_3076/tex_floor_textures_106/tex_table_textures_7731/tex_wall_textures_7359","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":7107696973309828307,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":7107696973309828307,"visual_seed":7107696973309828307,"scene_id":"lab_003","finished_at":"2026-09-04T22:54:33"}
+{"episode_id":"ep_000093","started_at":"2026-09-04T22:54:37","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[-0.05196987732803504,-2.194231728802404,0.71338606911949],"aabb_xy":[[-0.06009756552134826,-2.203145337213112],[-0.04384218913472182,-2.1853181203916963]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[0.6076988197099955,1.3102108467298148,0.71338606911949],"aabb_xy":[[0.5997053299147136,1.3022127147893394],[0.6156923095052776,1.3182089786702906]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.30995216132373904,-0.28066351670572365,0.71338606911949],"aabb_xy":[[-0.3474521618210973,-0.28463220025384206],[-0.2724521608263808,-0.27669483315760524]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[0.5788344170516866,0.2815291826778834,0.71338606911949],"aabb_xy":[[0.5088344136601245,0.2462134089744525],[0.6488344204432485,0.3168449563813142]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[-0.09488231470821618,1.6339676506022038,0.71338606911949],"aabb_xy":[[-0.10404219365209276,1.6274364325586668],[-0.08572243576433956,1.640498868645741]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[0.041892293789084656,0.9375801983361289,0.71338606911949],"aabb_xy":[[-0.01810770605748214,0.8807615761430903],[0.10189229363565144,0.9943988205291676]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[0.5273275664500146,1.1767831820210914,0.71338606911949],"aabb_xy":[[0.510650430456919,1.1600832580471614],[0.54400470244311,1.193483105995022]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[-0.5004901901239758,1.5340582359586095,0.71338606911949],"aabb_xy":[[-0.5644901872360814,1.485025866164199],[-0.43649019301187,1.5830906057530203]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.3263200046430393,1.3267093430454797,0.71338606911949],"aabb_xy":[[-0.38144521027263,1.2667093416041926],[-0.27119479901344845,1.3867093444867669]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[-0.26207203809215507,-1.0733399005123292,0.71338606911949],"aabb_xy":[[-0.2669713303987185,-1.101016819814898],[-0.2571727457855915,-1.0456629812097604]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[0.05216470953520291,-2.3199000384647936,0.71338606911949],"aabb_xy":[[0.014664709186975156,-2.331691434045877],[0.08966470988343067,-2.30810864288371]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[0.049936353072915995,-2.05539647804513,0.71338606911949],"aabb_xy":[[-0.04006364366269422,-2.1085799413624247],[0.1399363498085262,-2.0022130147278356]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[0.565232198425154,0.040079472598975485,0.71338606911949],"aabb_xy":[[0.48523220141090606,0.019944920925564213],[0.645232195439402,0.06021402427238676]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[-0.5158773899152043,-1.687369814463646,0.71338606911949],"aabb_xy":[[-0.519580651244343,-1.6910718327723637],[-0.5121741285860653,-1.6836677961549278]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[0.21696831696487195,-1.163412020780027,0.71338606911949],"aabb_xy":[[0.15196831600774474,-1.2153602327137325],[0.28196831792199917,-1.1114638088463213]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.32508243350573957,-0.8227803481530374,0.71338606911949],"aabb_xy":[[-0.40508243377934655,-0.895729895978754],[-0.2450824332321326,-0.7498308003273205]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[-0.458632660892429,-1.3323127638387375,0.71338606911949],"aabb_xy":[[-0.5186326617532416,-1.3837391938452237],[-0.3986326600316161,-1.280886333832251]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.015494236781523285,1.3763146207677743,0.71338606911949],"aabb_xy":[[-0.064505760378052,1.364767019809957],[0.09549423394109857,1.3878622217255911]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[-0.376033073092408,1.0162612964793962,0.71338606911949],"aabb_xy":[[-0.4360330736002609,0.9594145627934748],[-0.31603307258455504,1.0731080301653173]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.3478098797988558,-2.479150111892209,0.71338606911949],"aabb_xy":[[0.3056254656380251,-2.5431501121694207],[0.3899942939596866,-2.4151501116149983]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[0.5599462189769622,-2.060911693073031,0.71338606911949],"aabb_xy":[[0.5249462206662667,-2.0686267079965766],[0.5949462172876576,-2.0531966781494853]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[-0.5362827528510641,-2.28928394268248,0.71338606911949],"aabb_xy":[[-0.5857631740650229,-2.353283940595332],[-0.4868023316371053,-2.2252839447696284]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_22","position":[0.0938793480767316,-1.4441326847802312,0.71338606911949],"aabb_xy":[[0.0858530774461056,-1.452884179757584],[0.10190561870735759,-1.4353811898028788]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[0.6125273324916638,-0.6748440942739256,0.71338606911949],"aabb_xy":[[0.586238508171223,-0.7011155279285767],[0.6388161568121044,-0.6485726606192742]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.6084562095847222,1.5885647094104178,0.71338606911949],"aabb_xy":[[-0.6118968858247794,1.5847032764360536],[-0.6050155333446651,1.5924261423847825]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_25","position":[0.3813430186161424,-0.8710338452868023,0.71338606911949],"aabb_xy":[[0.3694102842543143,-0.8834159980946618],[0.39327575297797046,-0.858651692478943]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[-0.15501825802422808,0.39805275679188856,0.71338606911949],"aabb_xy":[[-0.17057402743449335,0.3825023235474814],[-0.13946248861396282,0.4136031900362958]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_27","position":[-0.46050972126966805,-2.5154198553005216,0.71338606911949],"aabb_xy":[[-0.46980333950681863,-2.552919853788655],[-0.45121610303251747,-2.4779198568123872]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_28","position":[-0.2077174502325682,-2.4897936674644017,0.71338606911949],"aabb_xy":[[-0.2977174488270382,-2.5060442537778234],[-0.1177174516380983,-2.473543081150981]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_29","position":[-0.2059453100281588,0.8225040990067143,0.71338606911949],"aabb_xy":[[-0.2859453074317522,0.7425115278085314],[-0.1259453126245654,0.902496670204897]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_30","position":[-0.5068890853923863,-1.459071634504978,0.71338606911949],"aabb_xy":[[-0.5243890845267534,-1.4689512615425655],[-0.4893890862580191,-1.4491920074673899]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_31","position":[-0.1482257278081559,-1.298765093538472,0.71338606911949],"aabb_xy":[[-0.1982257264540771,-1.3486846371979344],[-0.09822572916223471,-1.2488455498790096]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6605224595795156,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4511.png","name":"4511"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4511.png","name":"4511"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8333.png","name":"8333"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7761.png","name":"7761"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1127.png","name":"1127"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8186.png","name":"8186"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":794.0709932089171,"rotation_z_degrees":324.5814950060031,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018477152147505303,0.00671884212272671,-0.012531751729626249]},{"name":"camera_2","offset_m":[0.006152786877232388,-0.018247853620930923,0.0010245318149710754]},{"name":"camera_3","offset_m":[-0.011731855740240268,0.0030894236857655494,-0.012176826429105048]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002744740457332386,-0.0005955157502573133,-0.0010841127213369372],"end_effector_yaw_offset_degrees":0.6742063700348857},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014874965592394185,-0.0010957155123644678,-0.0019695954760851806],"end_effector_yaw_offset_degrees":0.24096446287168694},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010610673337047845,-0.001027914759777059,-0.0015087243671004975],"end_effector_yaw_offset_degrees":0.45980654940011756},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006911250324855662,0.00175426065521124,0.001136901221277705],"end_effector_yaw_offset_degrees":0.4410163897614756}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000643480474929189,0.00012625683269034023],"position_m":[0.2227565195250708,-0.029273743167309657,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029868293489385975,0.0015651428305682516],"position_m":[0.2637868293489386,-0.3031348571694318,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032153017824939293,-0.0019593481213860697],"position_m":[0.13828469821750605,0.2832406518786139,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0043674052745240185,-0.0004928021155532212],"position_m":[0.331067405274524,0.18300719788444678,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bbfc8ac70f0ce77cbc178b040773882527096c90ca7a95bc27bd70dc95ae1a4c","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0107.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4511/tex_ceiling_textures_8186/tex_floor_textures_1127/tex_table_textures_8333/tex_wall_textures_7761","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":1207820321554332420,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":1207820321554332420,"visual_seed":1207820321554332420,"scene_id":"lab_003","finished_at":"2026-09-04T22:58:08"}
+{"episode_id":"ep_000094","started_at":"2026-09-04T22:58:11","dimensions":{"distractor":{"count":21,"items":[{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_0","position":[0.45724918906939327,0.6787170777243743,0.71338606911949],"aabb_xy":[[0.42377002180835244,0.6452379643532673],[0.4907283563304343,0.7121961910954813]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[0.23253276020661418,1.4911700056953037,0.71338606911949],"aabb_xy":[[0.20388342784619792,1.4625244464182279],[0.2611820925670304,1.5198155649723795]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_2","position":[-0.34355644573627475,-1.2195672076025457,0.71338606911949],"aabb_xy":[[-0.3498685452726132,-1.2253341468557646],[-0.3372443461999363,-1.2138002683493267]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[0.6291654167645235,0.6809411858613541,0.71338606911949],"aabb_xy":[[0.6066517249410662,0.6109411852603465],[0.6516791085879806,0.7509411864623615]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_4","position":[-0.5035444866053891,-0.9943303171054343,0.71338606911949],"aabb_xy":[[-0.5585444862271349,-1.049314009892907],[-0.44854448698364324,-0.9393466243179616]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[-0.12001619311051204,0.37930138920271705,0.71338606911949],"aabb_xy":[[-0.1274286486519005,0.3734501787810891],[-0.11260373756912356,0.385152599624345]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[-0.47549081988323866,-2.1096136300522708,0.71338606911949],"aabb_xy":[[-0.5304908190598281,-2.164603304827228],[-0.4204908207066492,-2.0546239552773127]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.12229849316551544,0.9621935014721354,0.71338606911949],"aabb_xy":[[-0.1336602278188016,0.9508250350658474],[-0.11093675851222927,0.9735619678784235]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.5105155002425426,-1.1507466442393637,0.71338606911949],"aabb_xy":[[0.49163111647403246,-1.1696325690197165],[0.5293998840110529,-1.131860719459011]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.5251536517174997,-0.5212011740859421,0.71338606911949],"aabb_xy":[[0.47567323050354093,-0.5852011719987938],[0.5746340729314585,-0.4572011761730902]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[-0.07777581605850725,0.7404068044554486,0.71338606911949],"aabb_xy":[[-0.10027581657054785,0.71791494609005],[-0.055275815546466656,0.7628986628208467]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[0.6174438988781987,1.0496123808658466,0.71338606911949],"aabb_xy":[[0.5374438986045917,0.97666283304013],[0.6974438991518057,1.1225619286915633]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_12","position":[0.044761325544994235,1.419313495530726,0.71338606911949],"aabb_xy":[[0.04132064930493706,1.4154520625563616],[0.048202001785051414,1.4231749285050905]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[-0.33215386505516925,-2.438471624838758,0.71338606911949],"aabb_xy":[[-0.3546530007813962,-2.4609716256170207],[-0.3096547293289423,-2.4159716240604943]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[0.6012534805510221,-1.9233056154768917,0.71338606911949],"aabb_xy":[[0.555974865669873,-1.9873056148250752],[0.6465320954321715,-1.8593056161287078]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[-0.3106484902805901,-0.2796222376522093,0.71338606911949],"aabb_xy":[[-0.3806484924120196,-0.3023842032779049],[-0.2406484881491605,-0.25686027202651357]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[0.4621405821799065,0.46934214654157635,0.71338606911949],"aabb_xy":[[0.42464058099511365,0.4649239238455158],[0.49964058336469924,0.4737603692376368]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[-0.572511170581006,-0.3959693373362221,0.71338606911949],"aabb_xy":[[-0.6225104457494421,-0.4459693386121692],[-0.5225118954125698,-0.34596933606027486]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[-0.09387433364516473,-0.631080632869619,0.71338606911949],"aabb_xy":[[-0.1288743327751204,-0.6368258539452831],[-0.058874334515209056,-0.6253354117939549]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[0.2952816537449736,-1.239501739088585,0.71338606911949],"aabb_xy":[[0.2847141740868746,-1.2500467692015935],[0.3058491334030726,-1.2289567089755764]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[0.15579934463884804,0.7499587337372446,0.71338606911949],"aabb_xy":[[0.13574093302560775,0.7298936468280871],[0.17585775625208833,0.7700238206464022]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6595801766738582,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/310.png","name":"310"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/310.png","name":"310"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7812.png","name":"7812"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7569.png","name":"7569"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/174.png","name":"174"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/791.png","name":"791"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":532.3743665661985,"rotation_z_degrees":44.348442815120976,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007389579823723003,-0.014960999479527289,-0.008743119292006335]},{"name":"camera_2","offset_m":[-0.01688413326527184,4.4899062540074836e-05,0.015230083863421357]},{"name":"camera_3","offset_m":[-0.008513214368620448,0.004147996597317662,0.01957271871983014]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00022750284576499025,-0.0001994821460864337,0.001104497366702655],"end_effector_yaw_offset_degrees":0.6466152102339529},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010836448605383246,0.000181354960257622,0.0013523963352024158],"end_effector_yaw_offset_degrees":0.9034954728268334},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019352285649561441,-0.000791102185993755,0.0014439421876063234],"end_effector_yaw_offset_degrees":-0.22449134152716899},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.5457826182357195e-05,0.0011038099746323651,-0.0003466298920220643],"end_effector_yaw_offset_degrees":0.7892441519104494}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003636843137058073,-0.003172212193583688],"position_m":[0.22703684313705805,-0.03257221219358369,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012284337314936496,0.0002208512840177479],"position_m":[0.26202843373149365,-0.30447914871598225,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004824618136081915,0.002566050850973651],"position_m":[0.13667538186391806,0.2877660508509737,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003481949606206283,-0.002225331750466385],"position_m":[0.3232180503937937,0.18127466824953362,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b575293d178e7bab9739ef4e08f36f053faa93db458bafe45d4a48a21b0eea9f","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0108.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_310/tex_ceiling_textures_791/tex_floor_textures_174/tex_table_textures_7812/tex_wall_textures_7569","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8945328890842333911,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8945328890842333911,"visual_seed":8945328890842333911,"scene_id":"lab_003","finished_at":"2026-09-04T23:02:03"}
+{"episode_id":"ep_000095","started_at":"2026-09-04T23:04:27","dimensions":{"distractor":{"count":20,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[0.14765108313446262,1.5197421338877493,0.71338606911949],"aabb_xy":[[0.12515108312431433,1.505645914248146],[0.17015108314461092,1.5338383535273525]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.22028002778096156,0.11510617356085495,0.71338606911949],"aabb_xy":[[-0.30028002643784757,0.10060131463659215],[-0.14028002912407556,0.12961103248511774]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.4195461746210417,-2.469255583232794,0.71338606911949],"aabb_xy":[[-0.447875884569582,-2.4737163254265115],[-0.39121646467250154,-2.4647948410390774]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[0.409704736589382,1.5076778547325476,0.71338606911949],"aabb_xy":[[0.37524238919124014,1.4731839723347246],[0.44416708398752375,1.54217173713037]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.04928254968419721,1.6354367716464888,0.71338606911949],"aabb_xy":[[-0.05423856986907842,1.6129367714443676],[-0.044326529499316016,1.6579367718486109]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[0.32664026208153163,-2.0705807837196044,0.71338606911949],"aabb_xy":[[0.309630164791481,-2.086715272217878],[0.3436503593715823,-2.05444629522133]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_6","position":[0.42418818214514253,-0.6685267109667217,0.71338606911949],"aabb_xy":[[0.4161946923498606,-0.6765248429071973],[0.43218167194042467,-0.6605285790262461]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[0.4768536462687176,0.9825590261829724,0.71338606911949],"aabb_xy":[[0.43408693938929743,0.9185590227611699],[0.5196203531481378,1.0465590296047749]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[0.41353886416270713,0.690517498197897,0.71338606911949],"aabb_xy":[[0.39025702196457573,0.6055174969006688],[0.4368207063608384,0.7755174994951249]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[0.022011065703382293,-1.92702277576571,0.71338606911949],"aabb_xy":[[-0.039579693520610526,-1.9910227738747572],[0.08360182492737511,-1.8630227776566635]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[0.3326986915118688,-1.6449371917486866,0.71338606911949],"aabb_xy":[[0.326732152571133,-1.6508983364080505],[0.3386652304526046,-1.6389760470893227]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[0.5676799849608289,-2.472633577767548,0.71338606911949],"aabb_xy":[[0.5266620415744581,-2.5226335783985054],[0.6086979283471998,-2.4226335771365908]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.5054434222167915,-0.5267792388244663,0.71338606911949],"aabb_xy":[[-0.5654434228128078,-0.5815917113696898],[-0.44544342162077544,-0.47196676627924283]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[0.08271344718369367,-1.720300568297769,0.71338606911949],"aabb_xy":[[0.06603631119059816,-1.7370004922716993],[0.09939058317678917,-1.7036006443238387]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[-0.35508858712264435,-0.3351902333050987,0.71338606911949],"aabb_xy":[[-0.3627128552128226,-0.3428234568416424],[-0.3474643190324661,-0.32755700976855495]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[-0.161409301956701,-0.8922713712201129,0.71338606911949],"aabb_xy":[[-0.17890930109106815,-0.9021509982577006],[-0.1439093028223338,-0.882391744182525]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[0.5807203951708408,1.4666036407835414,0.71338606911949],"aabb_xy":[[0.5736789442200932,1.459576889045747],[0.5877618461215884,1.4736303925213359]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.4573002047407572,-1.8760676682341448,0.71338606911949],"aabb_xy":[[-0.4798002049842726,-1.888272302893917],[-0.4348002044972418,-1.863863033574373]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.6022295489820608,-0.9145825463921102,0.71338606911949],"aabb_xy":[[0.5896268498449844,-0.9271779426169757],[0.6148322481191373,-0.9019871501672447]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[0.5781817804438316,0.6599974136288465,0.71338606911949],"aabb_xy":[[0.493181781751757,0.6280115502339676],[0.6631817791359063,0.6919832770237253]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6553916852876571,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/590.png","name":"590"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/590.png","name":"590"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2345.png","name":"2345"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5822.png","name":"5822"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4026.png","name":"4026"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9935.png","name":"9935"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":731.8288999534012,"rotation_z_degrees":82.78398466357244,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008502148472689309,0.005046503191573178,-0.004660394622531908]},{"name":"camera_2","offset_m":[-0.017749223248882093,0.018961223854787452,0.007718036574802321]},{"name":"camera_3","offset_m":[0.004243724861524752,0.014009148660335608,0.0010516502811141054]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006786992560418722,-0.0009866800378000135,0.0016255577166599641],"end_effector_yaw_offset_degrees":0.19317213535119704},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007888966262977123,0.00034240630911790745,0.00013822830602516897],"end_effector_yaw_offset_degrees":0.49223920426214196},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014095729830303069,0.0016975173795104339,-0.0010719182897269515],"end_effector_yaw_offset_degrees":-0.28930394839650564},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008532843559313818,-0.0009011057281561468,0.001758399893708588],"end_effector_yaw_offset_degrees":-0.5129405833165097}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036501670851977223,-0.002859844030996297],"position_m":[0.2270501670851977,-0.0322598440309963,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012828900085477815,0.004479616172883553],"position_m":[0.2595171099914522,-0.30022038382711647,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001479105911021199,-0.000745879330421256],"position_m":[0.14002089408897878,0.28445412066957876,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005073835527250907,0.0035546071132683396],"position_m":[0.3261926164472749,0.18705460711326832,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e7e63a61445b60051082a472d2e0f4b8f53eee3c955598a424498f76fcbfffd3","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0110.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_590/tex_ceiling_textures_9935/tex_floor_textures_4026/tex_table_textures_2345/tex_wall_textures_5822","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8243057371763991380,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8243057371763991380,"visual_seed":8243057371763991380,"scene_id":"lab_003","finished_at":"2026-09-04T23:07:57"}
+{"episode_id":"ep_000096","started_at":"2026-09-04T23:08:00","dimensions":{"distractor":{"count":33,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[-0.4624702075694428,-1.0798832362776856,0.71338606911949],"aabb_xy":[[-0.5524702040703144,-1.1257948786961436],[-0.37247021106857103,-1.033971593859227]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.4609193797005986,-1.639186475137516,0.71338606911949],"aabb_xy":[[-0.48614021656043815,-1.6644102259904026],[-0.4356985428407588,-1.613962724284629]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.5227872455260376,0.04602068141761961,0.71338606911949],"aabb_xy":[[-0.5403655477149845,0.028446191843514712],[-0.5052089433370908,0.06359517099172451]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[0.5836501768885987,1.4726223466179786,0.71338606911949],"aabb_xy":[[0.5796896931188643,1.464954482032458],[0.587610660658333,1.4802902112034992]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.6387880166234593,1.5415645164401393,0.71338606911949],"aabb_xy":[[-0.651255374733195,1.529099191806816],[-0.6263206585137236,1.554029841073463]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.17884943812277465,-1.3929314011602145,0.71338606911949],"aabb_xy":[[0.15593372523772475,-1.415835698296638],[0.20176515100782458,-1.370027104023791]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.36645271914129096,1.1430011194573693,0.71338606911949],"aabb_xy":[[0.3488198835477634,1.125378173441746],[0.38408555473481854,1.160624065472992]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[0.46325206598584434,-0.4216563254929149,0.71338606911949],"aabb_xy":[[0.40325206547799136,-0.4785030591788361],[0.5232520664936972,-0.3648095918069935]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[-0.4512291950679659,-2.3493085952165504,0.71338606911949],"aabb_xy":[[-0.45764300871115077,-2.355718415464219],[-0.4448153814247809,-2.342898774968882]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[-0.3225468266622242,1.4977604228378492,0.71338606911949],"aabb_xy":[[-0.3450459623884511,1.475260422059586],[-0.30004769093599715,1.520260423616112]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[0.3516068371178953,1.7880698277705291,0.71338606911949],"aabb_xy":[[0.321615174384025,1.7580698284337286],[0.38159849985176564,1.8180698271073297]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[0.45930810213490925,-2.2328728700574025,0.71338606911949],"aabb_xy":[[0.4418081687009259,-2.250372869977637],[0.4768080355688926,-2.215372870137168]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[0.609263575634017,-2.063744095782497,0.71338606911949],"aabb_xy":[[0.5999165680517217,-2.078047718000141],[0.6186105832163121,-2.049440473564853]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[0.2772257108425764,-0.9880214040532169,0.71338606911949],"aabb_xy":[[0.26462301170549996,-1.0006168002780826],[0.28982840997965287,-0.9754260078283516]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.012648672658604365,1.1458954015169684,0.71338606911949],"aabb_xy":[[-0.036484890299209434,1.055895400708482],[0.011187544982000698,1.235895402325455]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[0.23658158409209995,-1.7159486813812328,0.71338606911949],"aabb_xy":[[0.22716410952223723,-1.7253648585189516],[0.24599905866196273,-1.7065325042435135]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[-0.5396054155177907,-0.40427811180229467,0.71338606911949],"aabb_xy":[[-0.5504458937443056,-0.4214643930929435],[-0.5287649372912758,-0.38709183051164586]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.4141816681827535,-0.9058180796552879,0.71338606911949],"aabb_xy":[[0.4044256786735796,-0.9155806137145222],[0.42393765769192737,-0.8960555455960533]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[-0.08636342808479514,-0.024759293016940465,0.71338606911949],"aabb_xy":[[-0.12738137147116602,-0.0747592936478978],[-0.045345484698424254,0.02524070761401687]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.3852111046613014,-1.2731860892077318,0.71338606911949],"aabb_xy":[[0.37721761486601946,-1.2811842211482076],[0.3932045944565835,-1.2651879572672564]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[0.21134388367823065,-0.7470222605375163,0.71338606911949],"aabb_xy":[[0.204842247170226,-0.7567900825638262],[0.21784552018623524,-0.7372544385112065]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[-0.5717761010872409,1.0704530042358575,0.71338606911949],"aabb_xy":[[-0.576206730442081,1.0650046325011753],[-0.5673454717324007,1.0759013759705403]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_22","position":[-0.3099367399652098,-0.944633685337493,0.71338606911949],"aabb_xy":[[-0.3159032789059456,-0.950594829996857],[-0.30397020102447403,-0.9386725406781289]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[-0.5787315318402472,-2.418546887778387,0.71338606911949],"aabb_xy":[[-0.6287315335017418,-2.468545330034089],[-0.5287315301787523,-2.3685484455226837]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[-0.22691515359810333,0.43328925644318694,0.71338606911949],"aabb_xy":[[-0.3169151530164742,0.3999137595989972],[-0.1369151541797324,0.46666475328737667]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[0.5702209633152344,-1.285789127850143,0.71338606911949],"aabb_xy":[[0.5601392562366608,-1.3657891257422574],[0.5803026703938078,-1.2057891299580281]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_26","position":[-0.12346471199795139,-0.82210747922344,0.71338606911949],"aabb_xy":[[-0.14596471181185378,-0.8265820955939208],[-0.10096471218404901,-0.8176328628529593]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_27","position":[-0.2503417597089194,0.7724092943857879,0.71338606911949],"aabb_xy":[[-0.29164630277265535,0.7084092948176708],[-0.20903721664518338,0.836409293953905]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_28","position":[-0.40365548983966376,-1.3945824485830012,0.71338606911949],"aabb_xy":[[-0.41450709608853936,-1.4054417393106522],[-0.39280388359078816,-1.3837231578553502]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_29","position":[-0.542354301738783,0.341299453557558,0.71338606911949],"aabb_xy":[[-0.5659394252026778,0.2762994513121262],[-0.5187691782748881,0.40629945580298976]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_30","position":[-0.2890527240371642,-1.896375204327856,0.71338606911949],"aabb_xy":[[-0.33905199920560036,-1.946375205603803],[-0.23905344886872804,-1.8463752030519087]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_31","position":[0.29893191731237245,-1.4463071813046202,0.71338606911949],"aabb_xy":[[0.26896436040254673,-1.476307181602506],[0.32889947422219806,-1.4163071810067345]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_32","position":[0.3047121390865204,1.067050800869628,0.71338606911949],"aabb_xy":[[0.2702496610734326,1.060387123686705],[0.33917461709960817,1.0737144780525505]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6622257486525766,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8233.png","name":"8233"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8233.png","name":"8233"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2888.png","name":"2888"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1181.png","name":"1181"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9742.png","name":"9742"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9811.png","name":"9811"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":690.1286575435261,"rotation_z_degrees":249.44089991679414,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012868713199608552,0.011858924068520332,0.013219283691583584]},{"name":"camera_2","offset_m":[-0.006016978134369851,0.0071777248280179805,0.00017464833322411444]},{"name":"camera_3","offset_m":[0.015425230822973323,0.016059186625314106,0.0037156293434028806]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001479088411262459,0.0019711192105498444,-0.001125892683272955],"end_effector_yaw_offset_degrees":0.711128723902881},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[6.368780544514742e-05,0.001040486829546545,0.0018239060292950028],"end_effector_yaw_offset_degrees":-0.039068202666904916},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004360464713600129,0.00030478773634405295,-0.0013674085741217233],"end_effector_yaw_offset_degrees":-0.822621631229715},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017347339281191107,-0.001229525843336523,0.0016917543373687403],"end_effector_yaw_offset_degrees":-0.1628730745373248}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0001592952683539808,-0.0018129174282502402],"position_m":[0.223240704731646,-0.03121291742825024,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029943613720660517,-0.002114058165506628],"position_m":[0.263794361372066,-0.30681405816550666,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026508984758047685,-0.0040662745047623395],"position_m":[0.14415089847580476,0.2811337254952377,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003233499692835872,0.0036023257298235635],"position_m":[0.3234665003071641,0.18710232572982355,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"99a3984c7c10682cd1fcbca8cd61057ce59fea1187665969bb8433b62de31146","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0111.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8233/tex_ceiling_textures_9811/tex_floor_textures_9742/tex_table_textures_2888/tex_wall_textures_1181","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3950493674643848245,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3950493674643848245,"visual_seed":3950493674643848245,"scene_id":"lab_003","finished_at":"2026-09-04T23:11:52"}
+{"episode_id":"ep_000097","started_at":"2026-09-04T23:14:18","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.16932644972298716,1.410012324589379,0.71338606911949],"aabb_xy":[[0.08932644756022468,1.3300571409632354],[0.24932645188574964,1.4899675082155226]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[0.36922596915364525,-0.6291016842776658,0.71338606911949],"aabb_xy":[[0.3611826092276901,-0.7141016853730322],[0.3772693290796004,-0.5441016831822993]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[0.6364344565824394,0.7990339418167536,0.71338606911949],"aabb_xy":[[0.5864611625791789,0.7490339412622062],[0.6864077505856998,0.8490339423713009]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[-0.06601673297658628,-1.9624101030556007,0.71338606911949],"aabb_xy":[[-0.1300167332505645,-2.0124762032528887],[-0.0020167327026080484,-1.912344002858313]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.5923085559200516,0.5976321678604735,0.71338606911949],"aabb_xy":[[-0.6148076916462785,0.5751321670822104],[-0.5698094201938245,0.6201321686387363]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[0.5148053245002759,-0.8395544229751373,0.71338606911949],"aabb_xy":[[0.45080532810470275,-0.9035177113938708],[0.5788053208958489,-0.7755911345564037]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[0.5996906410648406,0.48278351728456803,0.71338606911949],"aabb_xy":[[0.5772258710934354,0.46028351640570747],[0.6221554110362456,0.5052835181634285]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[0.6767061628911797,-1.5958602053763977,0.71338606911949],"aabb_xy":[[0.6398556149541921,-1.6333602061994315],[0.7135567108281673,-1.558360204553364]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_8","position":[-0.04684130658628016,-1.5480461829781926,0.71338606911949],"aabb_xy":[[-0.11084130728974953,-1.5940645654511139],[0.01715869411718918,-1.5020278005052718]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.4024859991652758,0.7476067940130293,0.71338606911949],"aabb_xy":[[-0.42465852614192656,0.7254311268569061],[-0.3803134721886249,0.7697824611691524]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[0.5742190782606278,-2.137998523963397,0.71338606911949],"aabb_xy":[[0.5697884489057877,-2.14344689569808],[0.5786497076154681,-2.132550152228715]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.5962676659365564,-2.478858207138503,0.71338606911949],"aabb_xy":[[-0.646240731469072,-2.5288582069510364],[-0.5462946004040411,-2.4288582073259706]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[-0.2743535886353956,-0.22064014249030528,0.71338606911949],"aabb_xy":[[-0.33835359085580263,-0.26501322661559357],[-0.21035358641498858,-0.176267058365017]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.5776956390152865,-0.4371982196503459,0.71338606911949],"aabb_xy":[[-0.6151956389590529,-0.44549130968518247],[-0.5401956390715201,-0.4289051296155093]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[-0.3470951489698567,1.4148922178382413,0.71338606911949],"aabb_xy":[[-0.367153560583097,1.3948271309290838],[-0.3270367373566164,1.4349573047473987]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.007545406008399369,1.3295228899795775,0.71338606911949],"aabb_xy":[[-0.008339087256925783,1.3151699496807534],[0.02342989927372452,1.3438758302784015]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[0.3394523011483854,1.715439413697395,0.71338606911949],"aabb_xy":[[0.32630105517709607,1.6904394139407086],[0.3526035471196748,1.7404394134540817]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[-0.07980957937053512,-0.720666064196847,0.71338606911949],"aabb_xy":[[-0.12980958032106793,-0.7522152112003683],[-0.029809578420002314,-0.6891169171933255]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_18","position":[0.42677613281505034,-0.9811472051552135,0.71338606911949],"aabb_xy":[[0.33677613339667944,-1.0145227019994032],[0.5167761322334212,-0.9477717083110238]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[-0.1673353369962287,1.7367879385697518,0.71338606911949],"aabb_xy":[[-0.2323353370305314,1.6900872618894245],[-0.10233533696192595,1.783488615250079]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[0.22844292543682687,-0.5706896492901308,0.71338606911949],"aabb_xy":[[0.22473966410768798,-0.5743916675988486],[0.2321461867659657,-0.5669876309814129]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[-0.19740411257751034,0.878017754851486,0.71338606911949],"aabb_xy":[[-0.25141970885941034,0.8140177519592289],[-0.1433885162956103,0.9420177577437432]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[-0.4093074483391764,-0.5019895609268792,0.71338606911949],"aabb_xy":[[-0.46430065967631323,-0.5569895612656728],[-0.3543142370020397,-0.4469895605880856]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[0.6229177661629335,-1.9008205204363562,0.71338606911949],"aabb_xy":[[0.6173360945288047,-1.9133205202541312],[0.6284994377970623,-1.8883205206185802]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_24","position":[-0.3423017032644765,0.37748912900114995,0.71338606911949],"aabb_xy":[[-0.40630170517681885,0.32157797974313956],[-0.27830170135213417,0.43340027825916044]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6603895576466474,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9541.png","name":"9541"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9541.png","name":"9541"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5394.png","name":"5394"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5954.png","name":"5954"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3600.png","name":"3600"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3252.png","name":"3252"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":574.795514959033,"rotation_z_degrees":233.4441256751268,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016335216820002815,0.018252571438655333,-0.01957200458342469]},{"name":"camera_2","offset_m":[0.005801560273033621,0.015289461708554854,0.0034604529734220887]},{"name":"camera_3","offset_m":[0.0019210780884649503,-0.013059542483054907,0.007477917879411416]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008851507932548413,-0.0015418986784763989,-0.0005508847381351734],"end_effector_yaw_offset_degrees":0.558075187852562},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001790503603099893,0.0019221916091311415,0.0019275645114502915],"end_effector_yaw_offset_degrees":0.9290122045108007},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007449045123652733,-0.0007617613527141937,-0.00030778565040685195],"end_effector_yaw_offset_degrees":-0.41722156791571563},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008626003034611469,2.636357477579787e-05,0.0008388816065558464],"end_effector_yaw_offset_degrees":0.7533506574604889}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00410970595738963,0.003858435179454279],"position_m":[0.21929029404261036,-0.02554156482054572,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00234490122315095,0.0006141640289705477],"position_m":[0.26314490122315093,-0.3040858359710295,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0033279585392411567,-0.0006029985580557288],"position_m":[0.14482795853924113,0.2845970014419443,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020539171592946007,-0.0003518294575545226],"position_m":[0.3287539171592946,0.18314817054244548,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"15de3966ad47da5cc648032576042bfd614998709f02ddef3012e0f51f589fdb","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0113.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9541/tex_ceiling_textures_3252/tex_floor_textures_3600/tex_table_textures_5394/tex_wall_textures_5954","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":2257809795672770207,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":2257809795672770207,"visual_seed":2257809795672770207,"scene_id":"lab_003","finished_at":"2026-09-04T23:17:59"}
+{"episode_id":"ep_000098","started_at":"2026-09-04T23:18:02","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.2681197247406385,0.359186642002312,0.71338606911949],"aabb_xy":[[-0.33211972696104547,0.3148135578770237],[-0.20411972252023142,0.40355972612760027]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[0.42562119706044577,-1.7277773799216212,0.71338606911949],"aabb_xy":[[0.4011075729634399,-1.7520419732236578],[0.4501348211574516,-1.703512786619585]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_2","position":[-0.31129519517123133,-0.9720657216927382,0.71338606911949],"aabb_xy":[[-0.320097250480204,-0.9798770478476672],[-0.30249313986225856,-0.964254395537809]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[-0.07421363254177105,-1.2016284391277816,0.71338606911949],"aabb_xy":[[-0.1292136321635169,-1.2566121319152546],[-0.019213632920025203,-1.146644746340309]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[0.23567696946268546,-0.8029370850151161,0.71338606911949],"aabb_xy":[[0.17168127206758885,-0.8669370833158246],[0.29967266685778204,-0.7389370867144073]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.20013519552281778,1.1827742373824943,0.71338606911949],"aabb_xy":[[0.1913539683755816,1.1739944900939643],[0.20891642267005406,1.1915539846710248]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.23659613620028142,1.4271396288361777,0.71338606911949],"aabb_xy":[[0.15159613750820677,1.3951537654412987],[0.32159613489235606,1.4591254922310564]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[0.01642947829155872,-2.036055731502443,0.71338606911949],"aabb_xy":[[0.0058619986334597085,-2.0466007616154513],[0.02699695794965773,-2.0255107013894342]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_8","position":[0.6437931470669134,-2.0326361204002263,0.71338606911949],"aabb_xy":[[0.5937983141389719,-2.08263611929547],[0.6937879799948551,-1.9826361215049828]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[0.46833742523590627,-1.422037715452408,0.71338606911949],"aabb_xy":[[0.4083374253893395,-1.4788563376454467],[0.5283374250824731,-1.3652190932593693]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[-0.6279773573005931,1.0746655157394298,0.71338606911949],"aabb_xy":[[-0.6919773536961663,1.010702227320696],[-0.5639773609050202,1.1386288041581631]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.021932400796234153,-1.5954636152721169,0.71338606911949],"aabb_xy":[[-0.04306759708541364,-1.646587278978658],[0.08693239867788195,-1.5443399515655762]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[0.45081728216148553,1.1378302568313128,0.71338606911949],"aabb_xy":[[0.4347553547029679,1.0528302550187207],[0.4668792096200032,1.2228302586439044]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[-0.47457435144999016,-1.3839759192581413,0.71338606911949],"aabb_xy":[[-0.5245474169825057,-1.4339759190706742],[-0.42460128591747476,-1.3339759194456084]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_14","position":[0.557785286541965,0.8222632208468985,0.71338606911949],"aabb_xy":[[0.5243061192809242,0.7887841074757915],[0.5912644538030061,0.8557423342180055]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[0.008674461814334178,-2.1102020164648074,0.71338606911949],"aabb_xy":[[-0.07132553616645086,-2.117803557426659],[0.08867445979511922,-2.102600475502955]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.1514564638263446,-0.24290118582181197,0.71338606911949],"aabb_xy":[[-0.15849791477709219,-0.24992793755960652],[-0.144415012875597,-0.23587443408401743]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[0.4714469258545164,-2.144117011112449,0.71338606911949],"aabb_xy":[[0.4606064476280015,-2.1613032924030975],[0.4822874040810313,-2.1269307298218]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.6817410146652565,0.5502971219482582,0.71338606911949],"aabb_xy":[[0.6642410153871696,0.5329590218819122],[0.6992410139433434,0.5676352220146041]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[0.06084333912730766,1.03298348533826,0.71338606911949],"aabb_xy":[[0.03837856915590254,1.0104834844593995],[0.08330810909871278,1.0554834862171205]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6605442108650307,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/10.png","name":"10"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/10.png","name":"10"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1810.png","name":"1810"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/25.png","name":"25"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5038.png","name":"5038"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5331.png","name":"5331"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":541.3269577409751,"rotation_z_degrees":193.9167583528358,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0006202389060625813,0.01273245334942964,0.008991742162387725]},{"name":"camera_2","offset_m":[-0.002691462721656355,0.004069097502780002,-0.010131017224643832]},{"name":"camera_3","offset_m":[-0.01945091005757406,0.004790631723056174,0.008188191795733591]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001554317000576793,-0.0006114556872200017,0.0014866580178826585],"end_effector_yaw_offset_degrees":-0.35402202642468517},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017927591118430276,-0.0007898384706565848,0.0010825291948889492],"end_effector_yaw_offset_degrees":0.2752335443970757},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011609395616109831,4.3593524391428475e-05,-0.001337093471992542],"end_effector_yaw_offset_degrees":-0.8017814897170534},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00047485162558570616,-0.0016299036726314276,-0.0011627337371499223],"end_effector_yaw_offset_degrees":0.9277212203017204}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004772719159226578,0.0016738820785356986],"position_m":[0.2186272808407734,-0.027726117921464302,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004140157048067774,-0.004976265129678718],"position_m":[0.2603859842951932,-0.3096762651296787,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018488473914725148,0.004754728639529232],"position_m":[0.1433488473914725,0.28995472863952926,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022763782782538825,0.002775356176997629],"position_m":[0.3289763782782539,0.18627535617699761,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8f3603226d66a5372d803b24ad3cee33f0bebbfcef8df920f04321e3341c8f1d","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0114.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_10/tex_ceiling_textures_5331/tex_floor_textures_5038/tex_table_textures_1810/tex_wall_textures_25","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":3699883391019222938,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":3699883391019222938,"visual_seed":3699883391019222938,"scene_id":"lab_003","finished_at":"2026-09-04T23:21:30"}
+{"episode_id":"ep_000099","started_at":"2026-09-04T23:21:33","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[-0.3339580709179719,-1.6319926626896213,0.71338606911949],"aabb_xy":[[-0.37145807121014673,-1.6360341380902248],[-0.2964580706257971,-1.6279511872890178]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[-0.09915256987729748,-0.7410273163005725,0.71338606911949],"aabb_xy":[[-0.11072155062423407,-0.7660273164175043],[-0.08758358913036092,-0.7160273161836409]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[0.22458241060846984,-1.1772058968031773,0.71338606911949],"aabb_xy":[[0.16058241332282122,-1.218712615756021],[0.2885824078941185,-1.1356991778503331]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.32675076470697306,-0.7749251627011295,0.71338606911949],"aabb_xy":[[-0.35671832161679873,-0.8049251629990153],[-0.2967832077971474,-0.7449251624032438]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[0.37551631460994894,0.5640186925210604,0.71338606911949],"aabb_xy":[[0.33034499676178003,0.500018695376522],[0.420687632458118,0.6280186896655988]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[0.4418291586463583,1.386818910681729,0.71338606911949],"aabb_xy":[[0.39655054376520904,1.3228189113335453],[0.48710777352750756,1.4508189100299127]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[-0.1429931716624746,1.4144076156710574,0.71338606911949],"aabb_xy":[[-0.2229931721326906,1.4060969080567096],[-0.06299317119225868,1.4227183232854062]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[-0.41598330603260997,1.7624145665899031,0.71338606911949],"aabb_xy":[[-0.4251431849764866,1.755883348546366],[-0.4068234270887334,1.7689457846334402]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[-0.6041180842624363,-0.6779035591018434,0.71338606911949],"aabb_xy":[[-0.6681180866052377,-0.7228444103459758],[-0.5401180819196346,-0.6329627078577108]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[0.48310232280715737,-2.130634918405407,0.71338606911949],"aabb_xy":[[0.42151156358316455,-2.1946349165144543],[0.5446930820311502,-2.0666349202963605]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[-0.4637006893459445,-2.0887878548801138,0.71338606911949],"aabb_xy":[[-0.4961623902278719,-2.118920686995016],[-0.431238988464017,-2.0586550227652105]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.5918809427013558,1.5315746670174533,0.71338606911949],"aabb_xy":[[-0.6418540082338713,1.4815746672049204],[-0.5419078771688404,1.5815746668299864]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.028707997795586193,1.6502375912299585,0.71338606911949],"aabb_xy":[[-0.0827235940774862,1.5862375883377011],[0.025307598486313813,1.7142375941222154]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[0.5074612642263665,-1.3458830870125664,0.71338606911949],"aabb_xy":[[0.44346126563979404,-1.392890050412075],[0.571461262812939,-1.2988761236130575]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[-0.4488326378230683,1.5988777498009932,0.71338606911949],"aabb_xy":[[-0.45416515247768136,1.5935534215557574],[-0.4435001231684554,1.6042020780462285]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[0.43281735301920476,1.7818857435933624,0.71338606911949],"aabb_xy":[[0.42240579433872094,1.776540010257464],[0.44322891169968837,1.7872314769292608]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[-0.5430044406636791,1.3153399876040242,0.71338606911949],"aabb_xy":[[-0.5773207178382971,1.2653399876308464],[-0.5086881634890612,1.3653399875772019]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_17","position":[0.602325992410909,-0.02649903966621192,0.71338606911949],"aabb_xy":[[0.5383259951085626,-0.07086546663406867],[0.6663259897132554,0.017867387301644836]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.18423504435857763,1.7584709848284068,0.71338606911949],"aabb_xy":[[0.12023504506440938,1.6944848444595526],[0.24823504365274582,1.822457125197261]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[0.2942303125382655,1.2611007114745116,0.71338606911949],"aabb_xy":[[0.25976783452517765,1.2544370342915887],[0.3286927905513532,1.2677643886574341]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[-0.07887285564638558,0.3476861422845503,0.71338606911949],"aabb_xy":[[-0.10927096674552915,0.31727924028288074],[-0.04847474454724198,0.37809304428621976]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[0.5197063522770502,0.2129265349093612,0.71338606911949],"aabb_xy":[[0.5068344487761101,0.13292653449552502],[0.5325782557779903,0.2929265353231973]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[0.44485189963876737,-2.0009890010283664,0.71338606911949],"aabb_xy":[[0.36485190098188147,-2.0154938599526293],[0.5248518982956535,-1.9864841421041035]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[-0.26305976622121163,1.2650270345506542,0.71338606911949],"aabb_xy":[[-0.2786155356314769,1.249476601306247],[-0.24750399681094637,1.2805774677950614]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[-0.2778757733729265,0.5826372146117618,0.71338606911949],"aabb_xy":[[-0.30902269221650963,0.5126372159249545],[-0.2467288545293434,0.6526372132985688]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_25","position":[-0.3932413614077844,-1.2170499475454128,0.71338606911949],"aabb_xy":[[-0.402872997628214,-1.2266872603251215],[-0.38360972518735476,-1.2074126347657037]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[-0.08869455322400799,0.7163375976094484,0.71338606911949],"aabb_xy":[[-0.1165395900046151,0.6855530988711367],[-0.06084951644340085,0.7471220963477601]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_27","position":[-0.14889486051927325,-2.215682480860758,0.71338606911949],"aabb_xy":[[-0.17135963049067834,-2.2381824817396185],[-0.1264300905478681,-2.1931824799818975]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_28","position":[0.0645843801309458,-2.2833446023739237,0.71338606911949],"aabb_xy":[[-0.02510269617716966,-2.373344602628374],[0.15427145643906126,-2.193344602119473]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_29","position":[0.626435241234147,1.3309068935981143,0.71338606911949],"aabb_xy":[[0.6039352414202446,1.3264322772276336],[0.6489352410480493,1.335381509968595]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_30","position":[-0.23961964741748082,-2.021410247261802,0.71338606911949],"aabb_xy":[[-0.2522464347046771,-2.0309563209633743],[-0.22699286013028444,-2.011864173560229]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_31","position":[0.28167461339743993,-0.6890310258058667,0.71338606911949],"aabb_xy":[[0.23167461237830467,-0.7254972415436948],[0.3316746144165752,-0.6525648100680389]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_32","position":[0.3156964907477242,-1.3469101577598932,0.71338606911949],"aabb_xy":[[0.25169648852731713,-1.3912832418851815],[0.3796964929681312,-1.302537073634605]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6545282740165695,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1015.png","name":"1015"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1015.png","name":"1015"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5013.png","name":"5013"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2989.png","name":"2989"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6317.png","name":"6317"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/39.png","name":"39"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":838.1858587484464,"rotation_z_degrees":266.0819515946729,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012515722818491705,-0.003565171761785727,-0.0010870864027933726]},{"name":"camera_2","offset_m":[-0.0022745465656444364,0.018554794841144976,0.0038555557936615636]},{"name":"camera_3","offset_m":[0.0002279706723864565,0.007588309486317824,0.019901020076500683]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006192623231842495,-0.001542110830225137,-0.0011051812739716151],"end_effector_yaw_offset_degrees":-0.5550255617430477},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007419472989732916,-0.0012750321287306118,0.0019159813192248165],"end_effector_yaw_offset_degrees":0.032028911998810194},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001576297394290454,-0.0007047442360979383,-0.0003513702994817165],"end_effector_yaw_offset_degrees":0.4309152633114486},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-8.46552250270945e-05,0.00025720059452657507,0.0015483315785800042],"end_effector_yaw_offset_degrees":-0.1379139873828117}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00003","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0010981052090459744,0.003970031833368563],"position_m":[0.22449810520904595,-0.025429968166631435,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026831334849446156,0.003650473070393001],"position_m":[0.2581168665150554,-0.301049526929607,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037283808132214406,0.003936476288656056],"position_m":[0.13777161918677855,0.2891364762886561,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00422005407262891,-0.00456618955526113],"position_m":[0.3309200540726289,0.17893381044473886,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b533599e45e3a4b3bf2dcf60b5bc09d145c2c25181064a0a177d5a4f3b5bb803","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/dataset/episode_0115.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1015/tex_ceiling_textures_39/tex_floor_textures_6317/tex_table_textures_5013/tex_wall_textures_2989","seeds":{"action_seed":8196756798222636436,"physical_seed":7200438613396186103,"visual_seed":8196113131482543518,"layout_id":"layout_00003","physical_randomization_enabled":true},"episode_seed":8196113131482543518,"visual_seed":8196113131482543518,"scene_id":"lab_003","finished_at":"2026-09-04T23:25:04"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..b2e6b937af41d01dfa329f38161bb0d87a186f77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_htb_00003
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00003
+  reproducibility:
+    enabled: true
+    layout_id: layout_00003
+    action_seed: 8196756798222636436
+    step_seeds:
+    - 6038634529671703149
+    - 2665526681626151468
+    - 4292576788232893539
+    - 8311943347811665881
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.2234
+      - 0.2234
+      'y':
+      - -0.0294
+      - -0.0294
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1415
+      - 0.1415
+      'y':
+      - 0.2852
+      - 0.2852
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3267
+      - 0.3267
+      'y':
+      - 0.1835
+      - 0.1835
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2608
+      - 0.2608
+      'y':
+      - -0.3047
+      - -0.3047
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3beefbd9f1441f94bb4dccf3764aef3062b70cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2425785565363737,
+              -0.02577458953662708,
+              1.0477599926355032
+            ],
+            "current_z": 1.0477599926355032,
+            "required_z": 0.8611066579560547,
+            "initial_z": 0.7611066579560547,
+            "lift_margin": 0.18665333467944856,
+            "gripper_z": 1.053200957890287,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2380499767109339,
+              -0.03026184354586474,
+              1.053200957890287
+            ],
+            "object_minus_gripper": [
+              0.004528579825439805,
+              0.004487254009237659,
+              -0.0054409652547837695
+            ],
+            "object_to_gripper_xy": 0.006375224214002191,
+            "object_to_gripper_z": -0.0054409652547837695,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2425785565363737,
+              -0.049929709530876346,
+              1.0477599926355032
+            ],
+            "finger_b": [
+              0.23152634882652048,
+              -0.02577458953662708,
+              1.0477599926355032
+            ],
+            "finger_midpoint": [
+              0.2370524526814471,
+              -0.03785214953375171,
+              1.0477599926355032
+            ],
+            "object_minus_finger_midpoint": [
+              0.005526103854926606,
+              0.012077559997124631,
+              0.0
+            ],
+            "finger_gap": 0.026563529833181422,
+            "fingertip_max_gap": 0.09531152328533668,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01328176491659071,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477599926355032,
+            "object_top_z": 1.1001329770494253,
+            "finger_top_clearance": 0.05237298441392202,
+            "fingertip_min_top_clearance": 0.015711895324176623,
+            "object_projection_between_fingers": 0.8268882658348682,
+            "object_to_finger_line_xy": 0.010050147894855177,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05015576164266834,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6737944839082686,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2418785034543387,
+              -0.02864770533334597,
+              1.246250808452384
+            ],
+            "held_position": [
+              0.24669410804408737,
+              -0.024482518872796125,
+              1.240775783573719
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008397304522164072,
+            "max_held_gripper_dist": 0.008405767108415717,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005475024878665025,
+            "max_held_gripper_z_dist": 0.005482853674023236,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08607743267923396,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24669410804408737,
+              -0.049792818507079374,
+              1.240775783573719
+            ],
+            "held_grasp_finger_b": [
+              0.23772565936228307,
+              -0.024482518872796125,
+              1.240775783573719
+            ],
+            "held_grasp_midpoint": [
+              0.24220988370318522,
+              -0.03713766868993775,
+              1.240775783573719
+            ],
+            "held_grasp_object_position": [
+              0.24669410804408737,
+              -0.024482518872796125,
+              1.240775783573719
+            ],
+            "held_grasp_finger_gap": 0.0268522687930714,
+            "held_grasp_max_gap": 0.12498318910598755,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024619786409248536,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06983125799505789,
+              -0.9974620936042499,
+              0.013891264501642353
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003593961325441424,
+            "held_grasp_line_xy_max_dist": 0.047491594552993774,
+            "held_grasp_object_top_z": 0.04972076043486595,
+            "held_grasp_top_clearance": 0.036784589176527174,
+            "held_grasp_min_top_clearance": 0.014916228130459785
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31462631037715166,
+              -0.29903291903717966,
+              0.8515395626893155
+            ],
+            "target_position": [
+              0.3092120049694163,
+              -0.30025401225675064,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005550294739841706,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18482680765600468,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395626893155,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575558494030499,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08716310013570282,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15242885922648045,
+            "release_required_pad_clearance": 0.05358155006785141,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.173930957701141,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007404983043670654,
+            "max_z_decrease": 0.007404983043670654,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512228174116127,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007404983043670654,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114837120246506,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007404983043670654,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007404995125508741,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16491192579269406,
+              -0.35651546716690063,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16491192579269406,
+              -0.35651546716690063,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16474279110736978,
+              -0.35593892692786405,
+              0.807829327474358
+            ],
+            "closest_button": [
+              0.16490736603736875,
+              -0.3565231263637543,
+              0.7727122902870178
+            ],
+            "closest_ee_minus_button": [
+              -0.0001645749299989674,
+              0.0005841994358902203,
+              0.03511703718734016
+            ],
+            "button_min_z_position": [
+              0.16489909589290616,
+              -0.35651925206184387,
+              0.769403874874115
+            ],
+            "min_active_finger_to_button": 0.1460521860291745,
+            "closest_active_finger": [
+              0.03744503855705261,
+              -0.4190341830253601,
+              0.8107356429100037
+            ],
+            "closest_active_finger_button": [
+              0.16491399705409998,
+              -0.35651734471321106,
+              0.7764639258384705
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12746895849704737,
+              -0.06251683831214905,
+              0.0342717170715332
+            ],
+            "min_contact_pad_to_button": 0.02114837120246506,
+            "closest_contact_pad": [
+              0.16489909589290616,
+              -0.3573057396182713,
+              0.7905376166592518
+            ],
+            "closest_contact_pad_button": [
+              0.16489909589290616,
+              -0.35651925206184387,
+              0.769403874874115
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007864875564274065,
+              0.021133741785136828
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b5f7f24aeb66cb6ebc2a03c9b7a1230190140b11ae28c07faaefe5880f8c281e",
+    "visual_seed": 7093668575060804381,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44c59a0739ae046ba7962ec4c873ac88d0250ef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24939342795802605,
+              -0.03069699674375188,
+              1.0506420456557226
+            ],
+            "current_z": 1.0506420456557226,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18953559724560132,
+            "gripper_z": 1.05544055060772,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2444356010683169,
+              -0.03546921839805234,
+              1.05544055060772
+            ],
+            "object_minus_gripper": [
+              0.004957826889709138,
+              0.004772221654300458,
+              -0.0047985049519974066
+            ],
+            "object_to_gripper_xy": 0.0068814349510910285,
+            "object_to_gripper_z": -0.0047985049519974066,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24939342795802605,
+              -0.05502218505081446,
+              1.0506420456557226
+            ],
+            "finger_b": [
+              0.23775586468806384,
+              -0.03069699674375188,
+              1.0506420456557226
+            ],
+            "finger_midpoint": [
+              0.24357464632304493,
+              -0.04285959089728317,
+              1.0506420456557226
+            ],
+            "object_minus_finger_midpoint": [
+              0.005818781634981118,
+              0.012162594153531287,
+              0.0
+            ],
+            "finger_gap": 0.026965675682920083,
+            "fingertip_max_gap": 0.09100478780489357,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013482837841460047,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506420456557226,
+            "object_top_z": 1.1004518397770537,
+            "finger_top_clearance": 0.04980979412133113,
+            "fingertip_min_top_clearance": 0.014942938236399372,
+            "object_projection_between_fingers": 0.813747763522573,
+            "object_to_finger_line_xy": 0.010498009443779325,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04800239390244679,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0473032173597228,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2484865395049905,
+              -0.03381807888811034,
+              1.2490890743857663
+            ],
+            "held_position": [
+              0.2537770040351074,
+              -0.029431123225054007,
+              1.2442445013862464
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008408583857090573,
+            "max_held_gripper_dist": 0.008416046032359886,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004844572999519903,
+            "max_held_gripper_z_dist": 0.004853704054563757,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08625701657754226,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2537770040351074,
+              -0.05493665336372505,
+              1.2442445013862464
+            ],
+            "held_grasp_finger_b": [
+              0.24435124714001946,
+              -0.029431123225054007,
+              1.2442445013862464
+            ],
+            "held_grasp_midpoint": [
+              0.2490641255875634,
+              -0.04218388829438953,
+              1.2442445013862464
+            ],
+            "held_grasp_object_position": [
+              0.2537770040351074,
+              -0.029431123225054007,
+              1.2442445013862464
+            ],
+            "held_grasp_finger_gap": 0.027191486915944016,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0247748885310053,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07043046018208926,
+              -0.9973816967686178,
+              -0.016410400040585804
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003808895747567259,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03666894540890687,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3206839921091681,
+              -0.3005910765451033,
+              0.8515395781959862
+            ],
+            "target_position": [
+              0.31221451325675054,
+              -0.30378923344194964,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009053191678540443,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18368758794232593,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395781959862,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585873256341956,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08655228236410349,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15148155742283737,
+            "release_required_pad_clearance": 0.05327614118205175,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.571681645464482,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007311582565307617,
+            "max_z_decrease": 0.007311582565307617,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035125925157780555,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007311582565307617,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021193009925622897,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007311582565307617,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007311603224380086,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16791443526744843,
+              -0.3600506782531738,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16791443526744843,
+              -0.3600506782531738,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1680324474773526,
+              -0.3579162457175969,
+              0.8069531441493559
+            ],
+            "closest_button": [
+              0.1679016351699829,
+              -0.3600555062294006,
+              0.7718926668167114
+            ],
+            "closest_ee_minus_button": [
+              0.00013081230736969318,
+              0.0021392605118036867,
+              0.0350604773326445
+            ],
+            "button_min_z_position": [
+              0.1678980439901352,
+              -0.360056459903717,
+              0.769497275352478
+            ],
+            "min_active_finger_to_button": 0.1451287865967207,
+            "closest_active_finger": [
+              0.04006970673799515,
+              -0.4194015860557556,
+              0.810645341873169
+            ],
+            "closest_active_finger_button": [
+              0.16791924834251404,
+              -0.36005488038063044,
+              0.7760790586471558
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1278495416045189,
+              -0.05934670567512518,
+              0.034566283226013184
+            ],
+            "min_contact_pad_to_button": 0.021193009925622897,
+            "closest_contact_pad": [
+              0.1678980439901352,
+              -0.360056459903717,
+              0.7906902852781009
+            ],
+            "closest_contact_pad_button": [
+              0.1678980439901352,
+              -0.360056459903717,
+              0.769497275352478
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021193009925622897
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1be6a80f0434d66abbd95c082019d6109ebe2e9cfd4c476d2d365d381db7fab8",
+    "visual_seed": 8847297858268524672,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c06a36cd924397543ddd4a4779a54ac49f19af58
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24481938811367798,
+              -0.02311871949567729,
+              1.0498218501586387
+            ],
+            "current_z": 1.0498218501586387,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.18871522293458332,
+            "gripper_z": 1.0552409944087748,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24029222644766174,
+              -0.027579498240278236,
+              1.0552409944087748
+            ],
+            "object_minus_gripper": [
+              0.004527161666016244,
+              0.0044607787446009455,
+              -0.005419144250136121
+            ],
+            "object_to_gripper_xy": 0.0063556069543774145,
+            "object_to_gripper_z": -0.005419144250136121,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24481938811367798,
+              -0.04730289589736804,
+              1.0498218501586387
+            ],
+            "finger_b": [
+              0.2338116730898285,
+              -0.02311871949567729,
+              1.0498218501586387
+            ],
+            "finger_midpoint": [
+              0.23931553060175326,
+              -0.03521080769652266,
+              1.0498218501586387
+            ],
+            "object_minus_finger_midpoint": [
+              0.005503857511924726,
+              0.012092088200845372,
+              0.0
+            ],
+            "finger_gap": 0.02657149183381274,
+            "fingertip_max_gap": 0.09394081073197355,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013285745916906363,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498218501586387,
+            "object_top_z": 1.1012619454556911,
+            "finger_top_clearance": 0.0514400952970524,
+            "fingertip_min_top_clearance": 0.01543202858911572,
+            "object_projection_between_fingers": 0.8283821412670958,
+            "object_to_finger_line_xy": 0.01001872697179752,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04947040536598678,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4604235845937232,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24470953209158158,
+              -0.026293984247521898,
+              1.248787827032166
+            ],
+            "held_position": [
+              0.24955033954329112,
+              -0.02220722860914602,
+              1.243321094707452
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008367804415878515,
+            "max_held_gripper_dist": 0.008376589899177908,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005466732324713952,
+            "max_held_gripper_z_dist": 0.00547393261982565,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08629106981986163,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24955033954329112,
+              -0.04767663027214163,
+              1.243321094707452
+            ],
+            "held_grasp_finger_b": [
+              0.2408686826923656,
+              -0.021668729901435604,
+              1.243321094707452
+            ],
+            "held_grasp_midpoint": [
+              0.24520951111782835,
+              -0.034672680086788615,
+              1.243321094707452
+            ],
+            "held_grasp_object_position": [
+              0.24955033954329112,
+              -0.02220722860914602,
+              1.243321094707452
+            ],
+            "held_grasp_finger_gap": 0.027418644156299788,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025306484705466387,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07276858333588514,
+              -0.997321437171146,
+              0.007394879185520842
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003423499789304437,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036972312152400294,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3242188640762991,
+              -0.2996658212455889,
+              0.8515395746047941
+            ],
+            "target_position": [
+              0.31819618958453594,
+              -0.30093104863590264,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006154137501139742,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1830780223116753,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395746047941,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07524132528260946,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856609166381289,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15193019704565466,
+            "release_required_pad_clearance": 0.05283045831906445,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7055404598445294,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007142364978790283,
+            "max_z_decrease": 0.007142364978790283,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506196076315711,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007142364978790283,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021280095369187558,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007142364978790283,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007142385879917365,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17389611899852758,
+              -0.3571925163269043,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17389611899852758,
+              -0.3571925163269043,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1743741900334797,
+              -0.35783372801640556,
+              0.8078252874209726
+            ],
+            "closest_button": [
+              0.17388580739498144,
+              -0.35719808936119074,
+              0.772772490978241
+            ],
+            "closest_ee_minus_button": [
+              0.0004883826384982637,
+              -0.0006356386552148208,
+              0.035052796442731626
+            ],
+            "button_min_z_position": [
+              0.17387960851192477,
+              -0.3571976125240326,
+              0.7696664929389954
+            ],
+            "min_active_finger_to_button": 0.14571279737095774,
+            "closest_active_finger": [
+              0.03317467123270035,
+              -0.34211188554763794,
+              0.8078468441963196
+            ],
+            "closest_active_finger_button": [
+              0.17390342056751257,
+              -0.3572002351284027,
+              0.7732061147689819
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14072874933481222,
+              0.01508834958076477,
+              0.034640729427337646
+            ],
+            "min_contact_pad_to_button": 0.021280095369187558,
+            "closest_contact_pad": [
+              0.17387960851192477,
+              -0.3591679682824459,
+              0.7908551728673676
+            ],
+            "closest_contact_pad_button": [
+              0.17387960851192477,
+              -0.3571976125240326,
+              0.7696664929389954
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019703557584133113,
+              0.021188679928372256
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a74c59f7d8d6113d59c7d883d63e9da1567ef0e5687694e24c5274943b890a01",
+    "visual_seed": 3784038632787731057,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dec102e1e564388e88dc479684416d9ac92c699
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24304199288378406,
+              -0.022595638790212133,
+              1.0502723742380655
+            ],
+            "current_z": 1.0502723742380655,
+            "required_z": 0.8611065080147663,
+            "initial_z": 0.7611065080147663,
+            "lift_margin": 0.18916586622329923,
+            "gripper_z": 1.055492170435512,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23815561230857296,
+              -0.027206800842850584,
+              1.055492170435512
+            ],
+            "object_minus_gripper": [
+              0.004886380575211097,
+              0.004611162052638451,
+              -0.005219796197446502
+            ],
+            "object_to_gripper_xy": 0.006718595880203927,
+            "object_to_gripper_z": -0.005219796197446502,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24304199288378406,
+              -0.04712494735988047,
+              1.0502723742380655
+            ],
+            "finger_b": [
+              0.23194194238277935,
+              -0.022595638790212133,
+              1.0502723742380655
+            ],
+            "finger_midpoint": [
+              0.2374919676332817,
+              -0.0348602930750463,
+              1.0502723742380655
+            ],
+            "object_minus_finger_midpoint": [
+              0.005550025250502355,
+              0.01226465428483417,
+              0.0
+            ],
+            "finger_gap": 0.026923931734255672,
+            "fingertip_max_gap": 0.09200367558381736,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013461965867127836,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0502723742380655,
+            "object_top_z": 1.1003259408375108,
+            "finger_top_clearance": 0.050053566599445265,
+            "fingertip_min_top_clearance": 0.015016069979833612,
+            "object_projection_between_fingers": 0.8300297364283206,
+            "object_to_finger_line_xy": 0.010112808432492975,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048501837791908683,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3149758812676131,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2422729187161999,
+              -0.02558775172433131,
+              1.2499140971503004
+            ],
+            "held_position": [
+              0.24742878993914888,
+              -0.021290583685711652,
+              1.2446584227418058
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008524715520641896,
+            "max_held_gripper_dist": 0.008532650470379193,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005255674408494615,
+            "max_held_gripper_z_dist": 0.005264496399207008,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08488906206170663,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24742878993914888,
+              -0.04681659725076143,
+              1.2446584227418058
+            ],
+            "held_grasp_finger_b": [
+              0.23819208384182494,
+              -0.021290583685711652,
+              1.2446584227418058
+            ],
+            "held_grasp_midpoint": [
+              0.24281043689048692,
+              -0.03405359046823654,
+              1.2446584227418058
+            ],
+            "held_grasp_object_position": [
+              0.24742878993914888,
+              -0.021290583685711652,
+              1.2446584227418058
+            ],
+            "held_grasp_finger_gap": 0.027145793560908224,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025014773357332303,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05155100954750742,
+              -0.9986257672621927,
+              -0.009437710242943929
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003956134865804719,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03673670186721824,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32124503254873193,
+              -0.30459452784390617,
+              0.8515395657693535
+            ],
+            "target_position": [
+              0.3132920293379961,
+              -0.30721465056731584,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008373488111635565,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18511035730621545,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395657693535,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756438512749043,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08749586652091966,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15319627071311132,
+            "release_required_pad_clearance": 0.05374793326045983,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.505153573053668,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00712275505065918,
+            "max_z_decrease": 0.00712275505065918,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509861954829492,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00712275505065918,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021167301835090867,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00712275505065918,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007122779003471761,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1689919531345367,
+              -0.3634760975837707,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1689919531345367,
+              -0.3634760975837707,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1679046516312713,
+              -0.36241215750857747,
+              0.8072595421182526
+            ],
+            "closest_button": [
+              0.16897952556610107,
+              -0.36347901821136464,
+              0.7721936106681824
+            ],
+            "closest_ee_minus_button": [
+              -0.0010748739348297731,
+              0.0010668607027871646,
+              0.0350659314500702
+            ],
+            "button_min_z_position": [
+              0.16897429525852198,
+              -0.3634815216064452,
+              0.7696861028671265
+            ],
+            "min_active_finger_to_button": 0.1465914200272081,
+            "closest_active_finger": [
+              0.040017373859882355,
+              -0.42398229241371155,
+              0.8110138773918152
+            ],
+            "closest_active_finger_button": [
+              0.1689963638782501,
+              -0.3634795248508453,
+              0.7764757871627808
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12897899001836774,
+              -0.060502767562866266,
+              0.034538090229034424
+            ],
+            "min_contact_pad_to_button": 0.021167301835090867,
+            "closest_contact_pad": [
+              0.16897429525852198,
+              -0.3638841051324782,
+              0.7908495759630625
+            ],
+            "closest_contact_pad_button": [
+              0.16897429525852198,
+              -0.3634815216064452,
+              0.7696861028671265
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00040258352603300684,
+              0.021163473095936025
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "112694954c7fb2d3e06924aa3909872802f5ccf1bdaca5ea953fd869d5c1daa2",
+    "visual_seed": 7219678399447850447,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0a2ea8eab0d4209bab5c67e3b40864c7889c114
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_105_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24251784385840283,
+              -0.024207841559576754,
+              1.047321874605314
+            ],
+            "current_z": 1.047321874605314,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1862154261951926,
+            "gripper_z": 1.0525417844782083,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23772380350034097,
+              -0.028894495179008134,
+              1.0525417844782083
+            ],
+            "object_minus_gripper": [
+              0.004794040358061857,
+              0.00468665361943138,
+              -0.005219909872894446
+            ],
+            "object_to_gripper_xy": 0.006704293035306192,
+            "object_to_gripper_z": -0.005219909872894446,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24251784385840283,
+              -0.04842555215713607,
+              1.047321874605314
+            ],
+            "finger_b": [
+              0.23102729890218232,
+              -0.024207841559576754,
+              1.047321874605314
+            ],
+            "finger_midpoint": [
+              0.23677257138029256,
+              -0.03631669685835641,
+              1.047321874605314
+            ],
+            "object_minus_finger_midpoint": [
+              0.005745272478110269,
+              0.012108855298779655,
+              0.0
+            ],
+            "finger_gap": 0.026805412326208703,
+            "fingertip_max_gap": 0.09149728090536371,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013402706163104355,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047321874605314,
+            "object_top_z": 1.0973823026084806,
+            "finger_top_clearance": 0.05006042800316668,
+            "fingertip_min_top_clearance": 0.015018128400949987,
+            "object_projection_between_fingers": 0.8162462256176287,
+            "object_to_finger_line_xy": 0.010381287516548042,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824864045268186,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8198570019467714,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24156046149149457,
+              -0.027097692542002727,
+              1.247033217105534
+            ],
+            "held_position": [
+              0.24668360430137043,
+              -0.022793637159313592,
+              1.2417731971605894
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008511127704884547,
+            "max_held_gripper_dist": 0.008519263266665807,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005260019944944627,
+            "max_held_gripper_z_dist": 0.005268656241206315,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0862350144314488,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24668360430137043,
+              -0.04824124650783262,
+              1.2417731971605894
+            ],
+            "held_grasp_finger_b": [
+              0.237371522788572,
+              -0.022793637159313592,
+              1.2417731971605894
+            ],
+            "held_grasp_midpoint": [
+              0.2420275635449712,
+              -0.0355174418335731,
+              1.2417731971605894
+            ],
+            "held_grasp_object_position": [
+              0.24668360430137043,
+              -0.022793637159313592,
+              1.2417731971605894
+            ],
+            "held_grasp_finger_gap": 0.027097890760275706,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0246820532808172,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07450340872749547,
+              -0.9971795286674255,
+              -0.009068059031298148
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003696983830559395,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03668544161463469,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3186799807654611,
+              -0.30536699747669027,
+              0.8515395624671532
+            ],
+            "target_position": [
+              0.31091156122533076,
+              -0.3079585264691304,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00818928352605629,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18438055294695843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395624671532,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513064469977485,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572697664095656,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15391481996578477,
+            "release_required_pad_clearance": 0.05286348832047828,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7692267759250283,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007526278495788574,
+            "max_z_decrease": 0.007526278495788574,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035128187938065145,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007526278495788574,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021164390662310947,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007526278495788574,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007526302792300972,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16661149263381947,
+              -0.3642199933528899,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16661149263381947,
+              -0.3642199933528899,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1666807499433895,
+              -0.36478661321526207,
+              0.8079182423315896
+            ],
+            "closest_button": [
+              0.16660432517528526,
+              -0.3642301857471465,
+              0.7727945446968079
+            ],
+            "closest_ee_minus_button": [
+              7.642476810423848e-05,
+              -0.0005564274681155723,
+              0.035123697634781736
+            ],
+            "button_min_z_position": [
+              0.1665927469730376,
+              -0.36422377824783314,
+              0.7692825794219971
+            ],
+            "min_active_finger_to_button": 0.14604837136769275,
+            "closest_active_finger": [
+              0.025341786444187164,
+              -0.35016676783561707,
+              0.8108678460121155
+            ],
+            "closest_active_finger_button": [
+              0.16661359369754783,
+              -0.36422231793403614,
+              0.7765918374061584
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14127180725336067,
+              0.014055550098419078,
+              0.03427600860595703
+            ],
+            "min_contact_pad_to_button": 0.021164390662310947,
+            "closest_contact_pad": [
+              0.1665927469730376,
+              -0.3659604200029367,
+              0.7903755997728464
+            ],
+            "closest_contact_pad_button": [
+              0.1665927469730376,
+              -0.36422377824783314,
+              0.7692825794219971
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001736641755103574,
+              0.021093020350849367
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbfd40dfa8f281ddac32d2e7e4bbfda34d316b4468d8bc03ed872aeab2481b2b",
+    "visual_seed": 6331826116785756223,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5dee24239ed35969e85a2e7b2f55592a2ead5f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24703000611918552,
+              -0.027052260753808798,
+              1.0484132263008925
+            ],
+            "current_z": 1.0484132263008925,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18730677789077121,
+            "gripper_z": 1.0533113669800005,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2424768390207845,
+              -0.031649937158077596,
+              1.0533113669800005
+            ],
+            "object_minus_gripper": [
+              0.004553167098401006,
+              0.0045976764042687975,
+              -0.004898140679107987
+            ],
+            "object_to_gripper_xy": 0.006470700035106827,
+            "object_to_gripper_z": -0.004898140679107987,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24703000611918552,
+              -0.05102601965395038,
+              1.0484132263008925
+            ],
+            "finger_b": [
+              0.23557001229611552,
+              -0.027052260753808798,
+              1.0484132263008925
+            ],
+            "finger_midpoint": [
+              0.24130000920765052,
+              -0.03903914020387959,
+              1.0484132263008925
+            ],
+            "object_minus_finger_midpoint": [
+              0.005729996911535001,
+              0.011986879450070789,
+              0.0
+            ],
+            "finger_gap": 0.026572026159608533,
+            "fingertip_max_gap": 0.09212446193485388,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013286013079804265,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484132263008925,
+            "object_top_z": 1.0986029020917196,
+            "finger_top_clearance": 0.050189675790827115,
+            "fingertip_min_top_clearance": 0.01505690273724815,
+            "object_projection_between_fingers": 0.8139972246215659,
+            "object_to_finger_line_xy": 0.010339412104336098,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856223096742694,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2308648061234135,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24665790668425447,
+              -0.030132924659114865,
+              1.246822481180742
+            ],
+            "held_position": [
+              0.25158196061854265,
+              -0.025961409020685614,
+              1.2418724182160905
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008133324856628635,
+            "max_held_gripper_dist": 0.008141511628813972,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004950062964651503,
+            "max_held_gripper_z_dist": 0.0049579662215879505,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08618792953891602,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25158196061854265,
+              -0.051375704438771486,
+              1.2418724182160905
+            ],
+            "held_grasp_finger_b": [
+              0.24262885177619456,
+              -0.02589404639775061,
+              1.2418724182160905
+            ],
+            "held_grasp_midpoint": [
+              0.2471054061973686,
+              -0.03863487541826105,
+              1.2418724182160905
+            ],
+            "held_grasp_object_position": [
+              0.25158196061854265,
+              -0.025961409020685614,
+              1.2418724182160905
+            ],
+            "held_grasp_finger_gap": 0.027008758847130603,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024685008230065853,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07982222536433488,
+              -0.9967822839825533,
+              -0.0073137320438889635
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003451925848618272,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03673023475248101,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31721723071007973,
+              -0.30468968657255624,
+              0.8515395882759595
+            ],
+            "target_position": [
+              0.3097201966283176,
+              -0.30699115957260315,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007842340083995819,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18296813391458483,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395882759595,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540060340777563,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496540254469341,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15177696397391804,
+            "release_required_pad_clearance": 0.05248270127234671,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956464721036927,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007529914379119873,
+            "max_z_decrease": 0.007529914379119873,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035226814297089244,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007529914379119873,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02113381110381215,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007529914379119873,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007529936174046206,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16542012989521032,
+              -0.36325260996818537,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16542012989521032,
+              -0.36325260996818537,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16751563015451926,
+              -0.3634505668332389,
+              0.8045678957357782
+            ],
+            "closest_button": [
+              0.1654012799263001,
+              -0.363256573677063,
+              0.7694051265716553
+            ],
+            "closest_ee_minus_button": [
+              0.002114350228219153,
+              -0.00019399315617590895,
+              0.035162769164122976
+            ],
+            "button_min_z_position": [
+              0.1654024720191956,
+              -0.36325666308403015,
+              0.7692789435386658
+            ],
+            "min_active_finger_to_button": 0.14365103519415792,
+            "closest_active_finger": [
+              0.026591196656227112,
+              -0.3495320677757263,
+              0.8103505373001099
+            ],
+            "closest_active_finger_button": [
+              0.16542059183120733,
+              -0.363257348537445,
+              0.7760921716690063
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13882939517498022,
+              0.013725280761718694,
+              0.034258365631103516
+            ],
+            "min_contact_pad_to_button": 0.02113381110381215,
+            "closest_contact_pad": [
+              0.1654024720191956,
+              -0.36443109904671706,
+              0.7903800968706797
+            ],
+            "closest_contact_pad_button": [
+              0.1654024720191956,
+              -0.36325666308403015,
+              0.7692789435386658
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011744359626869039,
+              0.0211011533320139
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a457a5f32e7ffcfe8962b2fc523647cd4444f0acad95745b2efa244386d78a9a",
+    "visual_seed": 7107696973309828307,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..09754eee425cb5204811d215d99151580088e8e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_107_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24661152628076533,
+              -0.02731376412803718,
+              1.0481596011730718
+            ],
+            "current_z": 1.0481596011730718,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.1870532123675952,
+            "gripper_z": 1.0530655786657008,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24196108734411398,
+              -0.03197083881269894,
+              1.0530655786657008
+            ],
+            "object_minus_gripper": [
+              0.0046504389366513466,
+              0.0046570746846617585,
+              -0.004905977492628999
+            ],
+            "object_to_gripper_xy": 0.006581407670251124,
+            "object_to_gripper_z": -0.004905977492628999,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24661152628076533,
+              -0.05134358477965712,
+              1.0481596011730718
+            ],
+            "finger_b": [
+              0.23505549241638862,
+              -0.02731376412803718,
+              1.0481596011730718
+            ],
+            "finger_midpoint": [
+              0.24083350934857697,
+              -0.03932867445384715,
+              1.0481596011730718
+            ],
+            "object_minus_finger_midpoint": [
+              0.005778016932188351,
+              0.01201491032580997,
+              0.0
+            ],
+            "finger_gap": 0.02666409944520237,
+            "fingertip_max_gap": 0.09197312598345486,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013332049722601184,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481596011730718,
+            "object_top_z": 1.0982345865407326,
+            "finger_top_clearance": 0.05007498536766075,
+            "fingertip_min_top_clearance": 0.015022495610298241,
+            "object_projection_between_fingers": 0.8121705136129493,
+            "object_to_finger_line_xy": 0.01041435589361272,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848656299172743,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.270340529274362,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24594157389168383,
+              -0.03048683980464495,
+              1.2431252752565047
+            ],
+            "held_position": [
+              0.25091959704578226,
+              -0.02621060314285068,
+              1.2381553269977954
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00823208966208832,
+            "max_held_gripper_dist": 0.008240643973103801,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0049699482587093335,
+            "max_held_gripper_z_dist": 0.004974035481433381,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08615334028132549,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25091959704578226,
+              -0.05154801852121183,
+              1.2381553269977954
+            ],
+            "held_grasp_finger_b": [
+              0.24186064679300584,
+              -0.02621060314285068,
+              1.2381553269977954
+            ],
+            "held_grasp_midpoint": [
+              0.24639012191939405,
+              -0.03887931083203126,
+              1.2381553269977954
+            ],
+            "held_grasp_object_position": [
+              0.25091959704578226,
+              -0.02621060314285068,
+              1.2381553269977954
+            ],
+            "held_grasp_finger_gap": 0.026908162288381755,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024588217360212303,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07460728260766335,
+              -0.9971056891393183,
+              -0.01462867280054447
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003576606896050115,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03675027772835125,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.324623613830055,
+              -0.300437614876119,
+              0.8515395992885769
+            ],
+            "target_position": [
+              0.31685128247367117,
+              -0.30314267148575064,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008229609102183365,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843553402652633,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395992885769,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756842631440786,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608123966812435,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15232955079367153,
+            "release_required_pad_clearance": 0.05304061983406218,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1120464462297335,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007583916187286377,
+            "max_z_decrease": 0.007583916187286377,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515231480197954,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007583916187286377,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021166357794341284,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007583916187286377,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007583935964571096,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17255121469497675,
+              -0.3594041168689727,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17255121469497675,
+              -0.3594041168689727,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17323648606221148,
+              -0.35755697528808894,
+              0.8047539047897627
+            ],
+            "closest_button": [
+              0.17253497242927548,
+              -0.35940921306610096,
+              0.7696574330329895
+            ],
+            "closest_ee_minus_button": [
+              0.0007015136329359961,
+              0.0018522377780120225,
+              0.03509647175677322
+            ],
+            "button_min_z_position": [
+              0.17253468930721277,
+              -0.3594093024730682,
+              0.7692249417304993
+            ],
+            "min_active_finger_to_button": 0.1443971732949998,
+            "closest_active_finger": [
+              0.046803779900074005,
+              -0.42144787311553955,
+              0.8109753131866455
+            ],
+            "closest_active_finger_button": [
+              0.17255483567714688,
+              -0.3594062030315398,
+              0.7765072584152222
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12575105577707288,
+              -0.062041670083999745,
+              0.03446805477142334
+            ],
+            "min_contact_pad_to_button": 0.021166357794341284,
+            "closest_contact_pad": [
+              0.17253468930721277,
+              -0.3594093024730682,
+              0.7903912995248406
+            ],
+            "closest_contact_pad_button": [
+              0.17253468930721277,
+              -0.3594093024730682,
+              0.7692249417304993
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021166357794341284
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bbfc8ac70f0ce77cbc178b040773882527096c90ca7a95bc27bd70dc95ae1a4c",
+    "visual_seed": 1207820321554332420,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cb1b2ddb424c2b50c4559bacb27d0954ef61821
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_108_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2509850081633598,
+              -0.030182138837606044,
+              1.050593331062343
+            ],
+            "current_z": 1.050593331062343,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1894868230475769,
+            "gripper_z": 1.0554202752619788,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24636977434856633,
+              -0.03481220880847043,
+              1.0554202752619788
+            ],
+            "object_minus_gripper": [
+              0.004615233814793451,
+              0.0046300699708643825,
+              -0.0048269441996358076
+            ],
+            "object_to_gripper_xy": 0.006537425418336565,
+            "object_to_gripper_z": -0.0048269441996358076,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2509850081633598,
+              -0.05420390380554539,
+              1.050593331062343
+            ],
+            "finger_b": [
+              0.2394743301757495,
+              -0.030182138837606044,
+              1.050593331062343
+            ],
+            "finger_midpoint": [
+              0.24522966916955463,
+              -0.04219302132157572,
+              1.050593331062343
+            ],
+            "object_minus_finger_midpoint": [
+              0.005755338993805148,
+              0.012010882483969677,
+              0.0
+            ],
+            "finger_gap": 0.02663720893617373,
+            "fingertip_max_gap": 0.09257944187887557,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013318604468086874,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050593331062343,
+            "object_top_z": 1.1009851661497034,
+            "finger_top_clearance": 0.05039183508736045,
+            "fingertip_min_top_clearance": 0.0151175505262081,
+            "object_projection_between_fingers": 0.8132655809532917,
+            "object_to_finger_line_xy": 0.010380471989484847,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048789720939437786,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3672448306585219,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.250617266118824,
+              -0.03357338841573869,
+              1.2493696714441058
+            ],
+            "held_position": [
+              0.255602605513243,
+              -0.02937271948932111,
+              1.2444873690098435
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008144697991117908,
+            "max_held_gripper_dist": 0.008152457572912206,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004882302434262353,
+            "max_held_gripper_z_dist": 0.004890123979589767,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08632432079795344,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.255602605513243,
+              -0.05481719063981633,
+              1.2444873690098435
+            ],
+            "held_grasp_finger_b": [
+              0.24661284217087273,
+              -0.029321708258499665,
+              1.2444873690098435
+            ],
+            "held_grasp_midpoint": [
+              0.2511077238420579,
+              -0.042069449449158,
+              1.2444873690098435
+            ],
+            "held_grasp_object_position": [
+              0.255602605513243,
+              -0.02937271948932111,
+              1.2444873690098435
+            ],
+            "held_grasp_finger_gap": 0.02703396875798765,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024721722520150615,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07749513822626619,
+              -0.9969760561038006,
+              -0.005766030437260205
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034982167302674066,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036713582832902714,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32251230022971533,
+              -0.30231069571706926,
+              0.8515395601315732
+            ],
+            "target_position": [
+              0.3150928868562262,
+              -0.3044869630323011,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007732000661798702,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865611096000632,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395601315732,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075409747851261,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08536438716228238,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15510871728222683,
+            "release_required_pad_clearance": 0.05268219358114119,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.420578572529353,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075751543045043945,
+            "max_z_decrease": 0.0075751543045043945,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514297225538743,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075751543045043945,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02112539017611048,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075751543045043945,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007575173506931368,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.170792818069458,
+              -0.36074841022491455,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.170792818069458,
+              -0.36074841022491455,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17129814533843643,
+              -0.35942005364059887,
+              0.8076459959149588
+            ],
+            "closest_button": [
+              0.1707824468612671,
+              -0.36075475811958313,
+              0.7725321650505066
+            ],
+            "closest_ee_minus_button": [
+              0.0005156984771693407,
+              0.001334704478984261,
+              0.03511383086445219
+            ],
+            "button_min_z_position": [
+              0.17077644169330594,
+              -0.3607531785964966,
+              0.7692337036132812
+            ],
+            "min_active_finger_to_button": 0.14512384672859224,
+            "closest_active_finger": [
+              0.04486267268657684,
+              -0.42419546842575073,
+              0.8108230233192444
+            ],
+            "closest_active_finger_button": [
+              0.17079612612724301,
+              -0.3607513904571533,
+              0.7765222191810608
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12593345344066617,
+              -0.06344407796859741,
+              0.034300804138183594
+            ],
+            "min_contact_pad_to_button": 0.02112539017611048,
+            "closest_contact_pad": [
+              0.17077644169330594,
+              -0.3607531785964966,
+              0.7903590937893917
+            ],
+            "closest_contact_pad_button": [
+              0.17077644169330594,
+              -0.3607531785964966,
+              0.7692337036132812
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02112539017611048
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b575293d178e7bab9739ef4e08f36f053faa93db458bafe45d4a48a21b0eea9f",
+    "visual_seed": 8945328890842333911,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8c302d4fe3d5175a17657034d9ee16600e8562d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25172932526090896,
+              -0.027742414801706586,
+              1.050540094703432
+            ],
+            "current_z": 1.050540094703432,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.18943370589795572,
+            "gripper_z": 1.0552837858923187,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24745128386720186,
+              -0.032189801632725196,
+              1.0552837858923187
+            ],
+            "object_minus_gripper": [
+              0.004278041393707105,
+              0.004447386831018609,
+              -0.004743691188886734
+            ],
+            "object_to_gripper_xy": 0.006170971381475462,
+            "object_to_gripper_z": -0.004743691188886734,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25172932526090896,
+              -0.05152833708403885,
+              1.050540094703432
+            ],
+            "finger_b": [
+              0.24046726438080132,
+              -0.027742414801706586,
+              1.050540094703432
+            ],
+            "finger_midpoint": [
+              0.24609829482085516,
+              -0.03963537594287272,
+              1.050540094703432
+            ],
+            "object_minus_finger_midpoint": [
+              0.005631030440053808,
+              0.011892961141166131,
+              0.0
+            ],
+            "finger_gap": 0.02631737285688679,
+            "fingertip_max_gap": 0.09353919652516354,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013158686428443388,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050540094703432,
+            "object_top_z": 1.1016400794709305,
+            "finger_top_clearance": 0.05109998476749844,
+            "fingertip_min_top_clearance": 0.015329995430249531,
+            "object_projection_between_fingers": 0.8168737195068664,
+            "object_to_finger_line_xy": 0.010178770741663758,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049269598262581774,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5023201427451343,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2520389959781355,
+              -0.031373553992222705,
+              1.2469524235575309
+            ],
+            "held_position": [
+              0.25669720625724657,
+              -0.027363580982117216,
+              1.2421348935878567
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007809443101457345,
+            "max_held_gripper_dist": 0.007817857936703625,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004817529969674217,
+            "max_held_gripper_z_dist": 0.004823860091048626,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08656558121653986,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25669720625724657,
+              -0.0527460427847456,
+              1.2421348935878567
+            ],
+            "held_grasp_finger_b": [
+              0.24830866868668666,
+              -0.026699146395877317,
+              1.2421348935878567
+            ],
+            "held_grasp_midpoint": [
+              0.2525029374719666,
+              -0.03972259459031146,
+              1.2421348935878567
+            ],
+            "held_grasp_object_position": [
+              0.25669720625724657,
+              -0.027363580982117216,
+              1.2421348935878567
+            ],
+            "held_grasp_finger_gap": 0.02736436321322195,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02519657799019251,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08903003407517251,
+              -0.9960269119444038,
+              0.0020108990697503826
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003077393097477486,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03703692401837258,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31895247717157116,
+              -0.3037308894700187,
+              0.8515395619359888
+            ],
+            "target_position": [
+              0.31183447220463845,
+              -0.3056886520156761,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007382332212414829,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1825368324375582,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395619359888,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587169289514,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08615888714578866,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1501058856277718,
+            "release_required_pad_clearance": 0.05307944357289433,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.187604998909186,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00736159086227417,
+            "max_z_decrease": 0.00736159086227417,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519702693083049,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00736159086227417,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021101782006485492,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00736159086227417,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007361610456466103,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16753439605236056,
+              -0.3619500994682312,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16753439605236056,
+              -0.3619500994682312,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16667697675952184,
+              -0.35985938670966805,
+              0.8080639091314226
+            ],
+            "closest_button": [
+              0.16752474009990698,
+              -0.361959159374237,
+              0.7729398012161255
+            ],
+            "closest_ee_minus_button": [
+              -0.0008477633403851381,
+              0.002099772664568955,
+              0.035124107915297076
+            ],
+            "button_min_z_position": [
+              0.16751803457736972,
+              -0.3619546592235565,
+              0.7694472670555115
+            ],
+            "min_active_finger_to_button": 0.14596985899039294,
+            "closest_active_finger": [
+              0.0400455966591835,
+              -0.4242658317089081,
+              0.8109584450721741
+            ],
+            "closest_active_finger_button": [
+              0.16754004359245306,
+              -0.36195179820060724,
+              0.7767630219459534
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12749444693326956,
+              -0.06231403350830084,
+              0.0341954231262207
+            ],
+            "min_contact_pad_to_button": 0.021101782006485492,
+            "closest_contact_pad": [
+              0.16751803457736972,
+              -0.3619546592235565,
+              0.790549049061997
+            ],
+            "closest_contact_pad_button": [
+              0.16751803457736972,
+              -0.3619546592235565,
+              0.7694472670555115
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021101782006485492
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e98796f6c1aa310b510352c34e3ed9716e2c138510ce37baee7523a514e08f0",
+    "visual_seed": 5040408556533391254,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74d675d8a703c606c2f1ae69a769b778d115e641
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_110_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2509048455599485,
+              -0.030907110542532396,
+              1.0508211387887263
+            ],
+            "current_z": 1.0508211387887263,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18971457116931534,
+            "gripper_z": 1.0556966975297677,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2465267594637947,
+              -0.03533663794430457,
+              1.0556966975297677
+            ],
+            "object_minus_gripper": [
+              0.00437808609615381,
+              0.004429527401772174,
+              -0.004875558741041397
+            ],
+            "object_to_gripper_xy": 0.006228029453076298,
+            "object_to_gripper_z": -0.004875558741041397,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2509048455599485,
+              -0.05490321251212604,
+              1.0508211387887263
+            ],
+            "finger_b": [
+              0.23984515653445604,
+              -0.030907110542532396,
+              1.0508211387887263
+            ],
+            "finger_midpoint": [
+              0.24537500104720228,
+              -0.04290516152732922,
+              1.0508211387887263
+            ],
+            "object_minus_finger_midpoint": [
+              0.00552984451274624,
+              0.011998050984796824,
+              0.0
+            ],
+            "finger_gap": 0.02642214281763943,
+            "fingertip_max_gap": 0.09465466829984209,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013211071408819716,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508211387887263,
+            "object_top_z": 1.1025094688224009,
+            "finger_top_clearance": 0.05168833003367457,
+            "fingertip_min_top_clearance": 0.015506499010102353,
+            "object_projection_between_fingers": 0.8247936831557726,
+            "object_to_finger_line_xy": 0.010044205250095728,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04982733414992105,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7515075466489143,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25094747275902174,
+              -0.034204378443042714,
+              1.2484360359252078
+            ],
+            "held_position": [
+              0.2556529800027585,
+              -0.03014783502085354,
+              1.2435044964829376
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007932050442832043,
+            "max_held_gripper_dist": 0.007940488532919603,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004931539442270205,
+            "max_held_gripper_z_dist": 0.004938141545918429,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08537776707088203,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2556529800027585,
+              -0.05549721920621873,
+              1.2435044964829376
+            ],
+            "held_grasp_finger_b": [
+              0.24708743409335315,
+              -0.02974687004297319,
+              1.2435044964829376
+            ],
+            "held_grasp_midpoint": [
+              0.2513702070480558,
+              -0.042622044624595956,
+              1.2435044964829376
+            ],
+            "held_grasp_object_position": [
+              0.2556529800027585,
+              -0.03014783502085354,
+              1.2435044964829376
+            ],
+            "held_grasp_finger_gap": 0.027137594933140094,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025053189562494516,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07325224970317286,
+              -0.9972926932947853,
+              0.006433647041711232
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033584863443706786,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696608922375523,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3187690469128499,
+              -0.2987844505725521,
+              0.8515395585999389
+            ],
+            "target_position": [
+              0.3125815631161848,
+              -0.3002281981434353,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006353688911366733,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18140572588344897,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395585999389,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538589745353258,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564227832801262,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1500571484377768,
+            "release_required_pad_clearance": 0.05282113916400631,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6875618959706774,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007320702075958252,
+            "max_z_decrease": 0.007320702075958252,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507931435992966,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007320702075958252,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02129927440238638,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007320702075958252,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073207227394596185,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16828149557113642,
+              -0.3564896583557129,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16828149557113642,
+              -0.3564896583557129,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16934626411356066,
+              -0.35718523626628146,
+              0.8072488114465102
+            ],
+            "closest_button": [
+              0.16826933622360227,
+              -0.3564945161342621,
+              0.7721928358078003
+            ],
+            "closest_ee_minus_button": [
+              0.00107692788995839,
+              -0.0006907201320193734,
+              0.03505597563870988
+            ],
+            "button_min_z_position": [
+              0.1682650595903396,
+              -0.35649535059928894,
+              0.7694881558418274
+            ],
+            "min_active_finger_to_button": 0.14509533689097295,
+            "closest_active_finger": [
+              0.02836180478334427,
+              -0.33992522954940796,
+              0.8079679012298584
+            ],
+            "closest_active_finger_button": [
+              0.16828821599483484,
+              -0.3564985692501068,
+              0.7733473777770996
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13992641121149058,
+              0.016573339700698853,
+              0.03462052345275879
+            ],
+            "min_contact_pad_to_button": 0.02129927440238638,
+            "closest_contact_pad": [
+              0.1682650595903396,
+              -0.35863402313184656,
+              0.7906797855542076
+            ],
+            "closest_contact_pad_button": [
+              0.1682650595903396,
+              -0.35649535059928894,
+              0.7694881558418274
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021386725325576172,
+              0.0211916297123802
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e7e63a61445b60051082a472d2e0f4b8f53eee3c955598a424498f76fcbfffd3",
+    "visual_seed": 8243057371763991380,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d2900d835dfaf583513d2d496242e32f730e1c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_111_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24700330359613043,
+              -0.02686123333985424,
+              1.0480499366469067
+            ],
+            "current_z": 1.0480499366469067,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18694348823678542,
+            "gripper_z": 1.0530010614266587,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24249211633020418,
+              -0.031439322689222934,
+              1.0530010614266587
+            ],
+            "object_minus_gripper": [
+              0.004511187265926253,
+              0.004578089349368694,
+              -0.004951124779752014
+            ],
+            "object_to_gripper_xy": 0.00642726323088282,
+            "object_to_gripper_z": -0.004951124779752014,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24700330359613043,
+              -0.05080104538995882,
+              1.0480499366469067
+            ],
+            "finger_b": [
+              0.23556931319603208,
+              -0.02686123333985424,
+              1.0480499366469067
+            ],
+            "finger_midpoint": [
+              0.24128630839608126,
+              -0.03883113936490653,
+              1.0480499366469067
+            ],
+            "object_minus_finger_midpoint": [
+              0.005716995200049174,
+              0.011969906025052289,
+              0.0
+            ],
+            "finger_gap": 0.02653018540198831,
+            "fingertip_max_gap": 0.09259714843894634,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013265092700994154,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480499366469067,
+            "object_top_z": 1.0984558848722563,
+            "finger_top_clearance": 0.050405948225349606,
+            "fingertip_min_top_clearance": 0.015121784467604864,
+            "object_projection_between_fingers": 0.8142558791078179,
+            "object_to_finger_line_xy": 0.010317590209548243,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879857421947317,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3560979931718482,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24665464437758935,
+              -0.03005463554739006,
+              1.2467346426225778
+            ],
+            "held_position": [
+              0.2515384866796443,
+              -0.025904924370824277,
+              1.2417309786305257
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00813072394228306,
+            "max_held_gripper_dist": 0.008138776877421145,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005003663992052099,
+            "max_held_gripper_z_dist": 0.005010926987435438,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08565148012801296,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2515384866796443,
+              -0.051307857013554864,
+              1.2417309786305257
+            ],
+            "held_grasp_finger_b": [
+              0.24262482133888436,
+              -0.025799708322199046,
+              1.2417309786305257
+            ],
+            "held_grasp_midpoint": [
+              0.24708165400926432,
+              -0.03855378266787696,
+              1.2417309786305257
+            ],
+            "held_grasp_object_position": [
+              0.2515384866796443,
+              -0.025904924370824277,
+              1.2417309786305257
+            ],
+            "held_grasp_finger_gap": 0.027020715746763305,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024726807024913366,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07874118967285743,
+              -0.9968845621010423,
+              -0.004582018498025419
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034475092312289215,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03675986219892099,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32376251413252943,
+              -0.3049820288198797,
+              0.8515395868598166
+            ],
+            "target_position": [
+              0.3168588144967986,
+              -0.3068218724818255,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007144654880453809,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18317870420049365,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395868598166,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518887804242538,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510490056295499,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15230460795501657,
+            "release_required_pad_clearance": 0.052552450281477495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17245845939553725,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007276654243469238,
+            "max_z_decrease": 0.007276654243469238,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510442903000741,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007276654243469238,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021282397283872326,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007276654243469238,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007276676810914656,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17255873978137976,
+              -0.3630833327770233,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17255873978137976,
+              -0.3630833327770233,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17098217332226662,
+              -0.3642561034250136,
+              0.8064680553033902
+            ],
+            "closest_button": [
+              0.17254461348056796,
+              -0.3630849421024322,
+              0.7714179754257202
+            ],
+            "closest_ee_minus_button": [
+              -0.0015624401583013425,
+              -0.0011711613225813822,
+              0.03505007987766995
+            ],
+            "button_min_z_position": [
+              0.17254130542278295,
+              -0.3630882799625396,
+              0.7695322036743164
+            ],
+            "min_active_finger_to_button": 0.147472625978405,
+            "closest_active_finger": [
+              0.030031107366085052,
+              -0.34770554304122925,
+              0.8076674938201904
+            ],
+            "closest_active_finger_button": [
+              0.17256493866443634,
+              -0.36309328675270075,
+              0.7730914950370789
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1425338312983513,
+              0.015387743711471502,
+              0.03457599878311157
+            ],
+            "min_contact_pad_to_button": 0.021282397283872326,
+            "closest_contact_pad": [
+              0.17254130542278295,
+              -0.36558524611396787,
+              0.7906676145808306
+            ],
+            "closest_contact_pad_button": [
+              0.17254130542278295,
+              -0.3630882799625396,
+              0.7695322036743164
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002496966151428248,
+              0.021135410906514163
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99a3984c7c10682cd1fcbca8cd61057ce59fea1187665969bb8433b62de31146",
+    "visual_seed": 3950493674643848245,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_113_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8039f3df39eee1636c07c4277ee28787efd44be5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_113_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2429243034234958,
+              -0.024836626781741016,
+              1.0486282986108657
+            ],
+            "current_z": 1.0486282986108657,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.18752179059609997,
+            "gripper_z": 1.0536391582570304,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23855889954254336,
+              -0.029308221570492052,
+              1.0536391582570304
+            ],
+            "object_minus_gripper": [
+              0.00436540388095244,
+              0.004471594788751036,
+              -0.005010859646164656
+            ],
+            "object_to_gripper_xy": 0.0062491528224728225,
+            "object_to_gripper_z": -0.005010859646164656,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2429243034234958,
+              -0.048727169681141706,
+              1.0486282986108657
+            ],
+            "finger_b": [
+              0.23170999167553763,
+              -0.024836626781741016,
+              1.0486282986108657
+            ],
+            "finger_midpoint": [
+              0.23731714754951672,
+              -0.03678189823144136,
+              1.0486282986108657
+            ],
+            "object_minus_finger_midpoint": [
+              0.005607155873979086,
+              0.011945271449700343,
+              0.0
+            ],
+            "finger_gap": 0.02639164314718766,
+            "fingertip_max_gap": 0.09265785242762958,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013195821573593829,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486282986108657,
+            "object_top_z": 1.0992128720707115,
+            "finger_top_clearance": 0.050584573459845794,
+            "fingertip_min_top_clearance": 0.015175372037953737,
+            "object_projection_between_fingers": 0.8194438069391882,
+            "object_to_finger_line_xy": 0.010151546624348674,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048828926213814794,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2725695276420343,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2427327313919403,
+              -0.02814267278538128,
+              1.2477997548056285
+            ],
+            "held_position": [
+              0.24747122672184785,
+              -0.024095524623071067,
+              1.2427401991832232
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00802694520570934,
+            "max_held_gripper_dist": 0.008035496839636827,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005059555622405343,
+            "max_held_gripper_z_dist": 0.00506696862596745,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08621061999262455,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24747122672184785,
+              -0.049492374682880216,
+              1.2427401991832232
+            ],
+            "held_grasp_finger_b": [
+              0.23884406941169842,
+              -0.02358824878384223,
+              1.2427401991832232
+            ],
+            "held_grasp_midpoint": [
+              0.24315764806677315,
+              -0.036540311733361225,
+              1.2427401991832232
+            ],
+            "held_grasp_object_position": [
+              0.24747122672184785,
+              -0.024095524623071067,
+              1.2427401991832232
+            ],
+            "held_grasp_finger_gap": 0.027302959214108555,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025091193556601766,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08369031499181998,
+              -0.9964900251789924,
+              -0.0018870334763956278
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003257024783129746,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036958139092829634,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32360676137694244,
+              -0.3018501624012213,
+              0.851539571604508
+            ],
+            "target_position": [
+              0.3162093543478835,
+              -0.30409365028734836,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007730127337163955,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18448973434420385,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539571604508,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533650938220615,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507922506654635,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15328571002766536,
+            "release_required_pad_clearance": 0.052539612533273175,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14803749428494747,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007539272308349609,
+            "max_z_decrease": 0.007539272308349609,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035110023405776944,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007539272308349609,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021133555434849523,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007539272308349609,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007539298857284185,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17190928757190704,
+              -0.3603551089763641,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17190928757190704,
+              -0.3603551089763641,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17162929113822745,
+              -0.3601144624459841,
+              0.807879626232789
+            ],
+            "closest_button": [
+              0.17190636694431305,
+              -0.36036595702171326,
+              0.7727715969085693
+            ],
+            "closest_ee_minus_button": [
+              -0.00027707580608560267,
+              0.0002514945757291498,
+              0.035108029324219636
+            ],
+            "button_min_z_position": [
+              0.17188984155654907,
+              -0.3603598177433014,
+              0.769269585609436
+            ],
+            "min_active_finger_to_button": 0.14631055247214572,
+            "closest_active_finger": [
+              0.04512276500463486,
+              -0.42480769753456116,
+              0.8108944296836853
+            ],
+            "closest_active_finger_button": [
+              0.1719118356704712,
+              -0.3603573441505432,
+              0.776580274105072
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12678907066583633,
+              -0.06445035338401794,
+              0.03431415557861328
+            ],
+            "min_contact_pad_to_button": 0.021133555434849523,
+            "closest_contact_pad": [
+              0.17188984155654907,
+              -0.36127155475165007,
+              0.7903834649532578
+            ],
+            "closest_contact_pad_button": [
+              0.17188984155654907,
+              -0.3603598177433014,
+              0.769269585609436
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009117370083486787,
+              0.021113879343821806
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "15de3966ad47da5cc648032576042bfd614998709f02ddef3012e0f51f589fdb",
+    "visual_seed": 2257809795672770207,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_114_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da806e4a692e71481e09404b48f162a88ff03cf0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_114_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24258997159015364,
+              -0.025989693504478512,
+              1.0503901519738976
+            ],
+            "current_z": 1.0503901519738976,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18928376316842122,
+            "gripper_z": 1.0555628641367125,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2380463863392746,
+              -0.030450141710592266,
+              1.0555628641367125
+            ],
+            "object_minus_gripper": [
+              0.004543585250879029,
+              0.004460448206113753,
+              -0.005172712162814896
+            ],
+            "object_to_gripper_xy": 0.006367084507954079,
+            "object_to_gripper_z": -0.005172712162814896,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24258997159015364,
+              -0.05020808208101468,
+              1.0503901519738976
+            ],
+            "finger_b": [
+              0.2316358063528271,
+              -0.025989693504478512,
+              1.0503901519738976
+            ],
+            "finger_midpoint": [
+              0.23711288897149035,
+              -0.038098887792746595,
+              1.0503901519738976
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054770826186632815,
+              0.012109194288268083,
+              0.0
+            ],
+            "finger_gap": 0.026580520711429842,
+            "fingertip_max_gap": 0.09364849332848829,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013290260355714924,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0503901519738976,
+            "object_top_z": 1.1015838690591386,
+            "finger_top_clearance": 0.05119371708524101,
+            "fingertip_min_top_clearance": 0.015358115125572336,
+            "object_projection_between_fingers": 0.8301632750755839,
+            "object_to_finger_line_xy": 0.009980701022726031,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04932424666424415,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3182566138960596,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24202836313520387,
+              -0.029177511440478296,
+              1.249201264236858
+            ],
+            "held_position": [
+              0.24685954656335637,
+              -0.025038915447790057,
+              1.2439930982888596
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008221514620131737,
+            "max_held_gripper_dist": 0.008229380715190767,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005208165947998333,
+            "max_held_gripper_z_dist": 0.005214932730507993,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08611110941158971,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24685954656335637,
+              -0.050399349751776686,
+              1.2439930982888596
+            ],
+            "held_grasp_finger_b": [
+              0.23802055536984718,
+              -0.02493004176969729,
+              1.2439930982888596
+            ],
+            "held_grasp_midpoint": [
+              0.24244005096660176,
+              -0.037664695760736985,
+              1.2439930982888596
+            ],
+            "held_grasp_object_position": [
+              0.24685954656335637,
+              -0.025038915447790057,
+              1.2439930982888596
+            ],
+            "held_grasp_finger_gap": 0.026959477265053683,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024840793285643276,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0650113736720166,
+              -0.9978845229281793,
+              1.3916806545277716e-05
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003589326938152668,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03683386182623157,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31986906260515313,
+              -0.3081269727788074,
+              0.8515395787716855
+            ],
+            "target_position": [
+              0.3134504374199258,
+              -0.3096840794459976,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006604796018155507,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18343184186275074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395787716855,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519674653541736,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539260332908936,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15244250563328343,
+            "release_required_pad_clearance": 0.052696301664544684,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.44762356125681324,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007484138011932373,
+            "max_z_decrease": 0.007484138011932373,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516937816279017,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007484138011932373,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021233407042657935,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007484138011932373,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007484157952354116,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16915036737918848,
+              -0.3659455478191376,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16915036737918848,
+              -0.3659455478191376,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17022403044819526,
+              -0.3673721614597296,
+              0.8081375773598032
+            ],
+            "closest_button": [
+              0.16914702951908106,
+              -0.3659559190273285,
+              0.7730132341384888
+            ],
+            "closest_ee_minus_button": [
+              0.0010770009291141969,
+              -0.001416242432401127,
+              0.035124343221314414
+            ],
+            "button_min_z_position": [
+              0.16913355886936185,
+              -0.3659495413303375,
+              0.7693247199058533
+            ],
+            "min_active_finger_to_button": 0.1450252604318918,
+            "closest_active_finger": [
+              0.028783634305000305,
+              -0.35360950231552124,
+              0.8105854392051697
+            ],
+            "closest_active_finger_button": [
+              0.16915290057659144,
+              -0.36594846844673157,
+              0.7762846350669861
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14036926627159113,
+              0.012338966131210327,
+              0.034300804138183594
+            ],
+            "min_contact_pad_to_button": 0.021233407042657935,
+            "closest_contact_pad": [
+              0.16913355886936185,
+              -0.36841217232030704,
+              0.7904148366254553
+            ],
+            "closest_contact_pad_button": [
+              0.16913355886936185,
+              -0.3659495413303375,
+              0.7693247199058533
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024626309899695165,
+              0.021090116719602037
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f3603226d66a5372d803b24ad3cee33f0bebbfcef8df920f04321e3341c8f1d",
+    "visual_seed": 3699883391019222938,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_115_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b993fab23ac0a3fabf56c49f8917cdd486726475
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_115_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2487452953238605,
+              -0.024338658917225777,
+              1.047800002399776
+            ],
+            "current_z": 1.047800002399776,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18669349438501015,
+            "gripper_z": 1.0530615483663344,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24408198180308482,
+              -0.028851232966505463,
+              1.0530615483663344
+            ],
+            "object_minus_gripper": [
+              0.004663313520775675,
+              0.004512574049279686,
+              -0.0052615459665583675
+            ],
+            "object_to_gripper_xy": 0.0064892077747042195,
+            "object_to_gripper_z": -0.0052615459665583675,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2487452953238605,
+              -0.04869414626958606,
+              1.047800002399776
+            ],
+            "finger_b": [
+              0.2377587719043737,
+              -0.024338658917225777,
+              1.047800002399776
+            ],
+            "finger_midpoint": [
+              0.2432520336141171,
+              -0.03651640259340592,
+              1.047800002399776
+            ],
+            "object_minus_finger_midpoint": [
+              0.005493261709743402,
+              0.012177743676180141,
+              0.0
+            ],
+            "finger_gap": 0.0267187847968038,
+            "fingertip_max_gap": 0.09636561514483447,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013359392398401898,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047800002399776,
+            "object_top_z": 1.1001486894381591,
+            "finger_top_clearance": 0.052348687038383135,
+            "fingertip_min_top_clearance": 0.01570460611151492,
+            "object_projection_between_fingers": 0.830921974443042,
+            "object_to_finger_line_xy": 0.010014756817148737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050682807572417235,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2548731605661487,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2483149016953059,
+              -0.027066360120932914,
+              1.2469498808411885
+            ],
+            "held_position": [
+              0.253244699162986,
+              -0.022871299828068247,
+              1.2416440898840122
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008369758157460024,
+            "max_held_gripper_dist": 0.008378097078273795,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005305790957176315,
+            "max_held_gripper_z_dist": 0.005315979729569875,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08611941773134105,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.253244699162986,
+              -0.0482876745869694,
+              1.2416440898840122
+            ],
+            "held_grasp_finger_b": [
+              0.2442035095869287,
+              -0.022871299828068247,
+              1.2416440898840122
+            ],
+            "held_grasp_midpoint": [
+              0.24872410437495734,
+              -0.03557948720751882,
+              1.2416440898840122
+            ],
+            "held_grasp_object_position": [
+              0.253244699162986,
+              -0.022871299828068247,
+              1.2416440898840122
+            ],
+            "held_grasp_finger_gap": 0.026976567884649708,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02497527612689946,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04554587549023016,
+              -0.9988468167641903,
+              0.015185844259463233
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003941901553788484,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03682082311193066,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31695334547663334,
+              -0.29954584807608453,
+              0.8515395669507416
+            ],
+            "target_position": [
+              0.31118131963978796,
+              -0.30105734124592587,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005966648461547545,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18122998283291966,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395669507416,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567268722387575,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08780153461593641,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1492508182751944,
+            "release_required_pad_clearance": 0.05390076730796821,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.811391033644696,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007239639759063721,
+            "max_z_decrease": 0.007239639759063721,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510180625513948,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007239639759063721,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021170754536628273,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007239639759063721,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007239660532278985,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1668812483549118,
+              -0.35731878876686096,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1668812483549118,
+              -0.35731878876686096,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1672913848863296,
+              -0.356866491011731,
+              0.8076546935121466
+            ],
+            "closest_button": [
+              0.1668698787689209,
+              -0.35732331871986384,
+              0.7725583910942078
+            ],
+            "closest_ee_minus_button": [
+              0.0004215061174087098,
+              0.00045682770813282314,
+              0.03509630241793882
+            ],
+            "button_min_z_position": [
+              0.16686470806598663,
+              -0.3573240041732788,
+              0.7695692181587219
+            ],
+            "min_active_finger_to_button": 0.14558584853333412,
+            "closest_active_finger": [
+              0.03985197842121124,
+              -0.4195674955844879,
+              0.8112146258354187
+            ],
+            "closest_active_finger_button": [
+              0.16688221693038938,
+              -0.35731956362724304,
+              0.7768089175224304
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12703023850917813,
+              -0.06224793195724487,
+              0.03440570831298828
+            ],
+            "min_contact_pad_to_button": 0.021170754536628273,
+            "closest_contact_pad": [
+              0.16686470806598663,
+              -0.35825003513692305,
+              0.7907197102169351
+            ],
+            "closest_contact_pad_button": [
+              0.16686470806598663,
+              -0.3573240041732788,
+              0.7695692181587219
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009260309636442421,
+              0.021150492058213177
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b533599e45e3a4b3bf2dcf60b5bc09d145c2c25181064a0a177d5a4f3b5bb803",
+    "visual_seed": 8196113131482543518,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c580b6a5151b823f432f821bb57aa4bc347ffbd6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24839518293324622,
+              -0.027533373857864224,
+              1.047848516791319
+            ],
+            "current_z": 1.047848516791319,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.186742008776553,
+            "gripper_z": 1.0529481364782387,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24362568878529603,
+              -0.03224658934922335,
+              1.0529481364782387
+            ],
+            "object_minus_gripper": [
+              0.004769494147950193,
+              0.004713215491359127,
+              -0.005099619686919743
+            ],
+            "object_to_gripper_xy": 0.00670540637808916,
+            "object_to_gripper_z": -0.005099619686919743,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24839518293324622,
+              -0.05166140196477417,
+              1.047848516791319
+            ],
+            "finger_b": [
+              0.23676531183734267,
+              -0.027533373857864224,
+              1.047848516791319
+            ],
+            "finger_midpoint": [
+              0.24258024738529443,
+              -0.0395973879113192,
+              1.047848516791319
+            ],
+            "object_minus_finger_midpoint": [
+              0.005814935547951788,
+              0.012064014053454974,
+              0.0
+            ],
+            "finger_gap": 0.026784615771654616,
+            "fingertip_max_gap": 0.09273896307072457,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013392307885827315,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047848516791319,
+            "object_top_z": 1.0983325869848364,
+            "finger_top_clearance": 0.050484070193517416,
+            "fingertip_min_top_clearance": 0.015145221058055242,
+            "object_projection_between_fingers": 0.8114706541334341,
+            "object_to_finger_line_xy": 0.01047638163167744,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886948153536229,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.372351068439872,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24774939098081264,
+              -0.030852412089704864,
+              1.245869741023872
+            ],
+            "held_position": [
+              0.2528829626123683,
+              -0.026561672174831776,
+              1.2407169864777474
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008444814155800302,
+            "max_held_gripper_dist": 0.008452635739627538,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005152754546124516,
+            "max_held_gripper_z_dist": 0.005161231114258591,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08618587349339776,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2528829626123683,
+              -0.05205265713504297,
+              1.2407169864777474
+            ],
+            "held_grasp_finger_b": [
+              0.24368723024666133,
+              -0.026561672174831776,
+              1.2407169864777474
+            ],
+            "held_grasp_midpoint": [
+              0.24828509642951482,
+              -0.039307164654937374,
+              1.2407169864777474
+            ],
+            "held_grasp_object_position": [
+              0.2528829626123683,
+              -0.026561672174831776,
+              1.2407169864777474
+            ],
+            "held_grasp_finger_gap": 0.027098926325288687,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024735267177097287,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07444417615135866,
+              -0.9972088539084886,
+              -0.005706691130972442
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036370272051026017,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03666804776147298,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3234389002267787,
+              -0.29812614836988194,
+              0.8515395821347038
+            ],
+            "target_position": [
+              0.31555397672455004,
+              -0.30079788338221897,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008325273966191446,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18704105302198035,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395821347038,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551815003061715,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856157908452929,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1554643216072384,
+            "release_required_pad_clearance": 0.05280789542264645,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6620446753401329,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007276654243469238,
+            "max_z_decrease": 0.007276654243469238,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035080773652424006,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007276654243469238,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021284470716965754,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007276654243469238,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007276672424521348,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17125390470027924,
+              -0.3570593297481536,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17125390470027924,
+              -0.3570593297481536,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16957957289238523,
+              -0.35801920692221306,
+              0.8074363560534862
+            ],
+            "closest_button": [
+              0.17124322056770325,
+              -0.3570642173290252,
+              0.7724080681800842
+            ],
+            "closest_ee_minus_button": [
+              -0.001663647675318014,
+              -0.0009549895931878494,
+              0.03502828787340195
+            ],
+            "button_min_z_position": [
+              0.17123860120773318,
+              -0.3570648431777953,
+              0.7695322036743164
+            ],
+            "min_active_finger_to_button": 0.1477324488989797,
+            "closest_active_finger": [
+              0.02858639508485794,
+              -0.34060898423194885,
+              0.8080042600631714
+            ],
+            "closest_active_finger_button": [
+              0.1712586134672165,
+              -0.35706704854965204,
+              0.7733827829360962
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14267221838235855,
+              0.01645806431770319,
+              0.034621477127075195
+            ],
+            "min_contact_pad_to_button": 0.021284470716965754,
+            "closest_contact_pad": [
+              0.17123860120773318,
+              -0.35949285819008736,
+              0.790677733622782
+            ],
+            "closest_contact_pad_button": [
+              0.17123860120773318,
+              -0.3570648431777953,
+              0.7695322036743164
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002428015012292062,
+              0.021145529948465636
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "caebb4175eb66e496bdcd08a7e41604b1bf7515bea672d8d73cad5f68bc3919f",
+    "visual_seed": 6330604902908875209,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87365d3796662d333a0421291b4d0118e54ab728
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25099957038982224,
+              -0.027331202390269392,
+              1.050471959674776
+            ],
+            "current_z": 1.050471959674776,
+            "required_z": 0.8611063888054765,
+            "initial_z": 0.7611063888054765,
+            "lift_margin": 0.1893655708692995,
+            "gripper_z": 1.0554903464330982,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24624542405203098,
+              -0.031907887024300016,
+              1.0554903464330982
+            ],
+            "object_minus_gripper": [
+              0.004754146337791254,
+              0.004576684634030624,
+              -0.005018386758322224
+            ],
+            "object_to_gripper_xy": 0.006599087030832828,
+            "object_to_gripper_z": -0.005018386758322224,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25099957038982224,
+              -0.05168411949271098,
+              1.050471959674776
+            ],
+            "finger_b": [
+              0.23983233716936467,
+              -0.027331202390269392,
+              1.050471959674776
+            ],
+            "finger_midpoint": [
+              0.24541595377959347,
+              -0.039507660941490184,
+              1.050471959674776
+            ],
+            "object_minus_finger_midpoint": [
+              0.00558361661022877,
+              0.012176458551220792,
+              0.0
+            ],
+            "finger_gap": 0.02679126106025028,
+            "fingertip_max_gap": 0.09269770111597686,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013395630530125133,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050471959674776,
+            "object_top_z": 1.101161012762578,
+            "finger_top_clearance": 0.050689053087801916,
+            "fingertip_min_top_clearance": 0.015206715926340557,
+            "object_projection_between_fingers": 0.826257982654361,
+            "object_to_finger_line_xy": 0.010150873610235884,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04884885055798843,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0731439463709762,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25055495624310553,
+              -0.030505541483621695,
+              1.246333774181359
+            ],
+            "held_position": [
+              0.25557527917691814,
+              -0.026249952706599328,
+              1.2412573081383225
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008311689700956469,
+            "max_held_gripper_dist": 0.008319349454866468,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005076466043036465,
+            "max_held_gripper_z_dist": 0.00508268049984828,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08583577171874558,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25557527917691814,
+              -0.05167128188672443,
+              1.2412573081383225
+            ],
+            "held_grasp_finger_b": [
+              0.24653605048265437,
+              -0.026249952706599328,
+              1.2412573081383225
+            ],
+            "held_grasp_midpoint": [
+              0.25105566482978625,
+              -0.03896061729666188,
+              1.2412573081383225
+            ],
+            "held_grasp_object_position": [
+              0.25557527917691814,
+              -0.026249952706599328,
+              1.2412573081383225
+            ],
+            "held_grasp_finger_gap": 0.02698057880534592,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02479250775065987,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0637892335555752,
+              -0.9979459784044098,
+              -0.0058955804512728065
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003700382218814397,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03674739072442448,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32523391103623556,
+              -0.3061180618107165,
+              0.8515395760460955
+            ],
+            "target_position": [
+              0.31812846899673825,
+              -0.30830296718137234,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007433782217376059,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18434974216244424,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395760460955,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569740489669288,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086466580008961,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15226230484120587,
+            "release_required_pad_clearance": 0.0532332900044805,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4877687521534853,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007493376731872559,
+            "max_z_decrease": 0.007493376731872559,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513792009009115,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007493376731872559,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114868654264035,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007493376731872559,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007493395928776949,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1738283932209015,
+              -0.3645644187927246,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1738283932209015,
+              -0.3645644187927246,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17426800316861002,
+              -0.3628523362209425,
+              0.8073570874502384
+            ],
+            "closest_button": [
+              0.17381635308265686,
+              -0.36456841230392456,
+              0.7722640037536621
+            ],
+            "closest_ee_minus_button": [
+              0.00045165008595315914,
+              0.0017160760829820765,
+              0.035093083696576266
+            ],
+            "button_min_z_position": [
+              0.1738121509552002,
+              -0.3645693063735962,
+              0.7693154811859131
+            ],
+            "min_active_finger_to_button": 0.14499648166906445,
+            "closest_active_finger": [
+              0.04767283797264099,
+              -0.42720210552215576,
+              0.8106779456138611
+            ],
+            "closest_active_finger_button": [
+              0.17383162677288055,
+              -0.3645668625831604,
+              0.7762575149536133
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12615878880023956,
+              -0.06263524293899536,
+              0.0344204306602478
+            ],
+            "min_contact_pad_to_button": 0.02114868654264035,
+            "closest_contact_pad": [
+              0.1738121509552002,
+              -0.3645693063735962,
+              0.7904641677285534
+            ],
+            "closest_contact_pad_button": [
+              0.1738121509552002,
+              -0.3645693063735962,
+              0.7693154811859131
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02114868654264035
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0fb85b0db6338f68ba851586267af8268623e2eb52e032c775b4a12ea97e95f3",
+    "visual_seed": 5609693507165238062,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb2e67e0d95b9bb1258aca458b4300c740f65ed8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24927034100212636,
+              -0.02274758054013467,
+              1.0498522227205958
+            ],
+            "current_z": 1.0498522227205958,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.18874583391511912,
+            "gripper_z": 1.0547620343989974,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24470021447730722,
+              -0.027321038082319435,
+              1.0547620343989974
+            ],
+            "object_minus_gripper": [
+              0.00457012652481914,
+              0.004573457542184765,
+              -0.004909811678401654
+            ],
+            "object_to_gripper_xy": 0.006465490727162338,
+            "object_to_gripper_z": -0.004909811678401654,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24927034100212636,
+              -0.04680854939413804,
+              1.0498522227205958
+            ],
+            "finger_b": [
+              0.23791272079824202,
+              -0.02274758054013467,
+              1.0498522227205958
+            ],
+            "finger_midpoint": [
+              0.2435915309001842,
+              -0.034778064967136355,
+              1.0498522227205958
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056788101019421555,
+              0.012030484427001685,
+              0.0
+            ],
+            "finger_gap": 0.02660687427882129,
+            "fingertip_max_gap": 0.09260121921669245,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013303437139410639,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498522227205958,
+            "object_top_z": 1.100432595371754,
+            "finger_top_clearance": 0.05058037265115822,
+            "fingertip_min_top_clearance": 0.015174111795347466,
+            "object_projection_between_fingers": 0.8177838070221889,
+            "object_to_finger_line_xy": 0.010270854934613055,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880060960834623,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1188842257152813,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2491295999950655,
+              -0.025613998540182828,
+              1.2480763108781237
+            ],
+            "held_position": [
+              0.25404683519875704,
+              -0.021452591461418185,
+              1.2431085788088354
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008134793963945897,
+            "max_held_gripper_dist": 0.008143183285594503,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004967732069288244,
+            "max_held_gripper_z_dist": 0.004975252667870578,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08617683140576572,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25404683519875704,
+              -0.046883119315172146,
+              1.2431085788088354
+            ],
+            "held_grasp_finger_b": [
+              0.24508738798495888,
+              -0.021380248802164124,
+              1.2431085788088354
+            ],
+            "held_grasp_midpoint": [
+              0.24956711159185796,
+              -0.034131684058668135,
+              1.2431085788088354
+            ],
+            "held_grasp_object_position": [
+              0.25404683519875704,
+              -0.021452591461418185,
+              1.2431085788088354
+            ],
+            "held_grasp_finger_gap": 0.027030873067292693,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02473580499871267,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07713358685483936,
+              -0.9970202877978093,
+              -0.0009774960259014696
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034884161946546746,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03673340036985142,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3240432000670943,
+              -0.30256801962907287,
+              0.8515395165312903
+            ],
+            "target_position": [
+              0.3169422776697813,
+              -0.30490355881509096,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074751483050229705,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18264302838709895,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395165312903,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757791720367127,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08591950998392171,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1504380951303279,
+            "release_required_pad_clearance": 0.05295975499196086,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9553075561039284,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007358372211456299,
+            "max_z_decrease": 0.007358372211456299,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514393191745192,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007358372211456299,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02116573369785868,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007358372211456299,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007358392278381535,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17264220118522644,
+              -0.3611650168895721,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17264220118522644,
+              -0.3611650168895721,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17344999839309494,
+              -0.35958246118458836,
+              0.8049240244245005
+            ],
+            "closest_button": [
+              0.1726260930299759,
+              -0.3611700236797333,
+              0.7698256373405457
+            ],
+            "closest_ee_minus_button": [
+              0.0008239053631190485,
+              0.0015875624951449119,
+              0.03509838708395485
+            ],
+            "button_min_z_position": [
+              0.17262578010559085,
+              -0.361170083284378,
+              0.7694504857063293
+            ],
+            "min_active_finger_to_button": 0.1443914320352527,
+            "closest_active_finger": [
+              0.04700198024511337,
+              -0.4234105050563812,
+              0.8107907176017761
+            ],
+            "closest_active_finger_button": [
+              0.17264601588249207,
+              -0.36116752028465265,
+              0.7763193845748901
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1256440356373787,
+              -0.06224298477172857,
+              0.034471333026885986
+            ],
+            "min_contact_pad_to_button": 0.02116573369785868,
+            "closest_contact_pad": [
+              0.17262578010559085,
+              -0.361170083284378,
+              0.790616219404188
+            ],
+            "closest_contact_pad_button": [
+              0.17262578010559085,
+              -0.361170083284378,
+              0.7694504857063293
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02116573369785868
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4841f67ebdd89aebb094c53550e51994b82567b7e1d8175a46521186c0dd8266",
+    "visual_seed": 252979467145775747,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..20b898831006ad5ea448dbaa56abbc4750b73a7b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25021518896620554,
+              -0.03091844521923382,
+              1.0480106250423757
+            ],
+            "current_z": 1.0480106250423757,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18690417663225445,
+            "gripper_z": 1.0529035773531588,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24602497377964735,
+              -0.035337451439508685,
+              1.0529035773531588
+            ],
+            "object_minus_gripper": [
+              0.004190215186558183,
+              0.004419006220274864,
+              -0.004892952310783016
+            ],
+            "object_to_gripper_xy": 0.006089788114909317,
+            "object_to_gripper_z": -0.004892952310783016,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25021518896620554,
+              -0.054599921303695474,
+              1.0480106250423757
+            ],
+            "finger_b": [
+              0.23896564613596527,
+              -0.03091844521923382,
+              1.0480106250423757
+            ],
+            "finger_midpoint": [
+              0.2445904175510854,
+              -0.04275918326146465,
+              1.0480106250423757
+            ],
+            "object_minus_finger_midpoint": [
+              0.005624771415120133,
+              0.011840738042230826,
+              0.0
+            ],
+            "finger_gap": 0.026217637640114325,
+            "fingertip_max_gap": 0.09632813593505651,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013108818820057162,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480106250423757,
+            "object_top_z": 1.10044545350517,
+            "finger_top_clearance": 0.052434828462794236,
+            "fingertip_min_top_clearance": 0.015730448538838235,
+            "object_projection_between_fingers": 0.8158877719521936,
+            "object_to_finger_line_xy": 0.01016131900029953,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05066406796752826,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.409965228233301,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25028130709219665,
+              -0.0342274375324773,
+              1.2449368178436788
+            ],
+            "held_position": [
+              0.25483517818507934,
+              -0.03021512667315689,
+              1.2399809359218086
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007835633094136894,
+            "max_held_gripper_dist": 0.007843927371805962,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004955881921870242,
+            "max_held_gripper_z_dist": 0.004962030450249788,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08632067143839818,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25483517818507934,
+              -0.055456670044446696,
+              1.2399809359218086
+            ],
+            "held_grasp_finger_b": [
+              0.24636655984445263,
+              -0.02991568994997364,
+              1.2399809359218086
+            ],
+            "held_grasp_midpoint": [
+              0.25060086901476597,
+              -0.042686179997210166,
+              1.2399809359218086
+            ],
+            "held_grasp_object_position": [
+              0.25483517818507934,
+              -0.03021512667315689,
+              1.2399809359218086
+            ],
+            "held_grasp_finger_gap": 0.026908347418328534,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024812893113219603,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07676804847802852,
+              -0.9969473498021647,
+              0.014235464703177377
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032693850421615313,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036962206857781094,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.322433740500622,
+              -0.30469452610032643,
+              0.851539558969479
+            ],
+            "target_position": [
+              0.31707372798806,
+              -0.3055551971281793,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005428672835326025,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18461646694302,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539558969479,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560901294857486,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08716819282751169,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15247220357828975,
+            "release_required_pad_clearance": 0.05358409641375585,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1789658608373266,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007576465606689453,
+            "max_z_decrease": 0.007576465606689453,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510098388143875,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007576465606689453,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021156044330655745,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007576465606689453,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007576490350792009,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17277365922927856,
+              -0.36181664466857905,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17277365922927856,
+              -0.36181664466857905,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17130723308557358,
+              -0.36167940314249325,
+              0.8073574013684627
+            ],
+            "closest_button": [
+              0.17276261746883395,
+              -0.36182186007499695,
+              0.7722868919372559
+            ],
+            "closest_ee_minus_button": [
+              -0.001455384383260372,
+              0.0001424569325036984,
+              0.03507050943120682
+            ],
+            "button_min_z_position": [
+              0.17275500297546387,
+              -0.3618218302726745,
+              0.7692323923110962
+            ],
+            "min_active_finger_to_button": 0.14736915754075,
+            "closest_active_finger": [
+              0.04422438144683838,
+              -0.42512601613998413,
+              0.8109493851661682
+            ],
+            "closest_active_finger_button": [
+              0.17277592420578006,
+              -0.36181885004043574,
+              0.7765346765518188
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12855154275894168,
+              -0.0633071660995484,
+              0.034414708614349365
+            ],
+            "min_contact_pad_to_button": 0.021156044330655745,
+            "closest_contact_pad": [
+              0.17275500297546387,
+              -0.3629676427140557,
+              0.7903573852239908
+            ],
+            "closest_contact_pad_button": [
+              0.17275500297546387,
+              -0.3618218302726745,
+              0.7692323923110962
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011458124413811777,
+              0.021124992912894602
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4721a1887609792f608b3509fc22b034237821583279002c752584c0749a9447",
+    "visual_seed": 741680143549973280,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5406da5a47799987761ad9607d28faeea838246
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2483671213829919,
+              -0.02525866628573669,
+              1.0489545723143854
+            ],
+            "current_z": 1.0489545723143854,
+            "required_z": 0.8611066272240558,
+            "initial_z": 0.7611066272240559,
+            "lift_margin": 0.18784794509032954,
+            "gripper_z": 1.0539203924077074,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24416859296436297,
+              -0.02967067988122099,
+              1.0539203924077074
+            ],
+            "object_minus_gripper": [
+              0.004198528418628944,
+              0.0044120135954843,
+              -0.0049658200933220265
+            ],
+            "object_to_gripper_xy": 0.006090443731681064,
+            "object_to_gripper_z": -0.0049658200933220265,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2483671213829919,
+              -0.04897873129604945,
+              1.0489545723143854
+            ],
+            "finger_b": [
+              0.23715965145833587,
+              -0.02525866628573669,
+              1.0489545723143854
+            ],
+            "finger_midpoint": [
+              0.2427633864206639,
+              -0.03711869879089307,
+              1.0489545723143854
+            ],
+            "object_minus_finger_midpoint": [
+              0.005603734962328022,
+              0.011860032505156382,
+              0.0
+            ],
+            "finger_gap": 0.02623449763585218,
+            "fingertip_max_gap": 0.09625297545387848,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01311724881792609,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489545723143854,
+            "object_top_z": 1.1014384672380346,
+            "finger_top_clearance": 0.052483894923649244,
+            "fingertip_min_top_clearance": 0.015745168477094774,
+            "object_projection_between_fingers": 0.8174971463381107,
+            "object_to_finger_line_xy": 0.010133295438090106,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05062648772693924,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2409011772029808,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24855064451254924,
+              -0.02834946842383186,
+              1.2473319998856018
+            ],
+            "held_position": [
+              0.25312491357238714,
+              -0.024364537694788694,
+              1.242308324548409
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007876606137200362,
+            "max_held_gripper_dist": 0.007884581562472634,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005023675337192834,
+            "max_held_gripper_z_dist": 0.00503019125438775,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08618394630729227,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25312491357238714,
+              -0.04966773132594795,
+              1.242308324548409
+            ],
+            "held_grasp_finger_b": [
+              0.2445931864585012,
+              -0.02394468847316222,
+              1.242308324548409
+            ],
+            "held_grasp_midpoint": [
+              0.24885905001544417,
+              -0.03680620989955508,
+              1.242308324548409
+            ],
+            "held_grasp_object_position": [
+              0.25312491357238714,
+              -0.024364537694788694,
+              1.242308324548409
+            ],
+            "held_grasp_finger_gap": 0.02710102029725205,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02496299472302091,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07906273525759908,
+              -0.9966758813038203,
+              0.01965379151308988
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032782184224516148,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036982664619468655,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31633970797547406,
+              -0.3028436615598048,
+              0.8515396140708966
+            ],
+            "target_position": [
+              0.3110321264968469,
+              -0.30374324497777955,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005383277020380897,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.180711629910949,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396140708966,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756168358515624,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08699647704611184,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14869127621870734,
+            "release_required_pad_clearance": 0.05349823852305592,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.008883240827899,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007469356060028076,
+            "max_z_decrease": 0.007469356060028076,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519885472616772,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007469356060028076,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02120704524318599,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007469356060028076,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007469381023459424,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.166732057929039,
+              -0.36000469326972956,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.166732057929039,
+              -0.36000469326972956,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16875274730913584,
+              -0.3610515155800657,
+              0.8080225589919907
+            ],
+            "closest_button": [
+              0.1667240262031555,
+              -0.3600158393383026,
+              0.772897481918335
+            ],
+            "closest_ee_minus_button": [
+              0.0020287211059803467,
+              -0.001035676241763095,
+              0.03512507707365575
+            ],
+            "button_min_z_position": [
+              0.16671322286128998,
+              -0.36000895500183105,
+              0.7693395018577576
+            ],
+            "min_active_finger_to_button": 0.14412264917969153,
+            "closest_active_finger": [
+              0.027322955429553986,
+              -0.3472980856895447,
+              0.8103904724121094
+            ],
+            "closest_active_finger_button": [
+              0.1667329967021942,
+              -0.3600096106529236,
+              0.7761180996894836
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13941004127264023,
+              0.012711524963378906,
+              0.03427237272262573
+            ],
+            "min_contact_pad_to_button": 0.02120704524318599,
+            "closest_contact_pad": [
+              0.16671322286128998,
+              -0.3621277560979424,
+              0.7904404366678947
+            ],
+            "closest_contact_pad_button": [
+              0.16671322286128998,
+              -0.36000895500183105,
+              0.7693395018577576
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021188010961113446,
+              0.021100934810137084
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29b25a38d4eb2baec0c0a1e877744482f5f9b39c320fb6a20a43cbf91b564586",
+    "visual_seed": 7417004128266653798,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5223d5679e1fbca92dd666def80034d14f526656
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24810665367259022,
+              -0.02574800244025256,
+              1.0500625407057376
+            ],
+            "current_z": 1.0500625407057376,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1889560326909716,
+            "gripper_z": 1.0549072456403985,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24344259761260761,
+              -0.03041866866994955,
+              1.0549072456403985
+            ],
+            "object_minus_gripper": [
+              0.004664056059982602,
+              0.004670666229696991,
+              -0.004844704934660937
+            ],
+            "object_to_gripper_xy": 0.006600647086452383,
+            "object_to_gripper_z": -0.004844704934660937,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24810665367259022,
+              -0.04978028909027769,
+              1.0500625407057376
+            ],
+            "finger_b": [
+              0.2365093346353468,
+              -0.02574800244025256,
+              1.0500625407057376
+            ],
+            "finger_midpoint": [
+              0.2423079941539685,
+              -0.03776414576526513,
+              1.0500625407057376
+            ],
+            "object_minus_finger_midpoint": [
+              0.005798659518621713,
+              0.012016143325012569,
+              0.0
+            ],
+            "finger_gap": 0.02668423899009648,
+            "fingertip_max_gap": 0.09148620168785937,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334211949504824,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500625407057376,
+            "object_top_z": 1.0999431097123675,
+            "finger_top_clearance": 0.04988056900662996,
+            "fingertip_min_top_clearance": 0.014964170701988987,
+            "object_projection_between_fingers": 0.8111114790873172,
+            "object_to_finger_line_xy": 0.0104447458883226,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824310084392969,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2017999073888093,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24769435588825306,
+              -0.028970539124571204,
+              1.2474879995683519
+            ],
+            "held_position": [
+              0.25271920607979603,
+              -0.02472181063682505,
+              1.2425796751147211
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008209291208876982,
+            "max_held_gripper_dist": 0.008216997863152548,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0049083244536307635,
+            "max_held_gripper_z_dist": 0.0049155695291047685,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08617611724874445,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25271920607979603,
+              -0.050151700141201086,
+              1.2425796751147211
+            ],
+            "held_grasp_finger_b": [
+              0.2436675747559329,
+              -0.02472181063682505,
+              1.2425796751147211
+            ],
+            "held_grasp_midpoint": [
+              0.24819339041786448,
+              -0.03743675538901307,
+              1.2425796751147211
+            ],
+            "held_grasp_object_position": [
+              0.25271920607979603,
+              -0.02472181063682505,
+              1.2425796751147211
+            ],
+            "held_grasp_finger_gap": 0.026992801074136687,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024626908526963656,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07954477355980089,
+              -0.9967372641003962,
+              -0.013691433561802802
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003504516755251595,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036686785842609745,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3240422479162014,
+              -0.3021158768779757,
+              0.8515395711753972
+            ],
+            "target_position": [
+              0.31607344653956165,
+              -0.3047422082810785,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008390435746685595,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18227326802874017,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395711753972,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547147378837267,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517629291217642,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15089471463609683,
+            "release_required_pad_clearance": 0.05258814645608821,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2406626083485863,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007195174694061279,
+            "max_z_decrease": 0.007195174694061279,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510164678245766,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007195174694061279,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021176398964419474,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007195174694061279,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007195195073189561,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1717733740806579,
+              -0.3610036671161651,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1717733740806579,
+              -0.3610036671161651,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17136699196977515,
+              -0.3594965894806998,
+              0.8075787711335821
+            ],
+            "closest_button": [
+              0.17176181077957148,
+              -0.36100795865058893,
+              0.772511899471283
+            ],
+            "closest_ee_minus_button": [
+              -0.0003948188097963323,
+              0.001511369169889143,
+              0.03506687166229916
+            ],
+            "button_min_z_position": [
+              0.17175707221031183,
+              -0.36100891232490534,
+              0.7696136832237244
+            ],
+            "min_active_finger_to_button": 0.1458810626103126,
+            "closest_active_finger": [
+              0.04394207149744034,
+              -0.4222177267074585,
+              0.8109646439552307
+            ],
+            "closest_active_finger_button": [
+              0.17177693545818326,
+              -0.3610058724880218,
+              0.7764300107955933
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12783486396074292,
+              -0.0612118542194367,
+              0.03453463315963745
+            ],
+            "min_contact_pad_to_button": 0.021176398964419474,
+            "closest_contact_pad": [
+              0.17175707221031183,
+              -0.36100891232490534,
+              0.7907900821881438
+            ],
+            "closest_contact_pad_button": [
+              0.17175707221031183,
+              -0.36100891232490534,
+              0.7696136832237244
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021176398964419474
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b4172661044634466d2bdf616d3a2e29f47fbff6fe9744b17dbdf9ca9afcb27",
+    "visual_seed": 7754220713964203227,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a41f019922901f15e86e36d7a43289d242c91b45
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24253984909537094,
+              -0.024019583202590896,
+              1.0480073029941708
+            ],
+            "current_z": 1.0480073029941708,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18690079497940493,
+            "gripper_z": 1.053161101792552,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2379140177093615,
+              -0.02860138120934759,
+              1.053161101792552
+            ],
+            "object_minus_gripper": [
+              0.0046258313860094435,
+              0.004581798006756694,
+              -0.005153798798381182
+            ],
+            "object_to_gripper_xy": 0.0065108516329670475,
+            "object_to_gripper_z": -0.005153798798381182,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24253984909537094,
+              -0.04815092739801391,
+              1.0480073029941708
+            ],
+            "finger_b": [
+              0.23123528817583086,
+              -0.024019583202590896,
+              1.0480073029941708
+            ],
+            "finger_midpoint": [
+              0.2368875686356009,
+              -0.036085255300302405,
+              1.0480073029941708
+            ],
+            "object_minus_finger_midpoint": [
+              0.005652280459770037,
+              0.012065672097711509,
+              0.0
+            ],
+            "finger_gap": 0.026647980603820034,
+            "fingertip_max_gap": 0.09254995575137775,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013323990301910019,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480073029941708,
+            "object_top_z": 1.0985568702548205,
+            "finger_top_clearance": 0.05054956726064974,
+            "fingertip_min_top_clearance": 0.015164870178194938,
+            "object_projection_between_fingers": 0.8200388374679148,
+            "object_to_finger_line_xy": 0.010236957711101134,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04877497787568888,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1373332079833516,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24187605847847374,
+              -0.026756667570589296,
+              1.2457015699239768
+            ],
+            "held_position": [
+              0.24680951372107174,
+              -0.022524410110968104,
+              1.2405015617793214
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008324125692210584,
+            "max_held_gripper_dist": 0.008331661135904226,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005200008144655488,
+            "max_held_gripper_z_dist": 0.0052070439752589515,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08597479868237025,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24680951372107174,
+              -0.04787046720301315,
+              1.2405015617793214
+            ],
+            "held_grasp_finger_b": [
+              0.23774603901426627,
+              -0.022524410110968104,
+              1.2405015617793214
+            ],
+            "held_grasp_midpoint": [
+              0.242277776367669,
+              -0.035197438656990626,
+              1.2405015617793214
+            ],
+            "held_grasp_object_position": [
+              0.24680951372107174,
+              -0.022524410110968104,
+              1.2405015617793214
+            ],
+            "held_grasp_finger_gap": 0.026917822792233943,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02464961066665762,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06992546717027712,
+              -0.9975270819401835,
+              -0.007081654956365034
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003635612854680859,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03676167703370689,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3224353994587982,
+              -0.3017576715323653,
+              0.8515395884491631
+            ],
+            "target_position": [
+              0.3152324985729168,
+              -0.30381449784334214,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074908154192555865,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1822529669584833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395884491631,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534250868115655,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08590162711063352,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1511682242702937,
+            "release_required_pad_clearance": 0.052950813555316764,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9379442975684407,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0071353912353515625,
+            "max_z_decrease": 0.0071353912353515625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501550885492422,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0071353912353515625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02132081439274995,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0071353912353515625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007135412755520665,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1709324270486831,
+              -0.3600759506225586,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1709324270486831,
+              -0.3600759506225586,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17189013438366207,
+              -0.3604001915213832,
+              0.8065196977493193
+            ],
+            "closest_button": [
+              0.17091865837574,
+              -0.36008086800575256,
+              0.771519124507904
+            ],
+            "closest_ee_minus_button": [
+              0.0009714760079220786,
+              -0.00031932351563063177,
+              0.035000573241415256
+            ],
+            "button_min_z_position": [
+              0.170915812253952,
+              -0.3600815236568451,
+              0.7696734666824341
+            ],
+            "min_active_finger_to_button": 0.145182787765377,
+            "closest_active_finger": [
+              0.031178638339042664,
+              -0.34201177954673767,
+              0.8080597519874573
+            ],
+            "closest_active_finger_button": [
+              0.17094451189041132,
+              -0.36008307337760925,
+              0.7731746435165405
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13976587355136866,
+              0.018071293830871582,
+              0.03488510847091675
+            ],
+            "min_contact_pad_to_button": 0.02132081439274995,
+            "closest_contact_pad": [
+              0.170915812253952,
+              -0.3619041002739667,
+              0.7909162381787529
+            ],
+            "closest_contact_pad_button": [
+              0.170915812253952,
+              -0.3600815236568451,
+              0.7696734666824341
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018225766171215962,
+              0.021242771496318813
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "122864bcd4e611f68a3a9c4809afe8b18d5dc459cb1005d83b0d1286247b5f61",
+    "visual_seed": 538578600974153701,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..59480e91a2a7bee82d96c79301b61243734fdeb0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24366771874291174,
+              -0.025805800034847674,
+              1.0508728248177581
+            ],
+            "current_z": 1.0508728248177581,
+            "required_z": 0.8611063888054762,
+            "initial_z": 0.7611063888054762,
+            "lift_margin": 0.18976643601228194,
+            "gripper_z": 1.0558724592557138,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23914258604916022,
+              -0.030356553237880016,
+              1.0558724592557138
+            ],
+            "object_minus_gripper": [
+              0.004525132693751516,
+              0.004550753203032342,
+              -0.004999634437955702
+            ],
+            "object_to_gripper_xy": 0.006417646033474265,
+            "object_to_gripper_z": -0.004999634437955702,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24366771874291174,
+              -0.04981766836295448,
+              1.0508728248177581
+            ],
+            "finger_b": [
+              0.23234659876091643,
+              -0.025805800034847674,
+              1.0508728248177581
+            ],
+            "finger_midpoint": [
+              0.23800715875191408,
+              -0.037811734198901076,
+              1.0508728248177581
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056605599909976545,
+              0.012005934164053402,
+              0.0
+            ],
+            "finger_gap": 0.026546893947373057,
+            "fingertip_max_gap": 0.09214274640761264,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013273446973686527,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508728248177581,
+            "object_top_z": 1.1012927228090734,
+            "finger_top_clearance": 0.0504198979913153,
+            "fingertip_min_top_clearance": 0.015125969397394589,
+            "object_projection_between_fingers": 0.8181340663507116,
+            "object_to_finger_line_xy": 0.01024003948911207,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04857137320380632,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9970593819786281,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24330874025078864,
+              -0.028928150431243027,
+              1.2496231054052704
+            ],
+            "held_position": [
+              0.2481960031333608,
+              -0.02478808531826628,
+              1.2445770043052908
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00815405506078234,
+            "max_held_gripper_dist": 0.00816192298601735,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005046101099979605,
+            "max_held_gripper_z_dist": 0.0050539224887329315,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08622891263352273,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2481960031333608,
+              -0.050211182567922986,
+              1.2445770043052908
+            ],
+            "held_grasp_finger_b": [
+              0.2393515077682467,
+              -0.024540796903935277,
+              1.2445770043052908
+            ],
+            "held_grasp_midpoint": [
+              0.24377375545080376,
+              -0.037375989735929135,
+              1.2445770043052908
+            ],
+            "held_grasp_object_position": [
+              0.2481960031333608,
+              -0.02478808531826628,
+              1.2445770043052908
+            ],
+            "held_grasp_finger_gap": 0.027151313014316458,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024841425670084946,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08354185290692098,
+              -0.9964911137583405,
+              -0.005120450521241659
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033558091357059525,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036807072411640517,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3184661906098578,
+              -0.30249553171484067,
+              0.851539569118069
+            ],
+            "target_position": [
+              0.31118656494827046,
+              -0.30463642623541565,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007587910062795226,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18470067301418158,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539569118069,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757819878719262,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08598098800216457,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15227739109411925,
+            "release_required_pad_clearance": 0.052990494001082286,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0148971762356056,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007362663745880127,
+            "max_z_decrease": 0.007362663745880127,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351291851284339,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007362663745880127,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021180425268472674,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007362663745880127,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007362684244448063,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16688649356365204,
+              -0.3608978986740112,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16688649356365204,
+              -0.3608978986740112,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16817451074786838,
+              -0.35993880787963334,
+              0.8046593171722093
+            ],
+            "closest_button": [
+              0.1668701469898224,
+              -0.36090332269668574,
+              0.769567608833313
+            ],
+            "closest_ee_minus_button": [
+              0.00130436375804599,
+              0.0009645148170523976,
+              0.0350917083388963
+            ],
+            "button_min_z_position": [
+              0.16686999797821045,
+              -0.3609033524990082,
+              0.7694461941719055
+            ],
+            "min_active_finger_to_button": 0.14422684611592804,
+            "closest_active_finger": [
+              0.040847957134246826,
+              -0.4219292104244232,
+              0.8105936050415039
+            ],
+            "closest_active_finger_button": [
+              0.16689150035381317,
+              -0.3609019815921783,
+              0.776095986366272
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12604354321956635,
+              -0.06102722883224493,
+              0.034497618675231934
+            ],
+            "min_contact_pad_to_button": 0.021180425268472674,
+            "closest_contact_pad": [
+              0.16686999797821045,
+              -0.36121791695484773,
+              0.7906242834095227
+            ],
+            "closest_contact_pad_button": [
+              0.16686999797821045,
+              -0.3609033524990082,
+              0.7694461941719055
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00031456445583954995,
+              0.021178089237617215
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5401325fa61f3526c2ec6d6e2b344e595e814c4bb5c2b28f58bf45a07268f486",
+    "visual_seed": 5310069608379165804,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3560925fbbb0d70c3e4221384f989d541bd34cfb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25019756917493635,
+              -0.023199007805378234,
+              1.0487314579680387
+            ],
+            "current_z": 1.0487314579680387,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.18762500955791728,
+            "gripper_z": 1.053982133040116,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24554739770877956,
+              -0.02767745422147004,
+              1.053982133040116
+            ],
+            "object_minus_gripper": [
+              0.004650171466156788,
+              0.004478446416091807,
+              -0.0052506750720773265
+            ],
+            "object_to_gripper_xy": 0.006456049640954159,
+            "object_to_gripper_z": -0.0052506750720773265,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25019756917493635,
+              -0.04756261428374972,
+              1.0487314579680387
+            ],
+            "finger_b": [
+              0.2392626985902812,
+              -0.023199007805378234,
+              1.0487314579680387
+            ],
+            "finger_midpoint": [
+              0.24473013388260878,
+              -0.035380811044563976,
+              1.0487314579680387
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054674352923275715,
+              0.012181803239185742,
+              0.0
+            ],
+            "finger_gap": 0.0267049942021357,
+            "fingertip_max_gap": 0.09547651233221918,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01335249710106785,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487314579680387,
+            "object_top_z": 1.1012407258449504,
+            "finger_top_clearance": 0.05250926787691168,
+            "fingertip_min_top_clearance": 0.015752780363073503,
+            "object_projection_between_fingers": 0.8323350364207062,
+            "object_to_finger_line_xy": 0.009976144604261016,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05023825616610959,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8235347181915258,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25008159747758696,
+              -0.026415206571088902,
+              1.2436956590856703
+            ],
+            "held_position": [
+              0.25498064630724004,
+              -0.022250710421602173,
+              1.238374431039809
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008346207254224821,
+            "max_held_gripper_dist": 0.00835441601082802,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005321228045861215,
+            "max_held_gripper_z_dist": 0.005326675236370759,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08657193509533931,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25498064630724004,
+              -0.04769475565041424,
+              1.238374431039809
+            ],
+            "held_grasp_finger_b": [
+              0.24625683616350202,
+              -0.02199017816823401,
+              1.238374431039809
+            ],
+            "held_grasp_midpoint": [
+              0.25061874123537103,
+              -0.034842466909324125,
+              1.238374431039809
+            ],
+            "held_grasp_object_position": [
+              0.25498064630724004,
+              -0.022250710421602173,
+              1.238374431039809
+            ],
+            "held_grasp_finger_gap": 0.027144615800585453,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025055951846365963,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06734083990654792,
+              -0.9976207765487651,
+              0.014764737685435625
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035091078948522847,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03686471783356865,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3219140611293497,
+              -0.3000096580697976,
+              0.8515395903252762
+            ],
+            "target_position": [
+              0.3166963056986677,
+              -0.30102803682003976,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005316207954299437,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18285165707631823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395903252762,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532093966456435,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605480552043758,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15160246503089775,
+            "release_required_pad_clearance": 0.05302740276021879,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0864130575711983,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007446467876434326,
+            "max_z_decrease": 0.007446467876434326,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351168815631185,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007446467876434326,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021265658030066678,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007446467876434326,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007446484241560475,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17239622771739954,
+              -0.35728949308395375,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17239622771739954,
+              -0.35728949308395375,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17159717115513007,
+              -0.3586525969951801,
+              0.8076929119386365
+            ],
+            "closest_button": [
+              0.1723864078521728,
+              -0.3572954535484313,
+              0.772611141204834
+            ],
+            "closest_ee_minus_button": [
+              -0.0007892366970427278,
+              -0.0013571434467488097,
+              0.035081770733802475
+            ],
+            "button_min_z_position": [
+              0.17238129675388328,
+              -0.35729405283927906,
+              0.7693623900413513
+            ],
+            "min_active_finger_to_button": 0.14684551848733096,
+            "closest_active_finger": [
+              0.0303051695227623,
+              -0.3436184823513031,
+              0.809884786605835
+            ],
+            "closest_active_finger_button": [
+              0.1723975390195846,
+              -0.35729530453681935,
+              0.7754419445991516
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1420923694968223,
+              0.013676822185516246,
+              0.03444284200668335
+            ],
+            "min_contact_pad_to_button": 0.021265658030066678,
+            "closest_contact_pad": [
+              0.17238129675388328,
+              -0.359902337475146,
+              0.7904674856987995
+            ],
+            "closest_contact_pad_button": [
+              0.17238129675388328,
+              -0.35729405283927906,
+              0.7693623900413513
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002608284635866931,
+              0.021105095657448225
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc18b7a8fce30088567ed91b0546268b9d74efc2a98ed5e5efe25408d3f6e8cd",
+    "visual_seed": 4630221622160377322,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..81b5a67636fca79f51d3bafab511be9c7bb9c096
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2517689809952486,
+              -0.028818484219742136,
+              1.0506446962409504
+            ],
+            "current_z": 1.0506446962409504,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1895381882261843,
+            "gripper_z": 1.055632065798859,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2473853044087542,
+              -0.03331995073922217,
+              1.055632065798859
+            ],
+            "object_minus_gripper": [
+              0.004383676586494384,
+              0.0045014665194800345,
+              -0.004987369557908572
+            ],
+            "object_to_gripper_xy": 0.006283297004040057,
+            "object_to_gripper_z": -0.004987369557908572,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2517689809952486,
+              -0.05268038754523229,
+              1.0506446962409504
+            ],
+            "finger_b": [
+              0.2404340645966917,
+              -0.028818484219742136,
+              1.0506446962409504
+            ],
+            "finger_midpoint": [
+              0.24610152279597014,
+              -0.040749435882487216,
+              1.0506446962409504
+            ],
+            "object_minus_finger_midpoint": [
+              0.005667458199278441,
+              0.01193095166274508,
+              0.0
+            ],
+            "finger_gap": 0.026417243612408013,
+            "fingertip_max_gap": 0.09362815976848837,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013208621806204007,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506446962409504,
+            "object_top_z": 1.1015874308911675,
+            "finger_top_clearance": 0.05094273465021715,
+            "fingertip_min_top_clearance": 0.015282820395065143,
+            "object_projection_between_fingers": 0.8158966715441117,
+            "object_to_finger_line_xy": 0.010238489801329555,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931407988424419,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7328856319830463,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2518059789721512,
+              -0.03216607726302727,
+              1.248630966219981
+            ],
+            "held_position": [
+              0.25655542073287463,
+              -0.028084758552198292,
+              1.2435811692009087
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00804455153452937,
+            "max_held_gripper_dist": 0.008052488927299475,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005049797019072377,
+            "max_held_gripper_z_dist": 0.005056469585255963,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08639837684666637,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25655542073287463,
+              -0.0534496711442844,
+              1.2435811692009087
+            ],
+            "held_grasp_finger_b": [
+              0.24788117340089022,
+              -0.02779073666117077,
+              1.2435811692009087
+            ],
+            "held_grasp_midpoint": [
+              0.2522182970668824,
+              -0.04062020390272759,
+              1.2435811692009087
+            ],
+            "held_grasp_object_position": [
+              0.25655542073287463,
+              -0.028084758552198292,
+              1.2435811692009087
+            ],
+            "held_grasp_finger_gap": 0.027085484776631863,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024917585840306743,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07674086453353145,
+              -0.9970505632873208,
+              0.0010069553527221051
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003362377210276724,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03688894260257532,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3228819071277067,
+              -0.3037411090441148,
+              0.851539596585922
+            ],
+            "target_position": [
+              0.3158498448671516,
+              -0.3057087641051449,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007302161739890495,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1831489631830544,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539596585922,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562553716102602,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08584111163353002,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15117714233486312,
+            "release_required_pad_clearance": 0.05292055581676501,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8793711562416029,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007242441177368164,
+            "max_z_decrease": 0.007242441177368164,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035096571677374344,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007242441177368164,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021147702839630248,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007242441177368164,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007242462964234657,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17154976725578305,
+              -0.36197021603584284,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17154976725578305,
+              -0.36197021603584284,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17072793765724184,
+              -0.3613541721029108,
+              0.8076209099053282
+            ],
+            "closest_button": [
+              0.17153902351856232,
+              -0.3619746565818786,
+              0.7725391983985901
+            ],
+            "closest_ee_minus_button": [
+              -0.0008110858613204763,
+              0.0006204844789677866,
+              0.03508171150673811
+            ],
+            "button_min_z_position": [
+              0.1715327054262161,
+              -0.3619751632213592,
+              0.7695664167404175
+            ],
+            "min_active_finger_to_button": 0.14659759402475492,
+            "closest_active_finger": [
+              0.043508581817150116,
+              -0.42449671030044556,
+              0.8108373880386353
+            ],
+            "closest_active_finger_button": [
+              0.17155237495899198,
+              -0.3619724512100219,
+              0.7763938307762146
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12804379314184186,
+              -0.06252425909042364,
+              0.034443557262420654
+            ],
+            "min_contact_pad_to_button": 0.021147702839630248,
+            "closest_contact_pad": [
+              0.1715327054262161,
+              -0.36267222672507426,
+              0.7907026282709897
+            ],
+            "closest_contact_pad_button": [
+              0.1715327054262161,
+              -0.3619751632213592,
+              0.7695664167404175
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006970635037150674,
+              0.021136211530572213
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6fd9c1abb11a5b28ddca92d46c230528487c3152ee727cd417e30ed856c601a6",
+    "visual_seed": 8907468151676270340,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..17d0c0145acedc8009b949b4f89eb85b1a2dece2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24395340055440298,
+              -0.024261150546634636,
+              1.0495574810623247
+            ],
+            "current_z": 1.0495574810623247,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18845097304755865,
+            "gripper_z": 1.0550803280601544,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2392124278405795,
+              -0.02881782462701464,
+              1.0550803280601544
+            ],
+            "object_minus_gripper": [
+              0.0047409727138234825,
+              0.004556674080380005,
+              -0.005522846997829678
+            ],
+            "object_to_gripper_xy": 0.006575720564928665,
+            "object_to_gripper_z": -0.005522846997829678,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24395340055440298,
+              -0.04864056859086626,
+              1.0495574810623247
+            ],
+            "finger_b": [
+              0.23287944799469595,
+              -0.024261150546634636,
+              1.0495574810623247
+            ],
+            "finger_midpoint": [
+              0.23841642427454945,
+              -0.03645085956875045,
+              1.0495574810623247
+            ],
+            "object_minus_finger_midpoint": [
+              0.005536976279853528,
+              0.012189709022115816,
+              0.0
+            ],
+            "finger_gap": 0.026776639995900315,
+            "fingertip_max_gap": 0.09418822608758179,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013388319997950166,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495574810623247,
+            "object_top_z": 1.1009840995555054,
+            "finger_top_clearance": 0.05142661849318064,
+            "fingertip_min_top_clearance": 0.015427985547954208,
+            "object_projection_between_fingers": 0.8289617839934746,
+            "object_to_finger_line_xy": 0.010082539067501443,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0495941130437909,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4786960578661312,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2431368557822693,
+              -0.027046569379729213,
+              1.2470828135740735
+            ],
+            "held_position": [
+              0.24812057053518685,
+              -0.022773308645370163,
+              1.2415244345259393
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008601961850938417,
+            "max_held_gripper_dist": 0.008611269072476167,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0055583790481341655,
+            "max_held_gripper_z_dist": 0.005565600743778987,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08603516274009597,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24812057053518685,
+              -0.04813095986318933,
+              1.2415244345259393
+            ],
+            "held_grasp_finger_b": [
+              0.23892706323194973,
+              -0.022773308645370163,
+              1.2415244345259393
+            ],
+            "held_grasp_midpoint": [
+              0.24352381688356828,
+              -0.035452134254279746,
+              1.2415244345259393
+            ],
+            "held_grasp_object_position": [
+              0.24812057053518685,
+              -0.022773308645370163,
+              1.2415244345259393
+            ],
+            "held_grasp_finger_gap": 0.026972783538582745,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024839282408164763,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05256452031091812,
+              -0.9986151513804185,
+              0.002179595822013547
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003924041557090813,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0368173565646431,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3241673453625882,
+              -0.30439588046806965,
+              0.8515396069737158
+            ],
+            "target_position": [
+              0.3177049414885154,
+              -0.30632378415479977,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0067438473037976085,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18234803952491888,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396069737158,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580530980612739,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08699413146469613,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15006300397267544,
+            "release_required_pad_clearance": 0.05349706573234807,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0065440959100993,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00736391544342041,
+            "max_z_decrease": 0.00736391544342041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035021909669146326,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00736391544342041,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02136475104134019,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00736391544342041,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007363933461677658,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17340487241744992,
+              -0.36258524656295776,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17340487241744992,
+              -0.36258524656295776,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17348718004037011,
+              -0.36356567550367447,
+              0.807603571685241
+            ],
+            "closest_button": [
+              0.1733951568603515,
+              -0.36259108781814575,
+              0.7725953459739685
+            ],
+            "closest_ee_minus_button": [
+              9.202318001860776e-05,
+              -0.0009745876855287161,
+              0.03500822571127249
+            ],
+            "button_min_z_position": [
+              0.17338939011096952,
+              -0.3625903129577636,
+              0.7694449424743652
+            ],
+            "min_active_finger_to_button": 0.1460986578771613,
+            "closest_active_finger": [
+              0.03252162039279938,
+              -0.3458569645881653,
+              0.8078683614730835
+            ],
+            "closest_active_finger_button": [
+              0.17341586947441098,
+              -0.362592488527298,
+              0.7730323076248169
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1408942490816116,
+              0.01673552393913269,
+              0.0348360538482666
+            ],
+            "min_contact_pad_to_button": 0.02136475104134019,
+            "closest_contact_pad": [
+              0.17338939011096952,
+              -0.3650773181249305,
+              0.7906644474722895
+            ],
+            "closest_contact_pad_button": [
+              0.17338939011096952,
+              -0.3625903129577636,
+              0.7694449424743652
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002487005167166878,
+              0.021219504997924243
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b85bf5267e9c273d6e0a2ea1519dbb69cfa04da8b287820bbe377381315fcd4",
+    "visual_seed": 438270790916668751,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..802dc9f8eef331bd85c9fc554e5c5c42a3a33bcc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24674628853758704,
+              -0.02548948476531279,
+              1.047559296355511
+            ],
+            "current_z": 1.047559296355511,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18645284794538963,
+            "gripper_z": 1.052566650632836,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24199542698568877,
+              -0.03003350103774946,
+              1.052566650632836
+            ],
+            "object_minus_gripper": [
+              0.004750861551898272,
+              0.004544016272436672,
+              -0.005007354277325016
+            ],
+            "object_to_gripper_xy": 0.006574098369318376,
+            "object_to_gripper_z": -0.005007354277325016,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24674628853758704,
+              -0.04989066742531531,
+              1.047559296355511
+            ],
+            "finger_b": [
+              0.23569381652982024,
+              -0.02548948476531279,
+              1.047559296355511
+            ],
+            "finger_midpoint": [
+              0.24122005253370365,
+              -0.03769007609531405,
+              1.047559296355511
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055262360038833835,
+              0.012200591330001263,
+              0.0
+            ],
+            "finger_gap": 0.02678758766087899,
+            "fingertip_max_gap": 0.09258291453732104,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01339379383043949,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047559296355511,
+            "object_top_z": 1.0984006965506627,
+            "finger_top_clearance": 0.05084140019515182,
+            "fingertip_min_top_clearance": 0.015252420058545511,
+            "object_projection_between_fingers": 0.8297639096121378,
+            "object_to_finger_line_xy": 0.010067849024716274,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879145726866052,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8961475935896424,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.246230584223645,
+              -0.02865631555565322,
+              1.24321980079628
+            ],
+            "held_position": [
+              0.2512381825115151,
+              -0.024419092818155765,
+              1.2381568824988538
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00828632842857789,
+            "max_held_gripper_dist": 0.008293966658844142,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005062918297426222,
+            "max_held_gripper_z_dist": 0.005068893072404768,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08639401697731772,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2512381825115151,
+              -0.04985096462849043,
+              1.2381568824988538
+            ],
+            "held_grasp_finger_b": [
+              0.24229909187113552,
+              -0.024419092818155765,
+              1.2381568824988538
+            ],
+            "held_grasp_midpoint": [
+              0.2467686371913253,
+              -0.037135028723323096,
+              1.2381568824988538
+            ],
+            "held_grasp_object_position": [
+              0.2512381825115151,
+              -0.024419092818155765,
+              1.2381568824988538
+            ],
+            "held_grasp_finger_gap": 0.026957140895395724,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024765515516439008,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06793151669872385,
+              -0.9976757389614048,
+              -0.0053318783581559615
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003596062299499626,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036730246326767205,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32392476010518045,
+              -0.3055267628161482,
+              0.8515396087001204
+            ],
+            "target_position": [
+              0.31695755109373613,
+              -0.30746099085113293,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007230715006171367,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18414685728806543,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396087001204,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539259103123581,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08604135874448891,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15266469761365575,
+            "release_required_pad_clearance": 0.05302067937224446,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.073366834819684,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007290899753570557,
+            "max_z_decrease": 0.007290899753570557,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506098498151223,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007290899753570557,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02124393552988756,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007290899753570557,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007290921262178669,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17265747487545008,
+              -0.3637224435806274,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17265747487545008,
+              -0.3637224435806274,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17139612412836122,
+              -0.36415756107584635,
+              0.8073804679647529
+            ],
+            "closest_button": [
+              0.1726458668708801,
+              -0.3637268841266632,
+              0.7723444104194641
+            ],
+            "closest_ee_minus_button": [
+              -0.0012497427425188778,
+              -0.0004306769491831397,
+              0.03503605754528882
+            ],
+            "button_min_z_position": [
+              0.17264053225517267,
+              -0.36372759938240046,
+              0.7695179581642151
+            ],
+            "min_active_finger_to_button": 0.1473657493594879,
+            "closest_active_finger": [
+              0.030395060777664185,
+              -0.34710437059402466,
+              0.8082379698753357
+            ],
+            "closest_active_finger_button": [
+              0.1726645976305008,
+              -0.3637294471263885,
+              0.7736020088195801
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1422695368528366,
+              0.016625076532363836,
+              0.034635961055755615
+            ],
+            "min_contact_pad_to_button": 0.02124393552988756,
+            "closest_contact_pad": [
+              0.17264053225517267,
+              -0.3655723395335005,
+              0.7906816471284042
+            ],
+            "closest_contact_pad_button": [
+              0.17264053225517267,
+              -0.36372759938240046,
+              0.7695179581642151
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018447401511000328,
+              0.021163688964189076
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "41ec6fba063a709e40e6e735e2f973e15ac24d718c9bc66b41bd1717275f609d",
+    "visual_seed": 7143787312065056229,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b691b59750062d1a0289d782bc307fad973bccb3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25108381210152203,
+              -0.026845230570547156,
+              1.0505016061529489
+            ],
+            "current_z": 1.0505016061529489,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.189395098138183,
+            "gripper_z": 1.0555723318208743,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24662450637806396,
+              -0.03133319869379446,
+              1.0555723318208743
+            ],
+            "object_minus_gripper": [
+              0.004459305723458068,
+              0.004487968123247303,
+              -0.005070725667925435
+            ],
+            "object_to_gripper_xy": 0.006326710473109213,
+            "object_to_gripper_z": -0.005070725667925435,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25108381210152203,
+              -0.05088282758101634,
+              1.0505016061529489
+            ],
+            "finger_b": [
+              0.23991966025824252,
+              -0.026845230570547156,
+              1.0505016061529489
+            ],
+            "finger_midpoint": [
+              0.24550173617988227,
+              -0.03886402907578175,
+              1.0505016061529489
+            ],
+            "object_minus_finger_midpoint": [
+              0.005582075921639756,
+              0.012018798505234594,
+              0.0
+            ],
+            "finger_gap": 0.0265036668485234,
+            "fingertip_max_gap": 0.09396281773630427,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013251833424261703,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0505016061529489,
+            "object_top_z": 1.1018346096463407,
+            "finger_top_clearance": 0.05133300349339187,
+            "fingertip_min_top_clearance": 0.015399901048017577,
+            "object_projection_between_fingers": 0.8225648975024025,
+            "object_to_finger_line_xy": 0.010125368104956785,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04948140886815214,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.446635870673868,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25088838126876967,
+              -0.02973579604018166,
+              1.2487922358465018
+            ],
+            "held_position": [
+              0.25565692179821176,
+              -0.02561094596393008,
+              1.2436721908739528
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008122082704171947,
+            "max_held_gripper_dist": 0.008131229089925704,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005120044972549032,
+            "max_held_gripper_z_dist": 0.005128223804897303,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08505680204854742,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25565692179821176,
+              -0.05091758926660808,
+              1.2436721908739528
+            ],
+            "held_grasp_finger_b": [
+              0.24673766375964265,
+              -0.02561094596393008,
+              1.2436721908739528
+            ],
+            "held_grasp_midpoint": [
+              0.2511972927789272,
+              -0.03826426761526908,
+              1.2436721908739528
+            ],
+            "held_grasp_object_position": [
+              0.25565692179821176,
+              -0.02561094596393008,
+              1.2436721908739528
+            ],
+            "held_grasp_finger_gap": 0.026832431108782466,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02463783077188891,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06830900963906417,
+              -0.9976469875223288,
+              0.00586237918873833
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003585662287771256,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03679206900082069,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3186212793054801,
+              -0.29942431125357954,
+              0.8515396603341608
+            ],
+            "target_position": [
+              0.3120780842351971,
+              -0.30136271719696606,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006824281598024217,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18370374054955305,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396603341608,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576215751655456,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860170869105693,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1514019063205432,
+            "release_required_pad_clearance": 0.05300854345528465,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0497733047902649,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00730586051940918,
+            "max_z_decrease": 0.00730586051940918,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035094600099018776,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00730586051940918,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021298369196022546,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00730586051940918,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007305877597957243,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1677780151367187,
+              -0.35762417316436756,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1677780151367187,
+              -0.35762417316436756,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16703336033197771,
+              -0.35879520909612594,
+              0.8076702300609983
+            ],
+            "closest_button": [
+              0.16776770353317252,
+              -0.3576296865940093,
+              0.7726026773452759
+            ],
+            "closest_ee_minus_button": [
+              -0.0007343432011948092,
+              -0.001165522502116656,
+              0.03506755271572237
+            ],
+            "button_min_z_position": [
+              0.16776289045810694,
+              -0.35762873291969294,
+              0.7695029973983765
+            ],
+            "min_active_finger_to_button": 0.14680107436215922,
+            "closest_active_finger": [
+              0.02600901573896408,
+              -0.34150198101997375,
+              0.8095033168792725
+            ],
+            "closest_active_finger_button": [
+              0.1677803248167037,
+              -0.3576310873031615,
+              0.774988055229187
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14177130907773963,
+              0.016129106283187755,
+              0.03451526165008545
+            ],
+            "min_contact_pad_to_button": 0.021298369196022546,
+            "closest_contact_pad": [
+              0.16776289045810694,
+              -0.3602797847484453,
+              0.7906357315946737
+            ],
+            "closest_contact_pad_button": [
+              0.16776289045810694,
+              -0.35762873291969294,
+              0.7695029973983765
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00265105182875236,
+              0.021132734196297243
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e02fb968c92ef8ee6aeebee1944be65d03542729c1819b2666bfc668dd4f9716",
+    "visual_seed": 6921565119644115543,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0808a74e08cdff60d6a95ba0f6aa1a217d2b07f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24957812699509985,
+              -0.02320762621413677,
+              1.0482707069489292
+            ],
+            "current_z": 1.0482707069489292,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18716425853880803,
+            "gripper_z": 1.053497226498931,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2447863063798505,
+              -0.027815208102560843,
+              1.053497226498931
+            ],
+            "object_minus_gripper": [
+              0.004791820615249354,
+              0.004607581888424073,
+              -0.005226519550001862
+            ],
+            "object_to_gripper_xy": 0.006647657908411221,
+            "object_to_gripper_z": -0.005226519550001862,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24957812699509985,
+              -0.04756826456227995,
+              1.0482707069489292
+            ],
+            "finger_b": [
+              0.23834183026275496,
+              -0.02320762621413677,
+              1.0482707069489292
+            ],
+            "finger_midpoint": [
+              0.2439599786289274,
+              -0.03538794538820836,
+              1.0482707069489292
+            ],
+            "object_minus_finger_midpoint": [
+              0.005618148366172443,
+              0.012180319174071589,
+              0.0
+            ],
+            "finger_gap": 0.02682713299975099,
+            "fingertip_max_gap": 0.09273631729202025,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013413566499875492,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482707069489292,
+            "object_top_z": 1.0990314881318626,
+            "finger_top_clearance": 0.05076078118293337,
+            "fingertip_min_top_clearance": 0.015228234354879976,
+            "object_projection_between_fingers": 0.8245724190707037,
+            "object_to_finger_line_xy": 0.010203228241781093,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886815864601013,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0135618674622044,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24911213599522458,
+              -0.026202312102568043,
+              1.2463495347942894
+            ],
+            "held_position": [
+              0.2541855812703031,
+              -0.021942450661739756,
+              1.2410687382962324
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008471899321177248,
+            "max_held_gripper_dist": 0.008479941156063762,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0052807964980570166,
+            "max_held_gripper_z_dist": 0.005288049310564702,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08500600436172376,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2541855812703031,
+              -0.04741476420743107,
+              1.2410687382962324
+            ],
+            "held_grasp_finger_b": [
+              0.24502325621352092,
+              -0.021942450661739756,
+              1.2410687382962324
+            ],
+            "held_grasp_midpoint": [
+              0.24960441874191203,
+              -0.03467860743458541,
+              1.2410687382962324
+            ],
+            "held_grasp_object_position": [
+              0.2541855812703031,
+              -0.021942450661739756,
+              1.2410687382962324
+            ],
+            "held_grasp_finger_gap": 0.027070038009137484,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02481832696459612,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06542134071916035,
+              -0.9978574780151849,
+              -0.0007083415013164895
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037381431299682174,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03671167499847755,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31973335655585106,
+              -0.30422459222038845,
+              0.8515396096301523
+            ],
+            "target_position": [
+              0.31262493847398526,
+              -0.3064300646492706,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007442695497006169,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1832700320382777,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396096301523,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533936385966607,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554188700128627,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15211812138351793,
+            "release_required_pad_clearance": 0.05277094350064314,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.590827338896219,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007196664810180664,
+            "max_z_decrease": 0.007196664810180664,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513670310839484,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007196664810180664,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021229070263922543,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007196664810180664,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007196684517352801,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1683248579502106,
+              -0.36269152164459223,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1683248579502106,
+              -0.36269152164459223,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1698216997303884,
+              -0.363143253703632,
+              0.8047134605492829
+            ],
+            "closest_button": [
+              0.16830870509147644,
+              -0.3626962900161743,
+              0.769612193107605
+            ],
+            "closest_ee_minus_button": [
+              0.0015129946389119686,
+              -0.0004469636874576688,
+              0.035101267441677964
+            ],
+            "button_min_z_position": [
+              0.16830870509147644,
+              -0.3626962900161743,
+              0.769612193107605
+            ],
+            "min_active_finger_to_button": 0.14430190843074134,
+            "closest_active_finger": [
+              0.029133237898349762,
+              -0.3467116951942444,
+              0.8092825412750244
+            ],
+            "closest_active_finger_button": [
+              0.16833019256591797,
+              -0.3626987934112548,
+              0.7747620940208435
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1391969546675682,
+              0.015987098217010443,
+              0.03452044725418091
+            ],
+            "min_contact_pad_to_button": 0.021229070263922543,
+            "closest_contact_pad": [
+              0.16830870509147644,
+              -0.3643493597428571,
+              0.790776804721081
+            ],
+            "closest_contact_pad_button": [
+              0.16830870509147644,
+              -0.3626962900161743,
+              0.769612193107605
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016530697266827765,
+              0.021164611613476048
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4e99aadb2c9bc7ace26c6bcea4ff91c7b825c1c92f6ede7a3cd676e198f56715",
+    "visual_seed": 8216732042723363936,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37acdbb0811522938189e3610d19cb5550d9e6b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24706325953681152,
+              -0.02880576358211921,
+              1.0495237729719686
+            ],
+            "current_z": 1.0495237729719686,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18841738416649223,
+            "gripper_z": 1.0544851616920377,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24238802668184745,
+              -0.033470264307438685,
+              1.0544851616920377
+            ],
+            "object_minus_gripper": [
+              0.004675232854964073,
+              0.004664500725319477,
+              -0.0049613887200690154
+            ],
+            "object_to_gripper_xy": 0.0066041933091515,
+            "object_to_gripper_z": -0.0049613887200690154,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24706325953681152,
+              -0.052860836078750056,
+              1.0495237729719686
+            ],
+            "finger_b": [
+              0.2355049329316712,
+              -0.02880576358211921,
+              1.0495237729719686
+            ],
+            "finger_midpoint": [
+              0.24128409623424135,
+              -0.040833299830434634,
+              1.0495237729719686
+            ],
+            "object_minus_finger_midpoint": [
+              0.005779163302570167,
+              0.012027536248315426,
+              0.0
+            ],
+            "finger_gap": 0.026687851669425548,
+            "fingertip_max_gap": 0.09207759482838315,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013343925834712783,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495237729719686,
+            "object_top_z": 1.0996440927052777,
+            "finger_top_clearance": 0.050120319733309104,
+            "fingertip_min_top_clearance": 0.01503609591999273,
+            "object_projection_between_fingers": 0.8124302955465733,
+            "object_to_finger_line_xy": 0.010418087895209437,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04853879741419158,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2939033480236675,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2465036527599186,
+              -0.03194231200468477,
+              1.245516108416099
+            ],
+            "held_position": [
+              0.2515251531313956,
+              -0.02767693795439141,
+              1.240495746834051
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008283291144476599,
+            "max_held_gripper_dist": 0.008291316297611404,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005020361582048105,
+            "max_held_gripper_z_dist": 0.005027409841188879,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08617668206944526,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2515251531313956,
+              -0.05307761029549977,
+              1.240495746834051
+            ],
+            "held_grasp_finger_b": [
+              0.24248204867990608,
+              -0.02767693795439141,
+              1.240495746834051
+            ],
+            "held_grasp_midpoint": [
+              0.24700360090565085,
+              -0.040377274124945586,
+              1.240495746834051
+            ],
+            "held_grasp_object_position": [
+              0.2515251531313956,
+              -0.02767693795439141,
+              1.240495746834051
+            ],
+            "held_grasp_finger_gap": 0.026962416314212215,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024633623272293584,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07637312767214662,
+              -0.9969922489860646,
+              -0.013175766819544913
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035424441725119753,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036712788263122104,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32345996663888077,
+              -0.305020974672242,
+              0.8515395958718148
+            ],
+            "target_position": [
+              0.31602351326502737,
+              -0.30722147002399197,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007755193006919231,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850398842986972,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395958718148,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521300021791497,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554867847087154,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15410759780650277,
+            "release_required_pad_clearance": 0.05277433923543577,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5974142671524741,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007350921630859375,
+            "max_z_decrease": 0.007350921630859375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511941849262572,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007350921630859375,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021197679415534076,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007350921630859375,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007350941697296305,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17172344028949735,
+              -0.3634829223155975,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17172344028949735,
+              -0.3634829223155975,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1723855954121887,
+              -0.36167290865822327,
+              0.8046488376300347
+            ],
+            "closest_button": [
+              0.17170728743076324,
+              -0.36348822712898254,
+              0.7695829272270203
+            ],
+            "closest_ee_minus_button": [
+              0.0006783079814254578,
+              0.001815318470759275,
+              0.03506591040301443
+            ],
+            "button_min_z_position": [
+              0.1717071235179901,
+              -0.3634882867336273,
+              0.7694579362869263
+            ],
+            "min_active_finger_to_button": 0.14445064726032994,
+            "closest_active_finger": [
+              0.04522445797920227,
+              -0.42401865124702454,
+              0.810939371585846
+            ],
+            "closest_active_finger_button": [
+              0.17172786593437195,
+              -0.36348497867584223,
+              0.7763192653656006
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12650340795516968,
+              -0.060533672571182306,
+              0.03462010622024536
+            ],
+            "min_contact_pad_to_button": 0.021197679415534076,
+            "closest_contact_pad": [
+              0.1717071235179901,
+              -0.3634882867336273,
+              0.7906556157024603
+            ],
+            "closest_contact_pad_button": [
+              0.1717071235179901,
+              -0.3634882867336273,
+              0.7694579362869263
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021197679415534076
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c7c3a410870accfd504962ea3c988cac9549c70cdafdb4641070154abed36645",
+    "visual_seed": 6330083443999381128,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c960c3545c0327aad6665c5118b24998520c6f3b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24380156605392028,
+              -0.02867643435059329,
+              1.0500597944431118
+            ],
+            "current_z": 1.0500597944431118,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18895328642834586,
+            "gripper_z": 1.0550149780841356,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23923954783303503,
+              -0.03327454235886719,
+              1.0550149780841356
+            ],
+            "object_minus_gripper": [
+              0.0045620182208852555,
+              0.004598108008273899,
+              -0.004955183641023764
+            ],
+            "object_to_gripper_xy": 0.006477237644508779,
+            "object_to_gripper_z": -0.004955183641023764,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24380156605392028,
+              -0.052671371921632834,
+              1.0500597944431118
+            ],
+            "finger_b": [
+              0.23237977812115104,
+              -0.02867643435059329,
+              1.0500597944431118
+            ],
+            "finger_midpoint": [
+              0.23809067208753565,
+              -0.04067390313611306,
+              1.0500597944431118
+            ],
+            "object_minus_finger_midpoint": [
+              0.005710893966384634,
+              0.011997468785519771,
+              0.0
+            ],
+            "finger_gap": 0.026574692258222635,
+            "fingertip_max_gap": 0.09237237304312401,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013287346129111323,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500597944431118,
+            "object_top_z": 1.1003716302491497,
+            "finger_top_clearance": 0.05031183580603793,
+            "fingertip_min_top_clearance": 0.015093550741811361,
+            "object_projection_between_fingers": 0.8152724387228572,
+            "object_to_finger_line_xy": 0.010313010804919132,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868618652156201,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2848630434001582,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24314391708249708,
+              -0.03182200712413695,
+              1.2477090347985142
+            ],
+            "held_position": [
+              0.24806854860650984,
+              -0.027618198942417675,
+              1.2427108910167957
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008179574569543479,
+            "max_held_gripper_dist": 0.008186814156668314,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004998143781718589,
+            "max_held_gripper_z_dist": 0.005006116575195563,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08616533659590916,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24806854860650984,
+              -0.05298792455279168,
+              1.2427108910167957
+            ],
+            "held_grasp_finger_b": [
+              0.23911208333562536,
+              -0.027618198942417675,
+              1.2427108910167957
+            ],
+            "held_grasp_midpoint": [
+              0.24359031597106762,
+              -0.040303061747604674,
+              1.2427108910167957
+            ],
+            "held_grasp_object_position": [
+              0.24806854860650984,
+              -0.027618198942417675,
+              1.2427108910167957
+            ],
+            "held_grasp_finger_gap": 0.02690429794092807,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024599095053142082,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07737447922751288,
+              -0.9969401040291036,
+              -0.011118405583146142
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00348625486493866,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03672770070747003,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31997707765981576,
+              -0.3057771584984431,
+              0.8515395637025726
+            ],
+            "target_position": [
+              0.31210405629373655,
+              -0.3081519624130364,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00822339097109624,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18447911404165204,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395637025726,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527463530251763,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085079237935457,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15352202080993904,
+            "release_required_pad_clearance": 0.052539618967728505,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14803749368914867,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007567644119262695,
+            "max_z_decrease": 0.007567644119262695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035135447329822746,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007567644119262695,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02118353679071903,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007567644119262695,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00756766895400158,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16780398786067963,
+              -0.36441341042518616,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16780398786067963,
+              -0.36441341042518616,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16827468030561477,
+              -0.3652461685085929,
+              0.8079219486900817
+            ],
+            "closest_button": [
+              0.16779601573944092,
+              -0.364424467086792,
+              0.7727993726730347
+            ],
+            "closest_ee_minus_button": [
+              0.00047866456617384756,
+              -0.0008217014218009355,
+              0.03512257601704705
+            ],
+            "button_min_z_position": [
+              0.1677849441766739,
+              -0.36441704630851746,
+              0.769241213798523
+            ],
+            "min_active_finger_to_button": 0.14563858992790008,
+            "closest_active_finger": [
+              0.02687723934650421,
+              -0.35116782784461975,
+              0.810280442237854
+            ],
+            "closest_active_finger_button": [
+              0.16780471801757812,
+              -0.3644183278083801,
+              0.7760099172592163
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1409274786710739,
+              0.013250499963760376,
+              0.034270524978637695
+            ],
+            "min_contact_pad_to_button": 0.02118353679071903,
+            "closest_contact_pad": [
+              0.1677849441766739,
+              -0.366366827838104,
+              0.7903348285421042
+            ],
+            "closest_contact_pad_button": [
+              0.1677849441766739,
+              -0.36441704630851746,
+              0.769241213798523
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001949781529586525,
+              0.02109361474358129
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "70fe23a5b75c17754f11480e032665d7599e509ac80e4c74203849cdb6fc5ffb",
+    "visual_seed": 6032112450479750475,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c6a0a9783e8dd49da5d0faea88c691a1203a882
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2454744090186009,
+              -0.028658310101038822,
+              1.050270948965225
+            ],
+            "current_z": 1.050270948965225,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18916450055510392,
+            "gripper_z": 1.0554918063796948,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24072542743562203,
+              -0.03330105320928671,
+              1.0554918063796948
+            ],
+            "object_minus_gripper": [
+              0.004748981582978873,
+              0.004642743108247888,
+              -0.0052208574144696485
+            ],
+            "object_to_gripper_xy": 0.006641377089478942,
+            "object_to_gripper_z": -0.0052208574144696485,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2454744090186009,
+              -0.052868638298926955,
+              1.050270948965225
+            ],
+            "finger_b": [
+              0.23407273187479108,
+              -0.028658310101038822,
+              1.050270948965225
+            ],
+            "finger_midpoint": [
+              0.239773570446696,
+              -0.040763474199982885,
+              1.050270948965225
+            ],
+            "object_minus_finger_midpoint": [
+              0.005700838571904898,
+              0.012105164098944063,
+              0.0
+            ],
+            "finger_gap": 0.02676075920337711,
+            "fingertip_max_gap": 0.09322702946514255,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013380379601688544,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050270948965225,
+            "object_top_z": 1.1009866562405204,
+            "finger_top_clearance": 0.050715707275295285,
+            "fingertip_min_top_clearance": 0.015214712182588568,
+            "object_projection_between_fingers": 0.8184732560339981,
+            "object_to_finger_line_xy": 0.010315041645872297,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911351473257128,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5383245601275808,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24473925638620514,
+              -0.03177475528350242,
+              1.2493734702078962
+            ],
+            "held_position": [
+              0.24982073639284932,
+              -0.02751464823303234,
+              1.244111498984827
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008465122107317678,
+            "max_held_gripper_dist": 0.008473090042472192,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005261971223069262,
+            "max_held_gripper_z_dist": 0.005270135806549225,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08621009361118258,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24982073639284932,
+              -0.052978783555977925,
+              1.244111498984827
+            ],
+            "held_grasp_finger_b": [
+              0.24067788764744963,
+              -0.02751464823303234,
+              1.244111498984827
+            ],
+            "held_grasp_midpoint": [
+              0.2452493120201495,
+              -0.04024671589450513,
+              1.244111498984827
+            ],
+            "held_grasp_object_position": [
+              0.24982073639284932,
+              -0.02751464823303234,
+              1.244111498984827
+            ],
+            "held_grasp_finger_gap": 0.02705575485782169,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0248086888006858,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.065660733422554,
+              -0.9978353724810874,
+              -0.0036383391735395057
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003725857149648302,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036715579515557734,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32072276861885596,
+              -0.30500337773622843,
+              0.8515395613954857
+            ],
+            "target_position": [
+              0.3136667636469107,
+              -0.30718608492076005,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0073858930954571805,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18628389714400584,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395613954857,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551937578046121,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08611751445889813,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15460748842986138,
+            "release_required_pad_clearance": 0.05305875722944907,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1473805667815131,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007521450519561768,
+            "max_z_decrease": 0.007521450519561768,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512551396903698,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007521450519561768,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021170062025928194,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007521450519561768,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007521470552716233,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1693666875362396,
+              -0.3634475469589233,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1693666875362396,
+              -0.3634475469589233,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16892902131401596,
+              -0.3615401210587359,
+              0.8073072972205608
+            ],
+            "closest_button": [
+              0.16935531795024872,
+              -0.36345240473747253,
+              0.7722364664077759
+            ],
+            "closest_ee_minus_button": [
+              -0.0004262966362327536,
+              0.001912283678736637,
+              0.03507083081278495
+            ],
+            "button_min_z_position": [
+              0.16935020685195923,
+              -0.36345300078392023,
+              0.7692874073982239
+            ],
+            "min_active_finger_to_button": 0.14575981180840514,
+            "closest_active_finger": [
+              0.04117900878190994,
+              -0.42363521456718445,
+              0.8110415935516357
+            ],
+            "closest_active_finger_button": [
+              0.1693703830242157,
+              -0.3634497821331024,
+              0.7765364050865173
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12819137424230576,
+              -0.06018543243408203,
+              0.03450518846511841
+            ],
+            "min_contact_pad_to_button": 0.021170062025928194,
+            "closest_contact_pad": [
+              0.16935020685195923,
+              -0.36345300078392023,
+              0.7904574694241521
+            ],
+            "closest_contact_pad_button": [
+              0.16935020685195923,
+              -0.36345300078392023,
+              0.7692874073982239
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021170062025928194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6d2ff513f027003b37d73e9eb046e357cca86121b5efe9c5d6ddb09241818a50",
+    "visual_seed": 6858895135643134754,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a292f42e5068415a76e9af4dbf89425a62318524
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25012849980916996,
+              -0.028767873045267213,
+              1.051171509542737
+            ],
+            "current_z": 1.051171509542737,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19006506113261568,
+            "gripper_z": 1.0560329020160242,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24533547308804082,
+              -0.03340899979165339,
+              1.0560329020160242
+            ],
+            "object_minus_gripper": [
+              0.004793026721129134,
+              0.0046411267463861774,
+              -0.004861392473287207
+            ],
+            "object_to_gripper_xy": 0.006671818539609651,
+            "object_to_gripper_z": -0.004861392473287207,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25012849980916996,
+              -0.0530962770510391,
+              1.051171509542737
+            ],
+            "finger_b": [
+              0.2388150620320414,
+              -0.028767873045267213,
+              1.051171509542737
+            ],
+            "finger_midpoint": [
+              0.24447178092060567,
+              -0.04093207504815316,
+              1.051171509542737
+            ],
+            "object_minus_finger_midpoint": [
+              0.005656718888564283,
+              0.012164202002885947,
+              0.0
+            ],
+            "finger_gap": 0.02683030219369542,
+            "fingertip_max_gap": 0.09082577520982865,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013415151096847714,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051171509542737,
+            "object_top_z": 1.1010815378982546,
+            "finger_top_clearance": 0.04991002835551761,
+            "fingertip_min_top_clearance": 0.014973008506655316,
+            "object_projection_between_fingers": 0.8221974207017582,
+            "object_to_finger_line_xy": 0.010258471296712438,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04791288760491433,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7771639171947012,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24947712330661118,
+              -0.03166036436464301,
+              1.2476667539973398
+            ],
+            "held_position": [
+              0.25455112764571886,
+              -0.02734767058451916,
+              1.242755189909913
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008274557961565312,
+            "max_held_gripper_dist": 0.008282908636293112,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0049115640874268784,
+            "max_held_gripper_z_dist": 0.0049199025048962675,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08647539371490043,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25455112764571886,
+              -0.052754227002582026,
+              1.242755189909913
+            ],
+            "held_grasp_finger_b": [
+              0.24533241034378614,
+              -0.02734767058451916,
+              1.242755189909913
+            ],
+            "held_grasp_midpoint": [
+              0.2499417689947525,
+              -0.04005094879355059,
+              1.242755189909913
+            ],
+            "held_grasp_object_position": [
+              0.25455112764571886,
+              -0.02734767058451916,
+              1.242755189909913
+            ],
+            "held_grasp_finger_gap": 0.027027353879304664,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024713688116355322,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06827776993863727,
+              -0.9975032097387371,
+              -0.01804141605095655
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003738456991099548,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0367339725528467,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32131616436457344,
+              -0.3060469776132664,
+              0.851539568778843
+            ],
+            "target_position": [
+              0.31299294577166625,
+              -0.30894324602708934,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008812737285896162,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1845520057793412,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539568778843,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579438594309094,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646224428808418,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523214695431332,
+            "release_required_pad_clearance": 0.05323112214404209,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4835540424499187,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007226824760437012,
+            "max_z_decrease": 0.007226824760437012,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513023866678004,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007226824760437012,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02114247275167951,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007226824760437012,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007226846218785179,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16869287192821497,
+              -0.3652046918869018,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16869287192821497,
+              -0.3652046918869018,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16706795456130644,
+              -0.3655914580754164,
+              0.8062295094788469
+            ],
+            "closest_button": [
+              0.1686786264181137,
+              -0.3652078509330749,
+              0.7711383104324341
+            ],
+            "closest_ee_minus_button": [
+              -0.001610671856807272,
+              -0.00038360714234147997,
+              0.03509119904641278
+            ],
+            "button_min_z_position": [
+              0.16867570579051971,
+              -0.365208625793457,
+              0.7695820331573486
+            ],
+            "min_active_finger_to_button": 0.14745303836180787,
+            "closest_active_finger": [
+              0.04012657701969147,
+              -0.42872706055641174,
+              0.8107287883758545
+            ],
+            "closest_active_finger_button": [
+              0.16869588196277616,
+              -0.3652083575725555,
+              0.7764110565185547
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1285693049430847,
+              -0.06351870298385626,
+              0.034317731857299805
+            ],
+            "min_contact_pad_to_button": 0.02114247275167951,
+            "closest_contact_pad": [
+              0.16867570579051971,
+              -0.36682269572972465,
+              0.7906628047821338
+            ],
+            "closest_contact_pad_button": [
+              0.16867570579051971,
+              -0.365208625793457,
+              0.7695820331573486
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016140699362676703,
+              0.021080771624785166
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4abf4805ffc793da8a42fdb495461b5dc17eb23644574d8b8dbde27b95331c0a",
+    "visual_seed": 484643751256336698,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcb750b9145504428f6b6a638b1ca6d35e8b7e40
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2503970970175235,
+              -0.022159804315457186,
+              1.0484361013175603
+            ],
+            "current_z": 1.0484361013175603,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18732959330279408,
+            "gripper_z": 1.0535186661446339,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24589624434900967,
+              -0.026686676478882107,
+              1.0535186661446339
+            ],
+            "object_minus_gripper": [
+              0.004500852668513827,
+              0.004526872163424921,
+              -0.005082564827073588
+            ],
+            "object_to_gripper_xy": 0.006383591961244035,
+            "object_to_gripper_z": -0.005082564827073588,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2503970970175235,
+              -0.04618758445358112,
+              1.0484361013175603
+            ],
+            "finger_b": [
+              0.2391129197385473,
+              -0.022159804315457186,
+              1.0484361013175603
+            ],
+            "finger_midpoint": [
+              0.2447550083780354,
+              -0.03417369438451916,
+              1.0484361013175603
+            ],
+            "object_minus_finger_midpoint": [
+              0.005642088639488091,
+              0.01201389006906197,
+              0.0
+            ],
+            "finger_gap": 0.026545562251144454,
+            "fingertip_max_gap": 0.09416364228235469,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013272781125572229,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484361013175603,
+            "object_top_z": 1.1000996129905716,
+            "finger_top_clearance": 0.05166351167301131,
+            "fingertip_min_top_clearance": 0.015499053501903375,
+            "object_projection_between_fingers": 0.819300918860543,
+            "object_to_finger_line_xy": 0.010213900467945979,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049581821141177346,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4490550444411583,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2504602792506881,
+              -0.02549592113627655,
+              1.2467978990699196
+            ],
+            "held_position": [
+              0.2553323614261439,
+              -0.02140183244662291,
+              1.2416558109211961
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008181675711758924,
+            "max_held_gripper_dist": 0.008190421217675744,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005142088148723412,
+            "max_held_gripper_z_dist": 0.005150825346593946,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08631308266981375,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2553323614261439,
+              -0.046894300690598786,
+              1.2416558109211961
+            ],
+            "held_grasp_finger_b": [
+              0.24658589034703043,
+              -0.020912025180212845,
+              1.2416558109211961
+            ],
+            "held_grasp_midpoint": [
+              0.2509591258865872,
+              -0.033903162935405816,
+              1.2416558109211961
+            ],
+            "held_grasp_object_position": [
+              0.2553323614261439,
+              -0.02140183244662291,
+              1.2416558109211961
+            ],
+            "held_grasp_finger_gap": 0.027414948422993055,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025145007638769708,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08480661182367896,
+              -0.9963240596865873,
+              0.012091595454092663
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033008513317190212,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03689399443721046,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32305584146884603,
+              -0.30192959559066146,
+              0.8515395860403536
+            ],
+            "target_position": [
+              0.31636740980019895,
+              -0.3035470560938079,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006881227845769955,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18268452433517343,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395860403536,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514515086235986,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595364507594942,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15197738410240713,
+            "release_required_pad_clearance": 0.05297682253797471,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9883284983406013,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007441163063049316,
+            "max_z_decrease": 0.007441163063049316,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035032120182934307,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007441163063049316,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021229384529481535,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007441163063049316,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007441183470803863,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17206732928752894,
+              -0.35980850458145136,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17206732928752894,
+              -0.35980850458145136,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17194811792524548,
+              -0.3587317654988938,
+              0.807070344356683
+            ],
+            "closest_button": [
+              0.17205514013767237,
+              -0.359813392162323,
+              0.7720550894737244
+            ],
+            "closest_ee_minus_button": [
+              -0.0001070222124268938,
+              0.0010816266634292027,
+              0.035015254882958646
+            ],
+            "button_min_z_position": [
+              0.17205087840557093,
+              -0.3598142564296722,
+              0.7693676948547363
+            ],
+            "min_active_finger_to_button": 0.1458752191893017,
+            "closest_active_finger": [
+              0.04390806704759598,
+              -0.42019060254096985,
+              0.8080210089683533
+            ],
+            "closest_active_finger_button": [
+              0.17207765579223627,
+              -0.35981541872024536,
+              0.7732794880867004
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281695887446403,
+              -0.06037518382072449,
+              0.03474152088165283
+            ],
+            "min_contact_pad_to_button": 0.021229384529481535,
+            "closest_contact_pad": [
+              0.17205087840557093,
+              -0.36022738665635684,
+              0.790593059184151
+            ],
+            "closest_contact_pad_button": [
+              0.17205087840557093,
+              -0.3598142564296722,
+              0.7693676948547363
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004131302266846548,
+              0.021225364329414687
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca4cab1483ed8ae9da7c3433bd4b59cdcf676a416d2cb22cde5ae1f1908de268",
+    "visual_seed": 3803291179918453215,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f203d72e32cc358831e1fe6e4d204375db2ab18
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2514663582143298,
+              -0.033106675842770224,
+              1.0509401825769928
+            ],
+            "current_z": 1.0509401825769928,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18983367456222677,
+            "gripper_z": 1.0558129217472,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2471352132486716,
+              -0.03760136325537952,
+              1.0558129217472
+            ],
+            "object_minus_gripper": [
+              0.0043311449656581735,
+              0.004494687412609298,
+              -0.004872739170207252
+            ],
+            "object_to_gripper_xy": 0.006241877253728609,
+            "object_to_gripper_z": -0.004872739170207252,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2514663582143298,
+              -0.05694354641429536,
+              1.0509401825769928
+            ],
+            "finger_b": [
+              0.24018367732613907,
+              -0.033106675842770224,
+              1.0509401825769928
+            ],
+            "finger_midpoint": [
+              0.2458250177702344,
+              -0.04502511112853279,
+              1.0509401825769928
+            ],
+            "object_minus_finger_midpoint": [
+              0.005641340444095366,
+              0.011918435285762564,
+              0.0
+            ],
+            "finger_gap": 0.02637224462703895,
+            "fingertip_max_gap": 0.09630214185137076,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01318612231351948,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0509401825769928,
+            "object_top_z": 1.1032776741630683,
+            "finger_top_clearance": 0.05233749158607548,
+            "fingertip_min_top_clearance": 0.015701247475822626,
+            "object_projection_between_fingers": 0.8169665697742673,
+            "object_to_finger_line_xy": 0.010197986854553876,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05065107092568538,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2654389167901794,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2512205200431038,
+              -0.03604397669558687,
+              1.2496512421065689
+            ],
+            "held_position": [
+              0.2558964384431915,
+              -0.03193161516429548,
+              1.2447292439720932
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007937367062452513,
+            "max_held_gripper_dist": 0.007945547821889682,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004921998134475691,
+            "max_held_gripper_z_dist": 0.004929195591159008,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08619794781794385,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2558964384431915,
+              -0.05717440236332594,
+              1.2447292439720932
+            ],
+            "held_grasp_finger_b": [
+              0.2470722640880788,
+              -0.03193161516429548,
+              1.2447292439720932
+            ],
+            "held_grasp_midpoint": [
+              0.2514843512656352,
+              -0.044553008763810714,
+              1.2447292439720932
+            ],
+            "held_grasp_object_position": [
+              0.2558964384431915,
+              -0.03193161516429548,
+              1.2447292439720932
+            ],
+            "held_grasp_finger_gap": 0.026740687325215933,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02459269546184812,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06699914774332127,
+              -0.9976674693096658,
+              0.013066555893418985
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035604620036982907,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03683269017783998,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3200715250393079,
+              -0.3007517989303393,
+              0.8515395708363095
+            ],
+            "target_position": [
+              0.31468172610309997,
+              -0.30188674312209496,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005507996994475229,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18183236874897696,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395708363095,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539673716082226,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08628559740054713,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.150531735427803,
+            "release_required_pad_clearance": 0.053142798700273566,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.31102573424334,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007345676422119141,
+            "max_z_decrease": 0.007345676422119141,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035162925543675616,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007345676422119141,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021120765005147812,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007345676422119141,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007345696383061353,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17038165032863617,
+              -0.3581481873989105,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17038165032863617,
+              -0.3581481873989105,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16994927706540056,
+              -0.356335650746431,
+              0.8080580972094491
+            ],
+            "closest_button": [
+              0.17037506401538852,
+              -0.35815760493278503,
+              0.772944986820221
+            ],
+            "closest_ee_minus_button": [
+              -0.00042578694998796074,
+              0.0018219541863540578,
+              0.03511311038922815
+            ],
+            "button_min_z_position": [
+              0.17036527395248416,
+              -0.35815319418907166,
+              0.7694631814956665
+            ],
+            "min_active_finger_to_button": 0.14574223643498435,
+            "closest_active_finger": [
+              0.043421827256679535,
+              -0.42096805572509766,
+              0.8110507130622864
+            ],
+            "closest_active_finger_button": [
+              0.1703871339559555,
+              -0.35814976692199707,
+              0.7767801284790039
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12696530669927597,
+              -0.06281828880310059,
+              0.03427058458328247
+            ],
+            "min_contact_pad_to_button": 0.021120765005147812,
+            "closest_contact_pad": [
+              0.17036527395248416,
+              -0.35815319418907166,
+              0.7905839465008143
+            ],
+            "closest_contact_pad_button": [
+              0.17036527395248416,
+              -0.35815319418907166,
+              0.7694631814956665
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021120765005147812
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e9333dac214ce1e388f65c64593c10f8fe5e9664cf749987972dd5b360c4635",
+    "visual_seed": 768769741535832256,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea10fbf30c7ef913067037470748c51d5d0ea261
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24432501739774326,
+              -0.02237241832672935,
+              1.0485343803089657
+            ],
+            "current_z": 1.0485343803089657,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18742787229419966,
+            "gripper_z": 1.0535944608647934,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23974743704516355,
+              -0.026970942934649814,
+              1.0535944608647934
+            ],
+            "object_minus_gripper": [
+              0.004577580352579713,
+              0.004598524607920464,
+              -0.0050600805558276285
+            ],
+            "object_to_gripper_xy": 0.006488502943975126,
+            "object_to_gripper_z": -0.0050600805558276285,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24432501739774326,
+              -0.04638474798210177,
+              1.0485343803089657
+            ],
+            "finger_b": [
+              0.2328834600613419,
+              -0.02237241832672935,
+              1.0485343803089657
+            ],
+            "finger_midpoint": [
+              0.23860423872954256,
+              -0.03437858315441556,
+              1.0485343803089657
+            ],
+            "object_minus_finger_midpoint": [
+              0.005720778668200699,
+              0.012006164827686211,
+              0.0
+            ],
+            "finger_gap": 0.02659889489735312,
+            "fingertip_max_gap": 0.091484023171817,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013299447448676567,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485343803089657,
+            "object_top_z": 1.0985739776625065,
+            "finger_top_clearance": 0.0500395973535408,
+            "fingertip_min_top_clearance": 0.015011879206062222,
+            "object_projection_between_fingers": 0.8149695965516635,
+            "object_to_finger_line_xy": 0.010328942145632292,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048242011585908504,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8861276543869269,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24399845488493627,
+              -0.025564601882978738,
+              1.2451979496451782
+            ],
+            "held_position": [
+              0.24892990185932254,
+              -0.02137820540448402,
+              1.2400745225978702
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008251944585697552,
+            "max_held_gripper_dist": 0.008259966450068879,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005123427047307949,
+            "max_held_gripper_z_dist": 0.005133199669209665,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608868508043721,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24892990185932254,
+              -0.046798396794427696,
+              1.2400745225978702
+            ],
+            "held_grasp_finger_b": [
+              0.24004954257389555,
+              -0.02128362667844779,
+              1.2400745225978702
+            ],
+            "held_grasp_midpoint": [
+              0.24448972221660903,
+              -0.03404101173643774,
+              1.2400745225978702
+            ],
+            "held_grasp_object_position": [
+              0.24892990185932254,
+              -0.02137820540448402,
+              1.2400745225978702
+            ],
+            "held_grasp_finger_gap": 0.02701600035367135,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024661610996916453,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08540602882175574,
+              -0.9962875268891643,
+              -0.010815452185190422
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033453650958680968,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036725235955617073,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32448698077783894,
+              -0.3005694829483295,
+              0.8515395568418601
+            ],
+            "target_position": [
+              0.31689548154685376,
+              -0.3027879190000405,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007909002407989231,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1835758597474196,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395568418601,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513763754937577,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855417648349499,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15305143319725784,
+            "release_required_pad_clearance": 0.05277088241747495,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5908273483209532,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007348120212554932,
+            "max_z_decrease": 0.007348120212554932,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035060871213660076,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007348120212554932,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021197410347939698,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007348120212554932,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007348136333956817,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17259541153907781,
+              -0.359049379825592,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17259541153907781,
+              -0.359049379825592,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1709612257404442,
+              -0.3576483619864691,
+              0.8071559525879707
+            ],
+            "closest_button": [
+              0.17258399724960335,
+              -0.35905432701110834,
+              0.7721608877182007
+            ],
+            "closest_ee_minus_button": [
+              -0.0016227715091591544,
+              0.0014059650246392441,
+              0.03499506486977
+            ],
+            "button_min_z_position": [
+              0.172580897808075,
+              -0.35905450582504267,
+              0.7694607377052307
+            ],
+            "min_active_finger_to_button": 0.1470958705529849,
+            "closest_active_finger": [
+              0.04270308464765549,
+              -0.41867291927337646,
+              0.8075718283653259
+            ],
+            "closest_active_finger_button": [
+              0.1726068109273911,
+              -0.35905900597572316,
+              0.7728098034858704
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12990372627973562,
+              -0.05961391329765331,
+              0.034762024879455566
+            ],
+            "min_contact_pad_to_button": 0.021197410347939698,
+            "closest_contact_pad": [
+              0.172580897808075,
+              -0.3591954950249957,
+              0.790657679171028
+            ],
+            "closest_contact_pad_button": [
+              0.172580897808075,
+              -0.35905450582504267,
+              0.7694607377052307
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00014098919995303438,
+              0.021196941465797314
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2985630f2270d015c992ebc02a267c932176d73e8f8ec6b12daa17105a4253d4",
+    "visual_seed": 5069005073162586216,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..171932302005a1d2d05995e6ce0c5307735f0a2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2478099039021659,
+              -0.026224751350084237,
+              1.0470776196892215
+            ],
+            "current_z": 1.0470776196892215,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18597117127910023,
+            "gripper_z": 1.0523149876639182,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24334895548472063,
+              -0.030666366914469848,
+              1.0523149876639182
+            ],
+            "object_minus_gripper": [
+              0.004460948417445265,
+              0.004441615564385611,
+              -0.0052373679746966495
+            ],
+            "object_to_gripper_xy": 0.006295078204827952,
+            "object_to_gripper_z": -0.0052373679746966495,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2478099039021659,
+              -0.05034619257060233,
+              1.0470776196892215
+            ],
+            "finger_b": [
+              0.23681761578727784,
+              -0.026224751350084237,
+              1.0470776196892215
+            ],
+            "finger_midpoint": [
+              0.24231375984472187,
+              -0.03828547196034328,
+              1.0470776196892215
+            ],
+            "object_minus_finger_midpoint": [
+              0.00549614405744403,
+              0.012060720610259042,
+              0.0
+            ],
+            "finger_gap": 0.02650800491465962,
+            "fingertip_max_gap": 0.09312612159562711,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013254002457329807,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470776196892215,
+            "object_top_z": 1.0979461523247895,
+            "finger_top_clearance": 0.05086853263556801,
+            "fingertip_min_top_clearance": 0.01526055979067037,
+            "object_projection_between_fingers": 0.8280421046021226,
+            "object_to_finger_line_xy": 0.01000263250651645,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04906306079781356,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2638270179829878,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24759556439830313,
+              -0.029327575374589007,
+              1.2427511464880854
+            ],
+            "held_position": [
+              0.25232739689955574,
+              -0.025201817179003865,
+              1.2374553628382783
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008213248076973732,
+            "max_held_gripper_dist": 0.008221681142810638,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005295783649807095,
+            "max_held_gripper_z_dist": 0.005301082183695405,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08611330864768303,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25232739689955574,
+              -0.05049980415199258,
+              1.2374553628382783
+            ],
+            "held_grasp_finger_b": [
+              0.24362997044893853,
+              -0.025169718222158688,
+              1.2374553628382783
+            ],
+            "held_grasp_midpoint": [
+              0.24797868367424714,
+              -0.037834761187075634,
+              1.2374553628382783
+            ],
+            "held_grasp_object_position": [
+              0.25232739689955574,
+              -0.025201817179003865,
+              1.2374553628382783
+            ],
+            "held_grasp_finger_gap": 0.02678168180075077,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024688566417171036,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0671489803639077,
+              -0.997730122397804,
+              -0.005061353193625885
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034912078264870174,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0368239696397025,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3197094127732868,
+              -0.2988553234881201,
+              0.8515395888826829
+            ],
+            "target_position": [
+              0.3129387322400168,
+              -0.3007019474538688,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007017986531369161,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1859536928443003,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395888826829,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547928999134759,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613360027390803,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1543109534562498,
+            "release_required_pad_clearance": 0.053066800136954015,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1629643784331118,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007209420204162598,
+            "max_z_decrease": 0.007209420204162598,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513667264672328,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007209420204162598,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02117746924049188,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007209420204162598,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00720943777764393,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1686386615037918,
+              -0.3569633960723876,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1686386615037918,
+              -0.3569633960723876,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16794594623221126,
+              -0.35776163462233496,
+              0.8081788191926358
+            ],
+            "closest_button": [
+              0.16863352060317993,
+              -0.3569742739200591,
+              0.7730576992034912
+            ],
+            "closest_ee_minus_button": [
+              -0.0006875743709686688,
+              -0.0007873607022758633,
+              0.03512111998914458
+            ],
+            "button_min_z_position": [
+              0.16862335801124573,
+              -0.3569677770137786,
+              0.769599437713623
+            ],
+            "min_active_finger_to_button": 0.1467765990892832,
+            "closest_active_finger": [
+              0.026561476290225983,
+              -0.343505322933197,
+              0.8105893731117249
+            ],
+            "closest_active_finger_button": [
+              0.16864074766635895,
+              -0.35696625709533686,
+              0.7763015627861023
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14207927137613297,
+              0.013460934162139837,
+              0.03428781032562256
+            ],
+            "min_contact_pad_to_button": 0.02117746924049188,
+            "closest_contact_pad": [
+              0.16862335801124573,
+              -0.3589082900182862,
+              0.7906878139600607
+            ],
+            "closest_contact_pad_button": [
+              0.16862335801124573,
+              -0.3569677770137786,
+              0.769599437713623
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001940513004507649,
+              0.021088376246437668
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69b3e0e252bccd98f9ad22825bd57a605a52749d75d88e9fbcf382fddec52043",
+    "visual_seed": 8667835800228219,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b6a3099a15d8bfbdf56816fb4dca73e25f720af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24815963733587293,
+              -0.02490111985604181,
+              1.0487308781622162
+            ],
+            "current_z": 1.0487308781622162,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.1876244297520948,
+            "gripper_z": 1.0538262459579961,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24328962728651363,
+              -0.029477107312103054,
+              1.0538262459579961
+            ],
+            "object_minus_gripper": [
+              0.004870010049359302,
+              0.0045759874560612444,
+              -0.005095367795779904
+            ],
+            "object_to_gripper_xy": 0.006682563810311912,
+            "object_to_gripper_z": -0.005095367795779904,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24815963733587293,
+              -0.04942892397852918,
+              1.0487308781622162
+            ],
+            "finger_b": [
+              0.23710907641280723,
+              -0.02490111985604181,
+              1.0487308781622162
+            ],
+            "finger_midpoint": [
+              0.2426343568743401,
+              -0.0371650219172855,
+              1.0487308781622162
+            ],
+            "object_minus_finger_midpoint": [
+              0.005525280461532833,
+              0.012263902061243687,
+              0.0
+            ],
+            "finger_gap": 0.026902194553335142,
+            "fingertip_max_gap": 0.09304557209906417,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013451097276667566,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487308781622162,
+            "object_top_z": 1.0997187665376882,
+            "finger_top_clearance": 0.05098788837547197,
+            "fingertip_min_top_clearance": 0.01529636651264159,
+            "object_projection_between_fingers": 0.8312696419069123,
+            "object_to_finger_line_xy": 0.01007523729066804,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049022786049532086,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0894533987914914,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24753092275380645,
+              -0.027896208836155692,
+              1.2443838259633975
+            ],
+            "held_position": [
+              0.25262642591413387,
+              -0.023599193689837556,
+              1.2392325219355649
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008424038509631736,
+            "max_held_gripper_dist": 0.008431965970045899,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005151304027832593,
+            "max_held_gripper_z_dist": 0.005157490558099109,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08645969305197918,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25262642591413387,
+              -0.04904231905454326,
+              1.2392325219355649
+            ],
+            "held_grasp_finger_b": [
+              0.24351603120938006,
+              -0.023599193689837556,
+              1.2392325219355649
+            ],
+            "held_grasp_midpoint": [
+              0.24807122856175695,
+              -0.036320756372190406,
+              1.2392325219355649
+            ],
+            "held_grasp_object_position": [
+              0.25262642591413387,
+              -0.023599193689837556,
+              1.2392325219355649
+            ],
+            "held_grasp_finger_gap": 0.02702502395929626,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024881935155333497,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05703447530498129,
+              -0.9983656242317236,
+              -0.0036261521047142855
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038224988498255755,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036759675910621396,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3243226372847101,
+              -0.3047261569071373,
+              0.8515395774837143
+            ],
+            "target_position": [
+              0.3173845846153185,
+              -0.30682342443809874,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007248110508241264,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18518143749029764,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395774837143,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572471637495098,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08697105646393787,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1530119563060243,
+            "release_required_pad_clearance": 0.053485528231968935,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9837901878646884,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007227182388305664,
+            "max_z_decrease": 0.007227182388305664,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509856635230383,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007227182388305664,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02115973907023166,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007227182388305664,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007227205064283451,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17308451235294345,
+              -0.3630848824977874,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17308451235294345,
+              -0.3630848824977874,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17162669729468946,
+              -0.36280969400491464,
+              0.807605218336584
+            ],
+            "closest_button": [
+              0.1730733066797257,
+              -0.36308908462524414,
+              0.7725375890731812
+            ],
+            "closest_ee_minus_button": [
+              -0.0014466093850362405,
+              0.00027939062032950046,
+              0.0350676292634029
+            ],
+            "button_min_z_position": [
+              0.17306712269783026,
+              -0.36308991909027094,
+              0.76958167552948
+            ],
+            "min_active_finger_to_button": 0.14729159360668212,
+            "closest_active_finger": [
+              0.04446107894182205,
+              -0.42604535818099976,
+              0.8109244108200073
+            ],
+            "closest_active_finger_button": [
+              0.17308689653873446,
+              -0.36308702826499933,
+              0.7764793634414673
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1286258175969124,
+              -0.06295832991600042,
+              0.03444504737854004
+            ],
+            "min_contact_pad_to_button": 0.02115973907023166,
+            "closest_contact_pad": [
+              0.17306712269783026,
+              -0.36411626522953405,
+              0.7907165086521405
+            ],
+            "closest_contact_pad_button": [
+              0.17306712269783026,
+              -0.36308991909027094,
+              0.76958167552948
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010263461392631124,
+              0.021134833122660512
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bda363f54cc0dee75b791f2dc5caa77006b5eefea442f344bbf52b4c31f49b08",
+    "visual_seed": 7177062831742085639,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4dfaf237d8121d3719d3d6198df79d3b4050e7a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24404950150851576,
+              -0.0293746876070759,
+              1.0499761736158315
+            ],
+            "current_z": 1.0499761736158315,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18886966560106566,
+            "gripper_z": 1.055488477978768,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2392676038761926,
+              -0.03398721449204975,
+              1.055488477978768
+            ],
+            "object_minus_gripper": [
+              0.0047818976323231455,
+              0.00461252688497385,
+              -0.005512304362936593
+            ],
+            "object_to_gripper_xy": 0.006643940790722345,
+            "object_to_gripper_z": -0.005512304362936593,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24404950150851576,
+              -0.05382750148769647,
+              1.0499761736158315
+            ],
+            "finger_b": [
+              0.2329780866363998,
+              -0.0293746876070759,
+              1.0499761736158315
+            ],
+            "finger_midpoint": [
+              0.23851379407245776,
+              -0.04160109454738618,
+              1.0499761736158315
+            ],
+            "object_minus_finger_midpoint": [
+              0.005535707436057996,
+              0.012226406940310283,
+              0.0
+            ],
+            "finger_gap": 0.026842435320789743,
+            "fingertip_max_gap": 0.0962188084118262,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013421217660394873,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499761736158315,
+            "object_top_z": 1.1017500118935555,
+            "finger_top_clearance": 0.05177383827772397,
+            "fingertip_min_top_clearance": 0.015532151483317191,
+            "object_projection_between_fingers": 0.8298772401197447,
+            "object_to_finger_line_xy": 0.010085793037314512,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0506094042059131,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.639536219620315,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2426823275523334,
+              -0.03152503484666046,
+              1.2465790541361716
+            ],
+            "held_position": [
+              0.24764715965464057,
+              -0.027101553221700846,
+              1.2410452173469264
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008651017113638092,
+            "max_held_gripper_dist": 0.00865966386306224,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005533836789245239,
+            "max_held_gripper_z_dist": 0.005543648733941087,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08567738371890686,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24764715965464057,
+              -0.05229388826010668,
+              1.2410452173469264
+            ],
+            "held_grasp_finger_b": [
+              0.23813733975132748,
+              -0.027101553221700846,
+              1.2410452173469264
+            ],
+            "held_grasp_midpoint": [
+              0.242892249702984,
+              -0.03969772074090376,
+              1.2410452173469264
+            ],
+            "held_grasp_object_position": [
+              0.24764715965464057,
+              -0.027101553221700846,
+              1.2410452173469264
+            ],
+            "held_grasp_finger_gap": 0.02692750302721625,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025028843418822777,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.016812224256035384,
+              -0.9998566867768094,
+              -0.001988724029720279
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004542537831519229,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037045947135834666,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32254229070287044,
+              -0.30500026453759904,
+              0.8515395561199592
+            ],
+            "target_position": [
+              0.316605698395232,
+              -0.30691399261299596,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006237426021499109,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18416861416634947,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395561199592,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755612929669744,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.088609336582241,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15234677655900575,
+            "release_required_pad_clearance": 0.0543046682911205,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.630197883974041,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007281780242919922,
+            "max_z_decrease": 0.007281780242919922,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504869564944656,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007281780242919922,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021370553290340627,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007281780242919922,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007281797654273776,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.172305628657341,
+              -0.3631754517555237,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.172305628657341,
+              -0.3631754517555237,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17153469953407507,
+              -0.3645082138400322,
+              0.8062369949191044
+            ],
+            "closest_button": [
+              0.17229257524013517,
+              -0.36317944526672363,
+              0.7712216973304749
+            ],
+            "closest_ee_minus_button": [
+              -0.0007578757060600905,
+              -0.0013287685733085475,
+              0.035015297588629535
+            ],
+            "button_min_z_position": [
+              0.17229059338569636,
+              -0.36318069696426386,
+              0.7695270776748657
+            ],
+            "min_active_finger_to_button": 0.14669764272712088,
+            "closest_active_finger": [
+              0.030776388943195343,
+              -0.34655240178108215,
+              0.8078685998916626
+            ],
+            "closest_active_finger_button": [
+              0.17231547832489014,
+              -0.3631839454174042,
+              0.7730795741081238
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1415390893816948,
+              0.01663154363632202,
+              0.03478902578353882
+            ],
+            "min_contact_pad_to_button": 0.021370553290340627,
+            "closest_contact_pad": [
+              0.17229059338569636,
+              -0.36593450166084535,
+              0.7907194609204654
+            ],
+            "closest_contact_pad_button": [
+              0.17229059338569636,
+              -0.36318069696426386,
+              0.7695270776748657
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027538046965814855,
+              0.02119238324559969
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "88d695826215571f33f314c4922e2ad0d04f4eedcfd51264c8b50533ff523386",
+    "visual_seed": 8122113718804148935,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e135b534158f2283b724a299188222b7b05129b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25019996796647426,
+              -0.030000894606837733,
+              1.0498234892477507
+            ],
+            "current_z": 1.0498234892477507,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.18871710044227408,
+            "gripper_z": 1.0544804651260098,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24548357172863522,
+              -0.03464128693334058,
+              1.0544804651260098
+            ],
+            "object_minus_gripper": [
+              0.004716396237839038,
+              0.004640392326502846,
+              -0.004656975878259084
+            ],
+            "object_to_gripper_xy": 0.006616466913403915,
+            "object_to_gripper_z": -0.004656975878259084,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25019996796647426,
+              -0.054173622761720296,
+              1.0498234892477507
+            ],
+            "finger_b": [
+              0.23876473006075283,
+              -0.030000894606837733,
+              1.0498234892477507
+            ],
+            "finger_midpoint": [
+              0.24448234901361354,
+              -0.04208725868427901,
+              1.0498234892477507
+            ],
+            "object_minus_finger_midpoint": [
+              0.005717618952860715,
+              0.012086364077441278,
+              0.0
+            ],
+            "finger_gap": 0.026741081735978826,
+            "fingertip_max_gap": 0.0912255719524763,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01337054086798941,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498234892477507,
+            "object_top_z": 1.0996661675620985,
+            "finger_top_clearance": 0.049842678314347744,
+            "fingertip_min_top_clearance": 0.014952803494304322,
+            "object_projection_between_fingers": 0.8171342102965642,
+            "object_to_finger_line_xy": 0.01033693775033424,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811278597623815,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1692108983074991,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24978188805817572,
+              -0.03349519373232426,
+              1.2479630202917393
+            ],
+            "held_position": [
+              0.254850084673129,
+              -0.029271593145347923,
+              1.2432512036312446
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00810719649991573,
+            "max_held_gripper_dist": 0.008115709768567419,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004711816660494694,
+            "max_held_gripper_z_dist": 0.004719674456267864,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655789035999396,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.254850084673129,
+              -0.054775473947653294,
+              1.2432512036312446
+            ],
+            "held_grasp_finger_b": [
+              0.2458701832370475,
+              -0.029097973882148312,
+              1.2432512036312446
+            ],
+            "held_grasp_midpoint": [
+              0.25036013395508827,
+              -0.0419367239149008,
+              1.2432512036312446
+            ],
+            "held_grasp_object_position": [
+              0.254850084673129,
+              -0.029271593145347923,
+              1.2432512036312446
+            ],
+            "held_grasp_finger_gap": 0.027202438115281988,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024906393345840213,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07706021420598665,
+              -0.9969189527309956,
+              -0.0146398453633334
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035056632198480395,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036748144603004754,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3202995060771199,
+              -0.30389330559608746,
+              0.8515395885158399
+            ],
+            "target_position": [
+              0.3121023365693911,
+              -0.30657923476280907,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008625995793361128,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18443303955132145,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395885158399,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752443308013942,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496540360230269,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15368911851787503,
+            "release_required_pad_clearance": 0.052482701801151346,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.039564644483652954,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007467329502105713,
+            "max_z_decrease": 0.007467329502105713,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350589072294693,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007467329502105713,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021212606377724194,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007467329502105713,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007467355351244969,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1678022593259811,
+              -0.3628406822681427,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1678022593259811,
+              -0.3628406822681427,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16768518041006683,
+              -0.3625169516646942,
+              0.8072638716412123
+            ],
+            "closest_button": [
+              0.16779084503650663,
+              -0.36284559965133667,
+              0.7722066640853882
+            ],
+            "closest_ee_minus_button": [
+              -0.00010566462643979424,
+              0.00032864798664244965,
+              0.03505720755582409
+            ],
+            "button_min_z_position": [
+              0.1677834093570709,
+              -0.36284622550010676,
+              0.7693415284156799
+            ],
+            "min_active_finger_to_button": 0.14614738643863534,
+            "closest_active_finger": [
+              0.03954075276851654,
+              -0.423772394657135,
+              0.8111351728439331
+            ],
+            "closest_active_finger_button": [
+              0.1678059548139572,
+              -0.36284261941909784,
+              0.7765713334083557
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12826520204544065,
+              -0.060929775238037165,
+              0.03456383943557739
+            ],
+            "min_contact_pad_to_button": 0.021212606377724194,
+            "closest_contact_pad": [
+              0.1677834093570709,
+              -0.3640433271036952,
+              0.7905203295405536
+            ],
+            "closest_contact_pad_button": [
+              0.1677834093570709,
+              -0.36284622550010676,
+              0.7693415284156799
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011971016035884352,
+              0.021178801124873692
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "614b779b61b77999822314b5bbc68b3a460a3230511376ad91e870fbd1c2d9b6",
+    "visual_seed": 7640022280074052031,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4c445e32994ce97bb660f2f8663bcb8de4e01ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25053258541496626,
+              -0.029890552561620883,
+              1.0474632152595766
+            ],
+            "current_z": 1.0474632152595766,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18635652843087647,
+            "gripper_z": 1.0527298659266442,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24584994569869206,
+              -0.03444860029394074,
+              1.0527298659266442
+            ],
+            "object_minus_gripper": [
+              0.004682639716274195,
+              0.00455804773231986,
+              -0.005266650667067552
+            ],
+            "object_to_gripper_xy": 0.006534746654808792,
+            "object_to_gripper_z": -0.005266650667067552,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25053258541496626,
+              -0.05416951130389332,
+              1.0474632152595766
+            ],
+            "finger_b": [
+              0.2393741746116587,
+              -0.029890552561620883,
+              1.0474632152595766
+            ],
+            "finger_midpoint": [
+              0.24495338001331246,
+              -0.0420300319327571,
+              1.0474632152595766
+            ],
+            "object_minus_finger_midpoint": [
+              0.005579205401653797,
+              0.01213947937113622,
+              0.0
+            ],
+            "finger_gap": 0.026720366188814446,
+            "fingertip_max_gap": 0.09280396782207503,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01336018309440723,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474632152595766,
+            "object_top_z": 1.0981846295059223,
+            "finger_top_clearance": 0.050721414246345686,
+            "fingertip_min_top_clearance": 0.015216424273903722,
+            "object_projection_between_fingers": 0.8256106812600078,
+            "object_to_finger_line_xy": 0.010138880343497716,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04890198391103752,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1116589785289568,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2500593654001315,
+              -0.03294337035827152,
+              1.2459420138145072
+            ],
+            "held_position": [
+              0.2550350779996717,
+              -0.028727478232930412,
+              1.2406311117312758
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008410537629866906,
+            "max_held_gripper_dist": 0.0084194532347179,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0053109020832313725,
+            "max_held_gripper_z_dist": 0.00532137999196558,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08622532121828665,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2550350779996717,
+              -0.05415003810169265,
+              1.2406311117312758
+            ],
+            "held_grasp_finger_b": [
+              0.24599596374894875,
+              -0.028727478232930412,
+              1.2406311117312758
+            ],
+            "held_grasp_midpoint": [
+              0.2505155208743102,
+              -0.04143875816731153,
+              1.2406311117312758
+            ],
+            "held_grasp_object_position": [
+              0.2550350779996717,
+              -0.028727478232930412,
+              1.2406311117312758
+            ],
+            "held_grasp_finger_gap": 0.026981700033882644,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024772598753867107,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06579623243432715,
+              -0.9978278563237064,
+              -0.0032287678585927173
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036736439189218807,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036739211030920496,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32175375315924404,
+              -0.30712591055123206,
+              0.851539603402792
+            ],
+            "target_position": [
+              0.3146723517479327,
+              -0.30936528243472017,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007427047352796372,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18333380299204985,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539603402792,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563533047871135,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08617515555061321,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.151615265542324,
+            "release_required_pad_clearance": 0.05308757777530661,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2033183468116746,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007301449775695801,
+            "max_z_decrease": 0.007301449775695801,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035168235718215805,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007301449775695801,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021140832948221777,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007301449775695801,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007301469584029882,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17037227749824518,
+              -0.36562675237655645,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17037227749824518,
+              -0.36562675237655645,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17015288915794533,
+              -0.36346767737853514,
+              0.8078790777014878
+            ],
+            "closest_button": [
+              0.1703618019819259,
+              -0.36563149094581604,
+              0.7727780938148499
+            ],
+            "closest_ee_minus_button": [
+              -0.00020891282398058375,
+              0.0021638135672809033,
+              0.03510098388663796
+            ],
+            "button_min_z_position": [
+              0.17035596072673792,
+              -0.3656315505504608,
+              0.7695074081420898
+            ],
+            "min_active_finger_to_button": 0.14542063377226308,
+            "closest_active_finger": [
+              0.043054886162281036,
+              -0.42690902948379517,
+              0.8107638359069824
+            ],
+            "closest_active_finger_button": [
+              0.17037527263164515,
+              -0.36562952399253845,
+              0.7763908505439758
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1273203864693641,
+              -0.061279505491256714,
+              0.03437298536300659
+            ],
+            "min_contact_pad_to_button": 0.021140832948221777,
+            "closest_contact_pad": [
+              0.17035596072673792,
+              -0.3656315505504608,
+              0.7906482410903116
+            ],
+            "closest_contact_pad_button": [
+              0.17035596072673792,
+              -0.3656315505504608,
+              0.7695074081420898
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021140832948221777
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0b04354a53fd7defe81951e8e30f044460d9c1795b0655dba07273bfeef4e94b",
+    "visual_seed": 7990960750248383561,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc706153baf2e5dc28d8c70ffe22b0acaf9e7292
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25131678281406067,
+              -0.021758088759173386,
+              1.050610886870101
+            ],
+            "current_z": 1.050610886870101,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18950443845997977,
+            "gripper_z": 1.0555583404376174,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24679829490726526,
+              -0.026366707725977837,
+              1.0555583404376174
+            ],
+            "object_minus_gripper": [
+              0.004518487906795404,
+              0.004608618966804451,
+              -0.004947453567516469
+            ],
+            "object_to_gripper_xy": 0.006454153836487479,
+            "object_to_gripper_z": -0.004947453567516469,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25131678281406067,
+              -0.04566724232183606,
+              1.050610886870101
+            ],
+            "finger_b": [
+              0.23976676034547428,
+              -0.021758088759173386,
+              1.050610886870101
+            ],
+            "finger_midpoint": [
+              0.24554177157976748,
+              -0.03371266554050473,
+              1.050610886870101
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057750112342931925,
+              0.011954576781331341,
+              0.0
+            ],
+            "finger_gap": 0.026552789742470294,
+            "fingertip_max_gap": 0.09209035160688567,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01327639487123515,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050610886870101,
+            "object_top_z": 1.1007994793248352,
+            "finger_top_clearance": 0.05018859245473428,
+            "fingertip_min_top_clearance": 0.015056577736420284,
+            "object_projection_between_fingers": 0.8107894513267657,
+            "object_to_finger_line_xy": 0.010400084643909999,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048545175803442836,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2288413209163025,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2512129575140596,
+              -0.024754020076897407,
+              1.2481671260510805
+            ],
+            "held_position": [
+              0.2560957357283947,
+              -0.02057618450895222,
+              1.2431497661412156
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008152897251179651,
+            "max_held_gripper_dist": 0.008161419060205573,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005017359909864849,
+            "max_held_gripper_z_dist": 0.00502456535139828,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08611505988097372,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2560957357283947,
+              -0.04595084264352615,
+              1.2431497661412156
+            ],
+            "held_grasp_finger_b": [
+              0.24713100574141575,
+              -0.02057618450895222,
+              1.2431497661412156
+            ],
+            "held_grasp_midpoint": [
+              0.25161337073490525,
+              -0.03326351357623918,
+              1.2431497661412156
+            ],
+            "held_grasp_object_position": [
+              0.2560957357283947,
+              -0.02057618450895222,
+              1.2431497661412156
+            ],
+            "held_grasp_finger_gap": 0.026911701157413644,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02457118257736826,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0804089633406727,
+              -0.9967435654941473,
+              -0.006055019446103314
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034485560895139624,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03671381413652891,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32438361682655104,
+              -0.29839832797825994,
+              0.8515395849690774
+            ],
+            "target_position": [
+              0.3172110074105879,
+              -0.3003479295410055,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074328508721366844,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18438587838584966,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395849690774,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515737002637918,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520836200676539,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1536315024317782,
+            "release_required_pad_clearance": 0.0526041810033827,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2712418529183999,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 157,
+            "max_placed_release_frames": 157
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007449328899383545,
+            "max_z_decrease": 0.007449328899383545,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035047174960849324,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007449328899383545,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021421319740847274,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007449328899383545,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007449354949155995,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17291092872619623,
+              -0.3566093742847442,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17291092872619623,
+              -0.3566093742847442,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.173484779093557,
+              -0.35808811013498176,
+              0.807371753615079
+            ],
+            "closest_button": [
+              0.17290043830871576,
+              -0.35661602020263666,
+              0.7723603844642639
+            ],
+            "closest_ee_minus_button": [
+              0.0005843407848412363,
+              -0.0014720899323450998,
+              0.03501136915081504
+            ],
+            "button_min_z_position": [
+              0.17289212346076963,
+              -0.35661524534225464,
+              0.7693595290184021
+            ],
+            "min_active_finger_to_button": 0.14556245461352413,
+            "closest_active_finger": [
+              0.03246594965457916,
+              -0.3408205211162567,
+              0.8075962066650391
+            ],
+            "closest_active_finger_button": [
+              0.1729194968938827,
+              -0.35661599040031433,
+              0.7727862596511841
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14045354723930353,
+              0.015795469284057617,
+              0.03480994701385498
+            ],
+            "min_contact_pad_to_button": 0.021421319740847274,
+            "closest_contact_pad": [
+              0.17289212346076963,
+              -0.3595781610657648,
+              0.7905749495858806
+            ],
+            "closest_contact_pad_button": [
+              0.17289212346076963,
+              -0.35661524534225464,
+              0.7693595290184021
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002962915723510151,
+              0.021215420567478493
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cebdbb0b9b3f3303785bb52c5e44f1da9771f44855b5273812e0dfbe053a7bf2",
+    "visual_seed": 1946927580801471861,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..756634f2175282241653a941c47d460fdf8b8327
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24657829448871843,
+              -0.02781349377845451,
+              1.047775522291152
+            ],
+            "current_z": 1.047775522291152,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18666907388103082,
+            "gripper_z": 1.0528328301077727,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24238656807227882,
+              -0.032113119959713235,
+              1.0528328301077727
+            ],
+            "object_minus_gripper": [
+              0.004191726416439612,
+              0.004299626181258724,
+              -0.005057307816620726
+            ],
+            "object_to_gripper_xy": 0.006004777735174147,
+            "object_to_gripper_z": -0.005057307816620726,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24657829448871843,
+              -0.05174678575833416,
+              1.047775522291152
+            ],
+            "finger_b": [
+              0.23579687457431883,
+              -0.02781349377845451,
+              1.047775522291152
+            ],
+            "finger_midpoint": [
+              0.24118758453151862,
+              -0.03978013976839434,
+              1.047775522291152
+            ],
+            "object_minus_finger_midpoint": [
+              0.005390709957199813,
+              0.01196664598993983,
+              0.0
+            ],
+            "finger_gap": 0.026249599622942515,
+            "fingertip_max_gap": 0.09537176328150626,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013124799811471268,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047775522291152,
+            "object_top_z": 1.0999622517349426,
+            "finger_top_clearance": 0.05218672944379055,
+            "fingertip_min_top_clearance": 0.01565601883313718,
+            "object_projection_between_fingers": 0.8313033123795764,
+            "object_to_finger_line_xy": 0.009830049771253988,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05018588164075313,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8917331515799098,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24670869611263452,
+              -0.031169369113037387,
+              1.24632957167129
+            ],
+            "held_position": [
+              0.25122548570126946,
+              -0.027233389202289966,
+              1.2412262106710288
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007870045714276155,
+            "max_held_gripper_dist": 0.007878371213059227,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0051033610002613194,
+            "max_held_gripper_z_dist": 0.005109867857597816,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08634489235646683,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25122548570126946,
+              -0.05255080920536992,
+              1.2412262106710288
+            ],
+            "held_grasp_finger_b": [
+              0.2428917315697754,
+              -0.026514063136957186,
+              1.2412262106710288
+            ],
+            "held_grasp_midpoint": [
+              0.24705860863552243,
+              -0.03953243617116355,
+              1.2412262106710288
+            ],
+            "held_grasp_object_position": [
+              0.25122548570126946,
+              -0.027233389202289966,
+              1.2412262106710288
+            ],
+            "held_grasp_finger_gap": 0.02733795171104083,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025337825061359183,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07480161772243957,
+              -0.9970986114732525,
+              0.014109464349076674
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032399834936212134,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037145198269618485,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32255320591336223,
+              -0.3039926484912251,
+              0.851539500044709
+            ],
+            "target_position": [
+              0.3170787376581538,
+              -0.3049263566274359,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0055535226263076455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18200886467190494,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539500044709,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07545991019313453,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08667026434897117,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15031320629249914,
+            "release_required_pad_clearance": 0.053335132174485586,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6874384913803895,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007133364677429199,
+            "max_z_decrease": 0.007133364677429199,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509952513503517,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007133364677429199,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02119646479281989,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007133364677429199,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007133385174387242,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17277866601943967,
+              -0.3611878156661987,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17277866601943967,
+              -0.3611878156661987,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.172427359948859,
+              -0.3593380602377278,
+              0.8075675669717783
+            ],
+            "closest_button": [
+              0.17276702821254727,
+              -0.36119219660758967,
+              0.7725186944007874
+            ],
+            "closest_ee_minus_button": [
+              -0.00033966826368828085,
+              0.0018541363698618696,
+              0.035048872570990985
+            ],
+            "button_min_z_position": [
+              0.17276243865489954,
+              -0.3611932098865508,
+              0.7696754932403564
+            ],
+            "min_active_finger_to_button": 0.145715686943025,
+            "closest_active_finger": [
+              0.044857680797576904,
+              -0.42176520824432373,
+              0.8111410140991211
+            ],
+            "closest_active_finger_button": [
+              0.17278294265270228,
+              -0.3611897230148315,
+              0.7765173316001892
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12792526185512537,
+              -0.06057548522949224,
+              0.034623682498931885
+            ],
+            "min_contact_pad_to_button": 0.02119646479281989,
+            "closest_contact_pad": [
+              0.17276243865489954,
+              -0.3611932098865508,
+              0.7908719580331763
+            ],
+            "closest_contact_pad_button": [
+              0.17276243865489954,
+              -0.3611932098865508,
+              0.7696754932403564
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02119646479281989
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "03eed89e661717b6bd29ace1d8850085d052f30f2ff5907c706a4ae1009bf25b",
+    "visual_seed": 140130684081223189,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e05f585433082bf33de237bc5c264dc8c99ca869
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2503020638743868,
+              -0.02852905365905344,
+              1.047495446878075
+            ],
+            "current_z": 1.047495446878075,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.1863889388633092,
+            "gripper_z": 1.0524242965654325,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24571485270291243,
+              -0.033181629645781655,
+              1.0524242965654325
+            ],
+            "object_minus_gripper": [
+              0.00458721117147437,
+              0.004652575986728216,
+              -0.004928849687357406
+            ],
+            "object_to_gripper_xy": 0.006533679640446055,
+            "object_to_gripper_z": -0.004928849687357406,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2503020638743868,
+              -0.05245711141139179,
+              1.047495446878075
+            ],
+            "finger_b": [
+              0.2386708481193147,
+              -0.02852905365905344,
+              1.047495446878075
+            ],
+            "finger_midpoint": [
+              0.24448645599685076,
+              -0.040493082535222616,
+              1.047495446878075
+            ],
+            "object_minus_finger_midpoint": [
+              0.005815607877536044,
+              0.011964028876169177,
+              0.0
+            ],
+            "finger_gap": 0.02660520865808568,
+            "fingertip_max_gap": 0.09165949508104057,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013302604329042836,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047495446878075,
+            "object_top_z": 1.0973257815310495,
+            "finger_top_clearance": 0.049830334652974484,
+            "fingertip_min_top_clearance": 0.014949100395892345,
+            "object_projection_between_fingers": 0.8088752699749916,
+            "object_to_finger_line_xy": 0.010460823889561573,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832974754052029,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4807408043733483,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2499882303434281,
+              -0.03195467098885184,
+              1.2449202465256017
+            ],
+            "held_position": [
+              0.2549570524375172,
+              -0.027746307400500672,
+              1.2399243734145782
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008207208126757615,
+            "max_held_gripper_dist": 0.008215193177395882,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004995873111023563,
+            "max_held_gripper_z_dist": 0.005003917075549591,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08559418243193252,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2549570524375172,
+              -0.05317509893572619,
+              1.2399243734145782
+            ],
+            "held_grasp_finger_b": [
+              0.2460195885819382,
+              -0.02771684893779273,
+              1.2399243734145782
+            ],
+            "held_grasp_midpoint": [
+              0.2504883205097277,
+              -0.04044597393675946,
+              1.2399243734145782
+            ],
+            "held_grasp_object_position": [
+              0.2549570524375172,
+              -0.027746307400500672,
+              1.2399243734145782
+            ],
+            "held_grasp_finger_gap": 0.02698148908283344,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02465168022434646,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08070069491002756,
+              -0.9966490143778366,
+              -0.013346909032639243
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003433590373985367,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036702510161866306,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32413664329023373,
+              -0.30411537295519064,
+              0.8515395906374392
+            ],
+            "target_position": [
+              0.3161841439275207,
+              -0.30674978552135646,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00837749220726128,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18393106442375037,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395906374392,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582967050368733,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08609560977560941,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15162694189369755,
+            "release_required_pad_clearance": 0.05304780488780471,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.126035114991315,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007189035415649414,
+            "max_z_decrease": 0.007189035415649414,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035056049297522304,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007189035415649414,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021201063449204263,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007189035415649414,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007189062743288326,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17188407480716708,
+              -0.3630112409591674,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17188407480716708,
+              -0.3630112409591674,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17099287345182476,
+              -0.3623893766550665,
+              0.8073872791063698
+            ],
+            "closest_button": [
+              0.17187243700027469,
+              -0.3630159497261047,
+              0.7723478674888611
+            ],
+            "closest_ee_minus_button": [
+              -0.0008795635484499242,
+              0.0006265730710381945,
+              0.035039411617508676
+            ],
+            "button_min_z_position": [
+              0.1718650609254837,
+              -0.3630168437957763,
+              0.7696198225021362
+            ],
+            "min_active_finger_to_button": 0.1466908411159311,
+            "closest_active_finger": [
+              0.0431264191865921,
+              -0.424164354801178,
+              0.8110959529876709
+            ],
+            "closest_active_finger_button": [
+              0.17188750207424164,
+              -0.363013207912445,
+              0.7764647006988525
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12876108288764954,
+              -0.061151146888732966,
+              0.03463125228881836
+            ],
+            "min_contact_pad_to_button": 0.021201063449204263,
+            "closest_contact_pad": [
+              0.1718650609254837,
+              -0.36384617132080393,
+              0.7908046592311133
+            ],
+            "closest_contact_pad_button": [
+              0.1718650609254837,
+              -0.3630168437957763,
+              0.7696198225021362
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008293275250276233,
+              0.021184836728977086
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b77011c840b41a2cdc4f5ae8eb77eeccc33505867dd3c01d2f0875f18a4a01ad",
+    "visual_seed": 7179164736453997202,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a8139dc368cac287a724f6b29c6cf04d28eff57
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24392177635888684,
+              -0.02305497938854745,
+              1.0493821841456066
+            ],
+            "current_z": 1.0493821841456066,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1882756761308405,
+            "gripper_z": 1.0550211211147087,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2396678528180151,
+              -0.027387206646807674,
+              1.0550211211147087
+            ],
+            "object_minus_gripper": [
+              0.004253923540871757,
+              0.004332227258260223,
+              -0.005638936969102115
+            ],
+            "object_to_gripper_xy": 0.006071577925778092,
+            "object_to_gripper_z": -0.005638936969102115,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24392177635888684,
+              -0.047043137561534616,
+              1.0493821841456066
+            ],
+            "finger_b": [
+              0.23311139309007708,
+              -0.02305497938854745,
+              1.0493821841456066
+            ],
+            "finger_midpoint": [
+              0.23851658472448195,
+              -0.035049058475041035,
+              1.0493821841456066
+            ],
+            "object_minus_finger_midpoint": [
+              0.005405191634404893,
+              0.011994079086493584,
+              0.0
+            ],
+            "finger_gap": 0.026311520650673402,
+            "fingertip_max_gap": 0.0972453911638761,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013155760325336708,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493821841456066,
+            "object_top_z": 1.102502045562772,
+            "finger_top_clearance": 0.053119861417165515,
+            "fingertip_min_top_clearance": 0.015935958425149655,
+            "object_projection_between_fingers": 0.8311930643267624,
+            "object_to_finger_line_xy": 0.009855803744896282,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05112269558193805,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.407094754322501,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2438070418979302,
+              -0.025661315238151003,
+              1.2462445117538365
+            ],
+            "held_position": [
+              0.24832485885179034,
+              -0.021627379590866493,
+              1.2405597150747403
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008306637112435018,
+            "max_held_gripper_dist": 0.008315249694952667,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005684796679096271,
+            "max_held_gripper_z_dist": 0.005690639275533149,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08478467022674714,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24832485885179034,
+              -0.04680773462822962,
+              1.2405597150747403
+            ],
+            "held_grasp_finger_b": [
+              0.23970193210096266,
+              -0.021627379590866493,
+              1.2405597150747403
+            ],
+            "held_grasp_midpoint": [
+              0.24401339547637652,
+              -0.034217557109548054,
+              1.2405597150747403
+            ],
+            "held_grasp_object_position": [
+              0.24832485885179034,
+              -0.021627379590866493,
+              1.2405597150747403
+            ],
+            "held_grasp_finger_gap": 0.02661588145370726,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024618652221097565,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.059332366891896075,
+              -0.9980109826676713,
+              0.021301378211622146
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00356716438400367,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03689930530588423,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3210051975062552,
+              -0.3055542699109878,
+              0.8515395582701626
+            ],
+            "target_position": [
+              0.3166491228297198,
+              -0.305921139351475,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004371496285474419,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1835496398956839,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395582701626,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533478443579036,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08691474450675339,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15204098427098833,
+            "release_required_pad_clearance": 0.0534573722533767,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9281668334798285,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0072588324546813965,
+            "max_z_decrease": 0.0072588324546813965,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035131520778882645,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072588324546813965,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02116466355738056,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0072588324546813965,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072588524907799485,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17234905064105988,
+              -0.3621825873851776,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17234905064105988,
+              -0.3621825873851776,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17326952211054886,
+              -0.3606771984604027,
+              0.8071534996275163
+            ],
+            "closest_button": [
+              0.17233650386333466,
+              -0.36218681931495667,
+              0.7720668315887451
+            ],
+            "closest_ee_minus_button": [
+              0.0009330182472142012,
+              0.0015096208545539724,
+              0.03508666803877114
+            ],
+            "button_min_z_position": [
+              0.1723327934741974,
+              -0.3621877431869507,
+              0.7695500254631042
+            ],
+            "min_active_finger_to_button": 0.14463673435306335,
+            "closest_active_finger": [
+              0.04642816632986069,
+              -0.42442989349365234,
+              0.8109250068664551
+            ],
+            "closest_active_finger_button": [
+              0.17235316336154935,
+              -0.3621850907802581,
+              0.7764537930488586
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12592499703168866,
+              -0.06224480271339422,
+              0.034471213817596436
+            ],
+            "min_contact_pad_to_button": 0.02116466355738056,
+            "closest_contact_pad": [
+              0.1723327934741974,
+              -0.3621877431869507,
+              0.7907146890204848
+            ],
+            "closest_contact_pad_button": [
+              0.1723327934741974,
+              -0.3621877431869507,
+              0.7695500254631042
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02116466355738056
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c3213f5e00da426bc1dac617fa9931f19d1b8853a6a4d95c9110a8c8b5557b6",
+    "visual_seed": 299007648741725679,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..298594c0c9558aadab13a00bba42d4444dae6d7d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24271768668646637,
+              -0.02748590066424231,
+              1.0485548641422135
+            ],
+            "current_z": 1.0485548641422135,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.18744841573209248,
+            "gripper_z": 1.053994741564026,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23771263354057995,
+              -0.03231042594510887,
+              1.053994741564026
+            ],
+            "object_minus_gripper": [
+              0.005005053145886423,
+              0.004824525280866559,
+              -0.005439877421812511
+            ],
+            "object_to_gripper_xy": 0.0069517336815263665,
+            "object_to_gripper_z": -0.005439877421812511,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24271768668646637,
+              -0.05177386359075339,
+              1.0485548641422135
+            ],
+            "finger_b": [
+              0.23093916959843114,
+              -0.02748590066424231,
+              1.0485548641422135
+            ],
+            "finger_midpoint": [
+              0.23682842814244875,
+              -0.03962988212749785,
+              1.0485548641422135
+            ],
+            "object_minus_finger_midpoint": [
+              0.005889258544017617,
+              0.01214398146325554,
+              0.0
+            ],
+            "finger_gap": 0.026993306724310648,
+            "fingertip_max_gap": 0.09196257813392647,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013496653362155326,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485548641422135,
+            "object_top_z": 1.098921653604744,
+            "finger_top_clearance": 0.05036678946253037,
+            "fingertip_min_top_clearance": 0.015110036838759111,
+            "object_projection_between_fingers": 0.8095990751978417,
+            "object_to_finger_line_xy": 0.010598041554717415,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04848128906696324,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1054764839438977,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24163698080228876,
+              -0.030957176950736298,
+              1.245178938803928
+            ],
+            "held_position": [
+              0.24700648669154757,
+              -0.026533217203994423,
+              1.2396919729209155
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008860576049948514,
+            "max_held_gripper_dist": 0.008867070954764408,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005486965883012562,
+            "max_held_gripper_z_dist": 0.005500126538587002,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08624123289849814,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24700648669154757,
+              -0.05211978623943603,
+              1.2396919729209155
+            ],
+            "held_grasp_finger_b": [
+              0.23769836987028709,
+              -0.026533217203994423,
+              1.2396919729209155
+            ],
+            "held_grasp_midpoint": [
+              0.24235242828091733,
+              -0.03932650172171523,
+              1.2396919729209155
+            ],
+            "held_grasp_object_position": [
+              0.24700648669154757,
+              -0.026533217203994423,
+              1.2396919729209155
+            ],
+            "held_grasp_finger_gap": 0.02722707391115783,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0247389147658428,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0810465370879467,
+              -0.9963549769296387,
+              -0.026612380081294733
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003618425298229408,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03659640205200043,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32456062544704856,
+              -0.30606348331274125,
+              0.8515396438634267
+            ],
+            "target_position": [
+              0.3153344673398536,
+              -0.3094860256063561,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00984051772878549,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18527313452359243,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396438634267,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588054818503964,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608492346493128,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15289462706268178,
+            "release_required_pad_clearance": 0.05304246173246564,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1155600539095494,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007348477840423584,
+            "max_z_decrease": 0.007348477840423584,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035093719826475044,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007348477840423584,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021172539459451148,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007348477840423584,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007348495622456039,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17103439569473267,
+              -0.36574748158454895,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17103439569473267,
+              -0.36574748158454895,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16938668705380297,
+              -0.3653363093615645,
+              0.8077082659325593
+            ],
+            "closest_button": [
+              0.1710243970155716,
+              -0.36575230956077576,
+              0.7726552486419678
+            ],
+            "closest_ee_minus_button": [
+              -0.0016377099617686242,
+              0.00041600019921123055,
+              0.035053017290591515
+            ],
+            "button_min_z_position": [
+              0.17101895809173587,
+              -0.36575227975845337,
+              0.7694603800773621
+            ],
+            "min_active_finger_to_button": 0.14746520932613166,
+            "closest_active_finger": [
+              0.04156047850847244,
+              -0.4273212254047394,
+              0.8108201622962952
+            ],
+            "closest_active_finger_button": [
+              0.17103786766529086,
+              -0.3657500445842743,
+              0.7763153314590454
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12947738915681842,
+              -0.06157118082046509,
+              0.034504830837249756
+            ],
+            "min_contact_pad_to_button": 0.021172539459451148,
+            "closest_contact_pad": [
+              0.17101895809173587,
+              -0.3667777932927126,
+              0.790608069056375
+            ],
+            "closest_contact_pad_button": [
+              0.17101895809173587,
+              -0.36575227975845337,
+              0.7694603800773621
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010255135342592259,
+              0.02114768897901298
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "25ff020664c408ed702c656108a3768ee3f5716146c78a0c89ab6484bbf46623",
+    "visual_seed": 547901746711646489,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae5981c53b2be3b1811e552162c02759d3a9101a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24307748853901587,
+              -0.032100895053000095,
+              1.0483575503358145
+            ],
+            "current_z": 1.0483575503358145,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18725104232104828,
+            "gripper_z": 1.0534621245349227,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2383849813719488,
+              -0.03666198898219994,
+              1.0534621245349227
+            ],
+            "object_minus_gripper": [
+              0.004692507167067067,
+              0.004561093929199844,
+              -0.005104574199108258
+            ],
+            "object_to_gripper_xy": 0.006543943867726821,
+            "object_to_gripper_z": -0.005104574199108258,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24307748853901587,
+              -0.05636497365522343,
+              1.0483575503358145
+            ],
+            "finger_b": [
+              0.23192286329158884,
+              -0.032100895053000095,
+              1.0483575503358145
+            ],
+            "finger_midpoint": [
+              0.23750017591530237,
+              -0.04423293435411176,
+              1.0483575503358145
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055773126237134985,
+              0.012132039301111668,
+              0.0
+            ],
+            "finger_gap": 0.026705264927077747,
+            "fingertip_max_gap": 0.09230406826330464,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013352632463538867,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483575503358145,
+            "object_top_z": 1.0986949049115382,
+            "finger_top_clearance": 0.05033735457572375,
+            "fingertip_min_top_clearance": 0.01510120637271714,
+            "object_projection_between_fingers": 0.8255318375129267,
+            "object_to_finger_line_xy": 0.010134956703143674,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048652034131652325,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1883642780467716,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24205742681538578,
+              -0.035295036246588155,
+              1.2473300452279514
+            ],
+            "held_position": [
+              0.247049227171731,
+              -0.031059518918493095,
+              1.2422008381122933
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008316636547879177,
+            "max_held_gripper_dist": 0.008324109963811664,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005129207115658119,
+            "max_held_gripper_z_dist": 0.005136087980648352,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08618524175032562,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.247049227171731,
+              -0.05644702993658104,
+              1.2422008381122933
+            ],
+            "held_grasp_finger_b": [
+              0.23801238610250006,
+              -0.031059518918493095,
+              1.2422008381122933
+            ],
+            "held_grasp_midpoint": [
+              0.24253080663711551,
+              -0.04375327442753707,
+              1.2422008381122933
+            ],
+            "held_grasp_object_position": [
+              0.247049227171731,
+              -0.031059518918493095,
+              1.2422008381122933
+            ],
+            "held_grasp_finger_gap": 0.026947916657954762,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024745539051386736,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06491275481381684,
+              -0.9978191750249428,
+              -0.011967799088561604
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036881069115739782,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03676087429578327,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.322085623711657,
+              -0.3016813740043259,
+              0.8515395710280874
+            ],
+            "target_position": [
+              0.3148609754909543,
+              -0.303901108948997,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0075579603821068425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18321352430948754,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395710280874,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548959392160992,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602690789044064,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15168507297974082,
+            "release_required_pad_clearance": 0.05301345394522032,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0594215491760237,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007553815841674805,
+            "max_z_decrease": 0.007553815841674805,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035101232198355536,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007553815841674805,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02120023900264997,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007553815841674805,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007553835490812448,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17056089639663696,
+              -0.36016255617141724,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17056089639663696,
+              -0.36016255617141724,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1716633205402079,
+              -0.36029492011760794,
+              0.8073169187332736
+            ],
+            "closest_button": [
+              0.1705491840839386,
+              -0.36016714572906494,
+              0.7722336053848267
+            ],
+            "closest_ee_minus_button": [
+              0.001114136456269288,
+              -0.0001277743885430005,
+              0.03508331334844694
+            ],
+            "button_min_z_position": [
+              0.17054447531700134,
+              -0.3601677715778351,
+              0.7692550420761108
+            ],
+            "min_active_finger_to_button": 0.1451085225604527,
+            "closest_active_finger": [
+              0.030468769371509552,
+              -0.34471654891967773,
+              0.809316873550415
+            ],
+            "closest_active_finger_button": [
+              0.17056556046009064,
+              -0.36016935110092163,
+              0.7748120427131653
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14009679108858109,
+              0.015452802181243896,
+              0.034504830837249756
+            ],
+            "min_contact_pad_to_button": 0.02120023900264997,
+            "closest_contact_pad": [
+              0.17054447531700134,
+              -0.36157019524214823,
+              0.790408844137094
+            ],
+            "closest_contact_pad_button": [
+              0.17054447531700134,
+              -0.3601677715778351,
+              0.7692550420761108
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001402423664313146,
+              0.021153802060983162
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "90cffb4144fa09c68c713765077f48e595b2407a20562d702424e50b0b6f840d",
+    "visual_seed": 240187897086084999,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c856d01306116acf458cdc6d38d83b24a432a11
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2520251200274113,
+              -0.027328385606088273,
+              1.0186025244737535
+            ],
+            "current_z": 1.0186025244737535,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.15749613566827714,
+            "gripper_z": 1.0541772470177238,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2459433415001426,
+              -0.032113521361228775,
+              1.0541772470177238
+            ],
+            "object_minus_gripper": [
+              0.006081778527268683,
+              0.004785135755140502,
+              -0.035574722543970205
+            ],
+            "object_to_gripper_xy": 0.007738575724890885,
+            "object_to_gripper_z": -0.035574722543970205,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2520251200274113,
+              -0.052167674828261304,
+              1.0404066704640782
+            ],
+            "finger_b": [
+              0.23975585634917837,
+              -0.027328385606088273,
+              1.0405185506818269
+            ],
+            "finger_midpoint": [
+              0.24589048818829484,
+              -0.03974803021717479,
+              1.0404626105729524
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061346318391164445,
+              0.012419644611086515,
+              -0.021860086099198872
+            ],
+            "finger_gap": 0.02770446962950004,
+            "fingertip_max_gap": 0.09979894023489091,
+            "finger_z_skew": 0.00011188021774866108,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01385212186154856,
+            "object_to_finger_midpoint_z": 0.021860086099198872,
+            "finger_midpoint_minus_object_z": 0.021860086099198872,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0186025244737535,
+            "object_top_z": 1.0714025163049505,
+            "finger_top_clearance": 0.03093990573199812,
+            "fingertip_min_top_clearance": 0.015839997549359098,
+            "object_projection_between_fingers": 0.8038698314482629,
+            "object_to_finger_line_xy": 0.011000473143854508,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05239947011744546,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 5.267653013686773,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 183,
+            "max_stable_success_frames": 183,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25345430960092763,
+              -0.037828340415788496,
+              1.2147435894180711
+            ],
+            "held_position": [
+              0.25951912189782206,
+              -0.03426685490339677,
+              1.178893447413889
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.03653352992760981,
+            "max_held_gripper_dist": 0.03655584434587067,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.03585014200418213,
+            "max_held_gripper_z_dist": 0.03586352722325703,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08685000287717798,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25951912189782206,
+              -0.06166273386580692,
+              1.2002930995485193
+            ],
+            "held_grasp_finger_b": [
+              0.25361128254607657,
+              -0.025628235058303486,
+              1.2014178495633145
+            ],
+            "held_grasp_midpoint": [
+              0.25656520222194934,
+              -0.0436454844620552,
+              1.200855474555917
+            ],
+            "held_grasp_object_position": [
+              0.25951912189782206,
+              -0.03426685490339677,
+              1.178893447413889
+            ],
+            "held_grasp_finger_gap": 0.0365328993197882,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.03491854241049542,
+            "held_grasp_world_z_skew": 0.0011247500147952838,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.12850658893096914,
+              -0.9911439493674337,
+              0.03346234052861407
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.021694363176323613,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03931017915722451,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.323871521142709,
+              -0.2975282774061031,
+              0.8515396036134558
+            ],
+            "target_position": [
+              0.3142875619291969,
+              -0.30044163771698706,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.01001698270475186,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856382910167894,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396036134558,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555837884789111,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08905179556760488,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15390248677487792,
+            "release_required_pad_clearance": 0.05452589778380244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.084778669098282,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007381737232208252,
+            "max_z_decrease": 0.007381737232208252,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511898220881269,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007381737232208252,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021176377469844933,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007381737232208252,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007381757745551164,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1699874848127365,
+              -0.35670310258865345,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1699874848127365,
+              -0.35670310258865345,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17094555362394992,
+              -0.355656385509529,
+              0.8046378047319669
+            ],
+            "closest_button": [
+              0.16997116804122925,
+              -0.3567087054252624,
+              0.7695481181144714
+            ],
+            "closest_ee_minus_button": [
+              0.0009743855827206716,
+              0.0010523199157334018,
+              0.03508968661749545
+            ],
+            "button_min_z_position": [
+              0.16997101902961734,
+              -0.35670873522758473,
+              0.7694271206855774
+            ],
+            "min_active_finger_to_button": 0.1444617108545635,
+            "closest_active_finger": [
+              0.04411507397890091,
+              -0.4186239540576935,
+              0.8106288313865662
+            ],
+            "closest_active_finger_button": [
+              0.16999192535877228,
+              -0.35670721530914296,
+              0.776124894618988
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12587685137987137,
+              -0.061916738748550526,
+              0.034503936767578125
+            ],
+            "min_contact_pad_to_button": 0.021176377469844933,
+            "closest_contact_pad": [
+              0.16997101902961734,
+              -0.35683822452161673,
+              0.7906031022512118
+            ],
+            "closest_contact_pad_button": [
+              0.16997101902961734,
+              -0.35670873522758473,
+              0.7694271206855774
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001294892940320036,
+              0.021175981565634383
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24389b878372209603bb1c66c5240a3e07d775fbf0b77f54e1bdbb2a99b3c619",
+    "visual_seed": 2915524282903426514,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1325429ec41fd69701c685bba53146900d95855e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24890423033159503,
+              -0.025724493947255744,
+              1.0501872516146253
+            ],
+            "current_z": 1.0501872516146253,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18908080320450404,
+            "gripper_z": 1.0550556353420504,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24444165298302514,
+              -0.030280869293176263,
+              1.0550556353420504
+            ],
+            "object_minus_gripper": [
+              0.0044625773485698905,
+              0.004556375345920519,
+              -0.004868383727425041
+            ],
+            "object_to_gripper_xy": 0.006377707494459228,
+            "object_to_gripper_z": -0.004868383727425041,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24890423033159503,
+              -0.04962614593397933,
+              1.0501872516146253
+            ],
+            "finger_b": [
+              0.237481858387332,
+              -0.025724493947255744,
+              1.0501872516146253
+            ],
+            "finger_midpoint": [
+              0.2431930443594635,
+              -0.037675319940617534,
+              1.0501872516146253
+            ],
+            "object_minus_finger_midpoint": [
+              0.005711185972131522,
+              0.01195082599336179,
+              0.0
+            ],
+            "finger_gap": 0.026490744582354325,
+            "fingertip_max_gap": 0.09280830064911078,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01324537229117716,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0501872516146253,
+            "object_top_z": 1.100739948158848,
+            "finger_top_clearance": 0.050552696544222675,
+            "fingertip_min_top_clearance": 0.015165808963266803,
+            "object_projection_between_fingers": 0.8140807900557291,
+            "object_to_finger_line_xy": 0.010305997939240518,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04890415032455539,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4025884589167297,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24870142044661878,
+              -0.028809829221356484,
+              1.2459111375476446
+            ],
+            "held_position": [
+              0.25350509531853926,
+              -0.024633766128732932,
+              1.2409788458664979
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008052471450219622,
+            "max_held_gripper_dist": 0.008060667166408223,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004932291681146728,
+            "max_held_gripper_z_dist": 0.004938200319279273,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08572334044766769,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25350509531853926,
+              -0.049919615661656445,
+              1.2409788458664979
+            ],
+            "held_grasp_finger_b": [
+              0.24465416806126813,
+              -0.024633766128732932,
+              1.2409788458664979
+            ],
+            "held_grasp_midpoint": [
+              0.2490796316899037,
+              -0.03727669089519469,
+              1.2409788458664979
+            ],
+            "held_grasp_object_position": [
+              0.25350509531853926,
+              -0.024633766128732932,
+              1.2409788458664979
+            ],
+            "held_grasp_finger_gap": 0.02679016797101417,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024540049826342787,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07591354287312681,
+              -0.997077635826602,
+              -0.008562834979380039
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034546662268286,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036778319911111884,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31907361653316746,
+              -0.3061173033757345,
+              0.8515395976917282
+            ],
+            "target_position": [
+              0.3115843036030733,
+              -0.30855164935211254,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007875014190309958,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18361043518279643,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395976917282,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535211691904296,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0849654432033312,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15250494058086927,
+            "release_required_pad_clearance": 0.0524827216016656,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956460188789793,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007515251636505127,
+            "max_z_decrease": 0.007515251636505127,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035078686758547827,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007515251636505127,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021185892278139704,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007515251636505127,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007515274703812349,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16728423535823816,
+              -0.36481311917304987,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16728423535823816,
+              -0.36481311917304987,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16608185361066488,
+              -0.3642596429914413,
+              0.8066032365923524
+            ],
+            "closest_button": [
+              0.16727039217948908,
+              -0.36481600999832153,
+              0.7715491056442261
+            ],
+            "closest_ee_minus_button": [
+              -0.001188538568824199,
+              0.0005563670068802207,
+              0.03505413094812637
+            ],
+            "button_min_z_position": [
+              0.16726641356945035,
+              -0.3648185133934021,
+              0.7692936062812805
+            ],
+            "min_active_finger_to_button": 0.1468776653130188,
+            "closest_active_finger": [
+              0.03784790635108948,
+              -0.4250134825706482,
+              0.8110688924789429
+            ],
+            "closest_active_finger_button": [
+              0.16728842258453364,
+              -0.36481648683547974,
+              0.7765070199966431
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12944051623344416,
+              -0.06019699573516846,
+              0.034561872482299805
+            ],
+            "min_contact_pad_to_button": 0.021185892278139704,
+            "closest_contact_pad": [
+              0.16726641356945035,
+              -0.36579972665703264,
+              0.7904567641777811
+            ],
+            "closest_contact_pad_button": [
+              0.16726641356945035,
+              -0.3648185133934021,
+              0.7692936062812805
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009812132636305426,
+              0.021163157896500584
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52541a585a5d3383bf2ccc44462f8a762167230d3e533e41f302b4bf74cdbbe4",
+    "visual_seed": 2671017299716430494,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9a1433f02d1b86810a3b3b27551826284373da9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24596210683541717,
+              -0.030736497737662655,
+              1.0484083023598698
+            ],
+            "current_z": 1.0484083023598698,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18730185394974863,
+            "gripper_z": 1.0536109943067569,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24121441909595645,
+              -0.03533361416859332,
+              1.0536109943067569
+            ],
+            "object_minus_gripper": [
+              0.004747687739460715,
+              0.0045971164309306645,
+              -0.00520269194688705
+            ],
+            "object_to_gripper_xy": 0.006608632108913182,
+            "object_to_gripper_z": -0.00520269194688705,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24596210683541717,
+              -0.05502998527886319,
+              1.0484083023598698
+            ],
+            "finger_b": [
+              0.23472864094928717,
+              -0.030736497737662655,
+              1.0484083023598698
+            ],
+            "finger_midpoint": [
+              0.24034537389235217,
+              -0.04288324150826292,
+              1.0484083023598698
+            ],
+            "object_minus_finger_midpoint": [
+              0.005616732943065,
+              0.012146743770600266,
+              0.0
+            ],
+            "finger_gap": 0.026764982584139903,
+            "fingertip_max_gap": 0.09297386037160449,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013382491292069948,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484083023598698,
+            "object_top_z": 1.0990470718840057,
+            "finger_top_clearance": 0.05063876952413593,
+            "fingertip_min_top_clearance": 0.015191630857240795,
+            "object_projection_between_fingers": 0.8238455530299171,
+            "object_to_finger_line_xy": 0.010196160699574403,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04898693018580225,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3784096861057347,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24509768967740705,
+              -0.033974206019832726,
+              1.2473914950295362
+            ],
+            "held_position": [
+              0.2501422969749403,
+              -0.029711639444310135,
+              1.242156569910747
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008427453802686601,
+            "max_held_gripper_dist": 0.00843552922169105,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005234925118789091,
+            "max_held_gripper_z_dist": 0.005243058667786515,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0850420506960363,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2501422969749403,
+              -0.05512735571697372,
+              1.242156569910747
+            ],
+            "held_grasp_finger_b": [
+              0.240994338648853,
+              -0.029711639444310135,
+              1.242156569910747
+            ],
+            "held_grasp_midpoint": [
+              0.24556831781189664,
+              -0.042419497580641924,
+              1.242156569910747
+            ],
+            "held_grasp_object_position": [
+              0.2501422969749403,
+              -0.029711639444310135,
+              1.242156569910747
+            ],
+            "held_grasp_finger_gap": 0.027011919131901124,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024814321547607605,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06058085770831039,
+              -0.9981427411734013,
+              -0.006405304221812846
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003796616888990904,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03675889813461701,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31679546068727393,
+              -0.3020834485479364,
+              0.8515395684161428
+            ],
+            "target_position": [
+              0.30977672019613833,
+              -0.3043320782677333,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007370146111079497,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18480654489379655,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395684161428,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567405757548676,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08658692416821388,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528812246574422,
+            "release_required_pad_clearance": 0.05329346208410694,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6056764229712537,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007395625114440918,
+            "max_z_decrease": 0.007395625114440918,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510813220354494,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007395625114440918,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021270430440598384,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007395625114440918,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00739564544604991,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16547664999961847,
+              -0.3605935275554657,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16547664999961847,
+              -0.3605935275554657,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1663235790904519,
+              -0.3613776310739956,
+              0.8077754124029314
+            ],
+            "closest_button": [
+              0.1654682010412216,
+              -0.36060068011283875,
+              0.7726863026618958
+            ],
+            "closest_ee_minus_button": [
+              0.0008553780492303042,
+              -0.0007769509611568748,
+              0.03508910974103563
+            ],
+            "button_min_z_position": [
+              0.16546006500720975,
+              -0.36059859395027155,
+              0.7694132328033447
+            ],
+            "min_active_finger_to_button": 0.1453131567763316,
+            "closest_active_finger": [
+              0.02526470273733139,
+              -0.34421026706695557,
+              0.8083398342132568
+            ],
+            "closest_active_finger_button": [
+              0.1654785126447677,
+              -0.36060139536857605,
+              0.7738821506500244
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14021380990743632,
+              0.016391128301620483,
+              0.03445768356323242
+            ],
+            "min_contact_pad_to_button": 0.021270430440598384,
+            "closest_contact_pad": [
+              0.16546006500720975,
+              -0.36283334609014456,
+              0.7905659417079193
+            ],
+            "closest_contact_pad_button": [
+              0.16546006500720975,
+              -0.36059859395027155,
+              0.7694132328033447
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022347521398730086,
+              0.021152708904574546
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7dc955efc4fb28090caf5d324f891112aaa7017d620802c3bd0c01739f90336a",
+    "visual_seed": 2914163461834379191,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..459db44ffe5f94277fe6a5a2f88e414f3d29e6b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24571844463098516,
+              -0.031073257338050685,
+              1.0504021712457203
+            ],
+            "current_z": 1.0504021712457203,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.18929572283559892,
+            "gripper_z": 1.0556551486118357,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24109982779347766,
+              -0.035658335188120435,
+              1.0556551486118357
+            ],
+            "object_minus_gripper": [
+              0.0046186168375075,
+              0.004585077850069751,
+              -0.005252977366115408
+            ],
+            "object_to_gripper_xy": 0.006508038136251817,
+            "object_to_gripper_z": -0.005252977366115408,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24571844463098516,
+              -0.05517455362549876,
+              1.0504021712457203
+            ],
+            "finger_b": [
+              0.23438719420206433,
+              -0.031073257338050685,
+              1.0504021712457203
+            ],
+            "finger_midpoint": [
+              0.24005281941652473,
+              -0.04312390548177472,
+              1.0504021712457203
+            ],
+            "object_minus_finger_midpoint": [
+              0.005665625214460429,
+              0.012050648143724037,
+              0.0
+            ],
+            "finger_gap": 0.026632118184971257,
+            "fingertip_max_gap": 0.09425724485924755,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013316059092485635,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0504021712457203,
+            "object_top_z": 1.1015983655429251,
+            "finger_top_clearance": 0.05119619429720479,
+            "fingertip_min_top_clearance": 0.01535885828916142,
+            "object_projection_between_fingers": 0.8189726237563937,
+            "object_to_finger_line_xy": 0.010254453738824486,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04962862242962378,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8406507442830273,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24501394115137712,
+              -0.0344947335250186,
+              1.2478863018872297
+            ],
+            "held_position": [
+              0.24995716220814015,
+              -0.03027339542664822,
+              1.2425891493546297
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0083854012849958,
+            "max_held_gripper_dist": 0.008393081023688524,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005297152532599991,
+            "max_held_gripper_z_dist": 0.005303377323453651,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08620256514710746,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24995716220814015,
+              -0.05565139083487369,
+              1.2425891493546297
+            ],
+            "held_grasp_finger_b": [
+              0.2410026755984812,
+              -0.03027339542664822,
+              1.2425891493546297
+            ],
+            "held_grasp_midpoint": [
+              0.24547991890331067,
+              -0.04296239313076096,
+              1.2425891493546297
+            ],
+            "held_grasp_object_position": [
+              0.24995716220814015,
+              -0.03027339542664822,
+              1.2425891493546297
+            ],
+            "held_grasp_finger_gap": 0.026911437742760506,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02474465489128755,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06476845946444397,
+              -0.9978969097804302,
+              -0.0026084687597973666
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003646149364084764,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036767954321448686,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.316451778992936,
+              -0.3068411422855464,
+              0.8515395711119716
+            ],
+            "target_position": [
+              0.30997195132139654,
+              -0.3085707820854315,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0067066996719843276,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18463421789699416,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395711119716,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534011495372635,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556470965464079,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15331444945599887,
+            "release_required_pad_clearance": 0.052782354827320396,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6129341464310206,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007500410079956055,
+            "max_z_decrease": 0.007500410079956055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511444447283612,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007500410079956055,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02114682565086263,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007500410079956055,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007500429792342428,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16567187011241907,
+              -0.3648322522640228,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16567187011241907,
+              -0.3648322522640228,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16607090155383394,
+              -0.3640038660084868,
+              0.8074234526586479
+            ],
+            "closest_button": [
+              0.16566035151481623,
+              -0.36483657360076904,
+              0.7723212838172913
+            ],
+            "closest_ee_minus_button": [
+              0.00041055003901771525,
+              0.0008327075922822669,
+              0.03510216884135664
+            ],
+            "button_min_z_position": [
+              0.16565537452697748,
+              -0.364837110042572,
+              0.7693084478378296
+            ],
+            "min_active_finger_to_button": 0.14543398067026367,
+            "closest_active_finger": [
+              0.03846614807844162,
+              -0.42638343572616577,
+              0.8109222650527954
+            ],
+            "closest_active_finger_button": [
+              0.1656749844551086,
+              -0.36483469605445856,
+              0.7765608429908752
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12720883637666697,
+              -0.06154873967170721,
+              0.034361422061920166
+            ],
+            "min_contact_pad_to_button": 0.02114682565086263,
+            "closest_contact_pad": [
+              0.16565537452697748,
+              -0.36537240907384905,
+              0.7904484972714306
+            ],
+            "closest_contact_pad_button": [
+              0.16565537452697748,
+              -0.364837110042572,
+              0.7693084478378296
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005352990312770256,
+              0.021140049433601038
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27e561f6e7d13874936753dc75318fc2badd7bf0adbe4aafb566e2ee2bd193ae",
+    "visual_seed": 5541624813293859699,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..95286fdd2a33151988945e33411af4ec48f68560
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2512902827189877,
+              -0.024916254984802003,
+              1.0487917990242952
+            ],
+            "current_z": 1.0487917990242952,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1876851718002397,
+            "gripper_z": 1.0537625953411855,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24662828403840117,
+              -0.02956429312274604,
+              1.0537625953411855
+            ],
+            "object_minus_gripper": [
+              0.004661998680586504,
+              0.004648038137944038,
+              -0.004970796316890347
+            ],
+            "object_to_gripper_xy": 0.006583197568778609,
+            "object_to_gripper_z": -0.004970796316890347,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2512902827189877,
+              -0.0489892466045376,
+              1.0487917990242952
+            ],
+            "finger_b": [
+              0.23976029252675596,
+              -0.024916254984802003,
+              1.0487917990242952
+            ],
+            "finger_midpoint": [
+              0.24552528762287182,
+              -0.0369527507946698,
+              1.0487917990242952
+            ],
+            "object_minus_finger_midpoint": [
+              0.00576499509611586,
+              0.012036495809867799,
+              0.0
+            ],
+            "finger_gap": 0.026691751522836038,
+            "fingertip_max_gap": 0.09246181425085678,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013345875761418019,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487917990242952,
+            "object_top_z": 1.0991664953744504,
+            "finger_top_clearance": 0.050374696350155235,
+            "fingertip_min_top_clearance": 0.01511240890504657,
+            "object_projection_between_fingers": 0.8134033987064139,
+            "object_to_finger_line_xy": 0.010398768961855542,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048730907125428394,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2737978189606867,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2510170856183702,
+              -0.027851336905662785,
+              1.2462316016968928
+            ],
+            "held_position": [
+              0.2560356499155211,
+              -0.023623647321992774,
+              1.2411996201742532
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008269231213643488,
+            "max_held_gripper_dist": 0.008277280610539815,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005031981522639617,
+            "max_held_gripper_z_dist": 0.00503951128819935,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08619858785756482,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2560356499155211,
+              -0.04907350916554141,
+              1.2411996201742532
+            ],
+            "held_grasp_finger_b": [
+              0.24695161890386114,
+              -0.023623647321992774,
+              1.2411996201742532
+            ],
+            "held_grasp_midpoint": [
+              0.2514936344096911,
+              -0.03634857824376709,
+              1.2411996201742532
+            ],
+            "held_grasp_object_position": [
+              0.2560356499155211,
+              -0.023623647321992774,
+              1.2411996201742532
+            ],
+            "held_grasp_finger_gap": 0.027022492247690853,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024693720741304694,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07526057940409195,
+              -0.9971523749155422,
+              -0.004794412169867979
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003571983306816656,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03668972026218045,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3221816780056438,
+              -0.2973715905381732,
+              0.8515395691376603
+            ],
+            "target_position": [
+              0.3142495744035731,
+              -0.2999718745915219,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008347439410506826,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18411691725666815,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540420061162889,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1528115939891994,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007256448268890381,
+            "max_z_decrease": 0.007256448268890381,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035128240539074373,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007256448268890381,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0211894516796719,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007256448268890381,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007256469237988361,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16994950175285337,
+              -0.3562333285808563,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16994950175285337,
+              -0.3562333285808563,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17047330523096002,
+              -0.35423611339914945,
+              0.806769989008457
+            ],
+            "closest_button": [
+              0.16993640363216397,
+              -0.3562379777431488,
+              0.7717029452323914
+            ],
+            "closest_ee_minus_button": [
+              0.0005369015987960468,
+              0.002001864343999349,
+              0.03506704377606562
+            ],
+            "button_min_z_position": [
+              0.16993299126625058,
+              -0.3562389612197876,
+              0.7695524096488953
+            ],
+            "min_active_finger_to_button": 0.14476452804673232,
+            "closest_active_finger": [
+              0.04305750131607056,
+              -0.41673362255096436,
+              0.8113675713539124
+            ],
+            "closest_active_finger_button": [
+              0.16995151340961456,
+              -0.3562341332435608,
+              0.7768061757087708
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.126894012093544,
+              -0.060499489307403564,
+              0.0345613956451416
+            ],
+            "min_contact_pad_to_button": 0.0211894516796719,
+            "closest_contact_pad": [
+              0.16993299126625058,
+              -0.3562389612197876,
+              0.7907418613285672
+            ],
+            "closest_contact_pad_button": [
+              0.16993299126625058,
+              -0.3562389612197876,
+              0.7695524096488953
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0211894516796719
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c8f1a07d417dec639ae600b9661eca5d99ff356f351afb5e62da6be2ca43d4cd",
+    "visual_seed": 8300595533267550598,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..887d1686a8fb0e107dea21a3a847917c73517311
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25047797692382734,
+              -0.028311741921876746,
+              1.0486738378532219
+            ],
+            "current_z": 1.0486738378532219,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18756738944310059,
+            "gripper_z": 1.0534823887989424,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24590863311390265,
+              -0.03290525390845182,
+              1.0534823887989424
+            ],
+            "object_minus_gripper": [
+              0.004569343809924686,
+              0.004593511986575077,
+              -0.0048085509457205244
+            ],
+            "object_to_gripper_xy": 0.006479140006521386,
+            "object_to_gripper_z": -0.0048085509457205244,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25047797692382734,
+              -0.05232610336530019,
+              1.0486738378532219
+            ],
+            "finger_b": [
+              0.239046867863613,
+              -0.028311741921876746,
+              1.0486738378532219
+            ],
+            "finger_midpoint": [
+              0.24476242239372017,
+              -0.04031892264358847,
+              1.0486738378532219
+            ],
+            "object_minus_finger_midpoint": [
+              0.005715554530107164,
+              0.012007180721711721,
+              0.0
+            ],
+            "finger_gap": 0.026596236761652892,
+            "fingertip_max_gap": 0.09235274740545663,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013298118380826444,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486738378532219,
+            "object_top_z": 1.0990564047689975,
+            "finger_top_clearance": 0.050382566915775584,
+            "fingertip_min_top_clearance": 0.015114770074732707,
+            "object_projection_between_fingers": 0.815270457098303,
+            "object_to_finger_line_xy": 0.010321414534366595,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048676373702728315,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2218542631776241,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25011516621053753,
+              -0.03134941206306614,
+              1.245584952453681
+            ],
+            "held_position": [
+              0.2550173530868148,
+              -0.027143594195668218,
+              1.2407128068067634
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008090620699825624,
+            "max_held_gripper_dist": 0.008098749141739433,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004872145646917625,
+            "max_held_gripper_z_dist": 0.004879325045471283,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08657529033266442,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2550173530868148,
+              -0.05248639997032524,
+              1.2407128068067634
+            ],
+            "held_grasp_finger_b": [
+              0.24604730206370937,
+              -0.027143594195668218,
+              1.2407128068067634
+            ],
+            "held_grasp_midpoint": [
+              0.25053232757526206,
+              -0.039814997082996725,
+              1.2407128068067634
+            ],
+            "held_grasp_object_position": [
+              0.2550173530868148,
+              -0.027143594195668218,
+              1.2407128068067634
+            ],
+            "held_grasp_finger_gap": 0.02688344508966631,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024595598636021333,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0752119982265903,
+              -0.9971371884534579,
+              -0.007783490598487708
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035206990729309356,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03674779529044217,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31955881627867805,
+              -0.30234290641510086,
+              0.8515395741647368
+            ],
+            "target_position": [
+              0.3121072019551567,
+              -0.30458256935732086,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007780915506626609,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841762651539942,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395741647368,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751491681116116,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530159032641559,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15353256404123236,
+            "release_required_pad_clearance": 0.052650795163207795,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3604515541802463,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073677897453308105,
+            "max_z_decrease": 0.0073677897453308105,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511345032618689,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073677897453308105,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021179196401341693,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0073677897453308105,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073678103864708855,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16780713200569147,
+              -0.3608440160751342,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16780713200569147,
+              -0.3608440160751342,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16777320007812324,
+              -0.3590671608114311,
+              0.8074007641051563
+            ],
+            "closest_button": [
+              0.16779571771621699,
+              -0.3608487844467163,
+              0.7723325490951538
+            ],
+            "closest_ee_minus_button": [
+              -2.2517638093744186e-05,
+              0.0017816236352852233,
+              0.03506821501000246
+            ],
+            "button_min_z_position": [
+              0.16779054701328272,
+              -0.36084941029548645,
+              0.7694410681724548
+            ],
+            "min_active_finger_to_button": 0.14546451064669766,
+            "closest_active_finger": [
+              0.03985511511564255,
+              -0.4208110570907593,
+              0.810552179813385
+            ],
+            "closest_active_finger_button": [
+              0.1678119450807571,
+              -0.36084893345832825,
+              0.7760338187217712
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12795682996511457,
+              -0.05996212363243103,
+              0.03451836109161377
+            ],
+            "min_contact_pad_to_button": 0.021179196401341693,
+            "closest_contact_pad": [
+              0.16779054701328272,
+              -0.36084941029548645,
+              0.7906202645737965
+            ],
+            "closest_contact_pad_button": [
+              0.16779054701328272,
+              -0.36084941029548645,
+              0.7694410681724548
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021179196401341693
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8b8d75101bfab2610047dccd10c4905a3504a02cf8a48697728e3b2fef6fa644",
+    "visual_seed": 5993702408616916233,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..808c5502d2c41819494999be41b35bf0e6303fe4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2430021465299626,
+              -0.031240068262240538,
+              1.047844693313408
+            ],
+            "current_z": 1.047844693313408,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18673818529864217,
+            "gripper_z": 1.0530686890116052,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23865096940165534,
+              -0.03564954174457621,
+              1.0530686890116052
+            ],
+            "object_minus_gripper": [
+              0.004351177128307265,
+              0.004409473482335675,
+              -0.0052239956981972036
+            ],
+            "object_to_gripper_xy": 0.006194852604648941,
+            "object_to_gripper_z": -0.0052239956981972036,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2430021465299626,
+              -0.05522069273494477,
+              1.047844693313408
+            ],
+            "finger_b": [
+              0.23201989228260647,
+              -0.031240068262240538,
+              1.047844693313408
+            ],
+            "finger_midpoint": [
+              0.23751101940628455,
+              -0.04323038049859265,
+              1.047844693313408
+            ],
+            "object_minus_finger_midpoint": [
+              0.005491127123678052,
+              0.011990312236352114,
+              0.0
+            ],
+            "finger_gap": 0.026375751334406245,
+            "fingertip_max_gap": 0.09561285291483931,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013187875667203117,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047844693313408,
+            "object_top_z": 1.099791271873173,
+            "finger_top_clearance": 0.05194657855976503,
+            "fingertip_min_top_clearance": 0.015583973567929543,
+            "object_projection_between_fingers": 0.8266302559432598,
+            "object_to_finger_line_xy": 0.00998497868859049,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05030642645741966,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1437927225132265,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24235765197443024,
+              -0.03439596177392648,
+              1.2436599418623138
+            ],
+            "held_position": [
+              0.24698669216665764,
+              -0.03028082999271002,
+              1.2383974675215588
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008127481705001815,
+            "max_held_gripper_dist": 0.008135868463101475,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005262474340754997,
+            "max_held_gripper_z_dist": 0.005268630968005228,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08602193045322368,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24698669216665764,
+              -0.05545432433868323,
+              1.2383974675215588
+            ],
+            "held_grasp_finger_b": [
+              0.23834482005905006,
+              -0.03028082999271002,
+              1.2383974675215588
+            ],
+            "held_grasp_midpoint": [
+              0.24266575611285385,
+              -0.04286757716569663,
+              1.2383974675215588
+            ],
+            "held_grasp_object_position": [
+              0.24698669216665764,
+              -0.03028082999271002,
+              1.2383974675215588
+            ],
+            "held_grasp_finger_gap": 0.026615536273218148,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024618782640128064,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05909751503168766,
+              -0.9982521878584203,
+              0.00023054925004561966
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003569539707597734,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03690014558324977,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3210030555013651,
+              -0.3050084206363499,
+              0.851539578497337
+            ],
+            "target_position": [
+              0.31563675938501845,
+              -0.3062337082267812,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005504404026557462,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18260489799216464,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539578497337,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758708552877918,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08734803506541765,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15003604186414746,
+            "release_required_pad_clearance": 0.053674017532708826,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.357711568569644,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007333099842071533,
+            "max_z_decrease": 0.007333099842071533,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515756756990987,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007333099842071533,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021265242097725165,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007333099842071533,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073331194931945225,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17133668065071103,
+              -0.36249515414237965,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17133668065071103,
+              -0.36249515414237965,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1708634055569511,
+              -0.36421981161161665,
+              0.8082109163722118
+            ],
+            "closest_button": [
+              0.17133131623268127,
+              -0.36250543594360346,
+              0.7730982899665833
+            ],
+            "closest_ee_minus_button": [
+              -0.0004679106757301821,
+              -0.0017143756680131905,
+              0.03511262640562851
+            ],
+            "button_min_z_position": [
+              0.17131993174552915,
+              -0.3624979257583617,
+              0.7694757580757141
+            ],
+            "min_active_finger_to_button": 0.1464953299864157,
+            "closest_active_finger": [
+              0.0294463112950325,
+              -0.3502468466758728,
+              0.8106972575187683
+            ],
+            "closest_active_finger_button": [
+              0.17133761942386624,
+              -0.3624979257583617,
+              0.7763803601264954
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14189130812883374,
+              0.012251079082488903,
+              0.03431689739227295
+            ],
+            "min_contact_pad_to_button": 0.021265242097725165,
+            "closest_contact_pad": [
+              0.17131993174552915,
+              -0.3653548916991875,
+              0.7905482108776027
+            ],
+            "closest_contact_pad_button": [
+              0.17131993174552915,
+              -0.3624979257583617,
+              0.7694757580757141
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028569659408257952,
+              0.02107245280188863
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d7781450bbff54f465f90517121678c27c3cfa7ac6c0e1e7ade99ee2ef405fb",
+    "visual_seed": 8468285738642336643,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..93d294f72acbded4c2e2e96db39b5d006d2a229f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2468807941873005,
+              -0.02587764994088814,
+              1.050187065240487
+            ],
+            "current_z": 1.050187065240487,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.18908067643501036,
+            "gripper_z": 1.0555979296718276,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2426105720739267,
+              -0.03015047664656334,
+              1.0555979296718276
+            ],
+            "object_minus_gripper": [
+              0.0042702221133738005,
+              0.004272826705675199,
+              -0.005410864431340645
+            ],
+            "object_to_gripper_xy": 0.006040848032708469,
+            "object_to_gripper_z": -0.005410864431340645,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2468807941873005,
+              -0.050001649574578866,
+              1.050187065240487
+            ],
+            "finger_b": [
+              0.2363002601305474,
+              -0.02587764994088814,
+              1.050187065240487
+            ],
+            "finger_midpoint": [
+              0.24159052715892393,
+              -0.03793964975773351,
+              1.050187065240487
+            ],
+            "object_minus_finger_midpoint": [
+              0.005290267028376566,
+              0.012061999816845366,
+              0.0
+            ],
+            "finger_gap": 0.026342267541964236,
+            "fingertip_max_gap": 0.09870144310861126,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013171133770982127,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050187065240487,
+            "object_top_z": 1.103992919647684,
+            "finger_top_clearance": 0.053805854407197096,
+            "fingertip_min_top_clearance": 0.016141756322159095,
+            "object_projection_between_fingers": 0.8386723282144687,
+            "object_to_finger_line_xy": 0.0096895530843254,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05185072155430563,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.935179747402418,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24678474997642277,
+              -0.028645777306808715,
+              1.2489508320686025
+            ],
+            "held_position": [
+              0.25129745394387537,
+              -0.024648778733378666,
+              1.2435012390586877
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00812641118007058,
+            "max_held_gripper_dist": 0.008134353281293177,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005449593009914766,
+            "max_held_gripper_z_dist": 0.005455275075149757,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08492856922761816,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25129745394387537,
+              -0.04984266677774933,
+              1.2435012390586877
+            ],
+            "held_grasp_finger_b": [
+              0.2426900540430683,
+              -0.024543745610483402,
+              1.2435012390586877
+            ],
+            "held_grasp_midpoint": [
+              0.24699375399347184,
+              -0.03719320619411637,
+              1.2435012390586877
+            ],
+            "held_grasp_object_position": [
+              0.25129745394387537,
+              -0.024648778733378666,
+              1.2435012390586877
+            ],
+            "held_grasp_finger_gap": 0.026723075146396415,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024863633576766308,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04608701348635456,
+              -0.9984743129980332,
+              0.03041436290659604
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003740808740141241,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699661680162585,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3165153072179089,
+              -0.3027892595979801,
+              0.8515395749088093
+            ],
+            "target_position": [
+              0.31275304716546737,
+              -0.30293939522764424,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037652544946513065,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17940200294205766,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395749088093,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576522417940543,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08893188576044773,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1470211876295974,
+            "release_required_pad_clearance": 0.05446594288022387,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.961212736207095,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007354676723480225,
+            "max_z_decrease": 0.007354676723480225,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035080721754704364,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007354676723480225,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021206640663921087,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007354676723480225,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007354702180814304,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1684529781341553,
+              -0.3592008650302886,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1684529781341553,
+              -0.3592008650302886,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16793119345079546,
+              -0.3593634376251712,
+              0.807481490553221
+            ],
+            "closest_button": [
+              0.168442577123642,
+              -0.35920602083206166,
+              0.7724048495292664
+            ],
+            "closest_ee_minus_button": [
+              -0.0005113836728465326,
+              -0.00015741679310954382,
+              0.03507664102395469
+            ],
+            "button_min_z_position": [
+              0.16843445599079138,
+              -0.35920646786689747,
+              0.7694541811943054
+            ],
+            "min_active_finger_to_button": 0.1466788436665153,
+            "closest_active_finger": [
+              0.026886388659477234,
+              -0.34241998195648193,
+              0.8094218969345093
+            ],
+            "closest_active_finger_button": [
+              0.168455719947815,
+              -0.35920751094818104,
+              0.7749112248420715
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14156933128833776,
+              0.016787528991699108,
+              0.034510672092437744
+            ],
+            "min_contact_pad_to_button": 0.021206640663921087,
+            "closest_contact_pad": [
+              0.16843445599079138,
+              -0.3608002226164021,
+              0.7906008488761673
+            ],
+            "closest_contact_pad_button": [
+              0.16843445599079138,
+              -0.35920646786689747,
+              0.7694541811943054
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015937547495046278,
+              0.021146667681861908
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0df8cc028f2ab520c9b88a34ce4f8a5cd33e905f1286e2b8d1f076b28fc9c29",
+    "visual_seed": 5878874737470444849,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..47d2e0ba16ed4060aa09013f5b56c5212a8088b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24755848363988986,
+              -0.02224357779756984,
+              1.0496831324242222
+            ],
+            "current_z": 1.0496831324242222,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18857662440945622,
+            "gripper_z": 1.0549309515688823,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24259140713395458,
+              -0.02687524502785804,
+              1.0549309515688823
+            ],
+            "object_minus_gripper": [
+              0.004967076505935281,
+              0.004631667230288201,
+              -0.005247819144660104
+            ],
+            "object_to_gripper_xy": 0.006791479245933084,
+            "object_to_gripper_z": -0.005247819144660104,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24755848363988986,
+              -0.046852553137515913,
+              1.0496831324242222
+            ],
+            "finger_b": [
+              0.2364464790885656,
+              -0.02224357779756984,
+              1.0496831324242222
+            ],
+            "finger_midpoint": [
+              0.24200248136422772,
+              -0.034548065467542875,
+              1.0496831324242222
+            ],
+            "object_minus_finger_midpoint": [
+              0.005556002275662136,
+              0.012304487669973035,
+              0.0
+            ],
+            "finger_gap": 0.02700145019125316,
+            "fingertip_max_gap": 0.09370454355112179,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013500725095626578,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496831324242222,
+            "object_top_z": 1.1005604543309768,
+            "finger_top_clearance": 0.05087732190675465,
+            "fingertip_min_top_clearance": 0.01526319657202641,
+            "object_projection_between_fingers": 0.8306400793393732,
+            "object_to_finger_line_xy": 0.010127420714221133,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049352271775560896,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7499383032839886,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24665250723268609,
+              -0.024726083069095794,
+              1.2480735765307105
+            ],
+            "held_position": [
+              0.2518324327925283,
+              -0.020355113461636418,
+              1.2427833419598895
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00859788264220617,
+            "max_held_gripper_dist": 0.008606064461109609,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005290234570821006,
+            "max_held_gripper_z_dist": 0.005301090955373899,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860522144746213,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2518324327925283,
+              -0.0457873940323207,
+              1.2427833419598895
+            ],
+            "held_grasp_finger_b": [
+              0.2423493146420757,
+              -0.020355113461636418,
+              1.2427833419598895
+            ],
+            "held_grasp_midpoint": [
+              0.247090873717302,
+              -0.03307125374697856,
+              1.2427833419598895
+            ],
+            "held_grasp_object_position": [
+              0.2518324327925283,
+              -0.020355113461636418,
+              1.2427833419598895
+            ],
+            "held_grasp_finger_gap": 0.02714277850334134,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025095191905001753,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0339944423371924,
+              -0.9994213907596967,
+              -0.0011232017348166146
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004306564445327753,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036850280804451845,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3138908354092991,
+              -0.2998930286395928,
+              0.8515395153845707
+            ],
+            "target_position": [
+              0.30892944217416995,
+              -0.30125554695087686,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0051450829907951365,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18237990754602632,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395153845707,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519834901960062,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08761997507641882,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1516344834301909,
+            "release_required_pad_clearance": 0.05380998753820941,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6292491172881505,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006990671157836914,
+            "max_z_decrease": 0.006990671157836914,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508014956756163,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006990671157836914,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02126139148175758,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.006990671157836914,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006990695624585624,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1646293699741364,
+              -0.3575170040130614,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1646293699741364,
+              -0.3575170040130614,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16381524090644037,
+              -0.3580745809122898,
+              0.8073967802252054
+            ],
+            "closest_button": [
+              0.1646174192428589,
+              -0.35752150416374195,
+              0.7723301649093628
+            ],
+            "closest_ee_minus_button": [
+              -0.0008021783364185187,
+              -0.0005530767485478205,
+              0.03506661531584265
+            ],
+            "button_min_z_position": [
+              0.16461180150508886,
+              -0.3575227856636047,
+              0.7698181867599487
+            ],
+            "min_active_finger_to_button": 0.14686399182975443,
+            "closest_active_finger": [
+              0.02301856130361557,
+              -0.3395763039588928,
+              0.8092333674430847
+            ],
+            "closest_active_finger_button": [
+              0.16463285684585574,
+              -0.3575240075588226,
+              0.7747036218643188
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14161429554224017,
+              0.017947703599929754,
+              0.03452974557876587
+            ],
+            "min_contact_pad_to_button": 0.02126139148175758,
+            "closest_contact_pad": [
+              0.16461180150508886,
+              -0.3596390992480909,
+              0.7909739893812787
+            ],
+            "closest_contact_pad_button": [
+              0.16461180150508886,
+              -0.3575227856636047,
+              0.7698181867599487
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002116313584486218,
+              0.02115580262132999
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f36191377b8fd7e83a60f7c0fe4acdb24e986e9d9fc4285551a5bf338835c7d6",
+    "visual_seed": 6103184285814441382,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..af20001aa6b04a73422e17a561311f14bc78bd61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25123519650370946,
+              -0.030208743365427653,
+              1.0477297293621612
+            ],
+            "current_z": 1.0477297293621612,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18662322134739506,
+            "gripper_z": 1.0529672073864969,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24666278195619748,
+              -0.03468447278347998,
+              1.0529672073864969
+            ],
+            "object_minus_gripper": [
+              0.004572414547511977,
+              0.00447572941805233,
+              -0.005237478024335607
+            ],
+            "object_to_gripper_xy": 0.006398369215504698,
+            "object_to_gripper_z": -0.005237478024335607,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25123519650370946,
+              -0.05444626302085487,
+              1.0477297293621612
+            ],
+            "finger_b": [
+              0.24023307719080317,
+              -0.030208743365427653,
+              1.0477297293621612
+            ],
+            "finger_midpoint": [
+              0.2457341368472563,
+              -0.04232750319314126,
+              1.0477297293621612
+            ],
+            "object_minus_finger_midpoint": [
+              0.005501059656453144,
+              0.01211875982771361,
+              0.0
+            ],
+            "finger_gap": 0.026617738228907544,
+            "fingertip_max_gap": 0.09491201729069462,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013308869114453774,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477297293621612,
+            "object_top_z": 1.099629214400018,
+            "finger_top_clearance": 0.051899485037856685,
+            "fingertip_min_top_clearance": 0.015569845511356989,
+            "object_projection_between_fingers": 0.8291518024550382,
+            "object_to_finger_line_xy": 0.010018284829637316,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04995600864534731,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.716311322289213,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2509637623896199,
+              -0.03341260205352929,
+              1.243902789721828
+            ],
+            "held_position": [
+              0.25580470665853156,
+              -0.029253629336672946,
+              1.2386097448455207
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008291448578919553,
+            "max_held_gripper_dist": 0.008299524985353452,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005293044876307329,
+            "max_held_gripper_z_dist": 0.005299063740224597,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08634865484597702,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25580470665853156,
+              -0.054620808120671695,
+              1.2386097448455207
+            ],
+            "held_grasp_finger_b": [
+              0.24702291045701685,
+              -0.029172051695055875,
+              1.2386097448455207
+            ],
+            "held_grasp_midpoint": [
+              0.2514138085577742,
+              -0.04189642990786378,
+              1.2386097448455207
+            ],
+            "held_grasp_object_position": [
+              0.25580470665853156,
+              -0.029253629336672946,
+              1.2386097448455207
+            ],
+            "held_grasp_finger_gap": 0.026921351157311188,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024844697961785293,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06296901922513974,
+              -0.997992932576671,
+              0.0067088855140235975
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035871044514283385,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036826333905148084,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3177460459717882,
+              -0.2994490099669235,
+              0.8515395561123359
+            ],
+            "target_position": [
+              0.31179853682222514,
+              -0.30085377833276794,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006111156948222937,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18223058702387057,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395561123359,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753691152315453,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08601238789010411,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1508489522499418,
+            "release_required_pad_clearance": 0.05300619394505206,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0452902384330105,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007346391677856445,
+            "max_z_decrease": 0.007346391677856445,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512152086106356,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007346391677856445,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021176695768031543,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007346391677856445,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00734641231099152,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1674984693527222,
+              -0.35711523890495295,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1674984693527222,
+              -0.35711523890495295,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16856439889277788,
+              -0.35659529399145484,
+              0.8048020994124925
+            ],
+            "closest_button": [
+              0.16748231649398806,
+              -0.3571206331253052,
+              0.7697011828422546
+            ],
+            "closest_ee_minus_button": [
+              0.0010820823987898187,
+              0.0005253391338503333,
+              0.03510091657023784
+            ],
+            "button_min_z_position": [
+              0.16748194396495822,
+              -0.3571207225322723,
+              0.7694624662399292
+            ],
+            "min_active_finger_to_button": 0.14459001850793218,
+            "closest_active_finger": [
+              0.04155883193016052,
+              -0.4192306697368622,
+              0.8105671405792236
+            ],
+            "closest_active_finger_button": [
+              0.1675024330615998,
+              -0.3571196794509887,
+              0.7761185169219971
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12594360113143926,
+              -0.06211099028587347,
+              0.03444862365722656
+            ],
+            "min_contact_pad_to_button": 0.021176695768031543,
+            "closest_contact_pad": [
+              0.16748194396495822,
+              -0.3578157043373613,
+              0.7906277548971236
+            ],
+            "closest_contact_pad_button": [
+              0.16748194396495822,
+              -0.3571207225322723,
+              0.7694624662399292
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006949818050890344,
+              0.02116528865719436
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "14bab065b7969dc944d6dc97591a4855eabf9abec530b5c3bfa45f954639b235",
+    "visual_seed": 6179311855646380445,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bcd0abebbc79c2a66f258b7a22686bcfb1f27ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_56_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24993254307380566,
+              -0.030649963887654848,
+              1.0499430228446944
+            ],
+            "current_z": 1.0499430228446944,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.18883657443457347,
+            "gripper_z": 1.0553366503368007,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24547203331229928,
+              -0.03506166443406601,
+              1.0553366503368007
+            ],
+            "object_minus_gripper": [
+              0.004460509761506387,
+              0.004411700546411164,
+              -0.005393627492106257
+            ],
+            "object_to_gripper_xy": 0.0062736950072264696,
+            "object_to_gripper_z": -0.005393627492106257,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24993254307380566,
+              -0.054832832851765594,
+              1.0499430228446944
+            ],
+            "finger_b": [
+              0.2390702128658047,
+              -0.030649963887654848,
+              1.0499430228446944
+            ],
+            "finger_midpoint": [
+              0.2445013779698052,
+              -0.04274139836971022,
+              1.0499430228446944
+            ],
+            "object_minus_finger_midpoint": [
+              0.005431165104000463,
+              0.012091434482055373,
+              0.0
+            ],
+            "finger_gap": 0.026510401145267506,
+            "fingertip_max_gap": 0.09900660921421103,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013255200572633748,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499430228446944,
+            "object_top_z": 1.1036992834540342,
+            "finger_top_clearance": 0.0537562606093398,
+            "fingertip_min_top_clearance": 0.016126878182801972,
+            "object_projection_between_fingers": 0.8321144170006696,
+            "object_to_finger_line_xy": 0.009908650820694255,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05200330460710552,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0137499580122666,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2493886873498139,
+              -0.033303515225619584,
+              1.2470224354496418
+            ],
+            "held_position": [
+              0.2540753308544375,
+              -0.029141330184506854,
+              1.241590288449406
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008294373556095865,
+            "max_held_gripper_dist": 0.008302845677986309,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005432147000235643,
+            "max_held_gripper_z_dist": 0.005437877316664341,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08609375294267589,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2540753308544375,
+              -0.054298340223329813,
+              1.241590288449406
+            ],
+            "held_grasp_finger_b": [
+              0.24511902632031243,
+              -0.029141330184506854,
+              1.241590288449406
+            ],
+            "held_grasp_midpoint": [
+              0.24959717858737496,
+              -0.04171983520391834,
+              1.241590288449406
+            ],
+            "held_grasp_object_position": [
+              0.2540753308544375,
+              -0.029141330184506854,
+              1.241590288449406
+            ],
+            "held_grasp_finger_gap": 0.0267037552602893,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024795580043244635,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.037552808293430176,
+              -0.999002440737114,
+              0.024164229566990714
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040143133648619395,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03698612566128517,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3178597866194245,
+              -0.3005352076772594,
+              0.8515395764119343
+            ],
+            "target_position": [
+              0.31394500524333213,
+              -0.3010275291054259,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003945617012741036,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17993949722850477,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395764119343,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754954196719265,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08783568721525058,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14821713494856753,
+            "release_required_pad_clearance": 0.05391784360762529,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.845706309353026,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00733637809753418,
+            "max_z_decrease": 0.00733637809753418,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506211997179567,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00733637809753418,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02124585009528854,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00733637809753418,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007336398183653694,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16964493691921237,
+              -0.3572889864444732,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16964493691921237,
+              -0.3572889864444732,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16968870910513875,
+              -0.35761162480815595,
+              0.8073072907275282
+            ],
+            "closest_button": [
+              0.16963289678096777,
+              -0.35729345679283137,
+              0.7722466588020325
+            ],
+            "closest_ee_minus_button": [
+              5.581232417098403e-05,
+              -0.0003181680153245825,
+              0.03506063192549569
+            ],
+            "button_min_z_position": [
+              0.16962870955467224,
+              -0.3572945892810821,
+              0.7694724798202515
+            ],
+            "min_active_finger_to_button": 0.14611291425291367,
+            "closest_active_finger": [
+              0.028670236468315125,
+              -0.3406539261341095,
+              0.8090516328811646
+            ],
+            "closest_active_finger_button": [
+              0.16964936256408691,
+              -0.3572962880134582,
+              0.7744553685188293
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1409791260957718,
+              0.0166423618793487,
+              0.034596264362335205
+            ],
+            "min_contact_pad_to_button": 0.02124585009528854,
+            "closest_contact_pad": [
+              0.16962870955467224,
+              -0.3590361413979389,
+              0.7906468308727806
+            ],
+            "closest_contact_pad_button": [
+              0.16962870955467224,
+              -0.3572945892810821,
+              0.7694724798202515
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017415521168567816,
+              0.021174351052529183
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e0bce287343b186d4ea3191cc1173de7e9a9390b175cfbbd16caf315e362d7c4",
+    "visual_seed": 4561903393790113081,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbff78740faf44b895c071b7d569e86d74153999
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24412648464938355,
+              -0.02425799838229111,
+              1.0488171512891542
+            ],
+            "current_z": 1.0488171512891542,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18771058366974336,
+            "gripper_z": 1.0538679529354185,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23984904905834292,
+              -0.028604881005734342,
+              1.0538679529354185
+            ],
+            "object_minus_gripper": [
+              0.004277435591040629,
+              0.004346882623443231,
+              -0.005050801646264258
+            ],
+            "object_to_gripper_xy": 0.006098511603456519,
+            "object_to_gripper_z": -0.005050801646264258,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24412648464938355,
+              -0.048254460745621106,
+              1.0488171512891542
+            ],
+            "finger_b": [
+              0.2332857176894486,
+              -0.02425799838229111,
+              1.0488171512891542
+            ],
+            "finger_midpoint": [
+              0.2387061011694161,
+              -0.036256229563956105,
+              1.0488171512891542
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054203834799674555,
+              0.011998231181664994,
+              0.0
+            ],
+            "finger_gap": 0.026331586246072035,
+            "fingertip_max_gap": 0.09442561648349965,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013165793123036009,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488171512891542,
+            "object_top_z": 1.100560983003705,
+            "finger_top_clearance": 0.05174383171455088,
+            "fingertip_min_top_clearance": 0.015523149514365247,
+            "object_projection_between_fingers": 0.83050145571437,
+            "object_to_finger_line_xy": 0.009879391765944821,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049712808241749826,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4851449636986176,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24397285939084604,
+              -0.02706479693685536,
+              1.2469630561099272
+            ],
+            "held_position": [
+              0.24853612214483634,
+              -0.023040598599736506,
+              1.2418701623974044
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00793442534689684,
+            "max_held_gripper_dist": 0.007942974492618606,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00509289371252275,
+            "max_held_gripper_z_dist": 0.005099723099409648,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08477858055150693,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24853612214483634,
+              -0.0482594585098817,
+              1.2418701623974044
+            ],
+            "held_grasp_finger_b": [
+              0.23990442859793723,
+              -0.022935626721706317,
+              1.2418701623974044
+            ],
+            "held_grasp_midpoint": [
+              0.2442202753713868,
+              -0.03559754261579401,
+              1.2418701623974044
+            ],
+            "held_grasp_object_position": [
+              0.24853612214483634,
+              -0.023040598599736506,
+              1.2418701623974044
+            ],
+            "held_grasp_finger_gap": 0.026754487285750434,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024661042057467105,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06958433093103329,
+              -0.9975454302901109,
+              0.007818912724816163
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034330568307978605,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036893812638336805,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31689547651774697,
+              -0.3033631045979779,
+              0.8515396004084792
+            ],
+            "target_position": [
+              0.31101725695806187,
+              -0.3049071337019979,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006077622155574109,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827779465883424,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396004084792,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555663795070917,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08592466986605073,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15094295269053237,
+            "release_required_pad_clearance": 0.052962334933025365,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9602108175068065,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007413506507873535,
+            "max_z_decrease": 0.007413506507873535,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508093179271183,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007413506507873535,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0212053703714336,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007413506507873535,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007413526818761711,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16671718657016749,
+              -0.36116859316825867,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16671718657016749,
+              -0.36116859316825867,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1670678599507193,
+              -0.3610224378545828,
+              0.8073847637667273
+            ],
+            "closest_button": [
+              0.16670565307140345,
+              -0.36117300391197205,
+              0.7723060250282288
+            ],
+            "closest_ee_minus_button": [
+              0.00036220687931584616,
+              0.00015056605738922313,
+              0.03507873873849854
+            ],
+            "button_min_z_position": [
+              0.16670061647891993,
+              -0.36117374897003174,
+              0.7693953514099121
+            ],
+            "min_active_finger_to_button": 0.14579119009617833,
+            "closest_active_finger": [
+              0.03920348733663559,
+              -0.42286521196365356,
+              0.8110765218734741
+            ],
+            "closest_active_finger_button": [
+              0.1667210310697555,
+              -0.36117058992385864,
+              0.7766073942184448
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1275175437331199,
+              -0.06169462203979492,
+              0.0344691276550293
+            ],
+            "min_contact_pad_to_button": 0.0212053703714336,
+            "closest_contact_pad": [
+              0.16670061647891993,
+              -0.3624763305778012,
+              0.7905606771514351
+            ],
+            "closest_contact_pad_button": [
+              0.16670061647891993,
+              -0.36117374897003174,
+              0.7693953514099121
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013025816077694707,
+              0.021165325741522967
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "68b571b66a59a84b7e76b90e38be6b3a4ed2494a904ad0b004786abc098ccd5e",
+    "visual_seed": 2754237035851097343,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..390b1cd6bfc8ac1c3881d1fbd4d578e62ef04ce9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24853050886013064,
+              -0.027536372399581514,
+              1.0476197479506775
+            ],
+            "current_z": 1.0476197479506775,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.1865132399359113,
+            "gripper_z": 1.0528457552240114,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24412428859687668,
+              -0.031887738339317476,
+              1.0528457552240114
+            ],
+            "object_minus_gripper": [
+              0.004406220263253963,
+              0.004351365939735962,
+              -0.005226007273333888
+            ],
+            "object_to_gripper_xy": 0.0061926700662803,
+            "object_to_gripper_z": -0.005226007273333888,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24853050886013064,
+              -0.051739655119270096,
+              1.0476197479506775
+            ],
+            "finger_b": [
+              0.2378123828645102,
+              -0.027536372399581514,
+              1.0476197479506775
+            ],
+            "finger_midpoint": [
+              0.24317144586232042,
+              -0.03963801375942581,
+              1.0476197479506775
+            ],
+            "object_minus_finger_midpoint": [
+              0.005359062997810221,
+              0.012101641359844293,
+              0.0
+            ],
+            "finger_gap": 0.026470306368970697,
+            "fingertip_max_gap": 0.09552058320917636,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01323515318448535,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476197479506775,
+            "object_top_z": 1.0999059605924475,
+            "finger_top_clearance": 0.052286212641770025,
+            "fingertip_min_top_clearance": 0.015685863792530973,
+            "object_projection_between_fingers": 0.8360468442609567,
+            "object_to_finger_line_xy": 0.009800182517016061,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050260291604588184,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8731858102215058,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2483355590013694,
+              -0.030463104498090685,
+              1.243130112534548
+            ],
+            "held_position": [
+              0.2529707319832435,
+              -0.026375735061637654,
+              1.237852211523391
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00812697093421147,
+            "max_held_gripper_dist": 0.008135045088819187,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0052779010111569935,
+            "max_held_gripper_z_dist": 0.005283187949207013,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08607068873855919,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2529707319832435,
+              -0.05160660755513439,
+              1.237852211523391
+            ],
+            "held_grasp_finger_b": [
+              0.24434039648854486,
+              -0.026373558653811163,
+              1.237852211523391
+            ],
+            "held_grasp_midpoint": [
+              0.2486555642358942,
+              -0.03899008310447277,
+              1.237852211523391
+            ],
+            "held_grasp_object_position": [
+              0.2529707319832435,
+              -0.026375735061637654,
+              1.237852211523391
+            ],
+            "held_grasp_finger_gap": 0.026668135435527252,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02470033018096783,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05686676424697755,
+              -0.9983379152249872,
+              0.009358319737291843
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035928253809819587,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03688147851611397,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32393233298187074,
+              -0.30140424281845213,
+              0.851539587413653
+            ],
+            "target_position": [
+              0.3184436581240759,
+              -0.3025833830453813,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005613904467423008,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466884369232378,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539587413653,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556136679668096,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08698264414420807,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15278773423100855,
+            "release_required_pad_clearance": 0.05349132207210404,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.995199575388853,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007273256778717041,
+            "max_z_decrease": 0.007273256778717041,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504572167623336,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007273256778717041,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021486230713471874,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007273256778717041,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007273280337289566,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17414358258247378,
+              -0.35884484648704523,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17414358258247378,
+              -0.35884484648704523,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1751311969772493,
+              -0.3604280338036983,
+              0.8047176625133913
+            ],
+            "closest_button": [
+              0.17412698268890384,
+              -0.35884925723075867,
+              0.7697219252586365
+            ],
+            "closest_ee_minus_button": [
+              0.001004214288345462,
+              -0.0015787765729396441,
+              0.0349957372547548
+            ],
+            "button_min_z_position": [
+              0.17412558197975164,
+              -0.35884916782379145,
+              0.7695356011390686
+            ],
+            "min_active_finger_to_button": 0.14485632489906172,
+            "closest_active_finger": [
+              0.034643784165382385,
+              -0.3418443500995636,
+              0.8081916570663452
+            ],
+            "closest_active_finger_button": [
+              0.17415513098239901,
+              -0.3588507771492004,
+              0.773110032081604
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13951134681701663,
+              0.017006427049636785,
+              0.03508162498474121
+            ],
+            "min_contact_pad_to_button": 0.021486230713471874,
+            "closest_contact_pad": [
+              0.17412558197975164,
+              -0.3618461269632273,
+              0.7908117931430221
+            ],
+            "closest_contact_pad_button": [
+              0.17412558197975164,
+              -0.35884916782379145,
+              0.7695356011390686
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002996959139435873,
+              0.021276192003953476
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29484509ac0a8fcbcfbdb59dfb1d65d2a08f46437c9cbf90c4fdea3b41bb507c",
+    "visual_seed": 4038070127664189239,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f144da97b6aa86fddbcb2377f1a4d926e22e232
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24707562426993396,
+              -0.027959936328373586,
+              1.0496037524078483
+            ],
+            "current_z": 1.0496037524078483,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.18849730399772724,
+            "gripper_z": 1.0546235988887767,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2426683222599492,
+              -0.032398556027269,
+              1.0546235988887767
+            ],
+            "object_minus_gripper": [
+              0.004407302009984765,
+              0.004438619698895415,
+              -0.005019846480928347
+            ],
+            "object_to_gripper_xy": 0.00625505042654639,
+            "object_to_gripper_z": -0.005019846480928347,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24707562426993396,
+              -0.05200196708904204,
+              1.0496037524078483
+            ],
+            "finger_b": [
+              0.23604139109551212,
+              -0.027959936328373586,
+              1.0496037524078483
+            ],
+            "finger_midpoint": [
+              0.24155850768272302,
+              -0.039980951708707815,
+              1.0496037524078483
+            ],
+            "object_minus_finger_midpoint": [
+              0.005517116587210935,
+              0.012021015380334229,
+              0.0
+            ],
+            "finger_gap": 0.026453233164292787,
+            "fingertip_max_gap": 0.09377162507080555,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0132266165821464,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496037524078483,
+            "object_top_z": 1.1009204044035876,
+            "finger_top_clearance": 0.051316651995739315,
+            "fingertip_min_top_clearance": 0.015394995598721794,
+            "object_projection_between_fingers": 0.8260089958465382,
+            "object_to_finger_line_xy": 0.010028466908080139,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04938581253540278,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3730869676286852,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24691172747051027,
+              -0.03129790860608343,
+              1.2481694669265793
+            ],
+            "held_position": [
+              0.2516512259724871,
+              -0.02723668177433657,
+              1.243104291865658
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008038184361341778,
+            "max_held_gripper_dist": 0.008046453861955603,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00506517506092119,
+            "max_held_gripper_z_dist": 0.0050720416661966805,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0863071067584532,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2516512259724871,
+              -0.0526198835539966,
+              1.243104291865658
+            ],
+            "held_grasp_finger_b": [
+              0.243005730108207,
+              -0.026817545031555156,
+              1.243104291865658
+            ],
+            "held_grasp_midpoint": [
+              0.24732847804034708,
+              -0.039718714292775875,
+              1.243104291865658
+            ],
+            "held_grasp_object_position": [
+              0.2516512259724871,
+              -0.02723668177433657,
+              1.243104291865658
+            ],
+            "held_grasp_finger_gap": 0.027212226516144362,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025066779766728508,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07634210753205069,
+              -0.9970722273599946,
+              0.004342354769514611
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033576772189047666,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036944754417485515,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3226716643139722,
+              -0.29925316661897683,
+              0.8515395962664739
+            ],
+            "target_position": [
+              0.31594317836878455,
+              -0.301265938753853,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007023088692414597,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18383318353551853,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395962664739,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583750494226474,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08621846591422687,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15141839106386631,
+            "release_required_pad_clearance": 0.053109232957113436,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2455083464198828,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00740504264831543,
+            "max_z_decrease": 0.00740504264831543,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511420588021512,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00740504264831543,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021127956459754113,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00740504264831543,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007405062396381732,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1716431081295014,
+              -0.35752740502357483,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1716431081295014,
+              -0.35752740502357483,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17055043847089046,
+              -0.35717594709936357,
+              0.8077205387459765
+            ],
+            "closest_button": [
+              0.17163309454917913,
+              -0.3575336635112762,
+              0.7726248502731323
+            ],
+            "closest_ee_minus_button": [
+              -0.0010826560782886685,
+              0.00035771641191262304,
+              0.035095688472844166
+            ],
+            "button_min_z_position": [
+              0.17162650823593145,
+              -0.3575315177440643,
+              0.7694038152694702
+            ],
+            "min_active_finger_to_button": 0.14694907829772147,
+            "closest_active_finger": [
+              0.04376698285341263,
+              -0.4212658405303955,
+              0.8109638094902039
+            ],
+            "closest_active_finger_button": [
+              0.1716443151235581,
+              -0.3575306534767151,
+              0.7766236662864685
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12787733227014547,
+              -0.06373518705368042,
+              0.03434014320373535
+            ],
+            "min_contact_pad_to_button": 0.021127956459754113,
+            "closest_contact_pad": [
+              0.17162650823593145,
+              -0.35842777134768244,
+              0.7905127535100182
+            ],
+            "closest_contact_pad_button": [
+              0.17162650823593145,
+              -0.3575315177440643,
+              0.7694038152694702
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000896253603618169,
+              0.021108938240547936
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84968c0f44efe27fed0817c0c190c786132ea179fd663b9d1414c7d57b8acb34",
+    "visual_seed": 5053129325716350655,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c626d2e18927015aa79446aa2935e7bc3cfeee05
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24474171111317827,
+              -0.025424753257119317,
+              1.0473001985006234
+            ],
+            "current_z": 1.0473001985006234,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.18619369048585765,
+            "gripper_z": 1.052314329894916,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24013683647894424,
+              -0.029991386694174782,
+              1.052314329894916
+            ],
+            "object_minus_gripper": [
+              0.004604874634234035,
+              0.004566633437055465,
+              -0.005014131394292631
+            ],
+            "object_to_gripper_xy": 0.006485291924458378,
+            "object_to_gripper_z": -0.005014131394292631,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24474171111317827,
+              -0.04955289127967962,
+              1.0473001985006234
+            ],
+            "finger_b": [
+              0.23346626409766708,
+              -0.025424753257119317,
+              1.0473001985006234
+            ],
+            "finger_midpoint": [
+              0.23910398760542267,
+              -0.03748882226839947,
+              1.0473001985006234
+            ],
+            "object_minus_finger_midpoint": [
+              0.005637723507755599,
+              0.01206406901128015,
+              0.0
+            ],
+            "finger_gap": 0.026632738308993327,
+            "fingertip_max_gap": 0.09210562107640502,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01331636915449666,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473001985006234,
+            "object_top_z": 1.0976758825500634,
+            "finger_top_clearance": 0.05037568404944004,
+            "fingertip_min_top_clearance": 0.015112705214831995,
+            "object_projection_between_fingers": 0.8207596045142675,
+            "object_to_finger_line_xy": 0.010215079602402453,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04855281053820251,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9411556404372806,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24422874134818054,
+              -0.02858557829458898,
+              1.2453282190023391
+            ],
+            "held_position": [
+              0.24916841752786387,
+              -0.02438734448416587,
+              1.2402718586818664
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008221456536256931,
+            "max_held_gripper_dist": 0.0082292600573501,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005056360320472741,
+            "max_held_gripper_z_dist": 0.005063504519680961,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08492281778069669,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24916841752786387,
+              -0.049788473144014064,
+              1.2402718586818664
+            ],
+            "held_grasp_finger_b": [
+              0.24018968067918683,
+              -0.02438734448416587,
+              1.2402718586818664
+            ],
+            "held_grasp_midpoint": [
+              0.24467904910352534,
+              -0.037087908814089965,
+              1.2402718586818664
+            ],
+            "held_grasp_object_position": [
+              0.24916841752786387,
+              -0.02438734448416587,
+              1.2402718586818664
+            ],
+            "held_grasp_finger_gap": 0.026941326110493376,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02464349631984099,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07608039831702282,
+              -0.997066017609921,
+              -0.00843383183469504
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035117708719083654,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03671539603434349,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3182154350542024,
+              -0.3023611233123275,
+              0.8515396082086355
+            ],
+            "target_position": [
+              0.31057109888768225,
+              -0.30480022401961326,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008024031884722919,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18333660997442733,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396082086355,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532081674196658,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502573303990489,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15232966535566156,
+            "release_required_pad_clearance": 0.05251286651995245,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09691322399041273,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007356464862823486,
+            "max_z_decrease": 0.007356464862823486,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507661808707153,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007356464862823486,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02122248380574561,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007356464862823486,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007356485457247162,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16627103090286255,
+              -0.36106169223785395,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16627103090286255,
+              -0.36106169223785395,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16733010178306246,
+              -0.3606443336205167,
+              0.8068664342113652
+            ],
+            "closest_button": [
+              0.1662580519914627,
+              -0.3610664308071136,
+              0.7718087434768677
+            ],
+            "closest_ee_minus_button": [
+              0.0010720497915997496,
+              0.00042209718659691475,
+              0.03505769073449749
+            ],
+            "button_min_z_position": [
+              0.16625455021858215,
+              -0.36106729507446284,
+              0.7694523930549622
+            ],
+            "min_active_finger_to_button": 0.14501346251017072,
+            "closest_active_finger": [
+              0.0391739159822464,
+              -0.4217119812965393,
+              0.8106492161750793
+            ],
+            "closest_active_finger_button": [
+              0.16627620160579681,
+              -0.36106613278388977,
+              0.7760660648345947
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12710228562355042,
+              -0.060645848512649536,
+              0.03458315134048462
+            ],
+            "min_contact_pad_to_button": 0.02122248380574561,
+            "closest_contact_pad": [
+              0.16625455021858215,
+              -0.36214879157478563,
+              0.7906473024486096
+            ],
+            "closest_contact_pad_button": [
+              0.16625455021858215,
+              -0.36106729507446284,
+              0.7694523930549622
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010814965003227983,
+              0.021194909393647432
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbf3919554070b9d431715595a2eee126928abf09495394209a10eeefd38fc98",
+    "visual_seed": 2544178774688321483,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3df12ff8c5e026c87a5178dfb6fbe0c4104f7c56
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24893242731040482,
+              -0.02554961787095787,
+              1.047333567963631
+            ],
+            "current_z": 1.047333567963631,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.18622711955351,
+            "gripper_z": 1.0522738103856113,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24477393721149565,
+              -0.029859758685155252,
+              1.0522738103856113
+            ],
+            "object_minus_gripper": [
+              0.004158490098909173,
+              0.004310140814197384,
+              -0.004940242421980212
+            ],
+            "object_to_gripper_xy": 0.0059891864005836145,
+            "object_to_gripper_z": -0.004940242421980212,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24893242731040482,
+              -0.04941662799772842,
+              1.047333567963631
+            ],
+            "finger_b": [
+              0.23806754205062064,
+              -0.02554961787095787,
+              1.047333567963631
+            ],
+            "finger_midpoint": [
+              0.24349998468051273,
+              -0.037483122934343145,
+              1.047333567963631
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054324426298920925,
+              0.011933505063385277,
+              0.0
+            ],
+            "finger_gap": 0.02622365161642527,
+            "fingertip_max_gap": 0.09492503596881263,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013111825808212636,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047333567963631,
+            "object_top_z": 1.0994958365745306,
+            "finger_top_clearance": 0.052162268610899565,
+            "fingertip_min_top_clearance": 0.015648680583269885,
+            "object_projection_between_fingers": 0.8283420367462547,
+            "object_to_finger_line_xy": 0.009888490371762267,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04996251798440632,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6910325737589584,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2493567533472247,
+              -0.028761450165187052,
+              1.242746965462504
+            ],
+            "held_position": [
+              0.2538358431362076,
+              -0.024819007177327965,
+              1.2377393670062742
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007789810289674975,
+            "max_held_gripper_dist": 0.0077982372842441035,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005007598456229889,
+            "max_held_gripper_z_dist": 0.00501270211081839,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08548034991363375,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2538358431362076,
+              -0.05011382752749661,
+              1.2377393670062742
+            ],
+            "held_grasp_finger_b": [
+              0.24561522546778033,
+              -0.02412589406924139,
+              1.2377393670062742
+            ],
+            "held_grasp_midpoint": [
+              0.24972553430199396,
+              -0.037119860798369,
+              1.2377393670062742
+            ],
+            "held_grasp_object_position": [
+              0.2538358431362076,
+              -0.024819007177327965,
+              1.2377393670062742
+            ],
+            "held_grasp_finger_gap": 0.02725713191590707,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025190906161810255,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08521461930065455,
+              -0.996286334518721,
+              0.012329164963454153
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0030510250195938857,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037114819302021124,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32016467098107304,
+              -0.3042079532791748,
+              0.8515396033939895
+            ],
+            "target_position": [
+              0.3147514502512853,
+              -0.3049482749456896,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005463610055569008,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18139585156671872,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396033939895,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514475488669228,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085719677780606,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15050410550039367,
+            "release_required_pad_clearance": 0.052859838890303004,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7620709904422361,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007629275321960449,
+            "max_z_decrease": 0.007629275321960449,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511739708913056,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007629275321960449,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021142727832167165,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007629275321960449,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076292969627702765,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17045137286186215,
+              -0.36120972037315363,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17045137286186215,
+              -0.36120972037315363,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17071867332679955,
+              -0.36137230185082336,
+              0.8078227593476243
+            ],
+            "closest_button": [
+              0.17044597864150998,
+              -0.3612209856510162,
+              0.7727067470550537
+            ],
+            "closest_ee_minus_button": [
+              0.0002726946852895651,
+              -0.00015131619980718325,
+              0.03511601229257055
+            ],
+            "button_min_z_position": [
+              0.17043375968933105,
+              -0.36121419072151184,
+              0.7691795825958252
+            ],
+            "min_active_finger_to_button": 0.14591453199429702,
+            "closest_active_finger": [
+              0.029280520975589752,
+              -0.34765034914016724,
+              0.8102141618728638
+            ],
+            "closest_active_finger_button": [
+              0.17045268416404724,
+              -0.3612141609191894,
+              0.7758995294570923
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1411721631884575,
+              0.013563811779022161,
+              0.034314632415771484
+            ],
+            "min_contact_pad_to_button": 0.021142727832167165,
+            "closest_contact_pad": [
+              0.17043375968933105,
+              -0.3624397047452661,
+              0.7902867627855776
+            ],
+            "closest_contact_pad_button": [
+              0.17043375968933105,
+              -0.36121419072151184,
+              0.7691795825958252
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012255140237542594,
+              0.02110718018975244
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c01497ed63e2ccf317587994cab3c8dfbe494353c377bac8f3cccc2ead3ddf71",
+    "visual_seed": 1429233494161482618,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..11887e8e9df0991288802eaaab1151092373fd18
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_61_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24866264458700368,
+              -0.029651570673082807,
+              1.050587366444485
+            ],
+            "current_z": 1.050587366444485,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1894807392204294,
+            "gripper_z": 1.055693189648528,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24384711784453716,
+              -0.03437636872227702,
+              1.055693189648528
+            ],
+            "object_minus_gripper": [
+              0.004815526742466519,
+              0.0047247980491942135,
+              -0.0051058232040430696
+            ],
+            "object_to_gripper_xy": 0.006746333405123086,
+            "object_to_gripper_z": -0.0051058232040430696,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24866264458700368,
+              -0.05383178916542538,
+              1.050587366444485
+            ],
+            "finger_b": [
+              0.2370433031652172,
+              -0.029651570673082807,
+              1.050587366444485
+            ],
+            "finger_midpoint": [
+              0.24285297387611043,
+              -0.04174167991925409,
+              1.050587366444485
+            ],
+            "object_minus_finger_midpoint": [
+              0.00580967071089325,
+              0.012090109246171286,
+              0.0
+            ],
+            "finger_gap": 0.026827077019561198,
+            "fingertip_max_gap": 0.09222399509923598,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013413538509780606,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050587366444485,
+            "object_top_z": 1.1007835226741474,
+            "finger_top_clearance": 0.05019615622966245,
+            "fingertip_min_top_clearance": 0.015058846868898733,
+            "object_projection_between_fingers": 0.8124071358924174,
+            "object_to_finger_line_xy": 0.01047293427126109,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048611997549617994,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3032878271965544,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24793051190221607,
+              -0.03305112058654118,
+              1.2455666457899675
+            ],
+            "held_position": [
+              0.253067144604441,
+              -0.028699857014854273,
+              1.2403995025563908
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008486333683290666,
+            "max_held_gripper_dist": 0.008494245730885698,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005167143233576699,
+            "max_held_gripper_z_dist": 0.005173465529391796,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08578390181321131,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.253067144604441,
+              -0.05412235992705096,
+              1.2403995025563908
+            ],
+            "held_grasp_finger_b": [
+              0.24387639945489387,
+              -0.028699857014854273,
+              1.2403995025563908
+            ],
+            "held_grasp_midpoint": [
+              0.24847177202966744,
+              -0.04141110847095261,
+              1.2403995025563908
+            ],
+            "held_grasp_object_position": [
+              0.253067144604441,
+              -0.028699857014854273,
+              1.2403995025563908
+            ],
+            "held_grasp_finger_gap": 0.027032821730714193,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024699998549834568,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07128116358785277,
+              -0.9973496962869594,
+              -0.014580090324536329
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003682397728862919,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03671512378667864,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3234453780861578,
+              -0.30682752363366456,
+              0.8515395921474614
+            ],
+            "target_position": [
+              0.3159821759080943,
+              -0.3091118623080198,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007804972128701483,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18413812839621763,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395921474614,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520364781404405,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851142009247625,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15323783610443048,
+            "release_required_pad_clearance": 0.052557100462381254,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1813081574093664,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007353782653808594,
+            "max_z_decrease": 0.007353782653808594,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509136650644385,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007353782653808594,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021200832789090122,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007353782653808594,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007353804541245477,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17168210446834564,
+              -0.3653733134269714,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17168210446834564,
+              -0.3653733134269714,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17079226907082445,
+              -0.3658489314052389,
+              0.807576979319201
+            ],
+            "closest_button": [
+              0.17167143523693085,
+              -0.3653771877288817,
+              0.7724997997283936
+            ],
+            "closest_ee_minus_button": [
+              -0.0008791661661063932,
+              -0.0004717436763571614,
+              0.03507717959080747
+            ],
+            "button_min_z_position": [
+              0.171664759516716,
+              -0.36537790298461903,
+              0.769455075263977
+            ],
+            "min_active_finger_to_button": 0.14698550197475782,
+            "closest_active_finger": [
+              0.029646530747413635,
+              -0.3498871624469757,
+              0.8096921443939209
+            ],
+            "closest_active_finger_button": [
+              0.17168594896793363,
+              -0.36537891626358027,
+              0.7752023339271545
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14203941822052,
+              0.015491753816604559,
+              0.03448981046676636
+            ],
+            "min_contact_pad_to_button": 0.021200832789090122,
+            "closest_contact_pad": [
+              0.171664759516716,
+              -0.3671323262632038,
+              0.7905831918366988
+            ],
+            "closest_contact_pad_button": [
+              0.171664759516716,
+              -0.36537790298461903,
+              0.769455075263977
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017544232785847713,
+              0.021128116572721733
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "84f5ecd5c65f1f7d162bfcbda956a6a772f4dc5b22193d06921d3e67f0bb49d3",
+    "visual_seed": 36995853744511536,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1bb7547f39195e41903ba4539d1949e2e45981cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2490469384118218,
+              -0.03270057955655976,
+              1.0478841957154872
+            ],
+            "current_z": 1.0478841957154872,
+            "required_z": 0.8611063292008314,
+            "initial_z": 0.7611063292008314,
+            "lift_margin": 0.18677786651465578,
+            "gripper_z": 1.0528270971715752,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2443860051943489,
+              -0.037207456401406463,
+              1.0528270971715752
+            ],
+            "object_minus_gripper": [
+              0.004660933217472907,
+              0.004506876844846706,
+              -0.004942901456088
+            ],
+            "object_to_gripper_xy": 0.006483535868055158,
+            "object_to_gripper_z": -0.004942901456088,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2490469384118218,
+              -0.05701895154174779,
+              1.0478841957154872
+            ],
+            "finger_b": [
+              0.23803521015638443,
+              -0.03270057955655976,
+              1.0478841957154872
+            ],
+            "finger_midpoint": [
+              0.2435410742841031,
+              -0.044859765549153774,
+              1.0478841957154872
+            ],
+            "object_minus_finger_midpoint": [
+              0.005505864127718696,
+              0.012159185992594017,
+              0.0
+            ],
+            "finger_gap": 0.026695343698509965,
+            "fingertip_max_gap": 0.09274322020370668,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334767184925499,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478841957154872,
+            "object_top_z": 1.098621192004738,
+            "finger_top_clearance": 0.05073699628925077,
+            "fingertip_min_top_clearance": 0.015221098886775197,
+            "object_projection_between_fingers": 0.8298468719407402,
+            "object_to_finger_line_xy": 0.01003123641859979,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04887161010185334,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.113429992604615,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24846217201385354,
+              -0.03606436355297363,
+              1.2467784395825288
+            ],
+            "held_position": [
+              0.25341423134011165,
+              -0.031888815508476505,
+              1.2418008720706757
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008169104686423042,
+            "max_held_gripper_dist": 0.008177033370575229,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004977567511853076,
+            "max_held_gripper_z_dist": 0.0049858184650737325,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08630992966491872,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25341423134011165,
+              -0.057319098479805174,
+              1.2418008720706757
+            ],
+            "held_grasp_finger_b": [
+              0.24447510138350761,
+              -0.03174925240549591,
+              1.2418008720706757
+            ],
+            "held_grasp_midpoint": [
+              0.24894466636180962,
+              -0.04453417544265054,
+              1.2418008720706757
+            ],
+            "held_grasp_object_position": [
+              0.25341423134011165,
+              -0.031888815508476505,
+              1.2418008720706757
+            ],
+            "held_grasp_finger_gap": 0.02708736001615743,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024933030979226927,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06514650884054392,
+              -0.9978700698401006,
+              -0.0033550116544882607
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036365224689456953,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03681064731505527,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32071863431811576,
+              -0.30464720812057156,
+              0.851539595780711
+            ],
+            "target_position": [
+              0.3136313893179785,
+              -0.3065910654978145,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007348987902768123,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18533209365858672,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539595780711,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531379563458608,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583741969596397,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1541163976139918,
+            "release_required_pad_clearance": 0.052918709847981985,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8758036956240706,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007504165172576904,
+            "max_z_decrease": 0.007504165172576904,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510505708174137,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007504165172576904,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021181107158932466,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007504165172576904,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007504191731382856,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16933131217956535,
+              -0.3628525137901306,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16933131217956535,
+              -0.3628525137901306,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16780731420927913,
+              -0.36325453240404243,
+              0.8071939033691947
+            ],
+            "closest_button": [
+              0.1693196147680282,
+              -0.36285650730133057,
+              0.7721236944198608
+            ],
+            "closest_ee_minus_button": [
+              -0.001512300558749069,
+              -0.0003980251027118631,
+              0.03507020894933388
+            ],
+            "button_min_z_position": [
+              0.16931189596652974,
+              -0.36285716295242304,
+              0.7693046927452087
+            ],
+            "min_active_finger_to_button": 0.14757864138537002,
+            "closest_active_finger": [
+              0.0267547145485878,
+              -0.3466147184371948,
+              0.8098241090774536
+            ],
+            "closest_active_finger_button": [
+              0.16933357715606678,
+              -0.36285847425460815,
+              0.7753732204437256
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14257886260747898,
+              0.01624375581741333,
+              0.03445088863372803
+            ],
+            "min_contact_pad_to_button": 0.021181107158932466,
+            "closest_contact_pad": [
+              0.16931189596652974,
+              -0.3646399672341723,
+              0.7904106376274251
+            ],
+            "closest_contact_pad_button": [
+              0.16931189596652974,
+              -0.36285716295242304,
+              0.7693046927452087
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017828042817492618,
+              0.0211059448822164
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3b9f56bb758511bcab9ed469bc621b38e949858b0b0dafde801cf073f2f4fe50",
+    "visual_seed": 8244549538895533423,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fb6f4088ec02e70dc2501e859fe6edf892c40e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25033851636078286,
+              -0.02634244223650316,
+              1.0492928271375233
+            ],
+            "current_z": 1.0492928271375233,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.18818643833204662,
+            "gripper_z": 1.0545369805215132,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24569897227667073,
+              -0.030827872194589392,
+              1.0545369805215132
+            ],
+            "object_minus_gripper": [
+              0.004639544084112129,
+              0.004485429958086231,
+              -0.00524415338398998
+            ],
+            "object_to_gripper_xy": 0.006453251212940443,
+            "object_to_gripper_z": -0.00524415338398998,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25033851636078286,
+              -0.05070238583513889,
+              1.0492928271375233
+            ],
+            "finger_b": [
+              0.2394187216414419,
+              -0.02634244223650316,
+              1.0492928271375233
+            ],
+            "finger_midpoint": [
+              0.24487861900111238,
+              -0.038522414035821025,
+              1.0492928271375233
+            ],
+            "object_minus_finger_midpoint": [
+              0.005459897359670479,
+              0.012179971799317863,
+              0.0
+            ],
+            "finger_gap": 0.02669548218034768,
+            "fingertip_max_gap": 0.095124315213508,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013347741090173839,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492928271375233,
+            "object_top_z": 1.1012302599948898,
+            "finger_top_clearance": 0.05193743285736652,
+            "fingertip_min_top_clearance": 0.015581229857209921,
+            "object_projection_between_fingers": 0.8326778605028259,
+            "object_to_finger_line_xy": 0.009964441985904652,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050062157606754004,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7043528320796473,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24983279423529814,
+              -0.028824159716156594,
+              1.2451998255628662
+            ],
+            "held_position": [
+              0.25467819611383546,
+              -0.0245840422072168,
+              1.2399048139815543
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008336285953611394,
+            "max_held_gripper_dist": 0.008344699329344988,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005295011581311959,
+            "max_held_gripper_z_dist": 0.005301319320792919,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08600734941782108,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25467819611383546,
+              -0.04983788705326244,
+              1.2399048139815543
+            ],
+            "held_grasp_finger_b": [
+              0.2456033459491629,
+              -0.0245840422072168,
+              1.2399048139815543
+            ],
+            "held_grasp_midpoint": [
+              0.2501407710314992,
+              -0.037210964630239624,
+              1.2399048139815543
+            ],
+            "held_grasp_object_position": [
+              0.25467819611383546,
+              -0.0245840422072168,
+              1.2399048139815543
+            ],
+            "held_grasp_finger_gap": 0.02683485764857723,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0248026843862214,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04664253541095156,
+              -0.9988957546924271,
+              0.005634283262737738
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003944187525625286,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03689563385682954,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3201826558534264,
+              -0.3038783253050974,
+              0.851539591443672
+            ],
+            "target_position": [
+              0.31432595549302755,
+              -0.3053401892510144,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006036388432487452,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18120601631716643,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539591443672,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752447541561561,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625721433701537,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15022221732141103,
+            "release_required_pad_clearance": 0.05312860716850769,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.283269335635449,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007521152496337891,
+            "max_z_decrease": 0.007521152496337891,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035143781202002476,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007521152496337891,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021107202392940616,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007521152496337891,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075211796102167975,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1700258851051331,
+              -0.36160165071487416,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1700258851051331,
+              -0.36160165071487416,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16921402159502666,
+              -0.36033981970268847,
+              0.8078638737290077
+            ],
+            "closest_button": [
+              0.17001976072788239,
+              -0.3616129457950591,
+              0.7727524042129517
+            ],
+            "closest_ee_minus_button": [
+              -0.0008057391328557262,
+              0.0012731260923706245,
+              0.03511146951605604
+            ],
+            "button_min_z_position": [
+              0.1700063049793244,
+              -0.3616065979003905,
+              0.7692877054214478
+            ],
+            "min_active_finger_to_button": 0.14631154201155613,
+            "closest_active_finger": [
+              0.042547181248664856,
+              -0.4246998131275177,
+              0.810816764831543
+            ],
+            "closest_active_finger_button": [
+              0.17002740502357486,
+              -0.36160433292388905,
+              0.7765411138534546
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12748022377491,
+              -0.06309548020362865,
+              0.03427565097808838
+            ],
+            "min_contact_pad_to_button": 0.021107202392940616,
+            "closest_contact_pad": [
+              0.1700063049793244,
+              -0.3616065979003905,
+              0.7903949078143884
+            ],
+            "closest_contact_pad_button": [
+              0.1700063049793244,
+              -0.3616065979003905,
+              0.7692877054214478
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021107202392940616
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51738f0531f0af2322f0e9c8777d4ef734b2db7932bacbaa88a298dc05b4ec17",
+    "visual_seed": 8581598675656650937,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fd38a70ea868f6e1d6da21a9345c5abe5b244b86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.252507041517705,
+              -0.025912190829433104,
+              1.0508932308816967
+            ],
+            "current_z": 1.0508932308816967,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.189786722866931,
+            "gripper_z": 1.0558737293511806,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24799501500401916,
+              -0.030391122094707,
+              1.0558737293511806
+            ],
+            "object_minus_gripper": [
+              0.004512026513685818,
+              0.004478931265273895,
+              -0.004980498469483896
+            ],
+            "object_to_gripper_xy": 0.006357610285260635,
+            "object_to_gripper_z": -0.004980498469483896,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.252507041517705,
+              -0.0500500547891393,
+              1.0508932308816967
+            ],
+            "finger_b": [
+              0.24141132008692265,
+              -0.025912190829433104,
+              1.0508932308816967
+            ],
+            "finger_midpoint": [
+              0.24695918080231383,
+              -0.0379811228092862,
+              1.0508932308816967
+            ],
+            "object_minus_finger_midpoint": [
+              0.005547860715391151,
+              0.012068931979853096,
+              0.0
+            ],
+            "finger_gap": 0.026565984088808108,
+            "fingertip_max_gap": 0.09443034519405175,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013282992044404045,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508932308816967,
+            "object_top_z": 1.1027386249293025,
+            "finger_top_clearance": 0.0518453940476058,
+            "fingertip_min_top_clearance": 0.015553618214281723,
+            "object_projection_between_fingers": 0.825554699891938,
+            "object_to_finger_line_xy": 0.01008157700974654,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049715172597025875,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5442467983854182,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2526467674303322,
+              -0.02933112548285073,
+              1.2475237232682723
+            ],
+            "held_position": [
+              0.2574720115129092,
+              -0.025231092601875373,
+              1.242472547752262
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008099853342812173,
+            "max_held_gripper_dist": 0.008107885714016747,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005051175516010309,
+            "max_held_gripper_z_dist": 0.005057102623905685,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08535677207373026,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2574720115129092,
+              -0.05067509280219395,
+              1.242472547752262
+            ],
+            "held_grasp_finger_b": [
+              0.24885834482241415,
+              -0.024765446005318794,
+              1.242472547752262
+            ],
+            "held_grasp_midpoint": [
+              0.2531651781676617,
+              -0.03772026940375637,
+              1.242472547752262
+            ],
+            "held_grasp_object_position": [
+              0.2574720115129092,
+              -0.025231092601875373,
+              1.242472547752262
+            ],
+            "held_grasp_finger_gap": 0.027303938378808415,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02515363718652389,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07836740350427532,
+              -0.9968745649911497,
+              0.009982571898275783
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033172507523370857,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0369325920320297,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3233009030597449,
+              -0.30257464174386417,
+              0.8515396246781902
+            ],
+            "target_position": [
+              0.3175031770434716,
+              -0.303601083829555,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005887886744414313,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18043180006297962,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396246781902,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521828735720938,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551374084266221,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14946969565236182,
+            "release_required_pad_clearance": 0.052756870421331106,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5637104930849124,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007110416889190674,
+            "max_z_decrease": 0.007110416889190674,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501741629460354,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007110416889190674,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021253875914840025,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007110416889190674,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007110439854042944,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17320309579372406,
+              -0.35986253619194025,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17320309579372406,
+              -0.35986253619194025,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.172753546910195,
+              -0.35962062691869207,
+              0.8076003225840043
+            ],
+            "closest_button": [
+              0.1731923371553421,
+              -0.3598673045635223,
+              0.7725865244865417
+            ],
+            "closest_ee_minus_button": [
+              -0.00043879024514709153,
+              0.0002466776448302177,
+              0.03501379809746252
+            ],
+            "button_min_z_position": [
+              0.17318591475486755,
+              -0.3598681390285491,
+              0.769698441028595
+            ],
+            "min_active_finger_to_button": 0.14652914820308854,
+            "closest_active_finger": [
+              0.04476897418498993,
+              -0.42123761773109436,
+              0.8079479932785034
+            ],
+            "closest_active_finger_button": [
+              0.17321094870567322,
+              -0.35986885428428644,
+              0.7732014060020447
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1284419745206833,
+              -0.06136876344680792,
+              0.03474658727645874
+            ],
+            "min_contact_pad_to_button": 0.021253875914840025,
+            "closest_contact_pad": [
+              0.17318591475486755,
+              -0.3611295720756865,
+              0.7909148504343122
+            ],
+            "closest_contact_pad_button": [
+              0.17318591475486755,
+              -0.3598681390285491,
+              0.769698441028595
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001261433047137439,
+              0.02121640940571723
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "79d6273a022d161d50789bae94a23a41e6d81409d2b1034ed3af83a6e3c94914",
+    "visual_seed": 6796190427441152618,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..980b9f1aaf2b2cd47836bd2d0c084c74a8cbfb36
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25088318086272604,
+              -0.03072345883364579,
+              1.049211327136573
+            ],
+            "current_z": 1.049211327136573,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18810487872645187,
+            "gripper_z": 1.0545039148680944,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24603302190846182,
+              -0.03530069447416184,
+              1.0545039148680944
+            ],
+            "object_minus_gripper": [
+              0.0048501589542642165,
+              0.004577235640516052,
+              -0.005292587731521303
+            ],
+            "object_to_gripper_xy": 0.0066689675355664875,
+            "object_to_gripper_z": -0.005292587731521303,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25088318086272604,
+              -0.05526482378958706,
+              1.049211327136573
+            ],
+            "finger_b": [
+              0.23988210415536623,
+              -0.03072345883364579,
+              1.049211327136573
+            ],
+            "finger_midpoint": [
+              0.24538264250904612,
+              -0.04299414131161643,
+              1.049211327136573
+            ],
+            "object_minus_finger_midpoint": [
+              0.005500538353679918,
+              0.012270682477970637,
+              0.0
+            ],
+            "finger_gap": 0.026894279737927854,
+            "fingertip_max_gap": 0.09714962536860094,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013447139868963934,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049211327136573,
+            "object_top_z": 1.1019002710083452,
+            "finger_top_clearance": 0.05268894387177214,
+            "fingertip_min_top_clearance": 0.015806683161531675,
+            "object_projection_between_fingers": 0.8326789619928855,
+            "object_to_finger_line_xy": 0.010038619402135483,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051074812684300475,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.466655641572046,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2498954736339545,
+              -0.03331685495626463,
+              1.2452641504505253
+            ],
+            "held_position": [
+              0.2549190024046826,
+              -0.028942459251003312,
+              1.2399318504625434
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008532561295318871,
+            "max_held_gripper_dist": 0.00854057268976967,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005332299987981903,
+            "max_held_gripper_z_dist": 0.005339120922748686,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08612293354011671,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2549190024046826,
+              -0.054220893404361224,
+              1.2399318504625434
+            ],
+            "held_grasp_finger_b": [
+              0.24554782280647083,
+              -0.028942459251003312,
+              1.2399318504625434
+            ],
+            "held_grasp_midpoint": [
+              0.25023341260557674,
+              -0.04158167632768227,
+              1.2399318504625434
+            ],
+            "held_grasp_object_position": [
+              0.2549190024046826,
+              -0.028942459251003312,
+              1.2399318504625434
+            ],
+            "held_grasp_finger_gap": 0.026959566767802347,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025020428850036247,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.026452493518626746,
+              -0.9995998867779262,
+              0.010016583259986557
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004351471511631935,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036962144577493354,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3225166351552399,
+              -0.3071242032361039,
+              0.8515395740408078
+            ],
+            "target_position": [
+              0.31700997438644346,
+              -0.30854117732927544,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005686046816842155,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18228597715590145,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395740408078,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544543248634661,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08748364190770934,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15079280056577624,
+            "release_required_pad_clearance": 0.05374182095385467,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4929381033187723,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007478058338165283,
+            "max_z_decrease": 0.007478058338165283,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035103553398443677,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007478058338165283,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021144616832724752,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007478058338165283,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007478077425276446,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17270989716053012,
+              -0.36480262875556935,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17270989716053012,
+              -0.36480262875556935,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17214434282573204,
+              -0.36453696784368106,
+              0.8078762867494026
+            ],
+            "closest_button": [
+              0.17270153760910034,
+              -0.36480939388275135,
+              0.7727782130241394
+            ],
+            "closest_ee_minus_button": [
+              -0.0005571947833682978,
+              0.00027242603907029483,
+              0.03509807372526319
+            ],
+            "button_min_z_position": [
+              0.17269359529018402,
+              -0.36480706930160517,
+              0.7693307995796204
+            ],
+            "min_active_finger_to_button": 0.14654826028829254,
+            "closest_active_finger": [
+              0.045349471271038055,
+              -0.42863011360168457,
+              0.8106192946434021
+            ],
+            "closest_active_finger_button": [
+              0.1727133542299271,
+              -0.36480540037155146,
+              0.7762501239776611
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12736388295888904,
+              -0.06382471323013311,
+              0.03436917066574097
+            ],
+            "min_contact_pad_to_button": 0.021144616832724752,
+            "closest_contact_pad": [
+              0.17269359529018402,
+              -0.36574497951913215,
+              0.7904546047630291
+            ],
+            "closest_contact_pad_button": [
+              0.17269359529018402,
+              -0.36480706930160517,
+              0.7693307995796204
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009379102175269827,
+              0.021123805183408728
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d107abc738413cdcba30f6c627a66d47d81dadfee28f245d108605831ea449a5",
+    "visual_seed": 6536140430147202360,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c55c4683e44fb8af035821a4daf9c67b3a7429b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24509675941199335,
+              -0.025464317231395982,
+              1.0477710782144483
+            ],
+            "current_z": 1.0477710782144483,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.18666468940897163,
+            "gripper_z": 1.0528974423360926,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24063713752343535,
+              -0.03001148281739141,
+              1.0528974423360926
+            ],
+            "object_minus_gripper": [
+              0.004459621888558002,
+              0.004547165585995428,
+              -0.005126364121644356
+            ],
+            "object_to_gripper_xy": 0.00636906133236027,
+            "object_to_gripper_z": -0.005126364121644356,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24509675941199335,
+              -0.04936514960074992,
+              1.0477710782144483
+            ],
+            "finger_b": [
+              0.23369712175389096,
+              -0.025464317231395982,
+              1.0477710782144483
+            ],
+            "finger_midpoint": [
+              0.23939694058294214,
+              -0.03741473341607295,
+              1.0477710782144483
+            ],
+            "object_minus_finger_midpoint": [
+              0.005699818829051212,
+              0.01195041618467697,
+              0.0
+            ],
+            "finger_gap": 0.026480210095163204,
+            "fingertip_max_gap": 0.09345778855069725,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013240105047581609,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477710782144483,
+            "object_top_z": 1.0988059094991087,
+            "finger_top_clearance": 0.051034831284660465,
+            "fingertip_min_top_clearance": 0.015310449385398122,
+            "object_projection_between_fingers": 0.8146727669710382,
+            "object_to_finger_line_xy": 0.010289224585398831,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04922889427534863,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4823744123588019,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24495465626342067,
+              -0.02879814862852087,
+              1.2463030976913676
+            ],
+            "held_position": [
+              0.24980595007219372,
+              -0.02470383075463574,
+              1.2411196685217258
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008195512700749608,
+            "max_held_gripper_dist": 0.008204023873395345,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005183429169641762,
+            "max_held_gripper_z_dist": 0.005190240030731319,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08630683422444732,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24980595007219372,
+              -0.05016819396819509,
+              1.2411196685217258
+            ],
+            "held_grasp_finger_b": [
+              0.24111557721788213,
+              -0.024178993122405148,
+              1.2411196685217258
+            ],
+            "held_grasp_midpoint": [
+              0.24546076364503794,
+              -0.03717359354530012,
+              1.2411196685217258
+            ],
+            "held_grasp_object_position": [
+              0.24980595007219372,
+              -0.02470383075463574,
+              1.2411196685217258
+            ],
+            "held_grasp_finger_gap": 0.02740367020947677,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02514120041104824,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0863852945003937,
+              -0.9962569062057354,
+              0.0031237367778302882
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032519794778234678,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0369218025619794,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32030068677050993,
+              -0.30010112996792015,
+              0.8515395930878586
+            ],
+            "target_position": [
+              0.3135965106976339,
+              -0.3017231482209722,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006897602484150389,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18231045741560264,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395930878586,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753038363336797,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505526858089539,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15122007079129118,
+            "release_required_pad_clearance": 0.0525276342904477,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1251144985921609,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074860453605651855,
+            "max_z_decrease": 0.0074860453605651855,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519747066820398,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074860453605651855,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021157508513573897,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074860453605651855,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007486065558777485,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16929644346237183,
+              -0.3579846024513244,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16929644346237183,
+              -0.3579846024513244,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17122625379460069,
+              -0.3566653549010583,
+              0.80444146182163
+            ],
+            "closest_button": [
+              0.1692797988653183,
+              -0.35798963904380793,
+              0.7693228125572205
+            ],
+            "closest_ee_minus_button": [
+              0.0019464549292823874,
+              0.0013242841427496543,
+              0.03511864926440955
+            ],
+            "button_min_z_position": [
+              0.1692797988653183,
+              -0.35798963904380793,
+              0.7693228125572205
+            ],
+            "min_active_finger_to_button": 0.1434537087817536,
+            "closest_active_finger": [
+              0.04488328844308853,
+              -0.4205658435821533,
+              0.8109665513038635
+            ],
+            "closest_active_finger_button": [
+              0.16929985582828522,
+              -0.357986956834793,
+              0.7765664458274841
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12441656738519669,
+              -0.06257888674736034,
+              0.034400105476379395
+            ],
+            "min_contact_pad_to_button": 0.021157508513573897,
+            "closest_contact_pad": [
+              0.1692797988653183,
+              -0.35798963904380793,
+              0.7904803210707944
+            ],
+            "closest_contact_pad_button": [
+              0.1692797988653183,
+              -0.35798963904380793,
+              0.7693228125572205
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021157508513573897
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "36ea6ec425db05a5cfb505e09455e14a51a3665039506fb4e729bccf163cb18a",
+    "visual_seed": 1626868078120429150,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..14480c1d4c33d3e8fa799ad52d047fc711d772fd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24542464071270048,
+              -0.024336543562335045,
+              1.0490271286310264
+            ],
+            "current_z": 1.0490271286310264,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18792068022090513,
+            "gripper_z": 1.0541873229506669,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24110961089682026,
+              -0.028823363014546632,
+              1.0541873229506669
+            ],
+            "object_minus_gripper": [
+              0.0043150298158802225,
+              0.004486819452211587,
+              -0.005160194319640432
+            ],
+            "object_to_gripper_xy": 0.006225032619085589,
+            "object_to_gripper_z": -0.005160194319640432,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24542464071270048,
+              -0.048100254018752044,
+              1.0490271286310264
+            ],
+            "finger_b": [
+              0.23407018165878546,
+              -0.024336543562335045,
+              1.0490271286310264
+            ],
+            "finger_midpoint": [
+              0.23974741118574297,
+              -0.036218398790543546,
+              1.0490271286310264
+            ],
+            "object_minus_finger_midpoint": [
+              0.005677229526957511,
+              0.011881855228208501,
+              0.0
+            ],
+            "finger_gap": 0.02633700201358263,
+            "fingertip_max_gap": 0.0942540132258401,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013168501006791315,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490271286310264,
+            "object_top_z": 1.100553015998131,
+            "finger_top_clearance": 0.051525887367104506,
+            "fingertip_min_top_clearance": 0.015457766210131384,
+            "object_projection_between_fingers": 0.8141338842426075,
+            "object_to_finger_line_xy": 0.010245056639602498,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04962700661292005,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.681757133263378,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24540457786432207,
+              -0.027499725978288203,
+              1.2442250499422778
+            ],
+            "held_position": [
+              0.25007411156192055,
+              -0.023420123187071467,
+              1.2389943752028199
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008112192189360063,
+            "max_held_gripper_dist": 0.008120629747367243,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00523067473945793,
+            "max_held_gripper_z_dist": 0.005236218302149487,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08620147842282938,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25007411156192055,
+              -0.04871548549879108,
+              1.2389943752028199
+            ],
+            "held_grasp_finger_b": [
+              0.24150860807098679,
+              -0.02319865264030579,
+              1.2389943752028199
+            ],
+            "held_grasp_midpoint": [
+              0.24579135981645367,
+              -0.03595706906954844,
+              1.2389943752028199
+            ],
+            "held_grasp_object_position": [
+              0.25007411156192055,
+              -0.023420123187071467,
+              1.2389943752028199
+            ],
+            "held_grasp_finger_gap": 0.026916103157423682,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02469480261959708,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08512872024824254,
+              -0.9963608380029702,
+              0.004263975013466203
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003200410552724113,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0368643429893999,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.319728678652235,
+              -0.30676212350860166,
+              0.8515395691376603
+            ],
+            "target_position": [
+              0.31358565411375644,
+              -0.30813271055740393,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0062940654062929756,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18257818012982693,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531915801304126,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15133887972118218,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007509171962738037,
+            "max_z_decrease": 0.007509171962738037,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513297012360917,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007509171962738037,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021098922862398322,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007509171962738037,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007509188726008198,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1692855805158615,
+              -0.36439415812492365,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1692855805158615,
+              -0.36439415812492365,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1682384407358757,
+              -0.36465149940871633,
+              0.8079314150804477
+            ],
+            "closest_button": [
+              0.1692775338888169,
+              -0.3644033670425415,
+              0.7728146910667419
+            ],
+            "closest_ee_minus_button": [
+              -0.0010390931529411784,
+              -0.0002481323661748247,
+              0.0351167240137058
+            ],
+            "button_min_z_position": [
+              0.1692701429128647,
+              -0.36439782381057734,
+              0.7692996859550476
+            ],
+            "min_active_finger_to_button": 0.14715074262330924,
+            "closest_active_finger": [
+              0.04178719222545624,
+              -0.42941832542419434,
+              0.8108256459236145
+            ],
+            "closest_active_finger_button": [
+              0.16928593814373022,
+              -0.364398181438446,
+              0.7766234278678894
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12749874591827398,
+              -0.06502014398574835,
+              0.0342022180557251
+            ],
+            "min_contact_pad_to_button": 0.021098922862398322,
+            "closest_contact_pad": [
+              0.1692701429128647,
+              -0.3657460456104645,
+              0.7903554890490107
+            ],
+            "closest_contact_pad_button": [
+              0.1692701429128647,
+              -0.36439782381057734,
+              0.7692996859550476
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013482217998871393,
+              0.021055803093963044
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07deb0f076b0ab522f1bafc54cfa7010c2f4ccbd6993c98b3e3f6904f5de77d4",
+    "visual_seed": 3905498547846575042,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..82e549843a5eee26bcb29963d4ee62c2809e90c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24508499065540026,
+              -0.022565733959870157,
+              1.049368700045898
+            ],
+            "current_z": 1.049368700045898,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1882622516357768,
+            "gripper_z": 1.0547897457837807,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24048498103140137,
+              -0.02701862048823432,
+              1.0547897457837807
+            ],
+            "object_minus_gripper": [
+              0.004600009623998896,
+              0.004452886528364165,
+              -0.005421045737882713
+            ],
+            "object_to_gripper_xy": 0.006402209538539763,
+            "object_to_gripper_z": -0.005421045737882713,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24508499065540026,
+              -0.04689267939576408,
+              1.049368700045898
+            ],
+            "finger_b": [
+              0.2342046369284345,
+              -0.022565733959870157,
+              1.049368700045898
+            ],
+            "finger_midpoint": [
+              0.23964481379191738,
+              -0.03472920667781712,
+              1.049368700045898
+            ],
+            "object_minus_finger_midpoint": [
+              0.005440176863482887,
+              0.012163472717946964,
+              0.0
+            ],
+            "finger_gap": 0.026649247108780732,
+            "fingertip_max_gap": 0.09441448439115355,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013324623554390368,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049368700045898,
+            "object_top_z": 1.1010833797717667,
+            "finger_top_clearance": 0.05171467972586874,
+            "fingertip_min_top_clearance": 0.01551440391776062,
+            "object_projection_between_fingers": 0.8333074686439806,
+            "object_to_finger_line_xy": 0.009932204476872803,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049707242195576776,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.501722670198739,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24466843958452075,
+              -0.025281963235571706,
+              1.2469283233813757
+            ],
+            "held_position": [
+              0.2495157842879433,
+              -0.021122631658352643,
+              1.241464287199743
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00840550303296844,
+            "max_held_gripper_dist": 0.008413899747441804,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005464036181632714,
+            "max_held_gripper_z_dist": 0.0054711320684395215,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08593317431331518,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2495157842879433,
+              -0.04647584888291963,
+              1.241464287199743
+            ],
+            "held_grasp_finger_b": [
+              0.24057257253449127,
+              -0.021122631658352643,
+              1.241464287199743
+            ],
+            "held_grasp_midpoint": [
+              0.24504417841121728,
+              -0.03379924027063614,
+              1.241464287199743
+            ],
+            "held_grasp_object_position": [
+              0.2495157842879433,
+              -0.021122631658352643,
+              1.241464287199743
+            ],
+            "held_grasp_finger_gap": 0.026884319967281353,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02479868886797589,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05725711571504308,
+              -0.9983250312580284,
+              0.008291843199839777
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037399513026978946,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03680884312587558,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.316841529469625,
+              -0.2987049940584965,
+              0.8515395939496222
+            ],
+            "target_position": [
+              0.3107992388264483,
+              -0.300239349202247,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006234061430863093,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1821795260969878,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395939496222,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519481473088512,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08592465206493503,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15138761903863107,
+            "release_required_pad_clearance": 0.05296232603246752,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9602108185085317,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073334574699401855,
+            "max_z_decrease": 0.0073334574699401855,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523117594592975,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073334574699401855,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02121711374328595,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0073334574699401855,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073334770360525305,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16649916768074033,
+              -0.3565008044242858,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16649916768074033,
+              -0.3565008044242858,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16901749592557283,
+              -0.3575160081740863,
+              0.8081002583094503
+            ],
+            "closest_button": [
+              0.16649366915225977,
+              -0.3565115928649901,
+              0.7729739546775818
+            ],
+            "closest_ee_minus_button": [
+              0.0025238267733130593,
+              -0.0010044153090961738,
+              0.03512630363186853
+            ],
+            "button_min_z_position": [
+              0.16648283600807184,
+              -0.3565053045749663,
+              0.7694754004478455
+            ],
+            "min_active_finger_to_button": 0.14365592249648795,
+            "closest_active_finger": [
+              0.02758260816335678,
+              -0.34374916553497314,
+              0.810498833656311
+            ],
+            "closest_active_finger_button": [
+              0.16650129854679105,
+              -0.3565031886100768,
+              0.7762066125869751
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13891869038343427,
+              0.012754023075103649,
+              0.03429222106933594
+            ],
+            "min_contact_pad_to_button": 0.02121711374328595,
+            "closest_contact_pad": [
+              0.16648283600807184,
+              -0.3586078741207984,
+              0.7905880771350984
+            ],
+            "closest_contact_pad_button": [
+              0.16648283600807184,
+              -0.3565053045749663,
+              0.7694754004478455
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021025695458321003,
+              0.021112676687252918
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c2f3e7640242cdf7818ee647f22eb536c697ad252dcde358f150668d7d648cd",
+    "visual_seed": 8993011642960852652,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f51f5a470f3eece31fe66905e182e684ed9a96fc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2488958929401292,
+              -0.027988122973751278,
+              1.0508462846370987
+            ],
+            "current_z": 1.0508462846370987,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.189739776622333,
+            "gripper_z": 1.0558457488058317,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24417163231532568,
+              -0.03254834959044614,
+              1.0558457488058317
+            ],
+            "object_minus_gripper": [
+              0.004724260624803522,
+              0.004560226616694862,
+              -0.004999464168732981
+            ],
+            "object_to_gripper_xy": 0.006566148433189829,
+            "object_to_gripper_z": -0.004999464168732981,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2488958929401292,
+              -0.05231550436749303,
+              1.0508462846370987
+            ],
+            "finger_b": [
+              0.23775805699298377,
+              -0.027988122973751278,
+              1.0508462846370987
+            ],
+            "finger_midpoint": [
+              0.24332697496655648,
+              -0.04015181367062215,
+              1.0508462846370987
+            ],
+            "object_minus_finger_midpoint": [
+              0.005568917973572729,
+              0.012163690696870871,
+              0.0
+            ],
+            "finger_gap": 0.02675580077407696,
+            "fingertip_max_gap": 0.09262015229807405,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013377900387038483,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508462846370987,
+            "object_top_z": 1.1013842600651829,
+            "finger_top_clearance": 0.050537975428084136,
+            "fingertip_min_top_clearance": 0.01516139262842524,
+            "object_projection_between_fingers": 0.8267131024139387,
+            "object_to_finger_line_xy": 0.010126939771866402,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881007614903703,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1964281335629288,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24835682958977173,
+              -0.031030893854220837,
+              1.2485728745422378
+            ],
+            "held_position": [
+              0.2533609223836212,
+              -0.02680038619311357,
+              1.2435272353156979
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008270224601819547,
+            "max_held_gripper_dist": 0.008278287929454169,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005045639226539889,
+            "max_held_gripper_z_dist": 0.005053057026004115,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665216965435993,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2533609223836212,
+              -0.05221892009978748,
+              1.2435272353156979
+            ],
+            "held_grasp_finger_b": [
+              0.24429297464771552,
+              -0.02680038619311357,
+              1.2435272353156979
+            ],
+            "held_grasp_midpoint": [
+              0.24882694851566833,
+              -0.039509653146450524,
+              1.2435272353156979
+            ],
+            "held_grasp_object_position": [
+              0.2533609223836212,
+              -0.02680038619311357,
+              1.2435272353156979
+            ],
+            "held_grasp_finger_gap": 0.02698758125704947,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024817543799064076,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0610079971011903,
+              -0.9981205533490107,
+              -0.005777998958621521
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003750895994434222,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03675826084137714,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3193894390428229,
+              -0.30615423988704477,
+              0.8515395836086334
+            ],
+            "target_position": [
+              0.31204171621872223,
+              -0.30838203651667634,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007678027645353189,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18496433808705778,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395836086334,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754340691607172,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08589294559069964,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15355972999307027,
+            "release_required_pad_clearance": 0.05294647279534982,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9295620973456077,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007237255573272705,
+            "max_z_decrease": 0.007237255573272705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508574324043302,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007237255573272705,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021279633890949397,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007237255573272705,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007237275867487295,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1677416414022445,
+              -0.36464348435401917,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1677416414022445,
+              -0.36464348435401917,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16882557640825732,
+              -0.36524103897148175,
+              0.807759731565878
+            ],
+            "closest_button": [
+              0.167730838060379,
+              -0.36464849114418024,
+              0.7726960778236389
+            ],
+            "closest_ee_minus_button": [
+              0.0010947383478783212,
+              -0.0005925478273015039,
+              0.035063653742239076
+            ],
+            "button_min_z_position": [
+              0.16772532463073725,
+              -0.3646487295627594,
+              0.7695716023445129
+            ],
+            "min_active_finger_to_button": 0.14511271217878716,
+            "closest_active_finger": [
+              0.027847066521644592,
+              -0.3476514220237732,
+              0.8082370162010193
+            ],
+            "closest_active_finger_button": [
+              0.16774705052375793,
+              -0.36465004086494446,
+              0.7736430764198303
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13989998400211334,
+              0.016998618841171265,
+              0.034593939781188965
+            ],
+            "min_contact_pad_to_button": 0.021279633890949397,
+            "closest_contact_pad": [
+              0.16772532463073725,
+              -0.36670720901867343,
+              0.7907514390025805
+            ],
+            "closest_contact_pad_button": [
+              0.16772532463073725,
+              -0.3646487295627594,
+              0.7695716023445129
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020584794559140307,
+              0.021179836658067552
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "97937a5210892293a7903ee36a6d3b14ef1ff2a69a7115ba193ceeeb9e3b89b4",
+    "visual_seed": 6223879590156138421,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cba023920001d2b55c11ecfe667617d17738bbab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2436693973250518,
+              -0.02557433536069237,
+              1.0503805260255799
+            ],
+            "current_z": 1.0503805260255799,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18927407761545867,
+            "gripper_z": 1.055895301201489,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23891998418038646,
+              -0.030326030269328938,
+              1.055895301201489
+            ],
+            "object_minus_gripper": [
+              0.004749413144665343,
+              0.0047516949086365695,
+              -0.005514775175909037
+            ],
+            "object_to_gripper_xy": 0.006718298127017187,
+            "object_to_gripper_z": -0.005514775175909037,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2436693973250518,
+              -0.049588789813762364,
+              1.0503805260255799
+            ],
+            "finger_b": [
+              0.2318861610475018,
+              -0.02557433536069237,
+              1.0503805260255799
+            ],
+            "finger_midpoint": [
+              0.2377777791862768,
+              -0.03758156258722736,
+              1.0503805260255799
+            ],
+            "object_minus_finger_midpoint": [
+              0.005891618138775007,
+              0.012007227226534994,
+              0.0
+            ],
+            "finger_gap": 0.02674955475986739,
+            "fingertip_max_gap": 0.09388614842709675,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013374777379933691,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0503805260255799,
+            "object_top_z": 1.1015156415822427,
+            "finger_top_clearance": 0.051135115556662836,
+            "fingertip_min_top_clearance": 0.015340534666998867,
+            "object_projection_between_fingers": 0.8059578593271085,
+            "object_to_finger_line_xy": 0.01057841872274922,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944307421354838,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6229919944510498,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24291431595818314,
+              -0.028999931933453543,
+              1.249190444017466
+            ],
+            "held_position": [
+              0.24806738435440087,
+              -0.024700153484259274,
+              1.2436272380436195
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008717308605050865,
+            "max_held_gripper_dist": 0.008726212038391329,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005563205973846408,
+            "max_held_gripper_z_dist": 0.005569231997933466,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08505139768317894,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24806738435440087,
+              -0.05020893394492745,
+              1.2436272380436195
+            ],
+            "held_grasp_finger_b": [
+              0.23887025385217808,
+              -0.024700153484259274,
+              1.2436272380436195
+            ],
+            "held_grasp_midpoint": [
+              0.2434688191032895,
+              -0.037454543714593364,
+              1.2436272380436195
+            ],
+            "held_grasp_object_position": [
+              0.24806738435440087,
+              -0.024700153484259274,
+              1.2436272380436195
+            ],
+            "held_grasp_finger_gap": 0.027116140766441737,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024684253185385696,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08062145011615468,
+              -0.9967446002597496,
+              0.0006193821119436782
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035553275648131685,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036636637479405494,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31987837958073084,
+              -0.29852713371272105,
+              0.8515395863431476
+            ],
+            "target_position": [
+              0.3121206375972445,
+              -0.30094394672274405,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008125487419703687,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852244004538402,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395863431476,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758241508009559,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566441396996459,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15285503469317088,
+            "release_required_pad_clearance": 0.0528322069849823,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.708860677744877,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007399260997772217,
+            "max_z_decrease": 0.007399260997772217,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516368395158132,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007399260997772217,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02121739556396753,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007399260997772217,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00739928134776405,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16782055795192713,
+              -0.3572053909301758,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16782055795192713,
+              -0.3572053909301758,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16978203835806865,
+              -0.35752596181228347,
+              0.8045768629689823
+            ],
+            "closest_button": [
+              0.16780400276184076,
+              -0.35721054673194885,
+              0.7694702744483948
+            ],
+            "closest_ee_minus_button": [
+              0.0019780355962278895,
+              -0.0003154150803346134,
+              0.03510658852058757
+            ],
+            "button_min_z_position": [
+              0.16780398786067957,
+              -0.35721054673194885,
+              0.7694095969200134
+            ],
+            "min_active_finger_to_button": 0.14387099404333495,
+            "closest_active_finger": [
+              0.029026620090007782,
+              -0.3415607810020447,
+              0.8088417649269104
+            ],
+            "closest_active_finger_button": [
+              0.16782389581203455,
+              -0.35721227526664734,
+              0.7743568420410156
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13879727572202677,
+              0.01565149426460266,
+              0.034484922885894775
+            ],
+            "min_contact_pad_to_button": 0.02121739556396753,
+            "closest_contact_pad": [
+              0.16780398786067957,
+              -0.358694748020163,
+              0.7905750173281682
+            ],
+            "closest_contact_pad_button": [
+              0.16780398786067957,
+              -0.35721054673194885,
+              0.7694095969200134
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014842012882141375,
+              0.021165420408154723
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bce753eb379d9833e07767c9fd65dbeb6f032f2611d9aeaf9545317ab005bfd5",
+    "visual_seed": 7647265260264358586,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..944695bea98e9b8822514e527d5a5d0f811774b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24700996442039927,
+              -0.021573369293578375,
+              1.0488328230206725
+            ],
+            "current_z": 1.0488328230206725,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1877263746105513,
+            "gripper_z": 1.0538864218680335,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24243642822530115,
+              -0.026150540560302166,
+              1.0538864218680335
+            ],
+            "object_minus_gripper": [
+              0.004573536195098121,
+              0.00457717126672379,
+              -0.005053598847361007
+            ],
+            "object_to_gripper_xy": 0.0064705278094444865,
+            "object_to_gripper_z": -0.005053598847361007,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24700996442039927,
+              -0.04562859301441238,
+              1.0488328230206725
+            ],
+            "finger_b": [
+              0.23564062671299457,
+              -0.021573369293578375,
+              1.0488328230206725
+            ],
+            "finger_midpoint": [
+              0.2413252955666969,
+              -0.03360098115399538,
+              1.0488328230206725
+            ],
+            "object_minus_finger_midpoint": [
+              0.005684668853702363,
+              0.012027611860417006,
+              0.0
+            ],
+            "finger_gap": 0.026606683900185484,
+            "fingertip_max_gap": 0.09262520265918053,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013303341950092749,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488328230206725,
+            "object_top_z": 1.0995361023801196,
+            "finger_top_clearance": 0.05070327935944707,
+            "fingertip_min_top_clearance": 0.015210983807834155,
+            "object_projection_between_fingers": 0.8174050200866626,
+            "object_to_finger_line_xy": 0.010279069843327134,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881260132959027,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0716504500777353,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24674890360935006,
+              -0.0245446181250238,
+              1.2464253469482318
+            ],
+            "held_position": [
+              0.2516570626043503,
+              -0.02036396915710099,
+              1.2413122201002815
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00822872509423092,
+            "max_held_gripper_dist": 0.00823653090572751,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005113126847950289,
+            "max_held_gripper_z_dist": 0.0051241194253128786,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0848646073207626,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2516570626043503,
+              -0.04576192886984371,
+              1.2413122201002815
+            ],
+            "held_grasp_finger_b": [
+              0.24268305343239435,
+              -0.02036396915710099,
+              1.2413122201002815
+            ],
+            "held_grasp_midpoint": [
+              0.24717005801837233,
+              -0.03306294901347235,
+              1.2413122201002815
+            ],
+            "held_grasp_object_position": [
+              0.2516570626043503,
+              -0.02036396915710099,
+              1.2413122201002815
+            ],
+            "held_grasp_finger_gap": 0.026936762949331,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024620946888155942,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07796853229120927,
+              -0.9969555625114749,
+              -0.0007171818342808224
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003483236752988432,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03671008630211184,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.324710513628399,
+              -0.30724335620287013,
+              0.8515396051504726
+            ],
+            "target_position": [
+              0.3175364175673579,
+              -0.30908990867835195,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074079288831463,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18595439702336722,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396051504726,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752444932541137,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08753843827418671,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15493456557104138,
+            "release_required_pad_clearance": 0.05376921913709336,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.5476001787319227,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007481932640075684,
+            "max_z_decrease": 0.007481932640075684,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510757995982046,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007481932640075684,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021207652233969622,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007481932640075684,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00748195418427816,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17323634028434756,
+              -0.365351378917694,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17323634028434756,
+              -0.365351378917694,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17188352268186186,
+              -0.3661951521809759,
+              0.8077226061358586
+            ],
+            "closest_button": [
+              0.17322546243667605,
+              -0.36535605788230885,
+              0.7726507186889648
+            ],
+            "closest_ee_minus_button": [
+              -0.0013419397548141976,
+              -0.0008390942986670757,
+              0.03507188744689371
+            ],
+            "button_min_z_position": [
+              0.1732188016176224,
+              -0.36535522341728205,
+              0.76932692527771
+            ],
+            "min_active_finger_to_button": 0.14742086401391097,
+            "closest_active_finger": [
+              0.03064541518688202,
+              -0.3507724106311798,
+              0.8095434308052063
+            ],
+            "closest_active_finger_button": [
+              0.17323960363864901,
+              -0.3653565943241119,
+              0.7750889658927917
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.142594188451767,
+              0.014584183692932073,
+              0.03445446491241455
+            ],
+            "min_contact_pad_to_button": 0.021207652233969622,
+            "closest_contact_pad": [
+              0.1732188016176224,
+              -0.3674803615530101,
+              0.7904278328691163
+            ],
+            "closest_contact_pad_button": [
+              0.1732188016176224,
+              -0.36535522341728205,
+              0.76932692527771
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021251381357280663,
+              0.02110090759140637
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "97df29585f04777f3938c2270b3ef6a06410119e62b161af133c4aefd7e43cc2",
+    "visual_seed": 8913814023911249520,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f7dae07abea9e23a51fb4e767a21be7cadadbf4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25094473656021976,
+              -0.02980469849837457,
+              1.0507951885123683
+            ],
+            "current_z": 1.0507951885123683,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.1896885016836679,
+            "gripper_z": 1.056038644305693,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2466461154638173,
+              -0.034133225645807744,
+              1.056038644305693
+            ],
+            "object_minus_gripper": [
+              0.004298621096402472,
+              0.0043285271474331755,
+              -0.005243455793324747
+            ],
+            "object_to_gripper_xy": 0.006100351678100401,
+            "object_to_gripper_z": -0.005243455793324747,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25094473656021976,
+              -0.053877547125616036,
+              1.0507951885123683
+            ],
+            "finger_b": [
+              0.24020401438081038,
+              -0.02980469849837457,
+              1.0507951885123683
+            ],
+            "finger_midpoint": [
+              0.24557437547051508,
+              -0.0418411228119953,
+              1.0507951885123683
+            ],
+            "object_minus_finger_midpoint": [
+              0.005370361089704678,
+              0.01203642431362073,
+              0.0
+            ],
+            "finger_gap": 0.026360295028040527,
+            "fingertip_max_gap": 0.09926872982375351,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013180147514020255,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507951885123683,
+            "object_top_z": 1.1045733309677668,
+            "finger_top_clearance": 0.05377814245539847,
+            "fingertip_min_top_clearance": 0.01613344273661956,
+            "object_projection_between_fingers": 0.8339776972885715,
+            "object_to_finger_line_xy": 0.00980868305522137,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05213436491187676,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1533927122608647,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25064604545328106,
+              -0.032092969607662086,
+              1.246116308815316
+            ],
+            "held_position": [
+              0.2551495403777786,
+              -0.027988956931002004,
+              1.240827750129418
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008068038148109384,
+            "max_held_gripper_dist": 0.008075992842270542,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005288558685897948,
+            "max_held_gripper_z_dist": 0.005292954326065802,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08592480195763222,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2551495403777786,
+              -0.053009968839601775,
+              1.240827750129418
+            ],
+            "held_grasp_finger_b": [
+              0.24633122427210014,
+              -0.027988956931002004,
+              1.240827750129418
+            ],
+            "held_grasp_midpoint": [
+              0.25074038232493934,
+              -0.04049946288530189,
+              1.240827750129418
+            ],
+            "held_grasp_object_position": [
+              0.2551495403777786,
+              -0.027988956931002004,
+              1.240827750129418
+            ],
+            "held_grasp_finger_gap": 0.026529488043872233,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02471623755506335,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03236300531798627,
+              -0.9992251655295364,
+              0.02239876021699527
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004011881140419394,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03707674408153963,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31727675653918475,
+              -0.29964095284733316,
+              0.8515395699176117
+            ],
+            "target_position": [
+              0.3135978080454737,
+              -0.30017548258318055,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037175777137652076,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18033771610234817,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395699176117,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075713406286826,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08869957085983181,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14796549425875544,
+            "release_required_pad_clearance": 0.054349785429915906,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.7226094683632605,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007368803024291992,
+            "max_z_decrease": 0.007368803024291992,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035090207396406246,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007368803024291992,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021323486696193317,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007368803024291992,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007368821905042347,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16929773986339566,
+              -0.35643693804740906,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16929773986339566,
+              -0.35643693804740906,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16927221958502392,
+              -0.35770956859667546,
+              0.8073334341691817
+            ],
+            "closest_button": [
+              0.16928632557392115,
+              -0.3564414978027344,
+              0.772266149520874
+            ],
+            "closest_ee_minus_button": [
+              -1.4105988897228361e-05,
+              -0.0012680707939410896,
+              0.03506728464830766
+            ],
+            "button_min_z_position": [
+              0.16928191483020777,
+              -0.3564422130584717,
+              0.7694400548934937
+            ],
+            "min_active_finger_to_button": 0.1460799074206628,
+            "closest_active_finger": [
+              0.028209827840328217,
+              -0.34100306034088135,
+              0.808888852596283
+            ],
+            "closest_active_finger_button": [
+              0.16930308938026425,
+              -0.3564449250698089,
+              0.7743406295776367
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14109326153993604,
+              0.015441864728927557,
+              0.03454822301864624
+            ],
+            "min_contact_pad_to_button": 0.021323486696193317,
+            "closest_contact_pad": [
+              0.16928191483020777,
+              -0.3591119854218674,
+              0.7905957491721124
+            ],
+            "closest_contact_pad_button": [
+              0.16928191483020777,
+              -0.3564422130584717,
+              0.7694400548934937
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002669772363395717,
+              0.021155694278618742
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d2cc5f5b717ddf51d48d4c7285a18a7374efef6493fb191137eade83019cadc3",
+    "visual_seed": 7554984795796990973,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ebf4f57cef68e80f6b089ca3ffce9916f22ca92c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2444971469207008,
+              -0.023101444518202462,
+              1.0489577197332802
+            ],
+            "current_z": 1.0489577197332802,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18785121171851427,
+            "gripper_z": 1.054037204912211,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23983601871823731,
+              -0.02769680514929665,
+              1.054037204912211
+            ],
+            "object_minus_gripper": [
+              0.004661128202463477,
+              0.004595360631094187,
+              -0.005079485178930865
+            ],
+            "object_to_gripper_xy": 0.006545491230580847,
+            "object_to_gripper_z": -0.005079485178930865,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2444971469207008,
+              -0.04726802744552427,
+              1.0489577197332802
+            ],
+            "finger_b": [
+              0.23317313638701737,
+              -0.023101444518202462,
+              1.0489577197332802
+            ],
+            "finger_midpoint": [
+              0.23883514165385908,
+              -0.03518473598186336,
+              1.0489577197332802
+            ],
+            "object_minus_finger_midpoint": [
+              0.005662005266841713,
+              0.0120832914636609,
+              0.0
+            ],
+            "finger_gap": 0.026688142403511243,
+            "fingertip_max_gap": 0.09225901992777408,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01334407120175562,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489577197332802,
+            "object_top_z": 1.099460483002696,
+            "finger_top_clearance": 0.05050276326941572,
+            "fingertip_min_top_clearance": 0.015150828980824697,
+            "object_projection_between_fingers": 0.8199621422070402,
+            "object_to_finger_line_xy": 0.010254090955244672,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862950996388704,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9164971900601474,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24400647850061274,
+              -0.025942552799627955,
+              1.2456914060138442
+            ],
+            "held_position": [
+              0.24898504085355444,
+              -0.02170460747613492,
+              1.2405609554796988
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008310703120095055,
+            "max_held_gripper_dist": 0.008318640263612953,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005130450534145403,
+            "max_held_gripper_z_dist": 0.00513771699771981,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08625292328140935,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24898504085355444,
+              -0.04710115413823681,
+              1.2405609554796988
+            ],
+            "held_grasp_finger_b": [
+              0.23996023311409276,
+              -0.02170460747613492,
+              1.2405609554796988
+            ],
+            "held_grasp_midpoint": [
+              0.2444726369838236,
+              -0.034402880807185864,
+              1.2405609554796988
+            ],
+            "held_grasp_object_position": [
+              0.24898504085355444,
+              -0.02170460747613492,
+              1.2405609554796988
+            ],
+            "held_grasp_finger_gap": 0.026952397613098655,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024644528083447182,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0752527500689615,
+              -0.9971304375202587,
+              -0.008241005867983377
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00354561497921086,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03671884442713333,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31991525780158614,
+              -0.2993244187129114,
+              0.8515395649300591
+            ],
+            "target_position": [
+              0.3121365538337623,
+              -0.30189933261654,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008193803575271868,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1852457867496737,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395649300591,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571494051402618,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08601389442907924,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15323768893628958,
+            "release_required_pad_clearance": 0.05300694721453962,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0467867286440997,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073050856590271,
+            "max_z_decrease": 0.0073050856590271,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513978046877111,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073050856590271,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021108394749123047,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0073050856590271,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007305105480542239,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16783648729324346,
+              -0.35816079378128046,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16783648729324346,
+              -0.35816079378128046,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16829627667442776,
+              -0.3573659268720756,
+              0.8081153013201622
+            ],
+            "closest_button": [
+              0.16782985627651217,
+              -0.3581710755825042,
+              0.7729878425598145
+            ],
+            "closest_ee_minus_button": [
+              0.00046642039791558454,
+              0.0008051487104286381,
+              0.03512745876034773
+            ],
+            "button_min_z_position": [
+              0.16782005131244665,
+              -0.35816520452499384,
+              0.7695037722587585
+            ],
+            "min_active_finger_to_button": 0.14538652129414206,
+            "closest_active_finger": [
+              0.04196971654891968,
+              -0.4223787188529968,
+              0.811026930809021
+            ],
+            "closest_active_finger_button": [
+              0.16783700883388525,
+              -0.35816198587417597,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12586729228496557,
+              -0.06421673297882086,
+              0.03421807289123535
+            ],
+            "min_contact_pad_to_button": 0.021108394749123047,
+            "closest_contact_pad": [
+              0.16782005131244665,
+              -0.35847747003281955,
+              0.79060985714292
+            ],
+            "closest_contact_pad_button": [
+              0.16782005131244665,
+              -0.35816520452499384,
+              0.7695037722587585
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00031226550782570417,
+              0.021106084884161436
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f426eb4a31c0a93f608a7bcb07e0b59f4e0813a69ff60b530f6ea2a5f28d4790",
+    "visual_seed": 1972395027289893454,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26ac727dad848cbc94d39ebd1379ca6852740279
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24934886706301854,
+              -0.03088617123181791,
+              1.0497098135647236
+            ],
+            "current_z": 1.0497098135647236,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18860330554995774,
+            "gripper_z": 1.0545608133830404,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24459716049517435,
+              -0.035575425775834654,
+              1.0545608133830404
+            ],
+            "object_minus_gripper": [
+              0.004751706567844183,
+              0.004689254544016745,
+              -0.004850999818316826
+            ],
+            "object_to_gripper_xy": 0.006675913681697453,
+            "object_to_gripper_z": -0.004850999818316826,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24934886706301854,
+              -0.055022978325158366,
+              1.0497098135647236
+            ],
+            "finger_b": [
+              0.23778282674703924,
+              -0.03088617123181791,
+              1.0497098135647236
+            ],
+            "finger_midpoint": [
+              0.2435658469050289,
+              -0.04295457477848814,
+              1.0497098135647236
+            ],
+            "object_minus_finger_midpoint": [
+              0.005783020157989649,
+              0.012068403546670228,
+              0.0
+            ],
+            "finger_gap": 0.0267648789508189,
+            "fingertip_max_gap": 0.09158825776316398,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01338243947540945,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497098135647236,
+            "object_top_z": 1.0997124462324264,
+            "finger_top_clearance": 0.05000263266770277,
+            "fingertip_min_top_clearance": 0.015000789800310865,
+            "object_projection_between_fingers": 0.8132593627459633,
+            "object_to_finger_line_xy": 0.010430358547616357,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048294128881581994,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0125602938075542,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24870697552560045,
+              -0.0342109856874436,
+              1.2484314574925357
+            ],
+            "held_position": [
+              0.25381475458088043,
+              -0.029934402796830725,
+              1.243528495483044
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00827149349055898,
+            "max_held_gripper_dist": 0.008279288396000737,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004902962009491807,
+            "max_held_gripper_z_dist": 0.0049112042127366085,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0862799790609057,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25381475458088043,
+              -0.05540047024217625,
+              1.243528495483044
+            ],
+            "held_grasp_finger_b": [
+              0.2446590341991001,
+              -0.029934402796830725,
+              1.243528495483044
+            ],
+            "held_grasp_midpoint": [
+              0.24923689438999025,
+              -0.042667436519503485,
+              1.243528495483044
+            ],
+            "held_grasp_object_position": [
+              0.25381475458088043,
+              -0.029934402796830725,
+              1.243528495483044
+            ],
+            "held_grasp_finger_gap": 0.027061925408962222,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024662391726296147,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07892571091953264,
+              -0.9968171772453337,
+              -0.011235982577924464
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003561572362154672,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03666643246683452,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32057744552490375,
+              -0.29813302950522313,
+              0.851539524580157
+            ],
+            "target_position": [
+              0.31274052736037167,
+              -0.30077869066184676,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008271445416203865,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851938297435944,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539524580157,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539980465696224,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08503378100509083,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15381183872129692,
+            "release_required_pad_clearance": 0.05251689050254542,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.10467830442935795,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007357358932495117,
+            "max_z_decrease": 0.007357358932495117,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035158798411268816,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007357358932495117,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02115913714374534,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007357358932495117,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007357378828242451,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16844044625759125,
+              -0.35704013705253596,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16844044625759125,
+              -0.35704013705253596,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17009920167893205,
+              -0.3570673916328904,
+              0.807503235689494
+            ],
+            "closest_button": [
+              0.16842840611934667,
+              -0.3570441007614135,
+              0.7723841667175293
+            ],
+            "closest_ee_minus_button": [
+              0.0016707955595853807,
+              -2.3290871476899788e-05,
+              0.035119068971964706
+            ],
+            "button_min_z_position": [
+              0.16842404007911682,
+              -0.35704499483108515,
+              0.7694514989852905
+            ],
+            "min_active_finger_to_button": 0.14452414013445763,
+            "closest_active_finger": [
+              0.02879098802804947,
+              -0.3427619934082031,
+              0.8105422258377075
+            ],
+            "closest_active_finger_button": [
+              0.16844287514686587,
+              -0.3570446074008941,
+              0.7761825919151306
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1396518871188164,
+              0.014282613992690985,
+              0.034359633922576904
+            ],
+            "min_contact_pad_to_button": 0.02115913714374534,
+            "closest_contact_pad": [
+              0.16842404007911682,
+              -0.35821126866927383,
+              0.7905784696626541
+            ],
+            "closest_contact_pad_button": [
+              0.16842404007911682,
+              -0.35704499483108515,
+              0.7694514989852905
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011662738381886806,
+              0.021126970677363577
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "49c7dd85ba94c728aaab01c0868f0840390073c8bfa2f7fe5ddc391ba3e4a0ce",
+    "visual_seed": 9007788578974895912,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62fee025eb7006b90f136e5576623c3eddb3b11c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24352194533196156,
+              -0.025070117073986726,
+              1.04835355544733
+            ],
+            "current_z": 1.04835355544733,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1872471070372087,
+            "gripper_z": 1.0536734454312606,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23918683201459315,
+              -0.02949506864251432,
+              1.0536734454312606
+            ],
+            "object_minus_gripper": [
+              0.004335113317368411,
+              0.004424951568527593,
+              -0.005319889983930626
+            ],
+            "object_to_gripper_xy": 0.006194627015264095,
+            "object_to_gripper_z": -0.005319889983930626,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24352194533196156,
+              -0.049002654070086554,
+              1.04835355544733
+            ],
+            "finger_b": [
+              0.23244428035702716,
+              -0.025070117073986726,
+              1.04835355544733
+            ],
+            "finger_midpoint": [
+              0.23798311284449436,
+              -0.03703638557203664,
+              1.04835355544733
+            ],
+            "object_minus_finger_midpoint": [
+              0.005538832487467199,
+              0.011966268498049912,
+              0.0
+            ],
+            "finger_gap": 0.026371973539471315,
+            "fingertip_max_gap": 0.09518479926622733,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013185986769735657,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04835355544733,
+            "object_top_z": 1.100704535278912,
+            "finger_top_clearance": 0.05235097983158199,
+            "fingertip_min_top_clearance": 0.015705293949474595,
+            "object_projection_between_fingers": 0.8235542547538228,
+            "object_to_finger_line_xy": 0.010052968786966685,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05009239963311367,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7773213960542122,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2433538343038995,
+              -0.027989926962168885,
+              1.2446170156839287
+            ],
+            "held_position": [
+              0.24799651918858132,
+              -0.023913012198074745,
+              1.2392419380823823
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008189457622748152,
+            "max_held_gripper_dist": 0.008198192020285322,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00537507760154643,
+            "max_held_gripper_z_dist": 0.0053806671910483495,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608711251077944,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24799651918858132,
+              -0.04918110984823586,
+              1.2392419380823823
+            ],
+            "held_grasp_finger_b": [
+              0.23941390087555395,
+              -0.023748114991143366,
+              1.2392419380823823
+            ],
+            "held_grasp_midpoint": [
+              0.24370521003206763,
+              -0.03646461241968961,
+              1.2392419380823823
+            ],
+            "held_grasp_object_position": [
+              0.24799651918858132,
+              -0.023913012198074745,
+              1.2392419380823823
+            ],
+            "held_grasp_finger_gap": 0.026842104323394726,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02464656504619608,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08154234701822599,
+              -0.9965956439429544,
+              0.012164214593945677
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003257212222351719,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036861456544317335,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32049664664733746,
+              -0.30146898383468834,
+              0.8515395671595409
+            ],
+            "target_position": [
+              0.3148922106308946,
+              -0.30250550819841554,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005699481188582145,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18031379977145917,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395671595409,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559461608955724,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866598092261892,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14841176632727954,
+            "release_required_pad_clearance": 0.0533299046130946,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.677202854933253,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007044970989227295,
+            "max_z_decrease": 0.007044970989227295,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350595898155142,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007044970989227295,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02121671682721844,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007044970989227295,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007044991029161488,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17059212923049932,
+              -0.3587669730186462,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17059212923049932,
+              -0.3587669730186462,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17085360587530618,
+              -0.3574591063011356,
+              0.807586072260117
+            ],
+            "closest_button": [
+              0.17058035731315613,
+              -0.3587718307971953,
+              0.7725521326065063
+            ],
+            "closest_ee_minus_button": [
+              0.00027324856215005244,
+              0.0013127244960597362,
+              0.03503393965361068
+            ],
+            "button_min_z_position": [
+              0.17057631909847262,
+              -0.3587726652622222,
+              0.7697638869285583
+            ],
+            "min_active_finger_to_button": 0.14542826240726892,
+            "closest_active_finger": [
+              0.04286772757768631,
+              -0.4190288186073303,
+              0.811217188835144
+            ],
+            "closest_active_finger_button": [
+              0.1705963909626007,
+              -0.35876902937889094,
+              0.7765253186225891
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277286633849144,
+              -0.06025978922843939,
+              0.03469187021255493
+            ],
+            "min_contact_pad_to_button": 0.02121671682721844,
+            "closest_contact_pad": [
+              0.17057631909847262,
+              -0.3589518127212375,
+              0.7909798474091565
+            ],
+            "closest_contact_pad_button": [
+              0.17057631909847262,
+              -0.3587726652622222,
+              0.7697638869285583
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00017914745901531637,
+              0.02121596048059815
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "889a8f76b2c140cdfe31239c0140759e6f73d992c953a32230ab8bc11d2b4f4a",
+    "visual_seed": 5263256755605315847,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d0b9589d9d18c2ff5b6c04ad0a5602d3e7350c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2487932293720659,
+              -0.030321904748132216,
+              1.0484321432549257
+            ],
+            "current_z": 1.0484321432549257,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18732569484480444,
+            "gripper_z": 1.0535233395242052,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24396635385754598,
+              -0.03489250056363942,
+              1.0535233395242052
+            ],
+            "object_minus_gripper": [
+              0.004826875514519935,
+              0.004570595815507204,
+              -0.005091196269279452
+            ],
+            "object_to_gripper_xy": 0.006647486242287685,
+            "object_to_gripper_z": -0.005091196269279452,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2487932293720659,
+              -0.05479176522850244,
+              1.0484321432549257
+            ],
+            "finger_b": [
+              0.23772666341245874,
+              -0.030321904748132216,
+              1.0484321432549257
+            ],
+            "finger_midpoint": [
+              0.24325994639226234,
+              -0.042556834988317326,
+              1.0484321432549257
+            ],
+            "object_minus_finger_midpoint": [
+              0.005533282979803572,
+              0.01223493024018511,
+              0.0
+            ],
+            "finger_gap": 0.026855966824285447,
+            "fingertip_max_gap": 0.09304938716852662,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013427983412142717,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484321432549257,
+            "object_top_z": 1.0994651979435575,
+            "finger_top_clearance": 0.05103305468863173,
+            "fingertip_min_top_clearance": 0.015309916406589534,
+            "object_projection_between_fingers": 0.8301974647409325,
+            "object_to_finger_line_xy": 0.010083320656455539,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04902469358426331,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0707757874300903,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24799884920442045,
+              -0.0333282103281725,
+              1.244955895078532
+            ],
+            "held_position": [
+              0.2530614526598707,
+              -0.02903197976382283,
+              1.2398211909995822
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008393612856665027,
+            "max_held_gripper_dist": 0.0084015112875597,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005134704078949781,
+            "max_held_gripper_z_dist": 0.005141417802095871,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08645662418747407,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2530614526598707,
+              -0.0544273465976161,
+              1.2398211909995822
+            ],
+            "held_grasp_finger_b": [
+              0.2439122773639815,
+              -0.02903197976382283,
+              1.2398211909995822
+            ],
+            "held_grasp_midpoint": [
+              0.24848686501192607,
+              -0.04172966318071947,
+              1.2398211909995822
+            ],
+            "held_grasp_object_position": [
+              0.2530614526598707,
+              -0.02903197976382283,
+              1.2398211909995822
+            ],
+            "held_grasp_finger_gap": 0.02699318553297917,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024814925900389303,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05864334528369334,
+              -0.9982712323963095,
+              -0.003937591127986195
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038224140721511307,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036776248873962546,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32513459370074627,
+              -0.30334027513477024,
+              0.8515395855059518
+            ],
+            "target_position": [
+              0.31823767109216,
+              -0.30534781260426064,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007183157255708402,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1833996483897486,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395855059518,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754990483848418,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08654416632673166,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15197981684918196,
+            "release_required_pad_clearance": 0.05327208316336583,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.563693252194421,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007457435131072998,
+            "max_z_decrease": 0.007457435131072998,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513239699716763,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007457435131072998,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021287098684572823,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007457435131072998,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007457460130731799,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17393760383129125,
+              -0.3616092801094055,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17393760383129125,
+              -0.3616092801094055,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17520061914943016,
+              -0.3628890762426439,
+              0.8075897747474252
+            ],
+            "closest_button": [
+              0.17392639815807348,
+              -0.3616134524345398,
+              0.772503674030304
+            ],
+            "closest_ee_minus_button": [
+              0.0012742209913566838,
+              -0.0012756238081040872,
+              0.03508610071712126
+            ],
+            "button_min_z_position": [
+              0.17391896247863775,
+              -0.36161431670188904,
+              0.7693514227867126
+            ],
+            "min_active_finger_to_button": 0.1448439171459379,
+            "closest_active_finger": [
+              0.03388641029596329,
+              -0.34841692447662354,
+              0.8096532821655273
+            ],
+            "closest_active_finger_button": [
+              0.17394118010997778,
+              -0.3616146445274353,
+              0.775153398513794
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1400547698140145,
+              0.013197720050811768,
+              0.0344998836517334
+            ],
+            "min_contact_pad_to_button": 0.021287098684572823,
+            "closest_contact_pad": [
+              0.17391896247863775,
+              -0.36404947397638077,
+              0.7904987767454289
+            ],
+            "closest_contact_pad_button": [
+              0.17391896247863775,
+              -0.36161431670188904,
+              0.7693514227867126
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024351572744917283,
+              0.021147353958716253
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e9beb9a686c66be1d784254ce71246cec03400e644ebcfcee0385fbaa9d7bbb",
+    "visual_seed": 6992193544829872497,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..80f7fd475213c702bd3d4041851756b243959f3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24565284332740364,
+              -0.02460090150874512,
+              1.0498480536993702
+            ],
+            "current_z": 1.0498480536993702,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1887415456846041,
+            "gripper_z": 1.0550110059752709,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24106699871279275,
+              -0.029076014640680728,
+              1.0550110059752709
+            ],
+            "object_minus_gripper": [
+              0.0045858446146108955,
+              0.004475113131935608,
+              -0.00516295227590069
+            ],
+            "object_to_gripper_xy": 0.006407543083973628,
+            "object_to_gripper_z": -0.00516295227590069,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24565284332740364,
+              -0.04886244259131888,
+              1.0498480536993702
+            ],
+            "finger_b": [
+              0.23467214934215438,
+              -0.02460090150874512,
+              1.0498480536993702
+            ],
+            "finger_midpoint": [
+              0.240162496334779,
+              -0.036731672050032,
+              1.0498480536993702
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054903469926246284,
+              0.012130770541286879,
+              0.0
+            ],
+            "finger_gap": 0.026630771977152738,
+            "fingertip_max_gap": 0.09378908685721973,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013315385988576367,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498480536993702,
+            "object_top_z": 1.1011746824549953,
+            "finger_top_clearance": 0.0513266287556251,
+            "fingertip_min_top_clearance": 0.01539798862668753,
+            "object_projection_between_fingers": 0.8299831109780772,
+            "object_to_finger_line_xy": 0.010003786539378388,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04939454342860987,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3818059943723364,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24535937512408984,
+              -0.027855974227822905,
+              1.248022338357786
+            ],
+            "held_position": [
+              0.2502385147940851,
+              -0.02372625153984388,
+              1.242811446407622
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008247060586367299,
+            "max_held_gripper_dist": 0.008254878266257286,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005210891950163887,
+            "max_held_gripper_z_dist": 0.005217656552884309,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08622656559056066,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2502385147940851,
+              -0.04916706257381783,
+              1.242811446407622
+            ],
+            "held_grasp_finger_b": [
+              0.241456755164852,
+              -0.02340125939793774,
+              1.242811446407622
+            ],
+            "held_grasp_midpoint": [
+              0.24584763497946854,
+              -0.036284160985877785,
+              1.242811446407622
+            ],
+            "held_grasp_object_position": [
+              0.2502385147940851,
+              -0.02372625153984388,
+              1.242811446407622
+            ],
+            "held_grasp_finger_gap": 0.027221240153303468,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025115808635407043,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.067334213962625,
+              -0.9977224983739355,
+              0.0039899709908677305
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035357010772447757,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036895284842322906,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3211728227224415,
+              -0.30589582600916987,
+              0.8515396176425161
+            ],
+            "target_position": [
+              0.3145913432672235,
+              -0.30753279713794524,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006782001643755414,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18471016854371314,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396176425161,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541921517936997,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08592390738234888,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15322233862569581,
+            "release_required_pad_clearance": 0.05296195369117444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9593953412694334,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076767802238464355,
+            "max_z_decrease": 0.0076767802238464355,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035106342255965865,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076767802238464355,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02124535629219012,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076767802238464355,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076768012034107245,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1702912747859955,
+              -0.36379426717758173,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1702912747859955,
+              -0.36379426717758173,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17043584131692274,
+              -0.3647642328243457,
+              0.8073203105351272
+            ],
+            "closest_button": [
+              0.17027996480464938,
+              -0.3637990355491637,
+              0.7722275853157043
+            ],
+            "closest_ee_minus_button": [
+              0.00015587651227336186,
+              -0.000965197275182017,
+              0.03509272521942286
+            ],
+            "button_min_z_position": [
+              0.17027385532855988,
+              -0.3637985885143279,
+              0.7691320776939392
+            ],
+            "min_active_finger_to_button": 0.1459320525917655,
+            "closest_active_finger": [
+              0.029237158596515656,
+              -0.34921008348464966,
+              0.8097445368766785
+            ],
+            "closest_active_finger_button": [
+              0.17029482126235965,
+              -0.3637995719909667,
+              0.7753055095672607
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141057662665844,
+              0.014589488506317028,
+              0.034439027309417725
+            ],
+            "min_contact_pad_to_button": 0.02124535629219012,
+            "closest_contact_pad": [
+              0.17027385532855988,
+              -0.3660366533549846,
+              0.7902592220762527
+            ],
+            "closest_contact_pad_button": [
+              0.17027385532855988,
+              -0.3637985885143279,
+              0.7691320776939392
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002238064840656695,
+              0.021127144382313445
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f78afb6193848df6af4f27a9a3a19fa2e0e2e18325a73319345c4e0c5fa3b1ee",
+    "visual_seed": 4750076722573481845,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f6f6a94c41bd456428043bf9846296dfd86005f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2445120013921416,
+              -0.024222682662165495,
+              1.048522503026541
+            ],
+            "current_z": 1.048522503026541,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.18741605461641964,
+            "gripper_z": 1.0534845086786808,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23984526151891197,
+              -0.028852387794793224,
+              1.0534845086786808
+            ],
+            "object_minus_gripper": [
+              0.004666739873229631,
+              0.0046297051326277296,
+              -0.004962005652139778
+            ],
+            "object_to_gripper_xy": 0.006573631466660635,
+            "object_to_gripper_z": -0.004962005652139778,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2445120013921416,
+              -0.048327906842311155,
+              1.048522503026541
+            ],
+            "finger_b": [
+              0.23306754812629146,
+              -0.024222682662165495,
+              1.048522503026541
+            ],
+            "finger_midpoint": [
+              0.23878977475921653,
+              -0.03627529475223833,
+              1.048522503026541
+            ],
+            "object_minus_finger_midpoint": [
+              0.00572222663292507,
+              0.012052612090072832,
+              0.0
+            ],
+            "finger_gap": 0.0266840278692949,
+            "fingertip_max_gap": 0.09092775707185413,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013342013934647453,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048522503026541,
+            "object_top_z": 1.0984032073670966,
+            "finger_top_clearance": 0.04988070434055558,
+            "fingertip_min_top_clearance": 0.014964211302166706,
+            "object_projection_between_fingers": 0.8160552788680725,
+            "object_to_finger_line_xy": 0.010338435896702095,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04796387853592707,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6145674009014935,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2439371588480873,
+              -0.027215773292652845,
+              1.2464174323869428
+            ],
+            "held_position": [
+              0.24894181269617724,
+              -0.022978042274464778,
+              1.2414036910020187
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008254848696167287,
+            "max_held_gripper_dist": 0.008262869364135261,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005013741384924053,
+            "max_held_gripper_z_dist": 0.005021702269733863,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08479597350866597,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24894181269617724,
+              -0.04838502110165129,
+              1.2414036910020187
+            ],
+            "held_grasp_finger_b": [
+              0.23984224079229227,
+              -0.022978042274464778,
+              1.2414036910020187
+            ],
+            "held_grasp_midpoint": [
+              0.24439202674423477,
+              -0.03568153168805804,
+              1.2414036910020187
+            ],
+            "held_grasp_object_position": [
+              0.24894181269617724,
+              -0.022978042274464778,
+              1.2414036910020187
+            ],
+            "held_grasp_finger_gap": 0.026987344848263168,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02456270030952324,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08294954705555029,
+              -0.9964784026292467,
+              -0.012254213020178147
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003483940969743885,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03668409454750677,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31740383743686196,
+              -0.30187640507343794,
+              0.8515395691704852
+            ],
+            "target_position": [
+              0.30946630775472217,
+              -0.3043820479548536,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008323618426143705,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1844703834663757,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691704852,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571932127402071,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572165726199664,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15237313979783515,
+            "release_required_pad_clearance": 0.05286082863099832,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7641223426091511,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007383763790130615,
+            "max_z_decrease": 0.007383763790130615,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511880403936025,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007383763790130615,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021324799373347185,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007383763790130615,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073837842414736,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16516622900962827,
+              -0.3606435060501098,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16516622900962827,
+              -0.3606435060501098,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16670723056513778,
+              -0.36167066019511956,
+              0.8075921712004506
+            ],
+            "closest_button": [
+              0.16515551507472986,
+              -0.36065018177032465,
+              0.772522509098053
+            ],
+            "closest_ee_minus_button": [
+              0.0015517154904079178,
+              -0.0010204784247949128,
+              0.03506966210239759
+            ],
+            "button_min_z_position": [
+              0.16514971852302546,
+              -0.36064893007278437,
+              0.769425094127655
+            ],
+            "min_active_finger_to_button": 0.14462326216774837,
+            "closest_active_finger": [
+              0.02574533224105835,
+              -0.3438493609428406,
+              0.8089199662208557
+            ],
+            "closest_active_finger_button": [
+              0.1651709526777267,
+              -0.36064961552619934,
+              0.7743636965751648
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13942562043666834,
+              0.016800254583358765,
+              0.03455626964569092
+            ],
+            "min_contact_pad_to_button": 0.021324799373347185,
+            "closest_contact_pad": [
+              0.16514971852302546,
+              -0.3631672136173426,
+              0.7906006771492088
+            ],
+            "closest_contact_pad_button": [
+              0.16514971852302546,
+              -0.36064893007278437,
+              0.769425094127655
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002518283544558242,
+              0.021175583021553757
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb1a1b0e32ad57aad9de3d6d7e65222e75fe21a78749211ab458672b47c7b615",
+    "visual_seed": 5693340396567494764,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..26fa300d6e7ca3afdca33624fc21e2ca9838af3a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24992064448795268,
+              -0.020222766240188796,
+              1.0492073549690657
+            ],
+            "current_z": 1.0492073549690657,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.1881007277450103,
+            "gripper_z": 1.0542327807573746,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24544490256706056,
+              -0.024743918191566017,
+              1.0542327807573746
+            ],
+            "object_minus_gripper": [
+              0.004475741920892118,
+              0.004521151951377221,
+              -0.00502542578830889
+            ],
+            "object_to_gripper_xy": 0.0063618456999422045,
+            "object_to_gripper_z": -0.00502542578830889,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24992064448795268,
+              -0.04424277980424504,
+              1.0492073549690657
+            ],
+            "finger_b": [
+              0.23866742882010272,
+              -0.020222766240188796,
+              1.0492073549690657
+            ],
+            "finger_midpoint": [
+              0.2442940366540277,
+              -0.032232773022216915,
+              1.0492073549690657
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056266078339249626,
+              0.01201000678202812,
+              0.0
+            ],
+            "finger_gap": 0.02652538245689569,
+            "fingertip_max_gap": 0.09309625439069111,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013262691228447837,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492073549690657,
+            "object_top_z": 1.100119264875084,
+            "finger_top_clearance": 0.05091190990601824,
+            "fingertip_min_top_clearance": 0.01527357297180547,
+            "object_projection_between_fingers": 0.8200176262252625,
+            "object_to_finger_line_xy": 0.010190329712314353,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049048127195345556,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1876923592860114,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24976336703733062,
+              -0.02293642730274352,
+              1.246803751265946
+            ],
+            "held_position": [
+              0.2545635924390012,
+              -0.018787141153571645,
+              1.2417237668070866
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008128036759070763,
+            "max_held_gripper_dist": 0.008136588861359068,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005079984458859377,
+            "max_held_gripper_z_dist": 0.005089035019975263,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08598190333282232,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2545635924390012,
+              -0.04410903611587213,
+              1.2417237668070866
+            ],
+            "held_grasp_finger_b": [
+              0.24559497402994904,
+              -0.018787141153571645,
+              1.2417237668070866
+            ],
+            "held_grasp_midpoint": [
+              0.2500792832344751,
+              -0.031448088634721885,
+              1.2417237668070866
+            ],
+            "held_grasp_object_position": [
+              0.2545635924390012,
+              -0.018787141153571645,
+              1.2417237668070866
+            ],
+            "held_grasp_finger_gap": 0.026863255213189774,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0246084109770093,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07218352439167812,
+              -0.9973897095892656,
+              0.0018182441630651969
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035587758423694525,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03676865809590094,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3150417915577177,
+              -0.30024917386870853,
+              0.8515395931775717
+            ],
+            "target_position": [
+              0.3089316562982448,
+              -0.3018734220234341,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006322336194571071,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827914001878751,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395931775717,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573271380928723,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640795540888567,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15069511765554813,
+            "release_required_pad_clearance": 0.05320397770444284,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4303696637135068,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007350444793701172,
+            "max_z_decrease": 0.007350444793701172,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035191830614705245,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007350444793701172,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021082843933313278,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007350444793701172,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007350468049541258,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16463157534599304,
+              -0.35813486576080317,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16463157534599304,
+              -0.35813486576080317,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16350698070583833,
+              -0.3564590087396128,
+              0.8079071554493138
+            ],
+            "closest_button": [
+              0.1646212935447693,
+              -0.3581434190273285,
+              0.7727733254432678
+            ],
+            "closest_ee_minus_button": [
+              -0.0011143128389309587,
+              0.0016844102877157097,
+              0.035133830006045974
+            ],
+            "button_min_z_position": [
+              0.16461360454559326,
+              -0.3581392168998718,
+              0.7694584131240845
+            ],
+            "min_active_finger_to_button": 0.1463460915283953,
+            "closest_active_finger": [
+              0.0369722917675972,
+              -0.42102301120758057,
+              0.8106589317321777
+            ],
+            "closest_active_finger_button": [
+              0.16463185846805573,
+              -0.3581378757953644,
+              0.7765169739723206
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12765956670045853,
+              -0.06288513541221619,
+              0.03414195775985718
+            ],
+            "min_contact_pad_to_button": 0.021082843933313278,
+            "closest_contact_pad": [
+              0.16461360454559326,
+              -0.3581392168998718,
+              0.7905412570573978
+            ],
+            "closest_contact_pad_button": [
+              0.16461360454559326,
+              -0.3581392168998718,
+              0.7694584131240845
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021082843933313278
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73e9116b17f2621d01532be26768528b96bf0e6b1a5fe174c429e26b913a5f9b",
+    "visual_seed": 1495094752328504217,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3cfcfb5c0cfa413d463d20d28586ea07cb704c16
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2507317909769221,
+              -0.0301232333430458,
+              1.051048864195379
+            ],
+            "current_z": 1.051048864195379,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18994235618061284,
+            "gripper_z": 1.0560265733811023,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24597268894331886,
+              -0.0346975559692195,
+              1.0560265733811023
+            ],
+            "object_minus_gripper": [
+              0.004759102033603246,
+              0.004574322626173702,
+              -0.004977709185723267
+            ],
+            "object_to_gripper_xy": 0.006601021106963015,
+            "object_to_gripper_z": -0.004977709185723267,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2507317909769221,
+              -0.054480930973426586,
+              1.051048864195379
+            ],
+            "finger_b": [
+              0.23957683255266612,
+              -0.0301232333430458,
+              1.051048864195379
+            ],
+            "finger_midpoint": [
+              0.24515431176479413,
+              -0.04230208215823619,
+              1.051048864195379
+            ],
+            "object_minus_finger_midpoint": [
+              0.005577479212127978,
+              0.012178848815190393,
+              0.0
+            ],
+            "finger_gap": 0.02679049330079492,
+            "fingertip_max_gap": 0.09301591608394388,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013395246650397452,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051048864195379,
+            "object_top_z": 1.1018287066784143,
+            "finger_top_clearance": 0.05077984248303524,
+            "fingertip_min_top_clearance": 0.015233952744910538,
+            "object_projection_between_fingers": 0.826629783713521,
+            "object_to_finger_line_xy": 0.010141997063168456,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049007958041971944,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.266718726102415,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2501762232730389,
+              -0.03333936718986591,
+              1.2476803695988048
+            ],
+            "held_position": [
+              0.25520784466183066,
+              -0.029085898316859888,
+              1.2426529417448111
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008287595675519493,
+            "max_held_gripper_dist": 0.008295202210209277,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005027427853993682,
+            "max_held_gripper_z_dist": 0.005034417145366454,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08629672818021308,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25520784466183066,
+              -0.054507299192398724,
+              1.2426529417448111
+            ],
+            "held_grasp_finger_b": [
+              0.2461438154444645,
+              -0.029085898316859888,
+              1.2426529417448111
+            ],
+            "held_grasp_midpoint": [
+              0.2506758300531476,
+              -0.04179659875462931,
+              1.2426529417448111
+            ],
+            "held_grasp_object_position": [
+              0.25520784466183066,
+              -0.029085898316859888,
+              1.2426529417448111
+            ],
+            "held_grasp_finger_gap": 0.0269889653030292,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024827789937449538,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06034547636407432,
+              -0.9981654127788714,
+              -0.004922622713391611
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037572542312850512,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036759381940470445,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32306707733830053,
+              -0.29887778928561215,
+              0.8515395826407776
+            ],
+            "target_position": [
+              0.31614322547122475,
+              -0.3009864616930715,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0072378328247611045,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1847394903588396,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395826407776,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533448918320407,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08602619417934763,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15349007483564414,
+            "release_required_pad_clearance": 0.05301309708967382,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0586824978267595,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007278859615325928,
+            "max_z_decrease": 0.007278859615325928,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504024962618223,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007278859615325928,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021210213809216324,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007278859615325928,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007278878619821423,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17184315621852875,
+              -0.35724791884422297,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17184315621852875,
+              -0.35724791884422297,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1708752798026067,
+              -0.35658035571577307,
+              0.8065252994100922
+            ],
+            "closest_button": [
+              0.1718304604291916,
+              -0.35725253820419306,
+              0.7715045213699341
+            ],
+            "closest_ee_minus_button": [
+              -0.000955180626584895,
+              0.0006721824884199923,
+              0.03502077804015813
+            ],
+            "button_min_z_position": [
+              0.171827495098114,
+              -0.35725352168083185,
+              0.7695299983024597
+            ],
+            "min_active_finger_to_button": 0.14663890666381632,
+            "closest_active_finger": [
+              0.04297332465648651,
+              -0.4179811179637909,
+              0.8108475208282471
+            ],
+            "closest_active_finger_button": [
+              0.17184822261333466,
+              -0.35725158452987665,
+              0.7761178016662598
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12887489795684814,
+              -0.06072953343391424,
+              0.034729719161987305
+            ],
+            "min_contact_pad_to_button": 0.021210213809216324,
+            "closest_contact_pad": [
+              0.171827495098114,
+              -0.3580367844983618,
+              0.7907257447906433
+            ],
+            "closest_contact_pad_button": [
+              0.171827495098114,
+              -0.35725352168083185,
+              0.7695299983024597
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007832628175299394,
+              0.021195746488183564
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cbc25e352b13b7ae0ed3ec4d6dce0889da8c44af9fb60f0ec1a606ae6cb43b95",
+    "visual_seed": 4325700560868473179,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..555c07a19b653e8813ee15fee3e6ee9e6f194b4c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2519334570847366,
+              -0.022923080696184334,
+              1.0496473030414735
+            ],
+            "current_z": 1.0496473030414735,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.1885407354220625,
+            "gripper_z": 1.054753170232201,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24732205757528863,
+              -0.02738557027810712,
+              1.054753170232201
+            ],
+            "object_minus_gripper": [
+              0.004611399509447944,
+              0.004462489581922784,
+              -0.0051058671907275865
+            ],
+            "object_to_gripper_xy": 0.006417072440334932,
+            "object_to_gripper_z": -0.0051058671907275865,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2519334570847366,
+              -0.04725703384899864,
+              1.0496473030414735
+            ],
+            "finger_b": [
+              0.2410179389697803,
+              -0.022923080696184334,
+              1.0496473030414735
+            ],
+            "finger_midpoint": [
+              0.24647569802725844,
+              -0.035090057272591485,
+              1.0496473030414735
+            ],
+            "object_minus_finger_midpoint": [
+              0.00545775905747814,
+              0.01216697657640715,
+              0.0
+            ],
+            "finger_gap": 0.026670017093382223,
+            "fingertip_max_gap": 0.09473633541716989,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01333500854669111,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496473030414735,
+            "object_top_z": 1.101621523697403,
+            "finger_top_clearance": 0.05197422065592949,
+            "fingertip_min_top_clearance": 0.01559226619677883,
+            "object_projection_between_fingers": 0.8324894666733629,
+            "object_to_finger_line_xy": 0.009959412681214646,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049868167708584946,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.566360865271028,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25185091584873065,
+              -0.02590008753604202,
+              1.2444038438972165
+            ],
+            "held_position": [
+              0.2567006372059424,
+              -0.021739176717357298,
+              1.2392268381341198
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008224011475841892,
+            "max_held_gripper_dist": 0.008232285664542822,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005177005763096654,
+            "max_held_gripper_z_dist": 0.005182788302129371,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08626436444232016,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2567006372059424,
+              -0.04711872744787381,
+              1.2392268381341198
+            ],
+            "held_grasp_finger_b": [
+              0.24792217172303718,
+              -0.021676085236419805,
+              1.2392268381341198
+            ],
+            "held_grasp_midpoint": [
+              0.2523114044644898,
+              -0.0343974063421468,
+              1.2392268381341198
+            ],
+            "held_grasp_object_position": [
+              0.2567006372059424,
+              -0.021739176717357298,
+              1.2392268381341198
+            ],
+            "held_grasp_finger_gap": 0.026914484927908596,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02484413774059388,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06241151332558745,
+              -0.9980101455275434,
+              0.008975100473084474
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003592492474354133,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03681326982240555,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3203963453236206,
+              -0.29824195344694504,
+              0.8515396509111685
+            ],
+            "target_position": [
+              0.3144208340438417,
+              -0.2997854237054448,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006171631509871466,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18399238871665471,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396509111685,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572195708130322,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08690283160590172,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1518237026422204,
+            "release_required_pad_clearance": 0.05345141580295086,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9163584341812758,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0072318315505981445,
+            "max_z_decrease": 0.0072318315505981445,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504358599615391,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072318315505981445,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02122794580558931,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0072318315505981445,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007231852398929729,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17012076079845434,
+              -0.3560468852519989,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17012076079845434,
+              -0.3560468852519989,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17004000324984495,
+              -0.35481991249016,
+              0.8073302661661826
+            ],
+            "closest_button": [
+              0.1701089590787888,
+              -0.3560518622398376,
+              0.7723084092140198
+            ],
+            "closest_ee_minus_button": [
+              -6.895582894386743e-05,
+              0.0012319497496776077,
+              0.035021856952162866
+            ],
+            "button_min_z_position": [
+              0.1701044291257859,
+              -0.3560527861118316,
+              0.7695770263671875
+            ],
+            "min_active_finger_to_button": 0.1457804471976428,
+            "closest_active_finger": [
+              0.04185692220926285,
+              -0.4159923791885376,
+              0.8086915016174316
+            ],
+            "closest_active_finger_button": [
+              0.1701291203498841,
+              -0.3560535609722137,
+              0.773970901966095
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12827219814062124,
+              -0.05993881821632391,
+              0.03472059965133667
+            ],
+            "min_contact_pad_to_button": 0.02122794580558931,
+            "closest_contact_pad": [
+              0.1701044291257859,
+              -0.35637835604914764,
+              0.7908024754164056
+            ],
+            "closest_contact_pad_button": [
+              0.1701044291257859,
+              -0.3560527861118316,
+              0.7695770263671875
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003255699373160281,
+              0.02122544904921808
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c259d621fa088c876ee4cd85dc26d5e7e26b5c244be930280b777a8e145a29b8",
+    "visual_seed": 2314360752881117688,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..18d100bc0bab028eddbe73b785d248ff2d5f1a5d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24635215181085507,
+              -0.030668050185471724,
+              1.0487265385678017
+            ],
+            "current_z": 1.0487265385678017,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.18762009015768033,
+            "gripper_z": 1.0540664090292358,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24163896702506868,
+              -0.035286110248540614,
+              1.0540664090292358
+            ],
+            "object_minus_gripper": [
+              0.0047131847857863896,
+              0.004618060063068891,
+              -0.0053398704614340264
+            ],
+            "object_to_gripper_xy": 0.006598529349111069,
+            "object_to_gripper_z": -0.0053398704614340264,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24635215181085507,
+              -0.05486997093899762,
+              1.0487265385678017
+            ],
+            "finger_b": [
+              0.23500950019995626,
+              -0.030668050185471724,
+              1.0487265385678017
+            ],
+            "finger_midpoint": [
+              0.24068082600540566,
+              -0.04276901056223467,
+              1.0487265385678017
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056713258054494065,
+              0.012100960376762948,
+              0.0
+            ],
+            "finger_gap": 0.026728051064867656,
+            "fingertip_max_gap": 0.09247492082504857,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013364025532433828,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487265385678017,
+            "object_top_z": 1.0991520420727872,
+            "finger_top_clearance": 0.050425503504985425,
+            "fingertip_min_top_clearance": 0.01512765105149566,
+            "object_projection_between_fingers": 0.8199079253433732,
+            "object_to_finger_line_xy": 0.010270631208971965,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04873746041252429,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2054585809996652,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24558939534002286,
+              -0.033964709665760526,
+              1.2458365240072733
+            ],
+            "held_position": [
+              0.2506118771378173,
+              -0.02969193881047611,
+              1.2404531079874497
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008512523846277195,
+            "max_held_gripper_dist": 0.008521208719291939,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005383416019823617,
+            "max_held_gripper_z_dist": 0.005392276837130838,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08619370462483864,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2506118771378173,
+              -0.05509637826962356,
+              1.2404531079874497
+            ],
+            "held_grasp_finger_b": [
+              0.24156153835168107,
+              -0.02969193881047611,
+              1.2404531079874497
+            ],
+            "held_grasp_midpoint": [
+              0.24608670774474917,
+              -0.04239415854004984,
+              1.2404531079874497
+            ],
+            "held_grasp_object_position": [
+              0.2506118771378173,
+              -0.02969193881047611,
+              1.2404531079874497
+            ],
+            "held_grasp_finger_gap": 0.02696839217264036,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02471163215067224,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06956370300501116,
+              -0.9975109771989507,
+              -0.011521353732319108
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003633615369364571,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036734858915345434,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3165756192787339,
+              -0.2977103366221308,
+              0.8515394975854625
+            ],
+            "target_position": [
+              0.3091421074637362,
+              -0.3000455549244206,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007791684183991245,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18532584420536663,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394975854625,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514922188051455,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496537152546484,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15471418157879108,
+            "release_required_pad_clearance": 0.05248268576273242,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.039564668277931266,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007117748260498047,
+            "max_z_decrease": 0.007117748260498047,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035223188250093115,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007117748260498047,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02115849595465391,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007117748260498047,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0071177684202777545,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1648420393466949,
+              -0.3563069999217986,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1648420393466949,
+              -0.3563069999217986,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16680681655905844,
+              -0.3546185123242084,
+              0.8048177427558729
+            ],
+            "closest_button": [
+              0.16482593119144434,
+              -0.3563122451305389,
+              0.7696911096572876
+            ],
+            "closest_ee_minus_button": [
+              0.0019808853676140936,
+              0.0016937328063305057,
+              0.035126633098585325
+            ],
+            "button_min_z_position": [
+              0.16482593119144434,
+              -0.3563122451305389,
+              0.7696911096572876
+            ],
+            "min_active_finger_to_button": 0.14323545576355548,
+            "closest_active_finger": [
+              0.03995002061128616,
+              -0.41743308305740356,
+              0.8106938600540161
+            ],
+            "closest_active_finger_button": [
+              0.16484475135803217,
+              -0.3563098609447478,
+              0.7763186693191528
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12489473074674601,
+              -0.06112322211265575,
+              0.03437519073486328
+            ],
+            "min_contact_pad_to_button": 0.02115849595465391,
+            "closest_contact_pad": [
+              0.16482593119144434,
+              -0.3563122451305389,
+              0.7908496056119415
+            ],
+            "closest_contact_pad_button": [
+              0.16482593119144434,
+              -0.3563122451305389,
+              0.7696911096572876
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02115849595465391
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac896ad39cc4c517084675c889cc9728e765ac329c1019137e982921cb24658d",
+    "visual_seed": 5130956671830894025,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2f1fb2a784f4e8289979b701c76f29d9d263ed2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24230063228355214,
+              -0.031800563390909795,
+              1.0487109199316822
+            ],
+            "current_z": 1.0487109199316822,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.18760435231227157,
+            "gripper_z": 1.0539507809196569,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23802170153766103,
+              -0.036259575972334354,
+              1.0539507809196569
+            ],
+            "object_minus_gripper": [
+              0.004278930745891113,
+              0.00445901258142456,
+              -0.005239860987974687
+            ],
+            "object_to_gripper_xy": 0.006179970997459033,
+            "object_to_gripper_z": -0.005239860987974687,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24230063228355214,
+              -0.055557923815797744,
+              1.0487109199316822
+            ],
+            "finger_b": [
+              0.23106300165666593,
+              -0.031800563390909795,
+              1.0487109199316822
+            ],
+            "finger_midpoint": [
+              0.23668181697010904,
+              -0.04367924360335377,
+              1.0487109199316822
+            ],
+            "object_minus_finger_midpoint": [
+              0.005618815313443104,
+              0.011878680212443975,
+              0.0
+            ],
+            "finger_gap": 0.026281105693337237,
+            "fingertip_max_gap": 0.09480863735341072,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013140552846668619,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487109199316822,
+            "object_top_z": 1.1003120215802409,
+            "finger_top_clearance": 0.05160110164855869,
+            "fingertip_min_top_clearance": 0.015480330494567623,
+            "object_projection_between_fingers": 0.817163777294298,
+            "object_to_finger_line_xy": 0.010158493491100672,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04990431867670536,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8788307757760863,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24159758003345716,
+              -0.03532810177298655,
+              1.2443122410585299
+            ],
+            "held_position": [
+              0.2462162001076978,
+              -0.031224724457539873,
+              1.2390261408827503
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00813094163375176,
+            "max_held_gripper_dist": 0.008138812734185073,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005286100175779573,
+            "max_held_gripper_z_dist": 0.005292371764074266,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08559109068930694,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2462162001076978,
+              -0.05642468617983087,
+              1.2390261408827503
+            ],
+            "held_grasp_finger_b": [
+              0.23765674090163466,
+              -0.031181904571002735,
+              1.2390261408827503
+            ],
+            "held_grasp_midpoint": [
+              0.2419364705046662,
+              -0.0438032953754168,
+              1.2390261408827503
+            ],
+            "held_grasp_object_position": [
+              0.2462162001076978,
+              -0.031224724457539873,
+              1.2390261408827503
+            ],
+            "held_grasp_finger_gap": 0.02665449990623067,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024502559488812605,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0775792105177155,
+              -0.9969818685780686,
+              -0.0029359533427315556
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003291208402045914,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03684762488851588,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3197800111848989,
+              -0.3014471685715844,
+              0.8515395792046924
+            ],
+            "target_position": [
+              0.314304703936788,
+              -0.30260466788024243,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005596319693402056,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1810334500931619,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395792046924,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517034527958787,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531498432587324,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15017041084461444,
+            "release_required_pad_clearance": 0.05265749216293662,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3732526261720347,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007080554962158203,
+            "max_z_decrease": 0.007080554962158203,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350514785920085,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007080554962158203,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021345954190535137,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007080554962158203,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007080578343669334,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17000463604927066,
+              -0.35886612534523005,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17000463604927066,
+              -0.35886612534523005,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1705956385080964,
+              -0.35977075860612157,
+              0.8078773343412314
+            ],
+            "closest_button": [
+              0.16999468207359314,
+              -0.35887229442596424,
+              0.772842526435852
+            ],
+            "closest_ee_minus_button": [
+              0.0006009564345032525,
+              -0.0008984641801573212,
+              0.035034807905379384
+            ],
+            "button_min_z_position": [
+              0.1699872761964798,
+              -0.35887157917022694,
+              0.7697283029556274
+            ],
+            "min_active_finger_to_button": 0.14559392227382958,
+            "closest_active_finger": [
+              0.02962007373571396,
+              -0.34208357334136963,
+              0.8079295754432678
+            ],
+            "closest_active_finger_button": [
+              0.17001257836818695,
+              -0.3588736653327941,
+              0.773207426071167
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.140392504632473,
+              0.01679009199142445,
+              0.03472214937210083
+            ],
+            "min_contact_pad_to_button": 0.021345954190535137,
+            "closest_contact_pad": [
+              0.1699872761964798,
+              -0.36130299065903265,
+              0.790935330056957
+            ],
+            "closest_contact_pad_button": [
+              0.1699872761964798,
+              -0.35887157917022694,
+              0.7697283029556274
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024314114888057126,
+              0.0212070271013296
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d60b16918015d2e85257ff65f0c74a58514ac0ba1d8ed179b12d4f916b85dd2f",
+    "visual_seed": 3623124643239770797,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf0fe5e6b37db7b243417f3d903d2e31a2351bf3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24989242831774877,
+              -0.02740300396270396,
+              1.047258722174656
+            ],
+            "current_z": 1.047258722174656,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18615221415989014,
+            "gripper_z": 1.0523360630155796,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24512023441253825,
+              -0.03197054303220233,
+              1.0523360630155796
+            ],
+            "object_minus_gripper": [
+              0.0047721939052105256,
+              0.004567539069498368,
+              -0.005077340840923483
+            ],
+            "object_to_gripper_xy": 0.006605773824490398,
+            "object_to_gripper_z": -0.005077340840923483,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24989242831774877,
+              -0.051797669399992564,
+              1.047258722174656
+            ],
+            "finger_b": [
+              0.2387804135872576,
+              -0.02740300396270396,
+              1.047258722174656
+            ],
+            "finger_midpoint": [
+              0.24433642095250319,
+              -0.03960033668134826,
+              1.047258722174656
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055560073652455855,
+              0.012197332718644302,
+              0.0
+            ],
+            "finger_gap": 0.02680627861468085,
+            "fingertip_max_gap": 0.09280324261978143,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013403139307340425,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047258722174656,
+            "object_top_z": 1.097935279156845,
+            "finger_top_clearance": 0.05067655698218898,
+            "fingertip_min_top_clearance": 0.01520296709465671,
+            "object_projection_between_fingers": 0.8281646299345717,
+            "object_to_finger_line_xy": 0.01011232799528158,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04890162130989072,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.16997900340832,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24930375751154316,
+              -0.030406925680549188,
+              1.245332516874622
+            ],
+            "held_position": [
+              0.254339401328357,
+              -0.026154867266564987,
+              1.2402096117290764
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008347566503838567,
+            "max_held_gripper_dist": 0.008355559892821359,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0051229051455456975,
+            "max_held_gripper_z_dist": 0.005130397257755659,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08502182998934674,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.254339401328357,
+              -0.051579950471044876,
+              1.2402096117290764
+            ],
+            "held_grasp_finger_b": [
+              0.24518926073990752,
+              -0.026154867266564987,
+              1.2402096117290764
+            ],
+            "held_grasp_midpoint": [
+              0.24976433103413226,
+              -0.03886740886880493,
+              1.2402096117290764
+            ],
+            "held_grasp_object_position": [
+              0.254339401328357,
+              -0.026154867266564987,
+              1.2402096117290764
+            ],
+            "held_grasp_finger_gap": 0.02702147162430491,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024856240211899635,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.057546023133137725,
+              -0.9983367295097612,
+              -0.003497103560714309
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038361954800801954,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03676557576217086,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3257394910611,
+              -0.3058722735658095,
+              0.8515396075914188
+            ],
+            "target_position": [
+              0.3185527175413045,
+              -0.3080419042822771,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007507130681603589,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18419589910601392,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396075914188,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569273640148272,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646179414273485,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15227533742926455,
+            "release_required_pad_clearance": 0.053230897071367425,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4830263604695295,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007515072822570801,
+            "max_z_decrease": 0.007515072822570801,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512628033028609,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007515072822570801,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021154926515257078,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007515072822570801,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007515096972714246,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17425264418125158,
+              -0.36430335044860834,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17425264418125158,
+              -0.36430335044860834,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17425644765702292,
+              -0.3625379346396886,
+              0.8075030973519935
+            ],
+            "closest_button": [
+              0.17424140870571142,
+              -0.3643074631690978,
+              0.7724214196205139
+            ],
+            "closest_ee_minus_button": [
+              1.5038951311496795e-05,
+              0.0017695285294092034,
+              0.03508167773147963
+            ],
+            "button_min_z_position": [
+              0.17423434555530554,
+              -0.3643086552619933,
+              0.7692937850952148
+            ],
+            "min_active_finger_to_button": 0.1453923367485821,
+            "closest_active_finger": [
+              0.0474293977022171,
+              -0.42647960782051086,
+              0.8112868666648865
+            ],
+            "closest_active_finger_button": [
+              0.1742537766695023,
+              -0.3643042147159576,
+              0.7768089175224304
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1268243789672852,
+              -0.06217539310455328,
+              0.034477949142456055
+            ],
+            "min_contact_pad_to_button": 0.021154926515257078,
+            "closest_contact_pad": [
+              0.17423434555530554,
+              -0.3643086552619933,
+              0.7904487116104719
+            ],
+            "closest_contact_pad_button": [
+              0.17423434555530554,
+              -0.3643086552619933,
+              0.7692937850952148
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021154926515257078
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d5239a93b187a3c67fe42834ae07b59e83ad650fcea64f118e1eda89d487689",
+    "visual_seed": 8586771716344634785,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..503c7c78ce317815800bfa3431ff682c138b467c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24798055663547472,
+              -0.03002006729108616,
+              1.0476718015793929
+            ],
+            "current_z": 1.0476718015793929,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18656529356462692,
+            "gripper_z": 1.0528181698405532,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24335019047780532,
+              -0.03453738050882435,
+              1.0528181698405532
+            ],
+            "object_minus_gripper": [
+              0.004630366157669402,
+              0.0045173132177381906,
+              -0.005146368261160328
+            ],
+            "object_to_gripper_xy": 0.0064688800778219925,
+            "object_to_gripper_z": -0.005146368261160328,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24798055663547472,
+              -0.05427893375954925,
+              1.0476718015793929
+            ],
+            "finger_b": [
+              0.2369114971436672,
+              -0.03002006729108616,
+              1.0476718015793929
+            ],
+            "finger_midpoint": [
+              0.24244602688957095,
+              -0.042149500525317705,
+              1.0476718015793929
+            ],
+            "object_minus_finger_midpoint": [
+              0.005534529745903766,
+              0.012129433234231546,
+              0.0
+            ],
+            "finger_gap": 0.026664896031447363,
+            "fingertip_max_gap": 0.09250015561299221,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013332448015723681,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476718015793929,
+            "object_top_z": 1.098239620946229,
+            "finger_top_clearance": 0.050567819366836186,
+            "fingertip_min_top_clearance": 0.015170345810050855,
+            "object_projection_between_fingers": 0.8276776320215478,
+            "object_to_finger_line_xy": 0.01007027500975625,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875007780649611,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0428756998483821,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24742581930484112,
+              -0.03315311561642781,
+              1.2447830367106811
+            ],
+            "held_position": [
+              0.2523263532504114,
+              -0.028951922069671485,
+              1.239592747229185
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008282775203440163,
+            "max_held_gripper_dist": 0.00829315873331734,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005190289481496135,
+            "max_held_gripper_z_dist": 0.005197619066891868,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0861693374694311,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2523263532504114,
+              -0.05430849300276861,
+              1.239592747229185
+            ],
+            "held_grasp_finger_b": [
+              0.24339305044962267,
+              -0.028951922069671485,
+              1.239592747229185
+            ],
+            "held_grasp_midpoint": [
+              0.24785970185001704,
+              -0.04163020753622005,
+              1.239592747229185
+            ],
+            "held_grasp_object_position": [
+              0.2523263532504114,
+              -0.028951922069671485,
+              1.239592747229185
+            ],
+            "held_grasp_finger_gap": 0.026884188446292482,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024714136773953913,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06568992671283605,
+              -0.9978070318339753,
+              -0.008121622444704713
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003625664527280466,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03677635367683072,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3177312645174063,
+              -0.3059500600147453,
+              0.8515395799605814
+            ],
+            "target_position": [
+              0.31063295720692485,
+              -0.30806236170901413,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074059290518911506,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18423236072231802,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395799605814,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564932057632022,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08617237667274012,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15228870078531026,
+            "release_required_pad_clearance": 0.05308618833637006,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2007137380402217,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007534623146057129,
+            "max_z_decrease": 0.007534623146057129,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516070055965518,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007534623146057129,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021139167861155418,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007534623146057129,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007534642322466262,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16633288562297818,
+              -0.3643238246440887,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16633288562297818,
+              -0.3643238246440887,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16768348827955293,
+              -0.36311293811544715,
+              0.8068620789729188
+            ],
+            "closest_button": [
+              0.16631987690925598,
+              -0.36432781815528864,
+              0.7717488408088684
+            ],
+            "closest_ee_minus_button": [
+              0.0013636113702969466,
+              0.0012148800398414927,
+              0.03511323816405043
+            ],
+            "button_min_z_position": [
+              0.16631656885147095,
+              -0.3643285930156707,
+              0.7692742347717285
+            ],
+            "min_active_finger_to_button": 0.1443483421001851,
+            "closest_active_finger": [
+              0.0405317097902298,
+              -0.4262171685695648,
+              0.8108939528465271
+            ],
+            "closest_active_finger_button": [
+              0.16633637249469757,
+              -0.3643262684345245,
+              0.7765552401542664
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12580466270446777,
+              -0.06189090013504034,
+              0.03433871269226074
+            ],
+            "min_contact_pad_to_button": 0.021139167861155418,
+            "closest_contact_pad": [
+              0.16631656885147095,
+              -0.3643822078715914,
+              0.790413334641622
+            ],
+            "closest_contact_pad_button": [
+              0.16631656885147095,
+              -0.3643285930156707,
+              0.7692742347717285
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -5.361485592070281e-05,
+              0.021139099869893485
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0582e4f087c90da224aa07e4cf708d257469dc0e67f0e0cf69b7ad9c6cec8dd5",
+    "visual_seed": 4959576545959485281,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..63be462405a4a3191b45c75d2a42a79aef2f489c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24783428312346698,
+              -0.029070197358813082,
+              1.047179495357943
+            ],
+            "current_z": 1.047179495357943,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18607310655246656,
+            "gripper_z": 1.0523530675811574,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24331528348576634,
+              -0.033638576741391646,
+              1.0523530675811574
+            ],
+            "object_minus_gripper": [
+              0.004518999637700638,
+              0.0045683793825785635,
+              -0.005173572223214462
+            ],
+            "object_to_gripper_xy": 0.006425842194507067,
+            "object_to_gripper_z": -0.005173572223214462,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24783428312346698,
+              -0.05303608399746319,
+              1.047179495357943
+            ],
+            "finger_b": [
+              0.23642917216927772,
+              -0.029070197358813082,
+              1.047179495357943
+            ],
+            "finger_midpoint": [
+              0.24213172764637236,
+              -0.04105314067813814,
+              1.047179495357943
+            ],
+            "object_minus_finger_midpoint": [
+              0.005702555477094612,
+              0.011982943319325055,
+              0.0
+            ],
+            "finger_gap": 0.026541293831574896,
+            "fingertip_max_gap": 0.09437307425611632,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013270646915787441,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047179495357943,
+            "object_top_z": 1.098799763677059,
+            "finger_top_clearance": 0.051620268319116036,
+            "fingertip_min_top_clearance": 0.015486080495734843,
+            "object_projection_between_fingers": 0.8153476456517059,
+            "object_to_finger_line_xy": 0.010298427724128294,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049686537128058164,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6680486219081858,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24748500998584474,
+              -0.03253724159622336,
+              1.2436558097401746
+            ],
+            "held_position": [
+              0.2523554718858553,
+              -0.028373348321612497,
+              1.238422447139874
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008273299851209916,
+            "max_held_gripper_dist": 0.008281183107687653,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005233362600300717,
+            "max_held_gripper_z_dist": 0.00523955600257775,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08560667743825222,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2523554718858553,
+              -0.053763584878199655,
+              1.238422447139874
+            ],
+            "held_grasp_finger_b": [
+              0.2435656301157763,
+              -0.02822338705151039,
+              1.238422447139874
+            ],
+            "held_grasp_midpoint": [
+              0.2479605510008158,
+              -0.040993485964855025,
+              1.238422447139874
+            ],
+            "held_grasp_object_position": [
+              0.2523554718858553,
+              -0.028373348321612497,
+              1.238422447139874
+            ],
+            "held_grasp_finger_gap": 0.027010424346341693,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02474809065144253,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08061822590318023,
+              -0.9967312028536419,
+              0.005254608468398092
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003363874664090898,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0367870543720307,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31794535248264033,
+              -0.3002037612999008,
+              0.8515395603004764
+            ],
+            "target_position": [
+              0.31164795292087993,
+              -0.3017951548268127,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006495365624655562,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18172989790126434,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395603004764,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571800248648065,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554723802148599,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14956656112411798,
+            "release_required_pad_clearance": 0.052773619010743,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5961027094541234,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007368326187133789,
+            "max_z_decrease": 0.007368326187133789,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516816945171314,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007368326187133789,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02112720075932739,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007368326187133789,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007368346245709401,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16734787821769714,
+              -0.3580566048622131,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16734787821769714,
+              -0.3580566048622131,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16867361885891208,
+              -0.35672551603515923,
+              0.808019114612674
+            ],
+            "closest_button": [
+              0.16734325885772705,
+              -0.3580681383609772,
+              0.7729017734527588
+            ],
+            "closest_ee_minus_button": [
+              0.001330360001185027,
+              0.0013426223258179437,
+              0.03511734115991516
+            ],
+            "button_min_z_position": [
+              0.16733141243457794,
+              -0.35806155204772944,
+              0.7694405317306519
+            ],
+            "min_active_finger_to_button": 0.14443470610718784,
+            "closest_active_finger": [
+              0.04193457216024399,
+              -0.42096900939941406,
+              0.8104004263877869
+            ],
+            "closest_active_finger_button": [
+              0.167349711060524,
+              -0.3580613136291504,
+              0.7761214375495911
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12541513890028,
+              -0.06290769577026367,
+              0.0342789888381958
+            ],
+            "min_contact_pad_to_button": 0.02112720075932739,
+            "closest_contact_pad": [
+              0.16733141243457794,
+              -0.35806155204772944,
+              0.7905677324899792
+            ],
+            "closest_contact_pad_button": [
+              0.16733141243457794,
+              -0.35806155204772944,
+              0.7694405317306519
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02112720075932739
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9636f90bf1112c19e6bfb0ef7734a2da779028d7af2f11634b7e05a50ff82b8e",
+    "visual_seed": 680862543326240880,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7ada7c4d797bc888a60ea3558422c9392c7ffb5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24824728008355565,
+              -0.026653181165233877,
+              1.050347382050409
+            ],
+            "current_z": 1.050347382050409,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.1892409932449327,
+            "gripper_z": 1.0554751127208928,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24380396304402,
+              -0.03105797091000831,
+              1.0554751127208928
+            ],
+            "object_minus_gripper": [
+              0.004443317039535655,
+              0.004404789744774432,
+              -0.005127730670483777
+            ],
+            "object_to_gripper_xy": 0.006256615619446179,
+            "object_to_gripper_z": -0.005127730670483777,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24824728008355565,
+              -0.05081769736096708,
+              1.050347382050409
+            ],
+            "finger_b": [
+              0.23737600415671625,
+              -0.026653181165233877,
+              1.050347382050409
+            ],
+            "finger_midpoint": [
+              0.24281164212013595,
+              -0.038735439263100475,
+              1.050347382050409
+            ],
+            "object_minus_finger_midpoint": [
+              0.005435637963419698,
+              0.012082258097866599,
+              0.0
+            ],
+            "finger_gap": 0.02649732973813267,
+            "fingertip_max_gap": 0.09493156124715155,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013248664869066333,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050347382050409,
+            "object_top_z": 1.102177652022872,
+            "finger_top_clearance": 0.051830269972463094,
+            "fingertip_min_top_clearance": 0.015549080991738911,
+            "object_projection_between_fingers": 0.831671824088797,
+            "object_to_finger_line_xy": 0.00991417345817835,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049965780623575776,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.705502003146668,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24804981597835388,
+              -0.029626218928676756,
+              1.2470271261985577
+            ],
+            "held_position": [
+              0.25275479542882023,
+              -0.025523876858763717,
+              1.2418491406546508
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008110337624340807,
+            "max_held_gripper_dist": 0.008118301186637058,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005177985543906916,
+            "max_held_gripper_z_dist": 0.005183858658005969,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08612919788772923,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25275479542882023,
+              -0.05080232406250103,
+              1.2418491406546508
+            ],
+            "held_grasp_finger_b": [
+              0.24402651032334716,
+              -0.025510704527483857,
+              1.2418491406546508
+            ],
+            "held_grasp_midpoint": [
+              0.2483906528760837,
+              -0.03815651429499244,
+              1.2418491406546508
+            ],
+            "held_grasp_object_position": [
+              0.25275479542882023,
+              -0.025523876858763717,
+              1.2418491406546508
+            ],
+            "held_grasp_finger_gap": 0.026755354222781004,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024727483910508326,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0594534725352364,
+              -0.9982125001663775,
+              0.006090083340290485
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036062061861024523,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036850730041782825,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3150363649014737,
+              -0.30126449102820085,
+              0.85153959176571
+            ],
+            "target_position": [
+              0.3092730442728593,
+              -0.30255981637994184,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005907091707014135,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18092435231624052,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153959176571,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513981320304085,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08546378188659291,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15025811816286871,
+            "release_required_pad_clearance": 0.05273189094329646,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.515860770131026,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007163286209106445,
+            "max_z_decrease": 0.007163286209106445,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515029314596217,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007163286209106445,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021147947593942118,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007163286209106445,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007163306933320821,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16497297585010529,
+              -0.35882127285003657,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16497297585010529,
+              -0.35882127285003657,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16534840581169516,
+              -0.35705315691469397,
+              0.8076472320797093
+            ],
+            "closest_button": [
+              0.16496124863624573,
+              -0.3588255643844604,
+              0.7725437879562378
+            ],
+            "closest_ee_minus_button": [
+              0.00038715717544943185,
+              0.0017724074697664238,
+              0.03510344412347155
+            ],
+            "button_min_z_position": [
+              0.16495652496814728,
+              -0.35882639884948725,
+              0.7696455717086792
+            ],
+            "min_active_finger_to_button": 0.14504596998584898,
+            "closest_active_finger": [
+              0.037751369178295135,
+              -0.4194147288799286,
+              0.8106294274330139
+            ],
+            "closest_active_finger_button": [
+              0.16497617959976196,
+              -0.3588241040706634,
+              0.7762643694877625
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12722481042146683,
+              -0.06059062480926519,
+              0.034365057945251465
+            ],
+            "min_contact_pad_to_button": 0.021147947593942118,
+            "closest_contact_pad": [
+              0.16495652496814728,
+              -0.35882639884948725,
+              0.7907935193026213
+            ],
+            "closest_contact_pad_button": [
+              0.16495652496814728,
+              -0.35882639884948725,
+              0.7696455717086792
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021147947593942118
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "045baa03322ee737a4c57939b773c96d0baa945282c75886fd544d0df44dca4d",
+    "visual_seed": 8764268114932824150,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a52687be6ed5915d45c05c3eee2faa7adbe2d9e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_89_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2517548756985086,
+              -0.02647453009075538,
+              1.0488134457004155
+            ],
+            "current_z": 1.0488134457004155,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18770699729029428,
+            "gripper_z": 1.0538215532653148,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2468649478452927,
+              -0.031151657081858034,
+              1.0538215532653148
+            ],
+            "object_minus_gripper": [
+              0.004889927853215875,
+              0.004677126991102655,
+              -0.005008107564899333
+            ],
+            "object_to_gripper_xy": 0.00676660264095339,
+            "object_to_gripper_z": -0.005008107564899333,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2517548756985086,
+              -0.050863333878263424,
+              1.0488134457004155
+            ],
+            "finger_b": [
+              0.2403667201455387,
+              -0.02647453009075538,
+              1.0488134457004155
+            ],
+            "finger_midpoint": [
+              0.24606079792202362,
+              -0.0386689319845094,
+              1.0488134457004155
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056940777764849515,
+              0.012194401893754023,
+              0.0
+            ],
+            "finger_gap": 0.02691660894474275,
+            "fingertip_max_gap": 0.09239151912479693,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01345830447237138,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488134457004155,
+            "object_top_z": 1.0994042122903833,
+            "finger_top_clearance": 0.05059076658996786,
+            "fingertip_min_top_clearance": 0.015177229976990357,
+            "object_projection_between_fingers": 0.8209946169221387,
+            "object_to_finger_line_xy": 0.01031866576704308,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048695759562398466,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9310130699409589,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2512036113800723,
+              -0.029477551906851224,
+              1.2462900230004583
+            ],
+            "held_position": [
+              0.25639009222701176,
+              -0.025164108067970457,
+              1.2412256333938467
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00843524886499526,
+            "max_held_gripper_dist": 0.008443373688033459,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005064389606611597,
+            "max_held_gripper_z_dist": 0.005072219717225934,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08623695050332966,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25639009222701176,
+              -0.0506794672034529,
+              1.2412256333938467
+            ],
+            "held_grasp_finger_b": [
+              0.24712962616118864,
+              -0.025164108067970457,
+              1.2412256333938467
+            ],
+            "held_grasp_midpoint": [
+              0.2517598591941002,
+              -0.037921787635711676,
+              1.2412256333938467
+            ],
+            "held_grasp_object_position": [
+              0.25639009222701176,
+              -0.025164108067970457,
+              1.2412256333938467
+            ],
+            "held_grasp_finger_gap": 0.027143871933991082,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02482170915471748,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06843055988785428,
+              -0.9976503915645522,
+              -0.0033097861759585627
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037466079392119707,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03667569661502958,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.31952543673301304,
+              -0.3004953866731747,
+              0.85153958886958
+            ],
+            "target_position": [
+              0.3122813925582346,
+              -0.30255522338041246,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0075312086192473255,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18222182723199112,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153958886958,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514086944207936,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500697400454825,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15160594955060466,
+            "release_required_pad_clearance": 0.05250348700227413,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912934491102717,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00735020637512207,
+            "max_z_decrease": 0.00735020637512207,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035097146915066386,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00735020637512207,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021217178845439052,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00735020637512207,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007350229672317677,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16798131167888636,
+              -0.35881668329238886,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16798131167888636,
+              -0.35881668329238886,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16668730944088084,
+              -0.35932550957295784,
+              0.8074625805114386
+            ],
+            "closest_button": [
+              0.16797026991844172,
+              -0.35882154107093805,
+              0.7723925113677979
+            ],
+            "closest_ee_minus_button": [
+              -0.0012829604775608794,
+              -0.0005039685020197804,
+              0.03507006914364075
+            ],
+            "button_min_z_position": [
+              0.16796360909938807,
+              -0.35882207751274103,
+              0.7694586515426636
+            ],
+            "min_active_finger_to_button": 0.14736564845980243,
+            "closest_active_finger": [
+              0.025665856897830963,
+              -0.3422735035419464,
+              0.8099910020828247
+            ],
+            "closest_active_finger_button": [
+              0.1679831445217132,
+              -0.3588220775127411,
+              0.7755153775215149
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14231728762388224,
+              0.016548573970794678,
+              0.034475624561309814
+            ],
+            "min_contact_pad_to_button": 0.021217178845439052,
+            "closest_contact_pad": [
+              0.16796360909938807,
+              -0.3607567431603429,
+              0.7905874410723867
+            ],
+            "closest_contact_pad_button": [
+              0.16796360909938807,
+              -0.35882207751274103,
+              0.7694586515426636
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001934665647601863,
+              0.02112878952972308
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8adcd22a687a15d463182a99beb0c272bb95eaacd2ad12b9cf9728062a7a8039",
+    "visual_seed": 6516081363045088824,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28d6c3b564f1cc33ecd12539c16073bdb648df2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24983742693388963,
+              -0.028162851119965915,
+              1.0487245577795452
+            ],
+            "current_z": 1.0487245577795452,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1876181093694239,
+            "gripper_z": 1.053682741690631,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24530430222902422,
+              -0.03260995877790576,
+              1.053682741690631
+            ],
+            "object_minus_gripper": [
+              0.0045331247048654155,
+              0.004447107657939847,
+              -0.004958183911085712
+            ],
+            "object_to_gripper_xy": 0.006350274491009692,
+            "object_to_gripper_z": -0.004958183911085712,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24983742693388963,
+              -0.05240009479274846,
+              1.0487245577795452
+            ],
+            "finger_b": [
+              0.2389156715093151,
+              -0.028162851119965915,
+              1.0487245577795452
+            ],
+            "finger_midpoint": [
+              0.24437654922160235,
+              -0.04028147295635719,
+              1.0487245577795452
+            ],
+            "object_minus_finger_midpoint": [
+              0.005460877712287288,
+              0.012118621836391272,
+              0.0
+            ],
+            "finger_gap": 0.026584369889242458,
+            "fingertip_max_gap": 0.09396418262077458,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013292184944621234,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487245577795452,
+            "object_top_z": 1.1001730847890403,
+            "finger_top_clearance": 0.05144852700949509,
+            "fingertip_min_top_clearance": 0.015434558102848528,
+            "object_projection_between_fingers": 0.8312156591743144,
+            "object_to_finger_line_xy": 0.009957476843077845,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04948209131038729,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3442856516464103,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2494638994776499,
+              -0.030987865908899598,
+              1.2475318425514237
+            ],
+            "held_position": [
+              0.25426566635616177,
+              -0.02685233313869101,
+              1.2425329018732487
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008071493316168642,
+            "max_held_gripper_dist": 0.008079170729339275,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004998940678174968,
+            "max_held_gripper_z_dist": 0.005006237566522742,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08500476528878152,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25426566635616177,
+              -0.05216692045719307,
+              1.2425329018732487
+            ],
+            "held_grasp_finger_b": [
+              0.24530979540438108,
+              -0.02685233313869101,
+              1.2425329018732487
+            ],
+            "held_grasp_midpoint": [
+              0.24978773088027142,
+              -0.03950962679794204,
+              1.2425329018732487
+            ],
+            "held_grasp_object_position": [
+              0.25426566635616177,
+              -0.02685233313869101,
+              1.2425329018732487
+            ],
+            "held_grasp_finger_gap": 0.026852112684312465,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02472720510839828,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06037556067290145,
+              -0.9981565379878122,
+              0.006190100614536509
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037064212553509146,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03681593178586801,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32002766735597865,
+              -0.2986753644523429,
+              0.8515395795086543
+            ],
+            "target_position": [
+              0.3139356722626806,
+              -0.30012945594175544,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00626312911222095,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18500832990622507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395795086543,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515402031430507,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543946937439294,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15420945901406946,
+            "release_required_pad_clearance": 0.05271973468719647,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4925766951525678,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007293999195098877,
+            "max_z_decrease": 0.007293999195098877,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515283615725934,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007293999195098877,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.0212099139771742,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007293999195098877,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007294019860745606,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1696355938911438,
+              -0.3563909232616424,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1696355938911438,
+              -0.3563909232616424,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1710417393932538,
+              -0.35438479160329367,
+              0.8045812307722224
+            ],
+            "closest_button": [
+              0.16961923241615293,
+              -0.35639673471450795,
+              0.7695148587226868
+            ],
+            "closest_ee_minus_button": [
+              0.0014225069771008625,
+              0.002011943111214276,
+              0.035066372049535666
+            ],
+            "button_min_z_position": [
+              0.16961923241615293,
+              -0.35639673471450795,
+              0.7695148587226868
+            ],
+            "min_active_finger_to_button": 0.1436917229222776,
+            "closest_active_finger": [
+              0.04383144527673721,
+              -0.416568785905838,
+              0.8107325434684753
+            ],
+            "closest_active_finger_button": [
+              0.1696394830942154,
+              -0.3563947081565856,
+              0.7761098742485046
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12580803781747818,
+              -0.06017407774925243,
+              0.0346226692199707
+            ],
+            "min_contact_pad_to_button": 0.0212099139771742,
+            "closest_contact_pad": [
+              0.16961923241615293,
+              -0.35639673471450795,
+              0.790724772699861
+            ],
+            "closest_contact_pad_button": [
+              0.16961923241615293,
+              -0.35639673471450795,
+              0.7695148587226868
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0212099139771742
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9870e3a192476febd4ba378e64f740dbc21a8b69565273bfb1545c67ce49e128",
+    "visual_seed": 3719290017671557128,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca543edb47d26a417cd54adef6f4b66a80d72971
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2462029677006698,
+              -0.02970713366191333,
+              1.0506002446648832
+            ],
+            "current_z": 1.0506002446648832,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18949379625476193,
+            "gripper_z": 1.0557113489623708,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24154334266521696,
+              -0.034334496322951144,
+              1.0557113489623708
+            ],
+            "object_minus_gripper": [
+              0.004659625035452836,
+              0.004627362661037814,
+              -0.005111104297487623
+            ],
+            "object_to_gripper_xy": 0.006566931602185743,
+            "object_to_gripper_z": -0.005111104297487623,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2462029677006698,
+              -0.053807196109881196,
+              1.0506002446648832
+            ],
+            "finger_b": [
+              0.2347692869275037,
+              -0.02970713366191333,
+              1.0506002446648832
+            ],
+            "finger_midpoint": [
+              0.24048612731408675,
+              -0.041757164885897265,
+              1.0506002446648832
+            ],
+            "object_minus_finger_midpoint": [
+              0.005716840386583044,
+              0.012050031223983935,
+              0.0
+            ],
+            "finger_gap": 0.026674745847310687,
+            "fingertip_max_gap": 0.09153397105906719,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013337372923655345,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506002446648832,
+            "object_top_z": 1.100456625619334,
+            "finger_top_clearance": 0.049856380954450774,
+            "fingertip_min_top_clearance": 0.014956914286335199,
+            "object_projection_between_fingers": 0.8162736087352465,
+            "object_to_finger_line_xy": 0.010330086075448525,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048266985529533596,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3581766414226293,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24553736496129713,
+              -0.03279423474349755,
+              1.2462447096441762
+            ],
+            "held_position": [
+              0.2505022864421733,
+              -0.02850695489397389,
+              1.2410815602044258
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008348013293987499,
+            "max_held_gripper_dist": 0.008356285129261072,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005163149439750381,
+            "max_held_gripper_z_dist": 0.005170229518173697,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08625410583021655,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2505022864421733,
+              -0.053830721917917226,
+              1.2410815602044258
+            ],
+            "held_grasp_finger_b": [
+              0.24142529688266834,
+              -0.02850695489397389,
+              1.2410815602044258
+            ],
+            "held_grasp_midpoint": [
+              0.24596379166242083,
+              -0.041168838405945554,
+              1.2410815602044258
+            ],
+            "held_grasp_object_position": [
+              0.2505022864421733,
+              -0.02850695489397389,
+              1.2410815602044258
+            ],
+            "held_grasp_finger_gap": 0.026901392449951773,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02464412952328881,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06789286703038586,
+              -0.9974974238471339,
+              -0.01973443753254123
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003677078687566674,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03678192246325099,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32030661871330907,
+              -0.30638101898787246,
+              0.8515395688542102
+            ],
+            "target_position": [
+              0.3123307139940913,
+              -0.3091151419323335,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008431517322846988,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1834858135682024,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395688542102,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560382252235763,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613420790555047,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15182920970323316,
+            "release_required_pad_clearance": 0.05306710395277524,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1636372025548414,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007743716239929199,
+            "max_z_decrease": 0.007743716239929199,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516353851049416,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007743716239929199,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0211119392339431,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007743716239929199,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077437358658799,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.16803063452243802,
+              -0.36537659168243397,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.16803063452243802,
+              -0.36537659168243397,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16959728027372986,
+              -0.3648291543347596,
+              0.8077657874001019
+            ],
+            "closest_button": [
+              0.1680226325988769,
+              -0.36538723111152643,
+              0.7726419568061829
+            ],
+            "closest_ee_minus_button": [
+              0.0015746476748529636,
+              0.000558076776766836,
+              0.03512383059391899
+            ],
+            "button_min_z_position": [
+              0.16801370680332184,
+              -0.36538076400756825,
+              0.7690651416778564
+            ],
+            "min_active_finger_to_button": 0.14454232553945628,
+            "closest_active_finger": [
+              0.043266065418720245,
+              -0.4298354685306549,
+              0.8106380701065063
+            ],
+            "closest_active_finger_button": [
+              0.16803279519081113,
+              -0.36537930369377125,
+              0.776416003704071
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12476672977209088,
+              -0.06445616483688366,
+              0.0342220664024353
+            ],
+            "min_contact_pad_to_button": 0.0211119392339431,
+            "closest_contact_pad": [
+              0.16801370680332184,
+              -0.3658988259584952,
+              0.7901707236417045
+            ],
+            "closest_contact_pad_button": [
+              0.16801370680332184,
+              -0.36538076400756825,
+              0.7690651416778564
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005180619509269624,
+              0.02110558196384804
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f32a84158f3aa0fe187063f6fc18261426967c1ef6752ffd3d1490014bad2e4",
+    "visual_seed": 252292800318832536,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb09f541934b3d953cafdcacdc21cac5083e51b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2476581758122736,
+              -0.027722169308403027,
+              1.048412576087733
+            ],
+            "current_z": 1.048412576087733,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.187306068072967,
+            "gripper_z": 1.0533369167047473,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24334449116410048,
+              -0.03206480328157964,
+              1.0533369167047473
+            ],
+            "object_minus_gripper": [
+              0.004313684648173111,
+              0.004342633973176611,
+              -0.0049243406170143
+            ],
+            "object_to_gripper_xy": 0.006120975826522439,
+            "object_to_gripper_z": -0.0049243406170143,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2476581758122736,
+              -0.05179135242835122,
+              1.048412576087733
+            ],
+            "finger_b": [
+              0.23687960403938318,
+              -0.027722169308403027,
+              1.048412576087733
+            ],
+            "finger_midpoint": [
+              0.2422688899258284,
+              -0.03975676086837712,
+              1.048412576087733
+            ],
+            "object_minus_finger_midpoint": [
+              0.005389285886445189,
+              0.012034591559974096,
+              0.0
+            ],
+            "finger_gap": 0.026372394383615397,
+            "fingertip_max_gap": 0.09551090894560971,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013186197191807691,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048412576087733,
+            "object_top_z": 1.1004936679448667,
+            "finger_top_clearance": 0.05208109185713372,
+            "fingertip_min_top_clearance": 0.015624327557140083,
+            "object_projection_between_fingers": 0.8329589110714687,
+            "object_to_finger_line_xy": 0.009837234116837826,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050255454472804856,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8974161322617744,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24750672011181912,
+              -0.030539025982409596,
+              1.245173117232637
+            ],
+            "held_position": [
+              0.25208623894934234,
+              -0.026495493984111867,
+              1.2402020373994223
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007876152519643216,
+            "max_held_gripper_dist": 0.007884057072669193,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004971079833214764,
+            "max_held_gripper_z_dist": 0.0049771076369782286,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08645764365535531,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25208623894934234,
+              -0.051706210420428035,
+              1.2402020373994223
+            ],
+            "held_grasp_finger_b": [
+              0.24347199279256607,
+              -0.026439914535403102,
+              1.2402020373994223
+            ],
+            "held_grasp_midpoint": [
+              0.2477791158709542,
+              -0.03907306247791557,
+              1.2402020373994223
+            ],
+            "held_grasp_object_position": [
+              0.25208623894934234,
+              -0.026495493984111867,
+              1.2402020373994223
+            ],
+            "held_grasp_finger_gap": 0.026694399124145174,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024719705700464598,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.058353579553416544,
+              -0.9982617916627736,
+              0.008261662032074346
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035673815127613448,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03691320796150825,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3152094581543571,
+              -0.3059700249384703,
+              0.8515395609624217
+            ],
+            "target_position": [
+              0.30976452614479266,
+              -0.3070532883628499,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005551643381502256,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1831816883217264,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395609624217,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525908541910428,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608476809499686,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519591629238621,
+            "release_required_pad_clearance": 0.053042384047498434,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1155600603301352,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007436394691467285,
+            "max_z_decrease": 0.007436394691467285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035129549786928865,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007436394691467285,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0211205960248865,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007436394691467285,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074364144588862004,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1654644459486007,
+              -0.36331474781036366,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1654644459486007,
+              -0.36331474781036366,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.16536459038378015,
+              -0.36233106307002577,
+              0.8079717824673321
+            ],
+            "closest_button": [
+              0.16546113789081568,
+              -0.3633265793323516,
+              0.7728564739227295
+            ],
+            "closest_ee_minus_button": [
+              -9.654750703552706e-05,
+              0.0009955162623258018,
+              0.03511530854460265
+            ],
+            "button_min_z_position": [
+              0.16544795036315912,
+              -0.3633194267749785,
+              0.7693724632263184
+            ],
+            "min_active_finger_to_button": 0.14583232149437356,
+            "closest_active_finger": [
+              0.03804551064968109,
+              -0.42540842294692993,
+              0.8109456896781921
+            ],
+            "closest_active_finger_button": [
+              0.1654683649539947,
+              -0.3633170127868651,
+              0.7766653895378113
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1274228543043136,
+              -0.06209141016006481,
+              0.03428030014038086
+            ],
+            "min_contact_pad_to_button": 0.0211205960248865,
+            "closest_contact_pad": [
+              0.16544795036315912,
+              -0.3636287704205308,
+              0.7904907937227238
+            ],
+            "closest_contact_pad_button": [
+              0.16544795036315912,
+              -0.3633194267749785,
+              0.7693724632263184
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00030934364555229577,
+              0.021118330496405435
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea93b24431164ce92823e560896551abb8b7a867378f75bef31eff51cf125b05",
+    "visual_seed": 2542440292216745598,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0246cb75a2085e78b724bfd0ddd26476b142f1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24408507630187487,
+              -0.02556274559298172,
+              1.049514788071593
+            ],
+            "current_z": 1.049514788071593,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18840822045218208,
+            "gripper_z": 1.054505898765978,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23957195034505538,
+              -0.03007504069500451,
+              1.054505898765978
+            ],
+            "object_minus_gripper": [
+              0.0045131259568194915,
+              0.004512295102022789,
+              -0.004991110694384959
+            ],
+            "object_to_gripper_xy": 0.006381936460813184,
+            "object_to_gripper_z": -0.004991110694384959,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24408507630187487,
+              -0.049625417525876306,
+              1.049514788071593
+            ],
+            "finger_b": [
+              0.23288373894948078,
+              -0.02556274559298172,
+              1.049514788071593
+            ],
+            "finger_midpoint": [
+              0.23848440762567782,
+              -0.03759408155942901,
+              1.049514788071593
+            ],
+            "object_minus_finger_midpoint": [
+              0.005600668676197046,
+              0.012031335966447291,
+              0.0
+            ],
+            "finger_gap": 0.026542082417026963,
+            "fingertip_max_gap": 0.09223583051807457,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01327104120851348,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049514788071593,
+            "object_top_z": 1.1000594287763394,
+            "finger_top_clearance": 0.05054464070474651,
+            "fingertip_min_top_clearance": 0.015163392211423937,
+            "object_projection_between_fingers": 0.8218976017553867,
+            "object_to_finger_line_xy": 0.010154972081144182,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04861791525903729,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9868144584364945,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2437331154225399,
+              -0.02893390093429829,
+              1.2458909379398106
+            ],
+            "held_position": [
+              0.24857420127775293,
+              -0.02479300423393126,
+              1.2408452677511104
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008126618324604214,
+            "max_held_gripper_dist": 0.00813444579863826,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00504567018870028,
+            "max_held_gripper_z_dist": 0.005052143725972513,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08571350644394671,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24857420127775293,
+              -0.050171060398940225,
+              1.2408452677511104
+            ],
+            "held_grasp_finger_b": [
+              0.23983790396597107,
+              -0.02457674626047922,
+              1.2408452677511104
+            ],
+            "held_grasp_midpoint": [
+              0.244206052621862,
+              -0.037373903329709725,
+              1.2408452677511104
+            ],
+            "held_grasp_object_position": [
+              0.24857420127775293,
+              -0.02479300423393126,
+              1.2408452677511104
+            ],
+            "held_grasp_finger_gap": 0.027044256450086988,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024804123450708777,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0807963680170522,
+              -0.9967051433929073,
+              -0.007127695937504175
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00333861500271269,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03682787268647093,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3233018946918076,
+              -0.3010428401896813,
+              0.8515396064738958
+            ],
+            "target_position": [
+              0.3159037141779744,
+              -0.30323370170793984,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0077157597880861345,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18442803170548228,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396064738958,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583054001730397,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08625658951506147,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520276499939925,
+            "release_required_pad_clearance": 0.05312829475753074,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2826592653239728,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007525384426116943,
+            "max_z_decrease": 0.007525384426116943,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512271450320013,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007525384426116943,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021225340133773283,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007525384426116943,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075254100521787125,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17160363495349884,
+              -0.3594951629638672,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17160363495349884,
+              -0.3594951629638672,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1701483944171251,
+              -0.3605805483515142,
+              0.8074313277533303
+            ],
+            "closest_button": [
+              0.17159275710582733,
+              -0.35950011014938354,
+              0.7723549604415894
+            ],
+            "closest_ee_minus_button": [
+              -0.0014443626887022387,
+              -0.0010804382021306624,
+              0.03507636731174091
+            ],
+            "button_min_z_position": [
+              0.1715846061706543,
+              -0.3595000207424163,
+              0.7692834734916687
+            ],
+            "min_active_finger_to_button": 0.1474651951634621,
+            "closest_active_finger": [
+              0.028925947844982147,
+              -0.3451995253562927,
+              0.8103463649749756
+            ],
+            "closest_active_finger_button": [
+              0.17160487174987793,
+              -0.35950031876564026,
+              0.7759342193603516
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14267892390489578,
+              0.014300793409347534,
+              0.03441214561462402
+            ],
+            "min_contact_pad_to_button": 0.021225340133773283,
+            "closest_contact_pad": [
+              0.1715846061706543,
+              -0.3618735047195872,
+              0.7903756909569918
+            ],
+            "closest_contact_pad_button": [
+              0.1715846061706543,
+              -0.3595000207424163,
+              0.7692834734916687
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002373483977170854,
+              0.021092217465323082
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "15132fda93f71a185d919345b275512f83e89734a9080a97ffcbe5748f7da28e",
+    "visual_seed": 6713418137385921766,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53a7809008814080fecda1874805fccfb1d7f4b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24718519176786322,
+              -0.021857308684577623,
+              1.0507650957705512
+            ],
+            "current_z": 1.0507650957705512,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.18965864736043014,
+            "gripper_z": 1.0559144842518213,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24265915631820847,
+              -0.026304686914127157,
+              1.0559144842518213
+            ],
+            "object_minus_gripper": [
+              0.004526035449654742,
+              0.004447378229549534,
+              -0.005149388481270112
+            ],
+            "object_to_gripper_xy": 0.006345405425045948,
+            "object_to_gripper_z": -0.005149388481270112,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24718519176786322,
+              -0.04607981086745206,
+              1.0507650957705512
+            ],
+            "finger_b": [
+              0.23623736288075597,
+              -0.021857308684577623,
+              1.0507650957705512
+            ],
+            "finger_midpoint": [
+              0.24171127732430958,
+              -0.033968559776014845,
+              1.0507650957705512
+            ],
+            "object_minus_finger_midpoint": [
+              0.005473914443553635,
+              0.012111251091437222,
+              0.0
+            ],
+            "finger_gap": 0.026581658513733425,
+            "fingertip_max_gap": 0.09415177943465938,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013290829256866721,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507650957705512,
+            "object_top_z": 1.1024716636611742,
+            "finger_top_clearance": 0.051706567890623,
+            "fingertip_min_top_clearance": 0.015511970367186883,
+            "object_projection_between_fingers": 0.8303742219374989,
+            "object_to_finger_line_xy": 0.009976195013515944,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049575889717329694,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.382332620587553,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.247113855401765,
+              -0.02498410086959165,
+              1.2489396615946855
+            ],
+            "held_position": [
+              0.25193735491025393,
+              -0.020889669049920033,
+              1.2437374293101657
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008191076863052387,
+            "max_held_gripper_dist": 0.008199288491584215,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00520223228451977,
+            "max_held_gripper_z_dist": 0.005208883865318148,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08622514260950058,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25193735491025393,
+              -0.04632429636865461,
+              1.2437374293101657
+            ],
+            "held_grasp_finger_b": [
+              0.24320566832085272,
+              -0.020510137647480244,
+              1.2437374293101657
+            ],
+            "held_grasp_midpoint": [
+              0.24757151161555332,
+              -0.03341721700806743,
+              1.2437374293101657
+            ],
+            "held_grasp_object_position": [
+              0.25193735491025393,
+              -0.020889669049920033,
+              1.2437374293101657
+            ],
+            "held_grasp_finger_gap": 0.02725092918007589,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025113662222030618,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07232798420350477,
+              -0.9973289383481235,
+              0.010180934852084487
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034507338815267636,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03691039132003664,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32249078110205187,
+              -0.3011565552104908,
+              0.8515395765306512
+            ],
+            "target_position": [
+              0.3163236380531168,
+              -0.3025614772399875,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00632514500189468,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18355549828337986,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395765306512,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540184670538398,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08599209961241598,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15194196282956676,
+            "release_required_pad_clearance": 0.05299604980620799,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0256371990508084,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 153,
+            "max_placed_release_frames": 153
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007096529006958008,
+            "max_z_decrease": 0.007096529006958008,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035065984203797695,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007096529006958008,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02140674869375464,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007096529006958008,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007096553600230001,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17202356457710266,
+              -0.35882294178009033,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17202356457710266,
+              -0.35882294178009033,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17190760162178298,
+              -0.3604002281594173,
+              0.8074520203871337
+            ],
+            "closest_button": [
+              0.1720118671655655,
+              -0.35882747173309326,
+              0.7724214792251587
+            ],
+            "closest_ee_minus_button": [
+              -0.0001042655437825113,
+              -0.0015727564263240401,
+              0.035030541161975015
+            ],
+            "button_min_z_position": [
+              0.17200566828250885,
+              -0.3588283061981201,
+              0.7697123289108276
+            ],
+            "min_active_finger_to_button": 0.14614649274997926,
+            "closest_active_finger": [
+              0.030938684940338135,
+              -0.3431413471698761,
+              0.8079391121864319
+            ],
+            "closest_active_finger_button": [
+              0.17203211784362793,
+              -0.3588297963142395,
+              0.773221492767334
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1410934329032898,
+              0.015688449144363403,
+              0.0347176194190979
+            ],
+            "min_contact_pad_to_button": 0.02140674869375464,
+            "closest_contact_pad": [
+              0.17200566828250885,
+              -0.3618646329184527,
+              0.7909026476834408
+            ],
+            "closest_contact_pad_button": [
+              0.17200566828250885,
+              -0.3588283061981201,
+              0.7697123289108276
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003036326720332605,
+              0.021190318772613126
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9a45e1d1e236d2441648c09050b2d7c52af97c0ea0cd3456dbd2d7dd86b4b092",
+    "visual_seed": 7150079403871702476,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4247f8875501a1d3fdee36c845305b8303967c18
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24700418351024966,
+              -0.03134585409638454,
+              1.0506792532175182
+            ],
+            "current_z": 1.0506792532175182,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.18957262599346247,
+            "gripper_z": 1.055719050336323,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24223742459443168,
+              -0.036048833174848,
+              1.055719050336323
+            ],
+            "object_minus_gripper": [
+              0.004766758915817987,
+              0.004702979078463461,
+              -0.005039797118804756
+            ],
+            "object_to_gripper_xy": 0.006696267824243239,
+            "object_to_gripper_z": -0.005039797118804756,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24700418351024966,
+              -0.055470185726153746,
+              1.0506792532175182
+            ],
+            "finger_b": [
+              0.2353994253407622,
+              -0.03134585409638454,
+              1.0506792532175182
+            ],
+            "finger_midpoint": [
+              0.24120180442550593,
+              -0.04340801991126914,
+              1.0506792532175182
+            ],
+            "object_minus_finger_midpoint": [
+              0.005802379084743736,
+              0.012062165814884604,
+              0.0
+            ],
+            "finger_gap": 0.026770390149479878,
+            "fingertip_max_gap": 0.09224727339819047,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013385195074739939,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506792532175182,
+            "object_top_z": 1.10108870610722,
+            "finger_top_clearance": 0.05040945288970189,
+            "fingertip_min_top_clearance": 0.015122835866910565,
+            "object_projection_between_fingers": 0.8120844202802979,
+            "object_to_finger_line_xy": 0.01045771215887299,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04862363669909524,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3173516434837,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24620105275389678,
+              -0.03483690097298722,
+              1.2485520546673172
+            ],
+            "held_position": [
+              0.25132701266047724,
+              -0.030557154222641915,
+              1.2434611711463055
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008396951365553473,
+            "max_held_gripper_dist": 0.008409024608644181,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005090883521011724,
+            "max_held_gripper_z_dist": 0.005099376218355323,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08629629523504727,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25132701266047724,
+              -0.056040285980401366,
+              1.2434611711463055
+            ],
+            "held_grasp_finger_b": [
+              0.24220147781687562,
+              -0.030557154222641915,
+              1.2434611711463055
+            ],
+            "held_grasp_midpoint": [
+              0.24676424523867643,
+              -0.04329872010152164,
+              1.2434611711463055
+            ],
+            "held_grasp_object_position": [
+              0.25132701266047724,
+              -0.030557154222641915,
+              1.2434611711463055
+            ],
+            "held_grasp_finger_gap": 0.027067792491540857,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024687455540539405,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07803076928829689,
+              -0.9967192527982282,
+              -0.021492560238802305
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003565449030530149,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03666444979581197,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32536848101032134,
+              -0.3020823828693272,
+              0.8515395100976554
+            ],
+            "target_position": [
+              0.31679528983403,
+              -0.30489424269499,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00902253637423625,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18465094415016187,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395100976554,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522482084136406,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08499601372882791,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15378462442128332,
+            "release_required_pad_clearance": 0.05249800686441396,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.06852784134456896,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007391631603240967,
+            "max_z_decrease": 0.007391631603240967,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512765822877688,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007391631603240967,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021225318970905755,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007391631603240967,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00739165229115843,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17249521613121033,
+              -0.3611556887626648,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17249521613121033,
+              -0.3611556887626648,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1742137193961296,
+              -0.3614648389640555,
+              0.8045645138807404
+            ],
+            "closest_button": [
+              0.17247721552848816,
+              -0.3611605763435363,
+              0.7694811224937439
+            ],
+            "closest_ee_minus_button": [
+              0.0017365038676414313,
+              -0.0003042626205191912,
+              0.035083391386996454
+            ],
+            "button_min_z_position": [
+              0.17247840762138367,
+              -0.36116051673889155,
+              0.7694172263145447
+            ],
+            "min_active_finger_to_button": 0.14413217260762692,
+            "closest_active_finger": [
+              0.03340569883584976,
+              -0.34599602222442627,
+              0.8081311583518982
+            ],
+            "closest_active_finger_button": [
+              0.1725015640258789,
+              -0.3611628711223602,
+              0.7735422849655151
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13909586519002914,
+              0.015166848897933904,
+              0.03458887338638306
+            ],
+            "min_contact_pad_to_button": 0.021225318970905755,
+            "closest_contact_pad": [
+              0.17247840762138367,
+              -0.3625918816998002,
+              0.7905942270409312
+            ],
+            "closest_contact_pad_button": [
+              0.17247840762138367,
+              -0.36116051673889155,
+              0.7694172263145447
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014313649609086765,
+              0.021177000726386508
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df512deced9c1e612017df552d96e91eac8ce5a4da330d1b4617bd1997d98350",
+    "visual_seed": 5215883297328012492,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b99031e6771accabd4c0f89f362c9219c635fb0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25017009315220196,
+              -0.02410010359036753,
+              1.048095644597316
+            ],
+            "current_z": 1.048095644597316,
+            "required_z": 0.8611063888054763,
+            "initial_z": 0.7611063888054763,
+            "lift_margin": 0.18698925579183967,
+            "gripper_z": 1.053142430727306,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24533980733738037,
+              -0.028706529112681456,
+              1.053142430727306
+            ],
+            "object_minus_gripper": [
+              0.004830285814821589,
+              0.0046064255223139255,
+              -0.0050467861299901
+            ],
+            "object_to_gripper_xy": 0.006674639851369644,
+            "object_to_gripper_z": -0.0050467861299901,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25017009315220196,
+              -0.04851533647585338,
+              1.048095644597316
+            ],
+            "finger_b": [
+              0.23896281199816483,
+              -0.02410010359036753,
+              1.048095644597316
+            ],
+            "finger_midpoint": [
+              0.2445664525751834,
+              -0.036307720033110454,
+              1.048095644597316
+            ],
+            "object_minus_finger_midpoint": [
+              0.005603640577018565,
+              0.012207616442742923,
+              0.0
+            ],
+            "finger_gap": 0.026864600270954067,
+            "fingertip_max_gap": 0.0929200806637123,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013432300135477034,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048095644597316,
+            "object_top_z": 1.0989651725717273,
+            "finger_top_clearance": 0.050869527974411355,
+            "fingertip_min_top_clearance": 0.01526085839232344,
+            "object_projection_between_fingers": 0.8259637293640925,
+            "object_to_finger_line_xy": 0.010185462527978858,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896004033185615,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1320273138200614,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2497317055740027,
+              -0.027284727983720003,
+              1.2461700752399443
+            ],
+            "held_position": [
+              0.25485336073470877,
+              -0.023040080301608035,
+              1.2410674725279502
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008383611391691196,
+            "max_held_gripper_dist": 0.008391623888067901,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005102602711994031,
+            "max_held_gripper_z_dist": 0.005110637559998521,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08683043808782748,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.25485336073470877,
+              -0.04858064111556784,
+              1.2410674725279502
+            ],
+            "held_grasp_finger_b": [
+              0.2457568414723946,
+              -0.022945444383526692,
+              1.2410674725279502
+            ],
+            "held_grasp_midpoint": [
+              0.2503051011035517,
+              -0.035763042749547266,
+              1.2410674725279502
+            ],
+            "held_grasp_object_position": [
+              0.25485336073470877,
+              -0.023040080301608035,
+              1.2410674725279502
+            ],
+            "held_grasp_finger_gap": 0.027201286259662536,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02498245965783163,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06567036569271162,
+              -0.9978402612509172,
+              0.0014886559330592466
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00370296961032944,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03672608002391429,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.321444197736792,
+              -0.30129543305231976,
+              0.8515396337477541
+            ],
+            "target_position": [
+              0.31441164942700095,
+              -0.30336735632650713,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007331411991128607,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18554382943003103,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396337477541,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528900172517937,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08581390500495638,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15441115453261497,
+            "release_required_pad_clearance": 0.05290695250247819,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8531691776823879,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007576942443847656,
+            "max_z_decrease": 0.007576942443847656,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515323747775039,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007576942443847656,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021164784178504203,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007576942443847656,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007576961723094235,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1701115816831589,
+              -0.359628826379776,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1701115816831589,
+              -0.359628826379776,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17167248982763064,
+              -0.3587011884299515,
+              0.8043373623584006
+            ],
+            "closest_button": [
+              0.17009529471397403,
+              -0.35963401198387146,
+              0.769231915473938
+            ],
+            "closest_ee_minus_button": [
+              0.0015771951136566154,
+              0.000932823553919937,
+              0.0351054468844626
+            ],
+            "button_min_z_position": [
+              0.17009529471397403,
+              -0.35963401198387146,
+              0.769231915473938
+            ],
+            "min_active_finger_to_button": 0.14397379660770157,
+            "closest_active_finger": [
+              0.045129574835300446,
+              -0.4222414493560791,
+              0.8109540939331055
+            ],
+            "closest_active_finger_button": [
+              0.1701157093048096,
+              -0.3596313893795013,
+              0.7765026688575745
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12498613446950915,
+              -0.06261005997657781,
+              0.034451425075531006
+            ],
+            "min_contact_pad_to_button": 0.021164784178504203,
+            "closest_contact_pad": [
+              0.17009529471397403,
+              -0.3598204065712404,
+              0.7903958788641081
+            ],
+            "closest_contact_pad_button": [
+              0.17009529471397403,
+              -0.35963401198387146,
+              0.769231915473938
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00018639458736896541,
+              0.021163963390170126
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "73700b8bef498e10faac80b2575953efdebb547512dd649144702a24aece090b",
+    "visual_seed": 2920465368995512831,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf5a1185c98c7c75336c745305a98d9750718a6f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24451254790195112,
+              -0.027619902080028506,
+              1.0489220818001181
+            ],
+            "current_z": 1.0489220818001181,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1878155141807073,
+            "gripper_z": 1.0541413960182815,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.23971315739126092,
+              -0.032366290382072005,
+              1.0541413960182815
+            ],
+            "object_minus_gripper": [
+              0.004799390510690199,
+              0.0047463883020434985,
+              -0.005219314218163351
+            ],
+            "object_to_gripper_xy": 0.006749988976870888,
+            "object_to_gripper_z": -0.005219314218163351,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24451254790195112,
+              -0.05172362892541308,
+              1.0489220818001181
+            ],
+            "finger_b": [
+              0.232795301428514,
+              -0.027619902080028506,
+              1.0489220818001181
+            ],
+            "finger_midpoint": [
+              0.23865392466523255,
+              -0.03967176550272079,
+              1.0489220818001181
+            ],
+            "object_minus_finger_midpoint": [
+              0.005858623236718569,
+              0.012051863422692287,
+              0.0
+            ],
+            "finger_gap": 0.02680081179285783,
+            "fingertip_max_gap": 0.09272367538221252,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013400405896428921,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489220818001181,
+            "object_top_z": 1.0994336246261416,
+            "finger_top_clearance": 0.05051154282602344,
+            "fingertip_min_top_clearance": 0.015153462847807013,
+            "object_projection_between_fingers": 0.8088583929868413,
+            "object_to_finger_line_xy": 0.010538087822065105,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886183769110626,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4208630343309538,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2436629480609519,
+              -0.030981949168476255,
+              1.2450215258336108
+            ],
+            "held_position": [
+              0.24882023045544926,
+              -0.0266481488314751,
+              1.2397445881897675
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008557187502596528,
+            "max_held_gripper_dist": 0.008565471221320908,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0052769376438432936,
+            "max_held_gripper_z_dist": 0.0052858009466631994,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08647951357071719,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.24882023045544926,
+              -0.05211286428567938,
+              1.2397445881897675
+            ],
+            "held_grasp_finger_b": [
+              0.2396633527078344,
+              -0.0266481488314751,
+              1.2397445881897675
+            ],
+            "held_grasp_midpoint": [
+              0.24424179158164183,
+              -0.039380506558577236,
+              1.2397445881897675
+            ],
+            "held_grasp_object_position": [
+              0.24882023045544926,
+              -0.0266481488314751,
+              1.2397445881897675
+            ],
+            "held_grasp_finger_gap": 0.02706104475530009,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02468073637198693,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0771892338523838,
+              -0.9969696616269759,
+              -0.009660019289595256
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035841477574704286,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03667306950628327,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32040017727794556,
+              -0.30150339818769356,
+              0.8515395275964948
+            ],
+            "target_position": [
+              0.3138896333896694,
+              -0.30336386884859007,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006771154465911015,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18581327253683427,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395275964948,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583205876113575,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644223103925262,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15333244783319788,
+            "release_required_pad_clearance": 0.053221115519626314,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4639031825854274,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007583320140838623,
+            "max_z_decrease": 0.007583320140838623,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518169457575205,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007583320140838623,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021129573873277525,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007583320140838623,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007583342579525411,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.169589564204216,
+              -0.3596253395080566,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.169589564204216,
+              -0.3596253395080566,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17119268693788992,
+              -0.3592678576669182,
+              0.8044309050086944
+            ],
+            "closest_button": [
+              0.16957081854343414,
+              -0.3596300184726715,
+              0.7692884802818298
+            ],
+            "closest_ee_minus_button": [
+              0.0016218683944557721,
+              0.0003621608057532977,
+              0.035142424726864574
+            ],
+            "button_min_z_position": [
+              0.16957172751426697,
+              -0.3596300482749939,
+              0.769225537776947
+            ],
+            "min_active_finger_to_button": 0.14414389015450527,
+            "closest_active_finger": [
+              0.04544266313314438,
+              -0.42435422539711,
+              0.8107998967170715
+            ],
+            "closest_active_finger_button": [
+              0.16959278285503387,
+              -0.35962763428688044,
+              0.7765263319015503
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1241501197218895,
+              -0.06472659111022955,
+              0.03427356481552124
+            ],
+            "min_contact_pad_to_button": 0.021129573873277525,
+            "closest_contact_pad": [
+              0.16957172751426697,
+              -0.3602333252344664,
+              0.7903464977214302
+            ],
+            "closest_contact_pad_button": [
+              0.16957172751426697,
+              -0.3596300482749939,
+              0.769225537776947
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006032769594724874,
+              0.021120959944483153
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9abb78bd1d40bd22a0f5614b0a6804a9e84f9f6898619f93b7a33c4e129dcbc5",
+    "visual_seed": 5622596216382631309,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf1772115071c25f55292a3559aee78a7902509a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24480971437151455,
+              -0.025347602060735164,
+              1.0473610640148627
+            ],
+            "current_z": 1.0473610640148627,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18625455600009666,
+            "gripper_z": 1.0525983450647398,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2403675721701493,
+              -0.0297295769958989,
+              1.0525983450647398
+            ],
+            "object_minus_gripper": [
+              0.00444214220136524,
+              0.004381974935163735,
+              -0.005237281049877085
+            ],
+            "object_to_gripper_xy": 0.006239738109051793,
+            "object_to_gripper_z": -0.005237281049877085,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24480971437151455,
+              -0.04954399795914298,
+              1.0473610640148627
+            ],
+            "finger_b": [
+              0.23401619005560192,
+              -0.025347602060735164,
+              1.0473610640148627
+            ],
+            "finger_midpoint": [
+              0.23941295221355824,
+              -0.03744580000993907,
+              1.0473610640148627
+            ],
+            "object_minus_finger_midpoint": [
+              0.005396762157956314,
+              0.012098197949203908,
+              0.0
+            ],
+            "finger_gap": 0.02649463609168248,
+            "fingertip_max_gap": 0.09526320355128112,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01324731804584124,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473610640148627,
+            "object_top_z": 1.0993842959693458,
+            "finger_top_clearance": 0.05202323195448311,
+            "fingertip_min_top_clearance": 0.015606969586344915,
+            "object_projection_between_fingers": 0.8340372467642588,
+            "object_to_finger_line_xy": 0.009857255128289963,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050131601775640564,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8467118705181296,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2444465419629918,
+              -0.02817055310650106,
+              1.2452841406477546
+            ],
+            "held_position": [
+              0.2491390531666144,
+              -0.024074699679718765,
+              1.2400059609042755
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008164242652829536,
+            "max_held_gripper_dist": 0.008172531213544075,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005278179743479106,
+            "max_held_gripper_z_dist": 0.005284609959652631,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08471665997868691,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2491390531666144,
+              -0.04933393456142727,
+              1.2400059609042755
+            ],
+            "held_grasp_finger_b": [
+              0.24036703377275828,
+              -0.024074699679718765,
+              1.2400059609042755
+            ],
+            "held_grasp_midpoint": [
+              0.24475304346968635,
+              -0.03670431712057302,
+              1.2400059609042755
+            ],
+            "held_grasp_object_position": [
+              0.2491390531666144,
+              -0.024074699679718765,
+              1.2400059609042755
+            ],
+            "held_grasp_finger_gap": 0.02673905890369942,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024740560672386003,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.054696495957577994,
+              -0.9984609396844872,
+              0.009167619883778566
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003690499414476179,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03687017101058621,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.32223569924130313,
+              -0.30372511458716256,
+              0.8515395701408501
+            ],
+            "target_position": [
+              0.3167403388273483,
+              -0.30505681867269857,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005654416137029091,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18459017814899736,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395701408501,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534893881844491,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08631885294047074,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1532149161115193,
+            "release_required_pad_clearance": 0.053159426470235374,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.343460242794922,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 154,
+            "max_placed_release_frames": 154
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007652401924133301,
+            "max_z_decrease": 0.007652401924133301,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511536403218667,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007652401924133301,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021134709331222617,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007652401924133301,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007652422354212475,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17244026064872742,
+              -0.36131829023361195,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17244026064872742,
+              -0.36131829023361195,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.17290076479084948,
+              -0.36096387694104826,
+              0.8078200226665163
+            ],
+            "closest_button": [
+              0.17243829369544983,
+              -0.3613295257091521,
+              0.7727096080780029
+            ],
+            "closest_ee_minus_button": [
+              0.0004624710953996525,
+              0.0003656487681038545,
+              0.03511041458851338
+            ],
+            "button_min_z_position": [
+              0.17242318391799927,
+              -0.36132287979125965,
+              0.7691564559936523
+            ],
+            "min_active_finger_to_button": 0.14561863074917092,
+            "closest_active_finger": [
+              0.046600520610809326,
+              -0.4260602593421936,
+              0.8108206987380981
+            ],
+            "closest_active_finger_button": [
+              0.17244349420070645,
+              -0.36132121086120594,
+              0.7765105366706848
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12584297358989713,
+              -0.06473904848098766,
+              0.03431016206741333
+            ],
+            "min_contact_pad_to_button": 0.021134709331222617,
+            "closest_contact_pad": [
+              0.17242318391799927,
+              -0.36205199958312556,
+              0.7902785847415882
+            ],
+            "closest_contact_pad_button": [
+              0.17242318391799927,
+              -0.36132287979125965,
+              0.7691564559936523
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007291197918659065,
+              0.021122128747935842
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f8533933b83d105b5f35f13aad33429b9a84ff2d4744675c0e0be57ecea1cd3",
+    "visual_seed": 1392656767673598947,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39ea682e891458b42f56a86f69cf5a8978826fed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.24773724822529297,
+              -0.022821019817333043,
+              1.0485556432886787
+            ],
+            "current_z": 1.0485556432886787,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18744907566926783,
+            "gripper_z": 1.0536210380909217,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24338586041561644,
+              -0.02731044220349177,
+              1.0536210380909217
+            ],
+            "object_minus_gripper": [
+              0.004351387809676532,
+              0.004489422386158726,
+              -0.005065394802242995
+            ],
+            "object_to_gripper_xy": 0.006252158765702023,
+            "object_to_gripper_z": -0.005065394802242995,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.24773724822529297,
+              -0.04667106421502689,
+              1.0485556432886787
+            ],
+            "finger_b": [
+              0.23644132002606527,
+              -0.022821019817333043,
+              1.0485556432886787
+            ],
+            "finger_midpoint": [
+              0.24208928412567912,
+              -0.034746042016179965,
+              1.0485556432886787
+            ],
+            "object_minus_finger_midpoint": [
+              0.00564796409961385,
+              0.011925022198846922,
+              0.0
+            ],
+            "finger_gap": 0.026389820227771074,
+            "fingertip_max_gap": 0.09405986406252184,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013194910113885535,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0485556432886787,
+            "object_top_z": 1.0998275440904783,
+            "finger_top_clearance": 0.051271900801799664,
+            "fingertip_min_top_clearance": 0.015381570240539882,
+            "object_projection_between_fingers": 0.8167807998378324,
+            "object_to_finger_line_xy": 0.010208799709110313,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04952993203126092,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.600614725769331,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.24775639719675546,
+              -0.025861054310526432,
+              1.2438984724377151
+            ],
+            "held_position": [
+              0.2524549793987029,
+              -0.021758752457188602,
+              1.2387672525085838
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008076817019437217,
+            "max_held_gripper_dist": 0.008084828618316664,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005131219929131348,
+            "max_held_gripper_z_dist": 0.0051373147861755175,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08606761637870881,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2524549793987029,
+              -0.047053408495391594,
+              1.2387672525085838
+            ],
+            "held_grasp_finger_b": [
+              0.2437848361671955,
+              -0.02169375739601929,
+              1.2387672525085838
+            ],
+            "held_grasp_midpoint": [
+              0.24811990778294918,
+              -0.034373582945705444,
+              1.2387672525085838
+            ],
+            "held_grasp_object_position": [
+              0.2524549793987029,
+              -0.021758752457188602,
+              1.2387672525085838
+            ],
+            "held_grasp_finger_gap": 0.026800807591129558,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024609970010548127,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0776382141912921,
+              -0.9969815573862876,
+              0.0002862320733184598
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003342595719941795,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036806929504851045,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3219223083939037,
+              -0.302936846418529,
+              0.8515395691376603
+            ],
+            "target_position": [
+              0.31544068023624017,
+              -0.3045276280228775,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006673986041860583,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18598179305354773,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518661210390445,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1550624299403716,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 156,
+            "max_placed_release_frames": 156
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007566332817077637,
+            "max_z_decrease": 0.007566332817077637,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351087929971845,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007566332817077637,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0212440146718847,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007566332817077637,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007566354412766735,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.17114061117172236,
+              -0.3607890903949737,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.17114061117172236,
+              -0.3607890903949737,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1714525177354503,
+              -0.36171197938989935,
+              0.8074102631583236
+            ],
+            "closest_button": [
+              0.17112950980663294,
+              -0.3607937693595885,
+              0.7723149657249451
+            ],
+            "closest_ee_minus_button": [
+              0.0003230079288173704,
+              -0.0009182100303108398,
+              0.03509529743337858
+            ],
+            "button_min_z_position": [
+              0.1711230874061584,
+              -0.36079353094100947,
+              0.769242525100708
+            ],
+            "min_active_finger_to_button": 0.14577993233983189,
+            "closest_active_finger": [
+              0.030194975435733795,
+              -0.3466833829879761,
+              0.8098387718200684
+            ],
+            "closest_active_finger_button": [
+              0.17114420235157007,
+              -0.36079448461532587,
+              0.775400698184967
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14094922691583628,
+              0.014111101627349798,
+              0.03443807363510132
+            ],
+            "min_contact_pad_to_button": 0.0212440146718847,
+            "closest_contact_pad": [
+              0.1711230874061584,
+              -0.36294518525359193,
+              0.790377296050458
+            ],
+            "closest_contact_pad_button": [
+              0.1711230874061584,
+              -0.36079353094100947,
+              0.769242525100708
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021516543125824628,
+              0.021134770949750026
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 8196756798222636436,
+    "physical_seed": 7200438613396186103,
+    "layout_id": "layout_00003",
+    "step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "workflow_spec_digest": "2e2ad2e9d30b5f14597f387450565291453211a04cbc46d0557bd9d93828fcf8",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a55f87f8bfd650ac0bdd482329be755f99d5c14470d6467cb2ac2398e62489c2",
+    "visual_seed": 3586230643423217274,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6038634529671703149,
+      2665526681626151468,
+      4292576788232893539,
+      8311943347811665881
+    ],
+    "runtime_workflow_digest": "d1489f051e6805c7dfd776a9f559a21216d9da235a46c093e1102974f1fdda51"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed75c15796c7c2454ff2025b86e3569914eeac49
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00003/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s04_pslr_htb_00003",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1d494c13f7c4a3449b74a07243ce57b312f3a3b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70392cca3164562940fe3dfe9bf51662bdaf19068259384d0ccb2925dad0a338
+size 6176070
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7c5308106d2224be597f345215706cb5d625eb32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55857f55ba46a6720a7f6598c19038d263af5c248c77e8958f5e57de917fc250
+size 6290683
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9fbf3e5fcde8cd35019445f9666e9eaf793b51a9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba79a48306773afa72612e599725a5036cbd541d099b91dd9ea1b7087ef697ab
+size 6326549
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d6b9a2fa9bed722ca073fc6949e62c4b55ba03be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daccfd97e7957b88e3df7033ab1ec33856bd90de2158eb3bbd75751173b3ca6e
+size 5105608
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9ea87069c96495628c6b3b57169a5dfb5dd107b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cf93b874cc7159eb5ae8372dcc82d570b3d767bae2699101fb9a2c48ccfe97f
+size 5687288
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3a8f40fa1544e1e10d5e86e35e56a859ffd5f59a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e03416c696e83a8599ca89f82b0fec322576d2f4c0608dc111a3cb75c833fa2
+size 8005609
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7f27fe60871ea8f022c43aa9187ae8f99bd394ef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12db90b2da9e0bc9636f0377ffd47f0ee4d5926c1ab00ac58a6d8ceac3f56bcd
+size 6284679
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..449abb744959b872589f9eaf5d49b18dc3117ee7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4262e564d7a091132cbd6a663c23bf2f666cb516dcc1e407ccaa128d210c73c
+size 6241239
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d0e3f484e61487377ad63f4a129f7232402b13ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f57cd7a007fa5e4ba438b3da405d240fe13add045c2875bacd69d00d7714962d
+size 6704892
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4369e7c641b2c87aaa7a2e99466900af12aa0e72
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3729f19775b6918c7995762364fcbc3b28b450b64ae67c50e221e3de7e2a8bd6
+size 5897194
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..10bfffa908dc10e8241c81e21f085fb229ba91ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ab44c485b12e4509baa9fc41e9543d59447681b30b7b7a343189f1eb1eda08a
+size 6786857
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..652b809c1fba0564b1d3db72388827864ae29221
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d58985b0f0ff2d22e733c847dd5a6a113561c090eb752c2f92b229b108e93215
+size 8313101
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..60ab5f259763028d326f05b7d44de8860ace7336
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20b337afa38542b056e6cd13b66f9bf7f92aaf4058c0fe331e254c154899a5f7
+size 6447936
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..89cd76ae326331ec0c19011facb56ff74063a669
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:390d852189d1392ed79ee610df903e0506f416be20932c7ebf576b91b53e7542
+size 5922061
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bb28e1cb3a9713b3ece5b6ba5588866f16acf609
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cab1987129d8a55a90c3a6613fd49023ac8f73438019e90439778449d8c41b7c
+size 6261666
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c10622d53942ad2e2e5941a86e3f8f1f3cbf03f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65f99b11db3c0fdadad23cc8411126e1f1f024bf94faf007c158ea131f036ee5
+size 6074393
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..be6d54c10bc9b67ea89186daf0a35e581127896a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d51e824027025daeb609f3515dd33db6d855f308f3de46d09b354b35eba9dc
+size 6368171
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ffb8f7c9f9f59a9ed8c6c70671a150dd2f83faf7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee5ce26064f122cfd65042dbb7a6edf15819248b9e039345726046802873f7b3
+size 5951571
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..93ac2bc5cf5a2632d0724a61552c2a86774f5487
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34e07cc75603781e456e8cd53ba260d9d432ca4da1c5fa9a215ffbde911b109e
+size 7769809
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fdfd44be14f2b64f7033ffc0f856bf486010134e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:637023211ab0fd1f5b78de9a5ecb3a2e064d2059b4bc2ea50dea71c94e4ff7ad
+size 6615487
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..161047083aaaf920326039508575f32dbc0af94e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6426a24ede990576756f4ba6fb5b96a0842389f7bb15b75bcda7141c7256d3a1
+size 7236065
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f6884b424e6bc9f81b6b22360a8bd0b8750fafe3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f55a42d9acfc5300cd0c515ddf97a95f825477eec630c76975c695c6c02755e
+size 5562448
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..77828282a85fb39d37d4abb99d215a65b85212c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8256d5cbbca60167103c4e8c7087cde5a3daaa6cf1b20c58bc107255a571891f
+size 7573647
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6aff29cce7676ca65bfdcd4ed593dd2f6538bfd7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f36899f444cb0fd830cd062ca5188c7f98a66fb8fc5c03fcb022e596d42d9f71
+size 5653061
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..daa80d56e127fd7afb3e42c4b229094d1dec11e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:134452e80ed86b648b7bb9aaf4d8358f06a282fc9693bac50ff17761b20ae6aa
+size 7680485
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bb28c555ef18a54efe3302e009505551923f869a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9c18cd2ed7ed8814dd9a7c58fcf0be668554de4d2473668952b73f0f5dd7da4
+size 5472139
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7591084b8ca666a795a6a0e29288e2f1f6aec637
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:440b3c241b040eab82ba98608f23308953c5941125c9301abb02d7a45ce1bbb2
+size 7276775
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0317020245ac8c39aa5566943855884da9331d49
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69acedf456a77b3ab3120d4442707924b25fdde9e19b3eb37efc9a1778d5d238
+size 4894020
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..76f7bad537044505eb064fe30366660be642fe07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b3137dc19951da96432570c3fab107d2920c564b50a728abe84239fff6cad47
+size 7777164
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b7b31c75578cb3731317d00fdbe9c0affaf7dccf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53121ea09190c01f2f1f7f0501e3a46ae697a6713b38893bd574e624028803e8
+size 6008741
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2fa213351d30f783f150242cd619dcef3f93fb54
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb02a61dd231c9ffc9278fa428066d821066fe32e3a87202a48f52a6a7b2d08e
+size 4968309
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5919f7c961919064904407d8c45486899af3da2c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:689b2dcb1373a03e5ca5c38c7af69d1c6cada22031af0f303ac6d3a638097c07
+size 6058309
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..739281a208982319cd428566c00f0ca2839becb5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b86c7b6a6bca2a16babb630ff0bc27fc113ef2b809628eaecaaa8ffdfcbfe066
+size 6801268
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..412f7be6eb9375e51c1d9f2cb57ecaddf7b8cbde
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16c954e4a3909aa2b6bd19e29c504bcc912f62b3e2324d305a893c97b529bcea
+size 5071820
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..192509bf42d063d3c0f2fa8c8f2939b2f3a09366
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b2c8a03c0de01c392ed3593e907eab7745a27fa37c175e1fd5a443858c95e76
+size 7486922
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..531ab65f77bdeeeff9a9203e775d2d9642aa2e10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f628f7268d10324dfb4da5aea0a2f220d3e02a2f2551572eb69170f41c250fc
+size 6456320
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1a9c8312f3b8f0d0a4a69a4da4840f33b38fee4e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d82e929ac6e979c467214dd5b37d9c379f4dd36ed6a768c1ebd1a898d5960e6
+size 5810251
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..397b73486fe844ae2bc472b1834a1f7e3275187f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ae0ed386238ea6927882e2772d3cd36d4fd069a17e9fb5268856dbed2ddf5fb
+size 8517002
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a99e7bfe273be47f6bf686a7cbe8bcc46178eaca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0249189e93348fe0bdf439aeb29f9275b0d9cb2089cbf774945de1f6788f8520
+size 6406301
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..310bd371b192922aa4a50bb5bc85a3817934a242
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ccb294feaa22f419911b2904a3d688c6c419bba6a950152cfe69190c6dddcaf
+size 5261203
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2f8a5c556a0cdd4fb752e9cbd132f0ce6487505b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2275b5f2b4b779c75c36996f82eb824213b95e4158fa3fae71f241e7e5adf282
+size 8670980
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7443ca14d9e13318ccd659a5bb3c33612c5253a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13a8a3f3c7153fabe7328fe0440683483be2c392c847de6c002fed012a9e7a5e
+size 7042295
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3e2ed99098057836b3964e00ef446aa88201a161
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80a9a27335444a15bd2148379f751328fbbaf01d399b280815b9b1d727ce20a7
+size 6864611
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5bcf62caa7b6e22a49a8e0f3843c6ae8bd9d0549
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09ff110cd0614266a47804ce2284c7673c7261f9ec2be5bd52357c16dd97a530
+size 4701006
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc0fb941374e5f30a98744b924542acfe9367300
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:182266ce1cfeeb0f46da16b5fd4eff4982a99300f17b1a5f5b2c69c920e85fae
+size 6904792
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a5810fc464bca4916e6358df7524a985fc281673
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ce7428704b4223d04ffbde042d8c0560c45fc0f401640f55e276fabc2250c60
+size 6987441
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9e306dddd6ce7d5678e33cc3937e7df387cf1784
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f45d316d120b278848fa2e43cef8df5dcd1057a10badebe23530a54f8fa5cd04
+size 7720603
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..72919585977d673d2073fc25d7d94455e49d85d6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:689a7b2b1f766ac3580812b73c076e1e91d797fb17c92cd4d9d244f623106b3b
+size 7348271
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2f0efd2604bbcbcafd11d8b7004750f32f28334d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ddc893f858489c7bf0091cf8c258de5e04ecd42accc39fcef9d67faef9ade9c
+size 6774089
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..54b5753e74389dc7c7c8e8473f884e2185a142ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c75f65b821fbb2e07d2bbfb631bf3dbfe4e52929300a8425ac22900a743d692b
+size 6764946
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9bcfa1f712691d2078eeca3966362f473fdc2d3c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c216ca6ea42f9767c808ec2fd68a0d67f5fd72810d852b919d149dc74c3178b
+size 7060375
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0095fbaf03ddf36fce287d392a41eb26aa59a7b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5021b3677ebf9680130d641c4235563ededc1e2101a3e4dd390b13cfd906e991
+size 9821979
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..12031e34d62e08ce38a153f52de0b83fa8bca042
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38239cbebcbd4bb8fd6eb04745b0af6fd8cffb620601cb5e03b2d6adb1090493
+size 8053382
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9a6e74279338b8048e7a5b4767c1e32b8314dc4c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f477a2ebfb739b6b5ac0b44f3704b8bdecb50c2db5ccc717c766179bde69fdc2
+size 6473365
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8beb976a940bfbba28c081b31a92950602508aa1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b18c36e12f8471301491bf21397d49a67fd56341cec05146e40f0b1207119474
+size 7134634
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..75da3123c73a6851e74f33c01d06bdb9a54df12a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76a988ba17c0421874830021eb13dde5ff79262c5869faf9610920b7aa9b8c7a
+size 6594676
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..706073009614def9a2a4736f1407c2473fd48871
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b8eae5b0f79e54394613e8e151dc60c6a5e61304ac95fbc3286cd1600e93631
+size 7237129
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8ef6d6088c76a530c8ea6c4f0117dd33b780fca6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bab5b4f9a56d4841167d3bc3af46d04dc0bc4683ac9a1793a36196056f5635c6
+size 6015168
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..60d17233a26566fdbf647afca223a704e7d5009a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09c875bd4de977da87b8e2f472e575d0cb493b657a7a26187cfa370e94bf5eb4
+size 5561609
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0105cf5f9aede8e9e4a61c23e7af4a5e14f33fb8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ab8cdcfb9846a17b18bf9f245d1101bc17a7cce028d13bb356f796b61d00ba6
+size 6567753
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ced24ed4a34371838bd4fd3cf4ed1918aeace49e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c6ec9b8d1a89127be1b967cd689a0ea1bcecb203a808e184dc322ecd03d2bf9
+size 5940796
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..27ed3af07a0e749a53c9a76f77410c898cdc5000
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd4e646ef92326b072bf8018b7b4edd1416117de1965804ecb3e4f09483b4f23
+size 7312933
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..939b5a57cf09a043199ed67f2ea41fb6c5db5afd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f052652a2d047bc03aa723c6497cb1a075fb676c0d6139606b2ca73e4d625a8
+size 6281887
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b06e5f638760451020a7e635d1abfdf9b372d337
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67f4553f5a0820df2250b6bdbf7ec4b7864f731ec759436f7517a48457a13ce7
+size 6574978
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..70247703cf5291c1002288a4ddccfef4d47e9a29
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ffc8a22858caad4da9f8e0cfd7128db6611fe1ef01059bc69d55a70e60fdc81
+size 7676924
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f78d4556f5d4fcd5de376a1fcaf0fac9382dcfd6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:802d7c890a7f0251299a05632f2d17512976441331fcb28d61857c0af47c9342
+size 6972796
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..285d41e443e16c9201434acd778c2ab60418d57d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dccfddb50a35fe69fcb9b9515b807761f080e43fc13e8a82c2e55eb42d40e31
+size 6874549
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5c9c12ff65c15d88d6e015e05ababcf4ef99ff52
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20c9a228971c34268c590bca6fad035659de22f18bca709d5a40192842071703
+size 5789638
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..480246ce4e071de61346716ef90f67b3f844cde3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1aee7f9e5bc4e8a9175b7a536ad214674d6b28ed8e91859fb215a303b695471
+size 6631235
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b7dcf02990e23a8b81b8e0c49ae8196166e543e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d45b584a9d9d64ddb6109f90045919a35dd00dfc5660272e18af8772053731a8
+size 7228629
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a86d03bb3c3255a879c37e4fb434e97658e2027c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:655d9cc7eb8df6ea5a076fac13b01f4b4b2c06c4d227b2e5e05a1ebb7b78d836
+size 5738627
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e63c05bc542759916af18f70687bcdf32d984f77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc9e96a56500db926180a68736829ef649705abfce58f5af9adbfb18730f084e
+size 7900442
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5d4ecb0a2f167d652128f3855cab5b0ace032a99
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db6dc71dda8218ecb707484488742448e1014d2b0e024d7877533ad383373d4e
+size 6164522
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dc494d85a3fe72bb88709eaef3a6a3913e16421a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5ca93213d8fb292d5904a9145e584a9d27fcbba105fa576f942dc615a2052b
+size 9386579
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..97527f0e63e09dcfa8574b2ea4b232ba7f9552fc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0c13f8a226331a5a2cd86e0b8c1b82cc07d8103b602d743fbf7d9fd7bc1cc5f
+size 6650192
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d94c4adf2440c5c01f41e13caae69b0fed77e020
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11f12036fbc54cc070975f68812843dad3da4a9239ccdf2129db3f0ba182f077
+size 7728402
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6ef00fa0238cb065d000949a6b1919a141c17c11
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd9174bfe3c92d451ed2f023955614c3b67ed5456c41b4b8fd807fe97d332319
+size 5958911
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a782f7e29f1f511f27020b69ffd2211b3f56403c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6ecd98f7641042a8aeabf9dc4b7d3370a1ce55cbb3fa8371fb2a5a3cd224330
+size 6427789
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3d86ab6ba683bec606dd0455f0bbd5c6d949baf9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e9ebeaa6e9b9d3140630cffecfff0db35bce1d52ea067e98bb1c8f9208c6a90
+size 6432186
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..95047f7f57a985719ee58929c7609c5b3c676c89
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab0ec290034b38b972046a0e820b92fa67664f341776c4ec44a68fdd0d7c0243
+size 6748079
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..49e4e6ed8ab6219c081266b31b9b86313913ee4e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:805996bd09d802a68d318ca771253d7ffe43ba4188956859ff901fd22d61b4e8
+size 6639891
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..85d2345b4e08b5d1d6357b398039ab0d80395b32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3b22c5b0e7cbd6c783eb64c03fce92d76b167b2c4dedc30bb9ee588b00c536f
+size 5827180
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0089.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3494f341be3599b223cda1afd801c33ee9c0e284
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0089.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48949e814b1ab1ef9fac913aada58dc78a5a9d454adf0a4dc4f1a1bb598a0028
+size 6832593
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7e2e754ef7051bf0112f7c4fd6f5f06101f06023
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f86b2fb7b3511a5a45d052c0e13f787e2e45937c35a590aff6388e66f607f95a
+size 7830856
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1237b039b62fbbc156075c9855624a23da46d29d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b2ee8fd794faf0504c5852876bdb78372c73356bae1adf9757d97523b9db7fd
+size 5815349
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9393aad4d04ba0140964fe2545d92246d91c41e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdb47612b9a73054a197463e72af7e9fc316fe1aa701f384f5bcdf8dcfce485d
+size 5706536
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cd8ddf09bd73cb32c7a69e226836fda0b6eac020
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e63724229228babd1d65611fc0c63b1c029830f650c51b6f5148e88a85ed1a28
+size 6516927
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7b5ad9d610fef74ba0d4528e24686c4bcdfd2ca9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f91a3497450956f81be6ee0e681324ad9838db8ed1ab2ab8e6b44651e9a4954
+size 6872711
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e39e817b0201775917243e2523b7266ad76f2ff9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a784e55406cbd50b38c38a6e23c24474ac436298e84504f64b136750b335cea3
+size 5823750
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1b05924816b08bd32ecd1ef3569737d4219afe3c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bfd2a72812ef5a20b9567fd7c7a168105484d5b2b1ce9f17b6738767d1c8b7a
+size 5923262
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1fef732267ef435ea97dfc2c4db426a96ac41f67
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4665d8db5beea5bee2412142d772d4779619f959aabe8cc38015f3917dcf43a4
+size 6425348
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a04641d474b1b57d19fc5e688f20ef96d2eb150c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:658041e287a1950a467b7618e9c3f8054caeaf06c61449d336ad731243ad1e6f
+size 5846464
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1c1a6def20ca4056a66532fecd3343bdd0c66e3d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19d44b9b4b7a617158ca2f665ee65c4c1c9013cdff6dafbae74be006f77b756e
+size 6610832
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0100.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dd5876829ab55ee682e88eddbeba88168a8ef650
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0100.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a66320688b68fae63f5e80a7f4694ee2129ab8df445ec9e384d607cb1b6f27b
+size 6068416
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0101.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0101.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c7c609e07086c37f93a82a2acce2778a2297d5e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0101.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5cf3ae3b5b50672359f1dcb47f8f88adc07ca52909a3f1067613f6eec35b5387
+size 5681631
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0102.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0102.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8bf834953306ff0c0b2c9cb8e767dfebdce1903d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0102.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c16fac5d4f430e806d79b668e770b214b55c9a0cd1da6a565bd38c5d3f51843d
+size 6116856
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0103.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0103.h5
new file mode 100644
index 0000000000000000000000000000000000000000..25b1bb07d51ff056a79d637d719c33d9ec395a38
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0103.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35e978ce5197445280da6f4db3e7fababd29044af75d67d8193b0e7831f50449
+size 5932269
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0104.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0104.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc543ea83d3ca4a0aeee05c31d0a5592a08dd962
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0104.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1762f1a37fc0d2658ebfc242472c6ddb90e8f5fc6647741ca8001908b038617c
+size 7478343
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0106.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0106.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cae50b7cff741f6b6718a2a2792ef63e1185a215
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0106.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ed2235cc8165fda2adfe2b4a4dc5470e29266facb4e65af8672d7f8fc18e749
+size 5850815
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0107.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0107.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cffb2f180f6ece5899f2991da5980d8217033594
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0107.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:005ee4131e2b7c8ccb75a1bff0c2352027799c126e2ea38dea35dc73355c372c
+size 6247607
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..ac8a812fd619dedcb6bffeabae75a9c303ce4fe2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":1,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1225,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1228,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1225,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1226,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1240,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1230,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1240,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1239,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1229,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1226,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1225,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1230,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1231,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1230,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1228,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1228,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1228,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1229,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1228,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1226,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1230,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1229,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1230,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1228,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1226,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1225,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1226,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1231,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1229,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1230,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1228,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":78,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1231,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1231,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1231,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1229,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1228,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1231,"success":true,"robot_type":"ur5e"}
+{"episode_index":89,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1229,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1239,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1230,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1229,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1224,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1229,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1229,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1230,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1227,"success":true,"robot_type":"ur5e"}
+{"episode_index":100,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":101,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1228,"success":true,"robot_type":"ur5e"}
+{"episode_index":102,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":103,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":104,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":106,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1226,"success":true,"robot_type":"ur5e"}
+{"episode_index":107,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5615062142c5453b71d4d928d24c02bb8957e52a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-04T17:00:19","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[-0.5368987974302616,1.3672093241323404,0.71338606911949],"aabb_xy":[[-0.5782033404939976,1.3032093245642233],[-0.4955942543665256,1.4312093237004575]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_1","position":[0.5299763788125162,-1.3886828318422517,0.71338606911949],"aabb_xy":[[0.4699763771695943,-1.440682981134196],[0.589976380455438,-1.3366826825503075]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.4018281039592535,-1.2961001946452746,0.71338606911949],"aabb_xy":[[0.37824298049535865,-1.3611001968907062],[0.42541322742314835,-1.2311001923998426]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[0.7093261167627991,1.7322228417378613,0.71338606911949],"aabb_xy":[[0.6942238153017808,1.717121320106799],[0.724428418223817,1.7473243633689228]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.39032819547346476,-2.1439041509540204,0.71338606911949],"aabb_xy":[[0.37282819522841526,-2.161403938793587],[0.40782819571851403,-2.126404363114453]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[0.6439401299131196,-1.9591161065529483,0.71338606911949],"aabb_xy":[[0.6069060204850598,-1.9934933138866573],[0.6809742393411793,-1.9247388992192385]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[-0.5175770485501727,-2.0905138732243964,0.71338606911949],"aabb_xy":[[-0.5301797476872493,-2.1031092694492624],[-0.5049743494130964,-2.0779184769995314]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[0.5781338328650982,-0.06342444629532684,0.71338606911949],"aabb_xy":[[0.5181338323572452,-0.12027117998124813],[0.638133833372951,-0.0065777126094055385]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.5683232790420298,0.27851531446520994,0.71338606911949],"aabb_xy":[[0.4883232779689095,0.2687372681278255],[0.6483232801151502,0.2882933608025944]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[-0.06773048552214689,-0.25548453387178727,0.71338606911949],"aabb_xy":[[-0.13173048263425258,-0.3045169036661979],[-0.0037304884100411995,-0.20645216407737665]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[-0.3164581368939362,-1.1109979009275912,0.71338606911949],"aabb_xy":[[-0.3397399790920675,-1.195997902224819],[-0.2931762946958048,-1.025997899630363]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[-0.36201432375140247,0.8498186033253687,0.71338606911949],"aabb_xy":[[-0.4260143259718095,0.8054455192000803],[-0.29801432153099544,0.8941916874506569]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[-0.33061117481763713,1.3642685720822065,0.71338606911949],"aabb_xy":[[-0.3679424513428798,1.3296155172873543],[-0.2932798982923946,1.3989216268770588]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[-0.25128000476792095,-2.135929694026589,0.71338606911949],"aabb_xy":[[-0.26374736287765665,-2.1483950186599126],[-0.23881264665818536,-2.1234643693932655]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.6405445675968298,1.027127153064836,0.71338606911949],"aabb_xy":[[0.592738399983061,0.9621271503577769],[0.6883507352105983,1.0921271557718948]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[0.5287247133465598,1.1030558777555894,0.71338606911949],"aabb_xy":[[0.5158528098456195,1.0230558773417533],[0.5415966168474998,1.1830558781694256]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[-0.15258787643559246,1.5406480435295395,0.71338606911949],"aabb_xy":[[-0.16080242155127641,1.5319714532318978],[-0.14437333131990845,1.5493246338271804]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[0.520977513114085,-1.566171721726067,0.71338606911949],"aabb_xy":[[0.5128498249207718,-1.5750853301367747],[0.5291052013073982,-1.5572581133153596]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.30206577089462844,1.127997942897108,0.71338606911949],"aabb_xy":[[-0.3520445794049443,1.0779979428913893],[-0.25208696238431255,1.1779979429028269]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[0.2937716459301234,-1.0617506125902014,0.71338606911949],"aabb_xy":[[0.2387979238937905,-1.1167506121544346],[0.3487453679664563,-1.0067506130259682]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_20","position":[0.03954789994939634,1.4513741739534054,0.71338606911949],"aabb_xy":[[-0.024452100311074466,1.4063653746004774],[0.10354790020986715,1.4963829733063334]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[0.1518356312983512,-1.1507412574958715,0.71338606911949],"aabb_xy":[[0.147699774965651,-1.1882412569402288],[0.1559714876310514,-1.1132412580515147]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_22","position":[-0.36352247254500836,0.03579069448674499,0.71338606911949],"aabb_xy":[[-0.37436295077152326,0.01860441319609618],[-0.35268199431849345,0.0529769757773938]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[-0.2499892844947627,1.7572423547393439,0.71338606911949],"aabb_xy":[[-0.25974527400393654,1.7474798206801094],[-0.2402332949855888,1.7670048887985783]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7036844731435326,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6738.png","name":"6738"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6738.png","name":"6738"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5622.png","name":"5622"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4934.png","name":"4934"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7237.png","name":"7237"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8161.png","name":"8161"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":823.4628964392992,"rotation_z_degrees":43.56790149375973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006602523847158301,0.01590453456301399,0.008807163040719185]},{"name":"camera_2","offset_m":[-0.011592890637375168,-0.003894547912078307,-0.015103340294121944]},{"name":"camera_3","offset_m":[-0.014382246102870914,-0.012230910227645976,0.009546429205795012]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018497970021270041,0.001840185395438045,-8.091565894670252e-05],"end_effector_yaw_offset_degrees":-0.934893050378701},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013761999402458055,-0.0011063843040474918,0.0017569321041938008],"end_effector_yaw_offset_degrees":0.4473529406014458},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00022325580134713698,-0.0019950460614490814,-0.0007081819322614358],"end_effector_yaw_offset_degrees":-0.9019357326157489},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006951050721548551,-0.001415504397576847,-0.0016854992298471609],"end_effector_yaw_offset_degrees":-0.7296976566397615}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004086198600386373,0.00045225870234476533],"position_m":[0.14831380139961364,0.22405225870234477,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014154998291563315,-0.0043539490818479765],"position_m":[0.24098450017084366,-0.31405394908184797,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017713889075791456,-0.001515729861415811],"position_m":[0.32272861109242085,-0.04311572986141581,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004657443278770977,0.003663018659407908],"position_m":[0.35565744327877097,0.32206301865940795,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"392bba0750e3e1e3921c4f2eb25240acb022b6b78257774701b228a04c1916b8","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0000.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6738/tex_ceiling_textures_8161/tex_floor_textures_7237/tex_table_textures_5622/tex_wall_textures_4934","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3878897624647413684,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3878897624647413684,"visual_seed":3878897624647413684,"scene_id":"lab_003","finished_at":"2026-09-04T17:04:08"}
+{"episode_id":"ep_000001","started_at":"2026-09-04T17:04:13","dimensions":{"distractor":{"count":30,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[-0.33600983012294366,1.5229235105132726,0.71338606911949],"aabb_xy":[[-0.3530199274129943,1.5067890220149986],[-0.318999732832893,1.5390579990115465]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[0.6341882393329032,-1.1638640571404366,0.71338606911949],"aabb_xy":[[0.6250283603890266,-1.1703952751839735],[0.6433481182767798,-1.1573328390968993]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[-0.10642156501619593,-0.17397379271664004,0.71338606911949],"aabb_xy":[[-0.17042156212830162,-0.22300616251105065],[-0.04242156790409024,-0.12494142292222943]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[-0.28610364056135384,-2.220769159077344,0.71338606911949],"aabb_xy":[[-0.33607670609386936,-2.2707691588898773],[-0.23613057502883844,-2.1707691592648115]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_4","position":[0.6389828655253593,0.17638422943351983,0.71338606911949],"aabb_xy":[[0.6280770894377965,0.09638423303469068],[0.6498886416129219,0.256384225832349]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.49093175979882253,-0.5433142294107718,0.71338606911949],"aabb_xy":[[0.41093175836869533,-0.6228313844233813],[0.5709317612289497,-0.4637970743981623]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.5535827728695933,-1.8407012025864224,0.71338606911949],"aabb_xy":[[-0.5785827728021112,-1.847583870807346],[-0.5285827729370755,-1.8338185343654994]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[0.6572626529740864,1.6338182087047382,0.71338606911949],"aabb_xy":[[0.6533487797786639,1.6250691932981816],[0.6611765261695088,1.6425672241112952]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[-0.11614464460060314,-0.461459358907927,0.71338606911949],"aabb_xy":[[-0.11958532084066031,-0.4653207918822916],[-0.11270396836054597,-0.45759792593356263]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[-0.03097242809694134,1.084685313996951,0.71338606911949],"aabb_xy":[[-0.04685692136226649,1.070332373698127],[-0.015087934831616193,1.099038254295775]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_10","position":[-0.4321394299832019,-2.5556802583483083,0.71338606911949],"aabb_xy":[[-0.4543119569598526,-2.577855925504431],[-0.4099669030065509,-2.5335045911921847]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[0.02076477826887002,-0.6958620335880128,0.71338606911949],"aabb_xy":[[-0.013010780921822954,-0.7099005288011778],[0.05454033745956299,-0.6818235383748478]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.018186836774112147,1.5175157343967247,0.71338606911949],"aabb_xy":[[-0.024498936310450584,1.511748795143506],[-0.011874737237773717,1.5232826736499439]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.5053220536230882,-2.3361990372647448,0.71338606911949],"aabb_xy":[[0.5008914242682481,-2.3416474089994272],[0.5097526829779284,-2.3307506655300623]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_14","position":[0.39520907840527264,-1.9042774201366288,0.71338606911949],"aabb_xy":[[0.3452090771214327,-1.9542562745272507],[0.4452090796891126,-1.8542985657460065]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[-0.44927692302455546,-2.0485853531599663,0.71338606911949],"aabb_xy":[[-0.5392769195254271,-2.0944969955784245],[-0.35927692652368365,-2.002673710741508]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_16","position":[0.5130553443849262,-0.8307634244852167,0.71338606911949],"aabb_xy":[[0.4905553441414108,-0.8429680591449887],[0.5355553446284416,-0.8185587898254448]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[-0.12789837828023187,-1.4570057595146617,0.71338606911949],"aabb_xy":[[-0.14539837852528126,-1.4745055473542283],[-0.1103983780351825,-1.4395059716750946]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[-0.21729284061741672,-0.6720790313930469,0.71338606911949],"aabb_xy":[[-0.23918258820635754,-0.762079028682296],[-0.19540309302847594,-0.5820790341037978]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[-0.20138933785787017,1.7950681218283937,0.71338606911949],"aabb_xy":[[-0.2663893360137892,1.7687718772784817],[-0.1363893397019511,1.8213643663783061]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[0.3841825228301301,1.4428692871409141,0.71338606911949],"aabb_xy":[[0.37073599619608677,1.4293994354878226],[0.39762904946417343,1.4563391387940052]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_21","position":[-0.5915916796924299,1.1818343881284625,0.71338606911949],"aabb_xy":[[-0.6555916820352314,1.13689353688433],[-0.5275916773496283,1.226775239372595]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_22","position":[-0.6532755206593089,0.470066314739646,0.71338606911949],"aabb_xy":[[-0.684422439502892,0.40006631605283877],[-0.6221286018157258,0.5400663134264532]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[-0.24367238556586546,0.6688688795549851,0.71338606911949],"aabb_xy":[[-0.2497093985665302,0.6628421784860369],[-0.23763537256520076,0.6748955806239333]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[-0.5749926354977086,-1.9150623353947138,0.71338606911949],"aabb_xy":[[-0.6449926373064541,-1.9364161041589012],[-0.5049926336889632,-1.8937085666305264]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_25","position":[-0.06997222347528376,1.7846861760857196,0.71338606911949],"aabb_xy":[[-0.07460733862751713,1.7808188410085704],[-0.06533710832305036,1.7885535111628679]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_26","position":[0.5105918670020331,1.7761142870922968,0.71338606911949],"aabb_xy":[[0.4606089168145537,1.7261142874497364],[0.5605748171895123,1.8261142867348572]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_27","position":[0.3510075808932158,0.995245137093375,0.71338606911949],"aabb_xy":[[0.3010075822472946,0.9453255934339125],[0.401007579539137,1.0451646807528374]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_28","position":[0.32334246987718274,-1.05421850002854,0.71338606911949],"aabb_xy":[[0.3160987038309374,-1.1342184982321424],[0.33058623592342806,-0.9742185018249376]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_29","position":[0.0024707905234185867,-1.856264624841353,0.71338606911949],"aabb_xy":[[-0.057529210337394214,-1.907691054847839],[0.06247079138423139,-1.8048381948348662]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.69480086845576,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7661.png","name":"7661"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7661.png","name":"7661"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1360.png","name":"1360"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/814.png","name":"814"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2157.png","name":"2157"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2952.png","name":"2952"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":714.816453733088,"rotation_z_degrees":251.08716445649986,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018837263582652277,-0.00886452121853576,0.0006367923555283678]},{"name":"camera_2","offset_m":[-0.007291976877580302,9.512361206090447e-05,-0.015318218556679315]},{"name":"camera_3","offset_m":[0.005264812536546325,-0.010539211147013417,0.002462073388667836]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013842153978272363,0.0011930389775395745,-6.807770637379685e-05],"end_effector_yaw_offset_degrees":0.20108076567287458},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014807421762043386,-0.000338984140068785,-0.0013916798899537156],"end_effector_yaw_offset_degrees":-0.4072720438870969},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000458014290364424,-0.00047299362385542663,0.0014849789314864193],"end_effector_yaw_offset_degrees":0.3956002306034305},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011880821559767192,-0.0011188500717942405,0.0004244847556764569],"end_effector_yaw_offset_degrees":0.5942487157938716}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002860190781662217,-0.004076423507259611],"position_m":[0.15526019078166223,0.21952357649274037,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006917336841264707,0.0005147486730057481],"position_m":[0.24309173368412648,-0.3091852513269942,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00015201831722945654,-0.00320043172010997],"position_m":[0.32434798168277057,-0.044800431720109966,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001725305622460599,-0.0033649441374974855],"position_m":[0.3492746943775394,0.3150350558625025,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ffabb97d46490bd3d6ab106179cc26aea8e62a4cad89ef6694ecdafbbc0f91a6","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0001.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7661/tex_ceiling_textures_2952/tex_floor_textures_2157/tex_table_textures_1360/tex_wall_textures_814","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6209897766329474753,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6209897766329474753,"visual_seed":6209897766329474753,"scene_id":"lab_003","finished_at":"2026-09-04T17:08:19"}
+{"episode_id":"ep_000002","started_at":"2026-09-04T17:08:24","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_0","position":[-0.36448747541524207,-2.2786897419596808,0.71338606911949],"aabb_xy":[[-0.424487475923095,-2.3355364756456023],[-0.30448747490738914,-2.2218430082737592]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[-0.32822287288317664,-1.4661165051005935,0.71338606911949],"aabb_xy":[[-0.3617020401442176,-1.4995956184717008],[-0.2947437056221357,-1.4326373917294868]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[-0.4706444430178298,0.40096945610886525,0.71338606911949],"aabb_xy":[[-0.47788820906407514,0.3209694579052629],[-0.4634006769715845,0.4809694543124676]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.5866290294750738,-1.7337629465008817,0.71338606911949],"aabb_xy":[[0.521629029440771,-1.780463623181209],[0.6516290295093765,-1.6870622698205544]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[0.6467896902305936,-2.5310347169924468,0.71338606911949],"aabb_xy":[[0.6354279555773074,-2.542403183398734],[0.6581514248838797,-2.5196662505861585]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_5","position":[0.039980462507248626,-2.0477287996123006,0.71338606911949],"aabb_xy":[[0.01748132678102165,-2.0702288003905633],[0.06247959823347559,-2.025228798834037]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[0.13757920376189325,1.1532146259863483,0.71338606911949],"aabb_xy":[[0.08757920340132717,1.103234638776745],[0.1875792041224593,1.203194613195951]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[-0.4434579048369096,1.7705772457545792,0.71338606911949],"aabb_xy":[[-0.5334579015725198,1.7173937824372847],[-0.35345790810129935,1.8237607090718737]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[-0.4893426985963142,1.0649452022316388,0.71338606911949],"aabb_xy":[[-0.49537971159697897,1.0589185011626907],[-0.4833056855956495,1.070971903300587]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.48291347587805444,-2.2362478842158766,0.71338606911949],"aabb_xy":[[0.47806988111682447,-2.2410995366948607],[0.4877570706392844,-2.2313962317368925]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[0.5840613774547876,0.1672430871316486,0.71338606911949],"aabb_xy":[[0.5340613788088664,0.11732354347218621],[0.6340613761007088,0.21716263079111098]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[0.1498482345225789,-1.42250280256434,0.71338606911949],"aabb_xy":[[0.13907526060121114,-1.457502800783379],[0.1606212084439467,-1.387502804345301]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.2569172565518206,0.6946301884142327,0.71338606911949],"aabb_xy":[[-0.2939513659798803,0.6602529810805232],[-0.21988314712376086,0.729007395747942]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.48817259611936703,0.9136395239831185,0.71338606911949],"aabb_xy":[[-0.5778596724274825,0.823639523728668],[-0.39848551981125163,1.003639524237569]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[-0.1677471361520797,-1.6419358183537458,0.71338606911949],"aabb_xy":[[-0.18380906361059732,-1.7269358201663376],[-0.15168520869356203,-1.556935816541154]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[0.08173324204721077,1.6722821249450148,0.71338606911949],"aabb_xy":[[0.0017332387893678192,1.5922856171530304],[0.16173324530505373,1.7522786327369984]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[0.4472781773942043,0.9601062750996059,0.71338606911949],"aabb_xy":[[0.38327817713373347,0.9150974757466778],[0.5112781776546751,1.0051150744525337]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.7127613959670129,1.5987286185447158,0.71338606911949],"aabb_xy":[[0.703005406457839,1.5889660844854812],[0.7225173854761868,1.60849115260395]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[-0.24772832230700859,-2.564199265383167,0.71338606911949],"aabb_xy":[[-0.31772832443843807,-2.586961231008862],[-0.177728320175579,-2.541437299757471]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[0.6245145399256515,-1.950706034896609,0.71338606911949],"aabb_xy":[[0.6168113492515745,-1.9584154055953469],[0.6322177305997285,-1.9429966641978706]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.6303873885261494,-2.0766954487118943,0.71338606911949],"aabb_xy":[[-0.6943873905758814,-2.1167899318012022],[-0.5663873864764174,-2.0366009656225863]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[-0.34795689974908606,-0.3033684093248308,0.71338606911949],"aabb_xy":[[-0.4095476589730789,-0.3673684074338777],[-0.28636614052509324,-0.23936841121578395]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7013574972955328,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/57.png","name":"57"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/57.png","name":"57"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6007.png","name":"6007"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7777.png","name":"7777"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4360.png","name":"4360"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2685.png","name":"2685"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":769.7439889163361,"rotation_z_degrees":250.51725967180357,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0168645493954241,0.009505699455407832,-0.012601631729175979]},{"name":"camera_2","offset_m":[0.005606170335376005,-0.011587398787299148,-0.0059553363852778846]},{"name":"camera_3","offset_m":[0.0021031347235994854,0.009121556379297596,0.0004820340730029224]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010853124645256933,-0.0015179231536078955,-0.0010188445048584125],"end_effector_yaw_offset_degrees":0.6629393891918001},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007994033146654254,-0.00043411457927463866,0.0006659035790680793],"end_effector_yaw_offset_degrees":0.31992130996770185},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015621267017584027,-0.0005629920693266039,-0.0013102070238825104],"end_effector_yaw_offset_degrees":0.9649482724524014},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011340676070754313,-0.00016257570508805682,-0.00013054852567792835],"end_effector_yaw_offset_degrees":0.4261864962433797}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004783556546164954,0.002513842254773],"position_m":[0.15718355654616495,0.226113842254773,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036042976438477167,0.001056381815761732],"position_m":[0.2460042976438477,-0.30864361818423824,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001809444205123991,0.0022175589019917006],"position_m":[0.326309444205124,-0.0393824410980083,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00265955672008808,0.0024599117092599697],"position_m":[0.3536595567200881,0.32085991170926,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"46677de6ae91e675c78e264adc9ddbeb3b9fbd0e8473f3dd06ac44a8eff76104","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_57/tex_ceiling_textures_2685/tex_floor_textures_4360/tex_table_textures_6007/tex_wall_textures_7777","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7583262660084496579,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7583262660084496579,"visual_seed":7583262660084496579,"scene_id":"lab_003","finished_at":"2026-09-04T17:12:27"}
+{"episode_id":"ep_000003","started_at":"2026-09-04T17:12:30","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.2437325211046022,0.6774591706637478,0.71338606911949],"aabb_xy":[[0.22623252197023502,0.66757954362616],[0.26123252023896937,0.6873387977013357]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[0.6452267935639837,-2.1469359268689683,0.71338606911949],"aabb_xy":[[0.6320755475926945,-2.171935926625655],[0.6583780395352732,-2.1219359271122817]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[0.423005351079041,-1.97746921257793,0.71338606911949],"aabb_xy":[[0.3984917269820352,-2.001733805879967],[0.44751897517604694,-1.9532046192758938]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_3","position":[-0.421493427607005,1.3754123548761168,0.71338606911949],"aabb_xy":[[-0.47147084447225845,1.3254123533868682],[-0.3715160107417513,1.4254123563653653]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.2843144186664167,0.7945958800140716,0.71338606911949],"aabb_xy":[[0.2674036862300749,0.7811236744214569],[0.30122515110275844,0.808068085606686]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[-0.4719630620022245,-0.3038111879034875,0.71338606911949],"aabb_xy":[[-0.5141474761630552,-0.3678111881806987],[-0.42977864784139375,-0.2398111876262763]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[0.5316418036970998,-0.09662646418158127,0.71338606911949],"aabb_xy":[[0.4416418000201814,-0.15805887075868558],[0.6216418073740178,-0.03519405760447689]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_7","position":[0.3702654029412831,-0.7218917707076569,0.71338606911949],"aabb_xy":[[0.28026540060726396,-0.7993741252927696],[0.4602654052753021,-0.6444094161225443]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[0.06814977385373655,-2.4971594849108256,0.71338606911949],"aabb_xy":[[0.010519304966465677,-2.5571594838375358],[0.12578024274100735,-2.4371594859841146]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_9","position":[-0.17107190815895867,1.0287679032544244,0.71338606911949],"aabb_xy":[[-0.19561812378170937,0.9985190067053872],[-0.14652569253620792,1.0590167998034612]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_10","position":[-0.4680855158523372,-1.2576317253260896,0.71338606911949],"aabb_xy":[[-0.47816722293091063,-1.337631723218204],[-0.4580038087737637,-1.1776317274339747]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[-0.2732177866859179,-0.09582497555370395,0.71338606911949],"aabb_xy":[[-0.2878611922399508,-0.11048369521048823],[-0.25857438113188486,-0.08116625589691967]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[0.13827003215660272,1.1972039101186565,0.71338606911949],"aabb_xy":[[0.07667927293260993,1.1332039120096098],[0.19986079138059556,1.2612039082277036]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.5709708689639186,-0.3210884557300888,0.71338606911949],"aabb_xy":[[0.5059708663261251,-0.3725680544295358],[0.6359708716017121,-0.26960885703064186]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[0.3205770752961812,1.4025183297917896,0.71338606911949],"aabb_xy":[[0.2986873277072404,1.3125183325025405],[0.342466822885122,1.4925183270810387]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[-0.606946838904139,-2.487980435852584,0.71338606911949],"aabb_xy":[[-0.6162938464864343,-2.5022840580702286],[-0.5975998313218438,-2.4736768136349405]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[-0.18251190212335278,0.28654957430107064,0.71338606911949],"aabb_xy":[[-0.20751190167509126,0.2764070904359359],[-0.1575119025716143,0.29669205816620536]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[-0.2922713747771117,0.7029281931207474,0.71338606911949],"aabb_xy":[[-0.34726458611424843,0.6479281927819539],[-0.23727816343997493,0.7579281934595412]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[0.4113492987674099,1.7812279491143914,0.71338606911949],"aabb_xy":[[0.3313493007866248,1.7736264081525395],[0.4913492967481949,1.7888294900762434]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_19","position":[0.409939295437582,1.1285893881254578,0.71338606911949],"aabb_xy":[[0.39706739193664187,1.0485893877116217],[0.42281119893852215,1.208589388539294]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_20","position":[0.47951186636262966,-1.3298010914881115,0.71338606911949],"aabb_xy":[[0.4155118631439918,-1.37652420338712],[0.5435118695812675,-1.2830779795891032]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[-0.2750146517370078,-2.419100296807964,0.71338606911949],"aabb_xy":[[-0.3550146503938938,-2.4336051557322267],[-0.19501465308012178,-2.404595437883701]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[0.36134019412457086,-2.2179501312582923,0.71338606911949],"aabb_xy":[[0.32756463493387783,-2.2319886264714572],[0.3951157533152638,-2.2039116360451274]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[-0.3399491935392383,-0.907716883936375,0.71338606911949],"aabb_xy":[[-0.4099491969308003,-0.9430326576398058],[-0.2699491901476763,-0.8724011102329441]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[-0.22965522960937473,-0.38458187058417304,0.71338606911949],"aabb_xy":[[-0.24744873654429114,-0.4023816161799707],[-0.21186172267445827,-0.36678212498837537]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_25","position":[-0.509216682529585,-0.4950248327035318,0.71338606911949],"aabb_xy":[[-0.514674628166605,-0.5750248360111909],[-0.5037587368925649,-0.41502482939587265]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_26","position":[0.5598515037755107,-1.427978468787623,0.71338606911949],"aabb_xy":[[0.5248515038794918,-1.436352704299563],[0.5948515036715295,-1.4196042332756829]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_27","position":[0.4430646831152736,-2.447097731611279,0.71338606911949],"aabb_xy":[[0.39308173292779414,-2.497097731253839],[0.4930476333027528,-2.397097731968718]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_28","position":[-0.21665263306427035,-1.0838108641713737,0.71338606911949],"aabb_xy":[[-0.22628426928469997,-1.0934481769510827],[-0.20702099684384073,-1.0741735513916648]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_29","position":[-0.4454001062116225,-1.774643413749124,0.71338606911949],"aabb_xy":[[-0.49039269293007287,-1.8196434130235728],[-0.40040751949317205,-1.7296434144746753]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_30","position":[-0.20186904457776145,1.5208822207723336,0.71338606911949],"aabb_xy":[[-0.2067126393389914,1.5160305682933497],[-0.19702544981653144,1.525733873251318]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_31","position":[0.31479909809378515,-1.9930272058292253,0.71338606911949],"aabb_xy":[[0.3060178709465489,-2.001806953117756],[0.32358032524102137,-1.9842474585406955]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_32","position":[-0.1586215032660353,-1.1622041783408095,0.71338606911949],"aabb_xy":[[-0.1872708356264515,-1.1908497376178853],[-0.12997217090561905,-1.1335586190637337]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6985209853529625,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/745.png","name":"745"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/745.png","name":"745"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4609.png","name":"4609"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5227.png","name":"5227"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6275.png","name":"6275"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5931.png","name":"5931"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":785.8895029571108,"rotation_z_degrees":336.62173359904324,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.000399310738967866,0.019436677933166367,-0.018023639624484437]},{"name":"camera_2","offset_m":[0.002563766900737511,-0.01367063970704661,0.014671222210890043]},{"name":"camera_3","offset_m":[0.017861893333425024,-0.019805033996643066,-0.005180211298520261]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009690134247539554,-0.0005939790705847777,0.0006084417075416623],"end_effector_yaw_offset_degrees":-0.2231730656958888},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018276683419305904,-0.0017027774497717853,-0.0014582526517265952],"end_effector_yaw_offset_degrees":-0.26568883020244827},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00041448950526457723,0.0015553529281677404,0.0012566975321917089],"end_effector_yaw_offset_degrees":-0.07393596432018179},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019363159846903658,-0.0009411167312828809,-0.0010048209551785088],"end_effector_yaw_offset_degrees":-0.4357987822750782}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002570677101177559,-0.0023670269524357036],"position_m":[0.14982932289882245,0.22123297304756429,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002918450687920365,0.0002602597453271009],"position_m":[0.24531845068792038,-0.30943974025467286,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002712662493415109,-0.0008771693244749258],"position_m":[0.3217873375065849,-0.04247716932447492,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022788259992668584,-0.0030350389384761847],"position_m":[0.35327882599926685,0.31536496106152384,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"996400996abb6079b69feac81ba21236bb207883a8a8b6d79e872810297154db","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_745/tex_ceiling_textures_5931/tex_floor_textures_6275/tex_table_textures_4609/tex_wall_textures_5227","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6685385190669835538,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6685385190669835538,"visual_seed":6685385190669835538,"scene_id":"lab_003","finished_at":"2026-09-04T17:16:17"}
+{"episode_id":"ep_000004","started_at":"2026-09-04T17:16:20","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[0.5554363993871063,-1.9509144863682533,0.71338606911949],"aabb_xy":[[0.539880629976841,-1.966464919612661],[0.5709921687973716,-1.9353640531238465]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[0.6103713530354857,1.5921779317383327,0.71338606911949],"aabb_xy":[[0.5602738890544121,1.5281779312285209],[0.6604688170165594,1.6561779322481445]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_2","position":[-0.31716919234752616,1.427500467174538,0.71338606911949],"aabb_xy":[[-0.36714660921277975,1.3775004656852892],[-0.2671917754822726,1.4775004686637863]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[0.023876367616335825,1.1754775963169424,0.71338606911949],"aabb_xy":[[0.001376367104295225,1.152985737951544],[0.04637636812837642,1.1979694546823407]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[0.2607858390987039,0.6812008188995504,0.71338606911949],"aabb_xy":[[0.25545332444409097,0.6758764906543149],[0.26611835375331694,0.686525147144786]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[0.6066487379571615,-0.1681698803065812,0.71338606911949],"aabb_xy":[[0.5566645022489842,-0.21816987912007677],[0.6566329736653387,-0.11816988149308558]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[-0.5719296925758051,-0.49930004598665123,0.71338606911949],"aabb_xy":[[-0.5753703688158622,-0.5031614789610157],[-0.5684890163357479,-0.4954386130122868]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.20519829387366406,-1.0350383028760064,0.71338606911949],"aabb_xy":[[0.12519829061582108,-1.1150348106679904],[0.285198297131507,-0.9550417950840224]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_8","position":[0.5783497505407891,1.7299228587412476,0.71338606911949],"aabb_xy":[[0.5433497491893073,1.7095631227844268],[0.6133497518922708,1.7502825946980685]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[-0.4732229939894921,-1.9018845416983479,0.71338606911949],"aabb_xy":[[-0.4923353013474709,-1.9210193205755899],[-0.45411068663151316,-1.8827497628211058]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[-0.05582940663786773,0.24930640225915823,0.71338606911949],"aabb_xy":[[-0.08082940580350084,0.24235415655380163],[-0.030829407472234616,0.2562586479645148]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[0.12089301589518853,0.7198593136110221,0.71338606911949],"aabb_xy":[[0.08339301437955682,0.7086325405948769],[0.15839301741082024,0.731086086627167]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.5866050404288179,-0.8968246573175835,0.71338606911949],"aabb_xy":[[-0.6170892905558479,-0.9468246570990796],[-0.5561207903017876,-0.8468246575360877]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[-0.6328025001840061,-1.6387980957499604,0.71338606911949],"aabb_xy":[[-0.6827973331119477,-1.6887980946452041],[-0.5828076672560645,-1.588798096854717]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.30933952150273036,-2.368231323192244,0.71338606911949],"aabb_xy":[[0.28683952125921497,-2.3804359578520153],[0.33183952174624576,-2.3560266885324714]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[0.5353235231948357,-2.1623129739908813,0.71338606911949],"aabb_xy":[[0.465323521063406,-2.185074939616576],[0.6053235253262651,-2.139551008365185]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[-0.3337933836244913,-2.2989525250417495,0.71338606911949],"aabb_xy":[[-0.35129338388382797,-2.3130440672305226],[-0.3162933833651547,-2.2848609828529773]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[-0.48966978779662007,-1.6019795527233072,0.71338606911949],"aabb_xy":[[-0.4972940558867984,-1.6096127762598513],[-0.48204551970644194,-1.5943463291867639]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.003516394225072328,-1.9365234153539166,0.71338606911949],"aabb_xy":[[-0.06751639339484226,-1.9832901024728795],[0.060483604944697615,-1.8897567282349546]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[-0.43812414385737847,1.2126721544637573,0.71338606911949],"aabb_xy":[[-0.4808908507367986,1.1486721510419549],[-0.3953574369779582,1.2766721578855598]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[-0.6672988161532745,0.9830012969663695,0.71338606911949],"aabb_xy":[[-0.6855046398145221,0.9719758963843779],[-0.6490929924920268,0.9940266975483611]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_21","position":[0.5872492030639258,-0.8993845119903021,0.71338606911949],"aabb_xy":[[0.5372662528764464,-0.9493845116328624],[0.637232153251405,-0.8493845123477416]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[-0.4833001289206532,-2.0746505124682013,0.71338606911949],"aabb_xy":[[-0.5116298388691936,-2.0791112546619184],[-0.45497041897211304,-2.0701897702744843]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[-0.4233819017772116,-2.155275202610676,0.71338606911949],"aabb_xy":[[-0.44117540871212796,-2.1730749482064735],[-0.4055883948422951,-2.137475457014878]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915188025774336,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6373.png","name":"6373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6373.png","name":"6373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2011.png","name":"2011"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3754.png","name":"3754"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/392.png","name":"392"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1424.png","name":"1424"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":580.447146812501,"rotation_z_degrees":52.212728585839784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013755723799591075,-0.014097413289991319,-0.01798078626828187]},{"name":"camera_2","offset_m":[0.0016952237257368934,-0.017196698591303208,0.012208138634732971]},{"name":"camera_3","offset_m":[0.006320871636768328,-0.0136975324321463,-0.005725848079217473]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001718050924709857,0.0012939251486138153,-0.0014939545008879561],"end_effector_yaw_offset_degrees":-0.8551179484695866},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005667421248360394,0.0011748069260991297,-0.0016734284887210875],"end_effector_yaw_offset_degrees":0.5239399276018923},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013450617133767718,-0.0009146973163346179,-0.0009505369454697933],"end_effector_yaw_offset_degrees":-0.42184868860516267},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016154899793171982,-0.0004900991401435549,-0.001378945513491666],"end_effector_yaw_offset_degrees":-0.13079493924941188}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004250462787652583,0.0003026816701595294],"position_m":[0.1566504627876526,0.22390268167015953,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033067929572684835,0.001655303233475688],"position_m":[0.2457067929572685,-0.3080446967665243,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0028204515032777292,-0.0013930131362760133],"position_m":[0.32732045150327777,-0.042993013136276015,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004657535976649937,-0.004839466554736302],"position_m":[0.34634246402335006,0.3135605334452637,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d0de79bc6435930f538a533f0122ce7488b3db6888be51d66b5d36c990f81df5","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0004.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6373/tex_ceiling_textures_1424/tex_floor_textures_392/tex_table_textures_2011/tex_wall_textures_3754","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2541281629686658694,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2541281629686658694,"visual_seed":2541281629686658694,"scene_id":"lab_003","finished_at":"2026-09-04T17:20:31"}
+{"episode_id":"ep_000005","started_at":"2026-09-04T17:20:36","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[-0.3656981171712957,-1.717452689281609,0.71338606911949],"aabb_xy":[[-0.38312883225030214,-1.7347248039454597],[-0.3482674020922891,-1.700180574617758]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.6454605697020273,-0.2659683037735223,0.71338606911949],"aabb_xy":[[0.6353075541478777,-0.3020378453462626],[0.6556135852561764,-0.22989876220078193]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[0.5453983407299481,0.1429294874202358,0.71338606911949],"aabb_xy":[[0.4954195322196322,0.09292948741451698],[0.595377149240264,0.1929294874259546]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.2864553897860683,-1.1447958267169678,0.71338606911949],"aabb_xy":[[-0.3114553890580306,-1.1611411903131301],[-0.26145539051410605,-1.1284504631208054]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[-0.13156628227814438,-1.8960561752988094,0.71338606911949],"aabb_xy":[[-0.135682232390217,-1.9001717303316545],[-0.12745033216607168,-1.8919406202659634]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[0.5159528552984154,1.2099541079934575,0.71338606911949],"aabb_xy":[[0.47845285411362254,1.205535885297397],[0.5534528564832081,1.214372330689518]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[-0.26448555310492566,-0.5693520974901589,0.71338606911949],"aabb_xy":[[-0.34448555050851903,-0.6493446686883416],[-0.1844855557013322,-0.48935952629197604]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_7","position":[0.2361192226723029,-0.6680489149799396,0.71338606911949],"aabb_xy":[[0.20049006677234318,-0.7036815817367925],[0.27174837857226264,-0.6324162482230866]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.09160751448536375,-1.9769731602177956,0.71338606911949],"aabb_xy":[[0.05410751398800549,-1.980941843765914],[0.129107514982722,-1.973004476669677]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[-0.5114260587005304,-0.8251875817856127,0.71338606911949],"aabb_xy":[[-0.5377148830209709,-0.8514590154402638],[-0.48513723438008965,-0.7989161481309613]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.43704250187415844,0.32793959565765674,0.71338606911949],"aabb_xy":[[-0.45615480923213736,0.30880481678041466],[-0.41793019451617963,0.3470743745348987]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.014405519945368983,1.357518138353122,0.71338606911949],"aabb_xy":[[0.0073652100118319925,1.277518138953451],[0.02144582987890598,1.4375181377527937]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[0.29283884159498763,0.9240681286740031,0.71338606911949],"aabb_xy":[[0.23784336377432824,0.8690681272400961],[0.347834319415647,0.9790681301079099]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[-0.3154941055154475,-2.35913155838486,0.71338606911949],"aabb_xy":[[-0.3504941037855674,-2.366205686079848],[-0.2804941072453276,-2.3520574306898716]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_14","position":[-0.00812502075646504,-1.017566635130748,0.71338606911949],"aabb_xy":[[-0.04258749876955281,-1.0242303123136707],[0.02633745725662273,-1.0109029579478253]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[0.48724875503933385,0.9071543546486263,0.71338606911949],"aabb_xy":[[0.39724875853846203,0.8612427122301679],[0.5772487515402055,0.9530659970670844]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[-0.12656078120999192,-0.7680476244682082,0.71338606911949],"aabb_xy":[[-0.13306241771799654,-0.7778154464945181],[-0.12005914470198731,-0.7582798024418985]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[0.1964325955289079,1.0938363185690303,0.71338606911949],"aabb_xy":[[0.18126042624727454,1.0786674616408272],[0.21160476481054122,1.1090051754972339]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[-0.21150482309870017,1.5732128733765962,0.71338606911949],"aabb_xy":[[-0.22738931636402532,1.5588599330777724],[-0.19562032983337502,1.5875658136754205]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.2812625752785719,1.7504920161038782,0.71338606911949],"aabb_xy":[[0.23517748402384045,1.686492018851323],[0.3273476665333034,1.8144920133564333]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[-0.6150401663187276,-0.9116089397011471,0.71338606911949],"aabb_xy":[[-0.6485193335797687,-0.9450880530722542],[-0.5815609990576868,-0.8781298263300402]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6995219425329091,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4678.png","name":"4678"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4678.png","name":"4678"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4740.png","name":"4740"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1364.png","name":"1364"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6190.png","name":"6190"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/819.png","name":"819"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":511.524348831105,"rotation_z_degrees":126.12106491490292,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0073515169457033375,-0.00346445115159897,-0.0032674240060883986]},{"name":"camera_2","offset_m":[-0.005196238973900123,0.015110932403459985,0.01405432453904656]},{"name":"camera_3","offset_m":[-0.014042961449322024,-0.0034236098989804294,-0.0042863848394520294]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013014935478436328,-0.0005794259019058399,0.0016586478436277328],"end_effector_yaw_offset_degrees":0.15107885250329423},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-7.798418990066173e-05,-0.0013376194997957618,0.0008251639033344006],"end_effector_yaw_offset_degrees":-0.40434760273457404},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005651688813140309,-8.798047348813269e-05,0.0002724831641611656],"end_effector_yaw_offset_degrees":-0.7880546096608956},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006997499918925106,0.001352145852260332,0.0009319398770933716],"end_effector_yaw_offset_degrees":-0.9761732492083608}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007631900718291533,0.001157019781386011],"position_m":[0.15316319007182916,0.224757019781386,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036663592675320322,0.0006802191079340221],"position_m":[0.23873364073246797,-0.30901978089206594,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002306949787665379,-0.0013310348587534239],"position_m":[0.3268069497876654,-0.04293103485875342,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0012134574546076183,0.0012581738297104492],"position_m":[0.3522134574546076,0.31965817382971046,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7843ff3393fbc61d491d4a1c5b2219068bd96c085d5e4a38e4b2f0cf6fd44526","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4678/tex_ceiling_textures_819/tex_floor_textures_6190/tex_table_textures_4740/tex_wall_textures_1364","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2823695182464145106,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2823695182464145106,"visual_seed":2823695182464145106,"scene_id":"lab_003","finished_at":"2026-09-04T17:24:51"}
+{"episode_id":"ep_000006","started_at":"2026-09-04T17:24:56","dimensions":{"distractor":{"count":26,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[0.5381524754514915,0.4663689610364621,0.71338606911949],"aabb_xy":[[0.5022389710265018,0.4304554528197075],[0.5740659798764811,0.5022824692532167]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.2979742781881104,1.3199451433310343,0.71338606911949],"aabb_xy":[[0.2635119307899685,1.2854512609332114],[0.3324366255862521,1.3544390257288568]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[0.1220785586293116,1.0360268733033187,0.71338606911949],"aabb_xy":[[0.09916284574426171,1.0131225761668954],[0.1449942715143615,1.0589311704397424]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[0.5111459820762301,1.5269270639008483,0.71338606911949],"aabb_xy":[[0.4411459799448004,1.5041650982751522],[0.5811459842076595,1.5496890295265435]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[0.24263619605359,1.0293046300155222,0.71338606911949],"aabb_xy":[[0.23852024594151727,1.0251890749826762],[0.2467521461656626,1.0334201850483673]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[0.18759969919536967,-2.1127523071555587,0.71338606911949],"aabb_xy":[[0.18352154128831993,-2.1168332874038223],[0.1916778571024194,-2.108671326907295]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[-0.19645976211576915,-0.8618596106454017,0.71338606911949],"aabb_xy":[[-0.21395976236081854,-0.8793593984849686],[-0.17895976187071977,-0.8443598228058349]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[-0.5445754143096211,-1.5707590042679995,0.71338606911949],"aabb_xy":[[-0.5601311837198863,-1.586309437512407],[-0.5290196448993558,-1.5552085710235926]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.21017156998280923,1.0230266912988841,0.71338606911949],"aabb_xy":[[-0.2551641567012596,0.9780266920244354],[-0.1651789832643588,1.0680266905733329]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[-0.5275192732715401,-0.17528500051863238,0.71338606911949],"aabb_xy":[[-0.5915192754919472,-0.21965808464392067],[-0.4635192710511331,-0.1309119163933441]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[-0.47562323988764477,1.6786869606810026,0.71338606911949],"aabb_xy":[[-0.48266354982118187,1.5986869612813315],[-0.4685829299541079,1.7586869600806743]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.12901096133191614,1.4278602284266477,0.71338606911949],"aabb_xy":[[-0.14721678499316382,1.4168348278446563],[-0.11080513767066846,1.4388856290086396]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[0.5713098349549475,-0.30003569777455086,0.71338606911949],"aabb_xy":[[0.5625286078077113,-0.308815445063081],[0.5800910621021839,-0.2912559504860207]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[-0.4882463343980481,-1.7705164278696088,0.71338606911949],"aabb_xy":[[-0.5522420317931447,-1.8345164261703175],[-0.4242506370029515,-1.7065164295689002]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[-0.4541596215980015,0.8747283142123896,0.71338606911949],"aabb_xy":[[-0.4578628829271404,0.8710262959036718],[-0.4504563602688626,0.8784303325211075]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[-0.1271636969814588,-1.8546108764423872,0.71338606911949],"aabb_xy":[[-0.21716369639982966,-1.887986373286577],[-0.03716369756308788,-1.8212353795981975]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[-0.6238668049677301,-0.35156126665050147,0.71338606911949],"aabb_xy":[[-0.6373133316017735,-0.36503111830359264],[-0.6104202783336868,-0.3380914149974102]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[-0.4969723110336882,-1.9270135205086305,0.71338606911949],"aabb_xy":[[-0.5609723074610102,-1.9741831443307274],[-0.4329723146063664,-1.8798438966865345]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.5312224689332846,-0.5011072524172238,0.71338606911949],"aabb_xy":[[-0.5537224684569919,-0.5236031998678444],[-0.5087224694095771,-0.4786113049666029]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[-0.413040794460382,1.424402219100132,0.71338606911949],"aabb_xy":[[-0.46304079482094807,1.374422231890529],[-0.36304079409981593,1.474382206309735]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[-0.5648018155355239,-0.9715071237680666,0.71338606911949],"aabb_xy":[[-0.5998018138056437,-0.9785812514630546],[-0.5298018172654039,-0.9644329960730783]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[0.19670473592582216,1.4862508767158098,0.71338606911949],"aabb_xy":[[0.18942241954915845,1.3962508731063006],[0.20398705230248576,1.5762508803253186]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[0.4698160019556046,-1.3572228212951905,0.71338606911949],"aabb_xy":[[0.4448160026836423,-1.3735681848913528],[0.49481600122756686,-1.340877457699028]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[0.3515105933065499,-2.084576865357736,0.71338606911949],"aabb_xy":[[0.34221697506939935,-2.12207686384587],[0.3608042115437005,-2.047076866869602]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[-0.16875355011405302,0.3879415338930974,0.71338606911949],"aabb_xy":[[-0.17850953962322688,0.37817899983386294],[-0.1589975606048791,0.3977040679523318]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_25","position":[-0.5479858981498686,-1.1583013984540966,0.71338606911949],"aabb_xy":[[-0.5598579811613698,-1.243301398147747],[-0.5361138151383675,-1.0733013987604463]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951288446747594,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5262.png","name":"5262"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5262.png","name":"5262"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8653.png","name":"8653"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5063.png","name":"5063"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6382.png","name":"6382"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/882.png","name":"882"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":655.6684190611995,"rotation_z_degrees":243.54565587931666,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018680739192666822,-0.004929212181601672,-0.012000845539310436]},{"name":"camera_2","offset_m":[0.010040192484549845,-0.017809838298685206,-0.01359839021747481]},{"name":"camera_3","offset_m":[-0.0047384105373360404,-0.004487634225952801,-0.006827979428032488]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008745543943574851,-0.0006247881363581076,-0.00024005824565278958],"end_effector_yaw_offset_degrees":0.5560923616983164},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004887848968661342,0.0009979258961010555,-0.0014181635431058175],"end_effector_yaw_offset_degrees":-0.8822056847777446},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012753214220415244,0.001717602974813779,-0.000903598799220787],"end_effector_yaw_offset_degrees":-0.582782735579676},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015049934682028385,-0.0007882236006640181,-0.0011452901281374568],"end_effector_yaw_offset_degrees":0.01314226159796239}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034609931367389725,0.000292660425798702],"position_m":[0.15586099313673898,0.2238926604257987,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019768164161779577,-6.99940100850182e-05],"position_m":[0.24042318358382206,-0.309769994010085,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004209593085140421,0.003624017140953481],"position_m":[0.3202904069148596,-0.03797598285904652,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026726539475878,-0.0007911359001755106],"position_m":[0.34832734605241217,0.31760886409982453,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"44e2b6826155a108b67bd1db00787d02d71db18c279e235dbaec7b0d35f129be","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0006.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5262/tex_ceiling_textures_882/tex_floor_textures_6382/tex_table_textures_8653/tex_wall_textures_5063","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3362218444766053042,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3362218444766053042,"visual_seed":3362218444766053042,"scene_id":"lab_003","finished_at":"2026-09-04T17:29:06"}
+{"episode_id":"ep_000007","started_at":"2026-09-04T17:32:07","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.4901560473467852,-0.6402593568859241,0.71338606911949],"aabb_xy":[[0.41015604518402266,-0.7202145405120676],[0.5701560495095477,-0.5603041732597803]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.5793684417745095,-0.26696951206683295,0.71338606911949],"aabb_xy":[[0.5590841390511107,-0.28725213720954174],[0.5996527444979082,-0.24668688692412408]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[0.11243895133609172,1.4490746809945096,0.71338606911949],"aabb_xy":[[0.09489225641997279,1.4115746794302586],[0.12998564625221065,1.4865746825587611]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.3002267811540873,1.1207492525725082,0.71338606911949],"aabb_xy":[[0.28845859435942983,1.035749252667287],[0.3119949679487449,1.20574925247773]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[0.3224902891333927,-0.48643378472257304,0.71338606911949],"aabb_xy":[[0.3185298053636584,-0.49410164930809364],[0.3264507729031271,-0.47876592013705244]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[0.5595996508242955,0.9305601150171596,0.71338606911949],"aabb_xy":[[0.5210539579990945,0.892014343960971],[0.5981453436494966,0.9691058860733482]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[-0.4555183365668714,-0.04471475379421941,0.71338606911949],"aabb_xy":[[-0.4725284338569221,-0.06084924229249333],[-0.4385082392768208,-0.028580265295945484]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[-0.15804461130371017,0.7167854976348909,0.71338606911949],"aabb_xy":[[-0.2220446135241172,0.6724124135096026],[-0.09404460908330314,0.7611585817601791]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[-0.3686945132735375,1.5659132185028777,0.71338606911949],"aabb_xy":[[-0.4336945143794808,1.5409478454347494],[-0.30369451216759424,1.590878591571006]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[-0.3769606621723632,-2.528675760233904,0.71338606911949],"aabb_xy":[[-0.4409606640847056,-2.5845869094919145],[-0.3129606602600209,-2.4727646109758936]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[0.21628170439483008,-2.130116240871586,0.71338606911949],"aabb_xy":[[0.20815401620151686,-2.139029849282294],[0.2244093925881433,-2.1212026324608786]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.26964761745880006,1.6215011911820665,0.71338606911949],"aabb_xy":[[0.23850069861521694,1.551501192495259],[0.3007945363023832,1.6915011898688734]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[0.23342640264694237,-1.5877284142691113,0.71338606911949],"aabb_xy":[[0.19663176952203607,-1.6246342893656935],[0.27022103577184864,-1.550822539172529]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[-0.005039571831296885,1.4893146193751812,0.71338606911949],"aabb_xy":[[-0.027504341802702004,1.4668146184963207],[0.017425198140108233,1.5118146202540417]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[-0.06960117524314191,-2.1914565829031405,0.71338606911949],"aabb_xy":[[-0.11960117690463666,-2.2414550251588428],[-0.019601173581647143,-2.1414581406474373]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[-0.3211952831783545,-1.1689919852706252,0.71338606911949],"aabb_xy":[[-0.32677695481248326,-1.1814919850884007],[-0.31561361154422574,-1.1564919854528497]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_16","position":[0.39324698612682063,1.1439721090435397,0.71338606911949],"aabb_xy":[[0.35824698785670067,1.1368979813485514],[0.4282469843969405,1.1510462367385277]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[-0.3688923645619238,0.34823273465943627,0.71338606911949],"aabb_xy":[[-0.4059264739899835,0.3138555273257268],[-0.331858255133864,0.38260994199314574]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[0.6418809631128339,0.06369223043555916,0.71338606911949],"aabb_xy":[[0.591885952153382,0.01369223139996745],[0.6918759740722861,0.1136922294711509]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.3700000861974391,0.8730701325533832,0.71338606911949],"aabb_xy":[[-0.405000086093458,0.8646958970414432],[-0.33500008630142025,0.8814443680653231]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[-0.6840572381557155,-2.184856579255724,0.71338606911949],"aabb_xy":[[-0.6920835087863415,-2.193608074233077],[-0.6760309675250895,-2.1761050842783716]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[0.30955376984595895,-2.4202997010913707,0.71338606911949],"aabb_xy":[[0.2876640222570181,-2.51029969838062],[0.3314435174348997,-2.3302997038021216]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_22","position":[0.0003200963455283201,-0.788261432515561,0.71338606911949],"aabb_xy":[[-0.0796737272330299,-0.8682614351084026],[0.08031391992408654,-0.7082614299227195]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_23","position":[0.2152719845176181,1.4030624799533866,0.71338606911949],"aabb_xy":[[0.18487387341847447,1.3726555779517169],[0.24567009561676165,1.433469381955056]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_24","position":[-0.5851054125042101,-0.4578160155431572,0.71338606911949],"aabb_xy":[[-0.5921468634549578,-0.4648427672809518],[-0.5780639615534626,-0.4507892638053627]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_25","position":[0.5908288871522374,-2.0692426199931466,0.71338606911949],"aabb_xy":[[0.5486444729914067,-2.1332426202703583],[0.6330133013130682,-2.005242619715936]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[-0.28507245420458266,-1.7540954254195729,0.71338606911949],"aabb_xy":[[-0.3129174909851898,-1.7848799241578845],[-0.25722741742397554,-1.7233109266812612]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_27","position":[0.495925661089077,-1.3711564904168543,0.71338606911949],"aabb_xy":[[0.47805655333462144,-1.384989398394065],[0.5137947688435325,-1.357323582439643]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_28","position":[0.5086486608420433,0.358700572418734,0.71338606911949],"aabb_xy":[[0.47301950494208356,0.323067905661881],[0.544277816742003,0.3943332391755869]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_29","position":[-0.6180388543378363,-2.031797264457082,0.71338606911949],"aabb_xy":[[-0.630506212447572,-2.044262589090406],[-0.6055714962281007,-2.019331939823759]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_30","position":[-0.17624913051623348,-1.018001126486577,0.71338606911949],"aabb_xy":[[-0.22624840568466967,-1.0680011277625243],[-0.12624985534779734,-0.96800112521063]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_31","position":[-0.6721541079144213,-2.4676406210219706,0.71338606911949],"aabb_xy":[[-0.6877098773246867,-2.483191054266378],[-0.6565983385041562,-2.452090187777564]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7001821863427052,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7086.png","name":"7086"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7086.png","name":"7086"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2570.png","name":"2570"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/838.png","name":"838"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6761.png","name":"6761"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3082.png","name":"3082"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":670.7802251832506,"rotation_z_degrees":314.3331857294638,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00624335932056265,0.004642820470519317,-0.01783347975387235]},{"name":"camera_2","offset_m":[-0.005859680763281529,-0.01512269151267287,0.007390937636737701]},{"name":"camera_3","offset_m":[0.00443231673922604,0.010401701735742442,0.00644980710640056]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008596101786749271,-0.0014136382271966318,-0.0009315781117039887],"end_effector_yaw_offset_degrees":0.5830893104969228},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001318496420032107,-0.00022047932532918415,0.0009508905923887919],"end_effector_yaw_offset_degrees":-0.44149972867320963},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00045925209592801927,0.0009068280112669819,0.0016804353677773633],"end_effector_yaw_offset_degrees":-0.471019007636424},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019723705095484583,0.0010562380866085846,7.233160579525827e-05],"end_effector_yaw_offset_degrees":-0.9747222491954728}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0022171427700272226,-0.003490259592144028],"position_m":[0.15461714277002722,0.22010974040785597,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004669454627601156,0.0004793949974305923],"position_m":[0.24706945462760116,-0.30922060500256937,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006447500064137648,0.0012110119555485159],"position_m":[0.3251447500064138,-0.040388988044451485,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000259739237455597,0.0045418169631668915],"position_m":[0.35125973923745557,0.32294181696316693,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"27f9303d367b71d96cc3c0ce6a0996ee4b46ce0dfa664075bfba20eff1a29722","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0008.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7086/tex_ceiling_textures_3082/tex_floor_textures_6761/tex_table_textures_2570/tex_wall_textures_838","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3645417780319828000,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3645417780319828000,"visual_seed":3645417780319828000,"scene_id":"lab_003","finished_at":"2026-09-04T17:35:58"}
+{"episode_id":"ep_000008","started_at":"2026-09-04T17:36:01","dimensions":{"distractor":{"count":22,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[-0.12358001403293473,1.1536673749343818,0.71338606911949],"aabb_xy":[[-0.20358001201371978,1.1460658339725296],[-0.04358001605214968,1.1612689158962335]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_1","position":[0.1540013664497949,-1.0507546868220672,0.71338606911949],"aabb_xy":[[0.13150136643964658,-1.0648509064616705],[0.17650136645994316,-1.036658467182464]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[-0.39077531100882373,-0.3300868732010742,0.71338606911949],"aabb_xy":[[-0.40337801014590025,-0.3426822694259397],[-0.37817261187174733,-0.3174914769762087]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_3","position":[-0.43591735045958385,-1.1027432771975203,0.71338606911949],"aabb_xy":[[-0.46220617478002446,-1.1290147108521713],[-0.40962852613914313,-1.0764718435428688]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.5357518344554427,-2.386399639297029,0.71338606911949],"aabb_xy":[[-0.5707518358069243,-2.4067593752538494],[-0.5007518331039609,-2.3660399033402078]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[-0.6179783630978125,0.5044850082865655,0.71338606911949],"aabb_xy":[[-0.6554783646134441,0.49325823527042045],[-0.5804783615821807,0.5157117813027106]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.3749991028969334,-0.11692812855930779,0.71338606911949],"aabb_xy":[[-0.4299728249332663,-0.17192812812354097],[-0.3200253808606005,-0.06192812899507462]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.38102495951320176,-0.809207793543482,0.71338606911949],"aabb_xy":[[-0.4450249568155481,-0.8535742205113387],[-0.3170249622108553,-0.7648413665756252]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.68724455146819,-1.5496781765827625,0.71338606911949],"aabb_xy":[[0.6497445506761944,-1.5560460175409525],[0.7247445522601853,-1.5433103356245725]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[0.4621695791795666,-1.9892056321442122,0.71338606911949],"aabb_xy":[[0.424838302654324,-2.0238586869390645],[0.4995008557048092,-1.95455257734936]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.22480799121719885,1.2539442407541888,0.71338606911949],"aabb_xy":[[0.21403501729583108,1.2189442425351498],[0.23558096513856663,1.2889442389732277]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[0.44762895117729484,1.8151562237316106,0.71338606911949],"aabb_xy":[[0.43012895189920797,1.7978181236652648],[0.4651289504553817,1.8324943237979567]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[0.002188298298809177,-2.053797483379597,0.71338606911949],"aabb_xy":[[-0.02895862054477394,-2.1237974820664043],[0.03333521714239229,-1.98379748469279]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[0.5080634037704739,1.7129896639726936,0.71338606911949],"aabb_xy":[[0.4929611023094555,1.6978881423416312],[0.5231657052314916,1.728091185603755]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[0.05848367301937252,-1.283483109061687,0.71338606911949],"aabb_xy":[[-0.021516328053747806,-1.2932611553990714],[0.13848367409249285,-1.2737050627243025]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.37521579348097134,-1.705439455343345,0.71338606911949],"aabb_xy":[[-0.405183350390797,-1.7354394556412307],[-0.3452482365711457,-1.6754394550454592]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_16","position":[-0.24345878978211993,0.9719951414354631,0.71338606911949],"aabb_xy":[[-0.29845104041763093,0.9169951396921505],[-0.18846653914660902,1.026995143178776]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[-0.5703131747737623,-0.004004365338079463,0.71338606911949],"aabb_xy":[[-0.6203131760576022,-0.05398321972870156],[-0.5203131734899222,0.04597448905254264]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[0.08820389096309,1.0781158775351063,0.71338606911949],"aabb_xy":[[0.053203892652394544,1.0704008626115606],[0.12320388927378544,1.085830892458652]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_19","position":[-0.39510022171522896,-0.5484493390632852,0.71338606911949],"aabb_xy":[[-0.45910022030180136,-0.5954563024627938],[-0.33110022312865645,-0.5014423756637764]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[-0.5112293048728551,-2.006697487187221,0.71338606911949],"aabb_xy":[[-0.5279064408659506,-2.0233974111611515],[-0.4945521688797596,-1.989997563213291]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[-0.5247460746466299,-1.7126372306316981,0.71338606911949],"aabb_xy":[[-0.5592084220447715,-1.7471311130295206],[-0.49028372724848795,-1.6781433482338752]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6973545957912296,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9455.png","name":"9455"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9455.png","name":"9455"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1585.png","name":"1585"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8444.png","name":"8444"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4817.png","name":"4817"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4881.png","name":"4881"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":836.286908872329,"rotation_z_degrees":325.20005459574656,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017027701751850886,0.009291715044112147,0.014494898514999108]},{"name":"camera_2","offset_m":[-0.006941926073532558,-0.01289665440923232,-0.0004093584060172427]},{"name":"camera_3","offset_m":[0.004071919865726942,0.010293027219026456,-0.0012206520149162098]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004633609923654835,-0.0009540155428893913,0.0017831008992724184],"end_effector_yaw_offset_degrees":-0.9144079351308998},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001939145230287308,0.0003284237573923025,-0.0009295924751546996],"end_effector_yaw_offset_degrees":0.6340818311376517},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00021092271609796684,-0.0007191280240599739,-0.00042547948156574744],"end_effector_yaw_offset_degrees":0.16941931796412968},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001219570184100406,-0.0004185297781958469,-0.0001407670867661062],"end_effector_yaw_offset_degrees":-0.6791885672460216}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035380575540498796,-0.0008648034862630315],"position_m":[0.14886194244595014,0.22273519651373697,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013078216934814548,-0.004704690260927226],"position_m":[0.24109217830651855,-0.3144046902609272,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011301043571655704,-0.0024009554724975335],"position_m":[0.3256301043571656,-0.04400095547249753,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001590526176447519,-0.00425917866800564],"position_m":[0.3525905261764475,0.3141408213319944,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b71876f9165de1fc0b42260862863cffb144b364f228613bca54c9657c63337f","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0009.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9455/tex_ceiling_textures_4881/tex_floor_textures_4817/tex_table_textures_1585/tex_wall_textures_8444","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3194214623423763918,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3194214623423763918,"visual_seed":3194214623423763918,"scene_id":"lab_003","finished_at":"2026-09-04T17:39:51"}
+{"episode_id":"ep_000009","started_at":"2026-09-04T17:39:55","dimensions":{"distractor":{"count":30,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.14544444356732988,-0.23487373583627846,0.71338606911949],"aabb_xy":[[-0.15272675994399348,-0.32487373944578735],[-0.13816212719066617,-0.1448737322267694]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[-0.4877421080354027,1.3132310976956698,0.71338606911949],"aabb_xy":[[-0.577742104771013,1.2600476343783753],[-0.3977421112997925,1.3664145610129643]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.5733143108628129,-0.621926539215538,0.71338606911949],"aabb_xy":[[0.5574298175974878,-0.636279479514362],[0.5891988041281381,-0.6075735989167139]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.4612399879598008,-0.4622521905037109,0.71338606911949],"aabb_xy":[[0.44607711498286384,-0.47741764779882967],[0.476402860936738,-0.44708673320859216]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[0.5257036174405723,1.1312308935147914,0.71338606911949],"aabb_xy":[[0.5004827805807325,1.1060071426619043],[0.5509244543004118,1.1564546443676778]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[0.16830233177935483,0.7463899956722568,0.71338606911949],"aabb_xy":[[0.1458023312673142,0.7238981373068584],[0.1908023322913954,0.7688818540376551]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.17541960440029836,-0.694169776735281,0.71338606911949],"aabb_xy":[[-0.21291960434406476,-0.7024628667701176],[-0.13791960445653195,-0.6858766867004444]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[0.32092957626580687,-0.6020968812649246,0.71338606911949],"aabb_xy":[[0.31151210169594407,-0.6115130584026436],[0.33034705083566956,-0.5926807041272055]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[0.581668257876025,1.2511606893264755,0.71338606911949],"aabb_xy":[[0.5016682608617771,1.2310261376530642],[0.661668254890273,1.2712952409998868]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.5746332259870006,-2.4535197773515502,0.71338606911949],"aabb_xy":[[0.5664186808713164,-2.462196367649191],[0.5828477711026844,-2.4448431870539085]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[-0.25568857410157486,1.6049050712545756,0.71338606911949],"aabb_xy":[[-0.29000485127619274,1.5549050712813979],[-0.22137229692695687,1.6549050712277533]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[-0.5268132057774502,1.5044987339792422,0.71338606911949],"aabb_xy":[[-0.5376536840039651,1.4873124526885932],[-0.5159727275509353,1.5216850152698906]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[-0.3190347575651084,0.9077513630532064,0.71338606911949],"aabb_xy":[[-0.3372405812263561,0.8967259624712148],[-0.30082893390386073,0.9187767636351981]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[0.17985696287168795,-1.3507098217654065,0.71338606911949],"aabb_xy":[[0.11985696236383504,-1.4075565554513276],[0.23985696337954088,-1.293863088079485]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.052521361324363136,-0.731848041479706,0.71338606911949],"aabb_xy":[[0.04767776656313317,-0.7366996939586901],[0.05736495608559312,-0.7269963890007218]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[-0.06087530840353317,0.7123633797990934,0.71338606911949],"aabb_xy":[[-0.07347800754060962,0.6997679835742279],[-0.04827260926645672,0.7249587760239589]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[-0.501022360738114,-2.279242797155985,0.71338606911949],"aabb_xy":[[-0.5461936785862831,-2.3432427943005236],[-0.45585104288994516,-2.215242800011447]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[0.4707430435226261,-0.13006695354727693,0.71338606911949],"aabb_xy":[[0.4482430439989186,-0.15256290099789768],[0.49324304304633343,-0.10757100609665614]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[0.515360271317914,-2.1760432914292114,0.71338606911949],"aabb_xy":[[0.5052785642393404,-2.2560432893213256],[0.5254419783964873,-2.0960432935370963]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[-0.59298409352911,-1.8123482071060395,0.71338606911949],"aabb_xy":[[-0.6304840936347029,-1.8191703689590204],[-0.555484093423517,-1.8055260452530582]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[0.4281678429013138,1.5053635508455554,0.71338606911949],"aabb_xy":[[0.4048860007031824,1.420363549548327],[0.4514496850994451,1.5903635521427832]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_21","position":[-0.6561530639824842,0.6432873266357562,0.71338606911949],"aabb_xy":[[-0.6886147648644115,0.6131544945208534],[-0.6236913631005566,0.6734201587506585]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.5794380920714138,-0.39099445617408524,0.71338606911949],"aabb_xy":[[-0.5900055717295128,-0.40153948628709374],[-0.5688706124133148,-0.3804494260610766]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[0.06331504821790856,-2.032816319958311,0.71338606911949],"aabb_xy":[[0.04581504893982169,-2.0501544200246564],[0.08081504749599544,-2.0154782198919645]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[0.3912747235177223,0.9906645585542639,0.71338606911949],"aabb_xy":[[0.32627472496064946,0.9609120251403812],[0.45627472207479514,1.0204170919681466]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[-0.41789425401269165,1.0430081362971162,0.71338606911949],"aabb_xy":[[-0.46288684073114206,0.9980081370226674],[-0.37290166729424123,1.088008135571565]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[0.6140972929212127,-1.3742138547178628,0.71338606911949],"aabb_xy":[[0.6012253894202725,-1.454213855131699],[0.6269691964221528,-1.2942138543040267]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_27","position":[-0.16851466480186905,-1.6338655428251634,0.71338606911949],"aabb_xy":[[-0.23351466575899624,-1.685813754758869],[-0.10351466384474182,-1.5819173308914578]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_28","position":[-0.06616081469759427,-2.4819566360336798,0.71338606911949],"aabb_xy":[[-0.08379365029112185,-2.4995795820493023],[-0.048527979104066706,-2.4643336900180564]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_29","position":[0.19318771195140583,1.385311370713033,0.71338606911949],"aabb_xy":[[0.11318771454781239,1.3053187995148499],[0.2731877093549992,1.4653039419112155]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6932324348591591,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4965.png","name":"4965"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4965.png","name":"4965"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/334.png","name":"334"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2932.png","name":"2932"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7504.png","name":"7504"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5233.png","name":"5233"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":648.7103550707801,"rotation_z_degrees":90.91563770094784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017057381465237654,-0.013329725520626123,0.017877311221544016]},{"name":"camera_2","offset_m":[-0.016278336744334737,-0.006710899669336886,-0.013031720171780625]},{"name":"camera_3","offset_m":[0.01691835378064441,-0.013377189509258116,-0.008024202823542784]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002412444998025464,-0.001312043380099039,0.0003139698627653044],"end_effector_yaw_offset_degrees":-0.2407043419055983},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[2.9966698529932008e-05,-0.0003746595492488268,-0.0016466854011717652],"end_effector_yaw_offset_degrees":-0.4548384625708115},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010153029555351886,-0.0012524720441960664,0.0006943097843367155],"end_effector_yaw_offset_degrees":-0.8370408386687889},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00023693811191830482,0.0007660354974236986,0.0004104399677187418],"end_effector_yaw_offset_degrees":0.465333530945252}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029335482178474643,-0.00157919194862288],"position_m":[0.15533354821784748,0.2220208080513771,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014476503200026893,-0.0046615137421050085],"position_m":[0.2438476503200027,-0.31436151374210497,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00021848562250737467,0.002648897908522705],"position_m":[0.32428151437749264,-0.03895110209147729,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004637722216108329,-0.0011166281695318193],"position_m":[0.34636227778389167,0.3172833718304682,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4e917a4acc45ba69d88b9b1215f59fa66177c8f6f3f78af9760399bae627f718","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0010.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4965/tex_ceiling_textures_5233/tex_floor_textures_7504/tex_table_textures_334/tex_wall_textures_2932","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":9069415152747864409,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":9069415152747864409,"visual_seed":9069415152747864409,"scene_id":"lab_003","finished_at":"2026-09-04T17:43:57"}
+{"episode_id":"ep_000010","started_at":"2026-09-04T17:44:01","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[-0.19847076265826918,-2.1785984359908945,0.71338606911949],"aabb_xy":[[-0.26006152188226206,-2.242598434099942],[-0.13688000343427642,-2.114598437881848]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[-0.282008634103795,1.0859681399387604,0.71338606911949],"aabb_xy":[[-0.29955532901991394,1.0484681383745091],[-0.2644619391876761,1.1234681415030117]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.1353688466696068,1.5186179179457713,0.71338606911949],"aabb_xy":[[-0.1993688430969287,1.471448294123675],[-0.0713688502422849,1.565787541767868]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.6222322553103824,1.1477351648837626,0.71338606911949],"aabb_xy":[[-0.657232253621078,1.140020149960217],[-0.5872322569996871,1.1554501798073082]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[0.1277408765884518,-2.149340307170921,0.71338606911949],"aabb_xy":[[0.11758786103430235,-2.1854098487436606],[0.13789389214260112,-2.11327076559818]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_5","position":[-0.4974553490686382,0.7379576416872373,0.71338606911949],"aabb_xy":[[-0.547455350352478,0.6879787872966151],[-0.4474553477847982,0.7879364960778593]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[0.37536063319801527,-1.2972191925365069,0.71338606911949],"aabb_xy":[[0.36926600530989695,-1.3057885870881756],[0.3814552610861336,-1.2886497979848381]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[0.2765606608369716,1.682393258456003,0.71338606911949],"aabb_xy":[[0.18656066410136135,1.6292097951387083],[0.36656065757258177,1.7355767217732974]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[-0.06574151830012309,-2.042546319185117,0.71338606911949],"aabb_xy":[[-0.10324151864835084,-2.0543377147662003],[-0.02824151795189532,-2.030754923604033]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[0.4547870783662866,1.1431498198873058,0.71338606911949],"aabb_xy":[[0.43232230839488145,1.1206498190084453],[0.4772518483376917,1.1656498207661663]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_10","position":[0.4779676714061669,-2.2807649771463527,0.71338606911949],"aabb_xy":[[0.4700443911674186,-2.303264977384356],[0.48589095164491525,-2.2582649769083494]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[-0.30365676306972184,-1.979280867178788,0.71338606911949],"aabb_xy":[[-0.3089943387357264,-2.0042808681079283],[-0.29831918740371727,-1.9542808662496485]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[0.6203886950269051,-1.4525655117198626,0.71338606911949],"aabb_xy":[[0.6150561803722921,-1.4578898399650981],[0.6257212096815182,-1.447241183474627]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[0.43315959089510114,-0.9274614028918415,0.71338606911949],"aabb_xy":[[0.383276894017405,-0.9774614021381164],[0.4830422877727974,-0.8774614036455669]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[0.46942151927091724,0.7248736103339191,0.71338606911949],"aabb_xy":[[0.38942151784078993,0.6453564553213095],[0.5494215207010443,0.8043907653465284]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[0.569544945819418,1.1708748827830187,0.71338606911949],"aabb_xy":[[0.5370832449374903,1.1407420506681158],[0.6020066467013452,1.201007714897921]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[-0.33820172746212457,0.7998465041945848,0.71338606911949],"aabb_xy":[[-0.3833730453102936,0.7358465070500464],[-0.2930304096139556,0.8638465013391233]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.6416309520868688,-0.6958946435026754,0.71338606911949],"aabb_xy":[[0.5916576580836084,-0.7458946440572226],[0.6916042460901293,-0.6458946429481279]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.4301117103451556,-1.7357498148637363,0.71338606911949],"aabb_xy":[[-0.46714581977321534,-1.7701270221974454],[-0.39307760091709587,-1.7013726075300266]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_19","position":[-0.6274670382821881,0.19055801464198652,0.71338606911949],"aabb_xy":[[-0.6499670380960904,0.18608339827150583],[-0.6049670384682856,0.1950326310124672]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[-0.6264011973865165,-0.9647777654231153,0.71338606911949],"aabb_xy":[[-0.6804167936684165,-1.0287777683153725],[-0.5723856011046164,-0.9007777625308582]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[-0.13220850048833643,0.4328244954290197,0.71338606911949],"aabb_xy":[[-0.20220850261976595,0.410062529803324],[-0.062208498356906866,0.45558646105471534]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[0.5377728037720173,0.002683549608487823,0.71338606911949],"aabb_xy":[[0.5073746926728736,-0.027723352393181685],[0.5681709148711608,0.03309045161015733]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_23","position":[0.050610954137749964,1.390248536105927,0.71338606911949],"aabb_xy":[[0.04429885460141153,1.384481596852708],[0.0569230536740884,1.3960154753591458]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_24","position":[-0.12780716125052027,0.5678289836796178,0.71338606911949],"aabb_xy":[[-0.17780199417846188,0.5178289847843742],[-0.07781232832257867,0.6178289825748613]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_25","position":[0.23113495265285322,-2.224018599930322,0.71338606911949],"aabb_xy":[[0.2110765410396129,-2.2440836868394793],[0.2511933642660935,-2.2039535130211645]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_26","position":[0.2799171812714497,0.7705806245106634,0.71338606911949],"aabb_xy":[[0.27507358651021974,0.7657289720316793],[0.2847607760326797,0.7754322769896476]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[0.6472220532003705,-1.8476698107750145,0.71338606911949],"aabb_xy":[[0.5832220524969013,-1.8936881932479357],[0.71122205390384,-1.8016514283020937]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_28","position":[-0.43118115235089943,-0.8217430245331692,0.71338606911949],"aabb_xy":[[-0.4536802880771264,-0.8442430253114321],[-0.40868201662467246,-0.7992430237549062]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_29","position":[0.4809599819214543,-0.6801087066250886,0.71338606911949],"aabb_xy":[[0.43595998045522555,-0.7251085634865693],[0.5259599833876832,-0.6351088497636079]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_30","position":[-0.4040984985018606,0.3456531912465528,0.71338606911949],"aabb_xy":[[-0.4840984955161085,0.32551863957314153],[-0.32409850148761254,0.3657877429199641]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_31","position":[-0.2106255712154484,-1.3641083668017973,0.71338606911949],"aabb_xy":[[-0.258431738829217,-1.4291083695088562],[-0.16281940360167974,-1.2991083640947383]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_32","position":[-0.46404544731407926,1.2143874074624228,0.71338606911949],"aabb_xy":[[-0.48154544659216614,1.1970493073960768],[-0.4465454480359924,1.2317255075287687]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_33","position":[-0.2186559287000519,-0.8424720932381646,0.71338606911949],"aabb_xy":[[-0.27365592690179674,-0.8829940598646022],[-0.16365593049830707,-0.801950126611727]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6989779619596584,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8226.png","name":"8226"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8226.png","name":"8226"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1701.png","name":"1701"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/740.png","name":"740"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4706.png","name":"4706"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3849.png","name":"3849"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":752.6573054043246,"rotation_z_degrees":188.34037759814726,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009136142155676175,-0.01036269019555601,-0.006545765147553482]},{"name":"camera_2","offset_m":[0.013665948484198612,0.018792036365286233,-0.006767146816650773]},{"name":"camera_3","offset_m":[-0.018528527048934876,-0.00017094052475763802,0.010046633564407898]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005144660419994541,-0.0017068021572570818,0.0008279471497807714],"end_effector_yaw_offset_degrees":0.6577313141906149},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009322872475221069,-0.00044425291906599043,0.00011865425178578769],"end_effector_yaw_offset_degrees":0.12722182622107137},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011688351810815267,0.00013581156767993952,0.0014658183371852925],"end_effector_yaw_offset_degrees":-0.904930377809589},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014749629445023685,0.00121552161046684,0.00031191244337954805],"end_effector_yaw_offset_degrees":0.5400177519982299}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004677393074031403,0.002764458667101344],"position_m":[0.1477226069259686,0.22636445866710134,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002339222268503593,-0.0007452059086667673],"position_m":[0.2447392222685036,-0.31044520590866675,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013568585430914519,0.002935954337004095],"position_m":[0.3258568585430915,-0.0386640456629959,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018018439425520937,-0.0010862103167326113],"position_m":[0.3528018439425521,0.3173137896832674,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8e938d5c1527331625354b887f93c8c20fcce040d97821946898cdb7b51f310a","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8226/tex_ceiling_textures_3849/tex_floor_textures_4706/tex_table_textures_1701/tex_wall_textures_740","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4561707038118673964,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4561707038118673964,"visual_seed":4561707038118673964,"scene_id":"lab_003","finished_at":"2026-09-04T17:47:47"}
+{"episode_id":"ep_000011","started_at":"2026-09-04T17:47:50","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[0.545504457414486,1.6479216826010075,0.71338606911949],"aabb_xy":[[0.5323532114431967,1.6229216828443214],[0.5586557033857754,1.6729216823576945]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[-0.08884958800944087,1.127028055401282,0.71338606911949],"aabb_xy":[[-0.16884958599022593,1.1194265144394298],[-0.008849590028655844,1.1346295963631337]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[0.6100562813844179,-1.204867224773281,0.71338606911949],"aabb_xy":[[0.5800887244745924,-1.2348672250711668],[0.6400238382942437,-1.1748672244753953]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[-0.44322954029015676,-0.3656240674323632,0.71338606911949],"aabb_xy":[[-0.4536410989706404,-0.37096980076826164],[-0.432817981609673,-0.36027833409646465]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[0.5453731085907505,-2.200893024490059,0.71338606911949],"aabb_xy":[[0.5232005816140995,-2.2230686916461817],[0.5675456355674012,-2.1787173573339356]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.18227415901975275,-0.6279168458700632,0.71338606911949],"aabb_xy":[[-0.20477415902990104,-0.6420130655096665],[-0.15977415900960446,-0.61382062623046]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_6","position":[0.6736375211472041,-1.7234792268649208,0.71338606911949],"aabb_xy":[[0.6560908262310852,-1.7609792284291719],[0.691184216063323,-1.6859792253006693]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[0.21904342609178928,0.7920911356581248,0.71338606911949],"aabb_xy":[[0.21032945704185477,0.7695911349989365],[0.22775739514172375,0.814591136317313]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[-0.5763857706452987,-0.49304752179441547,0.71338606911949],"aabb_xy":[[-0.6263588361778142,-0.5430475216069485],[-0.5264127051127833,-0.4430475219818827]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[0.5626815820270668,-0.17282677265300617,0.71338606911949],"aabb_xy":[[0.5451815817677301,-0.18691831484177882],[0.5801815822864034,-0.15873523046423357]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[0.38121509007894505,-2.4511690212234707,0.71338606911949],"aabb_xy":[[0.35871866864508095,-2.473669021030218],[0.40371151151280915,-2.4286690214167233]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[0.5612927133412011,1.2780347349101717,0.71338606911949],"aabb_xy":[[0.5191082991803704,1.2140347346329605],[0.6034771275020319,1.342034735187383]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.0759459819442353,-1.9897161168141495,0.71338606911949],"aabb_xy":[[-0.11157513784419502,-2.025348783571003],[-0.04031682604427554,-1.954083450057297]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[-0.6907918226782537,1.258896909064993,0.71338606911949],"aabb_xy":[[-0.6948699805853034,1.2548159288167298],[-0.686713664771204,1.2629778893132564]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[0.298842146884273,-1.8734243428392134,0.71338606911949],"aabb_xy":[[0.27384214733253454,-1.883566826704348],[0.3238421464360115,-1.8632818589740785]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[0.3001753377288836,1.16916346530012,0.71338606911949],"aabb_xy":[[0.22017533907199766,1.1546586063758573],[0.38017533638576967,1.183668324224383]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.5406831013290164,-2.4627699017656126,0.71338606911949],"aabb_xy":[[-0.5479443488994238,-2.475556912029122],[-0.5334218537586091,-2.449982891502103]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[0.1132123802153635,0.8304670711433895,0.71338606911949],"aabb_xy":[[0.10679856657217854,0.8240572508957209],[0.11962619385854842,0.8368768913910576]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_18","position":[-0.3175171157392805,-2.2026135126774853,0.71338606911949],"aabb_xy":[[-0.36751212669873257,-2.2526135117130774],[-0.2675221047798285,-2.152613513641894]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[0.10967950440602048,-1.6810556380014545,0.71338606911949],"aabb_xy":[[0.045679502998029815,-1.732844589525379],[0.17367950581401115,-1.6292666864775296]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[-0.43514458788981764,-0.7379503420732976,0.71338606911949],"aabb_xy":[[-0.4951445895327395,-0.7899504913652418],[-0.3751445862468958,-0.6859501927813534]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_21","position":[-0.2314480447998981,-1.284503370782648,0.71338606911949],"aabb_xy":[[-0.2865732504294889,-1.3445033722239352],[-0.17632283917030733,-1.224503369341361]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[0.2419035720751781,-1.4620036774967198,0.71338606911949],"aabb_xy":[[0.17790357567960502,-1.5259669659154533],[0.3059035684707512,-1.3980403890779862]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[0.3828128089764564,0.7797465641329571,0.71338606911949],"aabb_xy":[[0.3328285732682792,0.7297465653194615],[0.43279704468463365,0.8297465629464527]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[0.31354478582707057,-0.7040518236497009,0.71338606911949],"aabb_xy":[[0.2722959747971558,-0.7590518231619183],[0.35479359685698525,-0.6490518241374834]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[-0.33294761827713043,1.3234457714196388,0.71338606911949],"aabb_xy":[[-0.3679476165878258,1.3157307564960934],[-0.29794761996643493,1.3311607863431847]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_26","position":[-0.008931992858563942,0.9391176387949587,0.71338606911949],"aabb_xy":[[-0.017059681051877162,0.930204030384251],[-0.000804304665250723,0.9480312472056663]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957793796845733,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7136.png","name":"7136"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7136.png","name":"7136"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4239.png","name":"4239"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8973.png","name":"8973"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7233.png","name":"7233"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6988.png","name":"6988"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":704.0649362920419,"rotation_z_degrees":44.77764181593006,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006837010364519523,0.004061644057063593,0.01937182408078508]},{"name":"camera_2","offset_m":[-0.0059202612641058045,0.016565984564471548,0.015806777395690186]},{"name":"camera_3","offset_m":[0.011406354467186772,-0.017349726820097017,0.01925973712013838]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017069672524062502,0.0015179292361408195,0.0015724353189890817],"end_effector_yaw_offset_degrees":-0.01020535404432188},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[3.651654938327748e-05,0.0009772039639380477,-0.0010713334416545023],"end_effector_yaw_offset_degrees":-0.7693958177998177},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006999563283058563,-0.0006184571423100609,-0.001052939743113435],"end_effector_yaw_offset_degrees":0.4893509943040717},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005853797893200763,-0.001944392963090869,0.0019407659273972212],"end_effector_yaw_offset_degrees":-0.18492543485668866}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002433679773460753,0.0028863914069981967],"position_m":[0.15483367977346077,0.2264863914069982,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049185943054991365,-0.004280330877060156],"position_m":[0.23748140569450088,-0.3139803308770601,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003809116598694263,-0.004458080304902004],"position_m":[0.3283091165986943,-0.046058080304902,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018155771168935119,-0.0010365138096264052],"position_m":[0.34918442288310647,0.31736348619037363,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4dacd9acf978553accc5aabaefe7350861d73e840ae82c079aa97ae62f2c6aea","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7136/tex_ceiling_textures_6988/tex_floor_textures_7233/tex_table_textures_4239/tex_wall_textures_8973","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2781180879378872804,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2781180879378872804,"visual_seed":2781180879378872804,"scene_id":"lab_003","finished_at":"2026-09-04T17:51:59"}
+{"episode_id":"ep_000012","started_at":"2026-09-04T17:52:03","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[0.6089905468885946,-1.8394689405920244,0.71338606911949],"aabb_xy":[[0.5449905504930215,-1.903432229010758],[0.6729905432841676,-1.7755056521732908]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[-0.24863083031322747,1.6419569055700802,0.71338606911949],"aabb_xy":[[-0.27112996603945444,1.6194569047918173],[-0.2261316945870005,1.6644569063483432]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[-0.07543879902019068,1.0196881890730292,0.71338606911949],"aabb_xy":[[-0.13943879613229637,0.9706558192786185],[-0.01143880190808498,1.0687205588674398]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[0.2645488455015229,-0.6388475309352217,0.71338606911949],"aabb_xy":[[0.22353090211515203,-0.6888475315661791],[0.3055667888878938,-0.5888475303042644]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[0.10368629208630387,-1.5338504650647484,0.71338606911949],"aabb_xy":[[0.08118629256259645,-1.5563464125153688],[0.12618629161001124,-1.5113545176141272]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[0.539013015678768,0.3484291776725481,0.71338606911949],"aabb_xy":[[0.5349348577717183,0.3443481974242848],[0.5430911735858177,0.3525101579208114]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[-0.26400570869240364,-0.19818740510609878,0.71338606911949],"aabb_xy":[[-0.3015057102080354,-0.2094141781222438],[-0.226505707176772,-0.1869606320899537]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[0.2839901875214347,1.12317855370996,0.71338606911949],"aabb_xy":[[0.2464901889458139,1.110442258046402],[0.3214901860970555,1.1359148493735178]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.196050586321316,-2.2517385119857782,0.71338606911949],"aabb_xy":[[0.15855058552932055,-2.2581063529439684],[0.23355058711331145,-2.245370671027588]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_9","position":[-0.10267546036896691,0.8330679600549638,0.71338606911949],"aabb_xy":[[-0.12789629722880655,0.8078442092020769],[-0.07745462350912723,0.8582917109078504]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[-0.13606042117074202,0.6738396046466084,0.71338606911949],"aabb_xy":[[-0.1585604216827826,0.6513477462812101],[-0.1135604206587014,0.6963314630120068]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.665619842998221,1.02212333372375,0.71338606911949],"aabb_xy":[[0.6485177650398528,1.0050165281924803],[0.6827219209565891,1.0392301392550198]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[-0.5871528707366898,-2.1482513432381434,0.71338606911949],"aabb_xy":[[-0.6046528700147765,-2.1655894433044893],[-0.5696528714586028,-2.1309132431717974]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_13","position":[0.3720542900478332,0.6753025529697005,0.71338606911949],"aabb_xy":[[0.36413100980908486,0.6528025527316972],[0.3799775702865815,0.6978025532077039]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_14","position":[0.6900963953792343,-0.17024036242404517,0.71338606911949],"aabb_xy":[[0.6676316254078292,-0.19274036330290567],[0.7125611653506394,-0.14774036154518466]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.6085701592738388,-1.386363932564268,0.71338606911949],"aabb_xy":[[0.5545545629919388,-1.4503639354565252],[0.6625857555557388,-1.3223639296720109]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[-0.5711488310060714,-1.2831481862154785,0.71338606911949],"aabb_xy":[[-0.5886487644400548,-1.3006481861357129],[-0.553648897572088,-1.2656481862952438]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[-0.31818505865181956,-0.3086755234228531,0.71338606911949],"aabb_xy":[[-0.3384693613752183,-0.3289581485655619],[-0.2979007559284208,-0.2883928982801442]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_18","position":[0.4494376483139073,0.01340661249171804,0.71338606911949],"aabb_xy":[[0.42954660843356723,0.0007508012070211996],[0.4693286881942477,0.026062423776414885]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.5311678418359316,1.1975055258688547,0.71338606911949],"aabb_xy":[[-0.5649434010266245,1.1834670306556898],[-0.4973922826452386,1.2115440210820196]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.5555062259182859,-0.87609157245704,0.71338606911949],"aabb_xy":[[-0.5743906096867961,-0.8949774972373926],[-0.5366218421497757,-0.857205647676687]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_21","position":[0.548843684959643,-1.1008651089645636,0.71338606911949],"aabb_xy":[[0.5252585614957481,-1.1658651112099956],[0.5724288084235378,-1.035865106719132]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[0.25295773284295675,-1.6549826455053218,0.71338606911949],"aabb_xy":[[0.20286026886188313,-1.7189826460151338],[0.30305519682403037,-1.5909826449955102]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_23","position":[-0.5865190146968153,1.7266359423375843,0.71338606911949],"aabb_xy":[[-0.6316903325449843,1.6626359451930461],[-0.5413476968486464,1.790635939482123]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_24","position":[0.2551377599442066,1.718309091690163,0.71338606911949],"aabb_xy":[[0.19114206254911004,1.6543090933894544],[0.3191334573393032,1.7823090899908718]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[-0.00695148875354501,-1.7972927418666251,0.71338606911949],"aabb_xy":[[-0.04374612187845128,-1.8341986169632074],[0.029843144371361263,-1.7603868667700429]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[-0.5690172577109309,0.10818648190375235,0.71338606911949],"aabb_xy":[[-0.649017258181147,0.09987577428940399],[-0.4890172572407151,0.11649718951810074]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[-0.23933657091470767,-1.2130789383690683,0.71338606911949],"aabb_xy":[[-0.2943297822518444,-1.268078938707862],[-0.1843433595775709,-1.1580789380302747]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[0.10952479713150387,-1.90968990418062,0.71338606911949],"aabb_xy":[[0.10211234159011541,-1.9155411146022479],[0.11693725267289236,-1.903838693758992]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_29","position":[0.10835576907651812,1.2438165522076265,0.71338606911949],"aabb_xy":[[0.05835576871595206,1.1938365649980234],[0.15835576943708418,1.2937965394172293]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_30","position":[0.3672351528714133,-2.2709803204213372,0.71338606911949],"aabb_xy":[[0.321956537990264,-2.3349803197695214],[0.41251376775256254,-2.206980321073154]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_31","position":[0.15366662473824855,0.7524485550108713,0.71338606911949],"aabb_xy":[[0.11681607680126094,0.7149485541878376],[0.19051717267523616,0.7899485558339051]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_32","position":[-0.4865418990227717,-0.32274773528446854,0.71338606911949],"aabb_xy":[[-0.5765418955236434,-0.3686593777029267],[-0.3965419025218999,-0.27683609286601024]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_33","position":[0.07444830615566356,0.9653248829530083,0.71338606911949],"aabb_xy":[[0.07074504482652468,0.9616228646442904],[0.07815156748480241,0.9690269012617261]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6922015055818066,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8800.png","name":"8800"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8800.png","name":"8800"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3114.png","name":"3114"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3231.png","name":"3231"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/585.png","name":"585"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4283.png","name":"4283"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":810.2588196375086,"rotation_z_degrees":251.69123868053953,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010952278070777127,-0.014382949453443494,0.011601413470198153]},{"name":"camera_2","offset_m":[0.0002576903401652099,0.008253745303309992,0.00815638954855022]},{"name":"camera_3","offset_m":[-0.005471840481130662,0.001290392666734013,-0.017424674713869954]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001829400251137582,0.00066480806092263,0.0014137757142993704],"end_effector_yaw_offset_degrees":-0.7710901168955206},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012167948867753148,-0.0016099107850354982,-0.00045370950247853345],"end_effector_yaw_offset_degrees":0.8906476749170231},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017272723783348526,0.001966570436014006,0.001178513581519939],"end_effector_yaw_offset_degrees":-0.4389354061304498},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002201576633683775,-6.441497733393215e-05,-4.211577068237264e-05],"end_effector_yaw_offset_degrees":0.1394029235123173}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004725997542684744,-0.0046126978904358585],"position_m":[0.15712599754268475,0.21898730210956413,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015272057061220122,0.0003231744513533044],"position_m":[0.24087279429387798,-0.30937682554864665,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009289277819412847,-0.004833222868065586],"position_m":[0.32542892778194127,-0.04643322286806559,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004398180748962236,-0.003844587401217045],"position_m":[0.3466018192510377,0.31455541259878295,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e669e5c4ecdabea20ef98e5cc6ee7be9681319ca6418ab8606faf9ad83355787","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0013.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8800/tex_ceiling_textures_4283/tex_floor_textures_585/tex_table_textures_3114/tex_wall_textures_3231","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2829860590359702210,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2829860590359702210,"visual_seed":2829860590359702210,"scene_id":"lab_003","finished_at":"2026-09-04T17:55:58"}
+{"episode_id":"ep_000013","started_at":"2026-09-04T17:56:03","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[0.5135297539665036,-2.141148531704088,0.71338606911949],"aabb_xy":[[0.44952975326303435,-2.1871669141770096],[0.577529754669973,-2.0951301492311676]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[0.24559683566418744,-1.0058757467629507,0.71338606911949],"aabb_xy":[[0.23748318099081034,-1.0139815632169797],[0.25371049033756454,-0.9977699303089216]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_2","position":[-0.5277146839054506,-1.2328012166498423,0.71338606911949],"aabb_xy":[[-0.5408659298767401,-1.2578012164065289],[-0.5145634379341614,-1.2078012168931558]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.41631526263463914,-0.453392488251366,0.71338606911949],"aabb_xy":[[0.3523152640480667,-0.5003994516508747],[0.4803152612212116,-0.40638552485185725]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_4","position":[0.0043092994088995695,-0.9454568374154897,0.71338606911949],"aabb_xy":[[-0.04569070003129605,-0.9954247618998059],[0.05430929884909519,-0.8954889129311733]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[-0.5955460093935376,0.7283180542842427,0.71338606911949],"aabb_xy":[[-0.6505460090152836,0.6733343614967701],[-0.5405460097717919,0.7833017470717155]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_6","position":[0.07219513972110747,1.1531683662218208,0.71338606911949],"aabb_xy":[[0.06398059460542346,1.1444917759241793],[0.08040968483679142,1.161844956519462]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.010120102634965988,1.0653415049794717,0.71338606911949],"aabb_xy":[[0.0004884664145363704,1.0557041921997627],[0.019751738855395606,1.0749788177591806]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.23322997949384905,-2.1600295810503107,0.71338606911949],"aabb_xy":[[-0.26782106234789427,-2.2250295813353413],[-0.19863889663980383,-2.0950295807652792]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[0.5023014342438403,-2.4840877853779038,0.71338606911949],"aabb_xy":[[0.43830143095413215,-2.527422704381821],[0.5663014375335483,-2.4407528663739857]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[0.276580037953839,-1.3823595273018683,0.71338606911949],"aabb_xy":[[0.2716240177689579,-1.4048595275039901],[0.28153605813872024,-1.359859527099747]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[0.5425489528412706,-0.6348869678673796,0.71338606911949],"aabb_xy":[[0.5050489544178701,-0.6480511818352102],[0.5800489512646708,-0.6217227538995489]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[-0.312901400174287,-0.3092136899022835,0.71338606911949],"aabb_xy":[[-0.3199417101078241,-0.389213689301955],[-0.3058610902407501,-0.22921369050261214]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.06598791198331244,0.44969577765291513,0.71338606911949],"aabb_xy":[[-0.07062302713554582,0.44582844257576637],[-0.06135279683107905,0.45356311273006367]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[-0.20935229422857748,-1.5167654912881936,0.71338606911949],"aabb_xy":[[-0.27435229238449654,-1.543061735838106],[-0.14435229607265843,-1.4904692467382816]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[-0.3227483867085291,1.6816858628368005,0.71338606911949],"aabb_xy":[[-0.33619491334257245,1.668216011183709],[-0.3093018600744858,1.6951557144898917]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[0.5670273885227255,1.2954263100362708,0.71338606911949],"aabb_xy":[[0.49702738588613915,1.2753214450404051],[0.6370273911593118,1.3155311750321361]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.02518297072918907,-2.1692262368210007,0.71338606911949],"aabb_xy":[[-0.047682970972704464,-2.181430871480773],[-0.002682970485673678,-2.157021602161229]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[-0.1415897529682988,1.4254224891093643,0.71338606911949],"aabb_xy":[[-0.22158975094908384,1.4178209481475126],[-0.061589754987513755,1.4330240300712165]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_19","position":[0.4862798113169662,-0.2251039646279258,0.71338606911949],"aabb_xy":[[0.43627981003312616,-0.27508281901854786],[0.536279812600806,-0.17512511023730368]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[-0.6323043456650173,-1.47847353421409,0.71338606911949],"aabb_xy":[[-0.649804344943104,-1.495811634280436],[-0.6148043463869303,-1.461135434147744]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_21","position":[0.3158224180387532,0.6047565161479187,0.71338606911949],"aabb_xy":[[0.30072011657773506,0.5896549945168567],[0.33092471949977126,0.6198580377789803]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[0.47642081090089494,-1.526147468227384,0.71338606911949],"aabb_xy":[[0.41242081447357304,-1.5733170920494806],[0.5404208073282168,-1.4789778444052877]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[-0.24852652940050202,0.7705713405516614,0.71338606911949],"aabb_xy":[[-0.31252653131284436,0.7146601912936511],[-0.1845265274881597,0.826482489809672]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_24","position":[0.6342119581178689,1.0529231554667393,0.71338606911949],"aabb_xy":[[0.6079231337974281,1.0266517218120879],[0.6605007824383095,1.0791945891213903]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6969954664073785,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7852.png","name":"7852"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7852.png","name":"7852"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5985.png","name":"5985"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1253.png","name":"1253"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8045.png","name":"8045"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8110.png","name":"8110"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":527.189792803769,"rotation_z_degrees":205.16306279892265,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014855322984272081,-0.019739245565562037,0.000443096199255439]},{"name":"camera_2","offset_m":[0.009152437055660965,0.014854234870744814,-0.0075006179590182236]},{"name":"camera_3","offset_m":[-0.019708846775265347,0.009934679450027,-0.007704809424764751]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00048469591215146747,-0.0013342336572275447,0.0019873775657380643],"end_effector_yaw_offset_degrees":-0.9747543718982958},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019286596170624418,-0.0016296270750998008,-0.001688376297695323],"end_effector_yaw_offset_degrees":0.508909171078415},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001131884298752483,0.0009002741321190691,0.0012254289876435934],"end_effector_yaw_offset_degrees":0.4952939425375742},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00042847216360724456,0.0014452284531583839,0.0008846040008113711],"end_effector_yaw_offset_degrees":-0.8034158181331488}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003622923403417939,-0.0027570950691404063],"position_m":[0.14877707659658207,0.2208429049308596,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035433575565615447,0.0016256708164906668],"position_m":[0.23885664244343846,-0.3080743291835093,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00496629907052082,-0.002941678955501199],"position_m":[0.32946629907052083,-0.0445416789555012,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013395779600360556,0.0006981483074174257],"position_m":[0.34966042203996395,0.31909814830741745,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7dcac28852b4bafeab6b3eb2c51808bd61984f5273f1816bf60db7f42d30d1bc","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7852/tex_ceiling_textures_8110/tex_floor_textures_8045/tex_table_textures_5985/tex_wall_textures_1253","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3744374789024282673,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3744374789024282673,"visual_seed":3744374789024282673,"scene_id":"lab_003","finished_at":"2026-09-04T18:00:01"}
+{"episode_id":"ep_000014","started_at":"2026-09-04T18:00:05","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.18831815564522336,-1.1865790353641905,0.71338606911949],"aabb_xy":[[-0.22581815558898977,-1.194872125399027],[-0.15081815570145696,-1.178285945329354]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.5092719578660625,-0.5056580338548438,0.71338606911949],"aabb_xy":[[-0.5442719570588807,-0.5166250798525063],[-0.4742719586732441,-0.494690987857181]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[0.10248148741159346,1.7434864923397035,0.71338606911949],"aabb_xy":[[0.03848148670812412,1.697468109866783],[0.1664814881150628,1.789504874812625]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.061212209928450334,1.076091857835737,0.71338606911949],"aabb_xy":[[0.04944402313379283,0.9910918579305157],[0.07298039672310787,1.1610918577409588]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.12043729241181522,-0.9604095944894873,0.71338606911949],"aabb_xy":[[-0.12539331259669645,-0.982909594691609],[-0.11548127222693405,-0.9379095942873658]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[0.6199053169300988,-2.3101500905120136,0.71338606911949],"aabb_xy":[[0.6138106890419804,-2.3187194850636828],[0.6259999448182171,-2.3015806959603453]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.01542292573162296,1.3259941557353332,0.71338606911949],"aabb_xy":[[0.0056669362224490705,1.3162316216760985],[0.02517891524079685,1.3357566897945674]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[0.5047089467474091,-2.477930826933791,0.71338606911949],"aabb_xy":[[0.4967149581697057,-2.4859309070288806],[0.5127029353251125,-2.4699307468387004]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[0.495523919771085,0.9036644226456474,0.71338606911949],"aabb_xy":[[0.4155300961925268,0.8236644200528059],[0.5755177433496432,0.9836644252384891]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[-0.12251707372166742,-0.7789614794547355,0.71338606911949],"aabb_xy":[[-0.12882917325800586,-0.7847284187079542],[-0.11620497418532899,-0.7731945402015166]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.2520850142527732,1.1286459207218207,0.71338606911949],"aabb_xy":[[0.232193974372433,1.1159901094371238],[0.2719760541331135,1.1413017320065175]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[0.023527010436259044,1.4836697484203776,0.71338606911949],"aabb_xy":[[-0.06616006587185641,1.393669748165927],[0.1132140867443745,1.5736697486748281]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_12","position":[0.32017229810569625,-1.6034871228157503,0.71338606911949],"aabb_xy":[[0.3141352851050315,-1.6095138238846987],[0.326209311106361,-1.5974604217468025]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[-0.02677513813757948,-1.4111171760551826,0.71338606911949],"aabb_xy":[[-0.08677513838898065,-1.4653985010916473],[0.033224862113821696,-1.356835851018718]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_14","position":[0.14896327820458055,-0.6300417719120899,0.71338606911949],"aabb_xy":[[0.11396327993446062,-0.6371158996070782],[0.18396327647470043,-0.6229676442171018]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_15","position":[-0.4662593805461537,-1.8601499081697366,0.71338606911949],"aabb_xy":[[-0.5000349397368467,-1.8741884033829015],[-0.4324838213554607,-1.8461114129565717]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_16","position":[0.21911549884884396,1.6061264679076124,0.71338606911949],"aabb_xy":[[0.2126138623408394,1.5963586458813026],[0.22561713535684863,1.6158942899339221]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.36025833462902945,0.5047402975234321,0.71338606911949],"aabb_xy":[[-0.3646889639838697,0.4992919257887495],[-0.35582770527418933,0.5101886692581147]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[0.6894593700224869,-0.9514986901792786,0.71338606911949],"aabb_xy":[[0.6608100376620706,-0.9801442494563543],[0.718108702382903,-0.9228531309022027]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[-0.5966711502873775,-1.1627252276709166,0.71338606911949],"aabb_xy":[[-0.6179491584308496,-1.2277252299969896],[-0.5753931421439051,-1.0977252253448435]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[0.11410359632185119,-0.9921178210226043,0.71338606911949],"aabb_xy":[[0.056473127434580314,-1.0521178199493146],[0.17173406520912202,-0.9321178220958934]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.3508611883791728,-0.45210150861902676,0.71338606911949],"aabb_xy":[[0.34382087844563586,-0.5321015080186984],[0.35790149831270984,-0.3721015092193555]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6999584841638642,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6739.png","name":"6739"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6739.png","name":"6739"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4442.png","name":"4442"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3613.png","name":"3613"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3514.png","name":"3514"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7674.png","name":"7674"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":783.258729628265,"rotation_z_degrees":21.66980287912114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007144741441338427,0.013180170922962527,0.00307690430407178]},{"name":"camera_2","offset_m":[0.01755654332462891,0.0029908094645619034,0.01336328239466732]},{"name":"camera_3","offset_m":[-0.0011760573960870567,0.00023037649622802484,-0.005559509140774658]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002739127086770457,0.0014084637167456407,-0.0006324611090830286],"end_effector_yaw_offset_degrees":-0.515897894866109},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017111201945943769,0.00040890085475975713,-0.0015223770247788453],"end_effector_yaw_offset_degrees":0.388964290598955},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013623724145077256,-0.0018780784959731137,0.0006580377352271728],"end_effector_yaw_offset_degrees":0.7515971078649746},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001593218168316541,0.0005959298397342056,-0.0013891062651068399],"end_effector_yaw_offset_degrees":0.7918941587520909}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033099743821530525,0.002004973421772682],"position_m":[0.14909002561784696,0.2256049734217727,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026396446623407448,-0.000722480004564238],"position_m":[0.24503964466234074,-0.31042248000456424,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013665885111833675,-0.00020437101205195672],"position_m":[0.3258665885111834,-0.04180437101205196,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004861738336849131,0.0036198781921616607],"position_m":[0.3514861738336849,0.32201987819216166,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"097dafe9814835bb04b9abcb47b8a949141898e79312e5faa6242a30e1114090","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0015.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6739/tex_ceiling_textures_7674/tex_floor_textures_3514/tex_table_textures_4442/tex_wall_textures_3613","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3526922526869720147,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3526922526869720147,"visual_seed":3526922526869720147,"scene_id":"lab_003","finished_at":"2026-09-04T18:03:53"}
+{"episode_id":"ep_000015","started_at":"2026-09-04T18:03:57","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[0.5262460173616215,0.6581414605633298,0.71338606911949],"aabb_xy":[[0.5127994907275782,0.6446716089102386],[0.5396925439956649,0.671611312216421]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.39958162232977745,0.07395824457532285,0.71338606911949],"aabb_xy":[[-0.4370816238454091,0.0627314715591778],[-0.3620816208141457,0.0851850175914679]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[0.3395482302944244,0.7111751529475976,0.71338606911949],"aabb_xy":[[0.33250792036088744,0.6311751535479263],[0.34658854022796143,0.7911751523472692]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[0.6576400448503394,-2.352192636937742,0.71338606911949],"aabb_xy":[[0.6324192079904997,-2.3774163877906282],[0.682860881710179,-2.3269688860848543]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.49320895012240756,-0.20711759717214262,0.71338606911949],"aabb_xy":[[-0.5307089486980282,-0.21985389283570056],[-0.4557089515467867,-0.19438130150858468]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_5","position":[-0.29858506058450346,-0.6429674823091343,0.71338606911949],"aabb_xy":[[-0.37858506105471945,-0.6512781899234827],[-0.21858506011428752,-0.634656774694786]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[0.2899136069472308,-1.3459342276081436,0.71338606911949],"aabb_xy":[[0.19991360722405657,-1.3690075801433232],[0.3799136066704049,-1.3228608750729636]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[-0.6710980769729961,-2.3188735717259186,0.71338606911949],"aabb_xy":[[-0.6771350899736608,-2.324900272794867],[-0.6650610639723313,-2.312846870656971]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[0.598904096192509,1.364677692176656,0.71338606911949],"aabb_xy":[[0.5764393262211037,1.3421776912977952],[0.621368866163914,1.3871776930555162]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_9","position":[-0.4039813411508783,1.250070208331258,0.71338606911949],"aabb_xy":[[-0.42148134141021504,1.2359786661424854],[-0.3864813408915418,1.2641617505200307]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[-0.08483622310562666,-1.5493966321870463,0.71338606911949],"aabb_xy":[[-0.12233622377020537,-1.5650836901872682],[-0.047336222441047966,-1.5337095741868239]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[0.10344891671265954,-2.02335954105121,0.71338606911949],"aabb_xy":[[0.0905770132117194,-2.103359541465046],[0.11632082021359968,-1.9433595406373738]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[0.27849590900129184,-0.9865794831241432,0.71338606911949],"aabb_xy":[[0.25016619905275167,-0.9910402253178603],[0.3068256189498321,-0.9821187409304262]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[-0.009603867022599966,-1.432870568134969,0.71338606911949],"aabb_xy":[[-0.024776036304233306,-1.4480394250631725],[0.005568302259033375,-1.4177017112067658]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[-0.28801830663505196,-2.372384032200809,0.71338606911949],"aabb_xy":[[-0.36801830879781444,-2.4523392158269526],[-0.20801830447228947,-2.2924288485746653]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_15","position":[0.3947909850099307,-0.6844654959697944,0.71338606911949],"aabb_xy":[[0.37120586154603585,-0.7494654982152263],[0.41837610847382556,-0.6194654937243628]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[-0.33690578297502616,-2.09662236415571,0.71338606911949],"aabb_xy":[[-0.40690578457730564,-2.1100551573573676],[-0.2669057813727467,-2.0831895709540524]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[0.4239324825347004,-2.0377415057805304,0.71338606911949],"aabb_xy":[[0.37393248295836573,-2.0877220847326368],[0.47393248211103517,-1.9877609268284249]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[0.4215489859856669,-2.2531669867355735,0.71338606911949],"aabb_xy":[[0.4176351127902444,-2.26191600214213],[0.42546285918108945,-2.244417971329016]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[-0.5423431612381857,-0.3721910368364503,0.71338606911949],"aabb_xy":[[-0.6223431582012249,-0.44926667848022367],[-0.46234316427514655,-0.29511539519267677]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.21773052030040524,-1.6582767992925316,0.71338606911949],"aabb_xy":[[-0.24023052081244578,-1.68076865765793],[-0.1952305197883646,-1.6357849409271332]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_21","position":[0.6308056499449857,-0.4193379115779443,0.71338606911949],"aabb_xy":[[0.621174013724556,-0.42897522435765323],[0.6404372861654153,-0.4097005987982354]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[-0.4370087342515078,-1.71947882852192,0.71338606911949],"aabb_xy":[[-0.5020087352520084,-1.7702651936765947],[-0.37200873325100736,-1.6686924633672449]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_23","position":[-0.2234141068364232,0.6542385034318698,0.71338606911949],"aabb_xy":[[-0.26026465477341076,0.6167385026088361],[-0.18656355889943557,0.6917385042549036]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_24","position":[-0.10624530437543578,0.7183424252493444,0.71338606911949],"aabb_xy":[[-0.14374530419246934,0.7137042139382026],[-0.0687453045584022,0.7229806365604863]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6966763711758076,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5808.png","name":"5808"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5808.png","name":"5808"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5040.png","name":"5040"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9721.png","name":"9721"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1951.png","name":"1951"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9845.png","name":"9845"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":534.0724548187558,"rotation_z_degrees":85.28926957506134,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005855260663093068,-0.007661728880796068,-0.008760681509237749]},{"name":"camera_2","offset_m":[-0.012597428008747294,-0.016496842557977346,-0.010243055032751292]},{"name":"camera_3","offset_m":[0.019037943375186803,-0.0031720885564869954,0.016681489649917874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006572023415836337,0.00011459587906999897,-0.0008587196524260264],"end_effector_yaw_offset_degrees":-0.24978276760003704},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012418083594298718,0.001737697255929292,1.633005370049777e-05],"end_effector_yaw_offset_degrees":0.25563445494668735},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018163639476282707,-0.0002560736637227188,-0.0009637269225415475],"end_effector_yaw_offset_degrees":0.4590326305216985},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00020253979010784878,0.0008964950774018716,-0.0017487195809599604],"end_effector_yaw_offset_degrees":0.20578670272339816}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018905352321034298,0.0008453112934615307],"position_m":[0.15429053523210343,0.2244453112934615,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012841848245186823,0.003859959202737324],"position_m":[0.24368418482451867,-0.3058400407972626,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004163905625283389,-0.000829076710116161],"position_m":[0.3286639056252834,-0.042429076710116156,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003087404353925017,0.003379391878435711],"position_m":[0.34791259564607496,0.32177939187843574,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e187e60c901f38a736e230cb736d338300e4b841ce80b829e9c91982f46c9523","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0016.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5808/tex_ceiling_textures_9845/tex_floor_textures_1951/tex_table_textures_5040/tex_wall_textures_9721","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7704735083248935592,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7704735083248935592,"visual_seed":7704735083248935592,"scene_id":"lab_003","finished_at":"2026-09-04T18:07:56"}
+{"episode_id":"ep_000016","started_at":"2026-09-04T18:08:01","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[-0.28924835432755774,0.8812232160496105,0.71338606911949],"aabb_xy":[[-0.34424835350414723,0.826233541274653],[-0.23424835515096826,0.9362128908245683]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[0.450320352251923,-1.6432077428256138,0.71338606911949],"aabb_xy":[[0.3703265286733648,-1.7232077454184551],[0.5303141758304812,-1.563207740232772]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[-0.36090312133287533,-0.18023782342578176,0.71338606911949],"aabb_xy":[[-0.4209031219288915,-0.23505029597100524],[-0.30090312073685915,-0.12542535088055828]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.170579942296069,1.7611282373834931,0.71338606911949],"aabb_xy":[[0.12058066712763282,1.711128236107546],[0.22057921746450515,1.8111282386594403]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[0.35033662631224693,1.4423444947387316,0.71338606911949],"aabb_xy":[[0.315874278914105,1.4078506123409087],[0.3847989737103886,1.476838377136554]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.43890540262790917,-0.7294367760283846,0.71338606911949],"aabb_xy":[[-0.5029054049707107,-0.7743776272725171],[-0.3749054002851076,-0.6844959247842521]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[0.1688551844885211,-0.6102093610531316,0.71338606911949],"aabb_xy":[[0.15135518422918448,-0.6243009032419042],[0.18635518474785773,-0.596117818864359]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.4512677083753167,0.2366551894486828,0.71338606911949],"aabb_xy":[[0.42875401655185946,0.16665518884767527],[0.47378140019877385,0.30665519004969033]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.02414042717834064,1.0085088164361093,0.71338606911949],"aabb_xy":[[-0.03226811537165386,0.9995952080254017],[-0.016012738985027423,1.017422424846817]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[0.4232791728797163,-1.303864201522352,0.71338606911949],"aabb_xy":[[0.38577917221513747,-1.3195512595225738],[0.4607791735442949,-1.2881771435221294]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[-0.39669304004580797,-0.8956252092105101,0.71338606911949],"aabb_xy":[[-0.4026595789865437,-0.9015863538698741],[-0.3907265011050721,-0.889664064551146]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[-0.15939717445676693,-2.497699920797654,0.71338606911949],"aabb_xy":[[-0.22439717545726745,-2.5484862859523285],[-0.09439717345626641,-2.4469135556429786]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.3860616399277704,1.4268198592307688,0.71338606911949],"aabb_xy":[[-0.4216907958277301,1.3911871924739159],[-0.35043248402781063,1.4624525259876218]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[0.43985466421284936,1.6455230409520767,0.71338606911949],"aabb_xy":[[0.39037424299889056,1.5815230430392249],[0.48933508542680815,1.7095230388649285]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[0.4784838836153631,-0.09388343926163056,0.71338606911949],"aabb_xy":[[0.44470832442467007,-0.10792193447479559],[0.5122594428060561,-0.07984494404846554]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[0.6106516990720734,-2.4800640037769734,0.71338606911949],"aabb_xy":[[0.5881516995483658,-2.502559951227594],[0.6331516985957806,-2.4575680563263522]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[-0.5572984354025223,-2.2960189919067835,0.71338606911949],"aabb_xy":[[-0.5937942560298011,-2.3325029343335406],[-0.5208026147752436,-2.2595350494800255]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[0.5734221023684853,0.7142364907810324,0.71338606911949],"aabb_xy":[[0.4934221020948783,0.6412869429553156],[0.6534221026420922,0.7871860386067491]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[-0.02219400683405337,-1.0397804658625562,0.71338606911949],"aabb_xy":[[-0.04577913029794822,-1.1047804681079882],[0.0013911166298414823,-0.9747804636171247]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[-0.10235912179618223,-1.4076072273914961,0.71338606911949],"aabb_xy":[[-0.11116117710515493,-1.4154185535464252],[-0.0935570664872095,-1.399795901236567]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[0.5605689206058142,0.9797694817942628,0.71338606911949],"aabb_xy":[[0.5355689214401811,0.9728172360889062],[0.5855689197714473,0.9867217274996194]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[0.011437950298763822,-1.2585470282398497,0.71338606911949],"aabb_xy":[[-0.026062048124636528,-1.2717112422076802],[0.04893794872216417,-1.2453828142720187]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6959823360196233,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3140.png","name":"3140"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3140.png","name":"3140"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4570.png","name":"4570"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1972.png","name":"1972"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1948.png","name":"1948"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5713.png","name":"5713"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":603.9138514794093,"rotation_z_degrees":215.26498986090297,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005618053483495745,0.001996410351156438,-0.018062298354576088]},{"name":"camera_2","offset_m":[0.00791835724067385,-0.009651502369807271,0.011547888823962734]},{"name":"camera_3","offset_m":[0.010019400945765054,-0.005788534917779585,0.005415988687890949]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00044283659588210955,-0.00041431946097655686,0.0003307753568570059],"end_effector_yaw_offset_degrees":-0.6173688978577967},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013756378230890586,0.0011115224326991688,-0.0016500723120606584],"end_effector_yaw_offset_degrees":0.5613723224467515},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003719410613926559,-0.0017348505944762335,-0.0012576538947652828],"end_effector_yaw_offset_degrees":0.6572326348967679},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007710385323547748,-0.0017637601757979167,-0.001054340709576509],"end_effector_yaw_offset_degrees":-0.1272356822215861}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010851852000854567,-0.001340192523416881],"position_m":[0.15131481479991454,0.2222598074765831,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002097071304149524,-0.002261622883625559],"position_m":[0.24449707130414952,-0.31196162288362556,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016760607223852298,-0.0020910214827141982],"position_m":[0.32617606072238525,-0.0436910214827142,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003654751650815562,0.0029662134469394226],"position_m":[0.3473452483491844,0.32136621344693944,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"248cd6c8d96deb5f149f850cb2fea77879ab92dd8075cecfcd3ee40a8b8dcc1a","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0017.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3140/tex_ceiling_textures_5713/tex_floor_textures_1948/tex_table_textures_4570/tex_wall_textures_1972","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":901332237085736602,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":901332237085736602,"visual_seed":901332237085736602,"scene_id":"lab_003","finished_at":"2026-09-04T18:12:26"}
+{"episode_id":"ep_000017","started_at":"2026-09-04T18:12:29","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[0.22326964400361904,-0.9973630487533534,0.71338606911949],"aabb_xy":[[0.1382696453115444,-1.0293489121482322],[0.3082696426956937,-0.9653771853584745]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[0.6504117225439061,1.0260680454922193,0.71338606911949],"aabb_xy":[[0.6129117223720342,0.9933673101093119],[0.687911722715778,1.0587687808751263]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[-0.5779844816240225,-0.13063695799587416,0.71338606911949],"aabb_xy":[[-0.6579844830541496,-0.2101541130084836],[-0.4979844801938952,-0.051119802983264656]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.2745710711199272,-0.6574932213197853,0.71338606911949],"aabb_xy":[[0.23602537829472614,-0.696038992375974],[0.3131167639451282,-0.6189474502635968]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_4","position":[0.4281593735158886,-2.54938848516104,0.71338606911949],"aabb_xy":[[0.4062506913765376,-2.571289151981131],[0.45006805565523966,-2.5274878183409495]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[-0.3211896935177773,-0.9235481970422066,0.71338606911949],"aabb_xy":[[-0.3258248086700106,-0.927415532119355],[-0.3165545783655438,-0.9196808619650577]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[-0.4307646088388551,-0.5735100869850225,0.71338606911949],"aabb_xy":[[-0.48076460841518986,-0.6234906659371285],[-0.3807646092625204,-0.5235295080329166]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[-0.5937121390149778,0.08898586320796076,0.71338606911949],"aabb_xy":[[-0.6487121386367237,0.03400217042048803],[-0.538712139393232,0.14396955599543348]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[-0.34776685118207573,-1.2712232356000261,0.71338606911949],"aabb_xy":[[-0.37891377002565885,-1.3412232342868333],[-0.3166199323384926,-1.201223236913219]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[0.5177813156125937,0.07322892328934749,0.71338606911949],"aabb_xy":[[0.4377813123485804,0.05966889098043415],[0.5977813188766067,0.08678895559826083]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[0.5667429930176757,-1.1905502827934198,0.71338606911949],"aabb_xy":[[0.5017429944606029,-1.2203028162073024],[0.6317429915747486,-1.1607977493795372]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[0.7042827210143179,-1.4557361478953457,0.71338606911949],"aabb_xy":[[0.6930376654436999,-1.466977945619441],[0.7155277765849356,-1.4444943501712504]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[-0.35410114886361255,1.2634645580502974,0.71338606911949],"aabb_xy":[[-0.37197025661806804,1.2496316500730862],[-0.33623204110915705,1.2772974660275083]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[-0.5809922227470117,-0.7893840963660357,0.71338606911949],"aabb_xy":[[-0.6034569927184167,-0.8118840972448961],[-0.5585274527756064,-0.7668840954871751]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[-0.37852023705270027,1.584573998702235,0.71338606911949],"aabb_xy":[[-0.44352023815864355,1.5596086256341068],[-0.313520235946757,1.6095393717703634]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.5986228706719046,-2.0456845993892268,0.71338606911949],"aabb_xy":[[0.5905865359706196,-2.0537227186936438],[0.6066592053731893,-2.0376464800848098]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_16","position":[-0.37235208669628417,-1.6027428972997257,0.71338606911949],"aabb_xy":[[-0.3875149596732213,-1.6179083545948447],[-0.3571892137193471,-1.5875774400046072]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[0.6601545021518134,0.11203747645363338,0.71338606911949],"aabb_xy":[[0.6485855214048768,0.08703747633670167],[0.67172348289875,0.1370374765705651]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[0.27557317076164034,-2.2408442052025523,0.71338606911949],"aabb_xy":[[0.21157317433431844,-2.288013829024649],[0.33957316718896224,-2.193674581380456]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[0.02823996087031133,1.7816260522547922,0.71338606911949],"aabb_xy":[[0.015772602760575682,1.7691607276214687],[0.04070731898004698,1.7940913768881157]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[-0.5337984349490748,0.922069664958793,0.71338606911949],"aabb_xy":[[-0.5837977101175109,0.8720696636828458],[-0.4837991597806386,0.9720696662347401]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[0.6616302750068477,0.47380168860596905,0.71338606911949],"aabb_xy":[[0.655593262006183,0.4677749875370209],[0.6676672880075124,0.4798283896749173]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.0856283252024238,-1.8482965784388834,0.71338606911949],"aabb_xy":[[0.021628326615851345,-1.895303541838392],[0.14962832378899626,-1.8012896150393745]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[0.5689520708517855,-1.7844577142817872,0.71338606911949],"aabb_xy":[[0.5139783488154526,-1.8394577138460206],[0.6239257928881183,-1.7294577147175543]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_24","position":[0.45401805363352477,-0.5094423859840016,0.71338606911949],"aabb_xy":[[0.448436381999396,-0.5219423858017771],[0.4595997252676535,-0.49694238616622616]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_25","position":[-0.13270987880187812,-1.0256573934902598,0.71338606911949],"aabb_xy":[[-0.13766589898675932,-1.0481573936923816],[-0.12775385861699692,-1.0031573932881384]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_26","position":[-0.08808887898882156,-1.6016384794768395,0.71338606911949],"aabb_xy":[[-0.10509897627887221,-1.6177729679751132],[-0.07107878169877091,-1.5855039909785653]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_27","position":[-0.4449370486296941,-0.17051817692228743,0.71338606911949],"aabb_xy":[[-0.4553486073101778,-0.17586391025818587],[-0.43452548994921036,-0.16517244358638894]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_28","position":[-0.20675782915177088,-1.6446993320611778,0.71338606911949],"aabb_xy":[[-0.25388720815360655,-1.7086993331055795],[-0.15962845014993518,-1.5806993310167756]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_29","position":[-0.5977953315726235,-2.370037066414718,0.71338606911949],"aabb_xy":[[-0.6617953322760929,-2.4160554488876396],[-0.5337953308691542,-2.3240186839417976]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_30","position":[0.27932265530051836,-1.347010095553061,0.71338606911949],"aabb_xy":[[0.229339705113039,-1.397010095195621],[0.32930560548799764,-1.2970100959105002]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_31","position":[0.3903893828209044,-0.37427583953087495,0.71338606911949],"aabb_xy":[[0.37295866774189784,-0.3915479541947257],[0.40782009789991086,-0.3570037248670241]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6939751697101739,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9977.png","name":"9977"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9977.png","name":"9977"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6112.png","name":"6112"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8486.png","name":"8486"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/858.png","name":"858"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5879.png","name":"5879"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":627.0599897787135,"rotation_z_degrees":199.22168100372,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008759157193478377,-0.014953623805774901,0.004406528367859867]},{"name":"camera_2","offset_m":[-0.0005208227927054089,0.0004322191803272715,-0.01160986362425113]},{"name":"camera_3","offset_m":[0.013166343875612625,-0.018998851798810806,0.008157696854133315]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012891712165455193,0.0017878906066687039,0.0005062259130791092],"end_effector_yaw_offset_degrees":-0.9229174017363997},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013751630306529199,0.0010585760619532553,0.0010128040368387829],"end_effector_yaw_offset_degrees":-0.0325912724384414},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006204604746918654,0.001720840093965426,-0.0014074648766230391],"end_effector_yaw_offset_degrees":0.7242072376067166},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016600137326293432,-0.0019059367512240925,-0.001405798968387098],"end_effector_yaw_offset_degrees":-0.3038714510126941}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029858753603074872,0.0029700467901564937],"position_m":[0.14941412463969253,0.2265700467901565,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004768395011618011,0.0004176426189717933],"position_m":[0.24716839501161803,-0.30928235738102816,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016786465622771539,0.0008179028698139766],"position_m":[0.32282135343772284,-0.04078209713018602,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003747476715649186,-0.0012236367120585468],"position_m":[0.3472525232843508,0.31717636328794147,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3006b3fcc4696026acff6d2cf33e902685c501c32b62bd5c5d00e94d2840ce24","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9977/tex_ceiling_textures_5879/tex_floor_textures_858/tex_table_textures_6112/tex_wall_textures_8486","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5182356674695623237,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5182356674695623237,"visual_seed":5182356674695623237,"scene_id":"lab_003","finished_at":"2026-09-04T18:16:12"}
+{"episode_id":"ep_000018","started_at":"2026-09-04T18:16:16","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[-0.5213902328984645,-0.098468102726331,0.71338606911949],"aabb_xy":[[-0.5829809921224575,-0.16246810083537788],[-0.4597994736744718,-0.034468104617284126]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[-0.451995560654383,-1.3758244170517246,0.71338606911949],"aabb_xy":[[-0.47583177829498813,-1.4658244178602111],[-0.428159343013778,-1.2858244162432382]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[-0.20920136366387077,-1.3445224113786232,0.71338606911949],"aabb_xy":[[-0.2344222005237104,-1.3697461622315095],[-0.18398052680403107,-1.319298660525736]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_3","position":[-0.022057575564225163,-1.6491190266653675,0.71338606911949],"aabb_xy":[[-0.05890812350121277,-1.686619027488401],[0.014792972372762447,-1.6116190258423335]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[-0.31265225044453215,-1.9360470614078022,0.71338606911949],"aabb_xy":[[-0.36262554444779255,-1.9860470619623494],[-0.26267895644127165,-1.8860470608532547]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[-0.44185813633404203,0.29553214011649853,0.71338606911949],"aabb_xy":[[-0.4913385575480008,0.2315321422036467],[-0.39237771512008324,0.35953213802935036]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[0.12017391723259896,1.5367351412740633,0.71338606911949],"aabb_xy":[[0.04017391397475599,1.4567386334820793],[0.20017392049044191,1.6167316490660473]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.35637812330315116,-2.303596426497525,0.71338606911949],"aabb_xy":[[-0.3645058114964644,-2.312510034908233],[-0.34825043510983794,-2.2946828180868173]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.2767615156042955,-1.638160435425283,0.71338606911949],"aabb_xy":[[-0.29926151541819784,-1.6426350517957637],[-0.2542615157903931,-1.6336858190548023]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[-0.5406065437269206,0.6377476745185922,0.71338606911949],"aabb_xy":[[-0.5460644893639407,0.557747671210933],[-0.5351485980899006,0.7177476778262513]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_10","position":[-0.5196355655862545,-0.9361443330930268,0.71338606911949],"aabb_xy":[[-0.6033577910863369,-1.026144336627723],[-0.435913340086172,-0.846144329558331]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[-0.5792115294012732,-2.1913855752955422,0.71338606911949],"aabb_xy":[[-0.5904565849718909,-2.202627373019637],[-0.5679664738306552,-2.1801437775714465]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[-0.6704925481974647,-0.5884999897598724,0.71338606911949],"aabb_xy":[[-0.6929916839236917,-0.6109999905381354],[-0.6479934124712378,-0.5659999889816094]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[0.642790488724146,1.0099116605641805,0.71338606911949],"aabb_xy":[[0.5787904916120404,0.9608792907697699],[0.7067904858362518,1.058944030358591]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[-0.23791945411929544,-1.0667144334721061,0.71338606911949],"aabb_xy":[[-0.3079194567558818,-1.0868192984679717],[-0.1679194514827091,-1.0466095684762406]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_15","position":[-0.06668699134246914,-2.502662284615149,0.71338606911949],"aabb_xy":[[-0.15668699501938727,-2.564094691192253],[0.023313012334449056,-2.4412298780380444]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_16","position":[0.5637187056547897,0.08975421315428989,0.71338606911949],"aabb_xy":[[0.5468079732184478,0.07628200756167533],[0.5806294380911313,0.10322641874690439]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[-0.15511957594213532,-0.17101279526277668,0.71338606911949],"aabb_xy":[[-0.16453705051199807,-0.18042897240049569],[-0.14570210137227257,-0.16159661812505763]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[0.11878330720648456,-1.715795654939901,0.71338606911949],"aabb_xy":[[0.09628330719633624,-1.729891874579504],[0.14128330721663282,-1.7016994353002974]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[-0.280411864718273,-0.4716507842578106,0.71338606911949],"aabb_xy":[[-0.3154118639110912,-0.48261783025547317],[-0.2454118655254547,-0.4606837382601479]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[-0.6718719892872907,1.0352431021994621,0.71338606911949],"aabb_xy":[[-0.6832337239405769,1.023874635793174],[-0.6605102546340046,1.0466115686057502]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[-0.16014436679576438,0.882780065464996,0.71338606911949],"aabb_xy":[[-0.2501443635313746,0.8295966021477014],[-0.07014437006015414,0.9359635287822904]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_22","position":[0.018656574116479918,-0.8835611169418709,0.71338606911949],"aabb_xy":[[0.0016464768264292662,-0.8996956054401447],[0.03566667140653057,-0.8674266284435969]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[0.2655144566370039,-2.3023515598603272,0.71338606911949],"aabb_xy":[[0.18551445865621888,-2.3099531008221788],[0.34551445461778896,-2.294750018898475]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_24","position":[-0.4144911350846538,-2.155458375893632,0.71338606911949],"aabb_xy":[[-0.47949113608515426,-2.206244741048307],[-0.3494911340841532,-2.104672010738957]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[-0.11908070876485144,0.31195748412764956,0.71338606911949],"aabb_xy":[[-0.16908071004869135,0.2619786297370274],[-0.06908070748101144,0.3619363385182716]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_26","position":[0.5550594691236213,-0.4758585863090876,0.71338606911949],"aabb_xy":[[0.4653723928155058,-0.5658585865635382],[0.6447465454317367,-0.385858586054637]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7034204366548559,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8349.png","name":"8349"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8349.png","name":"8349"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7485.png","name":"7485"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2490.png","name":"2490"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/237.png","name":"237"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1080.png","name":"1080"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":752.6240470895955,"rotation_z_degrees":319.38410260966754,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005423650018576018,0.012433912558030533,-0.004723378619538549]},{"name":"camera_2","offset_m":[-0.003457291680124784,-0.013547386942003744,-0.010724450366736167]},{"name":"camera_3","offset_m":[0.01326069046238736,0.01314408011877365,-0.01057315257120429]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001243879797274121,-0.0015928223376531427,-0.0011291777803533276],"end_effector_yaw_offset_degrees":-0.918196403368585},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001636515965839119,-0.00037949892134885705,0.001788434161474132],"end_effector_yaw_offset_degrees":0.6365473455834028},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016770644328694827,-0.000343319146784049,-0.0017063148499467822],"end_effector_yaw_offset_degrees":-0.9534223699245254},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007504611733831989,0.0006217781768591492,-0.001502115837772558],"end_effector_yaw_offset_degrees":0.5256927793322221}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0002403420303675411,0.0028155516282291253],"position_m":[0.15264034203036755,0.22641555162822913,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033974595012803543,0.0009147295193126471],"position_m":[0.23900254049871966,-0.3087852704806873,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024969457681918708,-0.00293574998457958],"position_m":[0.3269969457681919,-0.04453574998457958,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037009364791586704,0.004940435549193709],"position_m":[0.3547009364791586,0.3233404355491937,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fe24897e831b5541d309217cb4e1f5aa78d1fde50b4c683555c802d1e5770ee2","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0019.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8349/tex_ceiling_textures_1080/tex_floor_textures_237/tex_table_textures_7485/tex_wall_textures_2490","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4661805178704940409,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4661805178704940409,"visual_seed":4661805178704940409,"scene_id":"lab_003","finished_at":"2026-09-04T18:20:06"}
+{"episode_id":"ep_000019","started_at":"2026-09-04T18:22:49","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[-0.599698140333272,1.661859317613374,0.71338606911949],"aabb_xy":[[-0.6546936181539311,1.6068593161794669],[-0.5447026625126123,1.7168593190472807]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[0.6349895252473312,1.1093460895279108,0.71338606911949],"aabb_xy":[[0.6308536689146311,1.0718460900835538],[0.6391253815800315,1.1468460889722678]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_2","position":[0.17806476308840935,-1.098079204810449,0.71338606911949],"aabb_xy":[[0.12809169755589392,-1.1480792046229822],[0.22803782862092487,-1.0480792049979164]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[0.6127952144968272,-1.2448481132744862,0.71338606911949],"aabb_xy":[[0.5715464034669123,-1.2998481127867032],[0.6540440255267418,-1.1898481137622683]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.42385953973638957,-0.3236650489216806,0.71338606911949],"aabb_xy":[[0.3588595386304463,-0.3486304219898089],[0.48885954084233285,-0.29869967585355234]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_5","position":[-0.3921615554554198,0.8876670226681007,0.71338606911949],"aabb_xy":[[-0.47216155285901323,0.8076744514699177],[-0.3121615580518264,0.9676595938662833]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_6","position":[0.062104172353216414,1.2747703155140497,0.71338606911949],"aabb_xy":[[0.038519048889321554,1.2097703132686177],[0.08568929581711127,1.3397703177594813]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.516668362207317,-0.4797263660422453,0.71338606911949],"aabb_xy":[[-0.5806683607938895,-0.526733329441754],[-0.4526683636207446,-0.4327194026427365]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[0.5757023670280565,-1.0301768448686317,0.71338606911949],"aabb_xy":[[0.5717418832583222,-1.0378447094541523],[0.5796628507977909,-1.022508980283111]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.6885240906194341,0.11526055300654381,0.71338606911949],"aabb_xy":[[0.6715139933293834,0.09912606450826988],[0.7055341879094847,0.13139504150481773]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[-0.3602197975286143,-2.165728352681124,0.71338606911949],"aabb_xy":[[-0.3885495074771546,-2.1701890948748415],[-0.33189008758007416,-2.1612676104874073]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_11","position":[0.4432057261337585,1.56631490300667,0.71338606911949],"aabb_xy":[[0.42070572612361024,1.5522186833670666],[0.4657057261439068,1.5804111226462731]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[0.04410456673932628,-1.4661155078849049,0.71338606911949],"aabb_xy":[[0.026673851660319773,-1.4833876225487552],[0.06153528181833279,-1.4488433932210536]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_13","position":[-0.06704025154943316,-0.05162076405736027,0.71338606911949],"aabb_xy":[[-0.08467308714296073,-0.06924371007298324],[-0.049407415955905594,-0.03399781804173729]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.49303138508864186,-2.507362512200156,0.71338606911949],"aabb_xy":[[0.4290313836806512,-2.559151463724081],[0.5570313864966325,-2.4555735606762314]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[-0.5401850254021644,-0.9700236368469168,0.71338606911949],"aabb_xy":[[-0.5530569289031045,-1.0500236372607528],[-0.5273131219012243,-0.8900236364330806]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[0.6176938352598476,1.5897458252419532,0.71338606911949],"aabb_xy":[[0.5627201132235147,1.53474582567772],[0.6726675572961804,1.6447458248061864]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[-0.19382387082700125,-1.1483492277195397,0.71338606911949],"aabb_xy":[[-0.2062912289367369,-1.1608145523528632],[-0.1813565127172656,-1.1358839030862162]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[-0.6587568827013754,-2.1843864341347516,0.71338606911949],"aabb_xy":[[-0.6739197556783125,-2.199551891429871],[-0.6435940097244384,-2.1692209768396333]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[-0.5420051822315903,1.3027575271702174,0.71338606911949],"aabb_xy":[[-0.5672260190914298,1.2775337763173304],[-0.5167843453717504,1.327981278023104]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.17297106680096475,-1.3246131798612668,0.71338606911949],"aabb_xy":[[0.1229977727977043,-1.3746131804158142],[0.2229443608042252,-1.2746131793067195]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[-0.2183911436375991,1.4315223243213633,0.71338606911949],"aabb_xy":[[-0.2372755274061093,1.4126363995410105],[-0.1995067598690889,1.450408249101716]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[-0.1922332256078746,-0.21408559508473823,0.71338606911949],"aabb_xy":[[-0.22973322542490815,-0.21872380639588013],[-0.15473322579084103,-0.2094473837735964]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_23","position":[-0.5863421396829888,-0.09449975484042916,0.71338606911949],"aabb_xy":[[-0.6503421399434595,-0.13950855419335714],[-0.5223421394225178,-0.04949095548750115]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[0.037750651049901274,-2.0763458614128374,0.71338606911949],"aabb_xy":[[0.027183171391802263,-2.086890891525846],[0.048318130708000284,-2.065800831299829]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[-0.18020132079794315,-0.10334911263040514,0.71338606911949],"aabb_xy":[[-0.20311703368299308,-0.12625340976682864],[-0.15728560791289325,-0.08044481549398164]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[0.35583973507194044,-0.661786398958708,0.71338606911949],"aabb_xy":[[0.3279946982913333,-0.6925708976970197],[0.38368477185254757,-0.6310019002203964]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[-0.5335094048617774,-1.6555677814239178,0.71338606911949],"aabb_xy":[[-0.5495713323202951,-1.7405677832365096],[-0.5174474774032598,-1.570567779611326]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_28","position":[-0.43167311145394444,-2.010818520067785,0.71338606911949],"aabb_xy":[[-0.4956731078495175,-2.0747818084865184],[-0.36767311505837136,-1.9468552316490513]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_29","position":[0.11570086090162546,1.590427669796966,0.71338606911949],"aabb_xy":[[0.05170086173185553,1.5436609826780032],[0.1797008600713954,1.6371943569159282]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_30","position":[-0.08375384525244389,-2.4101315508632926,0.71338606911949],"aabb_xy":[[-0.1337538438983651,-2.4600510945227545],[-0.0337538466065227,-2.3602120072038297]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6933496581061649,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2513.png","name":"2513"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2513.png","name":"2513"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1255.png","name":"1255"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4130.png","name":"4130"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9107.png","name":"9107"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9279.png","name":"9279"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":659.1630087446688,"rotation_z_degrees":137.5471099203504,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013415921639165988,-0.013722694119044912,4.669085951149177e-05]},{"name":"camera_2","offset_m":[0.006989178145478475,-0.009872931101318793,-0.017874975609703365]},{"name":"camera_3","offset_m":[-0.005510892666842073,-0.002008588245509268,0.01057993182571772]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013945203950540743,0.0012454808105876133,0.0005017421245647495],"end_effector_yaw_offset_degrees":-0.5017199194938551},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012005182805779157,-0.0004366913062410962,-0.0019833673259637584],"end_effector_yaw_offset_degrees":0.919867427337032},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00020932403797490175,0.00023291884802440453,-0.0005701559082083088],"end_effector_yaw_offset_degrees":-0.1562417401095313},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012630747580367305,0.00046646655691315363,0.0013322749789251697],"end_effector_yaw_offset_degrees":-0.08079873869337484}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008058470126279041,0.0005533663419154435],"position_m":[0.1532058470126279,0.22415336634191543,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003013583764815755,0.0006029108466808876],"position_m":[0.23938641623518425,-0.30909708915331907,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019348217843986456,0.004041187194018458],"position_m":[0.32643482178439864,-0.03755881280598154,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002660655239059263,-0.00472789437308384],"position_m":[0.3483393447609407,0.31367210562691616,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cb78dbff2600d1223009e050f8e4ee889d81c67091ed3f4e824286512d7a7407","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0021.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2513/tex_ceiling_textures_9279/tex_floor_textures_9107/tex_table_textures_1255/tex_wall_textures_4130","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":499634115447281845,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":499634115447281845,"visual_seed":499634115447281845,"scene_id":"lab_003","finished_at":"2026-09-04T18:26:34"}
+{"episode_id":"ep_000020","started_at":"2026-09-04T18:26:38","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[-0.14245887777884914,-1.8348404404038443,0.71338606911949],"aabb_xy":[[-0.19245887944034387,-1.8848388826595468],[-0.09245887611735436,-1.7848419981481414]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[0.3490181642977144,-0.6493272547555398,0.71338606911949],"aabb_xy":[[0.30402557757926396,-0.6943272540299884],[0.3940107510161648,-0.6043272554810909]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[0.37632163397505436,-1.069193644606418,0.71338606911949],"aabb_xy":[[0.3513216344233159,-1.0793361284715528],[0.40132163352679284,-1.0590511607412834]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[-0.6252185883029036,-1.877970498664392,0.71338606911949],"aabb_xy":[[-0.6627185888002618,-1.8819391822125102],[-0.5877185878055453,-1.8740018151162732]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[0.3501769133630217,1.069635943769022,0.71338606911949],"aabb_xy":[[0.3346211439527564,1.054085510524615],[0.3657326827732869,1.0851863770134293]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[-0.46525645442960134,-1.2117494648007434,0.71338606911949],"aabb_xy":[[-0.5452502780081596,-1.291749467393585],[-0.3852626308510431,-1.1317494622079018]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.30806759282126245,0.8797063966439955,0.71338606911949],"aabb_xy":[[-0.35805054300874173,0.8297063970014349],[-0.25808464263378306,0.9297063962865557]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_7","position":[0.5749920850725818,1.3318506364685048,0.71338606911949],"aabb_xy":[[0.5658322061287052,1.3253194184249677],[0.5841519640164584,1.3383818545120418]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.5619653298133012,0.5042541504550271,0.71338606911949],"aabb_xy":[[0.5518123142591517,0.4681846088822865],[0.5721183453674504,0.5403236920277672]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.4654429399132633,1.400989901887256,0.71338606911949],"aabb_xy":[[-0.4750745761336929,1.391352589107547],[-0.4558113036928337,1.410627214666965]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.37958482309292396,0.776182344800719,0.71338606911949],"aabb_xy":[[0.34499374023887874,0.7111823445156878],[0.4141759059469692,0.84118234508575]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[-0.6318506309623182,0.6839121996494271,0.71338606911949],"aabb_xy":[[-0.6517416708426584,0.6712563883647303],[-0.611959591081978,0.696568010934124]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[0.2937391836584692,-1.1755237565223537,0.71338606911949],"aabb_xy":[[0.21373918039445605,-1.189083788831267],[0.3737391869224823,-1.1619637242134404]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.5486004899745336,1.23461926522332,0.71338606911949],"aabb_xy":[[0.5294881826165547,1.2154844863460779],[0.5677127973325125,1.253754044100562]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[0.2816727415611793,-1.7927741275580533,0.71338606911949],"aabb_xy":[[0.24417274004554756,-1.8040009005741984],[0.319172743076811,-1.7815473545419083]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.6741415695664192,0.34599909332841206,0.71338606911949],"aabb_xy":[[0.6270121905645836,0.28199909228401],[0.7212709485682549,0.4099990943728139]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_16","position":[-0.16254342558999602,0.25672713818641846,0.71338606911949],"aabb_xy":[[-0.2125164911225115,0.20672713837388562],[-0.11257036005748056,0.3067271379989514]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.2143854478788899,1.2235202362023423,0.71338606911949],"aabb_xy":[[-0.2368854481224053,1.2113156015425706],[-0.19188544763537452,1.2357248708621145]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_18","position":[-0.183978549727437,-0.44076321033221255,0.71338606911949],"aabb_xy":[[-0.19327216796458757,-0.4782632088203464],[-0.1746849314902864,-0.4032632118440786]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[-0.09824821453770738,-0.6499066268878471,0.71338606911949],"aabb_xy":[[-0.10528852447124441,-0.7299066262875186],[-0.09120790460417041,-0.5699066274881758]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6956118923426746,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/323.png","name":"323"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/323.png","name":"323"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6997.png","name":"6997"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/568.png","name":"568"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8550.png","name":"8550"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2317.png","name":"2317"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":710.9688106172591,"rotation_z_degrees":24.14382254394385,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010271324852498598,-0.010812543055869792,-0.016085274069715015]},{"name":"camera_2","offset_m":[-0.014935654349751616,0.003318479507848738,0.005559592621315904]},{"name":"camera_3","offset_m":[-0.012620104003078655,-0.015767654534653276,-0.0016689990501094487]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016725824021052813,-0.00011953198165966326,-0.0012165196355751581],"end_effector_yaw_offset_degrees":0.13225707955111266},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000703629793204796,0.00056983659687317,0.0019665733575342324],"end_effector_yaw_offset_degrees":-0.9489287640385724},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005734492653392737,-0.0019621970696691027,-0.000944837553231102],"end_effector_yaw_offset_degrees":0.7018229801748261},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001639560728367944,0.0013892605176462122,-0.0003003634044958718],"end_effector_yaw_offset_degrees":0.26128122261763287}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003078568620219358,0.0023277314149273923],"position_m":[0.15547856862021936,0.2259277314149274,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021604921640550534,0.0019882425375223585],"position_m":[0.24456049216405507,-0.30771175746247764,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004852987673258607,0.0006992264938798258],"position_m":[0.3196470123267414,-0.040900773506120175,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030941086822853835,0.0010811433944031114],"position_m":[0.3479058913177146,0.31948114339440314,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1e22af626c69260dbc19d5f3b1e4e6cf06c59590787e17750385341505396a0b","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0022.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_323/tex_ceiling_textures_2317/tex_floor_textures_8550/tex_table_textures_6997/tex_wall_textures_568","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2918354049628142280,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2918354049628142280,"visual_seed":2918354049628142280,"scene_id":"lab_003","finished_at":"2026-09-04T18:30:26"}
+{"episode_id":"ep_000021","started_at":"2026-09-04T18:30:29","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[0.31514196773183656,0.9018707745229944,0.71338606911949],"aabb_xy":[[0.30267460962210085,0.889405449889671],[0.32760932584157215,0.914336099156318]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.05983517685705886,-1.3301964217767803,0.71338606911949],"aabb_xy":[[-0.06925265142692161,-1.3396125989144991],[-0.0504177022871961,-1.320780244639061]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.3656069855788963,1.6553254156958288,0.71338606911949],"aabb_xy":[[-0.402641095006956,1.6209482083621194],[-0.3285728761508365,1.6897026230295382]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[-0.3338804365938121,1.023469580380949,0.71338606911949],"aabb_xy":[[-0.39787613398890864,0.9594695820802401],[-0.2698847391987155,1.0874695786816575]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.6944341099543696,-0.8365624703588261,0.71338606911949],"aabb_xy":[[0.6711522677562383,-0.9215624716560541],[0.717715952152501,-0.751562469061598]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.28891462963367165,-1.3962622681172712,0.71338606911949],"aabb_xy":[[0.27834714997557264,-1.4068072982302795],[0.29948210929177066,-1.3857172380042624]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[0.11395262573570586,1.2045698785705778,0.71338606911949],"aabb_xy":[[0.033952628332112426,1.1245773073723948],[0.19395262313929926,1.2845624497687604]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[0.5216014036848451,-0.11508243870436363,0.71338606911949],"aabb_xy":[[0.5128201765376089,-0.12386218599289381],[0.5303826308320815,-0.10630269141583351]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[0.38224431279860327,-0.7454507190546673,0.71338606911949],"aabb_xy":[[0.3690930668273139,-0.7704507188113541],[0.3953955587698927,-0.7204507192979809]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.23098190488319076,-0.14843392384401488,0.71338606911949],"aabb_xy":[[-0.2534466748545959,-0.17093392472287536],[-0.20851713491178564,-0.12593392296515435]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.15034961399495939,-2.1951900912112556,0.71338606911949],"aabb_xy":[[-0.20032267952747487,-2.245190091023789],[-0.10037654846244393,-2.145190091398723]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_11","position":[-0.04757020962598568,-1.7780019906251159,0.71338606911949],"aabb_xy":[[-0.06507014305996905,-1.7955019905453502],[-0.03007027619200231,-1.7605019907048811]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.34016323428898243,-2.203881613757684,0.71338606911949],"aabb_xy":[[0.33531963952775246,-2.2087332662366683],[0.3450068290502124,-2.1990299612787]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_13","position":[-0.25532101985920075,-0.8774007674826851,0.71338606911949],"aabb_xy":[[-0.29282101980296715,-0.8856938575175218],[-0.21782101991543434,-0.8691076774478487]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[0.0896414302312305,-1.494573725205294,0.71338606911949],"aabb_xy":[[0.0835468023431122,-1.5031431197569627],[0.09573605811934884,-1.4860043306536252]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_15","position":[0.13229802280786718,-2.5167011677652265,0.71338606911949],"aabb_xy":[[0.10729802364223406,-2.523653413470583],[0.1572980219735003,-2.50974892205987]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[0.05005861698018366,-2.280278696833077,0.71338606911949],"aabb_xy":[[0.0324803147912368,-2.2978531864071816],[0.0676369191691305,-2.2627042072589716]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.6401029562031768,-0.34305980912529543,0.71338606911949],"aabb_xy":[[0.595102954736948,-0.3880596659867762],[0.6851029576694057,-0.2980599522638148]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[-0.11589281703035903,-1.8767308378582324,0.71338606911949],"aabb_xy":[[-0.12469487233933173,-1.8845421640131614],[-0.1070907617213863,-1.8689195117033033]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.015867486727857316,-0.9500860342559212,0.71338606911949],"aabb_xy":[[-0.025214494310152543,-0.9643896564735652],[-0.006520479145562082,-0.9357824120382772]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6958646505543247,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8857.png","name":"8857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8857.png","name":"8857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4262.png","name":"4262"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5131.png","name":"5131"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8859.png","name":"8859"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5162.png","name":"5162"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":841.7652474291372,"rotation_z_degrees":287.3417408824598,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01813285762233024,-0.015224823035436912,0.0013214682557747548]},{"name":"camera_2","offset_m":[-0.0076043185998867675,0.009037792642331635,0.0021693324113169522]},{"name":"camera_3","offset_m":[0.01956851734319216,0.00284623584472727,0.011778511490728217]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00044379027144105356,0.0005509343306808268,-0.0016541233587663044],"end_effector_yaw_offset_degrees":-0.9614592867087222},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001910054806332659,0.0008669779946156022,-0.0018503708275595355],"end_effector_yaw_offset_degrees":-0.053833886085331795},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011194186373876852,0.0008892257346295928,0.00014269988739496874],"end_effector_yaw_offset_degrees":-0.5566973630286136},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001636441519229408,-0.001334662562297591,0.0016604720011179782],"end_effector_yaw_offset_degrees":0.6875436968263224}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015677886961514066,0.0038323218464989114],"position_m":[0.1508322113038486,0.2274323218464989,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004450505762719995,-0.0031811376298000295],"position_m":[0.23794949423728,-0.3128811376298,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020951782051113043,-0.004971724945750797],"position_m":[0.3224048217948887,-0.04657172494575079,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026585271502720885,0.0007886927460822122],"position_m":[0.3483414728497279,0.31918869274608225,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"765d84cf1b397907af8f0c1a0bb3f1d1beb6e8d67dbaec7a96738d2c8e045915","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8857/tex_ceiling_textures_5162/tex_floor_textures_8859/tex_table_textures_4262/tex_wall_textures_5131","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6187617146051377106,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6187617146051377106,"visual_seed":6187617146051377106,"scene_id":"lab_003","finished_at":"2026-09-04T18:34:27"}
+{"episode_id":"ep_000022","started_at":"2026-09-04T18:34:30","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[-0.11542457882237944,-1.6619127997291439,0.71338606911949],"aabb_xy":[[-0.13292451225636281,-1.6794127996493782],[-0.09792464538839606,-1.644412799808909]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_1","position":[0.6962283224990677,1.8142031678965345,0.71338606911949],"aabb_xy":[[0.6853878442725528,1.7970168866058858],[0.7070688007255826,1.8313894491871832]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[-0.43683888293553014,-2.1537940739395602,0.71338606911949],"aabb_xy":[[-0.4593036529069353,-2.1762940748184207],[-0.4143741129641251,-2.1312940730606997]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.24401225587229203,1.305401275348785,0.71338606911949],"aabb_xy":[[-0.33401225446676197,1.289150689035364],[-0.1540122572778221,1.321651861662206]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.278563506318423,0.6079116615837008,0.71338606911949],"aabb_xy":[[-0.29179445185310426,0.5946842425617014],[-0.2653325607837417,0.6211390806057002]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[0.20832027937927278,1.0735251515699868,0.71338606911949],"aabb_xy":[[0.19897327179697757,1.0592215293523428],[0.21766728696156804,1.0878287737876309]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[0.07135507906352045,-0.9711512868386669,0.71338606911949],"aabb_xy":[[0.007355079769352221,-1.035137427207521],[0.13535507835768867,-0.9071651464698127]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.3441558984995057,-1.3781440658135318,0.71338606911949],"aabb_xy":[[0.3250435911415268,-1.3972788446907736],[0.36326820585748454,-1.3590092869362895]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[0.6448144769799262,-2.424893580447384,0.71338606911949],"aabb_xy":[[0.6392328053457973,-2.4373935802651596],[0.6503961486140549,-2.412393580629608]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.009463720171992263,1.6892162799363573,0.71338606911949],"aabb_xy":[[-0.09946371959036315,1.6558407830921675],[0.08053627924637863,1.722591776780547]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[-0.41283379108205115,-0.7105802635959777,0.71338606911949],"aabb_xy":[[-0.49283378824162644,-0.7221278645537946],[-0.33283379392247586,-0.6990326626381606]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[0.5103072440727623,1.6899640894321641,0.71338606911949],"aabb_xy":[[0.46033395006950173,1.6399640888776166],[0.5602805380760226,1.7399640899867113]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[0.29950317802750825,-1.0665049440747667,0.71338606911949],"aabb_xy":[[0.2924628680939713,-1.1465049434744383],[0.3065434879610453,-0.9865049446750955]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[-0.23588973951315906,-0.9619288024573449,0.71338606911949],"aabb_xy":[[-0.28197483076789054,-1.0259287997099],[-0.18980464825842758,-0.8979288052047898]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[-0.15024970516775904,-1.7473842593089848,0.71338606911949],"aabb_xy":[[-0.1681188129222145,-1.7612171672861958],[-0.13238059741330352,-1.7335513513317737]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[-0.06684887787948246,0.3411623488237714,0.71338606911949],"aabb_xy":[[-0.12684887813088364,0.28688102378730673],[-0.006848877628081285,0.39544367386023604]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_16","position":[-0.5041451663533597,0.5393552546036462,0.71338606911949],"aabb_xy":[[-0.5263176933300104,0.517179587447523],[-0.48197263937670876,0.5615309217597694]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_17","position":[0.39179523169719,-0.6937855847872243,0.71338606911949],"aabb_xy":[[0.32679523059124677,-0.7187509578553526],[0.45679523280313333,-0.668820211719096]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_18","position":[-0.6690397233518249,0.6359707347287085,0.71338606911949],"aabb_xy":[[-0.6762834893980703,0.5559707365251061],[-0.6617959573055796,0.7159707329323108]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_19","position":[-0.4036972291340953,1.7154328628619502,0.71338606911949],"aabb_xy":[[-0.4188693984157287,1.7002640059337468],[-0.388525059852462,1.7306017197901535]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[-0.20320705917608978,1.0811647052113709,0.71338606911949],"aabb_xy":[[-0.26720706246579784,1.037829786207453],[-0.13920705588638166,1.1244996242152883]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7038633308366248,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8853.png","name":"8853"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8853.png","name":"8853"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5589.png","name":"5589"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5823.png","name":"5823"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7340.png","name":"7340"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4548.png","name":"4548"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":763.0960154348688,"rotation_z_degrees":62.77221365811896,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01915537823472214,0.008767782199946367,-0.01359139939861064]},{"name":"camera_2","offset_m":[-0.00279576845066562,-0.015834028057253785,-0.009745996228473719]},{"name":"camera_3","offset_m":[-0.009839672561216707,0.007953818482435336,-0.00803941177882963]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018160700528665852,-0.001719613191306031,-0.0018915544725591857],"end_effector_yaw_offset_degrees":-0.7738968939830109},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014512918733170285,-0.0009581435440869891,-0.00024131075303983492],"end_effector_yaw_offset_degrees":-0.28428021007982385},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014495147497125003,-0.000826847796582351,-0.0010985655210341005],"end_effector_yaw_offset_degrees":0.35684601979351527},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018556169902509503,-2.669456098123614e-05,-0.001731659815691582],"end_effector_yaw_offset_degrees":-0.0008195979554128652}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004544739611019069,0.0009212552531055731],"position_m":[0.14785526038898095,0.22452125525310557,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009283894776698264,0.004181430618819692],"position_m":[0.24332838947766983,-0.30551856938118027,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003673287623567732,-0.004951494995469772],"position_m":[0.32817328762356773,-0.04655149499546977,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004815671741536674,0.00374642644389163],"position_m":[0.35581567174153667,0.32214642644389163,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"11aa051dac4a3b76c980c737a943c917dff3896830b27d032817cd6867ca27fe","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8853/tex_ceiling_textures_4548/tex_floor_textures_7340/tex_table_textures_5589/tex_wall_textures_5823","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5353099497690680684,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5353099497690680684,"visual_seed":5353099497690680684,"scene_id":"lab_003","finished_at":"2026-09-04T18:37:44"}
+{"episode_id":"ep_000023","started_at":"2026-09-04T18:37:49","dimensions":{"distractor":{"count":20,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.40620865664782946,-0.6898498174568268,0.71338606911949],"aabb_xy":[[-0.4188354439350258,-0.6993958911583997],[-0.3935818693606331,-0.6803037437552539]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.39025923436956217,0.7183843911780072,0.71338606911949],"aabb_xy":[[-0.4105435370929609,0.6981017660352983],[-0.36997493164616335,0.738667016320716]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[-0.061153731028169456,-1.128568875622427,0.71338606911949],"aabb_xy":[[-0.08003811479667966,-1.1474548004027798],[-0.042269347259659244,-1.1096829508420742]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[0.37504184367684745,0.7357935988177,0.71338606911949],"aabb_xy":[[0.3575418445424803,0.7259139717801121],[0.3925418428112146,0.7456732258552877]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[-0.2592478095753571,1.7491000676449686,0.71338606911949],"aabb_xy":[[-0.26666026511674557,1.7432488572233407],[-0.2518353540339686,1.7549512780665966]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.6604729265042095,-1.9530816718854918,0.71338606911949],"aabb_xy":[[0.6426794195692931,-1.9708814174812892],[0.678266433439126,-1.9352819262896939]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.006601193232747105,1.8112937736130639,0.71338606911949],"aabb_xy":[[-0.04410119317651351,1.8030006835782273],[0.0308988067110193,1.8195868636479005]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_7","position":[0.4339003286590004,0.5698647555621066,0.71338606911949],"aabb_xy":[[0.3968662192309407,0.535487548228397],[0.47093443808706015,0.6042419628958158]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_8","position":[-0.43082894212897016,-1.415607300510196,0.71338606911949],"aabb_xy":[[-0.4948289444717717,-1.4605481517543282],[-0.3668289397861686,-1.3706664492660632]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.5628861097055737,-2.244096994485725,0.71338606911949],"aabb_xy":[[0.4731990333974583,-2.3340969947401757],[0.6525731860136892,-2.1540969942312747]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.45370227524735185,-0.34966750119871826,0.71338606911949],"aabb_xy":[[0.44885868048612193,-0.3545191536777024],[0.4585458700085819,-0.3448158487197342]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.3589655517371963,-1.0753126346588915,0.71338606911949],"aabb_xy":[[-0.4002700948009323,-1.1393126342270083],[-0.3176610086734603,-1.0113126350907742]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.49650860325854107,-1.8431284976971543,0.71338606911949],"aabb_xy":[[0.4065086035353669,-1.866201850232334],[0.5865086029817153,-1.8200551451619744]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[0.2356749912754077,1.7483837624286918,0.71338606911949],"aabb_xy":[[0.1981749926997869,1.7356474667651336],[0.2731749898510285,1.7611200580922495]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[-0.5750284668754841,0.7980721609777475,0.71338606911949],"aabb_xy":[[-0.5809950058162199,0.7921110163183834],[-0.5690619279347484,0.8040333056371115]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[0.14509545625541698,-2.4309249129977455,0.71338606911949],"aabb_xy":[[0.13533946674624306,-2.4406874470569795],[0.15485144576459084,-2.4211623789385106]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_16","position":[-0.4700185001688064,1.2303795432152151,0.71338606911949],"aabb_xy":[[-0.49330034236693776,1.145379541917987],[-0.4467366579706751,1.3153795445124432]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[-0.036321270160735164,-2.1613847496612717,0.71338606911949],"aabb_xy":[[-0.04177921579775523,-2.241384752968931],[-0.030863324523715097,-2.0813847463536126]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[-0.555958557129089,-2.0846004433415777,0.71338606911949],"aabb_xy":[[-0.6199585590414315,-2.1405115925995886],[-0.4919585552167468,-2.0286892940835677]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[-0.4877640691041235,-1.7761549426947552,0.71338606911949],"aabb_xy":[[-0.5517640694816571,-1.8259002095455674],[-0.4237640687265899,-1.726409675843943]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6944919610818466,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/353.png","name":"353"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/353.png","name":"353"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9924.png","name":"9924"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2920.png","name":"2920"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1200.png","name":"1200"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9355.png","name":"9355"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":663.8419045786543,"rotation_z_degrees":98.53292322597717,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002133796939021746,-0.014286873641669692,-0.007121067201397402]},{"name":"camera_2","offset_m":[0.012280298548725723,-0.0038103728771431457,0.004836037203940751]},{"name":"camera_3","offset_m":[0.0005982483446601468,-0.018156930011130376,-0.017633188937261825]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009370681748140689,0.001669918495909264,-0.001506806624793235],"end_effector_yaw_offset_degrees":-0.29044764626109654},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016450096281370894,-0.0001792496146421315,-0.00019319661473492515],"end_effector_yaw_offset_degrees":-0.632427175784261},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017394620039458389,0.00099004323811339,-0.00042631627477988585],"end_effector_yaw_offset_degrees":0.6528233175843838},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018684689891065036,-0.001289678478611242,0.001404004977580173],"end_effector_yaw_offset_degrees":0.4457197814909035}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033645615405159613,-0.0033684828181658535],"position_m":[0.15576456154051596,0.22023151718183415,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035511450600172545,-0.003043202961877104],"position_m":[0.23884885493998276,-0.3127432029618771,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0001400943802377201,0.0031662500177586433],"position_m":[0.3246400943802377,-0.038433749982241354,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00447926787369485,0.0013205930756636161],"position_m":[0.34652073212630513,0.31972059307566364,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"52d7e603f9ba2c40c132020fc571d2880929a6ff813b4ff23867981597750368","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_353/tex_ceiling_textures_9355/tex_floor_textures_1200/tex_table_textures_9924/tex_wall_textures_2920","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4840412870409845807,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4840412870409845807,"visual_seed":4840412870409845807,"scene_id":"lab_003","finished_at":"2026-09-04T18:41:31"}
+{"episode_id":"ep_000024","started_at":"2026-09-04T18:41:36","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_0","position":[0.6390102623130387,-2.5066906983176485,0.71338606911949],"aabb_xy":[[0.5977057192493026,-2.5706906978857655],[0.6803148053767746,-2.4426906987495314]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[0.5773370809661371,0.822272376931779,0.71338606911949],"aabb_xy":[[0.5680434627289865,0.7847723784436452],[0.5866306992032877,0.859772375419913]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_2","position":[-0.2277846570330574,-1.7241479732878418,0.71338606911949],"aabb_xy":[[-0.23274067721793862,-1.7466479734899638],[-0.22282863684817622,-1.7016479730857206]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_3","position":[-0.15213501705646737,1.2698753991798224,0.71338606911949],"aabb_xy":[[-0.16677842261050033,1.2552166795230382],[-0.13749161150243436,1.2845341188366066]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[-0.13858913906842896,-2.0204368823681063,0.71338606911949],"aabb_xy":[[-0.18857208925590824,-2.070436882010666],[-0.08860618888094958,-1.9704368827255452]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[0.2431906231830251,1.4669663568608278,0.71338606911949],"aabb_xy":[[0.2056906230774321,1.4601441950078466],[0.280690623288618,1.473788518713809]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[0.2728850046144913,-1.4872187249498934,0.71338606911949],"aabb_xy":[[0.23940583735345033,-1.5206978383210006],[0.3063641718755322,-1.4537396115787866]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[-0.2901165269866541,1.4868720818985355,0.71338606911949],"aabb_xy":[[-0.3164053513070947,1.4606006482438838],[-0.26382770266621336,1.5131435155531863]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.3926144183364835,-0.6544626697867773,0.71338606911949],"aabb_xy":[[0.38204693867838446,-0.6650076998997858],[0.4031818979945825,-0.6439176396737687]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[-0.1553071005353971,-0.21329736066699345,0.71338606911949],"aabb_xy":[[-0.23530710100561308,-0.22160806828134186],[-0.07530710006518117,-0.2049866530526451]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.4612925247651314,1.6641194870673206,0.71338606911949],"aabb_xy":[[0.4278523495691117,1.63067586123639],[0.49473269996115093,1.6975631128982502]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[-0.23914665741766356,1.1320014983469795,0.71338606911949],"aabb_xy":[[-0.2741466573136824,1.1236272628350394],[-0.20414665752164468,1.1403757338589195]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.3049048153039272,0.3838574650647635,0.71338606911949],"aabb_xy":[[-0.3689048167119179,0.3320685135408388],[-0.24090481389593657,0.4356464165886882]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[0.19569052139437992,-1.9844579843582615,0.71338606911949],"aabb_xy":[[0.1600613654944202,-2.0200906511151144],[0.2313196772943397,-1.9488253176014083]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[-0.3127774297334409,0.6022685120037292,0.71338606911949],"aabb_xy":[[-0.32434641048037754,0.5772685118867976],[-0.3012084489865044,0.627268512120661]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[0.37910066136991016,-2.4276851221780187,0.71338606911949],"aabb_xy":[[0.37181834499324634,-2.517685125787527],[0.38638297774657365,-2.337685118568509]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.6258839719637211,-0.33086801504143803,0.71338606911949],"aabb_xy":[[-0.6758839723242871,-0.38084800225104093],[-0.575883971603155,-0.28088802783183503]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[-0.4914984995793195,-1.393330317139534,0.71338606911949],"aabb_xy":[[-0.5764984979967427,-1.478204612601819],[-0.4064985011618963,-1.308456021677249]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.6125575603425508,-0.7366656371063849,0.71338606911949],"aabb_xy":[[0.6049332922523726,-0.7442988606429286],[0.6201818284327291,-0.7290324135698412]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[0.3061598619675572,1.7483990401571234,0.71338606911949],"aabb_xy":[[0.26761416914235614,1.7098532691009345],[0.3447055547927582,1.786944811213312]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.4881540761387224,1.0631896419521176,0.71338606911949],"aabb_xy":[[0.46293323927888264,1.0379658910992307],[0.5133749129985619,1.0884133928050042]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[-0.43910248481862296,0.1640752107981358,0.71338606911949],"aabb_xy":[[-0.5091024869500524,0.14131324517244012],[-0.3691024826871934,0.18683717642383144]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[0.41986559858203076,-2.2441020260908426,0.71338606911949],"aabb_xy":[[0.38395209415704107,-2.2800155343075974],[0.45577910300702046,-2.208188517874088]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_23","position":[-0.41289114875354344,-1.7259467380924527,0.71338606911949],"aabb_xy":[[-0.4350636757301942,-1.7481224052485758],[-0.39071862177689254,-1.7037710709363292]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_24","position":[0.11404370790048413,-1.2048715529989267,0.71338606911949],"aabb_xy":[[0.05004370860631592,-1.2688576933677809],[0.17804370719465235,-1.1408854126300725]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_25","position":[0.09864125645320276,1.6560220671791863,0.71338606911949],"aabb_xy":[[0.09071797621445443,1.6335220669411832],[0.1065645366919511,1.67852206741719]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[0.06754277530739139,-1.6097029361718893,0.71338606911949],"aabb_xy":[[0.0025427726695978897,-1.661182534871336],[0.13254277794518488,-1.5582233374724421]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_27","position":[0.49301887184774884,-2.1037086567379504,0.71338606911949],"aabb_xy":[[0.4711101897083978,-2.125609323558041],[0.5149275539870999,-2.0818079899178596]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_28","position":[-0.027408786034108124,-0.953731620651707,0.71338606911949],"aabb_xy":[[-0.08899954525810094,-1.0177316187607541],[0.034181973189884696,-0.8897316225426602]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_29","position":[0.545867449379392,1.301912231118214,0.71338606911949],"aabb_xy":[[0.48586744887153904,1.2450654974322926],[0.6058674498872448,1.3587589648041352]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_30","position":[0.28085662174534876,0.7645997292213522,0.71338606911949],"aabb_xy":[[0.26306311481043226,0.7467999836255546],[0.29865012868026514,0.7823994748171499]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_31","position":[-0.1981926586961028,-0.4222383337558373,0.71338606911949],"aabb_xy":[[-0.26219265598175145,-0.46374505270868127],[-0.13419266141045416,-0.38073161480299333]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_32","position":[0.6538697849181407,0.29923101513962047,0.71338606911949],"aabb_xy":[[0.6313697849079923,0.2851347955000172],[0.6763697849282889,0.31332723477922375]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.701419637773361,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5722.png","name":"5722"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5722.png","name":"5722"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1165.png","name":"1165"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5435.png","name":"5435"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9178.png","name":"9178"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/585.png","name":"585"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":833.5818306048561,"rotation_z_degrees":349.8476902194278,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006772684131578232,0.0036347661695348733,0.018393970922295656]},{"name":"camera_2","offset_m":[0.0026961606458758974,-0.0035997317136624365,-0.014959154722010436]},{"name":"camera_3","offset_m":[-0.0161086850683239,0.01869568621244262,-0.00029012990876032055]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001590130879836403,-0.0008382396487614657,0.001360482514990278],"end_effector_yaw_offset_degrees":-0.43792877377452655},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013756651417978268,-6.889009634280727e-06,0.0009649477421535594],"end_effector_yaw_offset_degrees":0.5575924439848792},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001103985863476938,-0.0012804975129500904,0.0019270740314648567],"end_effector_yaw_offset_degrees":-0.3548079574938243},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004728906768316182,-0.0019583599243650613,0.0019080936146693272],"end_effector_yaw_offset_degrees":0.6068823349551595}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034765928899677745,-0.0005941579859125787],"position_m":[0.14892340711003224,0.2230058420140874,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029569231799247277,0.0034593108432575985],"position_m":[0.2394430768200753,-0.30624068915674235,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030016996962768236,0.0005636661495936491],"position_m":[0.32750169969627685,-0.04103633385040635,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00421361289067461,-0.000441774607616581],"position_m":[0.3552136128906746,0.31795822539238344,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5c54f77019b43bda270a8cdb5a234aba358547fd68c1388b9477b52af519f629","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0026.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5722/tex_ceiling_textures_585/tex_floor_textures_9178/tex_table_textures_1165/tex_wall_textures_5435","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4810576874097341974,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4810576874097341974,"visual_seed":4810576874097341974,"scene_id":"lab_003","finished_at":"2026-09-04T18:45:32"}
+{"episode_id":"ep_000025","started_at":"2026-09-04T18:45:36","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.5391100450463365,-0.4721539873956315,0.71338606911949],"aabb_xy":[[-0.5741100433164564,-0.4792281150906196],[-0.5041100467762166,-0.46507985970064325]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[0.6620736892668895,1.5289454934047044,0.71338606911949],"aabb_xy":[[0.6503055024722321,1.4439454934994833],[0.6738418760615471,1.6139454933099266]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[0.2546852969931507,-2.4439476762629573,0.71338606911949],"aabb_xy":[[0.2465576087998375,-2.452861284673665],[0.26281298518646395,-2.4350340678522495]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[-0.14189856526326117,-0.4378579790509045,0.71338606911949],"aabb_xy":[[-0.16689856481499965,-0.44800046291603923],[-0.11689856571152268,-0.4277154951857698]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.45167130723903237,-2.411052261328949,0.71338606911949],"aabb_xy":[[0.4456342942383677,-2.417078962397897],[0.45770832023969715,-2.405025560260001]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[0.04418873038704396,-1.5167911930222442,0.71338606911949],"aabb_xy":[[-0.040811268305030686,-1.5487770564171228],[0.1291887290791186,-1.4848053296273651]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.5324364809934881,-1.9553178014429062,0.71338606911949],"aabb_xy":[[0.521869001335389,-1.9658628315559148],[0.5430039606515871,-1.9447727713298977]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.6706808433704116,-2.257744045605039,0.71338606911949],"aabb_xy":[[-0.6741215196104687,-2.2616054785794035],[-0.6672401671303544,-2.2538826126306746]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[0.5087437758304332,1.1988198165473611,0.71338606911949],"aabb_xy":[[0.4447437755699623,1.153811017194433],[0.5727437760909039,1.243828615900289]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[0.45285178690422634,0.4920247970363558,0.71338606911949],"aabb_xy":[[0.43035178639218563,0.46953293867095736],[0.4753517874162668,0.5145166554017541]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[-0.48625137629211324,-0.6208292039549281,0.71338606911949],"aabb_xy":[[-0.5107975919148638,-0.6510781005039651],[-0.46170516066936246,-0.590580307405891]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_11","position":[0.09424055912140006,1.2965890088877274,0.71338606911949],"aabb_xy":[[0.029240556483606572,1.2451094101882805],[0.15924056175919354,1.3480686075871744]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[0.5990817044585843,-1.7161310297985655,0.71338606911949],"aabb_xy":[[0.535081702780587,-1.7646484212778795],[0.6630817061365817,-1.667613638319251]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.6534088252398835,-2.075614402491764,0.71338606911949],"aabb_xy":[[0.5894088231901515,-2.115708885581072],[0.7174088272896155,-2.0355199194024562]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[0.49744084610329864,-2.22438921433598,0.71338606911949],"aabb_xy":[[0.43344084881765,-2.2658959332888235],[0.5614408433889473,-2.1828824953831356]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[0.060052336066713785,-1.0816091703690422,0.71338606911949],"aabb_xy":[[0.009954872085640165,-1.145609170878854],[0.1101498000477874,-1.0176091698592304]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[-0.36729540028234225,-1.2234488541400392,0.71338606911949],"aabb_xy":[[-0.4472953972453814,-1.3005244957838127],[-0.2872954033193031,-1.1463732124962658]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[-0.1739335731614693,-0.15521859244062108,0.71338606911949],"aabb_xy":[[-0.24393357579805564,-0.17532345743648656],[-0.10393357052488295,-0.13511372744475555]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[-0.1264650448929716,-0.9527762706560925,0.71338606911949],"aabb_xy":[[-0.14396504402733876,-0.9626558976936804],[-0.10896504575860443,-0.9428966436185048]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[0.5421644896867599,-2.528510104503227,0.71338606911949],"aabb_xy":[[0.47816449051699,-2.5752767916221897],[0.6061644888565298,-2.4817434173842647]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[0.14028256581436116,-1.9371167944066325,0.71338606911949],"aabb_xy":[[0.10582021841621932,-1.971610676804455],[0.1747449132125029,-1.9026229120088096]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_21","position":[-0.17183602486709992,-1.5337083166417054,0.71338606911949],"aabb_xy":[[-0.18617044999326338,-1.545768532196244],[-0.15750159974093647,-1.5216481010871663]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[-0.15286764911220208,-0.020881656969754747,0.71338606911949],"aabb_xy":[[-0.15771124387343205,-0.02573330944873886],[-0.1480240543509721,-0.016030004490770633]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_23","position":[-0.43545920830736196,-1.080425444689832,0.71338606911949],"aabb_xy":[[-0.44338248854611034,-1.1029254449278356],[-0.4275359280686137,-1.057925444451829]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_24","position":[0.08791831229043179,-2.2602464917649874,0.71338606911949],"aabb_xy":[[0.05041831234666537,-2.268539581799824],[0.1254183122341982,-2.251953401730151]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_25","position":[-0.5854171737766736,-1.4110143022520434,0.71338606911949],"aabb_xy":[[-0.5895331238887461,-1.4151298572848887],[-0.5813012236646008,-1.4068987472191976]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_26","position":[0.6697663731040995,-2.3421776635458254,0.71338606911949],"aabb_xy":[[0.6329717399791932,-2.3790835386424076],[0.7065610062290058,-2.305271788449243]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_27","position":[0.3349278383236074,1.2925758358334716,0.71338606911949],"aabb_xy":[[0.27092784102126094,1.2482094088656146],[0.39892783562595374,1.336942262801328]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_28","position":[-0.5014960353441573,-0.9300511757479841,0.71338606911949],"aabb_xy":[[-0.5814960386081705,-0.9436112080568975],[-0.4214960320801442,-0.9164911434390708]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_29","position":[-0.252564304135989,0.5897677707238023,0.71338606911949],"aabb_xy":[[-0.30255913706393056,0.5397677718285586],[-0.20256947120804736,0.6397677696190457]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_30","position":[-0.611962182547613,-1.2954062895462852,0.71338606911949],"aabb_xy":[[-0.6619621835667483,-1.3318725052841134],[-0.5619621815284778,-1.2589400738084575]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_31","position":[0.05076064234477484,0.8275858471758974,0.71338606911949],"aabb_xy":[[0.026924424704169787,0.737585846367411],[0.07459685998537992,0.917585847984384]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_32","position":[0.6201480249665212,-0.9746946131802272,0.71338606911949],"aabb_xy":[[0.5723418573527526,-1.039694615887286],[0.6679541925802899,-0.909694610473168]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7001179111144991,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5849.png","name":"5849"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5849.png","name":"5849"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4151.png","name":"4151"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3301.png","name":"3301"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3136.png","name":"3136"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1409.png","name":"1409"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":527.5083495208175,"rotation_z_degrees":31.465122939675858,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013885642992697522,-0.005223607892923967,-0.012990214177088948]},{"name":"camera_2","offset_m":[0.006290167930852509,-0.012876770655920081,-0.0019984065917814445]},{"name":"camera_3","offset_m":[0.011075828258475483,-0.011114410824846358,0.0034609884170034508]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004286147899432934,0.0006830902120532048,0.0013353092555163592],"end_effector_yaw_offset_degrees":0.47888279460497607},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014310796058388232,-0.0009580145315751963,-0.0007367059912906594],"end_effector_yaw_offset_degrees":-0.7859840606235797},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012124128593810866,-4.85209747757352e-05,0.0003030629194565159],"end_effector_yaw_offset_degrees":-0.5235285578993978},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006705583328505233,-0.001656360341208738,0.0013387252938574985],"end_effector_yaw_offset_degrees":0.06953432599843112}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00044990777118887517,-0.0026778706404686037],"position_m":[0.15195009222881115,0.2209221293595314,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027404274452642765,0.004851677191170572],"position_m":[0.23965957255473572,-0.3048483228088294,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004355575011522248,-0.0010567271760179827],"position_m":[0.3201444249884778,-0.04265672717601798,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004260981495694964,-0.0034178083355750734],"position_m":[0.35526098149569496,0.3149821916644249,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f884621644c67ee00df03bf76e4fd699f8cb83d001b34e32ce0ab6798f0e24f2","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0027.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5849/tex_ceiling_textures_1409/tex_floor_textures_3136/tex_table_textures_4151/tex_wall_textures_3301","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1076668003081581824,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1076668003081581824,"visual_seed":1076668003081581824,"scene_id":"lab_003","finished_at":"2026-09-04T18:49:32"}
+{"episode_id":"ep_000026","started_at":"2026-09-04T18:49:36","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_0","position":[-0.45814441640597525,0.49971434894159694,0.71338606911949],"aabb_xy":[[-0.4915845916019948,0.4662707231106668],[-0.4247042412099556,0.5331579747725269]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.0888856613593888,1.1194030635498002,0.71338606911949],"aabb_xy":[[-0.15288566327173117,1.0634919142917896],[-0.024885659447046488,1.1753142128078105]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_2","position":[0.28454793435666303,1.5954669515841133,0.71338606911949],"aabb_xy":[[0.2205479320138615,1.5505261003399808],[0.3485479366994646,1.6404078028282458]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[0.038362765263160514,-2.1687429857986302,0.71338606911949],"aabb_xy":[[-0.02663723573734001,-2.219529350953305],[0.10336276626366103,-2.1179566206439553]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[0.5863285092595145,-1.5301407997053456,0.71338606911949],"aabb_xy":[[0.49664143295139906,-1.620140799959796],[0.67601558556763,-1.440140799450895]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_5","position":[0.4583674809866627,-0.6394375852546468,0.71338606911949],"aabb_xy":[[0.3883674775951007,-0.6747533589580776],[0.5283674843782247,-0.6041218115512159]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[0.4195375693743906,-2.187882841196187,0.71338606911949],"aabb_xy":[[0.3820375678587588,-2.1991096142123316],[0.4570375708900222,-2.1766560681800415]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_7","position":[-0.19557398072399235,1.273061994745293,0.71338606911949],"aabb_xy":[[-0.21248471316033413,1.2595897891526782],[-0.17866324828765057,1.2865342003379074]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[-0.24777021863612586,-1.123889489132083,0.71338606911949],"aabb_xy":[[-0.2548105285696629,-1.2038894885317546],[-0.2407299087025889,-1.0438894897324118]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[0.1618576466949695,-0.8626378338584939,0.71338606911949],"aabb_xy":[[0.14675534523395134,-0.8777393554895555],[0.17695994815598753,-0.8475363122274319]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[0.1884942625196938,-0.9603759605713369,0.71338606911949],"aabb_xy":[[0.17534301654840445,-0.9853759603280235],[0.2016455084909832,-0.9353759608146505]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.4849744392140395,-0.9808172748590089,0.71338606911949],"aabb_xy":[[-0.5024744394733762,-0.9949088170477816],[-0.4674744389547029,-0.9667257326702363]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[-0.07115864452554888,1.4407357438901163,0.71338606911949],"aabb_xy":[[-0.07579375967778224,1.436868408812967],[-0.06652352937331546,1.4446030789672646]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[-0.2630590209780635,-0.7944681945002989,0.71338606911949],"aabb_xy":[[-0.3043078320079782,-0.8494681940125163],[-0.22181020994814873,-0.7394681949880814]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[0.30609493259019804,-1.4745607993454515,0.71338606911949],"aabb_xy":[[0.3005132609560693,-1.4870607991632268],[0.3116766042243268,-1.4620607995276758]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.45252991053155717,1.1899659560664104,0.71338606911949],"aabb_xy":[[-0.46124387958149154,1.167465955407222],[-0.44381594148162257,1.2124659567255984]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_16","position":[0.3656036513567342,1.2150267651335347,0.71338606911949],"aabb_xy":[[0.33727394140819406,1.2105660229398176],[0.3939333613052745,1.2194875073272518]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[-0.6459959616572777,0.9880478906223025,0.71338606911949],"aabb_xy":[[-0.6541236498505909,0.9791342822115949],[-0.6378682734639645,0.9969614990330102]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_18","position":[-0.1407478739609841,0.4782870404762938,0.71338606911949],"aabb_xy":[[-0.19587307959057484,0.4182870390350066],[-0.0856226683313933,0.5382870419175808]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.45258961173737283,0.811749645301743,0.71338606911949],"aabb_xy":[[-0.48758961163339165,0.803375409789803],[-0.4175896118413539,0.8201238808136829]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[0.2945299249505774,1.731714673691298,0.71338606911949],"aabb_xy":[[0.23952992674883258,1.6911927070648605],[0.34952992315232223,1.7722366403177356]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_21","position":[-0.5899571424546739,0.8720840699855374,0.71338606911949],"aabb_xy":[[-0.6699571396142492,0.8605364690277204],[-0.5099571452950986,0.8836316709433545]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[0.516339138873035,0.9277635334198666,0.71338606911949],"aabb_xy":[[0.4863715819632093,0.8977635331219809],[0.5463066957828606,0.9577635337177524]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_23","position":[-0.5674993896448499,-0.5367596502553242,0.71338606911949],"aabb_xy":[[-0.6224993892665958,-0.5917433430427971],[-0.5124993900231041,-0.4817759574678516]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7004022106367297,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/27.png","name":"27"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/27.png","name":"27"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1868.png","name":"1868"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1952.png","name":"1952"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2849.png","name":"2849"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1919.png","name":"1919"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":839.007706290641,"rotation_z_degrees":300.19726249364373,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005356643129773388,0.0010000163467198085,-0.006435605388558394]},{"name":"camera_2","offset_m":[-0.01863926303307188,-0.01994023741909368,-0.014997679738636407]},{"name":"camera_3","offset_m":[0.01939587347429628,-0.014435366598293822,-0.003710274938151202]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006228696739480413,0.0014253941804936512,0.00024373917996684804],"end_effector_yaw_offset_degrees":0.21099964326441767},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012729168060183248,0.0015308342007331645,-0.0011125877472976534],"end_effector_yaw_offset_degrees":-0.16085287413581817},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016411852659935233,-0.0007593066313865561,-0.0010299655661472134],"end_effector_yaw_offset_degrees":0.053267031571628376},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015292739827740842,0.0013531367238076978,0.0015298464688930412],"end_effector_yaw_offset_degrees":-0.9370270142945907}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027666582366403228,0.0021168413938523435],"position_m":[0.14963334176335968,0.22571684139385234,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003897859672300179,0.0024143370563117026],"position_m":[0.2385021403276998,-0.30728566294368825,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003454134217185335,-0.0014417021687947616],"position_m":[0.3241545865782815,-0.04304170216879476,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00047306627531695355,0.004608469275664567],"position_m":[0.35147306627531694,0.32300846927566457,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9b338bf478e731a8b7797c537196a63ab63d76d7390b66d69df2866bbe8b07a3","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0028.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_27/tex_ceiling_textures_1919/tex_floor_textures_2849/tex_table_textures_1868/tex_wall_textures_1952","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6769908930858518400,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6769908930858518400,"visual_seed":6769908930858518400,"scene_id":"lab_003","finished_at":"2026-09-04T18:53:25"}
+{"episode_id":"ep_000027","started_at":"2026-09-04T18:53:28","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_0","position":[0.42934393621449396,-2.064297386346387,0.71338606911949],"aabb_xy":[[0.359343932822932,-2.099613160049818],[0.49934393960605594,-2.0289816126429563]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.58752534721017,-1.7608891992827433,0.71338606911949],"aabb_xy":[[-0.6325179339286204,-1.805889198557192],[-0.5425327604917196,-1.7158892000082946]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.19755866856875282,1.4578725087951923,0.71338606911949],"aabb_xy":[[-0.2213948862093579,1.3678725079867058],[-0.17372245092814775,1.547872509603679]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_3","position":[0.6599955164961853,-1.4414513991592526,0.71338606911949],"aabb_xy":[[0.6519692458655593,-1.4502028941366052],[0.6680217871268113,-1.4326999041819]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_4","position":[0.632714505228791,-0.33312894805454096,0.71338606911949],"aabb_xy":[[0.6183800801026275,-0.3451891636090798],[0.6470489303549544,-0.3210687325000021]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[-0.17702134240495182,1.0173792279011136,0.71338606911949],"aabb_xy":[[-0.21387189034193943,0.9798792270780798],[-0.1401707944679642,1.0548792287241473]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[0.35731784134873035,-2.4962265863074617,0.71338606911949],"aabb_xy":[[0.33820553399075154,-2.5153613651847038],[0.37643014870670927,-2.4770918074302197]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[0.6803811403868589,-1.1657397628920834,0.71338606911949],"aabb_xy":[[0.6600968376634601,-1.186022388034792],[0.7006654431102576,-1.1454571377493743]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_8","position":[0.31509610896315143,-1.6338886498409346,0.71338606911949],"aabb_xy":[[0.3070597742618666,-1.6419267691453514],[0.3231324436644363,-1.6258505305365178]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_9","position":[0.30980338806279306,1.2097749647958969,0.71338606911949],"aabb_xy":[[0.2546781824332022,1.1497749633546095],[0.3649285936923838,1.2697749662371838]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_10","position":[-0.4090193698710428,-1.2878074205939738,0.71338606911949],"aabb_xy":[[-0.4214867279807784,-1.3002727452272973],[-0.3965520117613071,-1.2753420959606503]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[-0.24361527617554846,0.5032741915912138,0.71338606911949],"aabb_xy":[[-0.26612896799900565,0.43327419099020614],[-0.22110158435209126,0.5732741921922212]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_12","position":[-0.6104155561686989,-1.1603760588030176,0.71338606911949],"aabb_xy":[[-0.6604148313371351,-1.2103760600789648],[-0.5604162810002628,-1.1103760575270705]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.1503872443318025,-0.9654312357691597,0.71338606911949],"aabb_xy":[[0.13751534083086236,-1.0454312361829956],[0.16325914783274265,-0.8854312353553234]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[-0.0025686891514461463,-1.3932466240208476,0.71338606911949],"aabb_xy":[[-0.06656868626355184,-1.442278993815258],[0.06143130796065954,-1.3442142542264368]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[0.6148508199908103,-1.797675512837587,0.71338606911949],"aabb_xy":[[0.5508508214042377,-1.8446824762370955],[0.6788508185773826,-1.750668549438078]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[-0.2526470835770819,0.3172731090834726,0.71338606911949],"aabb_xy":[[-0.3166470854894243,0.26136195982546223],[-0.1886470816647396,0.3731842583414831]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[0.38382641151920716,-0.8842847362010753,0.71338606911949],"aabb_xy":[[0.3473305908919284,-0.9207686786278328],[0.4203222321464859,-0.8478007937743177]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[-0.4098971793499111,-1.452859588775833,0.71338606911949],"aabb_xy":[[-0.4738971816927126,-1.4978004400199656],[-0.3458971770071095,-1.4079187375317006]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_19","position":[-0.3318272050677619,-0.6443116817630008,0.71338606911949],"aabb_xy":[[-0.39582720534174015,-0.6943777819602888],[-0.2678272047937837,-0.5942455815657128]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[-0.38158270968572644,-0.3873914179946123,0.71338606911949],"aabb_xy":[[-0.46530493518580884,-0.4773914215293082],[-0.2978604841856439,-0.2973914144599163]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937314593726401,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4859.png","name":"4859"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4859.png","name":"4859"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7846.png","name":"7846"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/547.png","name":"547"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/830.png","name":"830"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1855.png","name":"1855"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":794.7002805622592,"rotation_z_degrees":159.02400222971102,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0045222090157134714,-0.013657928480492531,0.008853775032743507]},{"name":"camera_2","offset_m":[-0.0025544569784612114,-0.001863358186412492,0.019090798858850493]},{"name":"camera_3","offset_m":[0.0023205860066460235,-0.010039507579459546,0.01343586418171044]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001835032662422754,0.0019788801038855127,-0.0009003142448231532],"end_effector_yaw_offset_degrees":-0.7070509284535456},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[6.741132790030052e-05,0.0007456316073515979,-0.00044829598931506675],"end_effector_yaw_offset_degrees":-0.25389692144788567},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007461172476208575,-0.00013748060653942995,-0.00023339569104227826],"end_effector_yaw_offset_degrees":0.6165305566477643},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016669740066016557,0.00023942492576871973,0.00037558143329915507],"end_effector_yaw_offset_degrees":0.7006532415200084}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013536370231255965,0.0005103764200596961],"position_m":[0.1537536370231256,0.22411037642005968,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002009125766473111,0.0034151099077191086],"position_m":[0.2444091257664731,-0.3062848900922809,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0001664644503380523,0.003883494695524038],"position_m":[0.32433353554966193,-0.03771650530447596,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004305368488301327,-0.0006720409609629659],"position_m":[0.34669463151169866,0.31772795903903706,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba67f96a4550fb104601b8d521ffb982a90f07fadcd161d03d97665325fbe5c7","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4859/tex_ceiling_textures_1855/tex_floor_textures_830/tex_table_textures_7846/tex_wall_textures_547","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8571568930894911448,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8571568930894911448,"visual_seed":8571568930894911448,"scene_id":"lab_003","finished_at":"2026-09-04T18:57:10"}
+{"episode_id":"ep_000028","started_at":"2026-09-04T18:57:16","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[-0.3942270952170878,-2.0718715561414247,0.71338606911949],"aabb_xy":[[-0.4205159195375284,-2.0981429897960755],[-0.3679382708966471,-2.045600122486773]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.5008590298354207,-0.282330301010723,0.71338606911949],"aabb_xy":[[0.48197464606691043,-0.30121622579107576],[0.5197434136039308,-0.2634443762303702]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[-0.588109204966604,-1.571696227433116,0.71338606911949],"aabb_xy":[[-0.668109208224447,-1.6516927352251003],[-0.5081092017087611,-1.4916997196411323]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.38711741935611976,-1.1375990180366844,0.71338606911949],"aabb_xy":[[-0.4511174166584661,-1.1819654450045411],[-0.3231174220537733,-1.0932325910688276]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_4","position":[0.668606208678491,-0.5424627956871015,0.71338606911949],"aabb_xy":[[0.6461414387070858,-0.5649627965659619],[0.6910709786498961,-0.5199627948082409]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[-0.23554941050790595,0.5164062606007804,0.71338606911949],"aabb_xy":[[-0.2659475216070495,0.48599935859911086],[-0.20515129940876234,0.5468131626024498]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[-0.270124048252693,-1.94023016477761,0.71338606911949],"aabb_xy":[[-0.32011905921214506,-1.990230163813202],[-0.22012903729324101,-1.8902301657420186]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[0.6006790083389228,-1.6695195120859057,0.71338606911949],"aabb_xy":[[0.594712469398187,-1.6754806567452696],[0.6066455472796585,-1.6635583674265417]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_8","position":[0.4774793444085257,-1.8941394269867546,0.71338606911949],"aabb_xy":[[0.4549829229746616,-1.916639426793502],[0.4999757658423898,-1.8716394271800072]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[0.14977329894080627,-2.0740938582796034,0.71338606911949],"aabb_xy":[[0.11629413167976532,-2.107572971650711],[0.1832524662018472,-2.040614744908497]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[-0.06001663477726271,1.012675503870243,0.71338606911949],"aabb_xy":[[-0.07346316141130604,0.9992056522171519],[-0.04657010814321937,1.0261453555233344]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[-0.4517785688456881,-0.09341987312119748,0.71338606911949],"aabb_xy":[[-0.5317785668264732,-0.10102141408304943],[-0.37177857086490307,-0.08581833215934553]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[-0.26302138134768405,1.0285892212233652,0.71338606911949],"aabb_xy":[[-0.29646155654370354,0.9951455953924347],[-0.22958120615166436,1.0620328470542948]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[0.18807328415262536,0.9107582852996177,0.71338606911949],"aabb_xy":[[0.17614054979079732,0.8983761324917584],[0.20000601851445346,0.9231404381074771]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[0.7025985762850444,1.709228713168741,0.71338606911949],"aabb_xy":[[0.6867140830197193,1.694875772869917],[0.7184830695503696,1.7235816534675652]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.6389839988127399,-1.189286312589782,0.71338606911949],"aabb_xy":[[-0.6734463462108816,-1.2237801949876042],[-0.604521651414598,-1.1547924301919588]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[0.12979492390483427,1.22510485338208,0.71338606911949],"aabb_xy":[[0.06979492365343307,1.1708235283456152],[0.18979492415623542,1.2793861784185445]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[0.6315333644554533,-0.97201307892294,0.71338606911949],"aabb_xy":[[0.6244930545219163,-1.0520130783226116],[0.6385736743889903,-0.8920130795232687]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[0.1943150987535921,-1.371509393351682,0.71338606911949],"aabb_xy":[[0.17181509851007673,-1.383714028011454],[0.21681509899710752,-1.35930475869191]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[-0.5088918183613423,1.6934416100887213,0.71338606911949],"aabb_xy":[[-0.5888918205241048,1.6134864264625777],[-0.42889181619857986,1.773396793714865]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[0.48916186050395916,-2.069649149930696,0.71338606911949],"aabb_xy":[[0.4420324815021234,-2.1336491509750974],[0.5362912395057947,-2.0056491488862935]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[0.2309629653144788,1.6450035821106677,0.71338606911949],"aabb_xy":[[0.15096296388435157,1.5654864270980582],[0.310962966744606,1.7245207371232771]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[-0.46329516971912876,-0.580367806731747,0.71338606911949],"aabb_xy":[[-0.4748641504660654,-0.6053678068486789],[-0.45172618897219224,-0.5553678066148154]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[-0.6654587342066345,-0.7012097003001763,0.71338606911949],"aabb_xy":[[-0.6853497740869748,-0.713865511584873],[-0.6455676943262944,-0.6885538890154793]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_24","position":[0.3033329688635489,-2.0453588832302225,0.71338606911949],"aabb_xy":[[0.29869785371131546,-2.0492262183073713],[0.3079680840157822,-2.0414915481530738]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[0.4106987588548927,1.370589407112175,0.71338606911949],"aabb_xy":[[0.3739041257299865,1.3336835320155924],[0.44749339197979904,1.407495282208757]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_26","position":[-0.37896331763714824,0.8769264138514723,0.71338606911949],"aabb_xy":[[-0.38831032521944353,0.8626227916338283],[-0.36961631005485307,0.8912300360691163]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[-0.028175980933353828,-1.4176546232976452,0.71338606911949],"aabb_xy":[[-0.11817598326737289,-1.4951369778827577],[0.06182402140066523,-1.3401722687125324]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931238292651697,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2231.png","name":"2231"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2231.png","name":"2231"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9401.png","name":"9401"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3957.png","name":"3957"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8888.png","name":"8888"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5986.png","name":"5986"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":806.3407053374748,"rotation_z_degrees":24.949823910281058,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004575736804668981,-0.0010382766476446509,-0.01427314173122901]},{"name":"camera_2","offset_m":[-0.009290222828279222,0.013427788146387985,0.004782037825133197]},{"name":"camera_3","offset_m":[-0.01567747825532178,0.013868202747304787,0.0022051037829201106]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008633155089217439,0.001061819721898331,-0.0009637273005987815],"end_effector_yaw_offset_degrees":0.13590560693469445},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016827508575570445,0.0005072843285528232,0.000927077732733084],"end_effector_yaw_offset_degrees":0.46272072129702213},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015167713938460455,-0.0002533706972359976,0.001892254081100993],"end_effector_yaw_offset_degrees":-0.9189383912425877},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001110328289393038,-0.00027187863317495965,-0.0012965679153580517],"end_effector_yaw_offset_degrees":0.17444357169769287}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022715430778559287,0.003860815872712858],"position_m":[0.15012845692214408,0.22746081587271286,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015364218066893798,0.0017381575037340412],"position_m":[0.2408635781933106,-0.30796184249626596,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002253969033094684,-0.002830280800861056],"position_m":[0.32224603096690535,-0.044430280800861054,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004338295646522696,-0.001936776470073803],"position_m":[0.34666170435347726,0.31646322352992623,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"32b0c69bffa474caf993511e3ef2438ce496c01277b5c66a40c027a2b70ac220","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2231/tex_ceiling_textures_5986/tex_floor_textures_8888/tex_table_textures_9401/tex_wall_textures_3957","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6957917073197183572,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6957917073197183572,"visual_seed":6957917073197183572,"scene_id":"lab_003","finished_at":"2026-09-04T19:01:08"}
+{"episode_id":"ep_000029","started_at":"2026-09-04T19:01:12","dimensions":{"distractor":{"count":26,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[-0.3991083615641497,-2.234827107807346,0.71338606911949],"aabb_xy":[[-0.43765405438935073,-2.273372878863535],[-0.36056266873894866,-2.1962813367511576]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[-0.3172247577571669,-1.7947481006457182,0.71338606911949],"aabb_xy":[[-0.34106097539777197,-1.884748101454205],[-0.29338854011656185,-1.704748099837232]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.30216521630776516,-2.322557300808979,0.71338606911949],"aabb_xy":[[0.238165217013597,-2.386543441177833],[0.36616521560193344,-2.2585711604401246]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[0.6091177717342664,-1.892685629131532,0.71338606911949],"aabb_xy":[[0.5592350748565702,-1.942685628377807],[0.6590004686119626,-1.8426856298852574]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[0.3457426084229185,-1.3478753271333475,0.71338606911949],"aabb_xy":[[0.295769314419658,-1.3978753276878946],[0.3957159024261789,-1.2978753265788]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_5","position":[-0.6320483646275583,-1.5265263758764798,0.71338606911949],"aabb_xy":[[-0.6357516259566971,-1.530228394185197],[-0.6283451032984193,-1.5228243575677616]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[0.07549495840869636,-1.8349371118178077,0.71338606911949],"aabb_xy":[[0.05298126658523915,-1.9049371124188155],[0.09800865023215354,-1.7649371112168004]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_7","position":[-0.5108427950436906,0.18065621532428233,0.71338606911949],"aabb_xy":[[-0.5908427920579384,0.16052166365087106],[-0.4308427980294425,0.2007907669976936]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.16286772999556975,1.5044114999857565,0.71338606911949],"aabb_xy":[[-0.2179929356251605,1.4444114985444692],[-0.10774252436597896,1.5644115014270434]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_9","position":[-0.48871888215407805,1.1280342753853163,0.71338606911949],"aabb_xy":[[-0.5787188818772521,1.1049609228501363],[-0.3987188824309038,1.151107627920496]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[-0.12287597780926551,-1.4652760705194399,0.71338606911949],"aabb_xy":[[-0.17297344179033913,-1.5292760710292517],[-0.07277851382819191,-1.401276070009628]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[-0.012989585104996926,-0.9169430426119258,0.71338606911949],"aabb_xy":[[-0.10298958878191508,-0.97837544918903],[0.07701041857192124,-0.8555106360348212]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[0.1725959282592312,-0.666120772009563,0.71338606911949],"aabb_xy":[[0.10859592658123382,-0.7146381634888772],[0.23659592993722853,-0.6176033805302488]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[-0.3654396502571013,-0.8317247671373669,0.71338606911949],"aabb_xy":[[-0.4454396507273173,-0.8400354747517154],[-0.28543964978688535,-0.8234140595230186]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_14","position":[0.2958505597971416,1.1049251785928416,0.71338606911949],"aabb_xy":[[0.2593547391698628,1.068441236166084],[0.3323463804244203,1.1414091210195991]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[0.09865790698173704,1.0727193709879455,0.71338606911949],"aabb_xy":[[0.09454195686966436,1.0686038159550997],[0.10277385709380969,1.0768349260207908]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[-0.24299388696132151,-1.3513806561067203,0.71338606911949],"aabb_xy":[[-0.2510201575919475,-1.360132151084073],[-0.23496761633069552,-1.3426291611293677]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[0.24683694951651558,-1.774376395510405,0.71338606911949],"aabb_xy":[[0.2364253908360318,-1.7797221288463032],[0.25724850819699924,-1.7690306621745064]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_18","position":[0.46748135223681375,-0.3421147698626177,0.71338606911949],"aabb_xy":[[0.4034813518592801,-0.39186003671342995],[0.5314813526143474,-0.2923695030118054]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.2676511260323122,0.8949256457121484,0.71338606911949],"aabb_xy":[[0.2365042071887291,0.8249256470253411],[0.29879804487589534,0.9649256443989555]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.3823796497832723,0.5596693549406901,0.71338606911949],"aabb_xy":[[0.29865742428318987,0.4696693514059941],[0.4661018752833548,0.649669358475386]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[-0.06297449014978163,-2.4917887231935616,0.71338606911949],"aabb_xy":[[-0.09130420009832185,-2.4962494653872787],[-0.0346447802012414,-2.4873279809998445]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[-0.33669134519104993,0.5643653026315016,0.71338606911949],"aabb_xy":[[-0.3537934231494181,0.5472584971002318],[-0.3195892672326818,0.5814721081627713]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_23","position":[0.46623593291279875,0.1726616558524232,0.71338606911949],"aabb_xy":[[0.44844242597788225,0.15486191025662555],[0.4840294398477151,0.19046140144822088]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_24","position":[0.25207995469697186,1.326403739712426,0.71338606911949],"aabb_xy":[[0.24503850374622427,1.3193769879746315],[0.25912140564771946,1.3334304914502204]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[0.0035611417469259,1.6864192162338214,0.71338606911949],"aabb_xy":[[-0.01890362822447922,1.6639192153549607],[0.02602591171833102,1.7089192171126817]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7011212858295854,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4049.png","name":"4049"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4049.png","name":"4049"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2102.png","name":"2102"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2945.png","name":"2945"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/648.png","name":"648"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1259.png","name":"1259"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":623.7684358854374,"rotation_z_degrees":137.88386102126128,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005098174810695279,0.009991248733033524,0.019957035760061092]},{"name":"camera_2","offset_m":[0.007789722202068094,0.01383815088850385,0.005815270034883305]},{"name":"camera_3","offset_m":[0.014530459400356088,0.00578653146789751,-0.00702444308488257]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016684266176212287,-0.00015893928970173708,-0.0003750089956784492],"end_effector_yaw_offset_degrees":-0.08204894823372721},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00020768685434506898,-0.00017146731847965716,-0.001607950491117979],"end_effector_yaw_offset_degrees":0.14901654272751585},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018179142354765882,-0.0017310396930819002,0.0011380940494586929],"end_effector_yaw_offset_degrees":0.6233382463222161},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011798648451228962,-0.0010231629177123382,-0.0010687221318200408],"end_effector_yaw_offset_degrees":-0.4436252166742578}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001115379440823544,-0.00098090365083913],"position_m":[0.15351537944082355,0.22261909634916086,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032451231722838867,-0.0041725254010572844],"position_m":[0.2391548768277161,-0.31387252540105726,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038670198531037267,0.0025596589239675564],"position_m":[0.32836701985310374,-0.03904034107603244,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034272369846839517,0.0004442719514489756],"position_m":[0.3544272369846839,0.318844271951449,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0f4520db8cda2a359473a044080dad021a29bb474fa14eb9aa6899430aa6fe7a","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4049/tex_ceiling_textures_1259/tex_floor_textures_648/tex_table_textures_2102/tex_wall_textures_2945","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4427120823058288530,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4427120823058288530,"visual_seed":4427120823058288530,"scene_id":"lab_003","finished_at":"2026-09-04T19:05:02"}
+{"episode_id":"ep_000030","started_at":"2026-09-04T19:09:31","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[-0.19040299608791367,1.7508877647021017,0.71338606911949],"aabb_xy":[[-0.25440299749590434,1.6990988131781768],[-0.126402994679923,1.8026767162260262]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[0.5373140975979793,-0.6598138433931571,0.71338606911949],"aabb_xy":[[0.48749731813314456,-0.7098138418774604],[0.5871308770628141,-0.6098138449088537]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[0.4963816101400893,-2.5451000733761964,0.71338606911949],"aabb_xy":[[0.459586977015183,-2.582005948472778],[0.5331762432649956,-2.5081941982796137]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[0.6196516009524309,0.30285527160353176,0.71338606911949],"aabb_xy":[[0.5983735928089585,0.2378552692774587],[0.640929609095903,0.3678552739296048]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[-0.11762118538777944,-2.5130160645989,0.71338606911949],"aabb_xy":[[-0.18762118751920895,-2.5357780302245954],[-0.04762118325634987,-2.4902540989732036]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[0.33253171891552435,0.7884533374197593,0.71338606911949],"aabb_xy":[[0.32453773033782096,0.7804532573246687],[0.34052570749322775,0.7964534175148494]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.2664883439559592,-1.7490327000178922,0.71338606911949],"aabb_xy":[[-0.27963958992724863,-1.7740326997745792],[-0.2533370979846699,-1.7240327002612061]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[-0.33983297843321036,-0.7918087087556369,0.71338606911949],"aabb_xy":[[-0.3722946793151377,-0.8219415408705394],[-0.3073712775512828,-0.7616758766407342]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[-0.06593192758225808,-0.3273723145052734,0.71338606911949],"aabb_xy":[[-0.08784060972160912,-0.34927298132536405],[-0.04402324544290703,-0.3054716476851826]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[-0.034541297559241846,1.4351226180777021,0.71338606911949],"aabb_xy":[[-0.0544323374395821,1.4224668067930055],[-0.014650257678901598,1.4477784293623992]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[-0.09292925172878186,-0.12822453422245328,0.71338606911949],"aabb_xy":[[-0.17292925038566787,-0.14272939314671607],[-0.012929253071895852,-0.11371967529819049]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[0.11744818791228384,1.4478396130826163,0.71338606911949],"aabb_xy":[[0.027448191411412092,1.4019279706641579],[0.2074481844131556,1.4937512555010743]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.22151062077607075,0.452699078755487,0.71338606911949],"aabb_xy":[[-0.2715106202162664,0.4027311542711706],[-0.1715106213358751,0.5026670032398033]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[0.20306945395050435,-0.9103501922257935,0.71338606911949],"aabb_xy":[[0.1390694507318665,-0.9570733041248018],[0.2670694571691422,-0.8636270803267851]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_14","position":[-0.6217686813006835,0.9487775083056631,0.71338606911949],"aabb_xy":[[-0.6261993106555238,0.9433291365709804],[-0.6173380519458435,0.9542258800403456]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[-0.38688648667721126,-1.8888785273935034,0.71338606911949],"aabb_xy":[[-0.40938648620091866,-1.9113744748441241],[-0.36438648715350386,-1.8663825799428826]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[0.48500057363926663,0.5590030978203178,0.71338606911949],"aabb_xy":[[0.47775680759302136,0.4790030996167155],[0.492244339685512,0.6390030960239202]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[0.5428619066138933,-1.0847487560175058,0.71338606911949],"aabb_xy":[[0.5078619066373975,-1.0942133720651224],[0.5778619065903892,-1.0752841399698891]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[-0.2489524917805932,-0.7996467113971655,0.71338606911949],"aabb_xy":[[-0.25829949936288843,-0.8139503336148094],[-0.239605484198298,-0.7853430891795213]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.4079783201389456,1.2584063836123631,0.71338606911949],"aabb_xy":[[-0.47197831930871553,1.2116396964934009],[-0.34397832096917563,1.3051730707313258]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[-0.011942342711442233,-1.2440095299873979,0.71338606911949],"aabb_xy":[[-0.027826835976767383,-1.2583624702862217],[0.003942150553882917,-1.2296565896885736]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7010753195295167,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4406.png","name":"4406"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4406.png","name":"4406"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/553.png","name":"553"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2196.png","name":"2196"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2429.png","name":"2429"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5688.png","name":"5688"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":636.9444169602032,"rotation_z_degrees":216.1408779062211,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002387443457485861,0.01490995098987016,-0.008388361277494729]},{"name":"camera_2","offset_m":[-0.01706235679131067,0.002756154702258838,0.0038655188761273773]},{"name":"camera_3","offset_m":[-0.004390010774943999,0.015903841474929317,0.018715151716623277]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009845658939845654,0.0016060336679851383,-8.86938620756493e-05],"end_effector_yaw_offset_degrees":0.2281551635196366},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001206760449327468,-0.0015196407647579718,-0.00031382031198499754],"end_effector_yaw_offset_degrees":0.49146909205444733},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012052563874942798,0.0003679800173901639,-5.103783918301635e-05],"end_effector_yaw_offset_degrees":0.7524261329832069},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007578912780166463,-0.0015249684453175513,-0.0010903967134943762],"end_effector_yaw_offset_degrees":0.6810214074705732}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003542839440595081,-0.0017394263040683621],"position_m":[0.14885716055940493,0.22186057369593162,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004592620201534207,-0.004799341621622376],"position_m":[0.2469926202015342,-0.31449934162162235,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036734892919869314,0.004355392366360663],"position_m":[0.3208265107080131,-0.037244607633639334,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027694103747978463,0.0016286127043197473],"position_m":[0.3537694103747978,0.32002861270431976,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ed3f72049da7f8e0dbb14703faf49ded16e7a2bf43464714319ad714242bd2bc","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0033.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4406/tex_ceiling_textures_5688/tex_floor_textures_2429/tex_table_textures_553/tex_wall_textures_2196","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":927309091606890456,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":927309091606890456,"visual_seed":927309091606890456,"scene_id":"lab_003","finished_at":"2026-09-04T19:13:08"}
+{"episode_id":"ep_000031","started_at":"2026-09-04T19:13:11","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[0.6574760725287507,-1.2613444380144834,0.71338606911949],"aabb_xy":[[0.6034604762468506,-1.3253444409067405],[0.7114916688106506,-1.1973444351222262]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[-0.28445715769900626,-2.2081596014596543,0.71338606911949],"aabb_xy":[[-0.34604791692299913,-2.272159599568701],[-0.2228663984750135,-2.1441596033506074]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_2","position":[-0.10431495238910937,0.4160166873118558,0.71338606911949],"aabb_xy":[[-0.12122568482545115,0.4025444817192412],[-0.08740421995276759,0.42948889290447023]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[-0.2833916503514773,-0.9821781646299452,0.71338606911949],"aabb_xy":[[-0.34839165038577996,-1.0288788413102725],[-0.2183916503171745,-0.9354774879496179]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[-0.09262026112375399,-0.8316026236180716,0.71338606911949],"aabb_xy":[[-0.11512026136726938,-0.8438072582778436],[-0.0701202608802386,-0.8193979889582997]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.3796480458046152,-0.7598209014812953,0.71338606911949],"aabb_xy":[[0.35606292234072034,-0.8248209037267271],[0.40323316926851005,-0.6948208992358635]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[-0.2750409928667999,-2.4755923214875604,0.71338606911949],"aabb_xy":[[-0.3390366902618965,-2.539592319788269],[-0.2110452954717033,-2.4115923231868517]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_7","position":[-0.526876227268456,1.0848541236680274,0.71338606911949],"aabb_xy":[[-0.6118762256858793,0.9999798282057424],[-0.44187622885103284,1.1697284191303123]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[0.09312423122333968,-0.7847692535375037,0.71338606911949],"aabb_xy":[[0.043145422713023796,-0.8347692535432224],[0.14310303973365557,-0.7347692535317848]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[-0.5659412779413342,0.06892311053891387,0.71338606911949],"aabb_xy":[[-0.5775102586882709,0.04392311042198217],[-0.5543722971943977,0.09392311065584559]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.469736035236229,1.242464377715284,0.71338606911949],"aabb_xy":[[0.4362958600402093,1.2090207518843537],[0.5031762104322485,1.2759080035462138]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[-0.3915619559041556,1.4914793592187077,0.71338606911949],"aabb_xy":[[-0.46156195750643514,1.4780465660170499],[-0.3215619543018762,1.504912152420365]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[-0.5888707552827909,-0.594539895253472,0.71338606911949],"aabb_xy":[[-0.6788707517836625,-0.6404515376719301],[-0.49887075878191905,-0.5486282528350136]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.39613509121619594,-0.3808006765198879,0.71338606911949],"aabb_xy":[[-0.4336350896395962,-0.39396489048771854],[-0.3586350927927955,-0.3676364625520573]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[0.140276785313726,1.057316383192644,0.71338606911949],"aabb_xy":[[0.09925884192735512,1.0073163825616867],[0.18129472870009689,1.1073163838236013]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_15","position":[-0.2823332225054861,-1.1304160595393367,0.71338606911949],"aabb_xy":[[-0.3073332217774484,-1.146761423135499],[-0.2573332232335238,-1.1140706959431743]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.42639800733793276,0.2031940911955048,0.71338606911949],"aabb_xy":[[-0.4334394582886803,0.19616733945771028],[-0.4193565563871851,0.21022084293329937]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[0.21955133240393065,0.6381941001469991,0.71338606911949],"aabb_xy":[[0.19705133189189003,0.6157022417816007],[0.24205133291597122,0.6606859585123974]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[0.298513120153872,-2.390631879961027,0.71338606911949],"aabb_xy":[[0.2610131198616972,-2.394673355361631],[0.3360131204460468,-2.3865904045604234]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[0.2672388023679776,-1.9158309394964623,0.71338606911949],"aabb_xy":[[0.24223880320234453,-1.9227831852018187],[0.29223880153361076,-1.9088786937911055]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[0.5869936036533443,-1.8934441722040063,0.71338606911949],"aabb_xy":[[0.5768405880991948,-1.9295137137767462],[0.5971466192074936,-1.8573746306312655]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[0.14820596993871005,-1.9088992053160743,0.71338606911949],"aabb_xy":[[0.14287345528409703,-1.9142235335613096],[0.153538484593323,-1.9035748770708385]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[0.5973003979419536,-1.6579757596732037,0.71338606911949],"aabb_xy":[[0.5473003985017578,-1.70794368415752],[0.6473003973821491,-1.6080078351888873]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6982967498480961,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9456.png","name":"9456"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9456.png","name":"9456"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4853.png","name":"4853"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9420.png","name":"9420"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/548.png","name":"548"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7229.png","name":"7229"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":725.423846938022,"rotation_z_degrees":6.254616495850893,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016096553946396305,0.0021910821013088645,-0.004212962750649009]},{"name":"camera_2","offset_m":[0.01375212765313909,-0.012246777289714694,0.0060218854850077955]},{"name":"camera_3","offset_m":[0.0008275887807193162,0.0024998403019781575,-0.0182683468634197]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012470183276916918,-0.0005209208382461338,0.0012259589455661597],"end_effector_yaw_offset_degrees":-0.3163233187523202},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014333080749556345,0.0013916360629491302,0.001587152135430194],"end_effector_yaw_offset_degrees":0.415295788995248},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019009132004289783,-0.001922348066472469,0.00017178933814144095],"end_effector_yaw_offset_degrees":-0.3289825037492091},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.826230257640003e-05,-0.001484806224823183,3.9019676332228016e-05],"end_effector_yaw_offset_degrees":-0.24562588950726272}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004973742879700559,0.0009427445204733941],"position_m":[0.15190262571202995,0.22454274452047338,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027493681758248498,0.0028653859033182074],"position_m":[0.24514936817582486,-0.3068346140966818,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009666378836651439,-0.0014340233205930187],"position_m":[0.3235333621163349,-0.043034023320593015,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008669334383474767,0.002619185250108501],"position_m":[0.3501330665616525,0.32101918525010853,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6e2acbdc950d22ae3ea54785432b252bd5b68f96bbae2749a903bd7212c1c7d7","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9456/tex_ceiling_textures_7229/tex_floor_textures_548/tex_table_textures_4853/tex_wall_textures_9420","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6220366624355491649,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6220366624355491649,"visual_seed":6220366624355491649,"scene_id":"lab_003","finished_at":"2026-09-04T19:16:52"}
+{"episode_id":"ep_000032","started_at":"2026-09-04T19:16:55","dimensions":{"distractor":{"count":28,"items":[{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_0","position":[-0.011700769281018708,-2.21980546915906,0.71338606911949],"aabb_xy":[[-0.023062503934304864,-2.2311739355653475],[-0.000339034627732545,-2.2084370027527718]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_1","position":[0.13648949221878315,-1.1785174614514193,0.71338606911949],"aabb_xy":[[0.1316458974575532,-1.1833691139304034],[0.14133308698001315,-1.1736658089724352]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[-0.03867771415420085,-2.105350813735293,0.71338606911949],"aabb_xy":[[-0.05212424078824418,-2.1188206653883843],[-0.025231187520157516,-2.0918809620822016]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[-0.5496133983538904,-2.0539723414966184,0.71338606911949],"aabb_xy":[[-0.556654849304638,-2.060999093234413],[-0.5425719474031429,-2.046945589758824]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.057924071467381655,1.1367306981803664,0.71338606911949],"aabb_xy":[[-0.08791573420125198,1.106730698843566],[-0.027932408733511327,1.166730697517167]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[-0.10217881979571075,0.9311929688989755,0.71338606911949],"aabb_xy":[[-0.14745743467686,0.8671929695507917],[-0.05690020491456148,0.9951929682471591]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[0.3474205168493494,-2.384587579647027,0.71338606911949],"aabb_xy":[[0.3106258837244431,-2.4214934547436093],[0.38421514997425565,-2.347681704550445]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_7","position":[-0.2203619988671323,-0.7215294650487816,0.71338606911949],"aabb_xy":[[-0.2631287057465525,-0.785529468470584],[-0.17759529198771212,-0.6575294616269791]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[0.1854003520390899,-1.9538756482011568,0.71338606911949],"aabb_xy":[[0.16829827408072173,-1.9709824537324263],[0.20250242999745804,-1.9367688426698868]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[-0.1761970986776802,-1.764609706962168,0.71338606911949],"aabb_xy":[[-0.18697007259904794,-1.799609705181207],[-0.16542412475631238,-1.729609708743129]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[-0.17850678493409866,-1.9238628138733453,0.71338606911949],"aabb_xy":[[-0.18396473057111867,-2.0038628171810045],[-0.17304883929707854,-1.843862810565686]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[0.0948191944744291,-1.5151953156352858,0.71338606911949],"aabb_xy":[[0.0298191935173019,-1.5671435275689911],[0.15981919543155632,-1.46324710370158]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[0.45226219185441763,-1.9057087914185975,0.71338606911949],"aabb_xy":[[0.39226219125840145,-1.960521263963821],[0.5122621924504338,-1.850896318873374]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.126420254649653,-1.0000992807326559,0.71338606911949],"aabb_xy":[[-0.1607171656673936,-1.034396166942597],[-0.09212334363191235,-0.9658023945227143]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[0.07776991359520202,-0.7056110676960907,0.71338606911949],"aabb_xy":[[0.05148108927476135,-0.7318825013507418],[0.10405873791564267,-0.6793396340414394]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[0.6689924090316677,0.6639178802613772,0.71338606911949],"aabb_xy":[[0.6557614634969863,0.6506904612393777],[0.6822233545663489,0.6771452992833765]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.1308148655507616,-2.445519596963137,0.71338606911949],"aabb_xy":[[-0.16581486552725744,-2.4549842130107535],[-0.09581486557426577,-2.4360549809155208]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[0.12090146010039615,-2.351748624964075,0.71338606911949],"aabb_xy":[[0.08843975921846867,-2.381881457078977],[0.15336316098232355,-2.321615792849171]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_18","position":[-0.43550656176813457,0.9579767319529955,0.71338606911949],"aabb_xy":[[-0.4995065620286054,0.9129679326000674],[-0.37150656150766376,1.0029855313059233]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[-0.6583343118585555,1.49970964044472,0.71338606911949],"aabb_xy":[[-0.6939634677585153,1.4640769736878672],[-0.6227051559585958,1.535342307201573]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[0.28157847192711316,-0.6549430237134335,0.71338606911949],"aabb_xy":[[0.19157846959309416,-0.7324253782985461],[0.3715784742611323,-0.5774606691283208]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[-0.5514470507196878,0.373016800189959,0.71338606911949],"aabb_xy":[[-0.6414470474552979,0.3198333368726644],[-0.4614470539840775,0.42620026350725343]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_22","position":[-0.39938562504046476,-2.0053207877243375,0.71338606911949],"aabb_xy":[[-0.4893856236349347,-2.0215713740377588],[-0.3093856264459948,-1.9890702014109165]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[0.11055686436935486,0.834475598435866,0.71338606911949],"aabb_xy":[[0.05055686350854203,0.7830491684293795],[0.1705568652301676,0.8859020284423523]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[-0.2757686528238242,1.5682253602010277,0.71338606911949],"aabb_xy":[[-0.28110116747843716,1.562901031955792],[-0.2704361381692112,1.5735496884462632]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_25","position":[-0.11717592937053667,-0.7848033811949051,0.71338606911949],"aabb_xy":[[-0.13306042263586182,-0.7991563214937292],[-0.10129143610521152,-0.7704504408960811]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_26","position":[0.37676266988437757,1.3980061015947132,0.71338606911949],"aabb_xy":[[0.31517191066038475,1.3340061034856665],[0.4383534291083704,1.4620060997037603]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_27","position":[-0.31738083158318303,-1.6671916504251794,0.71338606911949],"aabb_xy":[[-0.3873808331854625,-1.6806244436268372],[-0.24738082998090355,-1.653758857223522]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7004365668804883,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1626.png","name":"1626"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1626.png","name":"1626"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9894.png","name":"9894"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8255.png","name":"8255"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4195.png","name":"4195"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8617.png","name":"8617"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":563.107699008859,"rotation_z_degrees":326.6012994881243,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007612893010224237,0.006213841870754112,0.014062610596721186]},{"name":"camera_2","offset_m":[0.005803086392294876,-0.01075956487763179,-0.008601489962301825]},{"name":"camera_3","offset_m":[0.002638210060873926,-0.004206609693210014,-0.017248084751410618]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001978648624587108,-0.00178703538879174,-0.0012538325331410438],"end_effector_yaw_offset_degrees":-0.3333074174721977},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000941374214646141,-0.0007448315335848825,0.0004494828301379208],"end_effector_yaw_offset_degrees":0.2093704546234434},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008802088308150842,0.0008791791855532775,8.450022185079852e-05],"end_effector_yaw_offset_degrees":0.7589661494760838},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014373151080795976,-0.00182499665560592,0.0009406831863629215],"end_effector_yaw_offset_degrees":0.5346929694597229}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00069641604417214,0.0022505799833688663],"position_m":[0.15309641604417215,0.22585057998336885,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002201869526441863,0.003568371320244593],"position_m":[0.24019813047355815,-0.3061316286797554,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0002980804272055444,-0.0007248599986396011],"position_m":[0.3242019195727945,-0.0423248599986396,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0041036941657070095,-0.002398825397055201],"position_m":[0.355103694165707,0.3160011746029448,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e11c709f87642504450a729a291cfa6596b6054790280bf6713cb08206cb0e75","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1626/tex_ceiling_textures_8617/tex_floor_textures_4195/tex_table_textures_9894/tex_wall_textures_8255","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4538737462591820059,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4538737462591820059,"visual_seed":4538737462591820059,"scene_id":"lab_003","finished_at":"2026-09-04T19:20:40"}
+{"episode_id":"ep_000033","started_at":"2026-09-04T19:20:44","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.6197651412831866,0.5009599338828252,0.71338606911949],"aabb_xy":[[-0.6443113569059372,0.4707110373337881],[-0.5952189256604358,0.5312088304318622]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[0.565142682765815,0.6001557304517733,0.71338606911949],"aabb_xy":[[0.5569281376501308,0.5914791401541317],[0.5733572278814988,0.6088323207494144]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.5064056173542757,1.4726008729664986,0.71338606911949],"aabb_xy":[[-0.5117431930202803,1.4476008720373588],[-0.5010680416882711,1.4976008738956383]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_3","position":[-0.5645323448519843,1.680488904873466,0.71338606911949],"aabb_xy":[[-0.6004458492769739,1.6445753966567112],[-0.5286188404269946,1.7164024130902202]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[-0.5544812281335671,0.3610160484889282,0.71338606911949],"aabb_xy":[[-0.6184812300459095,0.30510489923091777],[-0.4904812262212248,0.41692719774693865]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.28905180437058464,0.6659575123406509,0.71338606911949],"aabb_xy":[[-0.3530518067133862,0.6210166610965183],[-0.2250518020277831,0.7108983635847833]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[-0.6344151640650016,1.3605730662875213,0.71338606911949],"aabb_xy":[[-0.6470178632020782,1.3479776700626558],[-0.6218124649279253,1.3731684625123868]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[-0.4782381150698027,-1.8130724291531743,0.71338606911949],"aabb_xy":[[-0.5282381167312974,-1.8630708714088766],[-0.42823811340830786,-1.7630739868974712]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[0.5313770635653583,-0.5233382415614689,0.71338606911949],"aabb_xy":[[0.45137706660231913,-0.6004138832052424],[0.6113770605283975,-0.44626259991769546]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[0.4703728622955725,0.16801648020072735,0.71338606911949],"aabb_xy":[[0.44038119956170213,0.1380164808639268],[0.5003645250294428,0.19801647953752785]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.5235195554340574,-0.7597394497595027,0.71338606911949],"aabb_xy":[[-0.5471046788979521,-0.8247394520049345],[-0.4999344319701624,-0.6947394475140709]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[0.16598425023084395,-2.295573154445035,0.71338606911949],"aabb_xy":[[0.13098425196072402,-2.302647282140023],[0.20098424850096383,-2.2884990267500465]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[-0.021141297557039196,-1.562152763356223,0.71338606911949],"aabb_xy":[[-0.02985526660697368,-1.584652764015411],[-0.012427328507104705,-1.5396527626970347]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[-0.18496805605543154,-2.494020884483709,0.71338606911949],"aabb_xy":[[-0.24896805245100462,-2.557984172902442],[-0.12096805965985846,-2.430057596064975]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.4973885193468961,-2.550233957654244,0.71338606911949],"aabb_xy":[[0.49243249916201504,-2.5727339578563657],[0.5023445395317774,-2.527733957452123]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[0.3787723233740694,-0.7071121318322333,0.71338606911949],"aabb_xy":[[0.3706586687006923,-0.7152179482862624],[0.3868859780474465,-0.6990063153782042]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[0.6136592033264621,1.1590515267272408,0.71338606911949],"aabb_xy":[[0.5686592018602332,1.1140516698657603],[0.6586592047926909,1.2040513835887217]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[0.10068294696787161,-1.323806043544838,0.71338606911949],"aabb_xy":[[0.07568294769590932,-1.3401514071410001],[0.12568294623983386,-1.3074606799486754]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_18","position":[0.2960940727045338,-1.12644955424095,0.71338606911949],"aabb_xy":[[0.2785473777884149,-1.1639495558052013],[0.31364076762065274,-1.0889495526766988]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[-0.633118612165747,0.9392452257437061,0.71338606911949],"aabb_xy":[[-0.6552911391423979,0.9170695585875828],[-0.6109460851890962,0.9614208928998291]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_20","position":[0.2500867515903401,-1.5639174630089705,0.71338606911949],"aabb_xy":[[0.16008675217196916,-1.5972929598531602],[0.34008675100871094,-1.5305419661647808]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[0.024438885524297294,-2.1823262880531082,0.71338606911949],"aabb_xy":[[-0.03319158336297356,-2.2423262869798184],[0.08206935441156814,-2.122326289126397]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_22","position":[0.5120193531608699,-1.8779662914499844,0.71338606911949],"aabb_xy":[[0.4480193545742973,-1.9249732548494929],[0.5760193517474422,-1.8309593280504755]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[0.2329899377435013,0.5812792801832161,0.71338606911949],"aabb_xy":[[0.2163128017504058,0.5645793562092858],[0.2496670737365968,0.5979792041571463]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[0.32032238684810443,-1.423482594635344,0.71338606911949],"aabb_xy":[[0.2828223856633116,-1.4279008173314043],[0.3578223880328972,-1.4190643719392833]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7014851959098396,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4802.png","name":"4802"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4802.png","name":"4802"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7549.png","name":"7549"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2209.png","name":"2209"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4053.png","name":"4053"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4261.png","name":"4261"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":519.9055905231405,"rotation_z_degrees":28.510247684696758,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008059321047179227,-0.012084557797737202,-0.005022763310431989]},{"name":"camera_2","offset_m":[-0.007438859683210609,0.008995619309264277,-0.009279597942890102]},{"name":"camera_3","offset_m":[0.004320448914640406,-0.01181577883064766,-0.01387178427345354]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009835380531682245,-0.0015268362198530578,0.001579611457803021],"end_effector_yaw_offset_degrees":-0.03808208629402965},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012415644183590454,-0.0013760046248137846,-0.000985056346872539],"end_effector_yaw_offset_degrees":-0.6825203862562286},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010253008773264266,-0.00014421021520802618,-0.0007743920260827393],"end_effector_yaw_offset_degrees":-0.6090187767775781},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008119343030477805,-0.0007284988404574473,0.0006196874458304609],"end_effector_yaw_offset_degrees":0.7479592243375148}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004962934508555812,0.0005695448011868989],"position_m":[0.15736293450855582,0.2241695448011869,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014546597677124037,0.002884110861565272],"position_m":[0.2438546597677124,-0.3068158891384347,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016618797935643395,-0.0032690573631655243],"position_m":[0.32283812020643565,-0.04486905736316552,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004116668367546595,-0.0001067113554290202],"position_m":[0.3551166683675466,0.318293288644571,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9b1644d33f59f0d96ba92fbf1b03a237e67f2d53b8c7cabb5e967c77f7707890","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4802/tex_ceiling_textures_4261/tex_floor_textures_4053/tex_table_textures_7549/tex_wall_textures_2209","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":574546214226440905,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":574546214226440905,"visual_seed":574546214226440905,"scene_id":"lab_003","finished_at":"2026-09-04T19:24:26"}
+{"episode_id":"ep_000034","started_at":"2026-09-04T19:24:30","dimensions":{"distractor":{"count":23,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[0.4474498614777671,0.6534913196641403,0.71338606911949],"aabb_xy":[[0.35744986497689535,0.607579677245682],[0.5374498579786389,0.6994029620825984]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[-0.015081068032837264,1.6940057458134494,0.71338606911949],"aabb_xy":[[-0.07007427936997403,1.639005745474656],[0.03991214330429949,1.7490057461522432]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.0568832154076756,-2.303978756607263,0.71338606911949],"aabb_xy":[[0.01938321491031736,-2.307947440155381],[0.09438321590503385,-2.300010073059144]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.22485088171140266,1.7639291030668018,0.71338606911949],"aabb_xy":[[0.20235088146788727,1.7517244684070299],[0.24735088195491806,1.7761337377265738]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[-0.11369382501831538,1.2252592531475188,0.71338606911949],"aabb_xy":[[-0.11966036395905116,1.2192981084881545],[-0.10772728607757959,1.2312203978068827]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_5","position":[0.5150063263725255,1.0620169310143597,0.71338606911949],"aabb_xy":[[0.5094246547383966,1.0495169311965842],[0.5205879980066542,1.0745169308321352]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.31816947795197503,0.8636918179821533,0.71338606911949],"aabb_xy":[[0.2806694776598002,0.8596503425815496],[0.35566947824414985,0.8677332933827568]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[-0.323542755326775,-0.41354739224928316,0.71338606911949],"aabb_xy":[[-0.3308250717034386,-0.503547395858792],[-0.3162604389501113,-0.3235473886397741]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[0.39299360737010636,-0.9287894440790427,0.71338606911949],"aabb_xy":[[0.3579936073936105,-0.9382540601266595],[0.4279936073466022,-0.9193248280314262]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[-0.28845170004525933,-0.8620648965729953,0.71338606911949],"aabb_xy":[[-0.3109516995689666,-0.884560844023616],[-0.2659517005215518,-0.8395689491223745]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.20886100811710673,-1.2432410011030954,0.71338606911949],"aabb_xy":[[0.19808803419573892,-1.2782409993221344],[0.21963398203847448,-1.2082410028840564]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_11","position":[0.2137583730519541,1.5231069016043057,0.71338606911949],"aabb_xy":[[0.13375837446463468,1.4437912996661448],[0.29375837163927354,1.6024225035424666]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[0.4469907180175958,-0.33314676046045477,0.71338606911949],"aabb_xy":[[0.3669907169444755,-0.3429248067978392],[0.5269907190907162,-0.32336871412307033]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[0.5911795122209613,1.3646385924569295,0.71338606911949],"aabb_xy":[[0.5271795105429639,1.3161212009776153],[0.6551795138989586,1.4131559839362438]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[-0.19249341830100453,1.2715924864186876,0.71338606911949],"aabb_xy":[[-0.22248508103487485,1.2415924870818869],[-0.1625017555671342,1.301592485755488]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_15","position":[-0.4052352188062853,0.7435931465913956,0.71338606911949],"aabb_xy":[[-0.4852352220641282,0.6635966387994117],[-0.3252352155484423,0.8235896543833796]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[-0.520159090438002,0.9790469112716886,0.71338606911949],"aabb_xy":[[-0.5242750405500746,0.9749313562388432],[-0.5160431403259292,0.9831624663045343]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[-0.51688285563079,1.1447800131966686,0.71338606911949],"aabb_xy":[[-0.539347625602195,1.122280012317808],[-0.4944180856593847,1.167280014075529]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[0.5893111446650567,-1.5416564963076549,0.71338606911949],"aabb_xy":[[0.5558319774040158,-1.5751356096787623],[0.6227903119260977,-1.5081773829365483]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_19","position":[0.28407080277513663,1.1162466774920885,0.71338606911949],"aabb_xy":[[0.2615716670489096,1.0937466767138255],[0.30656993850136355,1.1387466782703515]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[0.22796898055598835,-2.344206614677493,0.71338606911949],"aabb_xy":[[0.21534219326879195,-2.3537526883790654],[0.24059576784318465,-2.33466054097592]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[-0.22455973662551137,-2.480154379469142,0.71338606911949],"aabb_xy":[[-0.29455974001707336,-2.515470153172573],[-0.15455973323394942,-2.444838605765711]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_22","position":[-0.3531642144076072,0.26947008068208733,0.71338606911949],"aabb_xy":[[-0.42316421621635264,0.24811631191789996],[-0.28316421259886176,0.2908238494462747]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6964939035888377,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5902.png","name":"5902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5902.png","name":"5902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9769.png","name":"9769"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4412.png","name":"4412"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6648.png","name":"6648"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5915.png","name":"5915"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":689.6260565958418,"rotation_z_degrees":267.876240672437,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01777254578440578,0.008520554435139722,-0.0070816357059363885]},{"name":"camera_2","offset_m":[0.0012850873699032511,-0.014617965476565735,0.018118988461140514]},{"name":"camera_3","offset_m":[0.010361938444670392,0.0182383724534784,-0.010974059404656837]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007898752390004871,-0.0013643607943319522,0.001534642971069801],"end_effector_yaw_offset_degrees":-0.450010972839632},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015412507593980597,-0.0005840307757011103,-0.0003130888313579087],"end_effector_yaw_offset_degrees":0.9836036990450254},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014381253939678446,-0.0014051868471935186,0.0017085636572588409],"end_effector_yaw_offset_degrees":0.19155806050377833},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009754290896953645,0.00027532008982691664,0.0016441935024909325],"end_effector_yaw_offset_degrees":-0.9626632381284621}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036766883495053704,-0.0013913013507410197],"position_m":[0.14872331165049463,0.22220869864925896,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003300313901287961,-0.003111047892201393],"position_m":[0.23909968609871204,-0.3128110478922014,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004946168651147647,-0.0023536727839162832],"position_m":[0.31955383134885235,-0.04395367278391628,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015891406921308103,8.69413599072508e-05],"position_m":[0.3494108593078692,0.3184869413599073,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aa8cec15d7fe4ca389e3f9258947fc44bef782ef039a4890483540c499a90184","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0037.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5902/tex_ceiling_textures_5915/tex_floor_textures_6648/tex_table_textures_9769/tex_wall_textures_4412","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7241929123315846033,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7241929123315846033,"visual_seed":7241929123315846033,"scene_id":"lab_003","finished_at":"2026-09-04T19:28:13"}
+{"episode_id":"ep_000035","started_at":"2026-09-04T19:28:19","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.11602551025352259,-1.693355202818145,0.71338606911949],"aabb_xy":[[0.09934837426042709,-1.7100551267920752],[0.1327026462466181,-1.6766552788442146]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[-0.4842596824353623,-0.9909973873988838,0.71338606911949],"aabb_xy":[[-0.5228053752605633,-1.0295431584550725],[-0.44571398961016123,-0.9524516163426952]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_2","position":[0.2692310667335128,-0.5500618294431789,0.71338606911949],"aabb_xy":[[0.2545876611794798,-0.5647205490999632],[0.28387447228754575,-0.5354031097863947]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_3","position":[0.22260268679368556,-1.937609983871778,0.71338606911949],"aabb_xy":[[0.21447499860037234,-1.9465235922824862],[0.23073037498699878,-1.9286963754610706]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[0.5506546462287063,-0.1922338573105935,0.71338606911949],"aabb_xy":[[0.5328611392937899,-0.21003360290639117],[0.5684481531636227,-0.17443411171479584]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[-0.2368624074809223,-2.5307850981737032,0.71338606911949],"aabb_xy":[[-0.26726051858006583,-2.5611920001753723],[-0.20646429638177868,-2.5003781961720333]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_6","position":[0.6640197537412138,0.9191423883984444,0.71338606911949],"aabb_xy":[[0.6469176757828456,0.9020355828671748],[0.681121831699582,0.9362491939297143]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_7","position":[0.4980198875227144,-2.198378237923576,0.71338606911949],"aabb_xy":[[0.4340198853023074,-2.2427513220488637],[0.5620198897431214,-2.154005153798287]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.038945063674569846,-1.0791756469811733,0.71338606911949],"aabb_xy":[[0.029651445437419266,-1.1166756454693072],[0.04823868191172043,-1.0416756484930394]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.5152631403317842,-0.4816472802647942,0.71338606911949],"aabb_xy":[[0.4874181035511771,-0.5124317790031059],[0.5431081771123913,-0.45086278152648257]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_10","position":[-0.2888871931664795,-1.8841282758824098,0.71338606911949],"aabb_xy":[[-0.35288719046882583,-1.9284947028502666],[-0.22488719586413303,-1.839761848914553]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.3676644964385731,1.3397070069040278,0.71338606911949],"aabb_xy":[[-0.44766449384216644,1.2597144357058447],[-0.2876644990349796,1.4196995781022104]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_12","position":[0.06283361160457535,1.73501839320773,0.71338606911949],"aabb_xy":[[0.05192783551701263,1.655018396808901],[0.07373938769213806,1.8150183896065593]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.4214465303319849,-1.1383782268551872,0.71338606911949],"aabb_xy":[[-0.5014465274915603,-1.1499258278130042],[-0.34144653317240964,-1.1268306258973702]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[-0.34437659466815956,1.7645538417117792,0.71338606911949],"aabb_xy":[[-0.4093765956686601,1.713767476557104],[-0.27937659366765905,1.815340206866454]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[-0.09898152422966922,-0.2651183343154173,0.71338606911949],"aabb_xy":[[-0.18898152073054092,-0.3110299767338755],[-0.00898152772879744,-0.21920669189695904]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[-0.08245110930167698,0.575570823623285,0.71338606911949],"aabb_xy":[[-0.10435979144102801,0.5536701568031943],[-0.060542427162325926,0.5974714904433758]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[0.37204330995215895,-2.12595549285324,0.71338606911949],"aabb_xy":[[0.36562949630897396,-2.132365313100907],[0.37845712359534384,-2.119545672605571]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[-0.4719705914315163,0.9492811168883124,0.71338606911949],"aabb_xy":[[-0.509470591779744,0.9374897213072287],[-0.4344705910832885,0.9610725124693958]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.45026166308309223,0.5386657937200576,0.71338606911949],"aabb_xy":[[-0.49739104208492785,0.47466579267565556],[-0.4031322840812565,0.6026657947644595]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[-0.14024919194037833,-0.9039955121727112,0.71338606911949],"aabb_xy":[[-0.19024230404957027,-0.953995512846907],[-0.09025607983118646,-0.8539955114985157]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_21","position":[-0.4711433945159417,0.7646678640230271,0.71338606911949],"aabb_xy":[[-0.5327341537399346,0.7006678659139802],[-0.40955263529194896,0.828667862132074]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[0.6227216883745217,1.1760363502630589,0.71338606911949],"aabb_xy":[[0.5852216884307553,1.167743260228222],[0.6602216883182881,1.1843294402978952]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7009262941816197,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8949.png","name":"8949"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8949.png","name":"8949"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4612.png","name":"4612"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3111.png","name":"3111"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1298.png","name":"1298"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9404.png","name":"9404"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":609.3450717110138,"rotation_z_degrees":190.30463878132213,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010360555500366533,-0.0014020161936610133,-0.010643481566935172]},{"name":"camera_2","offset_m":[-0.005446709734252559,0.01837650626903509,0.005506763568649688]},{"name":"camera_3","offset_m":[0.0026700242790593694,0.002722870413007575,0.00436889780931499]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008636428851329799,0.0007698498936639761,-0.0014245414836210042],"end_effector_yaw_offset_degrees":0.2879179692678804},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013101374690158791,-0.0011953028254816206,-0.0006145375509405394],"end_effector_yaw_offset_degrees":-0.25101198757290577},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012623897363325893,-0.00012542140867589772,0.0015412086994449443],"end_effector_yaw_offset_degrees":0.2720670536538987},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00041652611226515503,-0.0009278487923124667,-0.00020283523382210768],"end_effector_yaw_offset_degrees":-0.5502231962793165}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033458834737169563,0.004435488088182521],"position_m":[0.15574588347371696,0.22803548808818253,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005714308260746639,-0.0033434785459821904],"position_m":[0.24182856917392534,-0.3130434785459822,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015129628909213155,0.001941621793685594],"position_m":[0.3260129628909213,-0.039658378206314404,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036630298155594506,-0.0004475575608682038],"position_m":[0.3546630298155594,0.3179524424391318,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aa2ab1791751ba87fdf6b13b1fe8bdc1a56deef437a89a91e4da3a016af033e6","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8949/tex_ceiling_textures_9404/tex_floor_textures_1298/tex_table_textures_4612/tex_wall_textures_3111","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":9126676619167957831,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":9126676619167957831,"visual_seed":9126676619167957831,"scene_id":"lab_003","finished_at":"2026-09-04T19:32:08"}
+{"episode_id":"ep_000036","started_at":"2026-09-04T19:32:12","dimensions":{"distractor":{"count":23,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[-0.3036898898347313,-2.19153806002151,0.71338606911949],"aabb_xy":[[-0.3155619728462324,-2.27653805971516],[-0.29181780682323016,-2.106538060327859]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[-0.31950451665064844,-0.35196788640236676,0.71338606911949],"aabb_xy":[[-0.3570045171480067,-0.35593656995048517],[-0.2820045161532902,-0.34799920285424835]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.21517619683214073,-0.6308259897749322,0.71338606911949],"aabb_xy":[[0.150176196797838,-0.6775266664552595],[0.28017619686644346,-0.5841253130946049]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[-0.04666091668108785,-1.7810485523301827,0.71338606911949],"aabb_xy":[[-0.0669452194044866,-1.8013311774728913],[-0.026376613957689084,-1.7607659271874736]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.48023088245269563,0.1538325551016193,0.71338606911949],"aabb_xy":[[-0.5602308804334806,0.14623101413976736],[-0.4002308844719106,0.16143409606347126]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.43032120737020785,0.517957841835357,0.71338606911949],"aabb_xy":[[0.4202395002916343,0.4379578439432422],[0.44040291444878127,0.5979578397274715]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.18095903854141127,-0.9781477038191002,0.71338606911949],"aabb_xy":[[-0.2261303563895803,-1.0421477009636388],[-0.13578772069324233,-0.914147706674562]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[0.04610186571390318,-1.5232090904588662,0.71338606911949],"aabb_xy":[[0.028232757959447692,-1.5370419984360773],[0.06397097346835867,-1.5093761824816552]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[-0.31955258398913094,-1.8967658069329119,0.71338606911949],"aabb_xy":[[-0.3445525832610932,-1.9131111705290742],[-0.29455258471716866,-1.8804204433367495]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_9","position":[0.3800987749960516,-1.7602297981804098,0.71338606911949],"aabb_xy":[[0.34970066389690796,-1.790636700182079],[0.41049688609519513,-1.72982289617874]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[0.5565128935302586,-0.05407963684708195,0.71338606911949],"aabb_xy":[[0.506539599526998,-0.10407963740162929],[0.6064861875335189,-0.004079636292534605]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.5895322426695808,-0.6085263243762344,0.71338606911949],"aabb_xy":[[0.585416292557508,-0.6126418794090798],[0.5936481927816534,-0.6044107693433887]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[0.17499652351523398,-2.130485292124031,0.71338606911949],"aabb_xy":[[0.10499652191295447,-2.1439180853256885],[0.24499652511751344,-2.1170524989223733]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[0.2099270987810905,-1.6066577648926685,0.71338606911949],"aabb_xy":[[0.2019336089858085,-1.6146558968331446],[0.21792058857637256,-1.5986596329521934]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_14","position":[0.5683178538331712,1.7132963877872203,0.71338606911949],"aabb_xy":[[0.5524333605678461,1.6989434474883962],[0.5842023470984964,1.7276493280860443]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_15","position":[-0.45038577246744904,-1.524509124811255,0.71338606911949],"aabb_xy":[[-0.500385772828015,-1.5744891120208577],[-0.40038577210688286,-1.4745291376016518]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[-0.4532131205213201,0.8953490960187147,0.71338606911949],"aabb_xy":[[-0.5082063318584569,0.8403490956799213],[-0.39821990918418343,0.9503490963575085]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[-0.26743132464988356,-0.15979722039131428,0.71338606911949],"aabb_xy":[[-0.33143132381965346,-0.20656390751027676],[-0.20343132548011358,-0.11303053327235181]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[-0.45772532194860327,-1.9990704909586454,0.71338606911949],"aabb_xy":[[-0.48769287885842894,-2.0290704912565314],[-0.4277577650387776,-1.96907049066076]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[0.6550925356866455,-0.24857694826576449,0.71338606911949],"aabb_xy":[[0.6000925374849005,-0.289098914892202],[0.7100925338883902,-0.20805498163932687]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_20","position":[0.4176625733943806,-1.5083794414839178,0.71338606911949],"aabb_xy":[[0.4030191678403476,-1.523038161140702],[0.43230597894841355,-1.4937207218271336]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[0.4832860238144083,-1.1249968450618966,0.71338606911949],"aabb_xy":[[0.4192860235404301,-1.1750629452591845],[0.5472860240883866,-1.0749307448646086]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_22","position":[-0.6454648135526272,1.466799690846909,0.71338606911949],"aabb_xy":[[-0.6882315204320473,1.4027996874251067],[-0.6026981066732069,1.5307996942687117]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.698205776513588,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7603.png","name":"7603"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7603.png","name":"7603"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9343.png","name":"9343"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1653.png","name":"1653"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8656.png","name":"8656"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4786.png","name":"4786"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":778.6453056519988,"rotation_z_degrees":151.73327731091803,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005015878492170653,-0.00022711783668429367,-0.013471328344806839]},{"name":"camera_2","offset_m":[-0.003864133400453676,-0.014307465308675469,0.007414991886366559]},{"name":"camera_3","offset_m":[-0.01323195340639444,-0.018061223561030727,-0.018371961905230858]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00077140728044991,-0.001867754795603069,0.0018776450109492583],"end_effector_yaw_offset_degrees":-0.987620549459449},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007378822832263246,-0.0009651602918793083,-0.0013248624290210752],"end_effector_yaw_offset_degrees":0.7341236351658966},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006098927576954304,0.0002614623696735939,0.00026505507513390923],"end_effector_yaw_offset_degrees":0.7778059480169164},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014530551220283462,-0.0011378769158910057,-0.0011769592270768725],"end_effector_yaw_offset_degrees":-0.8469490855873525}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002889209877814192,0.0023323462770551053],"position_m":[0.1552892098778142,0.2259323462770551,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004204123158439468,-0.003241476134480513],"position_m":[0.23819587684156054,-0.3129414761344805,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0022008262933028346,-0.004590292851502536],"position_m":[0.3267008262933028,-0.046190292851502536,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0005480636332758108,0.0018041344240737837],"position_m":[0.35045193636672417,0.3202041344240738,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"513aea1951755773fbafdf8ada2b58da68a3888b821198bc6c4d6749233b72cb","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0039.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7603/tex_ceiling_textures_4786/tex_floor_textures_8656/tex_table_textures_9343/tex_wall_textures_1653","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1912293760918088307,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1912293760918088307,"visual_seed":1912293760918088307,"scene_id":"lab_003","finished_at":"2026-09-04T19:36:03"}
+{"episode_id":"ep_000037","started_at":"2026-09-04T19:36:07","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[0.26229377323501446,-0.9890626785066354,0.71338606911949],"aabb_xy":[[0.2514532950084995,-1.0062489597972841],[0.2731342514615293,-0.9718763972159865]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[0.4341868531689552,1.1469062612116185,0.71338606911949],"aabb_xy":[[0.3968555766437126,1.112253206416766],[0.4715181296941978,1.1815593160064706]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[-0.2832175520424159,-2.4603586185654605,0.71338606911949],"aabb_xy":[[-0.31767989944055763,-2.4948525009632823],[-0.24875520464427406,-2.425864736167637]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_3","position":[-0.0446388601930211,-0.19674124080072009,0.71338606911949],"aabb_xy":[[-0.062069575272027604,-0.21401335546457087],[-0.02720814511401459,-0.17946912613686924]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.3613018306884186,-1.0951502860166697,0.71338606911949],"aabb_xy":[[0.33880183044490314,-1.1073549206764417],[0.38380183093193393,-1.0829456513568978]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[-0.2386282608363275,-0.5608484207822171,0.71338606911949],"aabb_xy":[[-0.24396077549094047,-0.5661727490274526],[-0.2332957461817145,-0.5555240925369815]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[0.6130878679295015,-2.1175989360612073,0.71338606911949],"aabb_xy":[[0.5955878686514146,-2.1349370361275533],[0.6305878672075883,-2.1002608359948614]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.16147578378277072,-2.0218907850678227,0.71338606911949],"aabb_xy":[[-0.2254757810851171,-2.0662572120356795],[-0.09747578648042429,-1.977524358099966]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[-0.6894580820579722,-2.5217149509130636,0.71338606911949],"aabb_xy":[[-0.6935740321700448,-2.5258305059459083],[-0.6853421319458994,-2.517599395880217]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[0.5437955777734631,-0.2207332060920577,0.71338606911949],"aabb_xy":[[0.5062955765886702,-0.22515142878811825],[0.5812955789582558,-0.21631498339599717]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_10","position":[-0.11150910043760198,-1.7364101529566713,0.71338606911949],"aabb_xy":[[-0.1398388103861422,-1.7408708951503886],[-0.08317939048906174,-1.7319494107629545]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.10612238028047982,-1.7852847511976784,0.71338606911949],"aabb_xy":[[0.0836223807567724,-1.8077806986482987],[0.1286223798041872,-1.7627888037470572]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.46671361076461443,-0.6631843541023568,0.71338606911949],"aabb_xy":[[-0.5207292070465144,-0.7271843569946138],[-0.41269801448271437,-0.5991843512100995]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[-0.45846482788738707,-1.967923662511518,0.71338606911949],"aabb_xy":[[-0.4847536522078277,-1.994195096166169],[-0.43217600356694635,-1.9416522288568665]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[0.43168791477240065,-0.4930578893750428,0.71338606911949],"aabb_xy":[[0.37669566413688976,-0.5480578911183556],[0.48668016540791165,-0.4380578876317301]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.0629379699576792,-1.5608554874000866,0.71338606911949],"aabb_xy":[[0.05157623530439302,-1.5722239538063745],[0.07429970461096534,-1.5494870209937983]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[-0.2348350618551472,0.6568030339824289,0.71338606911949],"aabb_xy":[[-0.2723350602785475,0.6436388200145983],[-0.1973350634317468,0.6699672479502595]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_17","position":[0.210751954711217,-1.2608273180027731,0.71338606911949],"aabb_xy":[[0.1467519582838951,-1.3079969418248698],[0.2747519511385389,-1.213657694180677]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.6297036493459834,1.8025508010437155,0.71338606911949],"aabb_xy":[[-0.6343387644982167,1.7986834659665665],[-0.62506853419375,1.806418136120864]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[0.4027884271410127,-1.9284739607536912,0.71338606911949],"aabb_xy":[[0.3808797450016616,-1.9503746275737817],[0.4246971092803637,-1.9065732939336002]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[0.31745195615529953,-1.8094121878356937,0.71338606911949],"aabb_xy":[[0.25345195410556753,-1.8495066709250017],[0.3814519582050315,-1.7693177047463857]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[-0.12677226010153597,0.43409810560607687,0.71338606911949],"aabb_xy":[[-0.19677226223296548,0.41133613998038115],[-0.056772257970106405,0.45686007123177247]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[0.20823502793256277,-2.200325527231467,0.71338606911949],"aabb_xy":[[0.19060219233903516,-2.2179484732470898],[0.2258678635260903,-2.182702581215844]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[-0.3278620387492253,0.5361577542393339,0.71338606911949],"aabb_xy":[[-0.39286203730629815,0.5064052208254513],[-0.2628620401921525,0.5659102876532165]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_24","position":[-0.21044223763649555,0.8625012245529513,0.71338606911949],"aabb_xy":[[-0.21457809396919578,0.8250012251085944],[-0.2063063813037954,0.9000012239973084]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_25","position":[0.6025855847984058,1.4305579323719395,0.71338606911949],"aabb_xy":[[0.5965485717977411,1.4245312313029916],[0.6086225977990706,1.4365846334408878]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_26","position":[0.5015688430206302,1.7206376891748794,0.71338606911949],"aabb_xy":[[0.46727193200288947,1.686340802964938],[0.5358657540383707,1.7549345753848207]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_27","position":[0.13938357819910474,-0.8519977978728361,0.71338606911949],"aabb_xy":[[0.12996610362924196,-0.8614139750105549],[0.14880105276896746,-0.8425816207351169]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_28","position":[0.32301783243381266,-1.4556618203730949,0.71338606911949],"aabb_xy":[[0.306007735143762,-1.4717963088713686],[0.3400279297238633,-1.4395273318748207]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_29","position":[-0.10039672523286525,-1.2043462296081509,0.71338606911949],"aabb_xy":[[-0.19039672495603943,-1.2274195821433305],[-0.010396725509691075,-1.1812728770729708]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6964096399574762,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3593.png","name":"3593"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3593.png","name":"3593"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2829.png","name":"2829"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6376.png","name":"6376"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4231.png","name":"4231"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2270.png","name":"2270"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":711.2574010874948,"rotation_z_degrees":330.94222887539973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017082883967735652,-0.017509887856044095,0.007193992739650882]},{"name":"camera_2","offset_m":[0.017641068694129198,0.004793947146654053,0.004658322721205296]},{"name":"camera_3","offset_m":[-0.011175779794813195,0.004582486908774348,0.016572273641307093]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-5.083155191567537e-05,-0.0013769869110133537,0.0014144707523026374],"end_effector_yaw_offset_degrees":0.7790308200752905},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003777209352813125,0.00015094449279318047,-0.00027164245285704776],"end_effector_yaw_offset_degrees":0.7896261514909952},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017112225451989,-0.0006275869697668131,0.0005163530956780759],"end_effector_yaw_offset_degrees":-0.19853290647181554},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00010084991012087609,-0.0005322934619266496,-0.0013950024555346588],"end_effector_yaw_offset_degrees":-0.724111319786197}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003216304741595789,0.00307394903456015],"position_m":[0.1556163047415958,0.22667394903456015,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004920831862314234,-0.003185453262639272],"position_m":[0.24289208318623143,-0.3128854532626392,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003595512112344574,-0.003960216023214851],"position_m":[0.3280955121123446,-0.04556021602321485,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023333054685584797,0.0013466097210327842],"position_m":[0.3486666945314415,0.3197466097210328,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"789a5627bc78d1de54eaa21461c744bad143f6b016a8e64d24a2910ebf3fe58f","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0040.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3593/tex_ceiling_textures_2270/tex_floor_textures_4231/tex_table_textures_2829/tex_wall_textures_6376","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1528934794322384789,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1528934794322384789,"visual_seed":1528934794322384789,"scene_id":"lab_003","finished_at":"2026-09-04T19:39:52"}
+{"episode_id":"ep_000038","started_at":"2026-09-04T19:39:55","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.10059066463146682,-1.6821755383661678,0.71338606911949],"aabb_xy":[[-0.10763211558221442,-1.6892022901039627],[-0.09354921368071922,-1.6751487866283734]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_1","position":[-0.5906553061097026,-0.7714969232227362,0.71338606911949],"aabb_xy":[[-0.5950859354645428,-0.7769452949574189],[-0.5862246767548625,-0.7660485514880537]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_2","position":[-0.4786614980277051,-1.4779066994336465,0.71338606911949],"aabb_xy":[[-0.5586614991008254,-1.487684745771031],[-0.3986614969545847,-1.468128653096262]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[0.47453281288687355,1.5997733590162944,0.71338606911949],"aabb_xy":[[0.457855676893778,1.583073435042364],[0.491209948879969,1.6164732829902246]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[0.23628330540284337,-1.4422609213877777,0.71338606911949],"aabb_xy":[[0.22665166918241375,-1.4518982341674866],[0.245914941623273,-1.4326236086080688]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.11134527679202044,0.6475946975827909,0.71338606911949],"aabb_xy":[[-0.16134527623221606,0.5976267730984745],[-0.06134527735182482,0.6975626220671071]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_6","position":[0.34763679628261634,-0.8618954077444376,0.71338606911949],"aabb_xy":[[0.3395231416092393,-0.8700012241984666],[0.3557504509559935,-0.8537895912904084]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.6196965350942245,-0.3342743167296365,0.71338606911949],"aabb_xy":[[0.5821965339094316,-0.3386925394256969],[0.6571965362790172,-0.32985609403357585]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[0.4088895469664582,-1.9614055460672122,0.71338606911949],"aabb_xy":[[0.3918794496764075,-1.977540034565486],[0.4258996442565088,-1.9452710575689383]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[-0.5120210462946178,0.4998139011959464,0.71338606911949],"aabb_xy":[[-0.5344858162660229,0.47731390031708587],[-0.48955627632321264,0.5223139020748069]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[0.5640394056525864,-1.623441298658407,0.71338606911949],"aabb_xy":[[0.4990394074966673,-1.6497375432083192],[0.6290394038085054,-1.5971450541084948]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[-0.25913159256496676,-0.9860604971677716,0.71338606911949],"aabb_xy":[[-0.26324754267703937,-0.9901760522006169],[-0.25501564245289404,-0.9819449421349258]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[-0.28866655337404945,-2.300077880980157,0.71338606911949],"aabb_xy":[[-0.30113391148378515,-2.312543205613481],[-0.27619919526431386,-2.287612556346834]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[-0.6048708730993514,-0.9990648464102829,0.71338606911949],"aabb_xy":[[-0.6648708739601641,-1.050491276416769],[-0.5448708722385385,-0.9476384164037965]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_14","position":[-0.5075755120367291,-0.19484565089978645,0.71338606911949],"aabb_xy":[[-0.5193436988313866,-0.279845650805008],[-0.4958073252420716,-0.10984565099456486]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[0.24708195453744186,-1.8900253099763753,0.71338606911949],"aabb_xy":[[0.19710453767218825,-1.940025311465624],[0.2970593714026954,-1.840025308487127]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_16","position":[-0.14629194499509046,-1.4465128665912244,0.71338606911949],"aabb_xy":[[-0.22629194526869742,-1.5194624144169406],[-0.06629194472148346,-1.3735633187655072]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[-0.47142696347661,1.1088616422609627,0.71338606911949],"aabb_xy":[[-0.48900526566555685,1.0912871526868577],[-0.45384866128766316,1.1264361318350677]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[0.31575274448911106,0.4936030939653766,0.71338606911949],"aabb_xy":[[0.29447473634563875,0.4286030916393035],[0.33703075263258325,0.5586030962914497]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.00949257393643721,1.7122089928308264,0.71338606911949],"aabb_xy":[[-0.058972995150396,1.6482089949179748],[0.03998784727752158,1.7762089907436784]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_20","position":[0.10034656047171608,-0.6758961334913574,0.71338606911949],"aabb_xy":[[0.06385073984443732,-0.7123800759181148],[0.1368423810989948,-0.6394121910645997]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[-0.22100551610731378,1.3764620144215458,0.71338606911949],"aabb_xy":[[-0.25444569130333333,1.3430183885906155],[-0.18756534091129415,1.4099056402524757]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7022001320028611,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/295.png","name":"295"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/295.png","name":"295"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/281.png","name":"281"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/645.png","name":"645"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8297.png","name":"8297"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6473.png","name":"6473"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":733.7443552029723,"rotation_z_degrees":31.38818126557894,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01926256243152186,0.013947965249031778,0.01785336430084779]},{"name":"camera_2","offset_m":[0.003449033848117962,-0.013741981720238492,0.008310424507086616]},{"name":"camera_3","offset_m":[-0.011512956897635216,0.012927616728001582,0.00457611160224675]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001266773583984855,-0.0009078571875713614,-0.0011730416154769135],"end_effector_yaw_offset_degrees":0.656170727511975},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005024792067270215,0.0002031173278294737,0.0012118775436078312],"end_effector_yaw_offset_degrees":-0.4338619234300851},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009908930115533137,-0.0018357126408855497,0.000566894140530082],"end_effector_yaw_offset_degrees":-0.8229409269960131},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010708821552854807,0.0010940128283809872,-0.0015126993817709301],"end_effector_yaw_offset_degrees":0.33286849833452403}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024606724273390393,0.0032957745935970886],"position_m":[0.14993932757266096,0.22689577459359708,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001521498719730851,-0.004090610449687348],"position_m":[0.24392149871973084,-0.3137906104496873,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004910747709394416,-0.0024820437071016955],"position_m":[0.32941074770939444,-0.04408204370710169,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003183563909283289,0.0032829037061417625],"position_m":[0.3541835639092833,0.3216829037061418,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"df3f0bdf2da1b2e1b44836ae3cb053bc08096f0714a66899a6ac641890a883d1","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_295/tex_ceiling_textures_6473/tex_floor_textures_8297/tex_table_textures_281/tex_wall_textures_645","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8611097807868407146,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8611097807868407146,"visual_seed":8611097807868407146,"scene_id":"lab_003","finished_at":"2026-09-04T19:43:53"}
+{"episode_id":"ep_000039","started_at":"2026-09-04T19:43:56","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[0.5398541901008063,-1.0320517608276543,0.71338606911949],"aabb_xy":[[0.5028200806727464,-1.0664289681613635],[0.5768882995288659,-0.9976745534939446]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[-0.17971980530750575,-1.5833818346971413,0.71338606911949],"aabb_xy":[[-0.22970404101568298,-1.6333818335106371],[-0.12973556959932853,-1.533381835883646]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_2","position":[0.2754604180608775,-1.895555220807318,0.71338606911949],"aabb_xy":[[0.210460417060377,-1.946341585961993],[0.34046041906137803,-1.8447688556526431]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[-0.2727082810572547,-2.448765872623109,0.71338606911949],"aabb_xy":[[-0.2878105825182727,-2.4638673942541702],[-0.2576059795962365,-2.4336643509920464]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_4","position":[-0.2540041303491836,0.979679403380564,0.71338606911949],"aabb_xy":[[-0.34400413402610175,0.9182469968034597],[-0.1640041266722654,1.0411118099576684]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[0.03524464583637843,1.38354109666584,0.71338606911949],"aabb_xy":[[-0.014750365123073598,1.3335410976302482],[0.08523965679583047,1.4335410957014316]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.6295033708515014,1.1607249577536383,0.71338606911949],"aabb_xy":[[-0.6895033713593542,1.103878224067717],[-0.5695033703436484,1.2175716914395596]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[-0.05694759549079009,0.6540379968669403,0.71338606911949],"aabb_xy":[[-0.08194759504252858,0.6438955130018056],[-0.0319475959390516,0.664180480732075]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[0.5860297566370261,0.8931740468564535,0.71338606911949],"aabb_xy":[[0.5685297563776894,0.879082504667681],[0.6035297568963627,0.9072655890452263]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_9","position":[0.10594772698487731,-0.6351818628943111,0.71338606911949],"aabb_xy":[[0.09334502784780085,-0.6477772591191766],[0.11855042612195377,-0.6225864666694456]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.34108268079371884,1.442063785812524,0.71338606911949],"aabb_xy":[[0.2770826822071464,1.3950568224130153],[0.4050826793802913,1.4890707492120328]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_11","position":[0.4184150014266428,-0.746268590979628,0.71338606911949],"aabb_xy":[[0.3634217900895061,-0.8012685913184219],[0.47340821276377965,-0.6912685906408346]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[-0.5232631011472564,0.4998026138730234,0.71338606911949],"aabb_xy":[[-0.6132630997417263,0.4835520275596024],[-0.43326310255278644,0.5160532001864444]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[0.08237322040555717,0.8314932498623997,0.71338606911949],"aabb_xy":[[0.05987679897169308,0.8089932500556524],[0.10486964183942128,0.8539932496691472]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[0.05871035134164393,-0.7210956469821606,0.71338606911949],"aabb_xy":[[-0.021289645817931364,-0.7326432479399776],[0.13871034850121922,-0.7095480460243435]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[0.36385944168337625,-2.330205239892584,0.71338606911949],"aabb_xy":[[0.35922432653114283,-2.334072574969732],[0.36849455683560955,-2.3263379048154347]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[-0.42507588003524754,-1.0775651968440487,0.71338606911949],"aabb_xy":[[-0.4338779353442202,-1.0853765229989778],[-0.4162738247262748,-1.0697538706891196]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[-0.32307195177540876,0.22531398396233504,0.71338606911949],"aabb_xy":[[-0.35753442978849653,0.21865030677941222],[-0.288609473762321,0.23197766114525786]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.5670235500056005,-2.3783324598016122,0.71338606911949],"aabb_xy":[[0.5491544422511448,-2.392165367778823],[0.5848926577600558,-2.3644995518244007]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[0.4440577149824383,-1.2171178806097112,0.71338606911949],"aabb_xy":[[0.38006201758734165,-1.2811178789104196],[0.5080534123775349,-1.1531178823090023]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[0.4468311589910263,-0.4721779453031876,0.71338606911949],"aabb_xy":[[0.4412494873568976,-0.48467794512096307],[0.45241283062515514,-0.4596779454854121]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[-0.538074594188503,-2.1850944989018255,0.71338606911949],"aabb_xy":[[-0.5474216017707983,-2.1993981211194695],[-0.5287275866062079,-2.1707908766841815]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_22","position":[-0.5486954740689024,-2.3526876014510654,0.71338606911949],"aabb_xy":[[-0.56475740152742,-2.4376876032636567],[-0.5326335466103848,-2.267687599638473]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_23","position":[-0.5397347120504956,0.07828718242679855,0.71338606911949],"aabb_xy":[[-0.5772347123426704,0.07424570702619496],[-0.5022347117583208,0.08232865782740215]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_24","position":[0.44822755221791377,-2.210089524956682,0.71338606911949],"aabb_xy":[[0.41782944111877013,-2.240496426958351],[0.4786256633170573,-2.179682622955012]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[0.6323528716669526,-0.7900237331389335,0.71338606911949],"aabb_xy":[[0.6156757356738571,-0.8067236571128638],[0.6490300076600481,-0.7733238091650032]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_26","position":[-0.20656662303704193,-0.772928499636844,0.71338606911949],"aabb_xy":[[-0.22906662256074933,-0.7954244470874647],[-0.18406662351333453,-0.7504325521862232]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6962881667525365,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6641.png","name":"6641"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6641.png","name":"6641"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9548.png","name":"9548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5614.png","name":"5614"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6659.png","name":"6659"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6514.png","name":"6514"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":601.2028964185848,"rotation_z_degrees":38.62975453955263,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013107817463913655,-0.018494936831002708,0.014392257398109145]},{"name":"camera_2","offset_m":[-0.018400634236218946,-0.00979273781560246,-0.002071607035428434]},{"name":"camera_3","offset_m":[-0.018825697528715525,0.005567128541304398,-0.007075700431879519]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016736631950235495,-0.0019153673099321477,-0.0010745472505308044],"end_effector_yaw_offset_degrees":0.9681933100414308},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00046719199714061535,-0.0013940851039035511,0.0011069766849747175],"end_effector_yaw_offset_degrees":-0.22699881121526277},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015074418907888004,-0.0008024894809877127,-0.000781343527563079],"end_effector_yaw_offset_degrees":0.9713009014407292},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00030666554796387395,-0.0011384555064927766,-0.00013420460255501084],"end_effector_yaw_offset_degrees":0.9651308959236762}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024331151189635513,0.0031063806089219733],"position_m":[0.15483311511896355,0.22670638060892195,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019349413994579649,0.003620925171944389],"position_m":[0.24433494139945797,-0.3060790748280556,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015773904200111276,0.0035513000920974714],"position_m":[0.32292260957998886,-0.03804869990790253,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033356179359216353,0.003015477280370553],"position_m":[0.34766438206407835,0.32141547728037057,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"21ef6193338aea8a21bb836fbe65004fff6bb14d8e2efe66424348c4eabf71b6","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0042.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6641/tex_ceiling_textures_6514/tex_floor_textures_6659/tex_table_textures_9548/tex_wall_textures_5614","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":9099483652780808234,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":9099483652780808234,"visual_seed":9099483652780808234,"scene_id":"lab_003","finished_at":"2026-09-04T19:47:49"}
+{"episode_id":"ep_000040","started_at":"2026-09-04T19:47:52","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[-0.1571102307817871,1.1114743013163957,0.71338606911949],"aabb_xy":[[-0.19461023088738005,1.1046521394634143],[-0.11961023067619415,1.1182964631693766]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[0.27714253661047117,1.6696325803869043,0.71338606911949],"aabb_xy":[[0.25497000963382027,1.647456913230781],[0.29931506358712195,1.6918082475430272]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_2","position":[-0.41504594866172984,0.8121544019205977,0.71338606911949],"aabb_xy":[[-0.43247666374073634,0.7948822872567469],[-0.3976152335827233,0.8294265165844485]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_3","position":[-0.34416092351440736,-2.0118190481816853,0.71338606911949],"aabb_xy":[[-0.3791609234909032,-2.021283664229302],[-0.3091609235379115,-2.0023544321340685]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[-0.23447242150146774,1.5610811956414934,0.71338606911949],"aabb_xy":[[-0.24209668959164599,1.5534479721049497],[-0.2268481534112895,1.5687144191780371]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_5","position":[0.50317379476327,-0.4673256794361018,0.71338606911949],"aabb_xy":[[0.4646281019380688,-0.5058714504922904],[0.5417194875884709,-0.42877990837991314]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[-0.2957827217728403,-1.368581280150912,0.71338606911949],"aabb_xy":[[-0.30304396934324773,-1.3813682904144216],[-0.2885214742024329,-1.3557942698874026]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_7","position":[-0.6407106180564051,0.7194795360458501,0.71338606911949],"aabb_xy":[[-0.6857032047748555,0.6744795367714013],[-0.5957180313379546,0.7644795353202988]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[-0.025399541644726575,-0.18526930615729986,0.71338606911949],"aabb_xy":[[-0.038550787616015936,-0.21026930591398643],[-0.012248295673437215,-0.16026930640061332]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[-0.3423198442161902,0.28312830081921936,0.71338606911949],"aabb_xy":[[-0.3798198457318219,0.2719015278030743],[-0.3048198427005585,0.2943550738353644]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[0.6769864844694498,0.48452364958911565,0.71338606911949],"aabb_xy":[[0.6318151666212807,0.42052365244457734],[0.7221578023176186,0.5485236467336542]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[0.6054263007569558,1.1907250696778804,0.71338606911949],"aabb_xy":[[0.5791374764365151,1.1644536360232287],[0.6317151250773965,1.2169965033325312]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[-0.22184135709789798,-1.0412008351162,0.71338606911949],"aabb_xy":[[-0.24512319929602933,-1.1262008364134282],[-0.19855951489976664,-0.9562008338189721]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[0.4188362602922213,1.4287263434049522,0.71338606911949],"aabb_xy":[[0.3717068812903856,1.3647263423605498],[0.46596563929405693,1.4927263444493537]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_14","position":[0.631179648080022,-1.646565450370976,0.71338606911949],"aabb_xy":[[0.6075945246161272,-1.7115654526164077],[0.6547647715439169,-1.5815654481255441]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.06579452871500846,-1.4856634913575768,0.71338606911949],"aabb_xy":[[-0.07383788864096363,-1.5706634924529432],[-0.05775116878905329,-1.4006634902622104]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[-0.1424656168904711,1.3144626300760343,0.71338606911949],"aabb_xy":[[-0.17996561683423748,1.3061695400411977],[-0.10496561694670467,1.3227557201108708]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[0.02750547989013019,-1.1689882363814945,0.71338606911949],"aabb_xy":[[0.023369623557429997,-1.2064882358258517],[0.031641336222830385,-1.1314882369371377]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[-0.6201823257376466,-0.8580804800063757,0.71338606911949],"aabb_xy":[[-0.637682325982696,-0.8755802678459426],[-0.6026823254925973,-0.8405806921668089]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[0.3608210315940623,0.5229332031546625,0.71338606911949],"aabb_xy":[[0.3464866064678988,0.5108729876001237],[0.3751554567202257,0.5349934187092014]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[0.6375280503607528,-2.078028689220263,0.71338606911949],"aabb_xy":[[0.5725280494036256,-2.129976901153968],[0.70252805131788,-2.026080477286557]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_21","position":[-0.03113134590404021,-0.7615476952495048,0.71338606911949],"aabb_xy":[[-0.09113134754696206,-0.813547844541449],[0.02886865573888164,-0.7095475459575606]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[-0.21918258777129568,0.4484023356363114,0.71338606911949],"aabb_xy":[[-0.28918258937357516,0.43496954243465386],[-0.1491825861690162,0.461835128837969]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.5969599052947723,-1.2256768968799079,0.71338606911949],"aabb_xy":[[0.5889336346641464,-1.2344283918572605],[0.6049861759253984,-1.2169254019025553]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[0.3176824151954467,-0.45432603963714335,0.71338606911949],"aabb_xy":[[0.2998133074409912,-0.4681589476143542],[0.3355515229499022,-0.44049313165993237]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[0.08935696289701567,0.989279986932802,0.71338606911949],"aabb_xy":[[0.0853964791272813,0.9816121223472813],[0.09331744666675004,0.9969478515183225]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_26","position":[-0.4771859306580851,-2.152948799017633,0.71338606911949],"aabb_xy":[[-0.5571859286388701,-2.1605503399794843],[-0.39718593267730007,-2.1453472580557804]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_27","position":[0.47598426139331496,0.48195787198457607,0.71338606911949],"aabb_xy":[[0.4534842615794126,0.4774832556140954],[0.49848426120721734,0.48643248835505676]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_28","position":[-0.4390276895142947,-1.3976112864548313,0.71338606911949],"aabb_xy":[[-0.4802765005442094,-1.4526112859670488],[-0.3977788784843799,-1.342611286942614]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_29","position":[-0.4407030946953216,-0.8157242861083691,0.71338606911949],"aabb_xy":[[-0.4693524270557378,-0.8443698453854448],[-0.41205376233490537,-0.7870787268312932]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_30","position":[0.6559137501001564,1.5641217282871707,0.71338606911949],"aabb_xy":[[0.6098286588454249,1.5001217310346155],[0.7019988413548879,1.6281217255397258]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_31","position":[0.15921597454698355,-1.9420118840970795,0.71338606911949],"aabb_xy":[[0.10922096358753153,-1.9920118831326714],[0.2092109855064356,-1.892011885061488]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_32","position":[0.33175170689158007,-1.9640685607842696,0.71338606911949],"aabb_xy":[[0.2677517075974118,-2.028054701153124],[0.39575170618574823,-1.9000824204154152]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_33","position":[-0.5741748399429609,1.2423215332967548,0.71338606911949],"aabb_xy":[[-0.664174838537431,1.2260709469833337],[-0.4841748413484911,1.2585721196101758]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6968481771358549,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3711.png","name":"3711"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3711.png","name":"3711"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3820.png","name":"3820"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1883.png","name":"1883"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6198.png","name":"6198"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6355.png","name":"6355"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":522.9223686931932,"rotation_z_degrees":167.02646451865624,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012861846909129664,0.019581301971974042,-0.019071652846431836]},{"name":"camera_2","offset_m":[0.00815904702899798,-0.015856964292578653,0.0005461133092523295]},{"name":"camera_3","offset_m":[0.0030479894475252192,0.0017152755591190796,-0.004552585751859888]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014314132524302775,-0.0013637394282477672,0.0007585777913199877],"end_effector_yaw_offset_degrees":-0.850462650967531},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005461901305102851,0.001571786024277563,-0.0011024400290451518],"end_effector_yaw_offset_degrees":0.21326112787932594},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002613420519638693,0.0018538378530144617,0.0006998705206573102],"end_effector_yaw_offset_degrees":0.9462417565189332},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00035841425704033784,0.00010309982089060608,-0.0005684768066247273],"end_effector_yaw_offset_degrees":0.7104634867294992}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011141803746489397,0.0035179947711269427],"position_m":[0.15128581962535106,0.22711799477112693,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027374599996745994,-0.0017285083671927616],"position_m":[0.2451374599996746,-0.3114285083671927,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004655909065941796,-0.0008200405259860891],"position_m":[0.3198440909340582,-0.04242004052598609,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003721115910615772,0.004963801297486599],"position_m":[0.34727888408938423,0.3233638012974866,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8aff01aeadf2c95ca07af4468da05f9341c6441071bc078c087bdac9d09f2062","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0043.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3711/tex_ceiling_textures_6355/tex_floor_textures_6198/tex_table_textures_3820/tex_wall_textures_1883","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3414530582484394007,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3414530582484394007,"visual_seed":3414530582484394007,"scene_id":"lab_003","finished_at":"2026-09-04T19:51:55"}
+{"episode_id":"ep_000041","started_at":"2026-09-04T19:52:00","dimensions":{"distractor":{"count":33,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[-0.3561796783276429,-0.19637199798851723,0.71338606911949],"aabb_xy":[[-0.37806942591658366,-0.28637199527776636],[-0.33428993073870206,-0.10637200069926815]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[-0.36946431193146356,-1.7094103191115662,0.71338606911949],"aabb_xy":[[-0.3750459835655923,-1.7219103189293417],[-0.3638826402973348,-1.6969103192937907]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[-0.058917398804670285,0.5999986341837364,0.71338606911949],"aabb_xy":[[-0.06287788257440466,0.5923307695982158],[-0.05495691503493592,0.607666498769257]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.32149924272622254,0.6410792096776312,0.71338606911949],"aabb_xy":[[-0.338176378719318,0.6243792857037009],[-0.304822106733127,0.6577791336515615]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[0.011291057604709609,-1.2700794463244733,0.71338606911949],"aabb_xy":[[-0.03852572186012515,-1.3200794448087767],[0.06110783706954437,-1.22007944784017]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[-0.5119019155521649,-1.6544938287821997,0.71338606911949],"aabb_xy":[[-0.5227535218010405,-1.6653531195098505],[-0.5010503093032893,-1.6436345380545485]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[0.22509267783034081,-1.9102874494016207,0.71338606911949],"aabb_xy":[[0.20729917089542435,-1.928087194997418],[0.24288618476525722,-1.8924877038058228]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.5065424292257767,1.3046107182838869,0.71338606911949],"aabb_xy":[[-0.5190097873355124,1.2921453936505636],[-0.4940750711160411,1.3170760429172106]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.1590155561959946,-1.3017938839520584,0.71338606911949],"aabb_xy":[[-0.23901555321024262,-1.3219284356254697],[-0.07901555918174666,-1.2816593322786471]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[0.05299939579860913,-1.1400409402791583,0.71338606911949],"aabb_xy":[[0.035323765210010794,-1.157721156558561],[0.07067502638720746,-1.1223607239997555]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[0.5053482030675269,-0.729573422657307,0.71338606911949],"aabb_xy":[[0.47034820393757126,-0.7353186437329711],[0.5403482021974826,-0.7238282015816428]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[0.25083341698267214,-1.0730412857031706,0.71338606911949],"aabb_xy":[[0.1708334159095518,-1.082819332040555],[0.33083341805579247,-1.0632632393657862]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[0.4856912980061716,1.3420153759609867,0.71338606911949],"aabb_xy":[[0.41569129619742623,1.3206616071967994],[0.555691299814917,1.3633691447251741]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[-0.5347482391659013,0.7653344859589768,0.71338606911949],"aabb_xy":[[-0.5947482396737541,0.7084877522730555],[-0.4747482386580483,0.8221812196448981]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_14","position":[-0.42677205334336693,-1.0036709883483153,0.71338606911949],"aabb_xy":[[-0.5067720566073801,-1.0172310206572286],[-0.3467720500793538,-0.9901109560394019]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[-0.11410953125823298,1.5794809163710544,0.71338606911949],"aabb_xy":[[-0.17410953211904576,1.528054486364568],[-0.05410953039742016,1.6309073463775408]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[-0.26720448461240776,-2.2962090086938414,0.71338606911949],"aabb_xy":[[-0.27317102355314354,-2.3021701533532055],[-0.26123794567167197,-2.290247864034477]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[0.495365801873505,0.521330566454095,0.71338606911949],"aabb_xy":[[0.48905370233716655,0.5155636272008761],[0.5016779014098434,0.5270975057073137]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[0.4238791537671265,-1.444039840225126,0.71338606911949],"aabb_xy":[[0.33387915009020824,-1.50547224680223],[0.5138791574440446,-1.3826074336480214]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[-0.5181124382641779,-2.164345140480076,0.71338606911949],"aabb_xy":[[-0.5255248938055663,-2.1701963509017035],[-0.5106999827227894,-2.1584939300584476]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_20","position":[-0.07696000769634681,-0.07855777322310153,0.71338606911949],"aabb_xy":[[-0.10942170857827424,-0.10869060533800412],[-0.04449830681441933,-0.0484249411081989]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[0.3434061838697149,-1.9964601688838868,0.71338606911949],"aabb_xy":[[0.32212817572624264,-2.0614601712099594],[0.36468419201318714,-1.9314601665578135]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[-0.5597964559398767,-0.6212233847282864,0.71338606911949],"aabb_xy":[[-0.5773431508559956,-0.6587233862925377],[-0.5422497610237578,-0.5837233831640352]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_23","position":[0.12364951766412902,-1.6666694501754429,0.71338606911949],"aabb_xy":[[0.11188133086947151,-1.7516694500806647],[0.13541770445878654,-1.5816694502702215]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[0.3317799969736521,1.7212643662933709,0.71338606911949],"aabb_xy":[[0.2890132900942319,1.6572643628715684],[0.37454670385307226,1.7852643697151733]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_25","position":[0.4437163604010137,0.7300107417581412,0.71338606911949],"aabb_xy":[[0.4360131697269366,0.7223013710594031],[0.4514195510750907,0.7377201124568791]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[-0.21441643318417974,1.3161509882107132,0.71338606911949],"aabb_xy":[[-0.2944164318410658,1.3016461292864505],[-0.13441643452729377,1.3306558471349763]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_27","position":[0.32998652900455183,0.9342057653073987,0.71338606911949],"aabb_xy":[[0.2659865286270182,0.8844604984565865],[0.39398652938208545,0.983951032158211]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_28","position":[-0.02061576188731762,1.8077342433603687,0.71338606911949],"aabb_xy":[[-0.03495018701348107,1.7956740278058299],[-0.006281336761154166,1.8197944589149075]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[-0.006294063429374774,1.442919676462163,0.71338606911949],"aabb_xy":[[-0.02093746898340776,1.4282609568053786],[0.00834934212465821,1.457578396118947]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_30","position":[0.5632060559427599,0.32018875033882344,0.71338606911949],"aabb_xy":[[0.5481037544817416,0.3050872287077615],[0.5783083574037778,0.33529027196988515]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_31","position":[0.5390895389383175,0.7280723281430199,0.71338606911949],"aabb_xy":[[0.5079426200947343,0.6580723294562127],[0.5702364577819006,0.7980723268298271]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_32","position":[-0.6372944539276708,-1.206903700530412,0.71338606911949],"aabb_xy":[[-0.6717569319407585,-1.2135673777133344],[-0.6028319759145829,-1.200240023347489]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7018484181553948,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1434.png","name":"1434"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1434.png","name":"1434"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6688.png","name":"6688"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7781.png","name":"7781"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9102.png","name":"9102"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/444.png","name":"444"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":526.4745345764379,"rotation_z_degrees":93.64643746590592,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010944684894322227,0.017801805494526344,-0.010970940035228449]},{"name":"camera_2","offset_m":[0.0010085514296288602,0.002303226403288273,-0.008829809372734473]},{"name":"camera_3","offset_m":[0.012981938717454549,0.014513856778124928,-0.007440428492268425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001287141891233428,-0.0018268119139905382,-0.0007878236926250511],"end_effector_yaw_offset_degrees":0.8576811102936459},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019251919203128387,-0.000270461879213801,-0.00021320716893496257],"end_effector_yaw_offset_degrees":0.2712974035434048},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.757277390214995e-05,0.0011473313247614882,-0.0012208422240898202],"end_effector_yaw_offset_degrees":0.6678050487322733},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015653584157745435,0.0007179585632920127,0.0014232486319436088],"end_effector_yaw_offset_degrees":0.1844694902432562}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008003010239005359,-0.004361681460778545],"position_m":[0.15320030102390053,0.21923831853922146,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001573373913596071,0.001073996839381891],"position_m":[0.24082662608640393,-0.30862600316061806,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006184558999768608,-0.002443433227394438],"position_m":[0.3238815441000231,-0.044043433227394437,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004151960574090024,0.0006238468254298954],"position_m":[0.35515196057409,0.3190238468254299,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"94ce2ed1c6bb3873e851871d41ad2ea6aac0cf86e99059a4f9a8dfe0cc146cd7","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1434/tex_ceiling_textures_444/tex_floor_textures_9102/tex_table_textures_6688/tex_wall_textures_7781","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3529826772979616499,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3529826772979616499,"visual_seed":3529826772979616499,"scene_id":"lab_003","finished_at":"2026-09-04T19:55:49"}
+{"episode_id":"ep_000042","started_at":"2026-09-04T19:55:52","dimensions":{"distractor":{"count":29,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[-0.5962876191171451,-2.074678946844016,0.71338606911949],"aabb_xy":[[-0.6017455647541652,-2.154678950151675],[-0.590829673480125,-1.994678943536357]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[-0.1839096724393151,0.5733527061763235,0.71338606911949],"aabb_xy":[[-0.1947612786881907,0.5624934154486725],[-0.1730580661904395,0.5842119969039745]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_2","position":[0.5977008729243736,-0.026913848916668037,0.71338606911949],"aabb_xy":[[0.56020087310734,-0.0315520602278099],[0.6352008727414071,-0.02227563760552617]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[-0.052061570785777445,-2.4884769486588594,0.71338606911949],"aabb_xy":[[-0.07397025292512849,-2.5103776154789497],[-0.0301528886464264,-2.466576281838768]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.5717620031123647,-2.1584951011228766,0.71338606911949],"aabb_xy":[[0.5643495475709762,-2.1643463115445045],[0.5791744586537532,-2.1526438907012486]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[-0.44530019594380493,0.5573910102656998,0.71338606911949],"aabb_xy":[[-0.5349872722519204,0.4673910100112493],[-0.3556131196356895,0.6473910105201504]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[0.09939076503610556,1.6011277235208348,0.71338606911949],"aabb_xy":[[0.06591159777506463,1.567648610149728],[0.1328699322971465,1.634606836891942]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[0.670429422042012,1.3351979280974735,0.71338606911949],"aabb_xy":[[0.6164138257601118,1.2711979252052164],[0.7244450183239118,1.3991979309897307]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[0.5172266376359749,-1.0842217565490455,0.71338606911949],"aabb_xy":[[0.5111320097478566,-1.0927911511007142],[0.5233212655240932,-1.0756523619973768]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[0.004305131070706847,1.0564732068206713,0.71338606911949],"aabb_xy":[[-0.05969486918976396,1.0114644074677432],[0.06830513133117765,1.1014820061735993]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[0.5879589342409244,-1.6504470903555708,0.71338606911949],"aabb_xy":[[0.5179589324321789,-1.6718008591197584],[0.6579589360496698,-1.6290933215913836]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[0.4394706159694588,0.7773724622269396,0.71338606911949],"aabb_xy":[[0.42971462646028485,0.767609928167705],[0.44922660547863263,0.7871349962861739]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.35152236431146444,-0.9433322662844108,0.71338606911949],"aabb_xy":[[0.339754177516807,-1.0283322661896324],[0.363290551106122,-0.8583322663791894]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_13","position":[-0.6639344483230321,-2.2069296466121253,0.71338606911949],"aabb_xy":[[-0.6727365036320047,-2.214740972767054],[-0.6551323930140592,-2.199118320457196]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.3378776693037051,-1.6961233094441452,0.71338606911949],"aabb_xy":[[-0.4178776667072985,-1.7761158806423278],[-0.2578776719001116,-1.6161307382459622]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[0.33200251260539226,-0.6966179182973327,0.71338606911949],"aabb_xy":[[0.2520025111752651,-0.7761350733099421],[0.4120025140355195,-0.6171007632847232]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[0.5095549046490955,-2.0107893315618317,0.71338606911949],"aabb_xy":[[0.47364140022410567,-2.0467028397785865],[0.545468409074085,-1.9748758233450772]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[0.08196619063017896,-2.5269146131571425,0.71338606911949],"aabb_xy":[[0.0693394033429826,-2.536460686858715],[0.0945929779173753,-2.517368539455569]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[0.49986479596798383,-1.5521545532141623,0.71338606911949],"aabb_xy":[[0.4823647957229345,-1.569654341053729],[0.5173647962130332,-1.5346547653745952]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.21449349165210535,0.8344501409033844,0.71338606911949],"aabb_xy":[[-0.2644934930129925,0.7844722363279689],[-0.16449349029121813,0.8844280454788002]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[0.3920959476658783,-1.8555561851763787,0.71338606911949],"aabb_xy":[[0.3120959506516303,-1.87569073684979],[0.4720959446801263,-1.8354216335029674]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[-0.3991082371513127,-1.911343395178914,0.71338606911949],"aabb_xy":[[-0.46310823445365906,-1.9557098221467708],[-0.33510823984896626,-1.8669769682110573]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_22","position":[-0.12868754582668607,0.25185149984084854,0.71338606911949],"aabb_xy":[[-0.13681523401999932,0.24293789143014088],[-0.12055985763337287,0.2607651082515562]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[-0.43965385593457196,1.3775426948077354,0.71338606911949],"aabb_xy":[[-0.5296538526701822,1.3243592314904407],[-0.3496538591989617,1.4307261581250297]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[0.41831813289537223,1.7388435521551808,0.71338606911949],"aabb_xy":[[0.3808181326031974,1.734802076754577],[0.45581813318754705,1.7428850275557841]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_25","position":[-0.16410931057253286,-2.0295690716010832,0.71338606911949],"aabb_xy":[[-0.24410931273529535,-2.109524255227227],[-0.08410930840977038,-1.9496138879749396]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_26","position":[0.6808659041739153,0.26187279623464255,0.71338606911949],"aabb_xy":[[0.6545770798534746,0.23560136257999134],[0.7071547284943559,0.2881442298892938]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_27","position":[0.07917564169090907,-1.2849723106617652,0.71338606911949],"aabb_xy":[[0.06167564143157245,-1.2990638528505378],[0.09667564195024571,-1.2708807684729926]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_28","position":[-0.5169365671349684,-0.783782200071806,0.71338606911949],"aabb_xy":[[-0.5270182742135417,-0.8637821979639205],[-0.5068548600563948,-0.7037822021796912]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7004962527893084,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6580.png","name":"6580"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6580.png","name":"6580"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2767.png","name":"2767"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3296.png","name":"3296"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3143.png","name":"3143"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9568.png","name":"9568"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":566.6681392492703,"rotation_z_degrees":323.5282536007231,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01086179432337217,-0.004228370806728506,0.002740355706462104]},{"name":"camera_2","offset_m":[0.012071636777965262,-0.01459093287595898,-0.0020823991870085046]},{"name":"camera_3","offset_m":[-0.014222804372242059,-0.0038404917770944146,-0.008545530438387324]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019814406164639672,0.001056856396618251,0.0004832694829922939],"end_effector_yaw_offset_degrees":0.19383946503622806},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00043554485516184537,0.0013753555231450633,-0.001736048128949375],"end_effector_yaw_offset_degrees":0.5768159140364506},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-6.531301465872107e-05,-0.00036744523380974445,-0.0013737691068832665],"end_effector_yaw_offset_degrees":-0.019906082521036872},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011827346595809978,-0.0012596325963471267,-0.0006674427427982668],"end_effector_yaw_offset_degrees":-0.5984100760133859}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002637576311262697,-0.0016017055969009407],"position_m":[0.1550375763112627,0.22199829440309904,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000421859020043186,0.004812857488400873],"position_m":[0.2428218590200432,-0.3048871425115991,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038341585556678276,-0.0018657896220576897],"position_m":[0.32833415855566783,-0.04346578962205769,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002008370438416297,0.001842965835663981],"position_m":[0.35300837043841626,0.320242965835664,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8eaa10c047cd996331c53dd7bbe93ef4b77019cd6f18240a89d8e3658703555d","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6580/tex_ceiling_textures_9568/tex_floor_textures_3143/tex_table_textures_2767/tex_wall_textures_3296","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2756820221977340974,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2756820221977340974,"visual_seed":2756820221977340974,"scene_id":"lab_003","finished_at":"2026-09-04T19:59:39"}
+{"episode_id":"ep_000043","started_at":"2026-09-04T19:59:42","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.013402371978566308,-2.5412075126547795,0.71338606911949],"aabb_xy":[[-0.05059762532378009,-2.585573939622636],[0.07740236928091271,-2.4968410856869223]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.1841732838289719,-0.8800937880561097,0.71338606911949],"aabb_xy":[[0.17604559563565872,-0.8890073964668176],[0.19230097202228516,-0.8711801796454023]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[0.23014430202280434,-0.6047115248905888,0.71338606911949],"aabb_xy":[[0.21669777538876098,-0.61818137654368],[0.24359082865684764,-0.5912416732374975]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_3","position":[0.5816140209778913,0.7574319418971363,0.71338606911949],"aabb_xy":[[0.5646039236878405,0.7412974533988623],[0.5986241182679418,0.7735664303954102]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.13568870176374737,1.1157764430729809,0.71338606911949],"aabb_xy":[[-0.15355780951820286,1.1019435350957698],[-0.11781959400929187,1.129609351050192]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[0.06903711737449192,-1.3238523238577724,0.71338606911949],"aabb_xy":[[0.004037116268548635,-1.3488176969259007],[0.1340371184804352,-1.2988869507896441]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[-0.2371777154636759,1.5737931078773548,0.71338606911949],"aabb_xy":[[-0.2948081843509467,1.513793108950644],[-0.17954724657640503,1.6337931068040652]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[0.46788559851577305,-1.5287190246578866,0.71338606911949],"aabb_xy":[[0.45731811885767404,-1.5392640547708951],[0.47845307817387206,-1.518173994544878]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[-0.043198172421081704,-1.5504892377251338,0.71338606911949],"aabb_xy":[[-0.08023228184914141,-1.584866445058843],[-0.006164062993021989,-1.5161120303914242]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.1730629672930869,-1.2644109375645243,0.71338606911949],"aabb_xy":[[-0.24306297068464888,-1.299726711267955],[-0.10306296390152493,-1.2290951638610932]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[0.05790872859600649,-2.154532733900265,0.71338606911949],"aabb_xy":[[-0.006091268516099202,-2.203565103694676],[0.12190872570811218,-2.105500364105855]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_11","position":[0.44333047296163874,-2.253240318078485,0.71338606911949],"aabb_xy":[[0.43921452284956614,-2.2573558731113303],[0.44744642307371146,-2.2491247630456392]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[0.5858645326437533,1.131157760340428,0.71338606911949],"aabb_xy":[[0.5633645321317127,1.1086659019750293],[0.6083645331557939,1.153649618705826]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.1942353851881743,1.483648463175793,0.71338606911949],"aabb_xy":[[0.10454830888005884,1.3936484629213426],[0.28392246149628975,1.5736484634302437]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.3118852502755277,-0.4050558399014452,0.71338606911949],"aabb_xy":[[-0.33438524979923506,-0.4275517873520659],[-0.28938525075182026,-0.38255989245082433]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.5197683712182465,-1.268097062574866,0.71338606911949],"aabb_xy":[[-0.5697513214057257,-1.3180970622174262],[-0.4697854210307671,-1.2180970629323054]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.6106802578613777,-1.9465037157087959,0.71338606911949],"aabb_xy":[[0.5694314468314629,-2.001503715221013],[0.6519290688912923,-1.8915037161965782]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[-0.1424051461239998,1.3405341789891496,0.71338606911949],"aabb_xy":[[-0.15043141675462582,1.3317826840117972],[-0.13437887549337382,1.3492856739665025]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.5846811701702086,-1.3923849216260877,0.71338606911949],"aabb_xy":[[-0.5893162853224418,-1.3962522567032363],[-0.5800460550179751,-1.3885175865489388]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[0.10826654886879539,-1.207962153020307,0.71338606911949],"aabb_xy":[[0.058266549428599754,-1.2579300775046232],[0.158266548308991,-1.1579942285359905]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937428307082006,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2466.png","name":"2466"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2466.png","name":"2466"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6064.png","name":"6064"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9533.png","name":"9533"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5761.png","name":"5761"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/464.png","name":"464"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":627.3125635845831,"rotation_z_degrees":315.5850076532181,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0012435256765567712,-0.0023205152470537754,0.01838643732112821]},{"name":"camera_2","offset_m":[-0.0011543759455988796,0.01618223982423538,-0.007565853986884278]},{"name":"camera_3","offset_m":[0.019245267063628512,0.01418156169777159,-0.0174692399776302]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00010584024233300311,-0.0015487800293854628,-0.0015501882010774963],"end_effector_yaw_offset_degrees":0.9553964840069202},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009156404009291975,-0.0008232914847294346,0.00025879032572941876],"end_effector_yaw_offset_degrees":-0.9200375392507782},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016240820933271644,0.00012298931918937502,-0.0005910256575328576],"end_effector_yaw_offset_degrees":-0.6187417820811347},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009719628109713689,-0.0008347310986571209,-0.0012424591790641836],"end_effector_yaw_offset_degrees":0.8357533448626704}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0004043136415450132,-0.004498606673376976],"position_m":[0.152804313641545,0.219101393326623,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013027854187411727,-0.0035832552577970056],"position_m":[0.24109721458125882,-0.313283255257797,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004278641506758773,-0.0021013975107803894],"position_m":[0.3287786415067588,-0.043701397510780386,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0041936892208420794,-0.0008640541500784396],"position_m":[0.3468063107791579,0.31753594584992156,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a09b0ebbea5bc8259c4c7a2a93b17188fe035e5df54f0fe774ae1ce4338c7698","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2466/tex_ceiling_textures_464/tex_floor_textures_5761/tex_table_textures_6064/tex_wall_textures_9533","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4654636444151200282,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4654636444151200282,"visual_seed":4654636444151200282,"scene_id":"lab_003","finished_at":"2026-09-04T20:03:35"}
+{"episode_id":"ep_000044","started_at":"2026-09-04T20:03:40","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[-0.4208660486185033,-0.11556432798079408,0.71338606911949],"aabb_xy":[[-0.4708434654837569,-0.16556432947004263],[-0.3708886317532497,-0.06556432649154553]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[-0.14687015319187824,-2.0028644663600588,0.71338606911949],"aabb_xy":[[-0.16437015246996511,-2.0202025664264047],[-0.12937015391379136,-1.9855263662937128]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[-0.6465154442711502,-1.4590131771459214,0.71338606911949],"aabb_xy":[[-0.671029068368156,-1.4832777704479578],[-0.6220018201741443,-1.434748583843885]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[0.2559423040382043,1.57238919017214,0.71338606911949],"aabb_xy":[[0.2478989441122491,1.4873891890767736],[0.26398566396415946,1.6573891912675065]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.12537165376234982,0.4529783678863222,0.71338606911949],"aabb_xy":[[-0.1478707894885768,0.43047836710805926],[-0.10287251803612285,0.4754783686645852]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.39449820727765594,1.0412335003032753,0.71338606911949],"aabb_xy":[[0.3872544412314106,0.961233502099673],[0.40174197332390127,1.1212334985068777]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[0.614404044711401,-2.1533152156146484,0.71338606911949],"aabb_xy":[[0.5931260365679286,-2.218315217940721],[0.6356820528548731,-2.088315213288575]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[-0.2464430267887825,1.4905813107438948,0.71338606911949],"aabb_xy":[[-0.2653274105572927,1.471695385963542],[-0.2275586430202723,1.5094672355242476]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[-0.26075819782486864,1.3560532804867012,0.71338606911949],"aabb_xy":[[-0.3107532087843207,1.3060532814511097],[-0.21076318686541667,1.406053279522293]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.19582696047949433,-1.2153024894759987,0.71338606911949],"aabb_xy":[[-0.2076990434909954,-1.300302489169649],[-0.1839548774679932,-1.1303024897823484]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.10618504693485509,-1.3136938490402417,0.71338606911949],"aabb_xy":[[0.091022173957918,-1.3288593063353606],[0.12134791991179218,-1.2985283917451231]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[0.46206144744988986,-0.3444759204482981,0.71338606911949],"aabb_xy":[[0.39706144956824213,-0.39559958415483903],[0.5270614453315376,-0.29335225674175724]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.5904969653592538,1.3268206403552258,0.71338606911949],"aabb_xy":[[-0.6275310747873134,1.2924434330215162],[-0.5534628559311939,1.361197847688935]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_13","position":[0.23309073365487587,-1.3982480669145916,0.71338606911949],"aabb_xy":[[0.19624018571788826,-1.4357480677376253],[0.2699412815918635,-1.3607480660915579]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.5454089447126476,-2.396747387571091,0.71338606911949],"aabb_xy":[[-0.5954089450732135,-2.4467273747806937],[-0.49540894435208144,-2.346767400361488]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[0.4149636442336393,-1.1280932437992053,0.71338606911949],"aabb_xy":[[0.3349636437634234,-1.136403951413554],[0.49496364470385534,-1.119782536184857]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.4930109597509069,-0.8410836126444985,0.71338606911949],"aabb_xy":[[0.4030109560739887,-0.9025160192216026],[0.5830109634278251,-0.7796512060673939]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[0.12176837799552909,1.1631591831243857,0.71338606911949],"aabb_xy":[[0.05676837983961003,1.1368629385744735],[0.18676837615144815,1.189455427674298]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[-0.4165818584366229,1.8046211650432125,0.71338606911949],"aabb_xy":[[-0.45158185762944103,1.7936541190455497],[-0.3815818592438045,1.8155882110408748]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[0.5822998008192508,1.1190398059213797,0.71338606911949],"aabb_xy":[[0.5740852557035666,1.110363215623738],[0.5905143459349346,1.1277163962190206]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[0.10724718296887448,-1.5921205123921651,0.71338606911949],"aabb_xy":[[0.1002057320181269,-1.5991472641299598],[0.11428863391962209,-1.585093760654371]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_21","position":[-0.62472299255831,0.019987841937649353,0.71338606911949],"aabb_xy":[[-0.6340700001406052,0.0056842197200053235],[-0.6153759849760148,0.03429146415529338]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[-0.5364513274263301,-2.2847524181291075,0.71338606911949],"aabb_xy":[[-0.5739513258497303,-2.2979166320969378],[-0.4989513290029296,-2.2715882041612763]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[0.05785686354575448,-2.308503979619615,0.71338606911949],"aabb_xy":[[0.05023259545557624,-2.316137203156159],[0.06548113163593272,-2.3008707560830715]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_24","position":[-0.07984350323232126,0.766374318386335,0.71338606911949],"aabb_xy":[[-0.10849283559273747,0.7377287591092591],[-0.05119417087190502,0.7950198776634106]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_25","position":[0.460981035159852,-1.8410267284615527,0.71338606911949],"aabb_xy":[[0.41570242027870274,-1.9050267278097364],[0.5062596500410013,-1.777026729113369]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_26","position":[0.1774463999069409,-2.5510355055048355,0.71338606911949],"aabb_xy":[[0.17210882424093632,-2.5760355064339757],[0.18278397557294546,-2.526035504575696]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_27","position":[0.4527705305323797,0.2977053698418075,0.71338606911949],"aabb_xy":[[0.436708603073862,0.21270536802921572],[0.4688324579908973,0.38270537165439933]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.700902123155446,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9618.png","name":"9618"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9618.png","name":"9618"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8472.png","name":"8472"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9044.png","name":"9044"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/116.png","name":"116"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8656.png","name":"8656"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":711.8372591093301,"rotation_z_degrees":60.073040203052116,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010881789742151836,0.004463818196538058,-0.008865893593087098]},{"name":"camera_2","offset_m":[0.00381422849977512,0.008425510256730374,0.01682579826521265]},{"name":"camera_3","offset_m":[0.014943770412694162,0.008492797274275855,-0.00905207827247009]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006213407357829124,0.0001424769482041067,0.0017636682423368198],"end_effector_yaw_offset_degrees":0.2337262721388791},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019862573886449087,0.0007758411973056399,7.420095701934568e-05],"end_effector_yaw_offset_degrees":-0.7778102015518835},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019603270403312995,0.0013294973229749378,-0.0013089308544665594],"end_effector_yaw_offset_degrees":0.8050635588313151},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013816155680146346,0.0017390406021199276,-0.001960027533392265],"end_effector_yaw_offset_degrees":-0.36283606225600273}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030345969478273527,0.003457253280640597],"position_m":[0.14936540305217266,0.22705725328064058,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008411719598215659,-0.001846073921654614],"position_m":[0.24155882804017845,-0.31154607392165456,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003784750443765349,0.0036153515448497176],"position_m":[0.32071524955623465,-0.03798464845515028,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004401886088068164,-0.0019568712997068936],"position_m":[0.35540188608806816,0.3164431287002931,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6c53d428b60565a9a12d5b129f82b1137bd9c0aba771dada3f2c2df142197a43","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0047.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9618/tex_ceiling_textures_8656/tex_floor_textures_116/tex_table_textures_8472/tex_wall_textures_9044","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7427474612668822049,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7427474612668822049,"visual_seed":7427474612668822049,"scene_id":"lab_003","finished_at":"2026-09-04T20:07:29"}
+{"episode_id":"ep_000045","started_at":"2026-09-04T20:07:33","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[-0.34305595254509946,1.683517300646788,0.71338606911949],"aabb_xy":[[-0.34946976618828435,1.6771074803991197],[-0.33664213890191447,1.6899271208944564]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[-0.4201745255144787,-1.5482826538686412,0.71338606911949],"aabb_xy":[[-0.5101745249328495,-1.581658150712831],[-0.3301745260961078,-1.5149071570244514]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_2","position":[0.13472632392172812,-2.4897176310038676,0.71338606911949],"aabb_xy":[[0.04972632550430489,-2.5745919264661525],[0.21972632233915135,-2.4048433355415826]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[0.3848839492215117,-2.3777273383959026,0.71338606911949],"aabb_xy":[[0.38118068789237275,-2.38142935670462],[0.38858721055065054,-2.3740253200871844]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[0.05808505152052368,-0.8067293249377157,0.71338606911949],"aabb_xy":[[-0.00691494636112411,-0.8578529886442566],[0.12308504940217149,-0.7556056612311749]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[-0.40620584986663233,1.3630118867824677,0.71338606911949],"aabb_xy":[[-0.41251794940297076,1.3572449475292487],[-0.3998937503302939,1.3687788260356866]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[-0.2497937960742711,-0.6013750340563391,0.71338606911949],"aabb_xy":[[-0.2872937967388497,-0.6170620920565612],[-0.21229379540969234,-0.5856879760561168]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[-0.6490306490674923,1.0406626397643133,0.71338606911949],"aabb_xy":[[-0.6665306482018595,1.0307830127267252],[-0.6315306499331251,1.0505422668019009]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[-0.4831560326596296,-2.1058518723037207,0.71338606911949],"aabb_xy":[[-0.4919372598068658,-2.1146316195922514],[-0.47437480551239336,-2.097072125015191]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_9","position":[0.0692378684138859,-1.2577128157245845,0.71338606911949],"aabb_xy":[[0.04734812082494511,-1.3477128130138336],[0.0911276160028267,-1.1677128184353354]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[-0.6791525945988356,0.5761784868281414,0.71338606911949],"aabb_xy":[[-0.6835832239536758,0.5707301150934588],[-0.6747219652439954,0.581626858562824]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[-0.21651273813979965,1.146220731336074,0.71338606911949],"aabb_xy":[[-0.22995926477384296,1.1327508796829824],[-0.2030662115057563,1.159690582989165]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_12","position":[0.17433043544193172,-2.2408559415912674,0.71338606911949],"aabb_xy":[[0.1576532994488362,-2.2575558655651977],[0.1910075714350272,-2.224156017617337]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[-0.5761761937232237,1.7070388635036786,0.71338606911949],"aabb_xy":[[-0.6561761947963439,1.6972608171662942],[-0.49617619265010326,1.716816909841063]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_14","position":[0.471202133035564,1.5563990352822956,0.71338606911949],"aabb_xy":[[0.4072021359234583,1.507366665487885],[0.5352021301476697,1.6054314050767062]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[0.024224268885026046,-1.0273563432989254,0.71338606911949],"aabb_xy":[[-0.05577572970229338,-1.1066719452370863],[0.10422426747234546,-0.9480407413607647]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[-0.5141693132000025,-2.0119315637050104,0.71338606911949],"aabb_xy":[[-0.5516693116234027,-2.0250957776728407],[-0.476669314776602,-1.9987673497371792]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[0.24329484287994496,0.837350938493838,0.71338606911949],"aabb_xy":[[0.19330000995200336,0.7873509395985944],[0.29328967580788656,0.8873509373890814]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[0.5593925959495332,1.3366711412281407,0.71338606911949],"aabb_xy":[[0.5094083602413558,1.286671142414645],[0.6093768316577103,1.3866711400416363]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[-0.3864965594571567,0.18369014217510715,0.71338606911949],"aabb_xy":[[-0.42149655864997493,0.1727230961774445],[-0.3514965602643384,0.19465718817276975]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[0.4490542733523015,1.7700567870338486,0.71338606911949],"aabb_xy":[[0.394054274175712,1.715067112258891],[0.504054272528891,1.8250464618088063]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_21","position":[-0.26804544784098727,0.48270848331575955,0.71338606911949],"aabb_xy":[[-0.30182100703168024,0.4686699881025946],[-0.2342698886502943,0.49674697852892463]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[-0.5926248534294102,0.04988480265313999,0.71338606911949],"aabb_xy":[[-0.630124853535003,0.04306264080015887],[-0.5551248533238171,0.056706964506121116]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[-0.2858223582181735,0.8693732241751948,0.71338606911949],"aabb_xy":[[-0.3658223568750595,0.8548683652509321],[-0.20582235956128747,0.8838780830994577]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[-0.37389425355028805,1.2844309738945943,0.71338606911949],"aabb_xy":[[-0.39639067498415215,1.2619309740878468],[-0.35139783211642395,1.3069309737013417]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_25","position":[0.6170267343756606,-1.8174590903009729,0.71338606911949],"aabb_xy":[[0.547026732566915,-1.83881285906516],[0.6870267361844059,-1.7961053215367853]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[0.5968978502593594,-1.9666852308764469,0.71338606911949],"aabb_xy":[[0.5733127267954644,-2.0316852331218787],[0.6204829737232541,-1.9016852286310153]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6960188967724895,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9083.png","name":"9083"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9083.png","name":"9083"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4510.png","name":"4510"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9506.png","name":"9506"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4065.png","name":"4065"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8495.png","name":"8495"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":805.1934681291302,"rotation_z_degrees":358.43969818316816,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014025643279112671,-0.006891379393519723,-0.007194300837006598]},{"name":"camera_2","offset_m":[-0.0038745575261698514,0.006866658264683766,0.008183997328098061]},{"name":"camera_3","offset_m":[0.01808008196575375,0.009475860223813394,0.013036631501476697]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017903408038233103,-0.0018929995696500641,-0.0013677577935599268],"end_effector_yaw_offset_degrees":-0.4208859781955612},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004477926320525308,-3.6944359914184086e-05,0.0013299816288987456],"end_effector_yaw_offset_degrees":0.053323256158923416},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008421781038562477,0.0007368431882979216,0.001501785141319567],"end_effector_yaw_offset_degrees":-0.901342856386032},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008246926898581248,-0.00033369455253107454,0.0003755506979563664],"end_effector_yaw_offset_degrees":-0.8528904981616765}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002887457054680631,-0.003842641853829665],"position_m":[0.14951254294531938,0.21975735814617034,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002325699521505949,-0.002355931583866946],"position_m":[0.24472569952150594,-0.3120559315838669,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027110324806337315,-0.002666527835656255],"position_m":[0.32178896751936625,-0.04426652783565625,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002114213064621331,6.926714193651422e-05],"position_m":[0.34888578693537864,0.3184692671419365,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"de02ddcd4973d60fa7589a1edc449a7bff06a9890ca7632a85fd59c1d41bc744","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0048.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9083/tex_ceiling_textures_8495/tex_floor_textures_4065/tex_table_textures_4510/tex_wall_textures_9506","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1453493514762801176,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1453493514762801176,"visual_seed":1453493514762801176,"scene_id":"lab_003","finished_at":"2026-09-04T20:11:30"}
+{"episode_id":"ep_000046","started_at":"2026-09-04T20:11:34","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[-0.3645195304151507,1.2195132400507216,0.71338606911949],"aabb_xy":[[-0.36941882272171417,1.1918363207481528],[-0.3596202381085872,1.2471901593532904]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[-0.5929474297194849,1.1420469763687096,0.71338606911949],"aabb_xy":[[-0.6080497311805028,1.1269454547376472],[-0.5778451282584666,1.157148497999771]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[0.16783904861643395,1.0973348338974431,0.71338606911949],"aabb_xy":[[0.15029235370031502,1.0598348323331919],[0.18538574353255288,1.1348348354616944]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[-0.5170591044786172,-1.564144210579352,0.71338606911949],"aabb_xy":[[-0.566875883943452,-1.6141442090636553],[-0.4672423250137825,-1.5141442120950486]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[-0.40759423005472356,0.11477305628407031,0.71338606911949],"aabb_xy":[[-0.4146356810054711,0.10774630454627576],[-0.4005527791039759,0.12179980802186485]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.5572435959181306,-2.5065693294757447,0.71338606911949],"aabb_xy":[[0.5401415179597625,-2.523676135007015],[0.5743456738764988,-2.4894625239444754]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[-0.443796400627334,-2.243054157665255,0.71338606911949],"aabb_xy":[[-0.4479123507394066,-2.2471697126981],[-0.4396804505152613,-2.238938602632409]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.4745613375758338,-0.4569110880689897,0.71338606911949],"aabb_xy":[[-0.554555161154392,-0.5369110906618313],[-0.3945675139972755,-0.37691108547614816]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.45100824416011975,-0.9551009753512159,0.71338606911949],"aabb_xy":[[0.44184836521624316,-0.9616321933947529],[0.46016812310399635,-0.9485697573076788]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[0.12439675070508738,-1.0095935789973236,0.71338606911949],"aabb_xy":[[0.08980566785104215,-1.0745935792823544],[0.15898783355913257,-0.9445935787122924]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[-0.5663535055368755,-1.3585898251919728,0.71338606911949],"aabb_xy":[[-0.5711971002981054,-1.363441477670957],[-0.5615099107756455,-1.3537381727129887]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.1517645932000503,-1.7128579558846937,0.71338606911949],"aabb_xy":[[0.06804236769996788,-1.8028579594193896],[0.2354868187001328,-1.6228579523499977]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[-0.021418722413353186,1.6491177838934772,0.71338606911949],"aabb_xy":[[-0.09141871882331497,1.628679848241795],[0.04858127399660861,1.6695557195451585]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.559925225287055,-2.478423444786933,0.71338606911949],"aabb_xy":[[-0.6099202362465072,-2.528423443822525],[-0.5099302143276031,-2.4284234457513416]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.6880836157828607,0.25240645044920207,0.71338606911949],"aabb_xy":[[0.6799559275895476,0.24349284203849442],[0.696211303976174,0.2613200588599097]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_15","position":[0.6476034932215469,-1.6238291162985519,0.71338606911949],"aabb_xy":[[0.636358437650929,-1.6350709140226471],[0.6588485487921647,-1.6125873185744566]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[0.32354411161359353,0.4753181298046161,0.71338606911949],"aabb_xy":[[0.28854411248363787,0.4695729087289519],[0.3585441107435492,0.4810633508802801]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_17","position":[-0.17825465464565637,-0.9368787322444689,0.71338606911949],"aabb_xy":[[-0.22823207151090993,-0.9868787337337175],[-0.12827723778040276,-0.8868787307552204]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[-0.15499264946592983,-1.471938213681359,0.71338606911949],"aabb_xy":[[-0.2099858608030666,-1.526938214020153],[-0.09999943812879308,-1.4169382133425656]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[0.5313798107445338,-1.0460820927737304,0.71338606911949],"aabb_xy":[[0.5002328919009505,-1.1160820914605376],[0.5625267295881168,-0.9760820940869233]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6920902828072932,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6743.png","name":"6743"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6743.png","name":"6743"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2954.png","name":"2954"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1429.png","name":"1429"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5893.png","name":"5893"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7550.png","name":"7550"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":689.0724680947578,"rotation_z_degrees":99.05501141103261,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016448157101519593,0.007976907083259675,0.01967386213768792]},{"name":"camera_2","offset_m":[0.0009699873313440098,0.00519247097881104,-0.016992383466335866]},{"name":"camera_3","offset_m":[0.012668400175198487,0.0007853817659931872,-0.0019049694101429676]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002998464921004835,0.001829190310423702,-7.175677835953207e-05],"end_effector_yaw_offset_degrees":0.12726214943676406},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001194158969884387,-9.065094759694997e-05,0.0019283841772135884],"end_effector_yaw_offset_degrees":-0.7434826144635753},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[4.631831844967207e-05,-0.001522803492807193,0.0007166389855192113],"end_effector_yaw_offset_degrees":-0.3741863283159914},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008112184535295293,0.0004181998303758711,0.00013649893883077016],"end_effector_yaw_offset_degrees":0.27612786009636414}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013179353982020626,-0.0003346234114205097],"position_m":[0.15371793539820208,0.22326537658857948,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035821875042529373,-0.0025483342977137614],"position_m":[0.23881781249574707,-0.31224833429771376,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015368605795233236,-0.001129475112637707],"position_m":[0.32296313942047666,-0.04272947511263771,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004744141223840932,-0.0034116464741567086],"position_m":[0.34625585877615905,0.3149883535258433,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9951f470d300da2590866e1015729d2cf3df2ca45696cf81e19373d93248561b","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0049.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6743/tex_ceiling_textures_7550/tex_floor_textures_5893/tex_table_textures_2954/tex_wall_textures_1429","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5309524758312050847,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5309524758312050847,"visual_seed":5309524758312050847,"scene_id":"lab_003","finished_at":"2026-09-04T20:15:17"}
+{"episode_id":"ep_000047","started_at":"2026-09-04T20:15:20","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[0.09294238376389996,-1.2293324936112404,0.71338606911949],"aabb_xy":[[0.0629748268540743,-1.2593324939091264],[0.12290994067372563,-1.199332493313355]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[-0.5851058266997924,1.0991212117478155,0.71338606911949],"aabb_xy":[[-0.6155900768268225,1.0491212119663196],[-0.5546215765727622,1.1491212115293115]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_2","position":[0.15170672850740063,-1.4240863567351996,0.71338606911949],"aabb_xy":[[0.12924195853599552,-1.44658635761406],[0.17417149847880575,-1.401586355856339]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.2522190906294268,-1.734271490587695,0.71338606911949],"aabb_xy":[[0.22971909061927853,-1.7483677102272979],[0.2747190906395751,-1.7201752709480913]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[-0.4139817140774,-1.5735087172991098,0.71338606911949],"aabb_xy":[[-0.4639748261865919,-1.6235087179733056],[-0.3639886019682081,-1.5235087166249144]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[0.24838340612439191,1.4669664592374931,0.71338606911949],"aabb_xy":[[0.23322053314745486,1.4518010019423744],[0.263546279101329,1.482131916532612]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[-0.10449160194386153,0.6344030740610922,0.71338606911949],"aabb_xy":[[-0.10840547513928404,0.6256540586545354],[-0.100577728748439,0.643152089467649]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[0.12258195939492944,1.0526302925311075,0.71338606911949],"aabb_xy":[[0.11323495181263422,1.0383266703134635],[0.13192896697722467,1.0669339147487515]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_8","position":[0.13503131103362143,-0.8799023446672509,0.71338606911949],"aabb_xy":[[0.08503131008308859,-0.9114514916707723],[0.1850313119841542,-0.8483531976637295]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[0.30214816945819034,-2.1125534387825176,0.71338606911949],"aabb_xy":[[0.2846014745420714,-2.1500534403467686],[0.3196948643743093,-2.0750534372182665]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_10","position":[0.535990276208419,-1.8877923953748508,0.71338606911949],"aabb_xy":[[0.4719902797810971,-1.9349620191969472],[0.5999902726357409,-1.8406227715527543]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[-0.33145543787364,1.2240767393807999,0.71338606911949],"aabb_xy":[[-0.34432734137458015,1.1440767389669637],[-0.3185835343726999,1.304076739794636]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[0.3477749688823111,-0.7991722356259863,0.71338606911949],"aabb_xy":[[0.339560423766627,-0.8078488259236274],[0.35598951399799494,-0.7904956453283447]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.12468519317145921,-2.0880664298585,0.71338606911949],"aabb_xy":[[0.03499811686334377,-2.1780664301129504],[0.21437226947957466,-1.9980664296040493]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[0.1667792576664674,1.2653462373032647,0.71338606911949],"aabb_xy":[[0.12927925909084656,1.2526099416397067],[0.20427925624208818,1.2780825329668226]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.08217180805073909,-0.16509659587369185,0.71338606911949],"aabb_xy":[[-0.1437625672747319,-0.22909659398273877],[-0.020581048826746287,-0.101096597764645]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.08214966121109524,1.1861228166977438,0.71338606911949],"aabb_xy":[[0.012149664801133426,1.1656848810460616],[0.15214965762105698,1.206560752349425]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.5552312025476358,-0.025821265731632348,0.71338606911949],"aabb_xy":[[0.5002379912104992,-0.08082126607042596],[0.6102244138847727,0.029178734607161257]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[-0.33804531058997883,-1.8800741933045324,0.71338606911949],"aabb_xy":[[-0.4020453122679762,-1.9285915847838464],[-0.2740453089119815,-1.831556801825218]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[0.5700210295902581,-2.0340496509584858,0.71338606911949],"aabb_xy":[[0.5200210309443369,-2.0839691946179477],[0.6200210282361793,-1.984130107299023]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.13827344451659596,-1.256362777157217,0.71338606911949],"aabb_xy":[[-0.17952225554651066,-1.3113627766694342],[-0.09702463348668121,-1.2013627776449993]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[-0.48893604598039736,0.4305709998124896,0.71338606911949],"aabb_xy":[[-0.5539360469375244,0.378622787878784],[-0.4239360450232701,0.48251921174619516]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[0.3918350422986756,-1.1530648957451017,0.71338606911949],"aabb_xy":[[0.37595054903335046,-1.1674178360439256],[0.40771953556400076,-1.1387119554462775]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[-0.3725429613404064,-0.1965490989585632,0.71338606911949],"aabb_xy":[[-0.37667881767310657,-0.2340490984029202],[-0.3684071050077062,-0.1590490995142062]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_24","position":[-0.2311533124596602,-0.8780903509868614,0.71338606911949],"aabb_xy":[[-0.29515331480246176,-0.9230312022309939],[-0.16715331011685863,-0.8331494997427289]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[0.5099611282384076,1.6758127741511175,0.71338606911949],"aabb_xy":[[0.41996112456148915,1.6143803675740127],[0.5999611319153255,1.7372451807282214]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[0.6244732650589819,-0.3045159149698482,0.71338606911949],"aabb_xy":[[0.5444732664716625,-0.38383151690800904],[0.7044732636463014,-0.22520031303168728]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_27","position":[-0.48944767729408956,-1.4480172849218649,0.71338606911949],"aabb_xy":[[-0.5070259794830364,-1.4655917744959697],[-0.4718693751051427,-1.4304427953477596]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_28","position":[-0.06923107009501472,1.6684636624307951,0.71338606911949],"aabb_xy":[[-0.08912210997535498,1.6558078511460983],[-0.04934003021467449,1.681119473715492]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_29","position":[-0.0027633079038122954,1.3541633335493484,0.71338606911949],"aabb_xy":[[-0.02526330814732769,1.3419586988895764],[0.0197366923397031,1.3663679682091203]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_30","position":[-0.10155396228074143,0.3276044049088167,0.71338606911949],"aabb_xy":[[-0.15152725628400188,0.2776044043542693],[-0.05158066827748098,0.377604405463364]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_31","position":[-0.5760227826910962,-0.0970367575137403,0.71338606911949],"aabb_xy":[[-0.6145684755162972,-0.13558252856992897],[-0.5374770898658952,-0.058490986457551644]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_32","position":[0.34666037112030024,0.6765575142903111,0.71338606911949],"aabb_xy":[[0.2915351654907094,0.6165575128490238],[0.40178557674989096,0.7365575157315981]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_33","position":[0.05636622467566721,-1.4543939337171976,0.71338606911949],"aabb_xy":[[0.04321497870437785,-1.479393933473884],[0.06951747064695657,-1.4293939339605108]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_34","position":[-0.3277550825376384,-1.2116497416714989,0.71338606911949],"aabb_xy":[[-0.3611952577336579,-1.2450933675024285],[-0.2943149073416187,-1.1782061158405683]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7000730763850285,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7082.png","name":"7082"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7082.png","name":"7082"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9051.png","name":"9051"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7938.png","name":"7938"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9825.png","name":"9825"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5279.png","name":"5279"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":555.2964668279606,"rotation_z_degrees":321.88699308867604,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004514850049432653,0.0004287891755084018,0.011428442395806485]},{"name":"camera_2","offset_m":[-0.007423282385579544,0.0031320738436735954,0.017768654160694976]},{"name":"camera_3","offset_m":[-0.010962876243854143,0.013803526816243712,-0.006166912565702379]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011483773289798671,0.0006591479219773297,0.000245433064543592],"end_effector_yaw_offset_degrees":0.3932162748800345},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004872936159592337,-0.0016971199068559974,-0.00020434832895893868],"end_effector_yaw_offset_degrees":-0.6022200824124895},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000343777739899815,0.0017307981042501337,-0.00020828993352115877],"end_effector_yaw_offset_degrees":0.11893848795299267},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011874325944514924,-0.0008029707110309,-0.001607990891924016],"end_effector_yaw_offset_degrees":-0.3330725129314349}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001274675273575331,0.004538413314340804],"position_m":[0.15112532472642468,0.2281384133143408,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004590924347113402,0.004999903250984061],"position_m":[0.23780907565288661,-0.30470009674901594,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029166972266395463,0.0034209653581187853],"position_m":[0.32158330277336045,-0.038179034641881215,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001619547807134144,0.0016737377662708018],"position_m":[0.3526195478071341,0.3200737377662708,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bad4f4a668f6cbab73918994936c56feb1e299d7e8e1a3f62594ce9c42419de7","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7082/tex_ceiling_textures_5279/tex_floor_textures_9825/tex_table_textures_9051/tex_wall_textures_7938","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2435844873898407143,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2435844873898407143,"visual_seed":2435844873898407143,"scene_id":"lab_003","finished_at":"2026-09-04T20:19:07"}
+{"episode_id":"ep_000048","started_at":"2026-09-04T20:23:33","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.33832733306453117,-2.3721618868323064,0.71338606911949],"aabb_xy":[[-0.38051174722536185,-2.4361618871095176],[-0.29614291890370037,-2.3081618865550952]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.1277592980151383,-0.9655405685036973,0.71338606911949],"aabb_xy":[[-0.16455393114004457,-1.0024464436002793],[-0.09096466489023203,-0.9286346934071148]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[0.6003214089105247,-1.7420924677303897,0.71338606911949],"aabb_xy":[[0.5165991834104422,-1.8320924712650855],[0.6840436344106071,-1.6520924641956936]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[0.13341734889469303,-1.618848078006373,0.71338606911949],"aabb_xy":[[0.07341734829867685,-1.6736605505515965],[0.1934173494907092,-1.5640356054611495]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_4","position":[0.48063268404737447,-2.045276635387102,0.71338606911949],"aabb_xy":[[0.41663268170457285,-2.090217486631234],[0.5446326863901759,-2.000335784142969]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[0.2593351790583014,-0.6931827413899965,0.71338606911949],"aabb_xy":[[0.24686782094856574,-0.70564806602332],[0.27180253716803704,-0.680717416756673]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_6","position":[-0.07938210226206077,1.1957571705693342,0.71338606911949],"aabb_xy":[[-0.14338209865763385,1.1317938821506004],[-0.015382105866487694,1.2597204589880675]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[-0.6046089726011817,0.37454942682432435,0.71338606911949],"aabb_xy":[[-0.6101906442353104,0.36204942700654885],[-0.599027300967053,0.38704942664209985]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_8","position":[0.4821239782117972,-1.5107316280169096,0.71338606911949],"aabb_xy":[[0.42810838192989714,-1.5747316309091666],[0.5361395744936972,-1.4467316251246523]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[0.29260947707261287,-1.4396154228800881,0.71338606911949],"aabb_xy":[[0.23761722643710198,-1.4946154246234011],[0.34760172770812386,-1.3846154211367756]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[0.5466381157986893,-0.667260355706264,0.71338606911949],"aabb_xy":[[0.5056201724123184,-0.7172603563372212],[0.5876560591850601,-0.6172603550753065]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[-0.5804847482704736,-0.6917818523383292,0.71338606911949],"aabb_xy":[[-0.6444847496784643,-0.7435708038622539],[-0.5164847468624829,-0.6399929008144045]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[-0.30725856927068873,0.6094200284911313,0.71338606911949],"aabb_xy":[[-0.3550647368844574,0.5444200257840722],[-0.2594524016569201,0.6744200311981902]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[-0.14915901559657252,1.0024370405027616,0.71338606911949],"aabb_xy":[[-0.2131590127086782,0.9534046707083508],[-0.08515901848446683,1.051469410297172]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[-0.578642078030739,-1.7379987856481947,0.71338606911949],"aabb_xy":[[-0.6136420772235572,-1.7489658316458572],[-0.5436420788379207,-1.7270317396505321]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[0.2114264441067052,-2.0178293240830913,0.71338606911949],"aabb_xy":[[0.17551293968171547,-2.053742832299846],[0.24733994853169486,-1.9819158158663368]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.3864954514671969,-1.1473128158134005,0.71338606911949],"aabb_xy":[[-0.4664954486267721,-1.1588604167712175],[-0.30649545430762154,-1.1357652148555835]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[0.5663285766567319,1.3093600881012457,0.71338606911949],"aabb_xy":[[0.5566969404363022,1.2997227753215368],[0.5759602128771615,1.3189974008809546]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[0.4762156050033959,0.8900244386796574,0.71338606911949],"aabb_xy":[[0.44273643774235494,0.8565453253085504],[0.5096947722644368,0.9235035520507644]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.21040249003901945,-0.5668356840563211,0.71338606911949],"aabb_xy":[[0.1991574344684016,-0.5780774817804164],[0.22164754560963726,-0.5555938863322258]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[0.49875016358389823,-1.206780891045846,0.71338606911949],"aabb_xy":[[0.4137501648918236,-1.2387667544407246],[0.5837501622759729,-1.1747950276509669]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[-0.4129605485679572,-1.4238857786975332,0.71338606911949],"aabb_xy":[[-0.47796054712503006,-1.453638312111416],[-0.3479605500108844,-1.3941332452836508]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.5213107620657765,0.9626718950005575,0.71338606911949],"aabb_xy":[[-0.585310763978119,0.9067607457425472],[-0.4573107601534343,1.018583044258568]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[0.5299465441332474,-2.3030645720174188,0.71338606911949],"aabb_xy":[[0.47994654318271446,-2.33461371902094],[0.5799465450837801,-2.2715154250138974]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[-0.200934512238848,-1.6044943459174095,0.71338606911949],"aabb_xy":[[-0.21250349298578458,-1.6294943460343412],[-0.18936553149191143,-1.5794943458004778]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6997351971763844,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2.png","name":"2"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2.png","name":"2"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9970.png","name":"9970"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5714.png","name":"5714"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2965.png","name":"2965"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/531.png","name":"531"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":696.7364049602569,"rotation_z_degrees":125.38980418729722,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01586094129994702,-0.010032603448572335,-0.007408707258716736]},{"name":"camera_2","offset_m":[-0.0014813836071795906,-0.0024958658354362583,-0.0021128993206168158]},{"name":"camera_3","offset_m":[0.01956840931060198,0.0169144390269171,0.012159155462396553]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001339660424447866,0.00019107144556369804,0.0017123215091185886],"end_effector_yaw_offset_degrees":-0.8799474565423993},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00020195279821977937,0.0014599319572671248,-8.128026687777594e-05],"end_effector_yaw_offset_degrees":0.5581057874494517},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007088158437173417,0.0014269307711169002,0.0010467425378308782],"end_effector_yaw_offset_degrees":0.5691824536244323},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001383182019753655,0.0014075993008266004,0.0005827316922118277],"end_effector_yaw_offset_degrees":-0.8974532193618652}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00048379370534025815,0.003342919253324553],"position_m":[0.15288379370534028,0.22694291925332455,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037224005809535334,0.0018030489688220623],"position_m":[0.24612240058095353,-0.3078969510311779,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024258957751289167,0.0030235432378503757],"position_m":[0.3220741042248711,-0.03857645676214962,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00011066341235609241,0.0038590210302071144],"position_m":[0.3511106634123561,0.32225902103020715,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7194cf130dd13c3196d7196f0a4dadb6a0a99edec09a19f90d0889ead53e70de","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0052.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2/tex_ceiling_textures_531/tex_floor_textures_2965/tex_table_textures_9970/tex_wall_textures_5714","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4931969693525592257,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4931969693525592257,"visual_seed":4931969693525592257,"scene_id":"lab_003","finished_at":"2026-09-04T20:27:15"}
+{"episode_id":"ep_000049","started_at":"2026-09-04T20:27:18","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[0.03870281847470902,1.2102608530791583,0.71338606911949],"aabb_xy":[[0.0037028184982131826,1.200796237031542],[0.07370281845120485,1.2197254691267752]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[-0.6545974333238908,0.7388269565617218,0.71338606911949],"aabb_xy":[[-0.6599350089898953,0.713826955632582],[-0.6492598576578862,0.7638269574908616]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.6588323457163433,-0.8235893502295497,0.71338606911949],"aabb_xy":[[-0.6697381218039061,-0.903589346628379],[-0.6479265696287807,-0.7435893538307207]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[0.36944784980307865,1.7675978998625772,0.71338606911949],"aabb_xy":[[0.3078570905790859,1.7035979017535305],[0.43103860902707153,1.8315978979716243]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[-0.5225268074902858,1.5938842230153845,0.71338606911949],"aabb_xy":[[-0.5403203144252022,1.5760844774195866],[-0.5047333005553694,1.611683968611182]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_5","position":[-0.31818520936701883,1.23939999945204,0.71338606911949],"aabb_xy":[[-0.3308119966542152,1.2298539257504668],[-0.3055584220798225,1.2489460731536126]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[-0.6204290437404165,1.3633958592514488,0.71338606911949],"aabb_xy":[[-0.6373397761767582,1.349923653658834],[-0.6035183113040746,1.3768680648440632]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.5106939504193897,-0.8390909668137001,0.71338606911949],"aabb_xy":[[0.4881939504092414,-0.8531871864533034],[0.533193950429538,-0.8249947471740968]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.2986969403271697,-1.1188476863803856,0.71338606911949],"aabb_xy":[[-0.3636969429649632,-1.1703272850798323],[-0.23369693768937622,-1.0673680876809384]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.01855953009233091,-1.2844705636591771,0.71338606911949],"aabb_xy":[[-0.025820777662738326,-1.2972575739226868],[-0.011298282521923497,-1.2716835533956679]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[-0.25509686035037654,-1.8463647413954538,0.71338606911949],"aabb_xy":[[-0.2925968610149552,-1.862051799395676],[-0.2175968596857978,-1.8306776833952316]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[-0.23120600040414813,-2.3539393012119407,0.71338606911949],"aabb_xy":[[-0.2482160976941988,-2.370073789710214],[-0.2141959031140975,-2.3378048127136664]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.45244083429753035,0.5014950742559159,0.71338606911949],"aabb_xy":[[0.40245788411005096,0.45149507461335553],[0.5024237844850096,0.5514950738984763]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_13","position":[0.627019392393869,0.9021011305420878,0.71338606911949],"aabb_xy":[[0.6176019178240062,0.8926849534043688],[0.6364368669637317,0.9115173076798069]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.33860064174615223,1.094394673082821,0.71338606911949],"aabb_xy":[[-0.4026006439665592,1.0500215889575326],[-0.27460063952574515,1.1387677572081092]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[0.33784066344675256,-0.5652637573943542,0.71338606911949],"aabb_xy":[[0.328547045209602,-0.6027637558824881],[0.34713428168390315,-0.5277637589062203]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[0.35844835169429046,-1.9055943373586786,0.71338606911949],"aabb_xy":[[0.30344835349254556,-1.9461163039851161],[0.41344834989603524,-1.865072370732241]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[-0.2097828759566887,0.7420291987393175,0.71338606911949],"aabb_xy":[[-0.21894275490056528,0.7354979806957804],[-0.20062299701281208,0.7485604167828546]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.46026680501864137,0.8608546872534921,0.71338606911949],"aabb_xy":[[0.39626680790653573,0.8118223174590814],[0.5242668021307471,0.9098870570479026]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[-0.5147712222959496,1.1465100874110274,0.71338606911949],"aabb_xy":[[-0.5647442878284652,1.0965100875984948],[-0.4647981567634343,1.1965100872235606]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[-0.08106403803118012,-1.4439418402071533,0.71338606911949],"aabb_xy":[[-0.09230909360179794,-1.4551836379312484],[-0.06981898246056227,-1.4327000424830578]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_21","position":[-0.5268831149803904,-0.39705825890867885,0.71338606911949],"aabb_xy":[[-0.6168831117160005,-0.4502417222259733],[-0.4368831182447801,-0.3438747955913843]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[0.5752350673310733,-0.7092143782791664,0.71338606911949],"aabb_xy":[[0.5112350709037515,-0.756384002101263],[0.6392350637583953,-0.6620447544570701]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[0.4161262162681474,1.2587570937813224,0.71338606911949],"aabb_xy":[[0.3979203926068998,1.247731693199331],[0.4343320399293952,1.2697824943633143]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[-0.2798958205481828,-1.4412216259855646,0.71338606911949],"aabb_xy":[[-0.3348890318853196,-1.4962216263243582],[-0.2249026092110461,-1.386221625646771]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_25","position":[0.48218961873335897,-0.34178166671796495,0.71338606911949],"aabb_xy":[[0.44000520457252823,-0.40578166699517615],[0.5243740328941897,-0.27778166644075375]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_26","position":[-0.22117306715981072,1.394713415331566,0.71338606911949],"aabb_xy":[[-0.22920940186109554,1.386675296027149],[-0.21313673245852585,1.4027515346359825]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6979372348581507,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6935.png","name":"6935"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6935.png","name":"6935"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/803.png","name":"803"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2074.png","name":"2074"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9134.png","name":"9134"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4260.png","name":"4260"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":734.8149970072383,"rotation_z_degrees":310.46126128853,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0042961343506416685,0.011761941335883357,-0.005542177113169174]},{"name":"camera_2","offset_m":[0.01492587451182954,0.016399889127831472,0.003721122994963154]},{"name":"camera_3","offset_m":[0.017672361116864942,0.011124111112287526,0.016523829412476033]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016231866738952464,0.0005409871008993936,0.001423815661858232],"end_effector_yaw_offset_degrees":0.3953913533435689},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015871260364957748,0.0012594869235502673,0.0009474221737345522],"end_effector_yaw_offset_degrees":-0.1913345478034274},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016419213758791379,-0.0019546193284954343,0.001675172707221766],"end_effector_yaw_offset_degrees":-0.13470528206796017},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-1.5568969558948844e-05,0.0013337787101048333,-0.0013188008875957937],"end_effector_yaw_offset_degrees":0.14856822478996867}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016219336513187176,0.001225807336100269],"position_m":[0.15402193365131872,0.22482580733610028,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002911462510911965,0.003917214843781948],"position_m":[0.23948853748908805,-0.30578278515621804,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006801729534851204,0.0011957996280772985],"position_m":[0.3251801729534851,-0.0404042003719227,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002538485069913253,-0.004845972664240048],"position_m":[0.35353848506991326,0.31355402733576,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bb800facf202f96dae40710b4809156c844539a5af5a93fee3a89f00d9d2ae12","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6935/tex_ceiling_textures_4260/tex_floor_textures_9134/tex_table_textures_803/tex_wall_textures_2074","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7050316135417298646,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7050316135417298646,"visual_seed":7050316135417298646,"scene_id":"lab_003","finished_at":"2026-09-04T20:31:12"}
+{"episode_id":"ep_000050","started_at":"2026-09-04T20:31:18","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[-0.3332452456523114,0.7263873467832118,0.71338606911949],"aabb_xy":[[-0.3948360048763042,0.662387348674165],[-0.2716544864283186,0.7903873448922588]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[0.2998289874140676,-0.6878589028392195,0.71338606911949],"aabb_xy":[[0.26232898712189273,-0.6919003782398232],[0.33732898770624237,-0.683817427438616]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[-0.22364942948255373,-0.6690367223564604,0.71338606911949],"aabb_xy":[[-0.3036494264968017,-0.6891712740298717],[-0.14364943246830575,-0.6489021706830491]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[0.23317422725887604,-1.7759128253921144,0.71338606911949],"aabb_xy":[[0.16817422630174883,-1.82786103732582],[0.29817422821600326,-1.7239646134584088]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[0.5511265256266844,-0.08343164208813247,0.71338606911949],"aabb_xy":[[0.54578894996068,-0.10843164301727228],[0.5564641012926891,-0.0584316411589927]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[0.4665071060701238,-2.1803932323114767,0.71338606911949],"aabb_xy":[[0.4600054695621192,-2.190161054337787],[0.4730087425781284,-2.1706254102851674]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[0.25969318009081455,-1.3644032423513963,0.71338606911949],"aabb_xy":[[0.22970151735694416,-1.3944032416881968],[0.2896848428246848,-1.3344032430145958]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_7","position":[-0.09370415586895531,-0.968306354791312,0.71338606911949],"aabb_xy":[[-0.0996706948096911,-0.9742674994506759],[-0.08773761692821952,-0.9623452101319478]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[-0.13217798682275583,1.1784026647547612,0.71338606911949],"aabb_xy":[[-0.21717798524017906,1.0935283692924764],[-0.047177988405332605,1.2632769602170464]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_9","position":[-0.03670339280446966,1.467971015557184,0.71338606911949],"aabb_xy":[[-0.09169887062512905,1.4129710141232767],[0.018292085016189737,1.5229710169910906]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[0.6156053133296822,-1.3766028275828204,0.71338606911949],"aabb_xy":[[0.5923234711315507,-1.4616028288800482],[0.6388871555278134,-1.291602826285592]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[0.21103435090967593,1.670941065214238,0.71338606911949],"aabb_xy":[[0.17423971778476963,1.634035190117656],[0.24782898403458217,1.7078469403108205]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[-0.4872489200509964,-0.04760479089552794,0.71338606911949],"aabb_xy":[[-0.5333340113057279,-0.11160478814808304],[-0.44116382879626503,0.016395206357027178]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[0.5650463444603364,1.7549191160630015,0.71338606911949],"aabb_xy":[[0.5285505238330577,1.7184351736362438],[0.6015421650876152,1.791403058489759]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[0.2981945192979538,0.8149857040338895,0.71338606911949],"aabb_xy":[[0.2606945185059584,0.8086178630756994],[0.33569452008994927,0.8213535449920796]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.3229750484190588,-1.937264860913878,0.71338606911949],"aabb_xy":[[-0.3508200851996659,-1.9680493596521897],[-0.29513001163845165,-1.9064803621755664]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[0.3698791071640053,-1.3599218873368908,0.71338606911949],"aabb_xy":[[0.349820695550765,-1.3799869742460487],[0.3899375187772456,-1.3398568004277334]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[-0.45622326507524635,1.2115752100399932,0.71338606911949],"aabb_xy":[[-0.4737232653345831,1.1974836678512208],[-0.43872326481590984,1.225666752228766]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_18","position":[0.17028179630669904,0.77276896559375,0.71338606911949],"aabb_xy":[[0.1536046603136035,0.7560690416198197],[0.18695893229979452,0.7894688895676802]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[-0.22316837492871194,-0.9466195634328398,0.71338606911949],"aabb_xy":[[-0.25816837412153015,-0.9575866094305024],[-0.18816837573589362,-0.9356525174351772]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_20","position":[-0.29755859730876666,-1.7821502791001362,0.71338606911949],"aabb_xy":[[-0.303653225196885,-1.7907196736518052],[-0.29146396942064834,-1.7735808845484677]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[0.5362985851159257,-2.2654545653646023,0.71338606911949],"aabb_xy":[[0.466298582984496,-2.2882165309902973],[0.6062985872473551,-2.2426925997389056]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7007561676989289,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/34.png","name":"34"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/34.png","name":"34"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6396.png","name":"6396"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5252.png","name":"5252"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7895.png","name":"7895"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8031.png","name":"8031"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":775.7972951098491,"rotation_z_degrees":196.08401803234483,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008175555270265242,-5.709370670839431e-05,0.01670307190442068]},{"name":"camera_2","offset_m":[-0.01766225297885564,-0.009251959352315705,-0.006628291043780394]},{"name":"camera_3","offset_m":[-0.01853813666244855,-0.007684304762064191,0.008304831325371905]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001005999633604144,0.0002192878707334622,0.0016402386181136874],"end_effector_yaw_offset_degrees":-0.03989488155979237},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00039110866492441873,-0.0010765747796857997,0.0011063137088040604],"end_effector_yaw_offset_degrees":-0.7268532335639404},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001149836205646639,-0.0007815540298810135,0.001630604044082168],"end_effector_yaw_offset_degrees":0.7303255473240542},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007572579546296604,0.0014734727988682467,-0.0005200521378044484],"end_effector_yaw_offset_degrees":0.3761355233383217}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004781421010896131,0.0014231346902296117],"position_m":[0.15718142101089613,0.2250231346902296,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003927623889623799,0.0005416891238789745],"position_m":[0.24632762388962381,-0.309158310876121,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00034943575110473087,-0.0018920739071510493],"position_m":[0.32415056424889527,-0.04349207390715105,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004715343536983998,-0.002901185415715615],"position_m":[0.355715343536984,0.3154988145842844,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ce40c94024f27910f6417966c316df26316c0e9eb5efcbd12dcd42cc2aebd2a5","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_34/tex_ceiling_textures_8031/tex_floor_textures_7895/tex_table_textures_6396/tex_wall_textures_5252","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2925549224863248540,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2925549224863248540,"visual_seed":2925549224863248540,"scene_id":"lab_003","finished_at":"2026-09-04T20:35:13"}
+{"episode_id":"ep_000051","started_at":"2026-09-04T20:35:18","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_0","position":[-0.0512366569154844,0.9141271825958137,0.71338606911949],"aabb_xy":[[-0.06207713514199931,0.8969409013051648],[-0.0403961786889695,0.9313134638864624]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[-0.5255451786115197,-0.2279037042331904,0.71338606911949],"aabb_xy":[[-0.5292484399406585,-0.23160572254190823],[-0.5218419172823807,-0.2242016859244725]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[0.24424200020462783,-1.7441241646743213,0.71338606911949],"aabb_xy":[[0.19907068235645892,-1.8081241618188602],[0.28941331805279685,-1.6801241675297833]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[0.4501358191151028,1.7811857015599348,0.71338606911949],"aabb_xy":[[0.3851358205580299,1.7514331681460522],[0.5151358176721756,1.8109382349738175]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[0.5707134927627739,-2.3174915468347006,0.71338606911949],"aabb_xy":[[0.5667996195673515,-2.3262405622412574],[0.5746273659581964,-2.308742531428144]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[-0.4815752803335872,-0.3777713291950189,0.71338606911949],"aabb_xy":[[-0.49248105642114987,-0.45777132559384803],[-0.47066950424602444,-0.2977713327961897]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_6","position":[0.4033453855643261,1.619097434870858,0.71338606911949],"aabb_xy":[[0.35334538612413047,1.5691295103865417],[0.4533453850045217,1.6690653593551743]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_7","position":[-0.10144317513205436,0.4664964026813134,0.71338606911949],"aabb_xy":[[-0.1300925074924706,0.4378508434042376],[-0.07279384277163814,0.49514196195838917]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.17118279917210732,-1.2689902089611844,0.71338606911949],"aabb_xy":[[0.16188918093495674,-1.3064902074493183],[0.1804764174092579,-1.2314902104730505]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[-0.3039345023570566,-0.8662509459759085,0.71338606911949],"aabb_xy":[[-0.32643450286909714,-0.8887428043413067],[-0.28143450184501595,-0.84375908761051]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[-0.602149539002682,-0.48975155391352,0.71338606911949],"aabb_xy":[[-0.6522470029837556,-0.5537515544233319],[-0.5520520750216084,-0.4257515534037083]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.3135890246117226,-0.2975357023999634,0.71338606911949],"aabb_xy":[[-0.3243619985330904,-0.3325357006190024],[-0.30281605069035483,-0.2625357041809244]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.42332604976652655,-0.6509998575278411,0.71338606911949],"aabb_xy":[[-0.43373760844701026,-0.6563455908637394],[-0.41291449108604283,-0.6456541241919425]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_13","position":[0.551123341779105,-0.8776357448495229,0.71338606911949],"aabb_xy":[[0.47112334379832005,-0.8852372858113748],[0.6311233397598901,-0.8700342038876709]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_14","position":[-0.6455804509070042,-2.184232390992352,0.71338606911949],"aabb_xy":[[-0.6575131852688323,-2.1966145438002114],[-0.6336477165451762,-2.1718502381844926]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.5320516271545086,0.9750686569353753,0.71338606911949],"aabb_xy":[[0.4680516278603404,0.911082516566521],[0.5960516264486768,1.0390547973042294]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[-0.3295429182830903,-2.234697209254465,0.71338606911949],"aabb_xy":[[-0.38954291992601214,-2.286697358546409],[-0.26954291664016844,-2.182697059962521]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.3496816173255787,-1.30559431267813,0.71338606911949],"aabb_xy":[[-0.3746816172580966,-1.3124769808990533],[-0.32468161739306084,-1.2987116444572067]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[-0.3786596793349542,-1.6595609167228678,0.71338606911949],"aabb_xy":[[-0.44265967960893243,-1.7096270169201555],[-0.31465967906097597,-1.6094948165255796]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[0.44459528799476056,-0.5001809509201287,0.71338606911949],"aabb_xy":[[0.4095952866432788,-0.5205406868769494],[0.4795952893462423,-0.4798212149633078]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[-0.051965666601273885,-1.935116164038829,0.71338606911949],"aabb_xy":[[-0.06954396879022073,-1.952690653612934],[-0.03438736441232703,-1.917541674464724]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[-0.41321473954216104,1.302711047869976,0.71338606911949],"aabb_xy":[[-0.47821473742380893,1.2515873841634353],[-0.3482147416605133,1.353834711576517]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.46046125269432314,0.6020581769406408,0.71338606911949],"aabb_xy":[[-0.47361249866561256,0.5770581771839542],[-0.44731000672303384,0.6270581766973273]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[-0.4986000452413396,-1.0181088496250907,0.71338606911949],"aabb_xy":[[-0.5120465718753828,-1.0315787012781819],[-0.4851535186072962,-1.0046389979719996]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_24","position":[-0.5099605452228795,-2.3408760569740026,0.71338606911949],"aabb_xy":[[-0.5899605456930954,-2.3491867645883513],[-0.42996054475266354,-2.3325653493596548]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_25","position":[-0.1369479305742548,1.0344686479243443,0.71338606911949],"aabb_xy":[[-0.20194793157475532,0.9836822827696694],[-0.07194792957375429,1.0852550130790193]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_26","position":[0.22498605384549064,0.8537026143107345,0.71338606911949],"aabb_xy":[[0.17498605348492452,0.8037226271011315],[0.2749860542060566,0.9036826015203374]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_27","position":[-0.1751308487813953,-1.9681333873314393,0.71338606911949],"aabb_xy":[[-0.2251308498005306,-2.004599603069267],[-0.12513084776226005,-1.9316671715936116]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_28","position":[-0.5136003070464711,-1.846187976818445,0.71338606911949],"aabb_xy":[[-0.5435919697803413,-1.8761879761552454],[-0.48360864431260064,-1.8161879774816443]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[-0.2955730845743551,1.370407835491625,0.71338606911949],"aabb_xy":[[-0.3042870536242895,1.3479078348324365],[-0.2868591155244205,1.392907836150813]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_30","position":[-0.1336734270497374,-2.452196181435071,0.71338606911949],"aabb_xy":[[-0.19367342755759026,-2.509042915120992],[-0.07367342654188443,-2.395349447749149]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7015275868843259,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5500.png","name":"5500"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5500.png","name":"5500"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7263.png","name":"7263"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6743.png","name":"6743"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3560.png","name":"3560"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1106.png","name":"1106"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":786.6091941931511,"rotation_z_degrees":102.26770712979527,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01393407916147487,0.0134343268640589,0.005049434570532588]},{"name":"camera_2","offset_m":[-0.018037500813150153,0.015796312814103947,-0.014443307193450968]},{"name":"camera_3","offset_m":[0.00859396080760956,-0.009422628895096801,-0.0039522200451254305]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004257589356999785,0.001235606535400926,-0.00043608411007138234],"end_effector_yaw_offset_degrees":0.5371669147512927},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016316265920317532,3.797142321038463e-05,-0.0010350187937866015],"end_effector_yaw_offset_degrees":0.8473169451927454},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010314248714285309,0.0005372826021104761,-0.001700424811909016],"end_effector_yaw_offset_degrees":-0.5461950511570675},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014910577310260856,-0.0006924385299024766,-0.0008303028898670481],"end_effector_yaw_offset_degrees":0.25912095308644134}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00232301673967156,-0.004741276086650906],"position_m":[0.15472301673967156,0.2188587239133491,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012059661372779886,0.0033996465378047834],"position_m":[0.241194033862722,-0.3063003534621952,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00011678141004574198,-0.004141759697287309],"position_m":[0.3243832185899543,-0.045741759697287304,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002303612976144599,0.0035216485978928997],"position_m":[0.3533036129761446,0.3219216485978929,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5818ec0fa7b7a2e9f0d457d7484fa800e0cc51a393d5be4aab136fac771d2574","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0055.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5500/tex_ceiling_textures_1106/tex_floor_textures_3560/tex_table_textures_7263/tex_wall_textures_6743","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6299049199133746647,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6299049199133746647,"visual_seed":6299049199133746647,"scene_id":"lab_003","finished_at":"2026-09-04T20:39:31"}
+{"episode_id":"ep_000052","started_at":"2026-09-04T20:44:00","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[0.16054500082816459,-0.6686359187508708,0.71338606911949],"aabb_xy":[[0.12304500240476424,-0.6818001327187013],[0.19804499925156493,-0.6554717047830401]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[0.6589134696670571,-1.1144167503301965,0.71338606911949],"aabb_xy":[[0.6305837597185169,-1.1188774925239138],[0.6872431796155973,-1.1099560081364797]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.5515515147595025,-0.031538294087011476,0.71338606911949],"aabb_xy":[[0.5427702876122662,-0.04031804137554163],[0.5603327419067388,-0.02275854679848133]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[0.2617172662406164,-1.5668219156872354,0.71338606911949],"aabb_xy":[[0.2017172659892152,-1.6211032407237],[0.32171726649201754,-1.5125405906507707]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[-0.30305277237595707,0.5858560681189635,0.71338606911949],"aabb_xy":[[-0.3156554715130335,0.573260671894098],[-0.2904500732388806,0.598451464343829]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[0.0858778409559503,-0.9640565437198922,0.71338606911949],"aabb_xy":[[0.03087784133420446,-1.019040236507365],[0.14087784057769615,-0.9090728509324195]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[0.3896105884479537,0.9627555837399506,0.71338606911949],"aabb_xy":[[0.3246105884136509,0.9160549070596232],[0.4546105884822564,1.009456260420278]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[0.5928143710865703,-1.9204917893969942,0.71338606911949],"aabb_xy":[[0.5228143692778248,-1.9418455581611815],[0.6628143728953156,-1.8991380206328068]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[0.6524404418475911,1.301450977725429,0.71338606911949],"aabb_xy":[[0.6165269374226013,1.2655374695086745],[0.6883539462725806,1.3373644859421836]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[0.31182667895719307,-2.2609957359073967,0.71338606911949],"aabb_xy":[[0.25182667809638015,-2.312422165913883],[0.37182667981800577,-2.2095693059009096]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[0.5298068003465353,-0.14462028404475014,0.71338606911949],"aabb_xy":[[0.47992410346883896,-0.19462028329102493],[0.5796894972242314,-0.09462028479847542]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.46439067051705524,1.154145018501091,0.71338606911949],"aabb_xy":[[-0.5283906728598569,1.1092041672569584],[-0.40039066817425367,1.1990858697452234]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.5346147040783797,1.1025583810998638,0.71338606911949],"aabb_xy":[[0.5175126261200117,1.085451575568594],[0.551716782036748,1.1196651866311336]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[-0.07230034508983396,1.4052044086915365,0.71338606911949],"aabb_xy":[[-0.10476204597176139,1.3750715765766337],[-0.03983864420790648,1.4353372408064389]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[-0.5740822311661058,-1.9612399583346667,0.71338606911949],"aabb_xy":[[-0.6083791421838461,-1.9955368445446078],[-0.539785320148365,-1.9269430721247252]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[0.12230484373294459,-2.187421910513895,0.71338606911949],"aabb_xy":[[0.09365551137252837,-2.21606746979097],[0.15095417609336081,-2.1587763512368183]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[-0.2032793751763028,0.9583179798334189,0.71338606911949],"aabb_xy":[[-0.22356367789970152,0.9380353546907099],[-0.182995072452904,0.9786006049761276]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[0.6591978307232207,0.19790868162602848,0.71338606911949],"aabb_xy":[[0.6224031975983144,0.1610028065294462],[0.695992463848127,0.23481455672261076]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[-0.27071092558318005,0.3668467678737022,0.71338606911949],"aabb_xy":[[-0.27721256209118467,0.3570789458473924],[-0.26420928907517544,0.376614589900012]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.507434297630029,1.3300870968478415,0.71338606911949],"aabb_xy":[[0.45744118552083723,1.280087096173646],[0.557427409739221,1.3800870975220372]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[0.073216663112592,-1.521088535878822,0.71338606911949],"aabb_xy":[[0.018224412477081054,-1.576088537622135],[0.12820891374810295,-1.4660885341355092]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[0.06522746354481046,1.5455167505606124,0.71338606911949],"aabb_xy":[[-0.0047725328651513485,1.5250788149089303],[0.1352274599547722,1.5659546862122937]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_22","position":[0.18106393135335974,-2.0785603108706465,0.71338606911949],"aabb_xy":[[0.16356393110831036,-2.096060098710213],[0.19856393159840913,-2.0610605230310792]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[-0.45106113715486096,-1.679602100973473,0.71338606911949],"aabb_xy":[[-0.47356113667856836,-1.7020980484240935],[-0.42856113763115355,-1.657106153522852]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_24","position":[0.011881969837789885,0.8600254035064014,0.71338606911949],"aabb_xy":[[0.004840518887042287,0.8529986517686069],[0.01892342078853748,0.867052155244196]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[-0.6528049659202146,-0.26835375981474296,0.71338606911949],"aabb_xy":[[-0.6592187795633995,-0.27476358006241125],[-0.6463911522770296,-0.26194393956707457]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_26","position":[-0.09721422418124881,-0.197652608906016,0.71338606911949],"aabb_xy":[[-0.11471415761523217,-0.2151526088262505],[-0.07971429074726542,-0.18015260898578142]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_27","position":[0.06597655306805006,-2.2780605667555975,0.71338606911949],"aabb_xy":[[0.051642127941886606,-2.2901207823101366],[0.08031097819421351,-2.2660003512010585]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_28","position":[-0.22744366525010262,-2.08653827099251,0.71338606911949],"aabb_xy":[[-0.28744366575795555,-2.1433850046784313],[-0.1674436647422497,-2.029691537306589]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_29","position":[-0.43890282032218647,-0.2864942522698044,0.71338606911949],"aabb_xy":[[-0.4889028216830737,-0.33647215684521997],[-0.38890281896129925,-0.23651634769438876]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_30","position":[-0.3038599791259069,-1.588024612367009,0.71338606911949],"aabb_xy":[[-0.30849509427814015,-1.5918919474441573],[-0.2992248639736734,-1.5841572772898598]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7001462354935913,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9852.png","name":"9852"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9852.png","name":"9852"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6571.png","name":"6571"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/526.png","name":"526"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/257.png","name":"257"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5367.png","name":"5367"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":597.0310182542348,"rotation_z_degrees":93.90736754923242,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01427490103649456,-0.010750344784513529,0.010384812008525719]},{"name":"camera_2","offset_m":[0.01621024134646745,0.0023524093850650143,0.0018714147087723482]},{"name":"camera_3","offset_m":[-0.012994852131662285,-0.006720003286987667,0.0006469238694961528]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000901585294145292,-0.0010041270873257968,0.0019392625967389627],"end_effector_yaw_offset_degrees":0.1700551446486962},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007450232169227142,0.0002730707123902495,-0.0007407063878317143],"end_effector_yaw_offset_degrees":-0.5472009197230194},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009932765927355468,0.0004002739543240586,0.00164684806502979],"end_effector_yaw_offset_degrees":0.9991544005627664},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007532104782200372,-0.00046797717593491665,0.00048721871173520786],"end_effector_yaw_offset_degrees":0.17492906665881636}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027393957305971977,0.001642222865724627],"position_m":[0.1551393957305972,0.22524222286572462,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004706458157753785,0.0029863785580426213],"position_m":[0.24710645815775378,-0.30671362144195735,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029539699585159696,0.0008165588380001434],"position_m":[0.327453969958516,-0.040783441161999855,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004012479770020031,-0.0028621452245946232],"position_m":[0.35501247977002,0.3155378547754054,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ee64ee2094b0a2b6fbc92f1ee2668924c7ac8fb5f05345c211eb38e369eb983","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0057.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9852/tex_ceiling_textures_5367/tex_floor_textures_257/tex_table_textures_6571/tex_wall_textures_526","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7348434948841271344,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7348434948841271344,"visual_seed":7348434948841271344,"scene_id":"lab_003","finished_at":"2026-09-04T20:48:04"}
+{"episode_id":"ep_000053","started_at":"2026-09-04T20:48:09","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[0.2590477868951272,-1.5777412895882703,0.71338606911949],"aabb_xy":[[0.22154778654689944,-1.5895326851693539],[0.29654778724335495,-1.5659498940071868]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.5363715795073103,0.5904144626068519,0.71338606911949],"aabb_xy":[[0.44637157978413616,0.567341110071672],[0.6263715792304845,0.6134878151420317]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[0.0919309794224884,1.6667658596596167,0.71338606911949],"aabb_xy":[[0.01193097615847527,1.6532058273507033],[0.17193098268650153,1.68032589196853]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_3","position":[0.692828726589926,-1.9255489253551317,0.71338606911949],"aabb_xy":[[0.6799568230889859,-2.0055489257689674],[0.7057006300908661,-1.8455489249412953]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[-0.02323980962332839,1.2564053033350278,0.71338606911949],"aabb_xy":[[-0.028572324277941374,1.2510809750897922],[-0.017907294968715404,1.2617296315802633]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[-0.34937922835805724,-1.4111305897884545,0.71338606911949],"aabb_xy":[[-0.36605636435115274,-1.4278305137623846],[-0.33270209236496173,-1.394430665814524]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_6","position":[-0.06885186848290403,-1.3562738847718032,0.71338606911949],"aabb_xy":[[-0.14885187064566652,-1.4362290683979468],[0.011148133679858452,-1.2763187011456596]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[0.27775118205809957,0.5280906574565227,0.71338606911949],"aabb_xy":[[0.2729075872968696,0.5232390049775386],[0.28259477681932954,0.5329423099355068]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[-0.11156452632816882,-1.6655408341407973,0.71338606911949],"aabb_xy":[[-0.1490645275129616,-1.6699590568368574],[-0.07406452514337601,-1.6611226114447364]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[0.10957063880862739,-0.6795814173733488,0.71338606911949],"aabb_xy":[[0.07957897607475704,-0.7095814167101493],[0.1395623015424977,-0.6495814180365482]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_10","position":[0.670265875062416,1.5239628130553595,0.71338606911949],"aabb_xy":[[0.6661877171553664,1.5198818328070962],[0.6743440329694658,1.5280437933036228]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[0.6592451725215642,-2.532564355229817,0.71338606911949],"aabb_xy":[[0.6257660052605234,-2.566043468600924],[0.6927243397826053,-2.49908524185871]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[0.17697845092016617,-2.2249363709572267,0.71338606911949],"aabb_xy":[[0.16886479624678907,-2.2330421874112556],[0.18509210559354328,-2.216830554503198]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[-0.42733751096208644,-2.3683953772813777,0.71338606911949],"aabb_xy":[[-0.43890649170902307,-2.3933953773983094],[-0.4157685302151499,-2.343395377164446]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.6374579725629337,-2.0792285996369344,0.71338606911949],"aabb_xy":[[-0.6599579728064491,-2.091433234296707],[-0.6149579723194183,-2.067023964977163]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[-0.3701636288418315,1.4713559278463921,0.71338606911949],"aabb_xy":[[-0.4341636321315396,1.4280210088424743],[-0.30616362555212334,1.5146908468503095]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[0.6711340399589691,0.7606959295020164,0.71338606911949],"aabb_xy":[[0.6482183270739192,0.737791632365593],[0.694049752844019,0.7836002266384401]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[0.42011834134454396,-1.3178260449366184,0.71338606911949],"aabb_xy":[[0.4066718147105006,-1.3312958965897095],[0.4335648679785873,-1.3043561932835273]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.273725536401795,-1.6816254707309763,0.71338606911949],"aabb_xy":[[0.2611228372647185,-1.694220866955842],[0.28632823553887143,-1.669030074506111]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.31564143833301905,0.6680790918037824,0.71338606911949],"aabb_xy":[[0.27814143822742604,0.6612569299508012],[0.35314143843861195,0.6749012536567635]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_20","position":[0.034134524068746175,-1.6495704933684787,0.71338606911949],"aabb_xy":[[0.013850221345347418,-1.6698531185111873],[0.054418826792144936,-1.6292878682257697]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[-0.27649856108591,-2.4488230543246874,0.71338606911949],"aabb_xy":[[-0.34049855751323194,-2.4959926781467843],[-0.21249856465858813,-2.4016534305025914]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_22","position":[-0.6343359204004089,-2.361389385791322,0.71338606911949],"aabb_xy":[[-0.6423299089781122,-2.369389465886412],[-0.6263419318227054,-2.353389305696232]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[0.33242222346191785,-2.5149765659440075,0.71338606911949],"aabb_xy":[[0.3191912779272365,-2.5282039849660065],[0.3456531689965991,-2.5017491469220077]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6974575282824425,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5252.png","name":"5252"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5252.png","name":"5252"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4322.png","name":"4322"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2944.png","name":"2944"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2070.png","name":"2070"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1497.png","name":"1497"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":686.3145401617232,"rotation_z_degrees":212.55661722198613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0073288226508362725,0.006134652824406089,0.01187931513869962]},{"name":"camera_2","offset_m":[0.009042693813182026,0.013043471647452256,0.0027619226977778667]},{"name":"camera_3","offset_m":[-0.01974102982371225,-0.004981622916901065,-0.00955378185895059]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016241098348052049,0.00043775051094983343,-0.001321590479575932],"end_effector_yaw_offset_degrees":0.9732463034357961},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00028973110704504285,0.0010552323719553967,-0.0014670558174827825],"end_effector_yaw_offset_degrees":-0.35653334999950537},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012226450863198936,0.0010997020015155391,-0.001322751428585748],"end_effector_yaw_offset_degrees":0.8832072663333494},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001368490426688772,-0.0002936799285057133,-0.0005144368359981776],"end_effector_yaw_offset_degrees":-0.5924822940190178}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003759887250559508,0.004423613123616619],"position_m":[0.15615988725055951,0.2280236131236166,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038530663655128704,-0.00249126340079626],"position_m":[0.23854693363448715,-0.3121912634007962,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024213296362307095,0.0013544152825621866],"position_m":[0.3269213296362307,-0.04024558471743781,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024715722847362632,0.003888030484778403],"position_m":[0.3485284277152637,0.32228803048477844,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a2abdd2946cf057550df76c78c41e30048dfd466d89ec1ece0493d08f0f9c1c5","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5252/tex_ceiling_textures_1497/tex_floor_textures_2070/tex_table_textures_4322/tex_wall_textures_2944","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":244853680946759833,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":244853680946759833,"visual_seed":244853680946759833,"scene_id":"lab_003","finished_at":"2026-09-04T20:51:56"}
+{"episode_id":"ep_000054","started_at":"2026-09-04T20:54:48","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[-0.3365228891261443,-0.787531137160645,0.71338606911949],"aabb_xy":[[-0.37385416565138696,-0.8221841919554973],[-0.29919161260090166,-0.7528780823657928]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[-0.1744245553429017,1.3851731843304287,0.71338606911949],"aabb_xy":[[-0.2090156381969469,1.3201731840453974],[-0.13983347248885647,1.4501731846154595]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[0.42319998175326634,-0.7933920917216313,0.71338606911949],"aabb_xy":[[0.3394777562531839,-0.8833920952563272],[0.5069222072533488,-0.7033920881869353]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_3","position":[-0.24549442519091136,-0.3545141950519759,0.71338606911949],"aabb_xy":[[-0.2954773753783906,-0.4045141946945362],[-0.19551147500343194,-0.3045141954094154]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[-0.577562808123053,-0.5336175934611873,0.71338606911949],"aabb_xy":[[-0.6125628072530087,-0.5393628145368514],[-0.5425628089930974,-0.5278723723855232]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.3153445872260052,1.0991537170430754,0.71338606911949],"aabb_xy":[[0.30930757422534055,1.0931270159741273],[0.32138160022667,1.1051804181120235]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[0.6293938168816477,-0.6957244578381898,0.71338606911949],"aabb_xy":[[0.6127166808885522,-0.7124243818121201],[0.6460709528747433,-0.6790245338642595]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_7","position":[-0.5628487612633926,-1.58333035664773,0.71338606911949],"aabb_xy":[[-0.5715467235541078,-1.5954553309552046],[-0.5541507989726773,-1.5712053823402552]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[-0.17722266152662436,-1.2067139268437952,0.71338606911949],"aabb_xy":[[-0.1849258522007014,-1.2144232975425333],[-0.16951947085254732,-1.199004556145057]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[-0.5578839294483917,-0.015455810671828996,0.71338606911949],"aabb_xy":[[-0.5878755921822619,-0.04545581000862953],[-0.5278922667145213,0.014544188664971536]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[0.6472562329305775,-0.0053812817933929225,0.71338606911949],"aabb_xy":[[0.5971587689495039,-0.06938128230320473],[0.6973536969116512,0.05861871871641888]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[-0.13405403270955363,-0.9223621390599137,0.71338606911949],"aabb_xy":[[-0.19805403187932355,-0.9691288261788762],[-0.07005403353978366,-0.8755954519409512]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[0.6189499553289954,0.827030092468882,0.71338606911949],"aabb_xy":[[0.5689499539681081,0.7770521878934664],[0.6689499566898826,0.8770079970442977]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[0.6407302888724875,-2.0024931783844835,0.71338606911949],"aabb_xy":[[0.6218459051039773,-2.0213791031648363],[0.6596146726409977,-1.9836072536041307]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.3298401230384632,0.10748313925656117,0.71338606911949],"aabb_xy":[[-0.33796781123177644,0.09856953084585351],[-0.32171243484515,0.11639674766726882]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.23672057380123063,0.3117828882584375,0.71338606911949],"aabb_xy":[[-0.26456561058183775,0.2809983895201258],[-0.2088755370206235,0.34256738699674916]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[0.20392179344825834,0.9100755944070325,0.71338606911949],"aabb_xy":[[0.13392179005669638,0.8747598207036016],[0.2739217968398203,0.9453913681104633]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[-0.34247094318049903,-0.4293329284600542,0.71338606911949],"aabb_xy":[[-0.34856557106861735,-0.437902323011723],[-0.3363763152923807,-0.42076353390838556]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[-0.4626561127959823,-2.2570049117801383,0.71338606911949],"aabb_xy":[[-0.475123470905718,-2.269470236413462],[-0.4501887546862467,-2.244539587146815]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[0.17616494661328386,-0.7586970817858263,0.71338606911949],"aabb_xy":[[0.1689211805670385,-0.8386970799894286],[0.18340871265952916,-0.6786970835822238]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[0.2323508186538954,-2.0128718121128415,0.71338606911949],"aabb_xy":[[0.2098508186437471,-2.0269680317524448],[0.2548508186640437,-1.9987755924732382]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_21","position":[-0.470399250156692,0.48647952431998753,0.71338606911949],"aabb_xy":[[-0.4929129419801491,0.41647952371897995],[-0.44788555833323473,0.5564795249209951]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[-0.5413405007701241,-2.3913363582983806,0.71338606911949],"aabb_xy":[[-0.5487529563115126,-2.397187568720008],[-0.5339280452287356,-2.3854851478767523]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.22791584869648573,-1.3324429811890144,0.71338606911949],"aabb_xy":[[0.16632508947249292,-1.3964429792980615],[0.28950660792047855,-1.2684429830799677]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[0.2697279278559995,-2.54020335084472,0.71338606911949],"aabb_xy":[[0.2618046476172512,-2.5627033510827237],[0.27765120809474786,-2.517703350606717]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_25","position":[-0.3335119712002803,-2.523646843715785,0.71338606911949],"aabb_xy":[[-0.36797431859842206,-2.5581407261136073],[-0.29904962380213845,-2.489152961317962]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_26","position":[0.5420698256068581,-1.016682891504813,0.71338606911949],"aabb_xy":[[0.5245698253618087,-1.0341826793443796],[0.5595698258519075,-0.999183103665246]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6950429126795226,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9271.png","name":"9271"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9271.png","name":"9271"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4926.png","name":"4926"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4893.png","name":"4893"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/33.png","name":"33"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9595.png","name":"9595"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":767.7194136541709,"rotation_z_degrees":321.13332616388817,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0167974408095747,-0.016936238118194304,0.0077584415973637015]},{"name":"camera_2","offset_m":[0.008687056513155388,0.005663282296306336,0.01657779532715826]},{"name":"camera_3","offset_m":[6.473965955853742e-05,0.0007702877305457816,-0.015236252225150126]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017978008229182383,0.0017307621223709223,0.0018935301650440848],"end_effector_yaw_offset_degrees":-0.5701788117154363},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003972116231623049,0.001077270795382601,-0.0005227453383000818],"end_effector_yaw_offset_degrees":0.5741892452947006},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006114723119760997,-0.0001182254035715139,-0.0016351085824609527],"end_effector_yaw_offset_degrees":0.8738802492640301},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005829680082538227,-0.001329647246211054,0.00021243652098469666],"end_effector_yaw_offset_degrees":0.8752763880684207}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018494217725291695,-0.004280350878402714],"position_m":[0.15055057822747084,0.2193196491215973,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001200544231421287,0.002314309556993234],"position_m":[0.2436005442314213,-0.30738569044300673,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002575481510401387,0.004511015964445792],"position_m":[0.3270754815104014,-0.037088984035554204,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004887445734372773,0.0032985510100687595],"position_m":[0.3461125542656272,0.3216985510100688,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1f644e4fbf54ea473e2cdbccbccd1f84c81fe83d496e135f009ec0eda943d3d8","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0060.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9271/tex_ceiling_textures_9595/tex_floor_textures_33/tex_table_textures_4926/tex_wall_textures_4893","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":203169238570402618,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":203169238570402618,"visual_seed":203169238570402618,"scene_id":"lab_003","finished_at":"2026-09-04T20:58:41"}
+{"episode_id":"ep_000055","started_at":"2026-09-04T20:58:46","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.5791019088735931,-0.8876061539885498,0.71338606911949],"aabb_xy":[[0.49910190671083055,-0.9675613376146933],[0.6591019110363555,-0.8076509703624061]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_1","position":[-0.20606771259804996,-0.3677909485386812,0.71338606911949],"aabb_xy":[[-0.24106771086816983,-0.3748650762336694],[-0.17106771432793003,-0.36071682084369305]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.4638322577004117,-2.504993147545904,0.71338606911949],"aabb_xy":[[-0.4735882472095855,-2.5147556816051386],[-0.4540762681912377,-2.4952306134866697]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[-0.321288816121304,1.5503584146662912,0.71338606911949],"aabb_xy":[[-0.33444006209259336,1.525358414909605],[-0.30813757015001464,1.5753584144229782]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[-0.5097475889242145,-2.1292663665489835,0.71338606911949],"aabb_xy":[[-0.5897475859384625,-2.1494009182223945],[-0.4297475919099666,-2.1091318148755716]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[-0.468852868295801,1.3206686468786972,0.71338606911949],"aabb_xy":[[-0.5141314831769501,1.2566686475305135],[-0.42357425341465166,1.384668646226881]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[0.6444406299480365,0.9359740863626134,0.71338606911949],"aabb_xy":[[0.579440628947536,0.8851877212079384],[0.709440630948537,0.9867604515172883]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[-0.23660241033183377,-1.4777756546674505,0.71338606911949],"aabb_xy":[[-0.31660240773542714,-1.5577682258656333],[-0.15660241292824034,-1.3977830834692677]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[0.6582760362607816,0.4039851225136153,0.71338606911949],"aabb_xy":[[0.6357760362506333,0.389888902874012],[0.6807760362709299,0.41808134215321857]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[-0.07639524191277036,-0.5743247371586362,0.71338606911949],"aabb_xy":[[-0.10472495186131059,-0.5787854793523532],[-0.048065531964230135,-0.5698639949649191]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[0.4158576145677195,-2.286724450866519,0.71338606911949],"aabb_xy":[[0.36805144695395087,-2.351724453573578],[0.4636637821814881,-2.2217244481594602]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_11","position":[-0.1877639031697792,-0.9798563288088173,0.71338606911949],"aabb_xy":[[-0.24288910879936998,-1.0398563302501045],[-0.13263869754018842,-0.9198563273675302]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[-0.2706464943299624,1.3845567574573963,0.71338606911949],"aabb_xy":[[-0.31673158558469383,1.320556760204841],[-0.2245614030752309,1.4485567547099512]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[-0.13095326265058627,-2.140913468857197,0.71338606911949],"aabb_xy":[[-0.14024688088773682,-2.178413467345331],[-0.12165964441343566,-2.103413470369063]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[0.15138617045292568,0.8183136329140948,0.71338606911949],"aabb_xy":[[0.10140193474474846,0.768313634100599],[0.2013704061611029,0.8683136317275902]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[0.21746450549122776,-1.1395452458703887,0.71338606911949],"aabb_xy":[[0.12746450315720873,-1.2170276004555014],[0.3074645078252468,-1.062062891285276]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[-0.4289706600647014,1.6905402273954144,0.71338606911949],"aabb_xy":[[-0.4534842841617072,1.6662756340933778],[-0.4044570359676955,1.7148048206974507]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[0.3062307796802908,-0.4780982320571936,0.71338606911949],"aabb_xy":[[0.30064910804616196,-0.4905982318749691],[0.3118124513144195,-0.4655982322394181]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[-0.43669179563337746,-1.8600687433214484,0.71338606911949],"aabb_xy":[[-0.48168438235182787,-1.905068742595897],[-0.39169920891492704,-1.8150687440469995]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[0.3250086758133439,-2.4255275063571418,0.71338606911949],"aabb_xy":[[0.2450086771564579,-2.440032365281405],[0.4050086744702299,-2.4110226474328793]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[0.23471707271867837,0.9739974748797819,0.71338606911949],"aabb_xy":[[0.22679379247993006,0.9514974746417785],[0.24264035295742672,0.9964974751177852]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[-0.5435385844873935,-0.5215363797744801,0.71338606911949],"aabb_xy":[[-0.6085385854445206,-0.5734845917081856],[-0.4785385835302662,-0.46958816784077445]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_22","position":[-0.03685357043570836,-0.7194802090091033,0.71338606911949],"aabb_xy":[[-0.04775934652327107,-0.7994802054079323],[-0.025947794348145647,-0.639480212610274]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_23","position":[0.34225367327415745,1.1649093374984556,0.71338606911949],"aabb_xy":[[0.3247536730148209,1.1508177953096832],[0.35975367353349413,1.1790008796872284]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[-0.3973491542802731,-1.6881686400575378,0.71338606911949],"aabb_xy":[[-0.41425988671661484,-1.7016408456501522],[-0.3804384218439313,-1.674696434464923]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[0.5924844088484089,-2.241642425488664,0.71338606911949],"aabb_xy":[[0.567263571988569,-2.266866176341549],[0.6177052457082484,-2.216418674635776]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.697628547282837,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1725.png","name":"1725"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1725.png","name":"1725"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5554.png","name":"5554"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1090.png","name":"1090"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/222.png","name":"222"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8624.png","name":"8624"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":523.9112405570017,"rotation_z_degrees":72.63256653578438,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011167561780977789,-0.010972307508204807,-0.008134501987921806]},{"name":"camera_2","offset_m":[0.01358040862322411,-0.014502497525000328,0.013183813054071226]},{"name":"camera_3","offset_m":[0.014837478568632465,0.001549995260239901,-0.011251969016240761]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016353574403340518,-0.0017361532515185179,-0.0010335544935472655],"end_effector_yaw_offset_degrees":0.6119272433559266},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00020232540998331308,0.00040418878103227595,0.0015056081781486983],"end_effector_yaw_offset_degrees":0.04570075813693064},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001080897032372867,-0.0011343204121779965,-0.00041054696811162463],"end_effector_yaw_offset_degrees":0.42785977843781997},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008511394032567282,-0.0004738114712154538,0.0011815476391582075],"end_effector_yaw_offset_degrees":-0.4514711353540115}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027844570872500316,-0.0002680819189791036],"position_m":[0.15518445708725004,0.2233319180810209,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001703139775189193,0.003787185190888891],"position_m":[0.24069686022481082,-0.3059128148091111,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013719682052242069,0.0012200823277076023],"position_m":[0.32587196820522424,-0.0403799176722924,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017403127964163022,0.002852263027997493],"position_m":[0.3492596872035837,0.32125226302799753,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0fc37101872193f7460f05aa8e561f15ca342c35c157102b944a0df223f2bc4e","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0061.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1725/tex_ceiling_textures_8624/tex_floor_textures_222/tex_table_textures_5554/tex_wall_textures_1090","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4325262789465548060,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4325262789465548060,"visual_seed":4325262789465548060,"scene_id":"lab_003","finished_at":"2026-09-04T21:02:33"}
+{"episode_id":"ep_000056","started_at":"2026-09-04T21:02:37","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.25653467346272063,-0.7572745644729033,0.71338606911949],"aabb_xy":[[0.20653467217888064,-0.8072534188635253],[0.30653467474656054,-0.7072957100822811]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[0.6700253583314877,0.033477960522355854,0.71338606911949],"aabb_xy":[[0.619927894350414,-0.03052203998745595],[0.7201228223125612,0.09747796103216766]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[-0.25443368820565837,-0.9141771135810657,0.71338606911949],"aabb_xy":[[-0.3184336889091277,-0.9601954960539868],[-0.19043368750218903,-0.8681587311081448]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[0.2791320733322663,-2.336836499046748,0.71338606911949],"aabb_xy":[[0.26163207307292974,-2.3509280412355205],[0.296632073591603,-2.322744956857975]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[-0.15670092609386355,1.1336343436545944,0.71338606911949],"aabb_xy":[[-0.1866684830036892,1.1036343433567084],[-0.12673336918403788,1.1636343439524799]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[-0.5342192835229285,-1.2522269837356457,0.71338606911949],"aabb_xy":[[-0.5476658101569718,-1.2656968353887368],[-0.5207727568888851,-1.2387571320825541]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_6","position":[0.01040239161983525,1.3214083640345784,0.71338606911949],"aabb_xy":[[0.004307763731716929,1.3128389694829097],[0.01649701950795357,1.3299777585862471]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[0.708842641689627,-1.2612605563082495,0.71338606911949],"aabb_xy":[[0.7025305421532886,-1.2670274955614684],[0.7151547412259653,-1.2554936170550306]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[0.24758727096761068,-1.3300808509763848,0.71338606911949],"aabb_xy":[[0.19758727152741506,-1.380048775460701],[0.2975872704078063,-1.2801129264920683]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.2496219857490456,-2.1983024596580796,0.71338606911949],"aabb_xy":[[0.22670627286399572,-2.221206756794503],[0.2725376986340955,-2.175398162521656]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[0.4477906764317414,1.7150861703214457,0.71338606911949],"aabb_xy":[[0.38379067475374407,1.6665687788421313],[0.5117906781097388,1.7636035618007597]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.024174230125022178,-1.6463018445533906,0.71338606911949],"aabb_xy":[[-0.08917422800666998,-1.6974255082599317],[0.04082576775662562,-1.59517818084685]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.5951231202772909,-1.4942024388207082,0.71338606911949],"aabb_xy":[[-0.6307522761772505,-1.5298351055775612],[-0.559493964377331,-1.4585697720638553]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.46402554199148216,0.42728292907842214,0.71338606911949],"aabb_xy":[[-0.5290255420257848,0.38058225239809484],[-0.3990255419571794,0.4739836057587494]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[-0.25847081939032923,0.4135960598791666,0.71338606911949],"aabb_xy":[[-0.2713427228912693,0.3335960594653304],[-0.24559891588938906,0.4935960602930027]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.09497998052895262,-1.3362184751940758,0.71338606911949],"aabb_xy":[[0.04785060152711694,-1.4002184762384773],[0.1421093595307883,-1.2722184741496734]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[0.061339575186275086,1.5427842091916095,0.71338606911949],"aabb_xy":[[0.026339573834793347,1.5224244732347887],[0.09633957653775681,1.5631439451484304]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_17","position":[0.42911195582334494,-2.2742385001759664,0.71338606911949],"aabb_xy":[[0.349111957166459,-2.2887433591002297],[0.5091119544802309,-2.259733641251704]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[-0.43485952100542014,-1.5174377567418387,0.71338606911949],"aabb_xy":[[-0.4694506038594653,-1.5824377570268697],[-0.40026843815137486,-1.4524377564568076]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[-0.5651321725830145,1.2452870961337288,0.71338606911949],"aabb_xy":[[-0.635132174185294,1.2318543029320712],[-0.49513217098073503,1.2587198893353864]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[-0.2756835279293439,0.2773534166595346,0.71338606911949],"aabb_xy":[[-0.28011415728418415,0.27190504492485207],[-0.2712528985745038,0.28280178839421727]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_21","position":[0.4915450578051963,1.1674570804594135,0.71338606911949],"aabb_xy":[[0.44157199227268096,1.1174570806468807],[0.5415181233377119,1.2174570802719464]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_22","position":[0.3040513303662572,0.5429923760854889,0.71338606911949],"aabb_xy":[[0.21405133094788625,0.5096168792412991],[0.39405132978462803,0.5763678729296785]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[0.49447334858006653,-1.0184318501350318,0.71338606911949],"aabb_xy":[[0.41447334830645954,-1.0913813979607485],[0.5744733488536735,-0.9454823023093152]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[0.35418206354918746,1.463353726063945,0.71338606911949],"aabb_xy":[[0.2841820617404421,1.4419999572997577],[0.42418206535793296,1.4847074948281325]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[0.48471756672433575,-1.3272842789395916,0.71338606911949],"aabb_xy":[[0.39471756998872554,-1.3804677422568858],[0.574717563459946,-1.2741008156222968]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_26","position":[-0.18973076576916081,1.3133270909630896,0.71338606911949],"aabb_xy":[[-0.2547307668751041,1.2883617178949611],[-0.12473076466321756,1.3382924640312177]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[0.3692426554063346,-1.678859677205393,0.71338606911949],"aabb_xy":[[0.31924782247839306,-1.7288596761006367],[0.41923748833427626,-1.6288596783101497]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6936490649793627,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/213.png","name":"213"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/213.png","name":"213"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9672.png","name":"9672"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1324.png","name":"1324"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1951.png","name":"1951"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6759.png","name":"6759"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":775.8572367833804,"rotation_z_degrees":66.62054671024359,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009152083407285657,0.012853755418724484,-0.008247138566060692]},{"name":"camera_2","offset_m":[0.005341922343506351,0.019598829815919077,0.014191751519358451]},{"name":"camera_3","offset_m":[0.015316228763304355,-0.019890580363865627,0.0172559712675148]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002650867922762306,0.0004339912605203916,0.00036291240569787196],"end_effector_yaw_offset_degrees":-0.320683072063489},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001317045955300068,0.0018861549242655583,-0.0019539318986353887],"end_effector_yaw_offset_degrees":-0.9150891458073172},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017965357128782507,0.0014310005531571065,0.0005029938720464834],"end_effector_yaw_offset_degrees":-0.7024342217233432},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003099677004632362,-0.0012502556158223226,-0.0003240895032256587],"end_effector_yaw_offset_degrees":-0.6580558192432084}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035493968483901192,-0.0011099039725103845],"position_m":[0.15594939684839013,0.22249009602748962,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003988782032688425,-0.0003251578359075068],"position_m":[0.23841121796731157,-0.3100251578359075,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032741689064006733,-0.0011400326201834823],"position_m":[0.3277741689064007,-0.04274003262018348,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004549854012945565,-0.0003776271522736071],"position_m":[0.3464501459870544,0.3180223728477264,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e0872d1a1bccbca026c3f9534f30f6cb0b50f907a328d37a1156cf075c5a4dd","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_213/tex_ceiling_textures_6759/tex_floor_textures_1951/tex_table_textures_9672/tex_wall_textures_1324","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":321669787245097638,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":321669787245097638,"visual_seed":321669787245097638,"scene_id":"lab_003","finished_at":"2026-09-04T21:06:25"}
+{"episode_id":"ep_000057","started_at":"2026-09-04T21:06:28","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[-0.2664005705440086,-2.0620312852845073,0.71338606911949],"aabb_xy":[[-0.3464005719741358,-2.1415484402971163],[-0.18640056911388142,-1.9825141302718974]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[-0.27688680038994523,1.0161978826814693,0.71338606911949],"aabb_xy":[[-0.28500045506332233,1.0080920662274402],[-0.26877314571656813,1.0243036991354983]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_2","position":[-0.32065099547571835,-2.3608632115902193,0.71338606911949],"aabb_xy":[[-0.34587183233555796,-2.386086962443106],[-0.2954301586158786,-2.335639460737332]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_3","position":[0.03520054858902644,1.3432376196163118,0.71338606911949],"aabb_xy":[[0.001424989398333465,1.3291991244031467],[0.06897610777971941,1.3572761148294765]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[0.626585637769489,-0.8464064910486813,0.71338606911949],"aabb_xy":[[0.5465856403658954,-0.926399062246864],[0.7065856351730823,-0.7664139198504983]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_5","position":[-0.37269910870408846,0.5371549638721236,0.71338606911949],"aabb_xy":[[-0.437699111341882,0.4856753651726766],[-0.307699106066295,0.5886345625715705]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.07804128885995965,-1.3433972206475786,0.71338606911949],"aabb_xy":[[0.06459476222591631,-1.3568670723006697],[0.09148781549400298,-1.3299273689944875]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[0.6048643482612062,1.28161127013081,0.71338606911949],"aabb_xy":[[0.5978228973104586,1.2745845183930156],[0.6119057992119538,1.2886380218686044]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[0.2619645287097493,-2.5386921578579473,0.71338606911949],"aabb_xy":[[0.2511915547883815,-2.5736921560769868],[0.27273750263111707,-2.503692159638909]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.19946289598403255,-1.8901619018774123,0.71338606911949],"aabb_xy":[[0.13546719858893597,-1.9541619001781207],[0.26345859337912914,-1.8261619035767034]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.43499093026412433,-0.06755386861054724,0.71338606911949],"aabb_xy":[[-0.5249909296824953,-0.10092936545473696],[-0.3449909308457534,-0.03417837176635752]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[-0.6052330074733312,0.8123801812099001,0.71338606911949],"aabb_xy":[[-0.6271227550622719,0.7223801839206508],[-0.5833432598843903,0.9023801784991491]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[-0.2666171255634194,-0.9940094667192392,0.71338606911949],"aabb_xy":[[-0.3051628183886204,-1.032555237775428],[-0.22807143273821834,-0.9554636956630506]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[-0.13699803706005098,-0.6505395100294247,0.71338606911949],"aabb_xy":[[-0.18697110259256647,-0.7005395098419576],[-0.08702497152753554,-0.6005395102168918]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[-0.5777771643698283,0.9955765915314583,0.71338606911949],"aabb_xy":[[-0.6152771646620031,0.9915351161308547],[-0.5402771640776535,0.9996180669320619]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[-0.48498894024820494,-1.8566594604766054,0.71338606911949],"aabb_xy":[[-0.5449889411090176,-1.9080858904830915],[-0.4249889393873921,-1.8052330304701187]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[-0.2503151853759585,1.4938266274735486,0.71338606911949],"aabb_xy":[[-0.3143151860794279,1.4478082450006275],[-0.18631518467248917,1.5398450099464698]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[-0.4148194430668889,1.3802801990674016,0.71338606911949],"aabb_xy":[[-0.4649169070479625,1.3162801985575898],[-0.3647219790858153,1.4442801995772134]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[0.015826395398206405,-2.3761486764937008,0.71338606911949],"aabb_xy":[[0.007024340089233693,-2.3839600026486294],[0.024628450707179114,-2.3683373503387712]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.5365898399288319,0.5324886925482679,0.71338606911949],"aabb_xy":[[-0.5611034640258378,0.5082240992462315],[-0.512076215831826,0.5567532858503044]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[0.14384509288065683,-2.0298693091416355,0.71338606911949],"aabb_xy":[[0.11344698178151323,-2.0602762111433046],[0.1742432039798004,-1.9994624071399658]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[0.342257131945539,-1.2823006629657574,0.71338606911949],"aabb_xy":[[0.33354316289560443,-1.3048006636249454],[0.3509711009954734,-1.259800662306569]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[0.06746696558015508,-1.4918820498871332,0.71338606911949],"aabb_xy":[[0.049967032146171694,-1.5093820498073678],[0.08496689901413844,-1.4743820499668987]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_23","position":[0.08419480979953109,-2.1675961752684048,0.71338606911949],"aabb_xy":[[0.03419997687158949,-2.2175961741636487],[0.1341896427274727,-2.1175961763731617]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[0.6524840577948219,-2.5580566164420153,0.71338606911949],"aabb_xy":[[0.632199755071423,-2.578339241584724],[0.6727683605182205,-2.537773991299306]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6938708052366179,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6280.png","name":"6280"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6280.png","name":"6280"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3715.png","name":"3715"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2670.png","name":"2670"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6101.png","name":"6101"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8267.png","name":"8267"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":702.0429003663605,"rotation_z_degrees":249.3350237324215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010414497186975576,-0.0027711553706130515,0.018161373001543784]},{"name":"camera_2","offset_m":[-0.010562619776440116,-0.0038279669321700273,0.010880341231666764]},{"name":"camera_3","offset_m":[0.013891295696018057,0.012522047718062767,0.005221328502942869]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001291306219848542,-0.0006633156320964746,0.0011130981128284838],"end_effector_yaw_offset_degrees":-0.28736075457616606},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018778074381277034,0.0016314394153530334,-0.0009432189678085852],"end_effector_yaw_offset_degrees":-0.5248280035408288},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008685584718458356,0.000713955588559335,0.00019766515344014348],"end_effector_yaw_offset_degrees":-0.6316006348511345},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00026975937963542515,0.0014145376490194849,0.00016618145746883674],"end_effector_yaw_offset_degrees":-0.6024230932193833}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007204121718899581,-0.002750801638936008],"position_m":[0.15312041217188996,0.22084919836106398,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028594717633062196,-0.002316589468849383],"position_m":[0.23954052823669378,-0.31201658946884936,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016719711221981326,0.0045144559620603425],"position_m":[0.3228280288778019,-0.037085544037939656,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0040592661831188835,-0.0008455761934836022],"position_m":[0.3469407338168811,0.31755442380651644,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6b3591aba647639a33b6203244d7fc768fca667c49e70e55000d88df4670f27e","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0063.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6280/tex_ceiling_textures_8267/tex_floor_textures_6101/tex_table_textures_3715/tex_wall_textures_2670","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6309274432327138028,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6309274432327138028,"visual_seed":6309274432327138028,"scene_id":"lab_003","finished_at":"2026-09-04T21:10:16"}
+{"episode_id":"ep_000058","started_at":"2026-09-04T21:14:44","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[-0.40799967688468824,0.2931238858745866,0.71338606911949],"aabb_xy":[[-0.46299288822182505,0.23812388553579306],[-0.3530064655475515,0.34812388621338025]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[0.5640674837280775,1.4900485687902933,0.71338606911949],"aabb_xy":[[0.5488953144464441,1.47487971186209],[0.5792396530097108,1.5052174257184967]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[-0.6670753718110586,-2.0182646272178952,0.71338606911949],"aabb_xy":[[-0.6840854691011092,-2.0343991157161687],[-0.6500652745210079,-2.002130138719621]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.4783110139313351,-1.2738946159271463,0.71338606911949],"aabb_xy":[[0.47060782325725814,-1.2816039866258842],[0.4860142046054122,-1.2661852452284084]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[-0.6080618585770041,-1.0293173573666008,0.71338606911949],"aabb_xy":[[-0.6120223423467386,-1.0369852219521214],[-0.6041013748072699,-1.0216494927810802]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[0.27327972057515115,-1.075568882793573,0.71338606911949],"aabb_xy":[[0.2669676210388127,-1.0813358220467917],[0.2795918201114896,-1.0698019435403539]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[0.5380229917328221,-2.224889152169886,0.71338606911949],"aabb_xy":[[0.5158504647561711,-2.247064819326009],[0.5601955187094728,-2.202713485013763]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[-0.23366480984407156,-0.8160451503903432,0.71338606911949],"aabb_xy":[[-0.24922057925433685,-0.8315955836347506],[-0.21810904043380633,-0.8004947171459362]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[-0.10422989165392815,-1.4888593394095941,0.71338606911949],"aabb_xy":[[-0.12672902738015512,-1.5113593401878571],[-0.08173075592770118,-1.4663593386313312]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[0.5580690010327469,-2.0747155423919716,0.71338606911949],"aabb_xy":[[0.5483130115235729,-2.084478076451206],[0.5678249905419207,-2.064953008332737]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[-0.031024786761591594,0.9190200341019712,0.71338606911949],"aabb_xy":[[-0.039152474954904815,0.9101064256912635],[-0.022897098568278373,0.9279336425126788]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[0.3923154528138484,1.5920918707354041,0.71338606911949],"aabb_xy":[[0.3720311500904495,1.571809245592695],[0.41259975553724704,1.6123744958781128]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[0.05396553776642232,1.2346579069440802,0.71338606911949],"aabb_xy":[[0.047998998825686534,1.2286967622847158],[0.05993207670715811,1.240619051603444]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[0.3053737068161406,1.436102465777568,0.71338606911949],"aabb_xy":[[0.29796125127475215,1.4302512553559399],[0.3127861623575291,1.4419536761991958]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.006710462945046181,-0.7966173627644708,0.71338606911949],"aabb_xy":[[-0.07171046297934891,-0.843318039444798],[0.05828953708925655,-0.7499166860841434]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[-0.655195359410126,-2.294622892676173,0.71338606911949],"aabb_xy":[[-0.666035837636641,-2.311809173966821],[-0.6443548811836112,-2.277436611385524]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[-0.27638763608006267,0.06694307458818383,0.71338606911949],"aabb_xy":[[-0.2869551157381617,0.05639804447517527],[-0.26582015642196366,0.07748810470119238]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[0.4397165122254012,1.3246697963504572,0.71338606911949],"aabb_xy":[[0.4052541648272593,1.2901759139526343],[0.4741788596235429,1.3591636787482797]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.6450543794737285,1.3947386842660587,0.71338606911949],"aabb_xy":[[-0.6825543795793214,1.3879165224130774],[-0.6075543793681355,1.4015608461190396]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.33431387238725696,1.303417994643541,0.71338606911949],"aabb_xy":[[0.328981357732644,1.2980936663983054],[0.33964638704186995,1.3087423228887765]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.5287742842428852,-2.190374126179803,0.71338606911949],"aabb_xy":[[-0.5637742855943668,-2.2107338621366237],[-0.4937742828914034,-2.170014390222982]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.29649168342097126,-1.119681610172919,0.71338606911949],"aabb_xy":[[-0.3299708506820122,-1.1531607235440262],[-0.2630125161599303,-1.0862024968018122]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_22","position":[0.571822549237593,1.686633469021721,0.71338606911949],"aabb_xy":[[0.563796278606967,1.6778819740443685],[0.579848819868219,1.6953849639990737]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[-0.012335387576774215,-2.3165657072636834,0.71338606911949],"aabb_xy":[[-0.062312804442027796,-2.3665657087529315],[0.037642029288479366,-2.2665657057744344]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_24","position":[-0.2517593710286975,1.6221510104381935,0.71338606911949],"aabb_xy":[[-0.26843650702179306,1.6054510864642635],[-0.23508223503560205,1.638850934412124]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[0.08812828478021961,-1.2343635654786576,0.71338606911949],"aabb_xy":[[0.07033477784530318,-1.2521633110744552],[0.10592179171513605,-1.2165638198828599]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[0.10960523123733401,-0.6653715369950215,0.71338606911949],"aabb_xy":[[0.0721052297217023,-0.6765983100111665],[0.14710523275296572,-0.6541447639788764]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.695405404271171,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2553.png","name":"2553"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2553.png","name":"2553"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/842.png","name":"842"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3478.png","name":"3478"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7056.png","name":"7056"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1643.png","name":"1643"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":613.5612729447281,"rotation_z_degrees":88.49768906936156,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[5.257420601547172e-05,0.005397618759321387,0.013630785698715567]},{"name":"camera_2","offset_m":[0.019296203217076296,0.01672435728141883,0.01355570776287154]},{"name":"camera_3","offset_m":[-0.015081411660519791,-0.001831037476211668,-0.007317606101088017]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017565778418139276,0.0017272153696505214,-0.0010341893489181405],"end_effector_yaw_offset_degrees":-0.15672622589281437},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00012970600967783063,0.00012411563476294376,-0.0011250184573513473],"end_effector_yaw_offset_degrees":-0.36595653934802796},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[5.394371590026429e-05,-0.001956344773042849,-0.0010992761560571157],"end_effector_yaw_offset_degrees":0.18943602051908903},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002890254312410967,0.0009621207586893608,-0.0006764026938719807],"end_effector_yaw_offset_degrees":0.13607753855078086}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038026166399983343,0.003992884777758033],"position_m":[0.14859738336000167,0.22759288477775802,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001231203960571992,-0.004068687280366199],"position_m":[0.2422768796039428,-0.31376868728036617,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0002214728332648715,0.0038432286956323206],"position_m":[0.32427852716673516,-0.03775677130436768,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004566701328203047,0.0034674437574175486],"position_m":[0.34643329867179695,0.32186744375741755,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fc3903498e3db636d4f3b54826ed96e78f3449699435a0e2f8105defc9d758c3","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0065.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2553/tex_ceiling_textures_1643/tex_floor_textures_7056/tex_table_textures_842/tex_wall_textures_3478","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3049252845266234498,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3049252845266234498,"visual_seed":3049252845266234498,"scene_id":"lab_003","finished_at":"2026-09-04T21:18:39"}
+{"episode_id":"ep_000059","started_at":"2026-09-04T21:18:42","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[0.06451868357416002,1.4454165536358716,0.71338606911949],"aabb_xy":[[0.00451868271334721,1.3939901236293848],[0.12451868443497281,1.4968429836423576]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[0.43391702374123153,-0.9578976134699717,0.71338606911949],"aabb_xy":[[0.3838195597601579,-1.0218976139797835],[0.48401448772230515,-0.8938976129601599]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.615496284997082,-1.0689001114360377,0.71338606911949],"aabb_xy":[[0.5654962839779467,-1.1053663271738656],[0.6654962860162172,-1.0324338956982098]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[0.3799012671436781,1.1510792288546998,0.71338606911949],"aabb_xy":[[0.32990126849775686,1.1011596851952374],[0.42990126578959925,1.2009987725141622]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[0.24736916791785435,-2.168597058725201,0.71338606911949],"aabb_xy":[[0.23820928897397775,-2.1751282767687377],[0.25652904686173095,-2.162065840681664]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[0.39639139601575457,-2.2884509079434183,0.71338606911949],"aabb_xy":[[0.38623838046160514,-2.3245204495161578],[0.4065444115699039,-2.252381366370677]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[0.6087890706254522,-1.3227464799016115,0.71338606911949],"aabb_xy":[[0.5537968199899412,-1.3777464816449245],[0.6637813212609631,-1.267746478158299]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[0.27985175781476535,-1.279065785988473,0.71338606911949],"aabb_xy":[[0.19985175734454946,-1.2873764936028214],[0.35985175828498134,-1.2707550783741248]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[0.6197938532910539,-0.7685578191713165,0.71338606911949],"aabb_xy":[[0.5547938522905533,-0.8193441843259914],[0.6847938542915544,-0.7177714540166416]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.48382339808948394,1.1414395324133855,0.71338606911949],"aabb_xy":[[0.47886737790460276,1.118939532211264],[0.4887794182743651,1.1639395326155073]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[-0.618505067709453,-2.003885980857831,0.71338606911949],"aabb_xy":[[-0.6437259045692925,-2.0291097317107174],[-0.5932842308496131,-1.978662230004944]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.41503833450329297,0.07563386550812812,0.71338606911949],"aabb_xy":[[-0.42207864443683,-0.004366133891543279],[-0.40799802456975603,0.15563386490779954]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[0.3159767018817061,-1.6037402927914008,0.71338606911949],"aabb_xy":[[0.2990659694453643,-1.617212498384015],[0.33288743431804785,-1.5902680871987862]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.5965918910446906,0.6985023224959819,0.71338606911949],"aabb_xy":[[0.5069048147365751,0.6085023222415313],[0.686278967352806,0.7885023227504324]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.6278076471708653,-1.861314901426515,0.71338606911949],"aabb_xy":[[-0.638219205851349,-1.8666606347624128],[-0.6173960884903815,-1.855969168090616]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_15","position":[-0.33357289361887654,-1.4440924645331268,0.71338606911949],"aabb_xy":[[-0.3975728938928547,-1.494158564730415],[-0.26957289334489826,-1.394026364335839]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[-0.4024908135557946,-1.6770258521434012,0.71338606911949],"aabb_xy":[[-0.466490814259264,-1.7230442346163226],[-0.33849081285232524,-1.6310074696704806]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[0.1352684801040549,-2.0645461318578153,0.71338606911949],"aabb_xy":[[0.08545170063922014,-2.1145461303421182],[0.18508525956888966,-2.0145461333735115]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_18","position":[0.03584075290266164,0.7156174874793773,0.71338606911949],"aabb_xy":[[-0.0014905236225809804,0.6809644326845249],[0.07317202942790427,0.7502705422742294]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.5367975726874114,-0.899193191414823,0.71338606911949],"aabb_xy":[[-0.5416968649939747,-0.9268701107173917],[-0.5318982803808477,-0.8715162721122541]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_20","position":[0.2346779093170408,-1.9178583627690637,0.71338606911949],"aabb_xy":[[0.21709960712809392,-1.9354328523431685],[0.25225621150598765,-1.900283873194959]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[0.40346821689877843,1.4288227241740032,0.71338606911949],"aabb_xy":[[0.385968283464795,1.4113227242537687],[0.42096815033276175,1.4463227240942378]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6958081213530286,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1533.png","name":"1533"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1533.png","name":"1533"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7832.png","name":"7832"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/939.png","name":"939"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1882.png","name":"1882"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3938.png","name":"3938"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":756.1698698655283,"rotation_z_degrees":301.2179368749103,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00991530388819772,0.004523249104551173,-0.011684852608778057]},{"name":"camera_2","offset_m":[0.0008358759774130115,-0.008646032400300055,0.01140701254150003]},{"name":"camera_3","offset_m":[-0.014431692348593796,-0.0007410525210093388,0.001157394588260082]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00163834066137441,0.0011673173394485454,0.001008001475436322],"end_effector_yaw_offset_degrees":-0.7030779870287263},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00016776080895777932,0.0002459747588610694,-0.0001124957228673517],"end_effector_yaw_offset_degrees":-0.5157396975842736},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004613331164327406,0.001213239125287782,0.001960677267084647],"end_effector_yaw_offset_degrees":0.20711411682423542},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005906341971972312,0.00047445427614628164,-0.0007909033091086633],"end_effector_yaw_offset_degrees":0.5263822875607687}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000774510276320378,-0.003927694237790789],"position_m":[0.1531745102763204,0.2196723057622092,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006674585577371508,0.001745881986934831],"position_m":[0.24306745855773715,-0.30795411801306516,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004016705356321944,-0.003959779823207177],"position_m":[0.32851670535632194,-0.04555977982320718,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003458063456451891,0.0022101762263058364],"position_m":[0.3475419365435481,0.32061017622630583,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"664b6487dd74276150ff5f96a976dc03b4b7e1dc7f0a9e629afa5e8e005d7172","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0066.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1533/tex_ceiling_textures_3938/tex_floor_textures_1882/tex_table_textures_7832/tex_wall_textures_939","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8067300624363374937,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8067300624363374937,"visual_seed":8067300624363374937,"scene_id":"lab_003","finished_at":"2026-09-04T21:22:33"}
+{"episode_id":"ep_000060","started_at":"2026-09-04T21:22:36","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_0","position":[-0.22843222496345622,1.1977669621958573,0.71338606911949],"aabb_xy":[[-0.2595791438070393,1.12776696350905],[-0.19728530611987308,1.2677669608826643]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_1","position":[-0.4721033618908522,-0.6837869473867193,0.71338606911949],"aabb_xy":[[-0.537103360447925,-0.7135394808006018],[-0.40710336333377933,-0.6540344139728366]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.18424751562588682,-0.8470772068471344,0.71338606911949],"aabb_xy":[[-0.18958509129189138,-0.8720772077762742],[-0.17890993995988225,-0.8220772059179946]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[-0.07028342740789562,-0.5397962865013244,0.71338606911949],"aabb_xy":[[-0.08738550536626377,-0.5569030920325941],[-0.05318134944952746,-0.5226894809700546]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[0.6157867116648641,-0.01631968860514288,0.71338606911949],"aabb_xy":[[0.6116508553321639,-0.05381968804949988],[0.6199225679975643,0.02118031083921412]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[-0.5754879525743741,-2.130392257492753,0.71338606911949],"aabb_xy":[[-0.5835142232050001,-2.1391437524701056],[-0.5674616819437481,-2.1216407625154003]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.20145817622579187,-2.0854388415941782,0.71338606911949],"aabb_xy":[[0.1364581783441441,-2.1365625053007196],[0.26645817410743966,-2.034315177887638]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[0.5419043911665427,-2.2954926875276938,0.71338606911949],"aabb_xy":[[0.49190439021600973,-2.327041834531215],[0.5919043921170754,-2.2639435405241723]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[-0.6320222294669663,-2.4029698616418447,0.71338606911949],"aabb_xy":[[-0.6820222289071618,-2.452937786126161],[-0.5820222300267706,-2.3530019371575284]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_9","position":[0.5977337399641787,0.37139652637787135,0.71338606911949],"aabb_xy":[[0.5477337389450434,0.33493031064004347],[0.6477337409833139,0.4078627421156994]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_10","position":[-0.40413375963588827,-0.9061391597992243,0.71338606911949],"aabb_xy":[[-0.4841337610660154,-0.9856563148118338],[-0.324133758205761,-0.8266220047866149]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[0.5340572836494046,-0.9504009857843547,0.71338606911949],"aabb_xy":[[0.499057284519449,-0.9561462068600188],[0.5690572827793603,-0.9446557647086906]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.14424021502670858,-2.163838047651028,0.71338606911949],"aabb_xy":[[-0.14835616513878125,-2.1679536026838733],[-0.14012426491463592,-2.159722492618182]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.07792735339601475,-2.286278668789447,0.71338606911949],"aabb_xy":[[-0.0117597229121007,-2.3762786690438977],[0.1676144297041302,-2.1962786685349966]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[-0.14251007343600663,1.1500322038177968,0.71338606911949],"aabb_xy":[[-0.14860470132412495,1.141462809266128],[-0.13641544554788831,1.1586015983694655]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[0.373834121726599,1.543684855184131,0.71338606911949],"aabb_xy":[[0.35867124874966194,1.5285193978890124],[0.38899699470353616,1.5588503124792499]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.1989932878213469,-0.19560333484459447,0.71338606911949],"aabb_xy":[[-0.23399328779784273,-0.20506795089221108],[-0.16399328784485107,-0.18613871879697785]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[-0.34249110352793005,-0.09875920293347296,0.71338606911949],"aabb_xy":[[-0.3522470930371039,-0.10852173699270738],[-0.3327351140187561,-0.0889966688742385]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[-0.357650391401015,-1.1161281257045794,0.71338606911949],"aabb_xy":[[-0.39515039206559366,-1.1318151837048014],[-0.32015039073643625,-1.100441067704357]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.5688304124957035,0.8918170369981779,0.71338606911949],"aabb_xy":[[0.47883041307733254,0.8584415401539882],[0.6588304119140743,0.9251925338423677]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_20","position":[0.13334771126996137,1.506573211819442,0.71338606911949],"aabb_xy":[[0.07334770962703951,1.454573062527498],[0.19334771291288322,1.5585733611113863]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[-0.37557462392297036,-2.0306283892052033,0.71338606911949],"aabb_xy":[[-0.4205672106414208,-2.075628388479652],[-0.33058203720451995,-1.9856283899307545]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[-0.1934330189536173,-1.3018076007363137,0.71338606911949],"aabb_xy":[[-0.20223507426259002,-1.3096189268912426],[-0.1846309636446446,-1.2939962745813844]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_23","position":[-0.291290365445761,-0.5522193931214581,0.71338606911949],"aabb_xy":[[-0.3175791897662016,-0.5784908267761092],[-0.26500154112532026,-0.5259479594668067]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[0.02568326365217033,-1.2215301369065974,0.71338606911949],"aabb_xy":[[0.008772531215828544,-1.2350023424992114],[0.042593996088512096,-1.2080579313139825]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6960366590361825,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9123.png","name":"9123"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9123.png","name":"9123"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8889.png","name":"8889"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7893.png","name":"7893"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1418.png","name":"1418"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/777.png","name":"777"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":515.1750881148996,"rotation_z_degrees":333.8649870680376,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010698050447586102,0.0124264719103459,0.018324025528321856]},{"name":"camera_2","offset_m":[-0.016443411102957765,-0.0031169341482736937,0.010330339636187728]},{"name":"camera_3","offset_m":[0.0022502394196600058,-0.018796012684079454,-0.0010541281593092061]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012770061069777268,-0.00012819088420491873,-0.0008186327220117394],"end_effector_yaw_offset_degrees":-0.007717065283517011},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018732357446854793,-0.0006386804857218978,-0.0014231552353184897],"end_effector_yaw_offset_degrees":-0.4640940115121477},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016906991316980704,0.0018136965328070086,0.0017912436183126256],"end_effector_yaw_offset_degrees":0.5868427685261568},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012630916546363014,0.0010916941488081128,0.001884834087110585],"end_effector_yaw_offset_degrees":-0.3917261087524684}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0039960834396658455,0.004450397226046306],"position_m":[0.14840391656033416,0.2280503972260463,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00030923532663500435,-0.0015090250016570662],"position_m":[0.24270923532663502,-0.31120902500165704,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008299931863583031,0.0018432994819349126],"position_m":[0.3236700068136417,-0.03975670051806508,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012890909772978686,-0.0015003208222617282],"position_m":[0.34971090902270213,0.3168996791777383,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a245b3dff61fb733a4262db122733bb44890a0129ae357dd3a5ab4b52a6fa6fc","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9123/tex_ceiling_textures_777/tex_floor_textures_1418/tex_table_textures_8889/tex_wall_textures_7893","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6718726225059919531,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6718726225059919531,"visual_seed":6718726225059919531,"scene_id":"lab_003","finished_at":"2026-09-04T21:26:23"}
+{"episode_id":"ep_000061","started_at":"2026-09-04T21:26:26","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[0.030626014865552942,-1.9126094423867173,0.71338606911949],"aabb_xy":[[-0.029373986777368914,-1.9646095916786614],[0.0906260165084748,-1.860609293094773]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[-0.23762731432888723,-1.1887895566745013,0.71338606911949],"aabb_xy":[[-0.28762658949732334,-1.2387895579504486],[-0.18762803916045104,-1.1387895553985543]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[-0.5150271961124248,-2.060628150251822,0.71338606911949],"aabb_xy":[[-0.579027192507998,-2.1245914386705556],[-0.4510271997168518,-1.9966648618330884]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[0.3848356519448397,0.8764134429388148,0.71338606911949],"aabb_xy":[[0.3473356521278061,0.8717752316276729],[0.4223356517618732,0.8810516542499566]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[0.4141078681218846,1.3610114526808723,0.71338606911949],"aabb_xy":[[0.364010404140811,1.2970114521710605],[0.4642053321029582,1.4250114531906841]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[-0.3799316444124637,-1.1633628127630016,0.71338606911949],"aabb_xy":[[-0.4164274650397424,-1.1998467551897591],[-0.3434358237851849,-1.126878870336244]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[0.5339990043599383,-1.306782116646252,0.71338606911949],"aabb_xy":[[0.526755238313693,-1.3867821148498543],[0.5412427704061836,-1.2267821184426495]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[0.1425280916709889,-1.8674851798346779,0.71338606911949],"aabb_xy":[[0.13861421847556638,-1.8762341952412345],[0.14644196486641142,-1.8587361644281208]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[-0.31467548732256034,-0.8702363363005059,0.71338606911949],"aabb_xy":[[-0.3262444680694969,-0.8952363364174378],[-0.30310650657562377,-0.8452363361835744]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[0.6889342964079201,-2.0146358337417327,0.71338606911949],"aabb_xy":[[0.6775725617546339,-2.02600430014802],[0.7002960310612062,-2.0032673673354444]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[-0.36789866679551947,-0.7373870180012336,0.71338606911949],"aabb_xy":[[-0.4318986674989889,-0.7834054004741549],[-0.3038986660920502,-0.6913686355283127]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[-0.34353357875702856,-1.5260641033588522,0.71338606911949],"aabb_xy":[[-0.3488711544230331,-1.551064104287992],[-0.338196003091024,-1.5010641024297124]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[0.09953239898446353,0.8159792464388027,0.71338606911949],"aabb_xy":[[0.07569618134385848,0.7259792456303162],[0.12336861662506862,0.9059792472472893]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[-0.313786015985157,0.4163439147024457,0.71338606911949],"aabb_xy":[[-0.36877922732229373,0.3613439143636521],[-0.25879280464802024,0.47134391504123935]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[0.48083387857564164,-2.398011677973224,0.71338606911949],"aabb_xy":[[0.4706808630214922,-2.434081219545964],[0.49098689412979096,-2.3619421364004833]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_15","position":[-0.5484056352552216,1.3874762389632131,0.71338606911949],"aabb_xy":[[-0.561008334392298,1.3748808427383479],[-0.5358029361181451,1.4000716351880789]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[0.4271357061549148,-1.0893545487982224,0.71338606911949],"aabb_xy":[[0.34713570919187564,-1.1664301904419958],[0.507135703117954,-1.012278907154449]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[0.5671265491085549,-1.091659325753041,0.71338606911949],"aabb_xy":[[0.5501164518185042,-1.1077938142513148],[0.5841366463986055,-1.075524837254767]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[0.3625768500214217,1.6971379919633782,0.71338606911949],"aabb_xy":[[0.29857685271907525,1.6527715649955215],[0.42657684732376805,1.741504418931235]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[-0.0622289226780911,-0.9722861179165121,0.71338606911949],"aabb_xy":[[-0.11222892225442584,-1.022266696868618],[-0.012228923101756398,-0.9223055389644063]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_20","position":[-0.21112764308377635,0.6373106817137626,0.71338606911949],"aabb_xy":[[-0.2662528487133671,0.5773106802724755],[-0.15600243745418557,0.6973106831550497]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_21","position":[-0.4915569921327942,-0.5389499162347673,0.71338606911949],"aabb_xy":[[-0.5565569902887133,-0.5652461607846795],[-0.4265569939768751,-0.5126536716848551]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[0.1338214435669981,-1.1311793708399491,0.71338606911949],"aabb_xy":[[0.08382144492107693,-1.1810989144994115],[0.18382144221291932,-1.0812598271804867]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_23","position":[-0.4909095515251881,0.9146901654761495,0.71338606911949],"aabb_xy":[[-0.5559095541629816,0.8632105667767025],[-0.42590954888739463,0.9661697641755964]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_24","position":[0.6522399429358405,-1.6786176847760597,0.71338606911949],"aabb_xy":[[0.6069613280546913,-1.7426176841242433],[0.6975185578169898,-1.614617685427876]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[-0.5123568556709289,-1.791599354762036,0.71338606911949],"aabb_xy":[[-0.5298568559159783,-1.8090991426016023],[-0.4948568554258796,-1.7740995669224686]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_26","position":[0.3810706680917253,-1.6244225371440266,0.71338606911949],"aabb_xy":[[0.3664272625376923,-1.6390812568008106],[0.3957140736457583,-1.6097638174872422]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_27","position":[-0.5882153839953018,-0.2933336280064589,0.71338606911949],"aabb_xy":[[-0.6382084961044938,-0.34333362868065453],[-0.53822227188611,-0.24333362733226327]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_28","position":[0.5972857349723542,0.6532136495842269,0.71338606911949],"aabb_xy":[[0.5727721108753484,0.6289490562821904],[0.6217993590693601,0.6774782428862633]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_29","position":[0.22782070715008584,-0.5581757358730823,0.71338606911949],"aabb_xy":[[0.20591202501073477,-0.5800764026931731],[0.24972938928943686,-0.5362750690529916]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_30","position":[-0.2313560953339167,1.1003631337421038,0.71338606911949],"aabb_xy":[[-0.24645839679493478,1.0852616121110414],[-0.2162537938728986,1.1154646553731653]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_31","position":[-0.14338109604851257,1.4893609226419273,0.71338606911949],"aabb_xy":[[-0.20838109715445585,1.4643955495737992],[-0.07838109494256928,1.5143262957100558]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6963776206752765,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5719.png","name":"5719"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5719.png","name":"5719"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6671.png","name":"6671"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8303.png","name":"8303"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9696.png","name":"9696"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7533.png","name":"7533"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":581.1285340852559,"rotation_z_degrees":179.7555707916298,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013615973199148566,-0.010345060161055422,0.019527877222021196]},{"name":"camera_2","offset_m":[0.017440810161505834,-0.010233868676917317,0.0100196371104232]},{"name":"camera_3","offset_m":[-0.0003916722661138211,-0.015835832532325615,0.004738542336989983]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008282418479616785,-0.00018406468079057827,3.174847003257174e-05],"end_effector_yaw_offset_degrees":-0.17648664312189233},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012859004689488415,0.0019484923264226272,0.0003704119755733289],"end_effector_yaw_offset_degrees":-0.2615061009745563},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014236064146607957,-8.920493127363076e-05,0.0002154829981039631],"end_effector_yaw_offset_degrees":-0.8710058004130392},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015999805354227497,0.0016305196948058621,0.0015291871361336612],"end_effector_yaw_offset_degrees":-0.372199198459914}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004023639251482687,0.0004936855093953148],"position_m":[0.1564236392514827,0.22409368550939532,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015055768245941948,-0.00262559741852451],"position_m":[0.2439055768245942,-0.3123255974185245,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00430423621062553,0.001728189878187244],"position_m":[0.3201957637893745,-0.039871810121812755,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037124775039311395,0.003931959170156448],"position_m":[0.3472875224960688,0.32233195917015645,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bc584a88ea94c061ff39211be095f1220e90c6a6ab832b5ff0b3c7bf83d652df","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0068.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5719/tex_ceiling_textures_7533/tex_floor_textures_9696/tex_table_textures_6671/tex_wall_textures_8303","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5699529745298900786,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5699529745298900786,"visual_seed":5699529745298900786,"scene_id":"lab_003","finished_at":"2026-09-04T21:30:20"}
+{"episode_id":"ep_000062","started_at":"2026-09-04T21:30:23","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_0","position":[0.09586221552162144,-0.8498224204926728,0.71338606911949],"aabb_xy":[[0.06139973750853367,-0.8564860976755955],[0.1303246935347092,-0.8431587433097498]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[0.43232766870036876,-0.7215193047241981,0.71338606911949],"aabb_xy":[[0.3948276679083733,-0.7278871456823882],[0.4698276694923642,-0.715151463766008]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[-0.5643071715167092,1.1281950848141284,0.71338606911949],"aabb_xy":[[-0.6480293970167915,1.0381950812794325],[-0.4805849460166266,1.2181950883488244]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[-0.09686738471064593,1.3765538219815423,0.71338606911949],"aabb_xy":[[-0.13436738465441234,1.3682607319467057],[-0.05936738476687953,1.3848469120163789]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[-0.37564946260055243,-2.032591342574478,0.71338606911949],"aabb_xy":[[-0.40613371272758264,-2.082591342355974],[-0.34516521247352233,-1.9825913427929822]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.07490484357870242,-1.191122788167035,0.71338606911949],"aabb_xy":[[-0.12490484301889804,-1.241090712651351],[-0.0249048441385068,-1.1411548636827185]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[-0.49867545045952655,-1.5955488925440606,0.71338606911949],"aabb_xy":[[-0.5626754477451752,-1.6370556114969046],[-0.4346754531738779,-1.5540421735912167]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[0.14075600127805055,-2.4134723289694664,0.71338606911949],"aabb_xy":[[0.12998302735668277,-2.4484723271885054],[0.15152897519941833,-2.3784723307504274]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[0.399149330103437,1.3869598151930176,0.71338606911949],"aabb_xy":[[0.38738114330877954,1.3019598152877963],[0.4109175168980946,1.4719598150982394]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[-0.5485123115410799,-0.20599475177396087,0.71338606911949],"aabb_xy":[[-0.5522155728702188,-0.2096967700826787],[-0.544809050211941,-0.20229273346524299]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[-0.5252934589524234,-1.0425602890437131,0.71338606911949],"aabb_xy":[[-0.5422041913887651,-1.0560324946363273],[-0.5083827265160815,-1.0290880834510985]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.19540241177554907,1.406771269273034,0.71338606911949],"aabb_xy":[[0.1883621018420121,1.3267712698733627],[0.2024427217090861,1.4867712686727055]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.6040801828717444,-2.308006757868225,0.71338606911949],"aabb_xy":[[0.5936686241912607,-2.313352491204123],[0.6144917415522281,-2.302661024532326]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_13","position":[-0.6395536391360164,-0.18805202932617338,0.71338606911949],"aabb_xy":[[-0.6476813273293296,-0.19696563773688103],[-0.6314259509427032,-0.17913842091546572]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[-0.1722163293642779,-1.8269343473197144,0.71338606911949],"aabb_xy":[[-0.1888934653573734,-1.8436342712936447],[-0.15553919337118238,-1.810234423345784]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[0.06818828790236897,-2.5482303417260574,0.71338606911949],"aabb_xy":[[0.03318828870955069,-2.55919738772372],[0.10318828709518722,-2.537263295728395]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[-0.41384912827442394,-1.8355176497520058,0.71338606911949],"aabb_xy":[[-0.47884912643034305,-1.861813894301918],[-0.34884913011850494,-1.8092214052020936]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[-0.12753171744292258,-2.518873898699525,0.71338606911949],"aabb_xy":[[-0.16432635056782885,-2.555779773796107],[-0.0907370843180163,-2.4819680236029424]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[0.6198907830431377,1.6065508886601534,0.71338606911949],"aabb_xy":[[0.6023907827980883,1.5890511008205865],[0.6373907832881871,1.6240506764997202]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[-0.5949252197785057,-1.3066917992523148,0.71338606911949],"aabb_xy":[[-0.6589252200389765,-1.3517005986052428],[-0.5309252195180348,-1.2616829998993868]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[0.6851512201842789,-1.8153778669992917,0.71338606911949],"aabb_xy":[[0.6626512199407635,-1.8275825016590637],[0.7076512204277943,-1.8031732323395198]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[-0.10649920279117775,-1.7106681517394509,0.71338606911949],"aabb_xy":[[-0.11521317184111222,-1.7331681523986389],[-0.09778523374124325,-1.6881681510802624]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[0.1818702068828949,-1.2416420184854218,0.71338606911949],"aabb_xy":[[0.14437020671102296,-1.2743427538683287],[0.21937020705476684,-1.2089412831025144]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[-0.5376533755040653,0.5170176975765988,0.71338606911949],"aabb_xy":[[-0.5448971415503107,0.4370176993729963],[-0.53040960945782,0.597017695780201]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[-0.6361989528315605,1.705520689628608,0.71338606911949],"aabb_xy":[[-0.66963912802758,1.6720770637976776],[-0.6027587776355408,1.7389643154595378]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[0.5471551092257856,-2.5720791690284153,0.71338606911949],"aabb_xy":[[0.46715510596177245,-2.585639201337328],[0.6271551124897987,-2.5585191367195015]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945340092976382,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6917.png","name":"6917"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6917.png","name":"6917"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5905.png","name":"5905"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8474.png","name":"8474"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3675.png","name":"3675"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2681.png","name":"2681"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":715.1876020861905,"rotation_z_degrees":6.1975316944444225,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01937994284082191,0.002412021197588054,0.006024787728188822]},{"name":"camera_2","offset_m":[-0.014118674951215847,0.0017384122903713363,-0.012423720353311189]},{"name":"camera_3","offset_m":[-0.013244349571934478,0.014826255206323118,0.011608178471499513]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006134749820970909,0.0006779746502330176,0.0019827065533434872],"end_effector_yaw_offset_degrees":-0.7542092681554164},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017941712335002768,-0.0012916149748704417,0.0018210128799671624],"end_effector_yaw_offset_degrees":0.3038785594025799},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009652583110070147,-0.0014706876401240994,-0.001738629304396241],"end_effector_yaw_offset_degrees":0.275772307249851},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017852635674741263,0.00016512031634000708,1.0930876730951e-06],"end_effector_yaw_offset_degrees":0.6139571123378291}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004348700755963171,0.004103156585617113],"position_m":[0.14805129924403684,0.2277031565856171,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003191439360169861,0.0008443979667104636],"position_m":[0.24559143936016986,-0.3088556020332895,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006138914649813686,0.0026074279465390397],"position_m":[0.3251138914649814,-0.03899257205346096,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00210565698352961,-0.003205982015471456],"position_m":[0.3488943430164704,0.31519401798452856,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1278cd7251889121f8f520f19dd94af8e950fc3a758d9b53834ced7f66d139de","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0069.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6917/tex_ceiling_textures_2681/tex_floor_textures_3675/tex_table_textures_5905/tex_wall_textures_8474","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7924056651823107141,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7924056651823107141,"visual_seed":7924056651823107141,"scene_id":"lab_003","finished_at":"2026-09-04T21:34:13"}
+{"episode_id":"ep_000063","started_at":"2026-09-04T21:34:17","dimensions":{"distractor":{"count":30,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[-0.6692687026513356,0.8376386324371672,0.71338606911949],"aabb_xy":[[-0.6794217182054848,0.8015690908644267],[-0.659115687097186,0.8737081740099074]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.16595037637904742,1.1999046873305526,0.71338606911949],"aabb_xy":[[-0.17198738937971214,1.1938779862616045],[-0.1599133633783827,1.2059313883995006]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.4587541867988545,-1.4335082513964166,0.71338606911949],"aabb_xy":[[0.44088507904439894,-1.4473411593736274],[0.47662329455330993,-1.4196753434192058]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[-0.676164597163767,0.525108235037254,0.71338606911949],"aabb_xy":[[-0.6932666751221351,0.5080014295059843],[-0.6590625192053988,0.5422150405685238]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[-0.2321000314183082,-2.2280596617294326,0.71338606911949],"aabb_xy":[[-0.27340457448204414,-2.2920596612975492],[-0.1907954883545722,-2.164059662161315]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[0.03960158879285558,-2.295747490484681,0.71338606911949],"aabb_xy":[[0.028032608045919005,-2.3207474906016126],[0.051170569539792155,-2.270747490367749]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.4187905728826302,0.6364798096540314,0.71338606911949],"aabb_xy":[[0.3587905730360634,0.5796611874609927],[0.47879057272919695,0.6932984318470701]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_7","position":[-0.1423029004459293,-0.6924452604924638,0.71338606911949],"aabb_xy":[[-0.15238460752450275,-0.7724452583845784],[-0.1322211933673558,-0.6124452626003491]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.37481950454071067,-1.5846167050226758,0.71338606911949],"aabb_xy":[[-0.4324499734279814,-1.644616703949386],[-0.31718903565343975,-1.5246167060959648]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[0.08271317689894042,1.0152599901259896,0.71338606911949],"aabb_xy":[[0.07084109388743931,0.9302599904323394],[0.09458525991044153,1.1002599898196401]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_10","position":[0.49212855576238534,-0.5830644593331655,0.71338606911949],"aabb_xy":[[0.47462855550304883,-0.5971560015219383],[0.5096285560217221,-0.568972917144393]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[-0.3682544608377462,1.3337456632464906,0.71338606911949],"aabb_xy":[[-0.4382544624400257,1.3203128700448332],[-0.29825445923546673,1.3471784564481484]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[0.09512590539108645,-1.0518029704702403,0.71338606911949],"aabb_xy":[[0.05762590557405291,-1.0564411817813821],[0.13262590520812,-1.0471647591590985]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[-0.4626297401399707,-1.0293012251045102,0.71338606911949],"aabb_xy":[[-0.5266297433586086,-1.0760243370035187],[-0.39862973692133286,-0.982578113205502]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_14","position":[-0.5671954554219683,-0.8292214006989005,0.71338606911949],"aabb_xy":[[-0.6021954537326637,-0.8369364156224461],[-0.5321954571112728,-0.8215063857753548]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.4183359081353471,-0.8602748560288753,0.71338606911949],"aabb_xy":[[-0.4683359094962343,-0.910252760604291],[-0.3683359067744599,-0.8102969514534597]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[-0.6000845631326543,-0.03484733932648565,0.71338606911949],"aabb_xy":[[-0.636935111069642,-0.07234734014951938],[-0.5632340151956667,0.002652661496548088]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[0.30183727438344554,0.4682061503491739,0.71338606911949],"aabb_xy":[[0.28416164379484715,0.4505259340697711],[0.3195129049720438,0.4858863666285766]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[-0.2302503581806234,0.23277362886478237,0.71338606911949],"aabb_xy":[[-0.2670449913055296,0.19586775376820006],[-0.1934557250557171,0.26967950396136464]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[-0.3842236123956409,-0.3746865846861014,0.71338606911949],"aabb_xy":[[-0.4017703073117599,-0.4121865862503526],[-0.366676917479522,-0.33718658312185007]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[-0.08320146356430069,-1.6715338253281113,0.71338606911949],"aabb_xy":[[-0.1472014599916226,-1.7187034491502078],[-0.01920146713697879,-1.624364201506015]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.13825491599317674,1.612003212922318,0.71338606911949],"aabb_xy":[[0.054532690493094255,1.5220032093876221],[0.22197714149325917,1.702003216457014]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_22","position":[0.2521450602262466,0.7449382132646534,0.71338606911949],"aabb_xy":[[0.2171450603302277,0.7365639777527135],[0.2871450601222654,0.7533124487765934]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_23","position":[0.6217192822329394,0.08209436885674037,0.71338606911949],"aabb_xy":[[0.5860901263329796,0.046461702099887425],[0.6573484381328991,0.11772703561359332]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_24","position":[-0.5215641793341382,1.1896244501456854,0.71338606911949],"aabb_xy":[[-0.5558610903518787,1.1553275639357439],[-0.4872672683163975,1.2239213363556265]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[0.335793283869392,1.6135889740072238,0.71338606911949],"aabb_xy":[[0.329379470226207,1.6071791537595552],[0.3422070975125769,1.619998794254892]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[0.6220691232851043,-0.9842055788116075,0.71338606911949],"aabb_xy":[[0.6161025843443686,-0.9901667234709716],[0.6280356622258401,-0.9782444341522435]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_27","position":[-0.06554581521983394,-1.9145058466981468,0.71338606911949],"aabb_xy":[[-0.11542851209753016,-1.9645058459444218],[-0.015663118342137742,-1.8645058474518723]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_28","position":[0.23511593569110922,-1.2467473293580336,0.71338606911949],"aabb_xy":[[0.15511593828751577,-1.3267399005562164],[0.3151159330947026,-1.1667547581598507]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_29","position":[-0.18390618536414038,1.7671575060180262,0.71338606911949],"aabb_xy":[[-0.23372296482897512,1.7171575075337229],[-0.1340894058993056,1.8171575045023296]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6959507452529847,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3899.png","name":"3899"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3899.png","name":"3899"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/71.png","name":"71"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6644.png","name":"6644"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3453.png","name":"3453"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3083.png","name":"3083"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":786.7893156971121,"rotation_z_degrees":201.10940457471085,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0011856567857653523,0.005932605177174723,0.008052425650532307]},{"name":"camera_2","offset_m":[-0.013141307513536985,-0.00136086188727072,-0.010110153380135345]},{"name":"camera_3","offset_m":[0.0034785358317136264,-0.014729892531779698,0.008893429932961789]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017316964466370971,-0.00026081738750082244,0.0008195078263084151],"end_effector_yaw_offset_degrees":-0.9955564738304366},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005288167845762391,-0.0012043561773984078,-0.000878824289882842],"end_effector_yaw_offset_degrees":0.5010510695991546},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012526066905226658,0.000561889575575146,0.001126649748367405],"end_effector_yaw_offset_degrees":0.6761190978508924},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006272353670308353,0.00010860425842169029,0.000725979803903795],"end_effector_yaw_offset_degrees":-0.058215809677781394}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0034635331462454606,0.0020408198047591752],"position_m":[0.15586353314624546,0.22564081980475917,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034743871158468796,-0.00011125933900204762],"position_m":[0.23892561288415312,-0.309811259339002,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004618359295663596,0.0026582750979779893],"position_m":[0.32911835929566363,-0.03894172490202201,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00040358406417031253,-0.0034277551446270293],"position_m":[0.3505964159358297,0.314972244855373,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6cc5d9c232ff126b76d5398c6feb60d7761f7df5ab02736f83bedbe2bda74c11","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0070.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3899/tex_ceiling_textures_3083/tex_floor_textures_3453/tex_table_textures_71/tex_wall_textures_6644","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1893979326206725160,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1893979326206725160,"visual_seed":1893979326206725160,"scene_id":"lab_003","finished_at":"2026-09-04T21:38:07"}
+{"episode_id":"ep_000064","started_at":"2026-09-04T21:38:11","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.0699921096734969,-1.9219646915845532,0.71338606911949],"aabb_xy":[[0.05331497368040139,-1.9386646155584832],[0.0866692456665924,-1.9052647676106227]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[-0.2788439439631241,-1.0662805918215548,0.71338606911949],"aabb_xy":[[-0.32882817967130135,-1.1162805906350504],[-0.2288597082549469,-1.0162805930080592]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[0.43139113181958955,0.43162853519833577,0.71338606911949],"aabb_xy":[[0.4135976248846731,0.4138287896025381],[0.449184638754506,0.44942828079413344]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.28497099947691695,0.5896324628779501,0.71338606911949],"aabb_xy":[[0.26247099923340156,0.5774278282181782],[0.30747099972043235,0.6018370975377221]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[-0.32723391371171856,-1.4394544534651086,0.71338606911949],"aabb_xy":[[-0.3351571939504669,-1.4619544537031122],[-0.31931063347297023,-1.4169544532271054]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.6152391996286855,-0.40100563023219404,0.71338606911949],"aabb_xy":[[0.5927392001049779,-0.42350157768281477],[0.6377391991523927,-0.3785096827815732]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[0.5816170248505694,0.7936293548060211,0.71338606911949],"aabb_xy":[[0.5176170256807995,0.7468626676870587],[0.6456170240203394,0.8403960419249836]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[0.4197679266080556,-2.15945953485497,0.71338606911949],"aabb_xy":[[0.41533729725321544,-2.164907906589653],[0.4241985559628958,-2.154011163120288]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.23233085507461282,-0.8934653188323209,0.71338606911949],"aabb_xy":[[0.20733085580265054,-0.9098106824284833],[0.2573308543465751,-0.8771199552361586]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[-0.463442822138052,0.41715082878410037,0.71338606911949],"aabb_xy":[[-0.4699444586460566,0.40738300675779066],[-0.4569411856300474,0.4269186508104102]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[0.6585820451699744,-1.3841776702628616,0.71338606911949],"aabb_xy":[[0.5945820487744012,-1.4481409586815952],[0.7225820415655474,-1.320214381844128]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[-0.1291547166824022,-1.3187735299720509,0.71338606911949],"aabb_xy":[[-0.1790374135600984,-1.3687735292183256],[-0.07927201980470598,-1.2687735307257761]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[0.4317658073616373,-1.6497705785726964,0.71338606911949],"aabb_xy":[[0.3717658065008244,-1.7011970085791825],[0.49176580822245003,-1.5983441485662098]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[-0.15503840252675427,0.8933920302702174,0.71338606911949],"aabb_xy":[[-0.23503839948979338,0.8163163886264441],[-0.07503840556371505,0.970467671913991]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.48996078688124123,-0.049116700959964454,0.71338606911949],"aabb_xy":[[0.4421546192674725,-0.1141167036670234],[0.5377669544950099,0.015883301747094503]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[-0.03279549082161992,-1.878705994006514,0.71338606911949],"aabb_xy":[[-0.036755974591354296,-1.8863738585920344],[-0.028835007051885547,-1.8710381294209932]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[0.15289311364972547,-1.723427772791109,0.71338606911949],"aabb_xy":[[0.11539311335755065,-1.7274692481917124],[0.19039311394190028,-1.7193862973905054]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[-0.5096335413347395,-0.39229195121322924,0.71338606911949],"aabb_xy":[[-0.5471335419993181,-0.40797900921345137],[-0.4721335406701607,-0.376604893213007]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[-0.05839260196023599,0.40248818009252485,0.71338606911949],"aabb_xy":[[-0.10837555214771531,0.35248818044996444],[-0.008409651772756653,0.45248817973508526]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[0.240469657590062,1.5886129835604046,0.71338606911949],"aabb_xy":[[0.17546965755575927,1.541912306880077],[0.30546965762436473,1.6353136602407317]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[-0.32940252322719704,-1.5707329714983271,0.71338606911949],"aabb_xy":[[-0.3894025234785982,-1.6250142965347916],[-0.26940252297579587,-1.5164516464618623]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[0.6735408316601317,-1.2462348142977993,0.71338606911949],"aabb_xy":[[0.6435491689262614,-1.2762348136345998],[0.703532494394002,-1.2162348149609987]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[0.36520415108410686,0.9958313277506528,0.71338606911949],"aabb_xy":[[0.3587903374409219,0.9894215075029842],[0.3716179647272918,1.0022411479983209]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[-0.059009995261529835,1.1103025199979224,0.71338606911949],"aabb_xy":[[-0.10910745924260346,1.0463025194881106],[-0.008912531280456222,1.1743025205077342]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_24","position":[0.33946014634805666,-2.0026875264433133,0.71338606911949],"aabb_xy":[[0.3044601464520377,-2.011061761955253],[0.3744601462440755,-1.994313290931373]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[0.5772172732304439,-0.5348017919933352,0.71338606911949],"aabb_xy":[[0.5426261903763987,-0.5998017922783663],[0.6118083560844891,-0.4698017917083042]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_26","position":[0.22568789388189814,0.8647839291360926,0.71338606911949],"aabb_xy":[[0.13568789154787905,0.7873015745509799],[0.3156878962159172,0.9422662837212052]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970649592985723,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1873.png","name":"1873"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1873.png","name":"1873"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7935.png","name":"7935"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6252.png","name":"6252"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/795.png","name":"795"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8303.png","name":"8303"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":519.9889106355336,"rotation_z_degrees":335.28218161772,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0069575872910293025,0.017576845338024862,-0.0004183734727810848]},{"name":"camera_2","offset_m":[-0.01688908125740927,-0.00565433107477856,-0.015340448375216212]},{"name":"camera_3","offset_m":[-0.01721759329525877,0.00040779270717583235,-0.017206797726600952]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015376065129392444,0.0013659566389977573,-0.0017346342983311604],"end_effector_yaw_offset_degrees":-0.9074784294713427},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00019603412413188477,-0.0012263463853863185,-0.0018434212560266437],"end_effector_yaw_offset_degrees":0.18698688442927436},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000182848127797567,-0.0003500669187557039,0.0005786759526659772],"end_effector_yaw_offset_degrees":0.9458010729127879},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015722952881886665,0.0017248816345299726,-0.0014690136690054083],"end_effector_yaw_offset_degrees":-0.3623753892902808}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014429507569525754,0.002911940465731265],"position_m":[0.1538429507569526,0.22651194046573125,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002695860782009717,0.0011530408093608328],"position_m":[0.23970413921799028,-0.3085469591906391,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006097324549972282,-0.0032790908960113],"position_m":[0.32510973245499725,-0.044879090896011296,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00026233190145248837,-0.0022787272082971143],"position_m":[0.35126233190145245,0.3161212727917029,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"97312a898b33caebe5b052e17dca19ccc25117933da86c3a44a80c32816ecf3a","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1873/tex_ceiling_textures_8303/tex_floor_textures_795/tex_table_textures_7935/tex_wall_textures_6252","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7170105350679195000,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7170105350679195000,"visual_seed":7170105350679195000,"scene_id":"lab_003","finished_at":"2026-09-04T21:41:59"}
+{"episode_id":"ep_000065","started_at":"2026-09-04T21:42:02","dimensions":{"distractor":{"count":26,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[-0.09164596147765824,-0.058324463029321816,0.71338606911949],"aabb_xy":[[-0.11664596074962053,-0.07466982662548416],[-0.06664596220569596,-0.04197909943315947]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[-0.24155634495147876,-1.8151719984674832,0.71338606911949],"aabb_xy":[[-0.25761827240999635,-1.900172000280075],[-0.22549441749296112,-1.7301719966548914]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.4954968344573439,0.6737283375304637,0.71338606911949],"aabb_xy":[[-0.5854968381342619,0.6122959309533592],[-0.4054968307804256,0.7351607441075679]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[-0.2450819658462688,1.4759754884170735,0.71338606911949],"aabb_xy":[[-0.26096645911159394,1.4616225481182494],[-0.22919747258094364,1.4903284287158975]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_4","position":[-0.3302404185922388,-1.586209710710174,0.71338606911949],"aabb_xy":[[-0.3652404177221944,-1.591954931785838],[-0.2952404194622831,-1.5804644896345097]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.09480885828904906,0.6843745042502261,0.71338606911949],"aabb_xy":[[-0.15880886050945608,0.6400014201249379],[-0.030808856068642018,0.7287475883755145]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[0.5096294347541024,0.3142978380235002,0.71338606911949],"aabb_xy":[[0.44562943437656877,0.2645525711726879],[0.573629435131636,0.3640431048743124]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[-0.4114382095163889,-1.0746959927753608,0.71338606911949],"aabb_xy":[[-0.41551636742343856,-1.078776973023624],[-0.4073600516093391,-1.0706150125270975]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.16389188764450302,1.5499588068444337,0.71338606911949],"aabb_xy":[[-0.1863918876546513,1.5358625872048302],[-0.14139188763435473,1.5640550264840367]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.09432733184453046,1.7903681067923567,0.71338606911949],"aabb_xy":[[-0.13182733213670528,1.7863266313917534],[-0.05682733155235564,1.7944095821929604]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[0.5653808815445869,0.9340373520707197,0.71338606911949],"aabb_xy":[[0.4756938052364714,0.8440373518162692],[0.6550679578527023,1.0240373523251702]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[-0.1616589186247851,1.3322092853932928,0.71338606911949],"aabb_xy":[[-0.1725646947123478,1.2522092889944636],[-0.15075314253722238,1.412209281792122]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[-0.08159235902681106,1.4139763971906905,0.71338606911949],"aabb_xy":[[-0.09075223797068765,1.4074451791471534],[-0.07243248008293446,1.4205076152342275]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[-0.27174892114150306,-0.7418145091539923,0.71338606911949],"aabb_xy":[[-0.3215657006063378,-0.7918145076382956],[-0.2219321416766683,-0.6918145106696889]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.5472376081834913,-0.6099817537057382,0.71338606911949],"aabb_xy":[[0.4832376067755005,-0.6617707052296629],[0.6112376095914818,-0.5581928021818134]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.6595630690657581,-0.9394049662645516,0.71338606911949],"aabb_xy":[[-0.667777614181442,-0.9480815565621928],[-0.651348523950074,-0.9307283759669102]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.14613476364152211,-0.8521611750899944,0.71338606911949],"aabb_xy":[[-0.15097835840275212,-0.8570128275689786],[-0.14129116888029217,-0.8473095226110103]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[0.5296295155154953,-0.7550342851885576,0.71338606911949],"aabb_xy":[[0.4796295160752996,-0.805002209672874],[0.5796295149556908,-0.7050663607042413]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.6323833902958707,-0.01671540440156649,0.71338606911949],"aabb_xy":[[-0.6818638115098293,-0.08071540231441832],[-0.5829029690819117,0.04728459351128533]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[-0.5285268442789898,-2.229196403560202,0.71338606911949],"aabb_xy":[[-0.5746119355337211,-2.2931964008127568],[-0.48244175302425824,-2.1651964063076465]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[-0.49783357348675755,0.1833428348603725,0.71338606911949],"aabb_xy":[[-0.5478335738473235,0.13336284765076953],[-0.4478335731261914,0.23332282206997543]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[0.23048319957775587,-2.274129966301277,0.71338606911949],"aabb_xy":[[0.1939873789504771,-2.3106139087280346],[0.2669790202050346,-2.2376460238745195]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[0.03760648731276561,-1.2717272649378215,0.71338606911949],"aabb_xy":[[-0.027393511244307223,-1.3014797983517041],[0.10260648586983845,-1.241974731523939]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[-0.03329125511020281,-1.6937280496078149,0.71338606911949],"aabb_xy":[[-0.0419892174009181,-1.7058530239152898],[-0.024593292819487522,-1.6816030753003404]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_24","position":[0.4419748468240281,-1.396505183306069,0.71338606911949],"aabb_xy":[[0.37797484612055887,-1.4425235657789903],[0.5059748475274976,-1.3504868008331483]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_25","position":[0.30410447699111287,1.530315084200652,0.71338606911949],"aabb_xy":[[0.2666044768192409,1.4976143488177447],[0.34160447716298475,1.563015819583559]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6996087550683292,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4726.png","name":"4726"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4726.png","name":"4726"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8659.png","name":"8659"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9365.png","name":"9365"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1595.png","name":"1595"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5494.png","name":"5494"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":623.1978485356617,"rotation_z_degrees":112.15053413656065,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0013398693596912044,-0.013562844630377291,0.005587691469960503]},{"name":"camera_2","offset_m":[0.006839689170768513,-0.0025400359435111958,0.01316378781069297]},{"name":"camera_3","offset_m":[0.018819980536713448,-0.010715914975562192,-1.3189550728379823e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016474027133562405,-0.0014376663687845218,-0.0017086092429387568],"end_effector_yaw_offset_degrees":0.7386197403488841},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005309886578354411,0.00028366386245926327,-0.00022836284950910018],"end_effector_yaw_offset_degrees":-0.8279597659991837},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007582936095360733,-0.00041039125985789494,-2.0944675814476166e-05],"end_effector_yaw_offset_degrees":-0.9841797114262527},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001921822322442178,-0.0015518239938748142,0.0011380720710155328],"end_effector_yaw_offset_degrees":0.43878970253936056}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012664878543003823,-0.004583050950351477],"position_m":[0.1536664878543004,0.21901694904964852,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015880051509828607,-0.004779699117597814],"position_m":[0.24398800515098287,-0.31447969911759777,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006150382502370932,0.004782470927283101],"position_m":[0.32511503825023713,-0.0368175290727169,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010458580872567194,0.001773932819475024],"position_m":[0.3520458580872567,0.32017393281947504,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fa40a1f34697f084e8237865a9dc867a5db739467bbf00996ddeb7a292a2ea00","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4726/tex_ceiling_textures_5494/tex_floor_textures_1595/tex_table_textures_8659/tex_wall_textures_9365","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8644037600111475192,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8644037600111475192,"visual_seed":8644037600111475192,"scene_id":"lab_003","finished_at":"2026-09-04T21:46:18"}
+{"episode_id":"ep_000066","started_at":"2026-09-04T21:46:21","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[0.2183250945825308,-0.9000933682828107,0.71338606911949],"aabb_xy":[[0.16332509540594128,-0.9550830430577684],[0.2733250937591203,-0.8451036935078531]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[-0.10089524559754715,0.433269230458194,0.71338606911949],"aabb_xy":[[-0.12718406991798778,0.4069977968035427],[-0.07460642127710647,0.45954066411284517]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[0.31533719495789225,-2.4718416891577606,0.71338606911949],"aabb_xy":[[0.26585677374393346,-2.5358416870706124],[0.36481761617185104,-2.4078416912449088]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_3","position":[0.6721007837572839,0.47779911250807494,0.71338606911949],"aabb_xy":[[0.6383252245665908,0.46376061729490997],[0.7058763429479767,0.49183760772124]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[-0.48139326492716555,-1.619687103413102,0.71338606911949],"aabb_xy":[[-0.5513932667359109,-1.6410408721772893],[-0.4113932631184201,-1.5983333346489146]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[-0.24713877581248944,1.6807218254063048,0.71338606911949],"aabb_xy":[[-0.26742307853588815,1.6604392002635957],[-0.22685447308909065,1.7010044505490134]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_6","position":[-0.5873267385854337,-1.996675047616373,0.71338606911949],"aabb_xy":[[-0.6048734335015526,-2.0341750491806243],[-0.5697800436693148,-1.9591750460521216]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.4595359805526098,-2.3132437489853324,0.71338606911949],"aabb_xy":[[-0.539529804131168,-2.3932437515781744],[-0.37954215697405164,-2.2332437463924912]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.1344732270815585,1.665684292083998,0.71338606911949],"aabb_xy":[[0.11197322656951789,1.6431924337185997],[0.15697322759359908,1.6881761504493964]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.08232902801527464,-0.5038272837662547,0.71338606911949],"aabb_xy":[[-0.09990733020422148,-0.5214017733403596],[-0.06475072582632778,-0.48625279419214984]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_10","position":[-0.6009680546241707,-2.323029633643448,0.71338606911949],"aabb_xy":[[-0.6122131101947885,-2.3342714313675432],[-0.5897229990535529,-2.3117878359193527]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_11","position":[-0.40635980278554423,0.33847835493517264,0.71338606911949],"aabb_xy":[[-0.4413598010962396,0.330763340011627],[-0.37135980447484873,0.3461933698587183]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.48741826764512797,-2.1449172717132723,0.71338606911949],"aabb_xy":[[0.46991826851076074,-2.1547968987508597],[0.504918266779495,-2.135037644675684]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[0.4082339170804954,1.505247601921353,0.71338606911949],"aabb_xy":[[0.3582346419120592,1.4552476006454058],[0.45823319224893155,1.5552476031973002]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[0.6842286377229574,0.674902463064369,0.71338606911949],"aabb_xy":[[0.6492286363714755,0.6545427271075481],[0.719228639074439,0.6952621990211898]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[0.6383243827240275,1.1734625242761725,0.71338606911949],"aabb_xy":[[0.6302107280506504,1.1653567078221432],[0.6464380373974046,1.1815683407302013]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_16","position":[-0.5979361242003903,1.4532100221685238,0.71338606911949],"aabb_xy":[[-0.6130384256614083,1.4381085005374614],[-0.5828338227393721,1.4683115437995853]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[-0.5185053712477101,0.31486411587232643,0.71338606911949],"aabb_xy":[[-0.5530964541017552,0.24986411558729535],[-0.48391428839366485,0.37986411615735743]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[-0.26193954893501087,0.32953619470139506,0.71338606911949],"aabb_xy":[[-0.2713570235048736,0.32012001756367603],[-0.2525220743651481,0.3389523718391141]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[0.24295125544851615,-1.8383946371901299,0.71338606911949],"aabb_xy":[[0.19767264056736683,-1.9023946365383133],[0.28822987032966535,-1.774394637841946]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[0.38826273204970474,0.8528834101448037,0.71338606911949],"aabb_xy":[[0.352633576149745,0.8172507433879507],[0.4238918879496645,0.8885160769016566]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6985521504386087,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4913.png","name":"4913"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4913.png","name":"4913"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6456.png","name":"6456"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7146.png","name":"7146"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/495.png","name":"495"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1988.png","name":"1988"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":529.4553080201244,"rotation_z_degrees":197.14483421450547,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013030844295281566,-0.00966747278632822,0.016958188792883338]},{"name":"camera_2","offset_m":[0.01525621414086167,-0.010505513578733226,0.01690729917123895]},{"name":"camera_3","offset_m":[-0.0017841528544982783,-0.006442853643365316,0.011543290628611504]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008661793603238818,-0.0017096388771690699,-0.0004906366434923029],"end_effector_yaw_offset_degrees":0.70515308252876},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002498421463463787,0.00032362503962894825,-0.0013503935822262187],"end_effector_yaw_offset_degrees":0.7155983961688275},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001686976557037112,-0.0009170541819073512,-0.0014622416439379609],"end_effector_yaw_offset_degrees":-0.005312106264685257},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018609690093490177,0.0003766121807082983,-0.0003295292549758812],"end_effector_yaw_offset_degrees":-0.1103970435592756}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002281293515897863,0.0009325519540380293],"position_m":[0.15468129351589788,0.224532551954038,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00469300429425511,-0.004417310274071334],"position_m":[0.24709300429425513,-0.3141173102740713,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003964130573116967,-0.0033078959416714617],"position_m":[0.32053586942688306,-0.04490789594167146,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010886424404182452,-0.0006252142153691572],"position_m":[0.3520886424404182,0.31777478578463086,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"432ace78291d663f0b93fa8582ab6f432454497cf30c40724e8acb49d5ed8155","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0073.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4913/tex_ceiling_textures_1988/tex_floor_textures_495/tex_table_textures_6456/tex_wall_textures_7146","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2474888401255851530,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2474888401255851530,"visual_seed":2474888401255851530,"scene_id":"lab_003","finished_at":"2026-09-04T21:50:14"}
+{"episode_id":"ep_000067","started_at":"2026-09-04T21:50:19","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[0.6734907156316501,-1.5336529272476072,0.71338606911949],"aabb_xy":[[0.6235132987663964,-1.5836529287368557],[0.7234681324969036,-1.4836529257583586]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[-0.43591107224051656,1.4513350856224982,0.71338606911949],"aabb_xy":[[-0.49090655006117584,1.396335084188591],[-0.38091559441985706,1.506335087056405]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_2","position":[-0.5356848271024434,-1.7273485013601566,0.71338606911949],"aabb_xy":[[-0.5531848273617801,-1.7414400435489295],[-0.5181848268431068,-1.7132569591713842]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_3","position":[-0.1888681926799597,0.544334957008878,0.71338606911949],"aabb_xy":[[-0.2213298935618871,0.5142021248939753],[-0.15640649179803218,0.5744677891237805]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[0.7128891396176931,0.05650463053076571,0.71338606911949],"aabb_xy":[[0.7089752664222706,0.04775561512420895],[0.7168030128131155,0.06525364593732247]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[0.3537767016890254,1.185404536499437,0.71338606911949],"aabb_xy":[[0.3456630470156483,1.177298720045408],[0.3618903563624025,1.193510352953466]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.5472743936934217,-2.4977223802466506,0.71338606911949],"aabb_xy":[[0.5062564503070507,-2.547722380877608],[0.5882923370797924,-2.4477223796156933]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[-0.19614986127402073,-2.400016783574283,0.71338606911949],"aabb_xy":[[-0.28614985777489244,-2.445928425992741],[-0.10614986477314893,-2.3541051411558245]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_8","position":[-0.47237897843772986,1.6474552391199375,0.71338606911949],"aabb_xy":[[-0.47633946220746426,1.6397873745344167],[-0.46841849466799546,1.655123103705458]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.39067422120691075,-1.79850482154272,0.71338606911949],"aabb_xy":[[0.325674223325263,-1.849628485249261],[0.45567421908855865,-1.7473811578361793]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[0.5340371777183022,-2.0168954424007377,0.71338606911949],"aabb_xy":[[0.49840802181834243,-2.0525281091575907],[0.5696663336182619,-1.9812627756438848]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[-0.556384987065433,-0.8686113970434515,0.71338606911949],"aabb_xy":[[-0.6203849863596013,-0.9325975374123057],[-0.4923849877712648,-0.8046252566745973]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_12","position":[0.5291820059801389,1.6014040684057025,0.71338606911949],"aabb_xy":[[0.49418200771001897,1.594329940710714],[0.5641820042502588,1.6084781961006904]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.5153802451788818,-2.2878973826331195,0.71338606911949],"aabb_xy":[[0.49626793782090295,-2.3070321615103615],[0.5344925525368607,-2.2687626037558775]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[0.27737470921727314,-2.2481203915824812,0.71338606911949],"aabb_xy":[[0.22739175902979378,-2.298120391225041],[0.3273576594047524,-2.1981203919399204]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[0.5466400635921993,0.005788115559106188,0.71338606911949],"aabb_xy":[[0.4666462400136411,-0.07421188703373538],[0.6266338871707575,0.08578811815194776]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[0.461411029454593,1.4046107010013715,0.71338606911949],"aabb_xy":[[0.4164110279883642,1.3596108441398909],[0.5064110309208218,1.4496105578628522]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.6316190671821293,0.19188725239871074,0.71338606911949],"aabb_xy":[[0.5516190661090089,0.1821092060613263],[0.7116190682552496,0.20166529873609518]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_18","position":[0.5711906131988871,-0.7777788915546064,0.71338606911949],"aabb_xy":[[0.5071906168033141,-0.84174217997334],[0.6351906095944603,-0.7138156031358729]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[-0.5765418000707809,-1.9709041731760955,0.71338606911949],"aabb_xy":[[-0.598450482210132,-1.992804839996186],[-0.5546331179314299,-1.9490035063560045]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_20","position":[-0.06525199222568057,-1.987308499032197,0.71338606911949],"aabb_xy":[[-0.0865300003691528,-2.05230850135827],[-0.0439739840822083,-1.922308496706124]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[0.21039675649026002,-2.406663972601309,0.71338606911949],"aabb_xy":[[0.14639675790368756,-2.4536709360008175],[0.2743967550768325,-2.3596570092018]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[-0.4479981647379713,1.2529279473539332,0.71338606911949],"aabb_xy":[[-0.4540351777386361,1.246901246284985],[-0.44196115173730666,1.2589546484228813]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7008072584962878,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/513.png","name":"513"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/513.png","name":"513"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/60.png","name":"60"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1770.png","name":"1770"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5912.png","name":"5912"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6661.png","name":"6661"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":604.1079457284363,"rotation_z_degrees":73.08576487381558,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005792356545759637,0.00018391501037769847,-0.012331568897202806]},{"name":"camera_2","offset_m":[0.004607827907341572,0.014932839138574707,0.004607538028326204]},{"name":"camera_3","offset_m":[-0.014562304102021063,0.0029764743581544295,-0.011988217608960069]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019374118585396205,-0.00026301847022624125,-0.0009276255660740258],"end_effector_yaw_offset_degrees":-0.14597682155058966},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012704789519519762,0.0009222250967856989,0.0014476897923000006],"end_effector_yaw_offset_degrees":0.9536857674843335},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015303170607519965,0.0003955733537141931,0.00016753549525784506],"end_effector_yaw_offset_degrees":-0.19850454534024675},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009544236416262389,0.0009698624065805541,0.0006150257337407677],"end_effector_yaw_offset_degrees":0.2176913131718916}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027207816894415536,0.0005491761868778389],"position_m":[0.15512078168944157,0.22414917618687782,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025491391456044397,-0.004968292493636638],"position_m":[0.24494913914560446,-0.3146682924936366,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002080008532309482,0.001932120044031569],"position_m":[0.3224199914676905,-0.03966787995596843,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010727241406259837,0.0043325922386997185],"position_m":[0.35207272414062596,0.3227325922386997,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d301325287bd66aa4294895d503849fcfd036ca061386f651fcfbc95f100342f","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_513/tex_ceiling_textures_6661/tex_floor_textures_5912/tex_table_textures_60/tex_wall_textures_1770","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4800809122297039814,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4800809122297039814,"visual_seed":4800809122297039814,"scene_id":"lab_003","finished_at":"2026-09-04T21:54:11"}
+{"episode_id":"ep_000068","started_at":"2026-09-04T21:54:16","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[-0.5434089184938499,-2.0612146588371685,0.71338606911949],"aabb_xy":[[-0.5984089166955947,-2.1017366254636056],[-0.4884089202921051,-2.0206926922107304]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[0.6724901555655316,-1.3042797545021427,0.71338606911949],"aabb_xy":[[0.6665236166247958,-1.3102408991615069],[0.6784566945062672,-1.2983186098427786]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.04266337296849898,-1.4923859877133272,0.71338606911949],"aabb_xy":[[-0.13266337269167314,-1.5154593402485068],[0.047336626754675204,-1.4693126351781471]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[0.5755198191368511,-1.6083971960444092,0.71338606911949],"aabb_xy":[[0.4905198207194279,-1.6932714915066944],[0.6605198175542744,-1.5235229005821245]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[0.33366076524272215,-0.6816982923393975,0.71338606911949],"aabb_xy":[[0.2686607666856493,-0.71145082575328],[0.398660763799795,-0.6519457589255148]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_5","position":[-0.6575642936535868,1.6390025632337895,0.71338606911949],"aabb_xy":[[-0.6630222392906069,1.5590025599261301],[-0.6521063480165668,1.7190025665414483]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[0.16187319730604366,1.140073911605095,0.71338606911949],"aabb_xy":[[0.14298881353753345,1.1211879868247423],[0.18075758107455386,1.1589598363854479]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[-0.5933472371065927,-0.5012427402424744,0.71338606911949],"aabb_xy":[[-0.6573472343922414,-0.5427494591953184],[-0.5293472398209441,-0.4597360212896304]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[-0.21599104161449517,-2.2891106858972647,0.71338606911949],"aabb_xy":[[-0.23356934380344202,-2.3066851754713698],[-0.19841273942554832,-2.2715361963231597]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[0.6567899331935323,0.7489740150544582,0.71338606911949],"aabb_xy":[[0.6436386872222429,0.7239740152977717],[0.6699411791648217,0.7739740148111449]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[0.22463953996909336,-1.3707834778505994,0.71338606911949],"aabb_xy":[[0.19941870310925366,-1.396007228703486],[0.249860376828933,-1.3455597269977124]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_11","position":[-0.287595917879342,-1.4910892951559325,0.71338606911949],"aabb_xy":[[-0.3525959188798425,-1.5418756603106072],[-0.22259591687884145,-1.4403029300012573]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[0.6561091315127372,1.3602363009990937,0.71338606911949],"aabb_xy":[[0.6061091320725416,1.3102683765147771],[0.7061091309529328,1.4102042254834097]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.25537892848477184,0.28532095940719593,0.71338606911949],"aabb_xy":[[-0.2928789269081722,0.2721567454393653],[-0.2178789300613715,0.29848517337502656]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[-0.4032340068676334,-1.0489321034739398,0.71338606911949],"aabb_xy":[[-0.46086447575490413,-1.1089321024006502],[-0.3456035379803625,-0.988932104547229]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.0767738551193381,-0.9902383795070955,0.71338606911949],"aabb_xy":[[0.012773853711347425,-1.04202733103102],[0.14077385652732874,-0.9384494279831708]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[-0.2566787610044086,0.3863851381937895,0.71338606911949],"aabb_xy":[[-0.27223453041467394,0.3708347049493823],[-0.2411229915941434,0.40193557143819675]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[0.12060966431997577,-1.5384516424831962,0.71338606911949],"aabb_xy":[[0.09560966504801349,-1.5547970060793583],[0.14560966359193805,-1.5221062788870336]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[0.34541062549499224,0.5329256571025769,0.71338606911949],"aabb_xy":[[0.3366966564450577,0.5104256564433886],[0.3541245945449267,0.555425657761765]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_19","position":[0.47554718631901327,0.014034176526859898,0.71338606911949],"aabb_xy":[[0.44054718634251744,0.004569560479243284],[0.5105471862955091,0.023498792574476512]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[-0.5134550760062451,-1.3216356611470108,0.71338606911949],"aabb_xy":[[-0.5199567125142497,-1.3314034831733206],[-0.5069534394982405,-1.311867839120701]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[0.018778270466611513,1.4389313261631105,0.71338606911949],"aabb_xy":[[-0.06122173000360444,1.4306206185487624],[0.09877827093682748,1.447242033777459]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.3053590035253836,-0.1460760462355868,0.71338606911949],"aabb_xy":[[-0.36935900063748933,-0.1951084160299974],[-0.24135900641327795,-0.09704367644117617]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[0.1931969005145051,-0.8080670949820874,0.71338606911949],"aabb_xy":[[0.1894936391853662,-0.8117691132908051],[0.19690016184364395,-0.8043650766733694]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[0.06621322964006138,-2.2149006116628995,0.71338606911949],"aabb_xy":[[0.04371322912802077,-2.237392470028298],[0.08871323015210196,-2.192408753297501]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6989389956155221,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/620.png","name":"620"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/620.png","name":"620"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7161.png","name":"7161"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3485.png","name":"3485"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5887.png","name":"5887"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6112.png","name":"6112"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":629.3703811788318,"rotation_z_degrees":346.40929168799175,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005220025616753245,0.010968845280686267,0.005268108806767771]},{"name":"camera_2","offset_m":[-0.001783946840958773,-0.002748648938611341,-0.0011716334804763272]},{"name":"camera_3","offset_m":[-0.01506705493006459,-0.0002895658386094374,0.008639589343858316]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000492572398709361,-0.0006505552685200401,0.0007121308776736669],"end_effector_yaw_offset_degrees":-0.8389605567071383},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010709911538953514,0.0011403401482026577,0.00013222669100946194],"end_effector_yaw_offset_degrees":-0.9249069441113946},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014960752693081827,0.0007310115542862607,-0.0019927742867979947],"end_effector_yaw_offset_degrees":0.8431108909222242},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002234176990701768,-0.0009957858546203742,0.0010350125461261262],"end_effector_yaw_offset_degrees":0.5707694444229865}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004795786900104592,0.0009709177170321506],"position_m":[0.1571957869001046,0.22457091771703214,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003423802581819799,0.00427741901445648],"position_m":[0.24274238025818198,-0.3054225809855435,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001269917783220679,-0.002853538402195043],"position_m":[0.3257699177832207,-0.04445353840219504,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002568437960306316,-0.0026815979524614565],"position_m":[0.3535684379603063,0.31571840204753854,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2e3c402ff1f52657b8d8370c5f6db7793ddba8e8c5f2d83ef965f2d219f49689","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0075.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_620/tex_ceiling_textures_6112/tex_floor_textures_5887/tex_table_textures_7161/tex_wall_textures_3485","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4824106521173910161,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4824106521173910161,"visual_seed":4824106521173910161,"scene_id":"lab_003","finished_at":"2026-09-04T21:58:03"}
+{"episode_id":"ep_000069","started_at":"2026-09-04T21:58:06","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[-0.014859693745703173,-0.844484938862244,0.71338606911949],"aabb_xy":[[-0.03613770188917542,-0.909484941188317],[0.006418314397769074,-0.7794849365361709]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[0.33248461257224426,0.5716369890831503,0.71338606911949],"aabb_xy":[[0.29657110814725457,0.5357234808663957],[0.36839811699723396,0.607550497299905]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_2","position":[-0.07752878031428667,0.56388777272302,0.71338606911949],"aabb_xy":[[-0.12752189242347858,0.5138877720488245],[-0.027535668205094795,0.6138877733972158]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.7151275744884102,0.7709685378222568,0.71338606911949],"aabb_xy":[[0.7064296121976948,0.7588435635147823],[0.7238255367791254,0.7830935121297318]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[-0.37376438436716924,-0.20285288752576758,0.71338606911949],"aabb_xy":[[-0.3811768399085577,-0.20870409794739556],[-0.36635192882578077,-0.19700167710413966]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_5","position":[-0.07839053753429381,-2.1525174272946765,0.71338606911949],"aabb_xy":[[-0.08631381777304216,-2.17501742753268],[-0.0704672572955455,-2.130017427056673]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_6","position":[0.27265749878071266,0.9370572768809833,0.71338606911949],"aabb_xy":[[0.19265749770759233,0.9272792305435987],[0.352657499853833,0.9468353232183676]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.4882818959288812,1.2207293749851336,0.71338606911949],"aabb_xy":[[-0.5343669871836126,1.1567293777325784],[-0.4421968046741497,1.2847293722376887]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.5449462111644758,1.7045292720866985,0.71338606911949],"aabb_xy":[[-0.5678619240495257,1.681624974950275],[-0.5220304982794259,1.727433569223122]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[-0.18154287133629743,1.0714275555256858,0.71338606911949],"aabb_xy":[[-0.2078316956567381,1.0451561218710341],[-0.15525404701585677,1.0976989891803366]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_10","position":[0.6358115155360682,-1.4989521840798083,0.71338606911949],"aabb_xy":[[0.627697860862691,-1.5070580005338372],[0.6439251702094452,-1.490846367625779]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_11","position":[-0.3779911852590243,-1.7562659589452867,0.71338606911949],"aabb_xy":[[-0.4104528861409516,-1.786398791060189],[-0.3455294843770967,-1.726133126830384]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_12","position":[-0.19405477583196096,-2.0099636342604152,0.71338606911949],"aabb_xy":[[-0.22445288693110452,-2.0403705362620843],[-0.16365666473281734,-1.9795567322587455]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_13","position":[0.17839043466904114,-1.181717080693333,0.71338606911949],"aabb_xy":[[0.11339043356309786,-1.2066824537614613],[0.24339043577498443,-1.1567517076252047]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[0.6970728835334268,-1.8210089201261375,0.71338606911949],"aabb_xy":[[0.6844460962462303,-1.8305549938277101],[0.709699670820623,-1.8114628464245643]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[0.561417576143177,-0.15324880003569685,0.71338606911949],"aabb_xy":[[0.5364175765914385,-0.16339128390083157],[0.5864175756949155,-0.14310631617056213]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[0.4250681622115542,-2.1311529218788796,0.71338606911949],"aabb_xy":[[0.3674376933242833,-2.1911529208055898],[0.48269863109882494,-2.0711529229521686]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_17","position":[0.16878005777007676,-1.6125121655568873,0.71338606911949],"aabb_xy":[[0.15800708384870898,-1.6475121637759262],[0.17955303169144454,-1.5775121673378483]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[-0.6161604031362107,-2.4435428077424395,0.71338606911949],"aabb_xy":[[-0.6507514859902558,-2.50854280802747],[-0.5815693202821653,-2.378542807457408]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_19","position":[-0.2595569403992956,-2.1305702084697518,0.71338606911949],"aabb_xy":[[-0.32455693855521467,-2.156866453019664],[-0.19455694224337655,-2.1042739639198396]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.4422721451208566,0.5582540661339728,0.71338606911949],"aabb_xy":[[-0.4734190639644397,0.4882540674471655],[-0.4111252262772735,0.6282540648207798]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[0.26607797026423907,-1.3712017465764088,0.71338606911949],"aabb_xy":[[0.2207993553830898,-1.4352017459245925],[0.31135658514538833,-1.3072017472282251]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_22","position":[-0.6047693387560856,0.833916680312115,0.71338606911949],"aabb_xy":[[-0.612030586326493,0.8211296700486056],[-0.5975080911856783,0.8467036905756246]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_23","position":[-0.2517416863140813,0.24291820419938093,0.71338606911949],"aabb_xy":[[-0.31574168274140324,0.1957485803772845],[-0.18774168988675943,0.29008782802147737]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[0.551856425642393,0.5453950871318964,0.71338606911949],"aabb_xy":[[0.5168564273722731,0.5383209594369083],[0.5868564239125129,0.5524692148268846]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_25","position":[0.06767111924147862,1.7408525116343454,0.71338606911949],"aabb_xy":[[0.05017111996339173,1.7235144115679992],[0.08517111851956548,1.7581906117006911]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_26","position":[0.6486605334038014,-0.925247806210405,0.71338606911949],"aabb_xy":[[0.635214006769758,-0.9387176578634961],[0.6621070600378447,-0.9117779545573137]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_27","position":[-0.40765762044773785,-0.5016158637983184,0.71338606911949],"aabb_xy":[[-0.43265762038025574,-0.5084985320192417],[-0.38265762051521995,-0.49473319557739504]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_28","position":[-0.5854947640985847,-1.5569785371686111,0.71338606911949],"aabb_xy":[[-0.6654947655287118,-1.6364956921812204],[-0.5054947626684574,-1.4774613821560014]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_29","position":[-0.42486341570817254,-1.639867701716501,0.71338606911949],"aabb_xy":[[-0.44677209784752353,-1.6617683685365914],[-0.40295473356882144,-1.61796703489641]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_30","position":[0.5217491078105574,-1.3392842638465783,0.71338606911949],"aabb_xy":[[0.4417491092232379,-1.4185998657847392],[0.6017491063978767,-1.2599686619084174]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_31","position":[0.6668383254833459,1.3227368600899845,0.71338606911949],"aabb_xy":[[0.6168433145238938,1.2727368610543928],[0.7168333364427979,1.3727368591255762]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_32","position":[0.28806540272195647,1.3810024754659826,0.71338606911949],"aabb_xy":[[0.24025923510818775,1.3160024727589237],[0.33587157033572507,1.4460024781730416]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6985736231439534,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/703.png","name":"703"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/703.png","name":"703"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1153.png","name":"1153"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2649.png","name":"2649"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6154.png","name":"6154"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4211.png","name":"4211"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":757.4841878250145,"rotation_z_degrees":201.98161320326713,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007874000356128867,-0.012554521445834667,-0.012275162163844385]},{"name":"camera_2","offset_m":[0.006576929664668826,0.01501268878049396,0.01383322456640258]},{"name":"camera_3","offset_m":[-0.013348733638910485,-0.019312862158767537,0.016073675465184085]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00115740419681807,0.0006266008842876519,0.0010021385654704236],"end_effector_yaw_offset_degrees":0.24735182307961212},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018975477630786344,-0.0007359433412727908,0.0009077875773240525],"end_effector_yaw_offset_degrees":0.31049368412178646},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010600149045224337,0.001150814827989652,-0.0010291263172304411],"end_effector_yaw_offset_degrees":-0.44061448385231694},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014805762501684267,-0.0004686019565758822,0.00045453799332451257],"end_effector_yaw_offset_degrees":0.7792550112523429}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004408681218569156,0.000523487146719316],"position_m":[0.15680868121856917,0.2241234871467193,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003751674534015477,0.00035666465413005787],"position_m":[0.23864832546598452,-0.30934333534586994,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003228585231933659,-0.0029129125908751575],"position_m":[0.32417714147680665,-0.044512912590875156,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009428128576204949,-0.00029273642091102395],"position_m":[0.35194281285762047,0.318107263579089,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"54ce62c9e4cf33ec0cdc9ebd9ca2b013f082a1c105a97898689a52a45ab00857","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_703/tex_ceiling_textures_4211/tex_floor_textures_6154/tex_table_textures_1153/tex_wall_textures_2649","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2719056636248556434,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2719056636248556434,"visual_seed":2719056636248556434,"scene_id":"lab_003","finished_at":"2026-09-04T22:01:48"}
+{"episode_id":"ep_000070","started_at":"2026-09-04T22:01:53","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_0","position":[0.20638619756438892,0.7476939560906644,0.71338606911949],"aabb_xy":[[0.1695356496274013,0.7101939552676306],[0.24323674550137653,0.7851939569136981]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[-0.4485079857603406,-0.1842079212328107,0.71338606911949],"aabb_xy":[[-0.5061384546476113,-0.24420792015952122],[-0.3908775168730696,-0.12420792230610006]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[0.6416609229554591,-0.31226948702574475,0.71338606911949],"aabb_xy":[[0.6342484674140705,-0.3181206974473727],[0.6490733784968474,-0.3064182766041168]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[-0.5650547793702688,-1.9518611237115624,0.71338606911949],"aabb_xy":[[-0.5875547793804171,-1.9659573433511652],[-0.5425547793601205,-1.9377649040719587]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[-0.05804420331487792,1.194344455313869,0.71338606911949],"aabb_xy":[[-0.12204420472286857,1.142555503789944],[0.005955798093112751,1.2461334068377934]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[0.3092898397201942,1.001674018227619,0.71338606911949],"aabb_xy":[[0.29994283213789896,0.9873703960099749],[0.3186368473024894,1.015977640445263]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[-0.03409401057235595,0.384782114375823,0.71338606911949],"aabb_xy":[[-0.04566299131929252,0.3597821142588913],[-0.022525029825419374,0.4097821144927547]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[0.36031704551294585,0.7781722078589461,0.71338606911949],"aabb_xy":[[0.319299102126575,0.7281722072279888],[0.40133498889931674,0.8281722084899035]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[0.38249712926962354,1.7677390504252082,0.71338606911949],"aabb_xy":[[0.34499712909775154,1.735038315042301],[0.4199971294414954,1.8004397858081154]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[0.6049643167349115,-2.2107689081833275,0.71338606911949],"aabb_xy":[[0.5995063710978913,-2.2907689114909866],[0.6104222623719314,-2.1307689048756684]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[0.6511503012213331,1.7645417540367103,0.71338606911949],"aabb_xy":[[0.5871503041092275,1.7155093842422997],[0.7151502983334389,1.813574123831121]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.5955772341523704,-1.8315580006330563,0.71338606911949],"aabb_xy":[[0.5861597595825077,-1.840974177770775],[0.6049947087222332,-1.822141823495337]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[-0.410614138645422,-0.37500821848453203,0.71338606911949],"aabb_xy":[[-0.4806141404541675,-0.39636198724871935],[-0.34061413683667663,-0.3536544497203446]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[-0.515858995844728,1.3782039204322936,0.71338606911949],"aabb_xy":[[-0.5214406674788566,1.365703920614518],[-0.5102773242105992,1.390703920250069]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.35061573153296266,-0.583174867534888,0.71338606911949],"aabb_xy":[[-0.41061573212897884,-0.6379873400801115],[-0.2906157309369465,-0.5283623949896645]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[-0.43512934450714663,1.3714553404177185,0.71338606911949],"aabb_xy":[[-0.4460351205947094,1.2914553440188894],[-0.424223568419584,1.4514553368165477]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.6494870698298614,1.5215015375953302,0.71338606911949],"aabb_xy":[[-0.6869870713454931,1.510274764579185],[-0.6119870683142297,1.532728310611475]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[-0.19828137365339332,-0.1857709551654989,0.71338606911949],"aabb_xy":[[-0.26228137392737155,-0.2358370553627869],[-0.1342813733794151,-0.13570485496821097]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_18","position":[-0.1115781906179294,-1.7619357371677098,0.71338606911949],"aabb_xy":[[-0.17557819296073093,-1.806876588411842],[-0.047578188275127824,-1.716994885923577]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.3001336284864302,-2.0542454112800037,0.71338606911949],"aabb_xy":[[0.24514041714929347,-2.1092454116187973],[0.35512683982356696,-1.99924541094121]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[-0.2893598828268599,1.7300901038711234,0.71338606911949],"aabb_xy":[[-0.36935988310046686,1.6571405560454064],[-0.2093598825532529,1.8030396516968399]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.381657695514116,-0.45423186099680013,0.71338606911949],"aabb_xy":[[0.3441576952219412,-0.45827333639740375],[0.4191576958062908,-0.4501903855961965]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[0.3774915761851454,-0.6846260485451876,0.71338606911949],"aabb_xy":[[0.3174915753243325,-0.736052478551674],[0.4374915770459581,-0.6331996185387012]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.699005119650753,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6685.png","name":"6685"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6685.png","name":"6685"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6692.png","name":"6692"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9716.png","name":"9716"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5569.png","name":"5569"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/862.png","name":"862"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":706.9535894431615,"rotation_z_degrees":247.19981681652314,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0018978500678137993,-0.009534966430452553,-0.007857787426344217]},{"name":"camera_2","offset_m":[0.012552003268277875,0.007522729095138434,-0.010645817364959051]},{"name":"camera_3","offset_m":[-0.013758088143426269,0.015627194005515325,-0.0005100671930555883]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014780751580805987,0.00025688244955279077,0.0007337091825271934],"end_effector_yaw_offset_degrees":0.8308095352641911},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014276680438699628,-0.0004343439455728984,-4.949447036402309e-05],"end_effector_yaw_offset_degrees":0.7858895743201089},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004988544496313256,8.038262417586067e-05,0.0013936044552432364],"end_effector_yaw_offset_degrees":-0.06168926573601374},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010978868739863318,0.0015706473321854516,0.0003337102455999697],"end_effector_yaw_offset_degrees":0.44390796328014637}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030514150679650832,-0.00038155838677154334],"position_m":[0.14934858493203493,0.22321844161322846,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016747266777674586,-0.004722018958085457],"position_m":[0.24072527332223254,-0.3144220189580854,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036698960956290825,0.00015222328643046523],"position_m":[0.3281698960956291,-0.041447776713569535,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002529259352464777,0.001994984330618144],"position_m":[0.35125292593524643,0.32039498433061814,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4a02843c8dfbf88cdf6244ef0042dfa7b22c32f68ea8b4a7f00b668abd226e2f","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6685/tex_ceiling_textures_862/tex_floor_textures_5569/tex_table_textures_6692/tex_wall_textures_9716","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4168814326586195257,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4168814326586195257,"visual_seed":4168814326586195257,"scene_id":"lab_003","finished_at":"2026-09-04T22:05:55"}
+{"episode_id":"ep_000071","started_at":"2026-09-04T22:05:58","dimensions":{"distractor":{"count":22,"items":[{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_0","position":[-0.23112144578436006,0.6135349897130742,0.71338606911949],"aabb_xy":[[-0.23607746596924128,0.5910349895109527],[-0.2261654255994789,0.6360349899151959]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[0.1904353909842077,-2.308129352069095,0.71338606911949],"aabb_xy":[[0.12643539071022947,-2.3581954522663824],[0.25443539125818593,-2.2580632518718065]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.2661511721370849,0.4415901791220822,0.71338606911949],"aabb_xy":[[-0.3161511737985796,0.39159173686637944],[-0.2161511704755901,0.49158862137778486]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.6253874863965077,-0.23630462851800038,0.71338606911949],"aabb_xy":[[0.6136192996018502,-0.32130462842322194],[0.6371556731911653,-0.15130462861277882]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[0.689670381576015,0.7802992685469907,0.71338606911949],"aabb_xy":[[0.677737647214187,0.7679171157391314],[0.7016031159378431,0.7926814213548501]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.6334235666093158,1.0519050672165369,0.71338606911949],"aabb_xy":[[-0.6510018687982626,1.0343305776424319],[-0.6158452644203689,1.0694795567906419]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.5417895384304148,-2.0658019901572304,0.71338606911949],"aabb_xy":[[0.5185076962322833,-2.1508019914544585],[0.565071380628546,-1.9808019888600026]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_7","position":[-0.5138075500910045,-1.7535434091734048,0.71338606911949],"aabb_xy":[[-0.5218010398862867,-1.7615415411138808],[-0.5058140602957226,-1.7455452772329296]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.6199463351438537,-0.2947659111608414,0.71338606911949],"aabb_xy":[[-0.6428620480289036,-0.31767020829726494],[-0.5970306222588038,-0.27186161402441794]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[-0.3142730826558855,1.0372496109256621,0.71338606911949],"aabb_xy":[[-0.3782730858745234,0.9905264990266538],[-0.2502730794372477,1.0839727228246705]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_10","position":[0.339534680281409,1.745657358670408,0.71338606911949],"aabb_xy":[[0.27953468043484214,1.6888387364773694],[0.3995346801279757,1.8024759808634467]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.4053412042228943,1.366935857374492,0.71338606911949],"aabb_xy":[[-0.46934120656569583,1.3219950061303594],[-0.3413412018800927,1.4118767086186244]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[0.30823540423548845,-2.125676489059115,0.71338606911949],"aabb_xy":[[0.218548327927373,-2.2156764893135654],[0.3979224805436039,-2.0356764888046643]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.4635196655718843,-1.4099038807598334,0.71338606911949],"aabb_xy":[[0.39951966352215224,-1.4499983638491416],[0.5275196676216163,-1.3698093976705257]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[-0.15579505799801652,-1.3187097080632981,0.71338606911949],"aabb_xy":[[-0.23579505665490252,-1.333214566987561],[-0.07579505934113051,-1.3042048491390357]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[0.2153112188119315,-1.1309064780825016,0.71338606911949],"aabb_xy":[[0.20726785888597635,-1.2159064791778678],[0.2233545787378867,-1.045906476987135]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_16","position":[-0.32626339767772716,-2.071884497322863,0.71338606911949],"aabb_xy":[[-0.349848521141622,-2.136884499568295],[-0.3026782742138323,-2.0068844950774314]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[-0.2928987413834558,0.9072979582531526,0.71338606911949],"aabb_xy":[[-0.32969337450836206,0.8703920831565704],[-0.2561041082585495,0.9442038333497349]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[0.6125796195269197,-2.3760630237747593,0.71338606911949],"aabb_xy":[[0.6045856309492162,-2.38406310386985],[0.620573608104623,-2.3680629436796687]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[-0.25930291001983397,-1.8991968606901204,0.71338606911949],"aabb_xy":[[-0.3006074530835699,-1.9631968602582375],[-0.21799836695609792,-1.8351968611220033]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[-0.642962078149242,-1.5106173703337267,0.71338606911949],"aabb_xy":[[-0.6523795527191049,-1.5200335474714455],[-0.6335446035793794,-1.5012011931960074]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[0.33566574383723546,-0.6436687553440916,0.71338606911949],"aabb_xy":[[0.271665745250663,-0.6906757187436003],[0.3996657424238079,-0.5966617919445829]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6987883890551511,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3613.png","name":"3613"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3613.png","name":"3613"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3077.png","name":"3077"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6677.png","name":"6677"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5174.png","name":"5174"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2110.png","name":"2110"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":544.1429150065758,"rotation_z_degrees":110.4308849521338,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003659502094313427,-0.00965081162354398,-0.004740097475508503]},{"name":"camera_2","offset_m":[-0.0010502115287509897,0.0010315664214621476,0.011989565109193887]},{"name":"camera_3","offset_m":[0.014548843949654156,0.009927996685545875,0.006297732343772306]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006117690264311518,-0.0018050017791728479,-0.0014297753898833965],"end_effector_yaw_offset_degrees":0.54331279684364},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[2.4762562201224598e-05,0.0010855225582330793,-0.0015961506083831943],"end_effector_yaw_offset_degrees":0.829752569000552},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00028183866479462166,-0.0007943915027177647,0.0008067180537590988],"end_effector_yaw_offset_degrees":0.18702718274228403},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013732673743469502,-0.001521009155732383,-0.0009560785043487648],"end_effector_yaw_offset_degrees":0.5778152360903637}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029067364387123985,0.0044861223918811295],"position_m":[0.14949326356128761,0.2280861223918811,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004647421503478836,-0.0015394085468896368],"position_m":[0.24704742150347883,-0.3112394085468896,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027594468547812623,0.004826103727042965],"position_m":[0.32174055314521877,-0.03677389627295703,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012217167146371167,0.004369389730721395],"position_m":[0.34977828328536287,0.3227693897307214,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eaa45308f00a9c98637846a354197c362dcb2e661d3131b39d0bf4fe65c399a1","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3613/tex_ceiling_textures_2110/tex_floor_textures_5174/tex_table_textures_3077/tex_wall_textures_6677","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":801156144838688017,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":801156144838688017,"visual_seed":801156144838688017,"scene_id":"lab_003","finished_at":"2026-09-04T22:09:46"}
+{"episode_id":"ep_000072","started_at":"2026-09-04T22:09:49","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_0","position":[-0.6289014848903629,-2.105563045102888,0.71338606911949],"aabb_xy":[[-0.6352135844267014,-2.1113299843561073],[-0.6225893853540246,-2.09979610584967]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[-0.6173486705303503,0.07014878113259826,0.71338606911949],"aabb_xy":[[-0.6813486708043286,0.020082680935310293],[-0.5533486702563721,0.12021488132988623]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[-0.461430986208483,-0.950536364615556,0.71338606911949],"aabb_xy":[[-0.5066023040566521,-1.0145363617600944],[-0.41625966836031414,-0.8865363674710177]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_3","position":[0.08280277674583936,-0.8382318102366786,0.71338606911949],"aabb_xy":[[-0.006884299562276097,-0.9282318104911291],[0.1724898530539548,-0.748231809982228]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_4","position":[-0.32769693479410206,-1.255185063269672,0.71338606911949],"aabb_xy":[[-0.3916969362020927,-1.3069740147935967],[-0.2636969333861114,-1.2033961117457472]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[-0.5474773143274418,1.3910791744200401,0.71338606911949],"aabb_xy":[[-0.6074773159703637,1.339079025128096],[-0.48747731268452,1.4430793237119843]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[0.5994175915652895,1.3225131702396653,0.71338606911949],"aabb_xy":[[0.5690194804661458,1.2921062682379956],[0.629815702664433,1.3529200722413346]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[-0.5234067070004604,0.8774869839045105,0.71338606911949],"aabb_xy":[[-0.6071289325005429,0.7874869803698146],[-0.439684481500378,0.9674869874392065]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[0.5017156811514591,0.03781246815253203,0.71338606911949],"aabb_xy":[[0.4367156825943863,0.00805993473864941],[0.566715679708532,0.06756500156641465]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[0.38527009219808295,-0.5440827089676938,0.71338606911949],"aabb_xy":[[0.36277009168604235,-0.5665745673330921],[0.40777009271012354,-0.5215908506022954]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[-0.2527043206814114,-0.35614765389596004,0.71338606911949],"aabb_xy":[[-0.27520432069155965,-0.37024387353556326],[-0.23020432067126306,-0.3420514342563567]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[0.31522446186968334,-2.1615759249999726,0.71338606911949],"aabb_xy":[[0.30711080719630623,-2.169681741454002],[0.32333811654306044,-2.1534701085459433]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.6351713559251004,-2.3612628227362946,0.71338606911949],"aabb_xy":[[0.5976713575017001,-2.3744270367041254],[0.6726713543485008,-2.348098608768464]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[0.6612391043820647,-0.6042210850223431,0.71338606911949],"aabb_xy":[[0.6162465176636143,-0.6492210842967917],[0.7062316911005151,-0.5592210857478942]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[-0.6209894420460518,-0.47478541465318935,0.71338606911949],"aabb_xy":[[-0.6290157126766778,-0.483536909630542],[-0.6129631714154258,-0.4660339196758368]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.19712908681313257,1.3894957114884048,0.71338606911949],"aabb_xy":[[0.14200388118354174,1.3294957100471176],[0.25225429244272324,1.449495712929692]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.4659111481163425,0.5024471722616339,0.71338606911949],"aabb_xy":[[-0.4888268610013925,0.47954287512521054],[-0.4429954352312927,0.5253514693980575]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.40540609998186,0.29317045300781697,0.71338606911949],"aabb_xy":[[-0.41665115555247784,0.2819286552837217],[-0.39416104441124217,0.30441225073191225]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[0.6883366888004048,1.2737684450954325,0.71338606911949],"aabb_xy":[[0.6812952378496572,1.2667416933576383],[0.6953781397511524,1.2807951968332272]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[0.34040416717328825,-2.00125104351162,0.71338606911949],"aabb_xy":[[0.33124428822941165,-2.007782261555157],[0.34956404611716485,-1.994719825468083]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[-0.6067153362609077,1.1552657495664271,0.71338606911949],"aabb_xy":[[-0.671715337366851,1.1303003764982988],[-0.5417153351549644,1.1802311226345554]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.4014819915426209,-0.43734387931513385,0.71338606911949],"aabb_xy":[[0.367019644144479,-0.47183776171295644],[0.4359443389407626,-0.40284999691731105]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_22","position":[-0.6904842878585334,-2.144180904382799,0.71338606911949],"aabb_xy":[[-0.6944447716282679,-2.1518487689683194],[-0.6865238040887992,-2.1365130397972782]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[0.2187446970056217,-1.2482513222786786,0.71338606911949],"aabb_xy":[[0.20529817037157835,-1.26172117393177],[0.23219122363966502,-1.2347814706255873]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[-0.47830522754015503,-0.585329938114846,0.71338606911949],"aabb_xy":[[-0.4847190411833399,-0.5917397583625142],[-0.47189141389697004,-0.5789201178671776]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[0.56885772267229,0.9040645579801057,0.71338606911949],"aabb_xy":[[0.5537554212112715,0.8889630363490436],[0.5839600241333077,0.9191660796111673]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7027454746558978,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5771.png","name":"5771"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5771.png","name":"5771"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8834.png","name":"8834"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6817.png","name":"6817"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/50.png","name":"50"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/243.png","name":"243"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":709.7750244443156,"rotation_z_degrees":123.80705851879559,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019799554557462053,-0.016367051024369694,0.011721698839669992]},{"name":"camera_2","offset_m":[-0.013736248842090126,0.0041424013536103255,0.003928439847095934]},{"name":"camera_3","offset_m":[0.016148961280605317,-0.0003082719639744408,0.010571326001459241]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001009371429699712,-0.0007098129802685471,9.459283666459536e-05],"end_effector_yaw_offset_degrees":0.8635687727046613},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016977859379979088,0.0017167141322107448,-0.00012383363818384069],"end_effector_yaw_offset_degrees":0.9330395537099971},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017915300635102382,-0.0011798613128039142,-2.7601092717265217e-05],"end_effector_yaw_offset_degrees":0.6939685747592199},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018443739890497534,-0.0015315504520891263,-0.0005733468692749892],"end_effector_yaw_offset_degrees":0.8289027489588534}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029473720295968456,0.00013697748435354418],"position_m":[0.14945262797040315,0.22373697748435353,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030062779790125367,-0.0007114842299260123],"position_m":[0.24540627797901254,-0.310411484229926,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0046681857130020125,0.0013508542932340415],"position_m":[0.319831814286998,-0.04024914570676596,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0039352272252378565,0.0030142973058729173],"position_m":[0.35493522722523785,0.32141429730587295,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"46367d9ce68d2ee1dd13d461fb5942ec4812cbbc155214edee7c5597d2b53ca6","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0079.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5771/tex_ceiling_textures_243/tex_floor_textures_50/tex_table_textures_8834/tex_wall_textures_6817","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1294973602164261285,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1294973602164261285,"visual_seed":1294973602164261285,"scene_id":"lab_003","finished_at":"2026-09-04T22:13:29"}
+{"episode_id":"ep_000073","started_at":"2026-09-04T22:13:33","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[-0.13218344651528824,-1.6389213004795153,0.71338606911949],"aabb_xy":[[-0.18619904279718824,-1.7029213033717723],[-0.07816785023338824,-1.574921297587258]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_1","position":[0.4931979827051376,1.6478138323044615,0.71338606911949],"aabb_xy":[[0.48403810376126094,1.6412826142609245],[0.5023578616490141,1.6543450503479986]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[-0.13182158883355244,1.1554468293249638,0.71338606911949],"aabb_xy":[[-0.18182159019443964,1.1054689247495482],[-0.0818215874726652,1.2054247339003794]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.2776104307860807,-1.386747765147596,0.71338606911949],"aabb_xy":[[0.25997759519255315,-1.4043707111632187],[0.2952432663796083,-1.3691248191319727]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_4","position":[0.13213505344204546,1.2453665681971517,0.71338606911949],"aabb_xy":[[0.09463505294468721,1.2413978846490332],[0.1696350539394037,1.2493352517452703]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.61829004441009,0.009538059605697313,0.71338606911949],"aabb_xy":[[-0.6329334499641228,-0.0051206600510869706],[-0.6036466388560568,0.02419677926248159]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[-0.051055320072562416,-0.9089626837234819,0.71338606911949],"aabb_xy":[[-0.10105532173405717,-0.9589611259791845],[-0.0010553184110676515,-0.858964241467779]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.5355867203852334,-0.15109371338445987,0.71338606911949],"aabb_xy":[[0.4856093035199797,-0.2010937148737084],[0.5855641372504868,-0.10109371189521131]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[0.5605893351276001,-2.3238735089291156,0.71338606911949],"aabb_xy":[[0.5255893352315811,-2.332247744441055],[0.5955893350236189,-2.315499273417175]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[0.47978454297740347,1.0808044054916226,0.71338606911949],"aabb_xy":[[0.38978454624179326,1.027620942174328],[0.5697845397130137,1.133987868808917]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[-0.15730550507334573,-0.7681337389656866,0.71338606911949],"aabb_xy":[[-0.16340013296146405,-0.7767031335173552],[-0.1512108771852274,-0.7595643444140178]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[-0.2697768447489911,0.3053742844623857,0.71338606911949],"aabb_xy":[[-0.32977684560980386,0.25394785445589924],[-0.20977684388817827,0.356800714468872]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.6235282190586124,0.28924682598246276,0.71338606911949],"aabb_xy":[[0.5435282158007696,0.2092503181904788],[0.7035282223164555,0.36924333377444674]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_13","position":[0.02112978028705692,-1.5922209654550485,0.71338606911949],"aabb_xy":[[0.00956079954012035,-1.6172209655719807],[0.032698761033993495,-1.5672209653381173]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[0.6822495101099064,-1.110623113138764,0.71338606911949],"aabb_xy":[[0.6713437340223437,-1.1906231095375932],[0.6931552861974691,-1.030623116739935]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[0.05231511673531963,-1.372102787482553,0.71338606911949],"aabb_xy":[[0.015819296108040892,-1.4085867299093104],[0.08881093736259837,-1.3356188450557953]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[-0.6313393896282026,1.4387287152581698,0.71338606911949],"aabb_xy":[[-0.6813342225561443,1.3887287163629263],[-0.5813445567002611,1.4887287141534133]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[0.5526152060070706,1.8000423347208696,0.71338606911949],"aabb_xy":[[0.5226235432732003,1.7700423353840689],[0.5826068687409409,1.83004233405767]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[0.08438248117334868,-1.7925139453685532,0.71338606911949],"aabb_xy":[[0.04992000316026089,-1.799177622551476],[0.11884495918643644,-1.7858502681856305]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.04454273446028145,1.6814873643209718,0.71338606911949],"aabb_xy":[[-0.010449516175229498,1.6264873625776595],[0.09953498509579242,1.736487366064285]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[-0.47415443127041507,-2.342956072211397,0.71338606911949],"aabb_xy":[[-0.5341544317782679,-2.3998028058973175],[-0.4141544307625621,-2.2861093385254754]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[-0.16124505858497462,1.5713617672231917,0.71338606911949],"aabb_xy":[[-0.19874505700837497,1.558197553255361],[-0.12374506016157427,1.5845259811910224]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[0.3683346689259137,-0.45912572006617847,0.71338606911949],"aabb_xy":[[0.35546276542497357,-0.5391257204800145],[0.38120657242685385,-0.37912571965234226]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[0.30125268067264166,-0.7777467086609213,0.71338606911949],"aabb_xy":[[0.29109966511849217,-0.8138162502336614],[0.31140569622679093,-0.7416771670881809]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_24","position":[0.48337193988136584,-1.6606470918696992,0.71338606911949],"aabb_xy":[[0.44060523300194565,-1.7246470952915018],[0.526138646760786,-1.596647088447897]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_25","position":[0.188249769891067,-2.2464590889585487,0.71338606911949],"aabb_xy":[[0.12424976961708878,-2.2965251891558367],[0.25224977016504524,-2.1963929887612608]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[-0.25237649012836477,-0.08001977467935228,0.71338606911949],"aabb_xy":[[-0.2898764916439965,-0.09124654769549734],[-0.21487648861273306,-0.06879300166320723]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_27","position":[-0.05353495586101309,-1.098475308899285,0.71338606911949],"aabb_xy":[[-0.11753495515518131,-1.162461449268139],[0.01046504343315513,-1.0344891685304307]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_28","position":[0.09459340689473128,-0.6845730248574493,0.71338606911949],"aabb_xy":[[0.029593406860428564,-0.7312737015377766],[0.159593406929034,-0.637872348177122]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_29","position":[0.13596202970646332,1.0700987582770232,0.71338606911949],"aabb_xy":[[0.04596203320559155,1.0241871158585647],[0.22596202620733505,1.1160104006954812]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_30","position":[-0.3885415604852261,-1.9396242972859299,0.71338606911949],"aabb_xy":[[-0.438520368995542,-1.9896242972916485],[-0.3385627519749102,-1.8896242972802109]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6999506174610296,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5357.png","name":"5357"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5357.png","name":"5357"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9851.png","name":"9851"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4295.png","name":"4295"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/552.png","name":"552"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1254.png","name":"1254"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":788.753993882272,"rotation_z_degrees":44.574872199168375,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015017751642759678,0.008422692193307803,-0.018407030247107374]},{"name":"camera_2","offset_m":[0.0023087954717605046,0.015608573709919697,-0.012454034363548208]},{"name":"camera_3","offset_m":[0.00481297805391144,0.008253299742005022,0.010335926231000641]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00024548000584867545,0.00038453194746922853,0.0019650077011124246],"end_effector_yaw_offset_degrees":0.6515021582407976},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00155016057370357,-1.5963235577098542e-05,-0.001874731181755633],"end_effector_yaw_offset_degrees":-0.7089155108019995},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010731635747019829,-0.0017177569478781921,-0.001103398638967283],"end_effector_yaw_offset_degrees":0.3138320153157963},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010318507126579088,0.0004881391870261093,-0.0008951807935751899],"end_effector_yaw_offset_degrees":-0.32543656555387157}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004780187532115043,0.0012346760397766218],"position_m":[0.14761981246788497,0.2248346760397766,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00038114966673287193,0.000919295132907073],"position_m":[0.24278114966673287,-0.3087807048670929,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003470276804372178,-0.004309366064849729],"position_m":[0.32102972319562784,-0.04590936606484973,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007688892636931602,0.003056531876639232],"position_m":[0.35176888926369315,0.32145653187663925,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4482457cd0de7305c5a39ccb030155f372cc90af6cc2a75abeaf1b0e7151b169","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0080.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5357/tex_ceiling_textures_1254/tex_floor_textures_552/tex_table_textures_9851/tex_wall_textures_4295","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4910561129281350340,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4910561129281350340,"visual_seed":4910561129281350340,"scene_id":"lab_003","finished_at":"2026-09-04T22:17:27"}
+{"episode_id":"ep_000074","started_at":"2026-09-04T22:17:31","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_0","position":[0.3122840020077824,-2.0459423222506823,0.71338606911949],"aabb_xy":[[0.2622847268393462,-2.09594232352663],[0.36228327717621855,-1.9959423209747356]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[0.47358500970614603,-0.10180689021623257,0.71338606911949],"aabb_xy":[[0.4609582224189496,-0.11135296391780546],[0.4862117969933423,-0.09226081651465966]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[0.21254474479598873,-2.254952925881018,0.71338606911949],"aabb_xy":[[0.19004474455247333,-2.2671575605407903],[0.23504474503950412,-2.2427482912212464]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[-0.6204161790400459,0.7421413485940618,0.71338606911949],"aabb_xy":[[-0.635579052016983,0.726975891298943],[-0.6052533060631088,0.7573068058891806]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.5581453411143351,-1.022898619144428,0.71338606911949],"aabb_xy":[[-0.568712820772434,-1.0334436492574366],[-0.547577861456236,-1.0123535890314195]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[0.17905564976317323,-1.3620404855793353,0.71338606911949],"aabb_xy":[[0.14155564981940683,-1.370333575614172],[0.21655564970693963,-1.3537473955444987]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[-0.49698540085557685,-0.8018526716758676,0.71338606911949],"aabb_xy":[[-0.5468021803204115,-0.8518526701601709],[-0.44716862139074204,-0.7518526731915641]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[-0.6027140029948853,0.31271712950392594,0.71338606911949],"aabb_xy":[[-0.6106372832336336,0.29021712926592264],[-0.594790722756137,0.33521712974192935]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[0.17202685850000954,-1.0894546080014538,0.71338606911949],"aabb_xy":[[0.14418182171940241,-1.1202391067397655],[0.19987189528061666,-1.058670109263142]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[-0.6720046637943853,-0.4979331964003597,0.71338606911949],"aabb_xy":[[-0.6783167633307237,-0.5037001356535785],[-0.6656925642580469,-0.4921662571471409]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[0.09507342175371991,-1.99853651257627,0.71338606911949],"aabb_xy":[[0.04507342231352428,-2.048504437060586],[0.14507342119391553,-1.9485685880919532]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[0.1316120193480348,1.3228420394519946,0.71338606911949],"aabb_xy":[[0.10943949237138392,1.3006663722958716],[0.1537845463246856,1.3450177066081177]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.0037822229245693118,1.0249004067503868,0.71338606911949],"aabb_xy":[[-0.01455519684593709,0.9899004085313479],[0.006990750996798467,1.0599004049694258]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.6382610864402636,-1.3708963731272699,0.71338606911949],"aabb_xy":[[0.629101207496387,-1.377427591170807],[0.6474209653841402,-1.3643651550837328]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_14","position":[0.11606220223201413,1.6593196998707218,0.71338606911949],"aabb_xy":[[0.04606219959542776,1.639214834874856],[0.18606220486860045,1.679424564866587]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[-0.000938710768472073,1.2642983989656176,0.71338606911949],"aabb_xy":[[-0.06593871187441536,1.2393330258974895],[0.06406129033747121,1.289263772033746]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[0.3812431034701218,1.7473641831861007,0.71338606911949],"aabb_xy":[[0.356729479373116,1.7230995898840642],[0.4057567275671277,1.771628776488137]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[-0.12874234004990037,-2.4889662965634876,0.71338606911949],"aabb_xy":[[-0.20874233745349377,-2.56895886776167],[-0.04874234264630694,-2.4089737253653043]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.11751457200840465,-1.7292729604834518,0.71338606911949],"aabb_xy":[[0.08071993888349838,-1.766178835580034],[0.15430920513331092,-1.6923670853868695]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_19","position":[-0.3000013271319454,1.6738375334129976,0.71338606911949],"aabb_xy":[[-0.31820715079319306,1.6628121328310062],[-0.2817955034706977,1.6848629339949894]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[0.592214048621782,1.7326981777960797,0.71338606911949],"aabb_xy":[[0.5547140479572031,1.7170111197958573],[0.6297140492863605,1.7483852357963017]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_21","position":[0.10422160386924084,1.1140700125144165,0.71338606911949],"aabb_xy":[[0.06672160357706601,1.110028537113813],[0.14172160416141566,1.11811148791502]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_22","position":[0.6698188467561463,-0.39322622291376774,0.71338606911949],"aabb_xy":[[0.6198455527528858,-0.4432262234683151],[0.7197921407594067,-0.3432262223592204]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[0.5981497892216556,0.6110249452197154,0.71338606911949],"aabb_xy":[[0.5181497881485353,0.601246898882331],[0.678149790294776,0.6208029915570998]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[0.5142879672711178,-0.719613897082515,0.71338606911949],"aabb_xy":[[0.48432041036129214,-0.7496138973804006],[0.5442555241809435,-0.6896138967846291]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[-0.5340623887461163,-0.4229775402559999,0.71338606911949],"aabb_xy":[[-0.569062387876072,-0.4287227613316639],[-0.4990623896161607,-0.4172323191803357]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_26","position":[-0.08679817772219223,1.7630662754266404,0.71338606911949],"aabb_xy":[[-0.15079817963453457,1.70715512616863],[-0.022798175809849885,1.8189774246846508]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_27","position":[-0.6493879698295651,-1.377278235533623,0.71338606911949],"aabb_xy":[[-0.6798722199565953,-1.4272782353151192],[-0.618903719702535,-1.3272782357521273]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_28","position":[-0.6215438084268156,0.12317033210912154,0.71338606911949],"aabb_xy":[[-0.6765175304631486,0.06817033254488836],[-0.5665700863904828,0.17817033167335472]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_29","position":[-0.2360067433330464,1.1474256826769262,0.71338606911949],"aabb_xy":[[-0.3160005669116046,1.0674256800840847],[-0.15601291975448817,1.2274256852697678]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_30","position":[0.40741161634438483,-1.4076189838054616,0.71338606911949],"aabb_xy":[[0.38829930898640597,-1.4267537626827036],[0.4265239237023637,-1.3884842049282196]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_31","position":[0.4973270247436785,-1.2205585262742347,0.71338606911949],"aabb_xy":[[0.45878133191847753,-1.2591042973304234],[0.5358727175688796,-1.182012755218046]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_32","position":[-0.22591545099891963,1.3942993623161688,0.71338606911949],"aabb_xy":[[-0.2593556261949391,1.3608557364852385],[-0.19247527580289997,1.4277429881470987]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_33","position":[0.713817367037056,-0.6847778197979155,0.71338606911949],"aabb_xy":[[0.7083594214000358,-0.7647778231055746],[0.719275312674076,-0.6047778164902564]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6961070207182584,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4596.png","name":"4596"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4596.png","name":"4596"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8827.png","name":"8827"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6729.png","name":"6729"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/900.png","name":"900"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/731.png","name":"731"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":836.448925046734,"rotation_z_degrees":11.582403574901114,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005730037358048095,-0.009282041283502868,-0.014707464623889749]},{"name":"camera_2","offset_m":[0.005358242963106063,-0.006103202770998158,0.003938948608450784]},{"name":"camera_3","offset_m":[0.0025165670430791626,0.001956562799463102,0.01046150183361478]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008761996341510093,0.0010953241410372994,-0.00018160004249344656],"end_effector_yaw_offset_degrees":0.1396080868731473},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00014667016723367027,0.0013648860194668648,0.0012749500776027506],"end_effector_yaw_offset_degrees":-0.1522677518919422},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001050906928869054,0.0011812646994736947,-4.8382371169829706e-05],"end_effector_yaw_offset_degrees":-0.5023904644505803},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012377356322888508,-0.0015999029074792892,0.001011769473943634],"end_effector_yaw_offset_degrees":-0.8576009655477967}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015948058622053977,-0.0019731681652108745],"position_m":[0.1539948058622054,0.22162683183478912,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001733461668521905,-0.0023506785430043465],"position_m":[0.2425733461668522,-0.31205067854300433,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021145712002851305,0.0035963470188192176],"position_m":[0.3223854287997149,-0.03800365298118078,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002904773932721201,0.0017925397994221302],"position_m":[0.3480952260672788,0.32019253979942214,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c6939e12963437cb337b3716312b1712c6094b68f98e323818ae056ea2e932b9","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0081.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4596/tex_ceiling_textures_731/tex_floor_textures_900/tex_table_textures_8827/tex_wall_textures_6729","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5743257293878290009,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5743257293878290009,"visual_seed":5743257293878290009,"scene_id":"lab_003","finished_at":"2026-09-04T22:21:31"}
+{"episode_id":"ep_000075","started_at":"2026-09-04T22:21:34","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[0.12775673479526306,-1.801739634284768,0.71338606911949],"aabb_xy":[[0.11962904660194984,-1.8106532426954758],[0.13588442298857628,-1.7928260258740607]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.5187487915719753,-0.3213249608989335,0.71338606911949],"aabb_xy":[[0.42874879184880105,-0.34439831343411326],[0.6087487912951494,-0.2982516083637536]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[0.22104307429817482,-1.0184870190835411,0.71338606911949],"aabb_xy":[[0.14104307728392684,-1.0386215707569524],[0.3010430713124228,-0.9983524674101298]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_3","position":[0.6615683524169662,1.5947737854233224,0.71338606911949],"aabb_xy":[[0.6117515729521316,1.544773786939019],[0.7113851318818011,1.6447737839076257]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[0.11102474524228079,-2.0290746065519514,0.71338606911949],"aabb_xy":[[0.04702474486474717,-2.0788198734027636],[0.1750247456198144,-1.9793293397011391]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[0.5837172805090904,-1.4181283337163224,0.71338606911949],"aabb_xy":[[0.5197172832067442,-1.462494760684179],[0.647717277811437,-1.3737619067484654]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_6","position":[0.07988568458840706,1.3619340874574877,0.71338606911949],"aabb_xy":[[0.04303513665141945,1.324434086634454],[0.11673623252539467,1.3994340882805214]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[-0.14868438326132394,-1.8374588327629346,0.71338606911949],"aabb_xy":[[-0.2286843837315399,-1.8457695403772836],[-0.06868438279110799,-1.8291481251485866]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[-0.11235980074502283,1.0169883756803029,0.71338606911949],"aabb_xy":[[-0.14735979905571828,1.0092733607567572],[-0.0773598024343274,1.0247033906038485]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[0.021272187939144094,1.7043539293217775,0.71338606911949],"aabb_xy":[[0.008804829829408445,1.691888604688454],[0.03373954604887974,1.716819253955101]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[-0.24902224880379592,-0.7456584222435383,0.71338606911949],"aabb_xy":[[-0.29902224982293124,-0.7821246379813663],[-0.19902224778466068,-0.7091922065057104]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[0.059444716113963514,1.809103375580071,0.71338606911949],"aabb_xy":[[0.03694471560192292,1.7866115172146724],[0.08194471662600411,1.831595233945469]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[-0.230540979518795,0.16253243736918543,0.71338606911949],"aabb_xy":[[-0.23517609467102835,0.15866510229203679],[-0.22590586436656157,0.16639977244633408]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[0.09688464480287595,-1.733370190542339,0.71338606911949],"aabb_xy":[[0.0842819456657995,-1.7459655867672048],[0.10948734393995241,-1.7207747943174738]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.1960607495845833,1.4833131949821214,0.71338606911949],"aabb_xy":[[-0.23052309698272502,1.4488193125842985],[-0.16159840218644142,1.517807077379944]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[0.6667973846584359,-1.912569227446639,0.71338606911949],"aabb_xy":[[0.6216260668102669,-1.976569224591178],[0.7119687025066048,-1.848569230302101]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[-0.5054727391217457,1.2691897573842161,0.71338606911949],"aabb_xy":[[-0.5189192657557891,1.2557199057311246],[-0.4920262124877024,1.2826596090373072]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[-0.34192839310334183,-1.4992950294712357,0.71338606911949],"aabb_xy":[[-0.376519475957387,-1.5642950297562666],[-0.30733731024929656,-1.4342950291862044]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.00443932333489272,1.0543257176335912,0.71338606911949],"aabb_xy":[[-0.012991391744113788,1.03705360296974],[0.021870038413899225,1.0715978322974415]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_19","position":[0.4749826358746765,-0.782969049532493,0.71338606911949],"aabb_xy":[[0.4249826372287553,-0.8328885931919553],[0.5249826345205977,-0.7330495058730305]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.3520597035458512,-0.9063379450979956,0.71338606911949],"aabb_xy":[[-0.3652109495171406,-0.9313379448546822],[-0.3389084575745619,-0.8813379453413092]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[-0.2001896276802918,-1.0573953855354994,0.71338606911949],"aabb_xy":[[-0.2462747189350233,-1.1213953827880545],[-0.15410453642556035,-0.9933953882829444]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[0.6336525897679806,0.6075944284346786,0.71338606911949],"aabb_xy":[[0.5796369934860804,0.5435944255424214],[0.6876681860498804,0.6715944313269357]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[0.2739758974663943,-2.447068794116981,0.71338606911949],"aabb_xy":[[0.23647589904299388,-2.4602330080848116],[0.3114758958897946,-2.43390458014915]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[-0.10701244869458615,-1.6974650101480613,0.71338606911949],"aabb_xy":[[-0.15710991267565977,-1.761465010657873],[-0.056914984713512515,-1.6334650096382495]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_25","position":[-0.3298697282760308,0.5772692787226035,0.71338606911949],"aabb_xy":[[-0.3352022429306437,0.5719449504773679],[-0.32453721362141774,0.582593606967839]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_26","position":[0.4733143145783796,-2.5617161773689134,0.71338606911949],"aabb_xy":[[0.466272863627632,-2.5687429291067083],[0.4803557655291272,-2.5546894256311194]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[0.651554067110131,1.1842101643389942,0.71338606911949],"aabb_xy":[[0.6265540679444979,1.1772579186336376],[0.6765540662757641,1.1911624100443508]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_28","position":[-0.5081271341880643,0.4226509398173399,0.71338606911949],"aabb_xy":[[-0.5405888350699917,0.39251810770243717],[-0.4756654333061368,0.45278377193224245]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_29","position":[0.011620628565602864,-1.3632649463096254,0.71338606911949],"aabb_xy":[[-0.013600208294236802,-1.3884886971625119],[0.036841465425442525,-1.3380411954567384]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_30","position":[-0.5830939527756074,-2.2054529840444195,0.71338606911949],"aabb_xy":[[-0.5911202234062334,-2.2142044790217725],[-0.5750676821449814,-2.1967014890670673]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_31","position":[0.09328328444699996,-0.775789832168158,0.71338606911949],"aabb_xy":[[0.055783284341406995,-0.7826119940211391],[0.1307832845525929,-0.7689676703151769]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6970219178250223,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2615.png","name":"2615"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2615.png","name":"2615"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1771.png","name":"1771"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4281.png","name":"4281"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1713.png","name":"1713"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5387.png","name":"5387"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":614.8029299310987,"rotation_z_degrees":231.19748473840582,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017577072951452784,0.0007036727956981313,-0.006662828463874608]},{"name":"camera_2","offset_m":[-0.009711530213975954,0.01706472183864507,0.008141114843327756]},{"name":"camera_3","offset_m":[0.019182598916406824,-0.011991392913934997,0.015894626141702315]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003066562109780976,-0.0018703689380617284,-0.00019676054330837098],"end_effector_yaw_offset_degrees":-0.388697280044507},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00028869610345818924,0.0019908089110666815,0.000692396795094254],"end_effector_yaw_offset_degrees":0.7466018978706905},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014479819208907934,-0.000523664922653221,0.00017209883383706177],"end_effector_yaw_offset_degrees":0.13685490845666126},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001457994740242734,0.001281785776193299,0.001575101835143468],"end_effector_yaw_offset_degrees":-0.30800117522072346}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002048295305120319,0.003124087029616334],"position_m":[0.15035170469487968,0.22672408702961633,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018775210395969707,0.0027310649053563073],"position_m":[0.24427752103959696,-0.3069689350946437,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00012221660509328675,-0.003893562664490425],"position_m":[0.3246222166050933,-0.04549356266449042,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002885436590506899,0.003739608192262202],"position_m":[0.3481145634094931,0.32213960819226223,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"10ad97a643771dee6ea748ea7744527d3607dd6a702f062d3607cb98c21525eb","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0082.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2615/tex_ceiling_textures_5387/tex_floor_textures_1713/tex_table_textures_1771/tex_wall_textures_4281","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2328915786282996783,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2328915786282996783,"visual_seed":2328915786282996783,"scene_id":"lab_003","finished_at":"2026-09-04T22:25:29"}
+{"episode_id":"ep_000076","started_at":"2026-09-04T22:25:32","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[-0.5524624812555833,-1.5767255435571776,0.71338606911949],"aabb_xy":[[-0.6124624821163959,-1.6281519735636638],[-0.4924624803947703,-1.525299113550691]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[0.4288700207996059,-2.1802637668239755,0.71338606911949],"aabb_xy":[[0.41542349416556257,-2.1937336184770664],[0.44231654743364923,-2.1667939151708837]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[0.4701450784107062,-0.2587000278637106,0.71338606911949],"aabb_xy":[[0.4061450792409362,-0.3054667149826731],[0.534145077580476,-0.21193334074474815]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_3","position":[0.47798000920879025,-0.7516485483234843,0.71338606911949],"aabb_xy":[[0.42298001003220065,-0.8066382230984418],[0.5329800083853796,-0.6966588735485265]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.1307011777547552,-0.5981132056843437,0.71338606911949],"aabb_xy":[[-0.1806799862650711,-0.6481132056900624],[-0.08072236924443932,-0.5481132056786248]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[-0.6726285632374448,0.06894208127114565,0.71338606911949],"aabb_xy":[[-0.6858595087721259,0.055714662249146216],[-0.6593976177027633,0.08216950029314506]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[-0.16171165891956796,1.4404730473952392,0.71338606911949],"aabb_xy":[[-0.1967116580495236,1.434727826319575],[-0.12671165978961227,1.4462182684709033]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_7","position":[0.3264687762538143,-1.337074663736104,0.71338606911949],"aabb_xy":[[0.31470058945915685,-1.4220746636413255],[0.3382369630484719,-1.2520746638308824]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[-0.46382521134033594,1.39968865263653,0.71338606911949],"aabb_xy":[[-0.5006198444652423,1.3627827775399477],[-0.4270305782154297,1.4365945277331122]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[0.5476672607499755,-1.3409505627112859,0.71338606911949],"aabb_xy":[[0.5394527156342914,-1.349627153008927],[0.5558818058656594,-1.3322739724136443]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_10","position":[0.3563551661773048,1.1777306122259934,0.71338606911949],"aabb_xy":[[0.3338551666535973,1.1552346647753724],[0.37885516570101213,1.200226559676614]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.5072340868844807,-1.2970052549415865,0.71338606911949],"aabb_xy":[[-0.5772340832944421,-1.3174431905932678],[-0.4372340904745186,-1.2765673192899043]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.006624316335233749,-1.3906420943776874,0.71338606911949],"aabb_xy":[[-0.05837568466526677,-1.4414284595323623],[0.07162431733573427,-1.3398557292230124]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[0.5291514283970262,0.5057753451898432,0.71338606911949],"aabb_xy":[[0.46415143051537855,0.4546516814833024],[0.5941514262786741,0.5568990088963841]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[-0.15710911351588763,0.7231398825586424,0.71338606911949],"aabb_xy":[[-0.16320374140400595,0.7145704880069735],[-0.1510144856277693,0.731709277110311]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.1266670530305124,-1.4019183984544223,0.71338606911949],"aabb_xy":[[-0.13470338773179721,-1.409956517758839],[-0.11863071832922753,-1.3938802791500053]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.22357805243221485,1.2179477020760596,0.71338606911949],"aabb_xy":[[0.20107805242206656,1.2038514824364563],[0.24607805244236314,1.232043921715663]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[0.4234152949327301,0.2732138124285344,0.71338606911949],"aabb_xy":[[0.4130037362522464,0.2678680790926359],[0.4338268536132138,0.27855954576443287]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[-0.03287340812060113,-0.7267129701511279,0.71338606911949],"aabb_xy":[[-0.03782942830548233,-0.7492129703532496],[-0.027917387935719934,-0.7042129699490064]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.18233473446607984,-2.511810611121715,0.71338606911949],"aabb_xy":[[0.11833473241634782,-2.551905094211023],[0.2463347365158118,-2.471716128032407]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[0.6584050137254169,-0.43194127216830935,0.71338606911949],"aabb_xy":[[0.6459376556156815,-0.4444065968016329],[0.6708723718351528,-0.4194759475349859]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[0.4904080274264795,-1.8676578812909834,0.71338606911949],"aabb_xy":[[0.4604404705166538,-1.8976578815888692],[0.5203755843363052,-1.8376578809930977]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[0.014989314880953009,-2.472667654538411,0.71338606911949],"aabb_xy":[[0.002386615743876554,-2.485263050763277],[0.027592014018029465,-2.460072258313546]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_23","position":[-0.497487642360609,0.9883902187833673,0.71338606911949],"aabb_xy":[[-0.5299493432425363,0.9582573866684646],[-0.4650259414786815,1.0185230508982697]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_24","position":[0.22398894521886004,1.4273814822084483,0.71338606911949],"aabb_xy":[[0.16886373958926926,1.367381480767161],[0.2791141508484508,1.4873814836497352]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_25","position":[-0.2656422590208047,-0.570325137658827,0.71338606911949],"aabb_xy":[[-0.27368561894675986,-0.6553251387541934],[-0.2575988990948495,-0.48532513656346055]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_26","position":[-0.10406831174475484,-1.750320299129362,0.71338606911949],"aabb_xy":[[-0.18906831016217807,-1.8351945945916472],[-0.01906831332733161,-1.6654460036670773]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_27","position":[-0.5322949235104655,0.2432394703167362,0.71338606911949],"aabb_xy":[[-0.5872949217122102,0.20271750369029862],[-0.4772949253087206,0.2837614369431738]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_28","position":[0.6409069432485157,-2.2629063633524935,0.71338606911949],"aabb_xy":[[0.6130619064679086,-2.293690862090805],[0.6687519800291228,-2.232121864614182]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_29","position":[-0.3866641886104391,1.7299332286784357,0.71338606911949],"aabb_xy":[[-0.40672260022367934,1.7098681417692783],[-0.36660577699719876,1.7499983155875931]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.702540396665761,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4753.png","name":"4753"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4753.png","name":"4753"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5170.png","name":"5170"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3595.png","name":"3595"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5793.png","name":"5793"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1924.png","name":"1924"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":702.1272360051889,"rotation_z_degrees":1.694775950948042,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00041790903794916914,-0.011552370646224861,0.01918119489612265]},{"name":"camera_2","offset_m":[-0.005628779200894787,-0.005608512411555836,0.011425296983577107]},{"name":"camera_3","offset_m":[0.0024277950620427043,-0.010765000308143518,-0.011860704908296427]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018889800166115136,0.0007406083056970916,0.0015805278707794529],"end_effector_yaw_offset_degrees":-0.3306501034068281},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008067612567835129,0.0011122097456275877,0.0014426800450320731],"end_effector_yaw_offset_degrees":0.13946749926901347},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011439096219009706,0.001864570569765462,6.61722855679306e-05],"end_effector_yaw_offset_degrees":0.20501070531798748},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003768026609593136,0.0009575867450745293,-0.0007574515544541561],"end_effector_yaw_offset_degrees":-0.40495175990374355}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004817612616554967,-0.004546664261398695],"position_m":[0.14758238738344504,0.2190533357386013,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015581267280895274,-0.0033292021743691934],"position_m":[0.24084187327191048,-0.3130292021743692,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00040167810197436205,-0.0009716019314706722],"position_m":[0.32490167810197434,-0.04257160193147067,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032148458658033093,0.003964423833987404],"position_m":[0.35421484586580326,0.32236442383398745,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b0024dfc3b57ffef6398eede5619bbf35c6b9faff83ef5b9b94beb1eac3d6d00","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4753/tex_ceiling_textures_1924/tex_floor_textures_5793/tex_table_textures_5170/tex_wall_textures_3595","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2458776664688192788,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2458776664688192788,"visual_seed":2458776664688192788,"scene_id":"lab_003","finished_at":"2026-09-04T22:29:16"}
+{"episode_id":"ep_000077","started_at":"2026-09-04T22:29:19","dimensions":{"distractor":{"count":25,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[-0.5436153846250125,1.6053660960119012,0.71338606911949],"aabb_xy":[[-0.5660801545964176,1.5828660951330404],[-0.5211506146536073,1.6278660968907614]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.11140839286617843,1.7999903767690717,0.71338606911949],"aabb_xy":[[-0.11744540586684318,1.7939636757001238],[-0.10537137986551373,1.80601707783802]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[0.579925418789706,-2.280593025429921,0.71338606911949],"aabb_xy":[[0.5624254185446566,-2.2980928132694878],[0.5974254190347553,-2.263093237590354]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_3","position":[0.10809679486735668,0.913781134132432,0.71338606911949],"aabb_xy":[[0.09846515864692706,0.904143821352723],[0.1177284310877863,0.9234184469121408]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[-0.48396681191575236,-1.8007900023669672,0.71338606911949],"aabb_xy":[[-0.513934368825578,-1.830790002664853],[-0.4539992550059267,-1.7707900020690814]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[-0.4559549492577535,0.580875172677692,0.71338606911949],"aabb_xy":[[-0.49095494752787333,0.5738010449827038],[-0.4209549509876335,0.5879493003726801]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[0.27887597148419196,0.5339088966611847,0.71338606911949],"aabb_xy":[[0.2563759714740437,0.5198126770215813],[0.30137597149434026,0.5480051163007879]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[0.5432264747501014,1.6029938701840458,0.71338606911949],"aabb_xy":[[0.5383828799888716,1.598142217705062],[0.5480700695113315,1.6078455226630302]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[0.426275782744548,-1.197732562971595,0.71338606911949],"aabb_xy":[[0.41823242281859285,-1.2827325640669611],[0.4343191426705032,-1.1127325618762283]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.1425683678088765,-2.5393838243350975,0.71338606911949],"aabb_xy":[[0.05256837130800473,-2.5852954667535557],[0.23256836430974823,-2.493472181916639]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[-0.11492431720152829,-0.9559002483194508,0.71338606911949],"aabb_xy":[[-0.13242425063551166,-0.9734002482396852],[-0.09742438376754492,-0.9384002483992161]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_11","position":[0.6419463577701163,1.1133681667932902,0.71338606911949],"aabb_xy":[[0.6310405816825536,1.033368170394461],[0.652852133857679,1.1933681631921194]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[-0.3231875872098331,-1.3777426467694422,0.71338606911949],"aabb_xy":[[-0.35818758552052854,-1.385457661692988],[-0.28818758889913765,-1.3700276318458966]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[0.05922819623213205,-2.0213689175853697,0.71338606911949],"aabb_xy":[[-0.0007718054107898054,-2.073369066877314],[0.1192281978750539,-1.9693687682934256]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[0.002312285405033143,-0.8141320072645164,0.71338606911949],"aabb_xy":[[-0.03227879744901207,-0.8791320075495473],[0.036903368259078355,-0.7491320069794852]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.3761387430009691,-0.24325112090744394,0.71338606911949],"aabb_xy":[[-0.431112465037302,-0.2982511204716771],[-0.3211650209646362,-0.1882511213432108]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_16","position":[0.2389188265264477,-1.6128929909262193,0.71338606911949],"aabb_xy":[[0.21641969080022072,-1.6353929917044823],[0.26141796225267466,-1.5903929901479563]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[-0.3704763639941064,1.5563983505188648,0.71338606911949],"aabb_xy":[[-0.4075104734221661,1.5220211431851551],[-0.33344225456604665,1.590775557852574]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[0.6435406110399564,-1.1487707890776713,0.71338606911949],"aabb_xy":[[0.5935576608524771,-1.1987707887202315],[0.6935235612274357,-1.0987707894351106]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[0.4441721926164268,1.4760671367693763,0.71338606911949],"aabb_xy":[[0.4333317143899118,1.4588808554787274],[0.4550126708429416,1.4932534180600248]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[0.1349979685480116,1.7033244930575218,0.71338606911949],"aabb_xy":[[0.12558049397814885,1.6939083159198025],[0.14441544311787435,1.7127406701952406]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[0.569140870761011,1.1970410996848622,0.71338606911949],"aabb_xy":[[0.5599809918171345,1.190509881641325],[0.5783007497048877,1.2035723177283992]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[0.4231923652644247,-0.9646841302099536,0.71338606911949],"aabb_xy":[[0.388895454246684,-0.9989810164198949],[0.45748927628216524,-0.9303872440000123]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[0.4227882631568185,-1.7153564742076859,0.71338606911949],"aabb_xy":[[0.3944585532082783,-1.7198172164014034],[0.4511179731053587,-1.7108957320139693]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_24","position":[0.1280917095354953,-0.7971119373525009,0.71338606911949],"aabb_xy":[[0.11298940807447717,-0.8122134589835625],[0.14319401099651335,-0.7820104157214388]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7001295939303092,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8089.png","name":"8089"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8089.png","name":"8089"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3881.png","name":"3881"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2180.png","name":"2180"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6106.png","name":"6106"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2847.png","name":"2847"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":595.632628497969,"rotation_z_degrees":197.67011810682865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00307522920045172,-0.006971000336209499,0.019328169341657455]},{"name":"camera_2","offset_m":[-0.017280837845525122,0.00928210329735062,0.0011205498097487353]},{"name":"camera_3","offset_m":[-0.01936685116925182,0.005570322427373854,-0.0036614615307885845]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015754817424099392,0.0007998942192953811,-0.0008374277859780968],"end_effector_yaw_offset_degrees":0.22167985122593126},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015884207180100304,-0.0004826430942159324,-0.0019473610441723263],"end_effector_yaw_offset_degrees":0.7136670946395969},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002944862735084412,0.0015802258815592854,-0.001445650741317197],"end_effector_yaw_offset_degrees":0.7325660940664862},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006992932656228771,0.0008403353202996624,-0.00020827003487698692],"end_effector_yaw_offset_degrees":-0.815716057641785}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024599672748805835,0.0027753816900288842],"position_m":[0.14994003272511944,0.22637538169002888,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004570593857412584,0.003622842580244325],"position_m":[0.2469705938574126,-0.30607715741975566,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0037264191342189007,-0.0021997023462964785],"position_m":[0.3282264191342189,-0.043799702346296474,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011134649118384986,0.002779500783128071],"position_m":[0.3521134649118385,0.32117950078312807,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1db174c02ef0c789088fae0317a73ee9570035cae87610190a92afcb872186ac","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0084.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8089/tex_ceiling_textures_2847/tex_floor_textures_6106/tex_table_textures_3881/tex_wall_textures_2180","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5704388823143910812,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5704388823143910812,"visual_seed":5704388823143910812,"scene_id":"lab_003","finished_at":"2026-09-04T22:33:21"}
+{"episode_id":"ep_000078","started_at":"2026-09-04T22:33:24","dimensions":{"distractor":{"count":22,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[0.4034652726040251,0.7119052115662967,0.71338606911949],"aabb_xy":[[0.3659652740284043,0.6991689159027388],[0.4409652711796459,0.7246415072298547]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_1","position":[-0.010693348864245111,-2.175095739652072,0.71338606911949],"aabb_xy":[[-0.07228410808823793,-2.239095737761119],[0.05089741035974771,-2.1110957415430254]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[0.18309065023606985,0.7212931756170313,0.71338606911949],"aabb_xy":[[0.16559065110170265,0.7114135485794434],[0.200590649370437,0.731172802654619]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[-0.06593787876725321,-1.3425582322318441,0.71338606911949],"aabb_xy":[[-0.10343787893912514,-1.375258967614751],[-0.028437878595381258,-1.3098574968489367]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.5489842288939337,-0.4911471348233958,0.71338606911949],"aabb_xy":[[0.5320734964575918,-0.5046193404160102],[0.5658949613302754,-0.47767492923078125]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[-0.5855829044885547,-1.252462784254704,0.71338606911949],"aabb_xy":[[-0.6307542223367237,-1.3164627813992424],[-0.5404115866403858,-1.1884627871101656]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_6","position":[0.6436823164105734,0.01934580229636529,0.71338606911949],"aabb_xy":[[0.6237912765302333,0.0066899910116684485],[0.6635733562909137,0.03200161358106213]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[0.6319288700746628,-2.012605403569755,0.71338606911949],"aabb_xy":[[0.5519288690015425,-2.0223834499071396],[0.7119288711477831,-2.0028273572323707]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[-0.24932221197329069,0.7114362798784226,0.71338606911949],"aabb_xy":[[-0.32932220937688406,0.6314437086802397],[-0.16932221456969723,0.7914288510766053]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.056037558686064415,1.7425650139062383,0.71338606911949],"aabb_xy":[[0.04048178927579916,1.7270145806618313],[0.07159332809632969,1.7581154471506457]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.661357760924185,0.7078338536062425,0.71338606911949],"aabb_xy":[[0.6548561244161805,0.6980660315799327],[0.6678593974321897,0.7176016756325523]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_11","position":[-0.23682263818532123,-0.8452925616054663,0.71338606911949],"aabb_xy":[[-0.24474591842406956,-0.8677925618434695],[-0.2288993579465729,-0.8227925613674628]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.30614441233571266,-2.3816185019042084,0.71338606911949],"aabb_xy":[[-0.32502879610422286,-2.400504426684561],[-0.28726002856720245,-2.3627325771238556]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_13","position":[0.1083291017216148,1.4388383430360983,0.71338606911949],"aabb_xy":[[0.05832910036072759,1.3888604384606824],[0.15832910308250203,1.4888162476115137]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[0.4448385257615155,-1.0168205990569248,0.71338606911949],"aabb_xy":[[0.42816138976841994,-1.033520523030855],[0.46151566175461095,-1.0001206750829945]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.00955948749803881,-2.445483901439325,0.71338606911949],"aabb_xy":[[-0.05668886649987448,-2.509483902483726],[0.03756989150379686,-2.381483900394922]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_16","position":[-0.14379549750451792,-1.5033175686957954,0.71338606911949],"aabb_xy":[[-0.20779549941686026,-1.559228717953806],[-0.07979549559217558,-1.4474064194377851]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[0.37508836867369033,1.1792536199899346,0.71338606911949],"aabb_xy":[[0.3680480587401534,1.0992536205902632],[0.38212867860722743,1.259253619389606]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[0.22452936813146818,1.237175061028526,0.71338606911949],"aabb_xy":[[0.22108869189141103,1.2333136280541617],[0.22797004437152538,1.2410364940028906]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[0.23069580669882828,-1.8514685188177928,0.71338606911949],"aabb_xy":[[0.17306533781155742,-1.911468517744503],[0.28832627558609913,-1.7914685198910818]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.47161409069454074,-1.205655589946626,0.71338606911949],"aabb_xy":[[0.4016140942845788,-1.2260935255983072],[0.5416140871045023,-1.1852176542949437]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[-0.26344855437666903,-1.97262810309535,0.71338606911949],"aabb_xy":[[-0.30199424720187007,-2.011173874151538],[-0.224902861551468,-1.9340823320391611]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6977479858248977,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8233.png","name":"8233"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8233.png","name":"8233"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9764.png","name":"9764"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/534.png","name":"534"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7288.png","name":"7288"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3325.png","name":"3325"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":581.2322264140282,"rotation_z_degrees":54.36237596196638,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007946208199628964,-0.0016733749306017433,0.006915928956233223]},{"name":"camera_2","offset_m":[0.0016839650132502888,0.006002914316898766,-0.009681120104713257]},{"name":"camera_3","offset_m":[0.0019816178224676996,0.0027727548651881977,0.016384218885155805]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007986962973422092,0.00031498069263655344,0.0019029313516309844],"end_effector_yaw_offset_degrees":-0.904756152421051},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011917433047424985,-0.0019830916202511054,0.0013172507880680603],"end_effector_yaw_offset_degrees":-0.14105067370385838},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012618983642039136,2.0199108551022596e-05,-0.001358096768391338],"end_effector_yaw_offset_degrees":0.9391010908894235},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012322818331954983,1.2217714344012892e-05,-0.0016605638880668049],"end_effector_yaw_offset_degrees":-0.7776359362919636}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002392443377261179,0.004363419515312242],"position_m":[0.1547924433772612,0.22796341951531224,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00172004111629313,0.003071111080087021],"position_m":[0.24412004111629312,-0.30662888891991297,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002163510347633312,0.0009222821412580009],"position_m":[0.3223364896523667,-0.040677717858741996,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00025568007206921463,0.00023572881926513852],"position_m":[0.35074431992793076,0.31863572881926516,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"60a47056bbf8485afbdfcf5e2ab73fe2c05bfbb0faa6694e334d03df3f82760c","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0085.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8233/tex_ceiling_textures_3325/tex_floor_textures_7288/tex_table_textures_9764/tex_wall_textures_534","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4228595903578015465,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4228595903578015465,"visual_seed":4228595903578015465,"scene_id":"lab_003","finished_at":"2026-09-04T22:37:07"}
+{"episode_id":"ep_000079","started_at":"2026-09-04T22:37:11","dimensions":{"distractor":{"count":25,"items":[{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_0","position":[-0.041855895361564865,-1.8706187487075925,0.71338606911949],"aabb_xy":[[-0.05114951359871544,-1.9081187471957262],[-0.03256227712441428,-1.8331187502194584]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[-0.41061727381716323,1.6239366157395696,0.71338606911949],"aabb_xy":[[-0.4706172744131794,1.5691241431943463],[-0.35061727322114705,1.6787490882847933]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[0.2618770923036785,0.9432267655806355,0.71338606911949],"aabb_xy":[[0.21177962832260488,0.8792267650708238],[0.3119745562847521,1.0072267660904473]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.6120287959589608,0.8926580006137987,0.71338606911949],"aabb_xy":[[0.547028795924658,0.8459573239334716],[0.6770287959932635,0.9393586772941261]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[0.5079727822856439,1.4326535815853778,0.71338606911949],"aabb_xy":[[0.4429727837285711,1.402901048171495],[0.5729727808427167,1.4624061149992602]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.3204764410620011,-1.0310157908944035,0.71338606911949],"aabb_xy":[[0.3095706649744384,-1.1110157872932325],[0.33138221714956384,-0.9510157944955742]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[-0.3836785634395777,-0.8764015932691955,0.71338606911949],"aabb_xy":[[-0.3873818247687165,-0.8801036115779132],[-0.37997530211043884,-0.8726995749604775]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[-0.0669538480949492,1.7023730372562667,0.71338606911949],"aabb_xy":[[-0.11695384937878915,1.6523941828656443],[-0.016953846811109227,1.7523518916468885]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.3095596903645079,-2.0687926148991145,0.71338606911949],"aabb_xy":[[0.2595822734992543,-2.1187926163883626],[0.35953710722976145,-2.0187926134098655]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[-0.6108225968749027,-1.1653002700671244,0.71338606911949],"aabb_xy":[[-0.6442627720709222,-1.198743895898054],[-0.577382421678883,-1.131856644236194]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[-0.668081149921256,1.7656996899556225,0.71338606911949],"aabb_xy":[[-0.6856594521102028,1.7481252003815173],[-0.6505028477323092,1.7832741795297273]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.3959923554989244,-1.1803508565542438,0.71338606911949],"aabb_xy":[[0.37898225820887377,-1.1964853450525175],[0.41300245278897507,-1.1642163680559696]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[0.44917860919897,-0.6860378938534255,0.71338606911949],"aabb_xy":[[0.3991786096226353,-0.7360184728055315],[0.49917860877530473,-0.6360573149013196]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[0.44044794206965654,-2.1712169491120665,0.71338606911949],"aabb_xy":[[0.42580453651562356,-2.1858756687688503],[0.4550913476236895,-2.156558229455282]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.21116398923501362,-0.5563030237942903,0.71338606911949],"aabb_xy":[[-0.25633530708318264,-0.6203030209388287],[-0.16599267138684468,-0.4923030266497519]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_15","position":[-0.11596704579381756,0.7950526983641257,0.71338606911949],"aabb_xy":[[-0.17096025713095434,0.7400526980253321],[-0.06097383445668082,0.8500526987029194]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.46842470140079784,-2.5239068357512466,0.71338606911949],"aabb_xy":[[0.3784246977238796,-2.58533924232835],[0.558424705077716,-2.4624744291741414]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[-0.14965403420047463,0.2956441538200467,0.71338606911949],"aabb_xy":[[-0.15900104178276986,0.2813405316024027],[-0.1403070266181794,0.30994777603769075]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[0.48269592895480007,1.6222316516777444,0.71338606911949],"aabb_xy":[[0.4327228634222847,1.5722316518652117],[0.5326689944873156,1.6722316514902775]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[0.30399610786253983,-1.7450005423572923,0.71338606911949],"aabb_xy":[[0.24636563897526886,-1.8050005412840022],[0.3616265767498106,-1.685000543430581]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[-0.24935716298924343,0.5930007064627612,0.71338606911949],"aabb_xy":[[-0.2843571643407251,0.5726409705059403],[-0.21435716163776167,0.613360442419582]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[0.3145555112980143,1.42244752981146,0.71338606911949],"aabb_xy":[[0.2505555127114418,1.3754405664119511],[0.3785555098845867,1.4694544932109685]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[0.5439167038498403,1.1907291293114675,0.71338606911949],"aabb_xy":[[0.5368763939163033,1.1107291299117963],[0.5509570137833772,1.270729128711139]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[-0.16077045565682158,-1.920400525828524,0.71338606911949],"aabb_xy":[[-0.22077045651763433,-1.9718269558350103],[-0.10077045479600873,-1.8689740958220376]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[-0.4530308591732517,-2.252911204857998,0.71338606911949],"aabb_xy":[[-0.4905308594654265,-2.2569526802586015],[-0.4155308588810769,-2.248869729457394]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6963722721821222,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5643.png","name":"5643"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5643.png","name":"5643"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4393.png","name":"4393"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6102.png","name":"6102"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7260.png","name":"7260"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5773.png","name":"5773"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":778.9682362603273,"rotation_z_degrees":248.77767128203544,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00986969751294077,0.018326742517345226,0.01983244733037937]},{"name":"camera_2","offset_m":[-0.013429106123377044,0.014141012119343304,-0.01573064387895019]},{"name":"camera_3","offset_m":[0.018046520621917226,-0.003096696491423412,0.006315233443672269]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009962768918344517,0.0015351648278866272,0.0014518479552058125],"end_effector_yaw_offset_degrees":-0.7035265582010535},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00041788800099481745,0.0008693808863337576,0.0019163191962950242],"end_effector_yaw_offset_degrees":0.6850542236392674},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-3.922760614984144e-06,0.001480815748043166,0.0009745103419195648],"end_effector_yaw_offset_degrees":0.2479278935401279},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00047948050884590986,0.0013638980667092706,0.000502171617934399],"end_effector_yaw_offset_degrees":-0.3796983893957222}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004112692355225777,-0.002612428941030056],"position_m":[0.15198873076447744,0.22098757105896993,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015015071055290573,-0.0020383003758561837],"position_m":[0.24089849289447093,-0.31173830037585615,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003621309748387401,-0.002188047379462593],"position_m":[0.32812130974838744,-0.04378804737946259,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004170190533258457,-0.00411475287438753],"position_m":[0.35141701905332584,0.3142852471256125,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"29bc6a97a43503e3972fd6c5bec1e50c0802fb9b92cc6e1f2bcbcc7b62b967fd","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5643/tex_ceiling_textures_5773/tex_floor_textures_7260/tex_table_textures_4393/tex_wall_textures_6102","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3754540703558056963,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3754540703558056963,"visual_seed":3754540703558056963,"scene_id":"lab_003","finished_at":"2026-09-04T22:41:00"}
+{"episode_id":"ep_000080","started_at":"2026-09-04T22:41:04","dimensions":{"distractor":{"count":22,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[0.5229835662078404,-1.5443027561004832,0.71338606911949],"aabb_xy":[[0.4979835662753225,-1.5511854243214067],[0.5479835661403583,-1.53742008787956]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[-0.571948075775272,-0.3859528565896988,0.71338606911949],"aabb_xy":[[-0.6104937686004731,-0.4244986276458874],[-0.533402382950071,-0.3474070855335101]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[-0.18339724354470144,-0.45289865439344856,0.71338606911949],"aabb_xy":[[-0.24839724357900417,-0.49959933107377585],[-0.11839724351039871,-0.40619797771312127]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.23728420836542863,-1.687956746520507,0.71338606911949],"aabb_xy":[[0.23285357901058848,-1.6934051182551895],[0.24171483772026883,-1.6825083747858245]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[-0.1253475319540449,-1.8572273269907216,0.71338606911949],"aabb_xy":[[-0.1829780008413157,-1.917227325917432],[-0.06771706306677401,-1.7972273280640108]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[0.4799535588332482,1.3587078414362614,0.71338606911949],"aabb_xy":[[0.3999535608524631,1.3511063004744097],[0.5599535568140331,1.3663093823981136]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[0.15008875472077443,1.1359211745373052,0.71338606911949],"aabb_xy":[[0.10060833350681564,1.0719211766244536],[0.19956917593473322,1.1999211724501573]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[-0.527619257502677,-1.331658197769543,0.71338606911949],"aabb_xy":[[-0.5916192578802106,-1.3814034646203552],[-0.4636192571251434,-1.2819129309187307]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.22558345399789703,0.07161274082099078,0.71338606911949],"aabb_xy":[[-0.2292867153270359,0.06791072251227291],[-0.22188019266875816,0.07531475912970863]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[-0.41888804038804456,-0.016926727157174692,0.71338606911949],"aabb_xy":[[-0.43065622718270213,-0.10192672706239628],[-0.4071198535933871,0.06807327274804688]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[-0.218470578755815,-2.3938699917058486,0.71338606911949],"aabb_xy":[[-0.28847058056456043,-2.415223760470036],[-0.14847057694706955,-2.372516222941661]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.41539066757936327,-1.5868072905697073,0.71338606911949],"aabb_xy":[[0.38490641745233317,-1.6368072903512032],[0.4458749177063935,-1.5368072907882113]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[-0.2793722667585136,-1.6753330966573285,0.71338606911949],"aabb_xy":[[-0.2870754574325906,-1.6830424673560662],[-0.2716690760844365,-1.66762372595859]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[0.5796474254659827,-0.34331256923986064,0.71338606911949],"aabb_xy":[[0.5450563426119375,-0.40831256952489164],[0.6142385083200279,-0.27831256895482953]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[0.12757922923068188,-2.342793390479733,0.71338606911949],"aabb_xy":[[0.04385700373059942,-2.432793394014429],[0.21130145473076434,-2.252793386945037]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.02923702342715151,-2.4052536088923118,0.71338606911949],"aabb_xy":[[-0.05173702324105389,-2.4097282252627923],[-0.006737023613249127,-2.4007789925218312]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[0.19721322669322372,0.846085375367041,0.71338606911949],"aabb_xy":[[0.17471322618118307,0.8235935170016426],[0.21971322720526426,0.8685772337324393]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_17","position":[0.3738153941894533,1.8141699003560974,0.71338606911949],"aabb_xy":[[0.37037471794939614,1.8103084673817331],[0.37725607042951054,1.818031333330462]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[-0.545455670353518,-1.6123638254883383,0.71338606911949],"aabb_xy":[[-0.5503549626600815,-1.640040744790907],[-0.5405563780469546,-1.5846869061857694]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.03752958979462928,0.8307578130115489,0.71338606911949],"aabb_xy":[[-0.09752958964119607,0.7739391908185101],[0.022470410051937513,0.8875764352045875]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[-0.2907455417011875,-1.9801261368418626,0.71338606911949],"aabb_xy":[[-0.29607805635580053,-1.9854504650870979],[-0.28541302704657456,-1.9748018085966268]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[-0.48680725691491317,-2.4153944383058663,0.71338606911949],"aabb_xy":[[-0.49176327709979445,-2.4378944385079886],[-0.481851236730032,-2.392894438103745]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6967876183634034,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9224.png","name":"9224"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9224.png","name":"9224"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9939.png","name":"9939"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/683.png","name":"683"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6784.png","name":"6784"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6688.png","name":"6688"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":559.2780567888752,"rotation_z_degrees":97.36907549451108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00609950449925405,0.015014788051613732,0.006251285466464758]},{"name":"camera_2","offset_m":[0.01958251979136121,0.017375527412755932,0.009921707526490846]},{"name":"camera_3","offset_m":[0.01651288596770094,-0.017885294201552188,-0.01495203491027826]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015766910015685839,0.0017545854112313302,-0.0018273797001510266],"end_effector_yaw_offset_degrees":0.9900366704398835},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-2.1683710361608717e-06,0.001935656341076653,-0.0009669871135480498],"end_effector_yaw_offset_degrees":-0.49323586504364525},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002035496186188258,-0.0003420041930101308,-0.0004171340685878856],"end_effector_yaw_offset_degrees":0.7057770402807506},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003794868138996619,0.001404306028492841,-0.0016905292157975405],"end_effector_yaw_offset_degrees":0.4696355966454162}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0031518366256725354,0.00258738357025324],"position_m":[0.14924816337432747,0.22618738357025323,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012380882445483209,-0.0031300618819738103],"position_m":[0.24363808824454833,-0.31283006188197376,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00015847990436600266,0.004929633945266093],"position_m":[0.324658479904366,-0.03667036605473391,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002123746827867562,0.0017642626598458663],"position_m":[0.34887625317213244,0.3201642626598459,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f8cd65819f194259c66241559605077210aa8af508e3a320d022a12f66fa49b0","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0087.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9224/tex_ceiling_textures_6688/tex_floor_textures_6784/tex_table_textures_9939/tex_wall_textures_683","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2723896763446266747,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2723896763446266747,"visual_seed":2723896763446266747,"scene_id":"lab_003","finished_at":"2026-09-04T22:44:52"}
+{"episode_id":"ep_000081","started_at":"2026-09-04T22:44:55","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.321137787015143,-1.2526660412662978,0.71338606911949],"aabb_xy":[[-0.3276394235231477,-1.2624338632926078],[-0.31463615050713845,-1.2428982192399882]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[0.633888722600193,-0.6114918069341237,0.71338606911949],"aabb_xy":[[0.6204421959661496,-0.624961658587215],[0.6473352492342362,-0.5980219552810325]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.5871774762538791,-2.401850020682178,0.71338606911949],"aabb_xy":[[0.5646783405276521,-2.424350021460441],[0.609676611980106,-2.3793500199039146]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[0.10952090312340745,1.1300393732952387,0.71338606911949],"aabb_xy":[[0.07202090193861464,1.125621150599178],[0.14702090430820022,1.134457595991299]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_4","position":[-0.4350262262467414,-0.9165014557516677,0.71338606911949],"aabb_xy":[[-0.4696173091007866,-0.9815014560366987],[-0.40043514339269615,-0.8515014554666366]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[-0.47523263767497326,0.023643596755429375,0.71338606911949],"aabb_xy":[[-0.4927325711089567,0.006143596835194828],[-0.45773270424098994,0.04114359667566392]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_6","position":[-0.291656631582612,0.9736444426347504,0.71338606911949],"aabb_xy":[[-0.32915663139964557,0.9690062313236085],[-0.25415663176557846,0.9782826539458922]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[0.3152054794059076,0.8245949747143317,0.71338606911949],"aabb_xy":[[0.2657250581919488,0.76059497680148],[0.3646859006198664,0.8885949726271837]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[0.1664034448159626,-2.140915804712558,0.71338606911949],"aabb_xy":[[0.1439034445724472,-2.1531204393723296],[0.18890344505947798,-2.1287111700527857]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.6464616154868212,-1.717289680606556,0.71338606911949],"aabb_xy":[[-0.6583336984983224,-1.8022896803002064],[-0.6345895324753201,-1.6322896809129057]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.6201336975514758,-0.9244279336950934,0.71338606911949],"aabb_xy":[[-0.6841336946635815,-0.9734603034895039],[-0.5561337004393702,-0.8753955639006826]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[-0.49511515847049004,1.1358659926906713,0.71338606911949],"aabb_xy":[[-0.5255994085975202,1.0858659929091754],[-0.4646309083434598,1.1858659924721673]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.01782028579825845,1.6818251829491628,0.71338606911949],"aabb_xy":[[-0.04032028561216083,1.6773505665786819],[0.004679714015643932,1.6862997993196434]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[-0.03219286379208153,-0.1875503042721265,0.71338606911949],"aabb_xy":[[-0.04153987137437676,-0.20185392648977052],[-0.022845856209786297,-0.17324668205448246]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[-0.14459211369839464,-2.1262415445244853,0.71338606911949],"aabb_xy":[[-0.18162622312645432,-2.1606187518581947],[-0.1075580042703349,-2.091864337190776]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[-0.5891263513030898,0.504691195426386,0.71338606911949],"aabb_xy":[[-0.6791263507214607,0.47131569858219613],[-0.4991263518847189,0.5380666922705756]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[0.6414616983292114,-2.1522959032203595,0.71338606911949],"aabb_xy":[[0.5774616979516777,-2.2020411700711717],[0.7054616987067449,-2.102550636369547]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[-0.34775198808472435,0.6202623125323319,0.71338606911949],"aabb_xy":[[-0.43775199041874346,0.5427799579472192],[-0.25775198575070535,0.6977446671174445]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[0.641974445610092,-2.247662657078266,0.71338606911949],"aabb_xy":[[0.6044744453179172,-2.25170413247887],[0.6794744459022668,-2.2436211816776623]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.48719365160852135,-0.03787057962288953,0.71338606911949],"aabb_xy":[[0.4784124244612852,-0.04665032691141969],[0.49597487875575763,-0.02909083233435939]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[0.5730338190702009,0.2996524576909141,0.71338606911949],"aabb_xy":[[0.5371203146452111,0.2637389494741595],[0.6089473234951904,0.3355659659076687]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[-0.27742462105696,-2.2668666381868343,0.71338606911949],"aabb_xy":[[-0.28512781173103696,-2.2745760088855724],[-0.2697214303828829,-2.259157267488096]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[-0.4765475425583664,-1.158098270067284,0.71338606911949],"aabb_xy":[[-0.5140475430557246,-1.1620669536154025],[-0.43904754206100816,-1.1541295865191654]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_23","position":[0.6165377012202604,0.934091615997819,0.71338606911949],"aabb_xy":[[0.5365377040606851,0.9225440150400017],[0.6965376983798357,0.9456392169556358]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_24","position":[-0.43753811841338475,-2.5088231998127224,0.71338606911949],"aabb_xy":[[-0.4675056753232104,-2.538823200110608],[-0.4075705615035591,-2.478823199514837]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[-0.23495256252806795,-0.9839766599284006,0.71338606911949],"aabb_xy":[[-0.28495256381190787,-1.0339555143190224],[-0.18495256124422796,-0.9339978055377783]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_26","position":[-0.5644914544359054,-2.454272505974194,0.71338606911949],"aabb_xy":[[-0.5726191426292188,-2.463186114384902],[-0.5563637662425923,-2.4453588975634863]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.702859739210954,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9991.png","name":"9991"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9991.png","name":"9991"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3505.png","name":"3505"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8191.png","name":"8191"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1501.png","name":"1501"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1943.png","name":"1943"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":797.3391725590341,"rotation_z_degrees":281.4254170276011,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00734120144049339,0.015419478553170007,-0.001347121656084048]},{"name":"camera_2","offset_m":[0.004452405265167481,0.007458763349333087,0.0074251657506514135]},{"name":"camera_3","offset_m":[0.017135344302771038,-0.016421524793133333,-0.00750647080455253]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001804810090328404,0.0012710278511333887,-0.0009476805202374026],"end_effector_yaw_offset_degrees":0.24832303380276022},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000458989885436342,3.9726794849952694e-06,-0.0004752588060466501],"end_effector_yaw_offset_degrees":0.7233195451459513},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006946910451321711,0.00010778432908701598,-0.001520613225512205],"end_effector_yaw_offset_degrees":0.3773690135324206},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018951398820855644,-1.3749456649626932e-05,-0.0014896503911951485],"end_effector_yaw_offset_degrees":-0.719099381313453}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002890399478859359,-0.004954188685872071],"position_m":[0.14950960052114065,0.2186458113141279,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011041960837868134,3.723835372506767e-05],"position_m":[0.24350419608378682,-0.30966276164627493,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003360188139428436,0.00400833333352297],"position_m":[0.32113981186057156,-0.03759166666647703,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031781778290608928,0.004730626732089104],"position_m":[0.35417817782906086,0.32313062673208914,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c4da45a85ffe0675ef0b747f9ea7fb77743880c920c332c12e4c7c67f34f7029","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0088.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9991/tex_ceiling_textures_1943/tex_floor_textures_1501/tex_table_textures_3505/tex_wall_textures_8191","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2120780757057069985,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2120780757057069985,"visual_seed":2120780757057069985,"scene_id":"lab_003","finished_at":"2026-09-04T22:49:09"}
+{"episode_id":"ep_000082","started_at":"2026-09-04T22:49:13","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.35065087059422945,1.0597216884869511,0.71338606911949],"aabb_xy":[[-0.3793002029546456,1.0310761292098751],[-0.32200153823381317,1.0883672477640267]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[-0.5696913618168243,0.4454228581345179,0.71338606911949],"aabb_xy":[[-0.5743264769690576,0.4415555230573691],[-0.5650562466645909,0.4492901932116664]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[-0.12923322367037815,-1.464257302940435,0.71338606911949],"aabb_xy":[[-0.13722721224808151,-1.4722573830355252],[-0.12123923509267473,-1.4562572228453445]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[0.4839507576219242,-1.7879793311307717,0.71338606911949],"aabb_xy":[[0.46574493396067657,-1.7990047317127633],[0.5021565812831719,-1.77695393054878]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[-0.629057112859003,-1.9749064387762614,0.71338606911949],"aabb_xy":[[-0.6479414966275132,-1.9937923635566142],[-0.6101727290904928,-1.9560205139959086]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[0.05810067998779023,0.7475503911821471,0.71338606911949],"aabb_xy":[[0.035604258553926134,0.7250503913753996],[0.08059710142165433,0.7700503909888945]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.06287169419281258,-1.582905884162995,0.71338606911949],"aabb_xy":[[-0.0021283067643146215,-1.6348540960967004],[0.1278716951499398,-1.5309576722292892]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[0.644012080580411,-0.06818164078816213,0.71338606911949],"aabb_xy":[[0.5800120798769417,-0.11420002326108317],[0.7080120812838804,-0.022163258315241133]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.6399478713685944,-0.2615488789342417,0.71338606911949],"aabb_xy":[[0.6224478722342273,-0.2714285059718295],[0.6574478705029616,-0.25166925189665384]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[-0.33927391583347494,-2.0021304678665026,0.71338606911949],"aabb_xy":[[-0.3583862231914538,-2.0212652467437446],[-0.3201616084754961,-1.9829956889892606]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[0.16920159096905396,-1.3376625349749565,0.71338606911949],"aabb_xy":[[0.1042015928131349,-1.3639587795248689],[0.23420158912497302,-1.3113662904250445]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[0.6379645008773442,1.1290094488575098,0.71338606911949],"aabb_xy":[[0.6326319862227312,1.1236851206122742],[0.6432970155319573,1.1343337771027453]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[0.5180263460081858,-1.595741071325817,0.71338606911949],"aabb_xy":[[0.5064573652612492,-1.620741071442749],[0.5295953267551223,-1.5707410712088856]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[0.24762946072562608,-2.103035645529596,0.71338606911949],"aabb_xy":[[0.18762945908270423,-2.155035794821541],[0.30762946236854793,-2.0510354962376525]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.3559245190448225,-1.7941355487419428,0.71338606911949],"aabb_xy":[[-0.4359245193184294,-1.8670850965676593],[-0.27592451877121543,-1.7211860009162259]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[0.621044356671449,-0.4452599775656272,0.71338606911949],"aabb_xy":[[0.5310443599358387,-0.4984434408829217],[0.7110443534070591,-0.3920765142483327]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[-0.08172035905015373,-1.7497381758170798,0.71338606911949],"aabb_xy":[[-0.09873045634020439,-1.7658726643153537],[-0.06471026176010308,-1.7336036873188059]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[0.37778621559439296,-2.412393070303405,0.71338606911949],"aabb_xy":[[0.3701619475042147,-2.420026293839949],[0.38541048368457126,-2.4047598467668614]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[-0.22880547746089108,-0.29789134720059307,0.71338606911949],"aabb_xy":[[-0.26326782485903283,-0.33238522959841565],[-0.19434313006274925,-0.26339746480277026]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[-0.44315787254159694,-0.5931886901701786,0.71338606911949],"aabb_xy":[[-0.52315787579944,-0.6731851979621626],[-0.36315786928375393,-0.5131921823781946]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.030275856072271456,-0.9207423459127917,0.71338606911949],"aabb_xy":[[-0.03472414396203127,-0.967443022593119],[0.09527585610657419,-0.8740416692324644]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_21","position":[0.5774774254287469,-2.084073283780757,0.71338606911949],"aabb_xy":[[0.4924774270113237,-2.168947579243042],[0.6624774238461701,-1.9991989883184722]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[0.5087145014348322,1.2874213476826992,0.71338606911949],"aabb_xy":[[0.5000005323848976,1.2649213470235108],[0.5174284704847666,1.3099213483418872]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_23","position":[0.5616111329726221,-0.869806107267252,0.71338606911949],"aabb_xy":[[0.5541986774312336,-0.8756573176888799],[0.5690235885140106,-0.863954896845624]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_24","position":[0.2649582497523285,-1.0869578523970391,0.71338606911949],"aabb_xy":[[0.20983304412273776,-1.146957853838326],[0.3200834553819193,-1.0269578509557518]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_25","position":[-0.17401014265640768,-0.1815647371102842,0.71338606911949],"aabb_xy":[[-0.26401014125087763,-0.1978153234237052],[-0.08401014406193777,-0.16531415079686315]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[-0.00886196529828931,1.4527647102343901,0.71338606911949],"aabb_xy":[[-0.031777678183339216,1.4298604130979664],[0.014053747586760593,1.4756690073708134]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_27","position":[-0.10841031892151998,0.3568982813418011,0.71338606911949],"aabb_xy":[[-0.14591031749714076,0.3441619856782432],[-0.07091032034589916,0.36963457700535907]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_28","position":[0.5598376254464097,-0.23135845080932915,0.71338606911949],"aabb_xy":[[0.5504906178641145,-0.24566207302697318],[0.5691846330287049,-0.21705482859168512]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_29","position":[-0.6008901665637898,1.0460556860333257,0.71338606911949],"aabb_xy":[[-0.6308577234736155,1.01605568573544],[-0.5709226096539641,1.0760556863312114]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_30","position":[0.6320548508175148,-1.136292787702279,0.71338606911949],"aabb_xy":[[0.5720548505661136,-1.1905741127387435],[0.692054851068916,-1.0820114626658142]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_31","position":[-0.6203863279986804,0.8984263874157996,0.71338606911949],"aabb_xy":[[-0.6378863282437298,0.8809265995762328],[-0.602886327753631,0.9159261752553665]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_32","position":[0.5114717678024119,-1.696545577046153,0.71338606911949],"aabb_xy":[[0.46147176685187896,-1.7280947240496742],[0.5614717687529446,-1.6649964300426314]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_33","position":[-0.5371826407124161,-1.2429694614177331,0.71338606911949],"aabb_xy":[[-0.5607677641763109,-1.3079694636631651],[-0.5135975172485212,-1.1779694591723016]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_34","position":[0.39734811340092824,-2.1510541724954244,0.71338606911949],"aabb_xy":[[0.3598481126089328,-2.157422013453614],[0.4348481141929237,-2.1446863315372338]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6985584332078751,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7249.png","name":"7249"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7249.png","name":"7249"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8701.png","name":"8701"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2573.png","name":"2573"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4310.png","name":"4310"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3144.png","name":"3144"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":742.471170129373,"rotation_z_degrees":94.79198642971272,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009234985833844083,0.005748554363414246,0.0010595963604605602]},{"name":"camera_2","offset_m":[-0.014931712264762505,-0.006768525891896733,0.017641147343171248]},{"name":"camera_3","offset_m":[0.010738997347341926,-0.0031585900407481576,0.0016163482223757707]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00046248591099040497,-0.0016667745021758727,-0.0019352753297570292],"end_effector_yaw_offset_degrees":-0.8214262126494731},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015730191046326501,-0.001285743100418148,-0.00020616623429416114],"end_effector_yaw_offset_degrees":0.5005673701037632},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001520468764680993,0.0002507376521616411,-0.0010654318906050978],"end_effector_yaw_offset_degrees":-0.3085044196572231},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018209991050419738,-0.000282161307320624,-0.0016910012270062694],"end_effector_yaw_offset_degrees":-0.09458204707415385}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000336458626356919,0.004478556077437413],"position_m":[0.15206354137364309,0.2280785560774374,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004561147684960981,0.0016815564240936377],"position_m":[0.237838852315039,-0.30801844357590635,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003667715022706173,4.0345403548794e-05],"position_m":[0.3281677150227062,-0.0415596545964512,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012620952243831461,0.0039488803951969595],"position_m":[0.34973790477561684,0.322348880395197,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b0b9209a9f4f502f70d5b7616732dfa826fe8f90003ede9ee7e9a5efcf112317","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0089.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7249/tex_ceiling_textures_3144/tex_floor_textures_4310/tex_table_textures_8701/tex_wall_textures_2573","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7798165682881209324,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7798165682881209324,"visual_seed":7798165682881209324,"scene_id":"lab_003","finished_at":"2026-09-04T22:53:02"}
+{"episode_id":"ep_000083","started_at":"2026-09-04T22:53:05","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.4346751192871554,-2.277029656600673,0.71338606911949],"aabb_xy":[[-0.46332445164757163,-2.3056752158777485],[-0.4060257869267392,-2.248384097323597]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.6430988453253399,0.3691343076160867,0.71338606911949],"aabb_xy":[[0.6329458297711903,0.3330647660433463],[0.653251860879489,0.4052038491888269]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[0.15705523891461137,-0.7749599109313006,0.71338606911949],"aabb_xy":[[0.15055360240660678,-0.7847277329576104],[0.16355687542261602,-0.7651920889049909]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.7029914440177703,0.4421780070899026,0.71338606911949],"aabb_xy":[[0.693644436435475,0.4278743848722586],[0.7123384516000655,0.45648162930754665]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[0.5508131902020137,0.08367747260163538,0.71338606911949],"aabb_xy":[[0.5047280989472821,0.01967747534908026],[0.5968982814567451,0.14767746985419047]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[-0.5525133555954482,-0.3276747379941769,0.71338606911949],"aabb_xy":[[-0.5595548065461958,-0.33470148973197145],[-0.5454719046447006,-0.32064798625638236]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_6","position":[0.0128869733601652,-0.9985023912279429,0.71338606911949],"aabb_xy":[[-0.051113028047825464,-1.0502913427518674],[0.07688697476815586,-0.9467134397040181]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_7","position":[-0.46604547681495645,1.2360003007323717,0.71338606911949],"aabb_xy":[[-0.49437518676349673,1.2315395585386546],[-0.4377157668664163,1.2404610429260887]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.4044418139610346,-1.2930644517360335,0.71338606911949],"aabb_xy":[[0.3669418134636764,-1.2970331352841518],[0.44194181445839287,-1.2890957681879152]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[-0.6103913781814652,1.5685890585322526,0.71338606911949],"aabb_xy":[[-0.6449824610355103,1.5035890582472213],[-0.5758002953274198,1.6335890588172834]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[-0.1395417242482282,-2.4454140265814184,0.71338606911949],"aabb_xy":[[-0.2195417275122413,-2.4589740588903313],[-0.059541720984215035,-2.4318539942725046]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_11","position":[-0.42548090237357805,-2.0449267598310423,0.71338606911949],"aabb_xy":[[-0.4754651380817553,-2.094926758644538],[-0.3754966666654008,-1.9949267610175467]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[0.6293684135875512,-0.39863963944602876,0.71338606911949],"aabb_xy":[[0.5988841634605211,-0.4486396392275247],[0.6598526637145814,-0.3486396396645328]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.23603568414920756,1.0853303766452709,0.71338606911949],"aabb_xy":[[-0.24137325981521215,1.060330375716131],[-0.23069810848320302,1.1103303775744107]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[0.3731572750494252,-0.61994121178201,0.71338606911949],"aabb_xy":[[0.3431656123155549,-0.6499412111188105],[0.4031489377832956,-0.5899412124452095]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.39272568797026963,-0.5157812613578017,0.71338606911949],"aabb_xy":[[0.3648806511896625,-0.5465657600961134],[0.42057072475087676,-0.48499676261949]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[-0.44202093307939533,-0.7681459933627657,0.71338606911949],"aabb_xy":[[-0.47881556620430155,-0.805051868459348],[-0.405226299954489,-0.7312401182661834]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[-0.6479023864530933,-2.509162986966387,0.71338606911949],"aabb_xy":[[-0.6584698661111924,-2.5197080170793957],[-0.6373349067949944,-2.4986179568533786]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[-0.26551241345780613,-1.013249713145865,0.71338606911949],"aabb_xy":[[-0.3295124151358034,-1.0617671046251793],[-0.20151241177980872,-0.9647323216665509]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[-0.49965436350677594,-1.7578335294339569,0.71338606911949],"aabb_xy":[[-0.5406723068931468,-1.807833530064914],[-0.45863642012040506,-1.7078335288029993]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_20","position":[-0.26272459988878055,0.4022528779231225,0.71338606911949],"aabb_xy":[[-0.3049090140496113,0.33825287764591133],[-0.2205401857279498,0.46625287820033373]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.393083094038742,1.300144012023721,0.71338606911949],"aabb_xy":[[0.34308309275490195,1.2501651576330988],[0.4430830953225819,1.350122866414343]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_22","position":[-0.5669898717816608,-1.8780814161441546,0.71338606911949],"aabb_xy":[[-0.6044898703572815,-1.8908177118077123],[-0.5294898732060399,-1.8653451204805964]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[-0.5041840352793809,-1.1681398968325054,0.71338606911949],"aabb_xy":[[-0.5494626501605301,-1.232139896180689],[-0.45890542039823157,-1.1041398974843217]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[0.16478706071754312,1.4715933025067494,0.71338606911949],"aabb_xy":[[0.1097938493804064,1.4165933021679558],[0.21978027205467993,1.5265933028455432]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[-0.4784786573145251,-1.5241059197982785,0.71338606911949],"aabb_xy":[[-0.5424786566086933,-1.5880920601671327],[-0.4144786580203569,-1.4601197794294243]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_26","position":[-0.05158807543113075,0.9483993919438429,0.71338606911949],"aabb_xy":[[-0.10158290835907235,0.8983993930485993],[-0.0015932425031891448,0.9983993908390864]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_27","position":[-0.27574602305709517,-0.6631516525715786,0.71338606911949],"aabb_xy":[[-0.2995822406977003,-0.7531516533800652],[-0.25190980541649016,-0.5731516517630921]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_28","position":[0.5429072736303713,-1.883759368301567,0.71338606911949],"aabb_xy":[[0.5254072733710348,-1.8978509104903396],[0.560407273889708,-1.8696678261127944]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_29","position":[0.5603836343506796,1.2949873983171383,0.71338606911949],"aabb_xy":[[0.5378836348269721,1.2724914508665173],[0.5828836338743869,1.3174833457677588]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6993714276909458,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8826.png","name":"8826"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8826.png","name":"8826"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2891.png","name":"2891"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1581.png","name":"1581"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8557.png","name":"8557"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1852.png","name":"1852"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":520.2946290030253,"rotation_z_degrees":232.76862405358503,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012469244332690557,0.008206765131651576,-0.004040027912127032]},{"name":"camera_2","offset_m":[-0.01109149434331619,0.004339843623089559,0.011017579083025648]},{"name":"camera_3","offset_m":[-0.012804996293541485,-0.013824723875417985,-0.007946453022536697]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003390465567951772,0.0005345809137633586,-0.0018787658920780307],"end_effector_yaw_offset_degrees":-0.5641156680499826},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-5.351705359017472e-05,-0.0006322549704329537,-0.00011741251484087686],"end_effector_yaw_offset_degrees":-0.6166475314399966},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001353026012944283,0.0005698368822599775,-0.0016680243049295798],"end_effector_yaw_offset_degrees":-0.22240295168989999},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005707170606363409,-0.00046637291803344554,0.001182200906474726],"end_effector_yaw_offset_degrees":-0.985605211127836}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006696394286549749,5.923118730163414e-05],"position_m":[0.15306963942865498,0.22365923118730163,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004808019986493071,0.003770729790350245],"position_m":[0.24720801998649308,-0.3059292702096497,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002995543904994278,0.0009052446122633584],"position_m":[0.3274955439049943,-0.04069475538773664,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026069318386918224,-0.0018012396549034713],"position_m":[0.3536069318386918,0.31659876034509654,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"38fbaaed489379f356fef4ad002e87d1250509aae12902e665bd8cc0466a79b7","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0090.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8826/tex_ceiling_textures_1852/tex_floor_textures_8557/tex_table_textures_2891/tex_wall_textures_1581","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7584104362818934106,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7584104362818934106,"visual_seed":7584104362818934106,"scene_id":"lab_003","finished_at":"2026-09-04T22:56:51"}
+{"episode_id":"ep_000084","started_at":"2026-09-04T22:56:55","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[-0.24680121438049163,0.604880495466908,0.71338606911949],"aabb_xy":[[-0.25614822196278686,0.590576873249264],[-0.23745420679819643,0.6191841176845521]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[0.5802667404586026,0.7433124013203352,0.71338606911949],"aabb_xy":[[0.5623976327041472,0.7294794933431242],[0.5981358482130582,0.7571453092975461]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[0.4630708795873568,-0.6051745002462019,0.71338606911949],"aabb_xy":[[0.3793486540872743,-0.6951745037808977],[0.5467931050874393,-0.5151744967115058]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[0.3156000248793567,-2.253544171150411,0.71338606911949],"aabb_xy":[[0.25160002461888586,-2.2985529705033385],[0.3796000251398275,-2.2085353717974825]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.5170026545402718,-1.7898699103914035,0.71338606911949],"aabb_xy":[[-0.5820026556462151,-1.8148352834595318],[-0.45200265343432855,-1.7649045373232752]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[-0.2913783250765329,0.3455956642042297,0.71338606911949],"aabb_xy":[[-0.32887832586852833,0.3392278232460396],[-0.25387832428453744,0.3519635051624198]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[0.0663065997217831,0.7246555675732673,0.71338606911949],"aabb_xy":[[-0.013693403542230032,0.7110955352643539],[0.14630660298579623,0.7382155998821806]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[0.3567026847922379,0.7176205778396345,0.71338606911949],"aabb_xy":[[0.2917026866363188,0.6913243332897222],[0.42170268294815694,0.7439168223895466]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[-0.5785433334690915,1.2755020530526688,0.71338606911949],"aabb_xy":[[-0.6285433330454262,1.225521474100563],[-0.5285433338927568,1.3254826320047748]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[-0.2590239405284748,0.19716850380771467,0.71338606911949],"aabb_xy":[[-0.3090013573937284,0.1471685023184661],[-0.20904652366322127,0.2471685052969632]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_10","position":[-0.6675408248592728,-0.8731898284307755,0.71338606911949],"aabb_xy":[[-0.680771770393954,-0.8864172474527748],[-0.6543098793245914,-0.859962409408776]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.621865944291928,-2.4319443505929867,0.71338606911949],"aabb_xy":[[-0.6419243559051683,-2.452009437502144],[-0.6018075326786877,-2.4118792636838293]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[-0.41550798945556006,-2.0542619887331464,0.71338606911949],"aabb_xy":[[-0.4298424145817235,-2.066322204287685],[-0.4011735643293966,-2.0422017731786077]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.33835931888656406,0.6100353106342791,0.71338606911949],"aabb_xy":[[-0.3805437330473948,0.5460353103570678],[-0.2961749047257333,0.6740353109114902]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[0.521829401127013,-2.405804540975001,0.71338606911949],"aabb_xy":[[0.4518293977354511,-2.4411203146784315],[0.591829404518575,-2.3704887672715698]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[0.6647187227976183,1.0562928331994992,0.71338606911949],"aabb_xy":[[0.627924089672712,1.019386958102917],[0.7015133559225245,1.0931987082960815]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_16","position":[-0.03611849901232711,-1.9913261318114652,0.71338606911949],"aabb_xy":[[-0.044899726159563336,-2.000105879099996],[-0.027337271865090884,-1.9825463845229352]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[-0.20387397885546638,-0.7728554845108193,0.71338606911949],"aabb_xy":[[-0.22887397812742868,-0.7892008481069818],[-0.17887397958350412,-0.7565101209146571]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[0.21830652058754207,1.4490058496848914,0.71338606911949],"aabb_xy":[[0.1808065202393143,1.4372144541038077],[0.25580652093576983,1.4607972452659748]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_19","position":[-0.4577145283059621,-0.5996013785308678,0.71338606911949],"aabb_xy":[[-0.49217687570410384,-0.6340952609286904],[-0.42325218090782024,-0.565107496133045]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[-0.4524455827046735,-0.8673379035401043,0.71338606911949],"aabb_xy":[[-0.4642137694993311,-0.9523379034453261],[-0.44067739591001603,-0.782337903634883]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[0.040675723839565525,1.0941862878396007,0.71338606911949],"aabb_xy":[[0.03305145574938729,1.086553064303057],[0.04829999192974378,1.1018195113761444]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_22","position":[0.3454657904659153,0.8746401285987493,0.71338606911949],"aabb_xy":[[0.33617217222876467,0.8371401301106154],[0.3547594087030658,0.9121401270868832]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[-0.12179005023205858,-1.7647202370512347,0.71338606911949],"aabb_xy":[[-0.14067443400056878,-1.7836061618315873],[-0.10290566646354837,-1.7458343122708817]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7038384175253652,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5318.png","name":"5318"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5318.png","name":"5318"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/127.png","name":"127"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3185.png","name":"3185"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1883.png","name":"1883"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8630.png","name":"8630"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":757.4242556087861,"rotation_z_degrees":168.7473061032426,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009983852320661239,-0.0075737058084707175,-0.008913790208347608]},{"name":"camera_2","offset_m":[-0.0073366099712088625,0.002245841381288475,-0.0018195939887307132]},{"name":"camera_3","offset_m":[0.01257624520249154,-0.00017542730027101175,0.001981437195510038]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018244166724840426,-0.0010161417760245809,-0.0010659778394643297],"end_effector_yaw_offset_degrees":-0.885430961596597},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00039585294004328207,0.000277637515251436,-0.0011011080752420075],"end_effector_yaw_offset_degrees":0.13534076575483378},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00042656657239923757,0.001148862423563914,0.0003048495239374306],"end_effector_yaw_offset_degrees":0.878500555260951},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007551132685211415,-9.839413872808839e-05,-0.0009600388041559752],"end_effector_yaw_offset_degrees":0.8163691355953835}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0047909758044290445,0.0023444609640824463],"position_m":[0.14760902419557095,0.22594446096408244,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0043618249912942796,-0.0024741461120599264],"position_m":[0.23803817500870572,-0.3121741461120599,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004404018761579036,-0.004310460764955043],"position_m":[0.32890401876157904,-0.045910460764955044,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004968101517501295,0.003395650118778056],"position_m":[0.3559681015175013,0.3217956501187781,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e3ae23d34c40352f5108c2f3e486be874ff0e52cbebb457e249ce85fd401f40b","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0091.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5318/tex_ceiling_textures_8630/tex_floor_textures_1883/tex_table_textures_127/tex_wall_textures_3185","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5114386986622261904,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5114386986622261904,"visual_seed":5114386986622261904,"scene_id":"lab_003","finished_at":"2026-09-04T23:00:50"}
+{"episode_id":"ep_000085","started_at":"2026-09-04T23:00:53","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[0.07346732152787017,-1.1431876294634544,0.71338606911949],"aabb_xy":[[0.057582828262545016,-1.1575405697622787],[0.08935181479319532,-1.1288346891646306]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[0.08292914507273752,-2.312291764777508,0.71338606911949],"aabb_xy":[[0.045597868547494896,-2.346944819572361],[0.12026042159798014,-2.2776387099826563]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.04560489232584053,0.4687979098091488,0.71338606911949],"aabb_xy":[[-0.054386119473076776,0.4600181625206188],[-0.03682366517860432,0.4775776570976791]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[-0.2575809475855684,-2.4661124284583584,0.71338606911949],"aabb_xy":[[-0.2920432949837101,-2.5006063108561802],[-0.22311860018742655,-2.431618546060535]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.6386706995654632,-1.1380642754745245,0.71338606911949],"aabb_xy":[[0.5736706985649627,-1.1888506406291994],[0.7036707005659637,-1.0872779103198495]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_5","position":[0.5894752150899718,-2.0258691578085717,0.71338606911949],"aabb_xy":[[0.5544752167792762,-2.033584172732117],[0.6244752134006671,-2.0181541428850256]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[0.4657659410502264,-0.38151955317226083,0.71338606911949],"aabb_xy":[[0.45634846648036365,-0.39093573030997986],[0.47518341562008914,-0.3721033760345418]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[0.5240239473500987,-0.7277420039271789,0.71338606911949],"aabb_xy":[[0.46002395023799314,-0.7767743737215894],[0.5880239444622045,-0.6787096341327682]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[-0.34077446105076425,-1.8623556721422438,0.71338606911949],"aabb_xy":[[-0.34727609755876887,-1.8721234941685536],[-0.33427282454275964,-1.852587850115934]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.37753453433837536,-2.5009435791416976,0.71338606911949],"aabb_xy":[[0.36950826370774936,-2.5096950741190502],[0.38556080496900136,-2.492192084164345]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[-0.4936209542692672,-1.1341010260084483,0.71338606911949],"aabb_xy":[[-0.5311209550612626,-1.140468866966638],[-0.4561209534772717,-1.127733185050258]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.5730937988615881,1.6628170729725569,0.71338606911949],"aabb_xy":[[0.5355937990445545,1.6581788616614148],[0.6105937986786216,1.6674552842836985]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[0.36853495737121333,1.230185516059822,0.71338606911949],"aabb_xy":[[0.3232563424900641,1.1661855167116382],[0.4138135722523626,1.2941855154080055]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_13","position":[0.6444885683796502,1.751529645008977,0.71338606911949],"aabb_xy":[[0.6348569321592206,1.7418923322292679],[0.6541202046000798,1.7611669577886857]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_14","position":[-0.22965117752027975,1.3909516166797866,0.71338606911949],"aabb_xy":[[-0.2352328491544085,1.378451616862011],[-0.224069505886151,1.403451616497562]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[-0.11502294577594996,0.8508591000927179,0.71338606911949],"aabb_xy":[[-0.15252294612417772,0.8390677045116343],[-0.07752294542772219,0.8626504956738014]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.14151225935787992,-1.5076243799622302,0.71338606911949],"aabb_xy":[[0.11154470244805428,-1.5376243802601162],[0.17147981626770561,-1.4776243796643447]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_17","position":[0.02811221380203799,-0.8119894514982544,0.71338606911949],"aabb_xy":[[0.016179479440209924,-0.8243716043061139],[0.040044948163866056,-0.7996072986903952]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[-0.25504279137044833,-1.4591493101845654,0.71338606911949],"aabb_xy":[[-0.28026362823028794,-1.484373061037452],[-0.22982195451060863,-1.4339255593316784]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_19","position":[-0.02091446950896869,-1.3823123674860769,0.71338606911949],"aabb_xy":[[-0.03020808774611927,-1.4198123659742106],[-0.011620851271818108,-1.3448123689979428]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[-0.32176227765987336,1.1000965516155348,0.71338606911949],"aabb_xy":[[-0.3603079704850744,1.061550780559346],[-0.2832165848346723,1.1386423226717235]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[-0.23005524243947761,-1.9746017323792802,0.71338606911949],"aabb_xy":[[-0.2795356636534364,-2.0386017302921324],[-0.18057482122551885,-1.9106017344664286]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[-0.6562653832099807,-2.129243048015825,0.71338606911949],"aabb_xy":[[-0.6601792564054032,-2.1379920634223817],[-0.6523515100145583,-2.120494032609268]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_23","position":[0.13273017786835528,1.3516912642699181,0.71338606911949],"aabb_xy":[[0.04273018113274504,1.2985078009526234],[0.22273017460396546,1.4048747275872124]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[-0.46642002531186,-0.0015438069219277928,0.71338606911949],"aabb_xy":[[-0.511420026778089,-0.04654366378340847],[-0.42142002384563126,0.043456049939552883]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_25","position":[-0.6038274043806889,-1.1862278232415246,0.71338606911949],"aabb_xy":[[-0.6321571143292293,-1.1906885654352417],[-0.5754976944321488,-1.1817670810478076]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[-0.2478500612157684,0.5570650083397131,0.71338606911949],"aabb_xy":[[-0.31185006289376577,0.5085476168603988],[-0.18385005953777106,0.6055823998190273]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_27","position":[-0.44880321303190485,-2.4069586751872087,0.71338606911949],"aabb_xy":[[-0.508803213627921,-2.461771147732432],[-0.38880321243588867,-2.3521462026419853]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[-0.015575848492300648,-2.282665202756811,0.71338606911949],"aabb_xy":[[-0.03225298448539615,-2.299365126730742],[0.0011012875007948564,-2.2659652787828812]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_29","position":[-0.1768854488793451,1.2334724036852394,0.71338606911949],"aabb_xy":[[-0.2143854491715199,1.2294309282846358],[-0.13938544858717025,1.2375138790858429]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_30","position":[-0.17779406559358246,0.340213895621055,0.71338606911949],"aabb_xy":[[-0.2277940668774224,0.2902350412304328],[-0.12779406430974247,0.390192750011677]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_31","position":[-0.13538264973503633,-0.6062664020123287,0.71338606911949],"aabb_xy":[[-0.14825455323597644,-0.6862664024261649],[-0.12251074623409618,-0.5262664015984926]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951312704435233,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5322.png","name":"5322"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5322.png","name":"5322"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1352.png","name":"1352"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3049.png","name":"3049"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9340.png","name":"9340"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8529.png","name":"8529"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":819.3331982507768,"rotation_z_degrees":226.88934139362692,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010902629537997605,-0.0010187643226929853,-0.009231729392085693]},{"name":"camera_2","offset_m":[0.012043120293414821,0.008801577429285397,0.00864169918523161]},{"name":"camera_3","offset_m":[0.01574978082549942,0.008828702877506134,-0.017304556665137936]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00040530739316086794,-0.0019913632407676995,0.0004580351752871965],"end_effector_yaw_offset_degrees":-0.36099365484066026},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010972188743116132,0.00101187847436701,0.0012526199800732768],"end_effector_yaw_offset_degrees":-0.2268578026468253},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001433526584969268,-0.0015736678721971608,-0.0017315303302581843],"end_effector_yaw_offset_degrees":-0.9506544178861569},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014878134384312216,0.001067459912834261,0.0006677654909729856],"end_effector_yaw_offset_degrees":-0.46879856418043175}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008924623924047633,0.003824081363134036],"position_m":[0.15329246239240477,0.22742408136313402,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003645307454943746,0.0029946689333804457],"position_m":[0.23875469254505627,-0.3067053310666195,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026846653849751483,-0.00042175093972887916],"position_m":[0.32718466538497515,-0.042021750939728875,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002184623989042005,-0.0017377188825517986],"position_m":[0.34881537601095797,0.3166622811174482,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"26a3739e6ed1d4a32da584372edc9f05815cc1ed69586ee18c300870d6445c03","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0092.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5322/tex_ceiling_textures_8529/tex_floor_textures_9340/tex_table_textures_1352/tex_wall_textures_3049","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2477742531760522281,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2477742531760522281,"visual_seed":2477742531760522281,"scene_id":"lab_003","finished_at":"2026-09-04T23:04:39"}
+{"episode_id":"ep_000086","started_at":"2026-09-04T23:04:43","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[0.3878040721158542,1.6498337225907052,0.71338606911949],"aabb_xy":[[0.38290477980929066,1.622156803288136],[0.39270336442241766,1.6775106418932735]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[0.3236444419985809,-0.5467190798591703,0.71338606911949],"aabb_xy":[[0.27651506299674516,-0.6107190809035722],[0.3707738210004165,-0.4827190788147683]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[0.44608044044309136,-1.652824584602949,0.71338606911949],"aabb_xy":[[0.3820804401826205,-1.6978333839558768],[0.5100804407035621,-1.6078157852500208]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[0.4296168250365342,-1.8083029870790686,0.71338606911949],"aabb_xy":[[0.4071168255128267,-1.8307989345296891],[0.4521168245602415,-1.7858070396284476]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_4","position":[-0.17593597082614254,-0.538137647736471,0.71338606911949],"aabb_xy":[[-0.2659359673270143,-0.5840492901549292],[-0.0859359743252708,-0.4922260053180128]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.30382776209559714,-1.5968201245785043,0.71338606911949],"aabb_xy":[[-0.33760332128629017,-1.6108586197916694],[-0.2700522029049042,-1.5827816293653392]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_6","position":[0.4107548358552402,-1.1679482612621999,0.71338606911949],"aabb_xy":[[0.3748413314302505,-1.2038617694789546],[0.4466683402802299,-1.1320347530454455]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[-0.0050024182738314105,-1.6117898556447465,0.71338606911949],"aabb_xy":[[-0.05500241955767137,-1.6617687100353682],[0.04499758301000855,-1.561811001254124]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[-0.30736038692955486,1.7324428785711716,0.71338606911949],"aabb_xy":[[-0.357360385575476,1.6825233349117092],[-0.2573603882836336,1.782362422230634]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[-0.5993452197229796,0.7062165053339036,0.71338606911949],"aabb_xy":[[-0.6643452176046275,0.6550928416273627],[-0.5343452218413319,0.7573401690404445]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.20659305247643522,-1.536549474633073,0.71338606911949],"aabb_xy":[[0.1741313515945077,-1.5666823067479754],[0.23905475335836263,-1.5064166425181702]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[0.5017742713442999,0.902965366002848,0.71338606911949],"aabb_xy":[[0.48890236784335966,0.8229653655890119],[0.5146461748452399,0.9829653664166842]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[-0.12426979227635282,0.46363639897755515,0.71338606911949],"aabb_xy":[[-0.1882697955660609,0.4203014799736374],[-0.060269788986644694,0.5069713179814725]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[0.29839421002771893,1.1991300625269958,0.71338606911949],"aabb_xy":[[0.2562097958668882,1.1351300622497846],[0.3405786241885497,1.263130062804207]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[0.5834073513428779,1.7171672443609958,0.71338606911949],"aabb_xy":[[0.5134073492114483,1.6944052787352997],[0.6534073534743073,1.739929209986691]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.028889022396636488,-1.9488350443741396,0.71338606911949],"aabb_xy":[[-0.04111098099492549,-1.9841508180775704],[0.09888902578819846,-1.9135192706707087]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.4216668189559645,-0.8908566133429507,0.71338606911949],"aabb_xy":[[-0.5016668163595579,-0.9708491845411334],[-0.34166682155237105,-0.8108640421447678]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[0.5267667851895759,0.25211200322209626,0.71338606911949],"aabb_xy":[[0.5159151789407003,0.24125271249444524],[0.5376183914384515,0.2629712939497473]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[-0.2587593826534988,0.7322932939411104,0.71338606911949],"aabb_xy":[[-0.28740871501391496,0.7036477346640345],[-0.2301100502930825,0.7609388532181861]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.6573180400955924,0.47318210723987875,0.71338606911949],"aabb_xy":[[-0.6818316641925982,0.4489175139378424],[-0.6328044159985865,0.4974467005419153]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.695739627602222,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2016.png","name":"2016"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2016.png","name":"2016"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1856.png","name":"1856"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8738.png","name":"8738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7730.png","name":"7730"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2544.png","name":"2544"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":771.2243120868252,"rotation_z_degrees":146.58619142755936,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00024781472780828137,0.015593810581795344,-0.0027723063593433246]},{"name":"camera_2","offset_m":[-0.015295862751105877,0.016097846396003587,-0.008377083486041537]},{"name":"camera_3","offset_m":[0.01465864926382893,-0.008148295465060192,-0.0038443397087728377]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005396104329967635,0.0015731408994662274,-0.0007492236256234027],"end_effector_yaw_offset_degrees":-0.20289010175007038},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016420904498954474,0.0010932790159609075,0.0005958731481330664],"end_effector_yaw_offset_degrees":0.4339003574720046},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00022216476118910476,0.0009986366443196365,0.0018864970712912784],"end_effector_yaw_offset_degrees":-0.05442195578882725},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018706367547313306,0.000349796068176218,0.001787438667152955],"end_effector_yaw_offset_degrees":-0.9888025729015697}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013737479938575026,-0.00419516323746951],"position_m":[0.1510262520061425,0.21940483676253048,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004495183655013286,0.004709295286094004],"position_m":[0.24689518365501328,-0.304990704713906,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0042560572294288515,0.0047435263431329045],"position_m":[0.32024394277057117,-0.036856473656867096,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002585327309678174,0.00037407163641984837],"position_m":[0.3484146726903218,0.31877407163641985,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6ed773044dd174c7610ce2d7065b1358631765ee5d24add0422ff8c960b6e705","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2016/tex_ceiling_textures_2544/tex_floor_textures_7730/tex_table_textures_1856/tex_wall_textures_8738","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2791941497219055321,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2791941497219055321,"visual_seed":2791941497219055321,"scene_id":"lab_003","finished_at":"2026-09-04T23:08:38"}
+{"episode_id":"ep_000087","started_at":"2026-09-04T23:08:42","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[0.3523451883707276,-1.28676132248795,0.71338606911949],"aabb_xy":[[0.3324541484903874,-1.299417133772647],[0.3722362282510679,-1.2741055112032533]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_1","position":[-0.23832498772306326,-0.07194790986785904,0.71338606911949],"aabb_xy":[[-0.26082498753696565,-0.07642252623833973],[-0.21582498790916088,-0.06747329349737835]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.07091645296839644,0.664631472242466,0.71338606911949],"aabb_xy":[[-0.09475267060900151,0.5746314714339795],[-0.047080235327791375,0.7546314730509526]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[-0.5349829229225569,-0.9262813403731893,0.71338606911949],"aabb_xy":[[-0.614976746501115,-1.006281342966031],[-0.45498909934399856,-0.8462813377803478]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.4908945020687905,1.204324145626742,0.71338606911949],"aabb_xy":[[0.4733945686348071,1.1868241457065072],[0.5083944355027739,1.2218241455469763]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.432209611315255,0.6306214261849887,0.71338606911949],"aabb_xy":[[-0.4972096124211983,0.6056560531168605],[-0.36720961020931175,0.6555867992531171]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.4266500618601552,-1.7472985786881785,0.71338606911949],"aabb_xy":[[-0.5066500588744032,-1.7674331303615893],[-0.3466500648459072,-1.7271640270147668]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.35014225161481893,-2.003583690642528,0.71338606911949],"aabb_xy":[[0.3428984855685736,-2.0835836888461303],[0.35738601766106426,-1.9235836924389256]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_8","position":[-0.44681119181099366,0.8763700388055855,0.71338606911949],"aabb_xy":[[-0.5108068892060902,0.8123700405048768],[-0.3828154944158971,0.9403700371062942]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[-0.5297556157796511,-1.323733914554743,0.71338606911949],"aabb_xy":[[-0.5749269336278202,-1.3877339116992817],[-0.4845842979314823,-1.259733917410205]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.6022190543371579,1.5376166381170475,0.71338606911949],"aabb_xy":[[0.5522416374719042,1.4876166366277987],[0.6521964712024114,1.5876166396062958]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_11","position":[-0.38695016660298165,0.21759330919588438,0.71338606911949],"aabb_xy":[[-0.4254958594281827,0.1790475381396957],[-0.3484044737777806,0.25613908025207305]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[-0.017399614923504947,-0.8928676102572786,0.71338606911949],"aabb_xy":[[-0.022981286557633703,-0.9053676100750542],[-0.011817943289376185,-0.8803676104395032]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[0.644351175771076,-1.08970037792264,0.71338606911949],"aabb_xy":[[0.6068511742554442,-1.100927150938785],[0.6818511772867076,-1.078473604906495]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[0.5649665209401848,-1.3834985483570257,0.71338606911949],"aabb_xy":[[0.49496651933790525,-1.3969313415586833],[0.6349665225424642,-1.370065755155368]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.2359508920658191,0.5768650216730622,0.71338606911949],"aabb_xy":[[0.21827526147722076,0.5591848053936593],[0.25362652265441743,0.5945452379524648]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[0.5141310110491772,0.6546849820952336,0.71338606911949],"aabb_xy":[[0.5087934353831727,0.6296849811660938],[0.5194685867151818,0.6796849830243734]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.46952920934574305,-0.630884204152008,0.71338606911949],"aabb_xy":[[-0.5395292111544885,-0.6522379729161952],[-0.3995292075369976,-0.6095304353878205]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[-0.2849556158848901,-2.091459141724993,0.71338606911949],"aabb_xy":[[-0.34895561615886833,-2.1415252419222806],[-0.22095561561091187,-2.0413930415277046]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.4528209949771109,1.039174945457225,0.71338606911949],"aabb_xy":[[0.4467263670889926,1.0306055509055565],[0.45891562286522924,1.047744340008894]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[-0.4783782109222059,-2.2744659927545006,0.71338606911949],"aabb_xy":[[-0.5383782111736071,-2.328747317790965],[-0.41837821067080466,-2.220184667718036]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[0.4083306648012064,1.592883696209419,0.71338606911949],"aabb_xy":[[0.3783631078913808,1.5628836959115335],[0.4382982217110321,1.622883696507305]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.2871920559547464,-0.8019840220874204,0.71338606911949],"aabb_xy":[[0.23719205637841168,-0.8519646010395264],[0.3371920555310811,-0.7520034431353145]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[-0.08297631110295223,-1.5379319854410947,0.71338606911949],"aabb_xy":[[-0.1479763089846,-1.5890556491476355],[-0.01797631322130443,-1.4868083217345536]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[0.3186959859505982,0.8783050312165503,0.71338606911949],"aabb_xy":[[0.233695987533175,0.7934307357542655],[0.40369598436802145,0.9631793266788354]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[-0.009225008183994188,1.2081959636097905,0.71338606911949],"aabb_xy":[[-0.046725008975989635,1.2018281226516003],[0.02827499260800126,1.2145638045679807]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_26","position":[0.2755894014941319,0.6523039132018207,0.71338606911949],"aabb_xy":[[0.23808940167709836,0.6476657018906788],[0.31308940131116547,0.6569421245129625]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[0.37618864577924604,1.1827214955993028,0.71338606911949],"aabb_xy":[[0.34372694489731853,1.1525886634843998],[0.40865034666117345,1.212854327714205]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_28","position":[0.5803206239080192,-0.34325394685149435,0.71338606911949],"aabb_xy":[[0.5458581458949313,-0.3499176240344171],[0.6147831019211069,-0.3365902696685715]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[0.40633195416699275,-0.6906894320223365,0.71338606911949],"aabb_xy":[[0.3916885486129597,-0.7053481516791206],[0.4209753597210257,-0.6760307123655521]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_30","position":[0.653430692757313,-1.8008862095590181,0.71338606911949],"aabb_xy":[[0.6034306941113918,-1.8508057532184805],[0.7034306914032342,-1.7509666658995557]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6989531406710885,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/61.png","name":"61"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/61.png","name":"61"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4848.png","name":"4848"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7646.png","name":"7646"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/827.png","name":"827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2416.png","name":"2416"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":643.4845481673428,"rotation_z_degrees":49.10628078522403,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014095091403535934,-0.016423757648349725,-0.006981311243803492]},{"name":"camera_2","offset_m":[0.016437524393569925,0.013420149027676732,0.015514084311502734]},{"name":"camera_3","offset_m":[0.0049082750376386285,-0.0063282028067733215,0.006354419970843721]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005196940656481308,-0.0016424612674405875,0.00037100784442141736],"end_effector_yaw_offset_degrees":0.6262190006236219},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009651229954360917,-0.001232533494614915,0.0007582658147481532],"end_effector_yaw_offset_degrees":-0.9515700665547444},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006698507048683725,0.0008739661453573159,-0.0009946407033176038],"end_effector_yaw_offset_degrees":0.9416462123049645},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018964577793466849,-0.0011510531103459802,0.0002067699094011324],"end_effector_yaw_offset_degrees":-0.42286921344314177}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004809642929592847,-0.0024475978230447826],"position_m":[0.15720964292959286,0.2211524021769552,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023503638666457936,0.002208133338759929],"position_m":[0.2447503638666458,-0.30749186666124007,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001026558485761461,0.0027309037380824812],"position_m":[0.32552655848576145,-0.038869096261917514,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017022591092462468,-0.0009454741345170355],"position_m":[0.35270225910924624,0.317454525865483,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2f92050f5b5bd411b936f101734a895cafb103e3ba35de5901cf4c1b431b06f4","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0094.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_61/tex_ceiling_textures_2416/tex_floor_textures_827/tex_table_textures_4848/tex_wall_textures_7646","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":8003842708373446091,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":8003842708373446091,"visual_seed":8003842708373446091,"scene_id":"lab_003","finished_at":"2026-09-04T23:12:30"}
+{"episode_id":"ep_000088","started_at":"2026-09-04T23:12:33","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_0","position":[0.28900916246170494,0.6811403285831883,0.71338606911949],"aabb_xy":[[0.2540091641510095,0.6734253136596426],[0.3240091607724004,0.6888553435067339]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[-0.2399871526015509,-0.3759962719975385,0.71338606911949],"aabb_xy":[[-0.3049871537074942,-0.4009616450656668],[-0.17498715149560762,-0.3510308989294102]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[-0.3776625670322158,-1.0619575614221581,0.71338606911949],"aabb_xy":[[-0.3852868351223941,-1.0695907849587019],[-0.37003829894203755,-1.0543243378856144]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.30560427077377966,1.3088747627010098,0.71338606911949],"aabb_xy":[[-0.32077644005541295,1.2937059057728064],[-0.29043210149214627,1.3240436196292131]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.15008370306008822,-1.020861581984475,0.71338606911949],"aabb_xy":[[0.09495849743049743,-1.0808615834257622],[0.20520890868967898,-0.960861580543188]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.577610104354259,0.7687975163177501,0.71338606911949],"aabb_xy":[[0.5408154712293527,0.7318916412211679],[0.6144047374791652,0.8057033914143324]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_6","position":[-0.48818164945154763,-1.1952240361781434,0.71338606911949],"aabb_xy":[[-0.5106807851777746,-1.2177240369564066],[-0.46568251372532066,-1.1727240353998807]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[0.30782393272814823,1.1979826886062948,0.71338606911949],"aabb_xy":[[0.25794123585045203,1.14798268936002],[0.35770662960584443,1.2479826878525695]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[0.42977276074810966,0.6156774042234514,0.71338606911949],"aabb_xy":[[0.3497727602778937,0.607366696609103],[0.5097727612183256,0.6239881118377998]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[-0.6164437404299415,0.7039972136191728,0.71338606911949],"aabb_xy":[[-0.6664437407905075,0.6540172264095697],[-0.5664437400693754,0.7539772008287756]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[-0.14878626143819051,-1.4664390381148444,0.71338606911949],"aabb_xy":[[-0.15436793307231927,-1.47893903793262],[-0.14320458980406175,-1.453939038297069]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[-0.5382497739687824,-0.8276024983018913,0.71338606911949],"aabb_xy":[[-0.5452900839023195,-0.9076024977015628],[-0.5312094640352455,-0.7476024989022199]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.6021858794374859,1.0118753451409481,0.71338606911949],"aabb_xy":[[-0.6191959767275365,0.9957408566426742],[-0.5851757821474352,1.028009833639222]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_13","position":[-0.3095124051671808,-0.73880924486231,0.71338606911949],"aabb_xy":[[-0.36450465580269176,-0.793809246605623],[-0.2545201545316699,-0.6838092431189974]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_14","position":[0.028493338187479567,1.4515593371496736,0.71338606911949],"aabb_xy":[[-0.012811204876256421,1.3875593375815563],[0.06979788125121555,1.5155593367177904]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[0.49740633748699126,0.15018684826504947,0.71338606911949],"aabb_xy":[[0.4893629775610361,0.06518684716968307],[0.5054496974129464,0.23518684936041592]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.6930887897479847,0.061983924272247304,0.71338606911949],"aabb_xy":[[0.6842867344390119,0.05417259811731823],[0.7018908450569573,0.06979525042717638]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[0.6256750674259424,0.27267377862034126,0.71338606911949],"aabb_xy":[[0.6203374917599378,0.24767377769120147],[0.6310126430919469,0.29767377954948104]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[0.5065056230691998,-0.3756121632013043,0.71338606911949],"aabb_xy":[[0.45650562349286505,-0.4255927421534103],[0.5565056226455345,-0.3256315842491984]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_19","position":[0.32445022906362286,-1.5248579450773836,0.71338606911949],"aabb_xy":[[0.3019502295399154,-1.5473538925280041],[0.3469502285873302,-1.5023619976267626]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7040238091252167,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6932.png","name":"6932"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6932.png","name":"6932"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5664.png","name":"5664"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/449.png","name":"449"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6459.png","name":"6459"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1636.png","name":"1636"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":824.9860431917573,"rotation_z_degrees":13.434119664729325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0025481859434026075,-0.018634957163477243,-0.011380690129285682]},{"name":"camera_2","offset_m":[-0.017411137044939465,-0.0015521730104064435,0.016670527394707906]},{"name":"camera_3","offset_m":[0.009964420464618363,-0.017936641977286436,0.011771865298946037]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001124691511626375,0.0015343097820045668,-0.0018540789247648282],"end_effector_yaw_offset_degrees":0.025783313464541102},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001922456292425435,0.0016202799381873608,-0.001696542187513443],"end_effector_yaw_offset_degrees":0.33931468330846704},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009159297390401687,-0.0015337440461929207,0.00017798981729191636],"end_effector_yaw_offset_degrees":-0.6806803925581628},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00042438615779259855,0.0017042848798156842,-0.000710044515868268],"end_effector_yaw_offset_degrees":-0.580795415624263}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007327291486175112,-0.0037434830414266405],"position_m":[0.15313272914861753,0.21985651695857336,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027268239836450926,-0.00499747827000419],"position_m":[0.2396731760163549,-0.31469747827000416,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00464338672797872,0.004432447709358093],"position_m":[0.3198566132720213,-0.037167552290641906,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004423817929377768,0.004856180701437837],"position_m":[0.35542381792937777,0.32325618070143786,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3c0c019ca2b79d2db1eb53e74d620cec8536d78cff26861d5810d7610d6da0e2","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6932/tex_ceiling_textures_1636/tex_floor_textures_6459/tex_table_textures_5664/tex_wall_textures_449","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5774905417343452257,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5774905417343452257,"visual_seed":5774905417343452257,"scene_id":"lab_003","finished_at":"2026-09-04T23:16:26"}
+{"episode_id":"ep_000089","started_at":"2026-09-04T23:16:29","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_0","position":[-0.4546992420528009,-2.064583067782956,0.71338606911949],"aabb_xy":[[-0.47992007891264044,-2.089806818635842],[-0.4294784051929611,-2.039359316930068]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[-0.5416928558761951,-0.5267893936418662,0.71338606911949],"aabb_xy":[[-0.631692855294566,-0.5601648904860558],[-0.4516928564578242,-0.49341389679767633]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[-0.27977610434100775,-1.7798321416691154,0.71338606911949],"aabb_xy":[[-0.3497761069775941,-1.7999370066649807],[-0.2097761017044214,-1.7597272766732497]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[-0.6533163566716554,1.4856626436376907,0.71338606911949],"aabb_xy":[[-0.6752061042605961,1.3956626463484416],[-0.6314266090827145,1.5756626409269399]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[0.587572680177501,1.112979975102128,0.71338606911949],"aabb_xy":[[0.5375734050090648,1.0629799738261811],[0.6375719553459371,1.1629799763780755]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[0.15130669613866143,1.5037540198709602,0.71338606911949],"aabb_xy":[[0.12884192616725632,1.4812540189920997],[0.17377146611006655,1.5262540207498208]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[0.24309667275396374,1.7274511369269248,0.71338606911949],"aabb_xy":[[0.17809667011617028,1.675971538227478],[0.3080966753917572,1.778930735626372]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[-0.10143318806669077,1.5883970044338311,0.71338606911949],"aabb_xy":[[-0.1233418702060418,1.5664963376137404],[-0.07952450592733971,1.6102976712539219]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[0.5675582605375518,1.4221190763186686,0.71338606911949],"aabb_xy":[[0.5247915536581317,1.3581190728968662],[0.6103249674169721,1.486119079740471]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[-0.028819297453544612,1.2306356637721003,0.71338606911949],"aabb_xy":[[-0.09281929783107823,1.180890396921288],[0.035180702923989005,1.2803809306229126]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[0.3030541338817372,-0.8557849133077582,0.71338606911949],"aabb_xy":[[0.2948395887660531,-0.8644615036053992],[0.31126867899742106,-0.8471083230101165]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[0.4775196225505136,-1.2411527612948818,0.71338606911949],"aabb_xy":[[0.4550204868242866,-1.2636527620731448],[0.5000187582767406,-1.2186527605166189]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[0.20678024026518393,-0.5806219243402442,0.71338606911949],"aabb_xy":[[0.18857441660393626,-0.5916473249222358],[0.2249860639264316,-0.5695965237582525]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[0.653339691496263,-2.4803987108416266,0.71338606911949],"aabb_xy":[[0.6035229120314283,-2.53039870932593],[0.7031564709610978,-2.430398712357323]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_14","position":[-0.5587237133628697,1.668353897653073,0.71338606911949],"aabb_xy":[[-0.5997416567492406,1.6183538970221156],[-0.5177057699764989,1.7183538982840303]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[0.4687683783413241,-0.7252053651906156,0.71338606911949],"aabb_xy":[[0.461065187667247,-0.7329147358893536],[0.4764715690154011,-0.7174959944918776]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[-0.05154976537334832,1.455001897571417,0.71338606911949],"aabb_xy":[[-0.056393360134578296,1.450150245092433],[-0.04670617061211835,1.4598535500504013]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.3998008199687808,-1.2981545029177315,0.71338606911949],"aabb_xy":[[-0.407844179894736,-1.383154504013098],[-0.39175746004282563,-1.213154501822365]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[-0.5981095782894703,-1.7242990893810408,0.71338606911949],"aabb_xy":[[-0.6881095819663884,-1.785731495958145],[-0.508109574612552,-1.6628666828039362]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_19","position":[0.653045343490692,-1.3250357472762058,0.71338606911949],"aabb_xy":[[0.6418002879200742,-1.3362775450003008],[0.6642903990613098,-1.3137939495521103]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_20","position":[-0.0019526685285964351,-2.48212633581793,0.71338606911949],"aabb_xy":[[-0.06695266963453972,-2.5070917088860587],[0.06304733257734685,-2.457160962749802]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_21","position":[-0.5299983907797285,0.921411053535846,0.71338606911949],"aabb_xy":[[-0.5939983924577259,0.8728936620565316],[-0.4659983891017312,0.9699284450151601]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[-0.3778897776803525,0.17432367199257115,0.71338606911949],"aabb_xy":[[-0.3866918329893252,0.16651234583764205],[-0.36908772237137977,0.1821349981475002]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[0.2008642938092735,1.035022015377646,0.71338606911949],"aabb_xy":[[0.1928708040139915,1.0270238834371705],[0.20885778360455556,1.0430201473181218]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[-0.3740389554339156,0.4498080958134727,0.71338606911949],"aabb_xy":[[-0.4162233695947463,0.38580809553626155],[-0.33185454127308484,0.5138080960906839]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_25","position":[0.26998831024092795,-1.533297950166224,0.71338606911949],"aabb_xy":[[0.21999329928147593,-1.5832979492018162],[0.31998332120038,-1.4832979511306326]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[0.2996738142466866,0.739453227513704,0.71338606911949],"aabb_xy":[[0.2658982550559936,0.725414732300539],[0.33344937343737957,0.753491722726869]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_27","position":[0.5840565542606615,1.0071489021634434,0.71338606911949],"aabb_xy":[[0.5747095466783663,0.9928452799457992],[0.5934035618429567,1.0214525243810872]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_28","position":[0.355025201464624,-0.6450085251561481,0.71338606911949],"aabb_xy":[[0.2900252004641235,-0.6957948903108232],[0.42002520246512454,-0.5942221600014733]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_29","position":[0.6198470720642937,0.24694149870240656,0.71338606911949],"aabb_xy":[[0.5848470720877978,0.23747688265478997],[0.6548470720407895,0.2564061147500232]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.694344172129923,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7349.png","name":"7349"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7349.png","name":"7349"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/940.png","name":"940"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5906.png","name":"5906"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4293.png","name":"4293"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4015.png","name":"4015"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":658.850123583008,"rotation_z_degrees":12.481961632294944,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008511874055164261,-0.013259841660355588,-0.01376284121879066]},{"name":"camera_2","offset_m":[0.014911859182004047,0.019056713817270667,0.004663805573253067]},{"name":"camera_3","offset_m":[0.011853639513238912,0.016215765858747812,0.0035217416627624995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007347410586383042,0.0007062589094478564,0.0010964514418537966],"end_effector_yaw_offset_degrees":0.25713817590476795},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009378855509137203,-0.0011543462449795344,0.0008235057962618364],"end_effector_yaw_offset_degrees":0.8264745130111848},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00038159055013767783,-0.000854644633549929,-0.0012371044904502142],"end_effector_yaw_offset_degrees":0.12158096786566741},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016280407319287154,0.0006405287683709298,0.0013460014695570485],"end_effector_yaw_offset_degrees":0.9578146624159833}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015102292493824375,-0.0011551478653616578],"position_m":[0.15391022924938244,0.22244485213463833,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004725646941101501,0.0018343100933700708],"position_m":[0.2471256469411015,-0.3078656899066299,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00218887304336942,0.002951246662988803],"position_m":[0.3266888730433694,-0.0386487533370112,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021603680575533048,-0.0035169645260841697],"position_m":[0.34883963194244666,0.31488303547391583,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2f70b5755efd62cfba1646ecc7a0b46f309e45f262e45c7d3283b175de072aee","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0096.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7349/tex_ceiling_textures_4015/tex_floor_textures_4293/tex_table_textures_940/tex_wall_textures_5906","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":860064976345001164,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":860064976345001164,"visual_seed":860064976345001164,"scene_id":"lab_003","finished_at":"2026-09-04T23:20:33"}
+{"episode_id":"ep_000090","started_at":"2026-09-04T23:20:36","dimensions":{"distractor":{"count":22,"items":[{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_0","position":[0.2301668583968256,-1.0545504741927187,0.71338606911949],"aabb_xy":[[0.20770208842542046,-1.0770504750715792],[0.2526316283682307,-1.0320504733138582]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[0.16359237722720144,1.6772830223702546,0.71338606911949],"aabb_xy":[[0.11859979050875102,1.6322830230958059],[0.20858496394565185,1.7222830216447034]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.1456036732466709,-1.1417240814815302,0.71338606911949],"aabb_xy":[[-0.15823046053386725,-1.151270155183103],[-0.13297688595947454,-1.1321780077799573]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[-0.5414653283570479,-2.2739399195505934,0.71338606911949],"aabb_xy":[[-0.5455434862640975,-2.2780208997988565],[-0.5373871704499982,-2.2698589393023303]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[0.5505804072771967,-1.7152843507843472,0.71338606911949],"aabb_xy":[[0.5005853963177447,-1.7652843498199393],[0.6005754182366487,-1.6652843517487559]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.44502408532665616,1.2498015628965757,0.71338606911949],"aabb_xy":[[-0.4950240863457915,1.2133353471587478],[-0.39502408430752095,1.2862677786344037]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[-0.40677513865254306,0.7244197837493322,0.71338606911949],"aabb_xy":[[-0.4619003442821338,0.664419782308045],[-0.3516499330229522,0.7844197851906193]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[0.2089617811633495,-1.8543564658906901,0.71338606911949],"aabb_xy":[[0.2017005335929421,-1.8671434761541998],[0.21622302873375693,-1.8415694556271809]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[0.002218299169941651,-0.9592365563732304,0.71338606911949],"aabb_xy":[[-0.06278169871170615,-1.0103602200797712],[0.06721829705158945,-0.9081128926666896]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[-0.579208309236529,0.8707890477247213,0.71338606911949],"aabb_xy":[[-0.6078576415969451,0.8421434884476454],[-0.5505589768761127,0.899434607001797]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_10","position":[-0.2616462928748373,-1.9589695644548062,0.71338606911949],"aabb_xy":[[-0.3156618891567373,-2.0229695673470633],[-0.2076306965929373,-1.8949695615625488]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_11","position":[0.12230826253547478,-1.8826434497998723,0.71338606911949],"aabb_xy":[[0.08581244190819602,-1.9191273922266296],[0.15880408316275352,-1.8461595073731145]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.13440711318412257,1.665690698687198,0.71338606911949],"aabb_xy":[[-0.14416310269329644,1.655928164627963],[-0.12465112367494866,1.675453232746432]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[0.4184226726227023,1.546990606974942,0.71338606911949],"aabb_xy":[[0.38342267342988395,1.5360235609772794],[0.4534226718155205,1.5579576529726045]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.5945502129706915,-0.7887207064029216,0.71338606911949],"aabb_xy":[[-0.6745502109514766,-0.7963222473647735],[-0.5145502149899065,-0.7811191654410696]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_15","position":[-0.013530398926558607,-1.915139803627151,0.71338606911949],"aabb_xy":[[-0.036030398450266,-1.9376357510777713],[0.008969600597148797,-1.8926438561765297]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[0.23019056155265494,0.9042515635469615,0.71338606911949],"aabb_xy":[[0.22485804689804195,0.8989272353017258],[0.23552307620726792,0.9095758917921969]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[-0.11106796578292288,-2.3225131935518992,0.71338606911949],"aabb_xy":[[-0.17506796217849596,-2.386476481970633],[-0.04706796938734979,-2.2585499051331657]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[0.4566761592042554,-0.5090101794405455,0.71338606911949],"aabb_xy":[[0.4391761589449188,-0.5231017216293182],[0.47417615946359204,-0.494918637251773]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.010273642331499855,-1.5566205342635313,0.71338606911949],"aabb_xy":[[-0.044718608304011094,-1.6116205360068443],[0.06526589296701081,-1.5016205325202188]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[-0.5906183854008203,0.6741545354842158,0.71338606911949],"aabb_xy":[[-0.6706122089793786,0.5941545328913742],[-0.5106245618222621,0.7541545380770573]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[-0.4035933837773561,-1.6065627665306874,0.71338606911949],"aabb_xy":[[-0.43818446663140126,-1.6715627668157185],[-0.3690023009233108,-1.5415627662456564]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6956643810535326,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2611.png","name":"2611"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2611.png","name":"2611"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8839.png","name":"8839"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/808.png","name":"808"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9155.png","name":"9155"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/469.png","name":"469"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":537.2750003994234,"rotation_z_degrees":122.46745759659952,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014535212802767771,0.010033352046575815,0.005691018111211671]},{"name":"camera_2","offset_m":[-0.0039584902561517026,-0.01828332579079915,-0.019741578847463075]},{"name":"camera_3","offset_m":[0.01985658066801994,-0.0026183146920679516,-0.014709753436654554]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00139931545298725,-0.0012279307195361818,-0.0015843082977622567],"end_effector_yaw_offset_degrees":0.270095813252232},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017720991305597536,0.0005948302808088291,-0.000950703962518785],"end_effector_yaw_offset_degrees":-0.010409530526064303},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018799300073355481,-5.554791785870048e-05,0.0011302814881272768],"end_effector_yaw_offset_degrees":0.8338776104647865},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019673032662107055,-0.0018873670901368071,0.001885075397833435],"end_effector_yaw_offset_degrees":-0.1753920974469756}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000378867673862149,0.003926649965112124],"position_m":[0.15277886767386215,0.22752664996511213,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005217906764377837,0.003448715193608595],"position_m":[0.2429217906764378,-0.30625128480639136,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002637125116946434,0.0036246670166001664],"position_m":[0.3271371251169464,-0.037975332983399834,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003398907790646816,0.0017840232056041275],"position_m":[0.34760109220935315,0.32018402320560413,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c41073693fee5f2cae856de42085e9b2813ab47cd5e4d1668e986c5106bfb30e","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0097.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2611/tex_ceiling_textures_469/tex_floor_textures_9155/tex_table_textures_8839/tex_wall_textures_808","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2120745836828719922,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2120745836828719922,"visual_seed":2120745836828719922,"scene_id":"lab_003","finished_at":"2026-09-04T23:24:19"}
+{"episode_id":"ep_000091","started_at":"2026-09-04T23:24:23","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[0.4737282545400523,-1.3491872422482778,0.71338606911949],"aabb_xy":[[0.43872825534723403,-1.3601542882459403],[0.5087282537328706,-1.3382201962506148]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[-0.4286238982284501,-0.7639431625726927,0.71338606911949],"aabb_xy":[[-0.49862390086503644,-0.7840480275685581],[-0.35862389559186375,-0.7438382975768271]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[0.45210852664144974,0.44278151369569096,0.71338606911949],"aabb_xy":[[0.3971162760059388,0.38778151195237825],[0.5071007772769607,0.4977815154390038]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_3","position":[0.36992322018603674,-1.8884250772591482,0.71338606911949],"aabb_xy":[[0.28992322317178876,-1.9085596289325595],[0.4499232172002847,-1.868290525585737]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.38155453735835065,-1.216176627262706,0.71338606911949],"aabb_xy":[[0.3640545371133012,-1.2336764151022725],[0.3990545376034,-1.1986768394231389]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.24906684850099747,0.8502130456587471,0.71338606911949],"aabb_xy":[[-0.2990668498618847,0.8002351410833317],[-0.19906684714011028,0.900190950234163]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[0.3669382058425976,1.0857726323652632,0.71338606911949],"aabb_xy":[[0.302938205465064,1.036027365514451],[0.43093820622013124,1.1355178992160755]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.05607204025788892,-0.9266857041103704,0.71338606911949],"aabb_xy":[[-0.09038831743250686,-0.9766857040835482],[-0.021755763083270985,-0.8766857041371927]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[0.222598932624687,-2.3662287319817095,0.71338606911949],"aabb_xy":[[0.19220082152554338,-2.3966356339833785],[0.25299704372383053,-2.3358218299800395]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[0.47619251061075096,-2.028823735685104,0.71338606911949],"aabb_xy":[[0.42619251117055523,-2.0787916601694203],[0.5261925100509465,-1.9788558112007877]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[0.2513430004768884,1.6347658561190221,0.71338606911949],"aabb_xy":[[0.22019608163330523,1.5647658574322147],[0.28248991932047146,1.704765854805829]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.22667088980698835,1.5759366676899131,0.71338606911949],"aabb_xy":[[-0.2511845139039942,1.551672074387877],[-0.2021572657099825,1.6002012609919498]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[-0.495739314614822,1.2321230784726644,0.71338606911949],"aabb_xy":[[-0.51084161607584,1.217021556841602],[-0.4806370131538039,1.247224600103726]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[0.2598997159912487,-1.0099617602001754,0.71338606911949],"aabb_xy":[[0.18989971385981913,-1.0327237258258706],[0.3298997181226782,-0.9871997945744793]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.2098056371580585,-1.3143556501830698,0.71338606911949],"aabb_xy":[[-0.2598056375186245,-1.3643356373926725],[-0.15980563679749243,-1.2643756629734666]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[0.048444960755743116,0.941383371450192,0.71338606911949],"aabb_xy":[[0.031014245676736604,0.9241112567863411],[0.06587567583474961,0.9586554861140427]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_16","position":[-0.6493815872806814,-0.9805850830048797,0.71338606911949],"aabb_xy":[[-0.6868815872244478,-0.9888781730397164],[-0.611881587336915,-0.9722919929700432]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_17","position":[0.04352279889198718,-2.406506560775718,0.71338606911949],"aabb_xy":[[0.027967029481721924,-2.4220569940201253],[0.05907856830225246,-2.390956127531311]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[0.6057745951821787,-0.7650332681759329,0.71338606911949],"aabb_xy":[[0.5983621396407902,-0.7708844785975607],[0.6131870507235672,-0.7591820577543048]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[-0.5823751025945396,-1.576976888713622,0.71338606911949],"aabb_xy":[[-0.6169661854485847,-1.641976888998653],[-0.5477840197404943,-1.511976888428591]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[0.10329316165061642,-1.8193475054113684,0.71338606911949],"aabb_xy":[[0.06883081425247459,-1.8538413878091906],[0.13775550904875816,-1.7848536230135452]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[0.5964639053615892,0.9072100529483893,0.71338606911949],"aabb_xy":[[0.5701750810411483,0.880938619293738],[0.6227527296820297,0.9334814866030404]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[-0.3564931870050138,1.1070841589615439,0.71338606911949],"aabb_xy":[[-0.4204931889173562,1.0511730097035334],[-0.2924931850926715,1.1629953082195543]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[0.69573667714141,1.2488263089928409,0.71338606911949],"aabb_xy":[[0.6864430589042594,1.211326310504707],[0.7050302953785605,1.2863263074809748]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_24","position":[-0.4973737496253171,1.3288122500938457,0.71338606911949],"aabb_xy":[[-0.5252187864059241,1.298027751355534],[-0.46952871284470993,1.3595967488321574]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[-0.009483566188363324,1.123745238466562,0.71338606911949],"aabb_xy":[[-0.04448356449905877,1.1160302235430164],[0.025516432122332122,1.1314602533901077]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_26","position":[-0.5441076097526363,-0.2247427463700178,0.71338606911949],"aabb_xy":[[-0.5800211141776259,-0.26065625458677233],[-0.5081941053276466,-0.18882923815326313]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_27","position":[-0.6237951755969453,-0.00947161855879397,0.71338606911949],"aabb_xy":[[-0.6737684696002058,-0.05947161911334131],[-0.5738218815936849,0.04052838199575337]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_28","position":[-0.1233274686137823,1.7500145735338042,0.71338606911949],"aabb_xy":[[-0.1873274706635143,1.7099200904444964],[-0.0593274665640503,1.7901090566231124]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_29","position":[-0.3060468408156802,0.09169509686702026,0.71338606911949],"aabb_xy":[[-0.32795552295503116,0.06979443004692952],[-0.2841381586763291,0.11359576368711098]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_30","position":[0.034638252631065236,1.449327131169245,0.71338606911949],"aabb_xy":[[0.022011465343868886,1.4397810574676722],[0.04726503991826159,1.458873204870818]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_31","position":[0.5936513938445558,-1.5246554556296097,0.71338606911949],"aabb_xy":[[0.5036513941213814,-1.547728808164789],[0.6836513935677297,-1.5015821030944294]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_32","position":[0.28972202452160634,-1.2952288253637563,0.71338606911949],"aabb_xy":[[0.21972202811164446,-1.3156667610154376],[0.359722020931568,-1.274790889712074]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931907602767126,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/342.png","name":"342"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/342.png","name":"342"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6303.png","name":"6303"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1639.png","name":"1639"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2537.png","name":"2537"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9755.png","name":"9755"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":734.7896065436032,"rotation_z_degrees":1.9058156268501492,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007405504177110526,0.01475230860649945,0.011472234606005643]},{"name":"camera_2","offset_m":[-0.0026438608196444092,0.0031791573765473403,-0.018257200149755987]},{"name":"camera_3","offset_m":[0.018603200931752616,0.0007691110514908943,0.015061760663839522]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012998463404515436,-0.0012941722680885896,-3.837287086000353e-05],"end_effector_yaw_offset_degrees":0.823906485402135},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014663190614136558,0.0009965060915287428,0.0017299751683006247],"end_effector_yaw_offset_degrees":-0.7602713626481059},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001480794983653813,0.00046593078998348903,0.0007110218773839425],"end_effector_yaw_offset_degrees":0.09682597405068272},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00013319478676017838,-0.0004229210666988844,-0.0016619956087078251],"end_effector_yaw_offset_degrees":-0.6026698677144089}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[1.9372763345907457e-05,0.0033592085176082876],"position_m":[0.1524193727633459,0.22695920851760829,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022724004112012483,0.003871176673824841],"position_m":[0.24467240041120125,-0.3058288233261751,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032280631779723025,0.002303781201645724],"position_m":[0.3277280631779723,-0.03929621879835427,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002853862943703366,-0.0046982784372903595],"position_m":[0.3481461370562966,0.31370172156270965,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a9f6e13b4fbf1f842a3f2d2a0d8930d9551303114e9c8c65a2c20c9ff879083f","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_342/tex_ceiling_textures_9755/tex_floor_textures_2537/tex_table_textures_6303/tex_wall_textures_1639","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5811655351359248645,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5811655351359248645,"visual_seed":5811655351359248645,"scene_id":"lab_003","finished_at":"2026-09-04T23:28:30"}
+{"episode_id":"ep_000092","started_at":"2026-09-04T23:28:34","dimensions":{"distractor":{"count":21,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.15698681176538176,-1.900977773561614,0.71338606911949],"aabb_xy":[[0.14511472875388065,-1.9859777732552641],[0.16885889477688287,-1.8159777738679634]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_1","position":[-0.03574934507687255,-2.329137501779143,0.71338606911949],"aabb_xy":[[-0.06359438185747968,-2.3599220005174546],[-0.007904308296265435,-2.2983530030408312]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[-0.13854907496907298,-0.20736179677844868,0.71338606911949],"aabb_xy":[[-0.19854907556508916,-0.26217426932367216],[-0.0785490743730568,-0.1525493242332252]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[0.2368791759125597,1.2169032744870405,0.71338606911949],"aabb_xy":[[0.22081724845404202,1.1319032726744487],[0.2529411033710773,1.3019032762996323]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.2296598906128846,-2.00579992031813,0.71338606911949],"aabb_xy":[[0.22096192832216935,-2.0179248946256045],[0.23835785290359993,-1.993674946010655]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_5","position":[-0.5397525853444998,1.103958953534414,0.71338606911949],"aabb_xy":[[-0.577252585841858,1.0999902699862953],[-0.5022525848471415,1.1079276370825324]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_6","position":[-0.5512727033017473,-2.4123578054324657,0.71338606911949],"aabb_xy":[[-0.6062464253380802,-2.4673578049966993],[-0.4962989812654144,-2.357357805868233]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[-0.12003556381720959,-2.463563493160866,0.71338606911949],"aabb_xy":[[-0.15503556379370542,-2.473028109208483],[-0.08503556384071374,-2.45409887711325]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[0.6213564163451837,1.2370656507377653,0.71338606911949],"aabb_xy":[[0.5988564168214762,1.2145697032871443],[0.643856415868891,1.2595615981883859]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.10501147595663884,1.6514423099756184,0.71338606911949],"aabb_xy":[[-0.10912742606871148,1.6473267549427726],[-0.10089552584456615,1.6555578650084637]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[0.6039783469141937,-1.311958175272224,0.71338606911949],"aabb_xy":[[0.5239783483268743,-1.3912737772103847],[0.6839783455015132,-1.232642573334063]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[-0.247371839280922,-0.9449906865678326,0.71338606911949],"aabb_xy":[[-0.2719180549036727,-0.9752395831168696],[-0.2228256236581713,-0.9147417900187955]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[-0.6309991777989652,-0.6114841267167535,0.71338606911949],"aabb_xy":[[-0.6809991772391607,-0.6614520512010698],[-0.5809991783587695,-0.5615162022324371]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_13","position":[0.6697640009534296,1.716016784458056,0.71338606911949],"aabb_xy":[[0.661770012375726,1.7080167043629655],[0.6777579895311328,1.7240168645531462]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_14","position":[-0.4187966243382874,-0.27870063451252625,0.71338606911949],"aabb_xy":[[-0.43142341162548375,-0.2882467082140991],[-0.40616983705109105,-0.2691545608109533]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[0.033249164516243934,-2.4989744819510222,0.71338606911949],"aabb_xy":[[-0.02175083466034556,-2.55396415672598],[0.08824916369283342,-2.4439848071760646]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[0.1802304677629828,-2.220676602479078,0.71338606911949],"aabb_xy":[[0.0902304683446119,-2.254052099323267],[0.2702304671813537,-2.1873011056348877]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[-0.5127517974928578,0.792047440564946,0.71338606911949],"aabb_xy":[[-0.5927518007507008,0.7120509327729619],[-0.43275179423501486,0.8720439483569299]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[-0.41026303627021393,0.22938175914820347,0.71338606911949],"aabb_xy":[[-0.42542590924715107,0.2142163018530847],[-0.3951001632932769,0.24454721644332222]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[0.08480474762123047,-1.5970367748490932,0.71338606911949],"aabb_xy":[[0.06569244026325159,-1.6161715537263353],[0.10391705497920932,-1.5779019959718512]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[-0.03413354355393472,-1.4656419254434563,0.71338606911949],"aabb_xy":[[-0.08413354391450079,-1.5156219126530592],[0.015866456806631336,-1.4156619382338533]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7011281428728372,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5729.png","name":"5729"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5729.png","name":"5729"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7133.png","name":"7133"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4510.png","name":"4510"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1611.png","name":"1611"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8222.png","name":"8222"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":811.8045700753728,"rotation_z_degrees":214.67799953930765,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0011372891477480981,0.013258985310358861,0.019212339547251437]},{"name":"camera_2","offset_m":[0.00027441016293383927,0.005475135037214338,-0.0006111705405571835]},{"name":"camera_3","offset_m":[0.004927397694106533,-0.004133918457809815,-0.016110130810792767]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012914265115391479,-0.000907491083566133,-0.0018215628217971053],"end_effector_yaw_offset_degrees":0.9043015822976306},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00016698951040099446,0.0005736212739343625,-0.001100818270558886],"end_effector_yaw_offset_degrees":-0.8895065801306843},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016228172455417717,0.00037621001423380693,-0.001600970938165308],"end_effector_yaw_offset_degrees":-0.22334701087435893},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008390632915543565,-0.001547572556076052,0.00021817826395211177],"end_effector_yaw_offset_degrees":-0.9057348095144198}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-4.34363473159503e-05,0.002694019341411622],"position_m":[0.15235656365268405,0.2262940193414116,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00269482764667489,-0.001090485404449326],"position_m":[0.2397051723533251,-0.3107904854044493,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001975881227119746,-3.753426581784222e-05],"position_m":[0.3225241187728803,-0.041637534265817844,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033791838480895777,0.0005534356419183827],"position_m":[0.35437918384808953,0.3189534356419184,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fdac4d18ad20d57168e78505dc5581af368d43c049fea3c3c22225fbf5f725f0","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5729/tex_ceiling_textures_8222/tex_floor_textures_1611/tex_table_textures_7133/tex_wall_textures_4510","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":1930476612529469628,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":1930476612529469628,"visual_seed":1930476612529469628,"scene_id":"lab_003","finished_at":"2026-09-04T23:32:25"}
+{"episode_id":"ep_000093","started_at":"2026-09-04T23:32:28","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_0","position":[0.4653019445754578,-0.0902696567611927,0.71338606911949],"aabb_xy":[[0.45649988926648516,-0.09808098291612176],[0.4741039998844306,-0.0824583306062636]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[0.33002674424261325,-1.7855949914664078,0.71338606911949],"aabb_xy":[[0.28900880085624236,-1.835594992097365],[0.3710446876289841,-1.7355949908354504]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[0.37911007981474376,0.6154695643324928,0.71338606911949],"aabb_xy":[[0.29911007838461656,0.5359524093198832],[0.45911008124487096,0.6949867193451021]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.0660415397282248,-1.54581493932344,0.71338606911949],"aabb_xy":[[0.06045986809409604,-1.5583149391412152],[0.07162321136235356,-1.5333149395056642]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.4846410750304784,-0.9718141556144002,0.71338606911949],"aabb_xy":[[0.42064107644390586,-1.018821119013909],[0.5486410736170508,-0.9248071922148915]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.41492852844752565,0.9020330877438001,0.71338606911949],"aabb_xy":[[-0.45242852839129205,0.8937399977089634],[-0.37742852850375924,0.9103261777786366]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.5709956846357632,1.0942310502199617,0.71338606911949],"aabb_xy":[[-0.5996450169961793,1.0655854909428857],[-0.5423463522753469,1.1228766094970373]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.3670950131165793,-0.5737256845089593,0.71338606911949],"aabb_xy":[[0.3119698074869885,-0.6337256859502464],[0.42222021874617005,-0.5137256830676721]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[-0.6165963635846062,-1.2815617558935073,0.71338606911949],"aabb_xy":[[-0.654096362160227,-1.294298051557065],[-0.5790963650089854,-1.2688254602299491]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.19356811347385328,-2.2291570033003376,0.71338606911949],"aabb_xy":[[-0.25356811433466603,-2.2805834333068233],[-0.13356811261304044,-2.17773057329385]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[-0.4146507506041535,-2.504884214796558,0.71338606911949],"aabb_xy":[[-0.47865075201214413,-2.5566731663204827],[-0.3506507491961628,-2.4530952632726333]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.6556101156369936,-2.484926996027984,0.71338606911949],"aabb_xy":[[0.6501521699999735,-2.564926999335643],[0.6610680612740136,-2.4049269927203247]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[-0.42194206437030995,-1.9852797446786705,0.71338606911949],"aabb_xy":[[-0.44383181195925075,-2.075279741967919],[-0.40005231678136915,-1.8952797473894214]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[-0.6506964419765274,0.3481728834718987,0.71338606911949],"aabb_xy":[[-0.68802771850177,0.3135198286770464],[-0.6133651654512848,0.38282593826675104]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[0.34762246715053524,-0.9098879396241875,0.71338606911949],"aabb_xy":[[0.3403401507738715,-0.9998879432336962],[0.3549047835271988,-0.8198879360146782]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[0.6319012568268634,-0.6872959510528749,0.71338606911949],"aabb_xy":[[0.608619414628732,-0.7722959523501028],[0.6551830990249947,-0.6022959497556467]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[0.4149376767721151,1.2371805001813936,0.71338606911949],"aabb_xy":[[0.3793085208721554,1.2015478334245404],[0.45056683267207487,1.2728131669382463]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.5867386147520319,-2.2262478037223987,0.71338606911949],"aabb_xy":[[-0.636733625711484,-2.276247802757991],[-0.5367436037925799,-2.1762478046868075]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[-0.11273164750220521,0.4445590365647418,0.71338606911949],"aabb_xy":[[-0.1767273448973018,0.3805590382640331],[-0.04873595010710863,0.5085590348654505]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.2799054626934734,0.836240030538133,0.71338606911949],"aabb_xy":[[0.2424054625216014,0.8035392951552258],[0.31740546286534527,0.8689407659210402]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_20","position":[-0.4938023042085546,-0.20861417472545796,0.71338606911949],"aabb_xy":[[-0.5288023033385103,-0.21435939580112204],[-0.45880230507859887,-0.20286895364979382]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.5035649742673555,-0.7187960263513762,0.71338606911949],"aabb_xy":[[-0.5835587978459138,-0.7987960289442178],[-0.42357115068879736,-0.6387960237585346]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_22","position":[-0.007392143887426594,-2.1136503183641504,0.71338606911949],"aabb_xy":[[-0.024938838803545527,-2.1511503199284014],[0.010154551028692338,-2.0761503167998994]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_23","position":[0.42900019216108065,-1.7499212257401826,0.71338606911949],"aabb_xy":[[0.4115001928829938,-1.7672593258065283],[0.4465001914391675,-1.7325831256738364]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[-0.4453696665705025,1.6433112738857578,0.71338606911949],"aabb_xy":[[-0.4656539692939011,1.6230286487430488],[-0.4250853638471036,1.6635938990284664]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_25","position":[0.05991024929839228,-1.3804081734213438,0.71338606911949],"aabb_xy":[[-0.004089747128929622,-1.4275777972434402],[0.12391024572571419,-1.3332385495992474]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_26","position":[-0.305695857508695,0.9545853430930777,0.71338606911949],"aabb_xy":[[-0.32928098097258984,0.8895853408476458],[-0.28211073404480014,1.0195853453385095]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7004062266785509,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7223.png","name":"7223"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7223.png","name":"7223"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3107.png","name":"3107"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6199.png","name":"6199"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4941.png","name":"4941"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2479.png","name":"2479"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":601.8523586580689,"rotation_z_degrees":122.8140393948074,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013034014670831469,-0.01649910497933262,0.01793465611924013]},{"name":"camera_2","offset_m":[0.0029193328682544234,-0.006663826562458763,-0.015059742381334118]},{"name":"camera_3","offset_m":[0.00956792266480437,0.0072417885548441835,0.014609810943773251]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018701061963116907,-0.0012282094795149777,0.0011427807940499017],"end_effector_yaw_offset_degrees":-0.4791957458873577},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009945966809523895,-0.0006604933988309783,-0.0018417238392631622],"end_effector_yaw_offset_degrees":-0.9369502568906745},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002505847290458067,-0.0006568668712390742,0.001677696880573808],"end_effector_yaw_offset_degrees":0.9537450972679382},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018595263683370126,-0.0009183539592674944,0.0019314595858877046],"end_effector_yaw_offset_degrees":0.7488085210031081}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001552434297623495,0.004375163267612414],"position_m":[0.1508475657023765,0.2279751632676124,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004945133526190333,0.004059700902161953],"position_m":[0.23745486647380967,-0.305640299097838,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004807864515723505,0.002789988116306529],"position_m":[0.3293078645157235,-0.03881001188369347,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00489911553764604,-0.00404484081068453],"position_m":[0.355899115537646,0.3143551591893155,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"903904c707386292e8cb4b6c4c27b8e7753393cdd6076fdd5b26bea67eab64a3","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0100.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7223/tex_ceiling_textures_2479/tex_floor_textures_4941/tex_table_textures_3107/tex_wall_textures_6199","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":6405835710246206760,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":6405835710246206760,"visual_seed":6405835710246206760,"scene_id":"lab_003","finished_at":"2026-09-04T23:36:17"}
+{"episode_id":"ep_000094","started_at":"2026-09-04T23:36:20","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[-0.35179683015429647,0.32094452380030436,0.71338606911949],"aabb_xy":[[-0.43179682711733564,0.2438688821565309],[-0.2717968331912573,0.3980201654440778]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.1604161673771064,-2.0666534083921895,0.71338606911949],"aabb_xy":[[-0.1657486820317194,-2.0719777366374252],[-0.15508365272249344,-2.0613290801469537]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[0.18096590768657206,-1.018233296694254,0.71338606911949],"aabb_xy":[[0.17487127979845374,-1.0268026912459227],[0.18706053557469038,-1.0096639021425853]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[-0.31167360296416885,-0.8567239010424126,0.71338606911949],"aabb_xy":[[-0.31871391289770595,-0.9367239004420841],[-0.30463329303063197,-0.7767239016427413]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[0.4790762511508815,0.76708728801075,0.71338606911949],"aabb_xy":[[0.47108276135559957,0.7590891560702745],[0.4870697409461636,0.7750854199512257]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_5","position":[0.42760762607958247,-1.7556621362780969,0.71338606911949],"aabb_xy":[[0.3826076246133537,-1.800661993139578],[0.47260762754581137,-1.7106622794166166]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[0.5990100340098825,1.3087379861435346,0.71338606911949],"aabb_xy":[[0.5562433271304623,1.244737982721732],[0.6417767408893027,1.3727379895653369]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.5293341542237463,-1.264409778401071,0.71338606911949],"aabb_xy":[[-0.6093341544973532,-1.3373593262267875],[-0.44933415395013926,-1.191460230575354]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[0.11933140713794865,-1.2165692574908524,0.71338606911949],"aabb_xy":[[0.09304258281750796,-1.2428406911455037],[0.14562023145838926,-1.1902978238362012]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.0911878208984368,0.7160029217715032,0.71338606911949],"aabb_xy":[[-0.1711878183020302,0.6360103505733203],[-0.011187823494843372,0.795995492969686]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[-0.11431041453957647,-1.3506181149874503,0.71338606911949],"aabb_xy":[[-0.14877289255266424,-1.3572817921703733],[-0.07984793652648868,-1.3439544378045274]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.08802625488739635,-0.6474876122592432,0.71338606911949],"aabb_xy":[[0.08458557864733916,-0.6513490452336077],[0.09146693112745351,-0.6436261792848788]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[-0.04676840745360045,1.1936570863402625,0.71338606911949],"aabb_xy":[[-0.09676840881448767,1.1436791817648468],[0.003231593907286771,1.243634990915678]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.2997240782245305,-1.9163669178669205,0.71338606911949],"aabb_xy":[[0.29529344886969033,-1.9218152896016034],[0.3041547075793707,-1.910918546132238]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[0.22332764434687657,1.516014436454976,0.71338606911949],"aabb_xy":[[0.21398063676458134,1.5017108142373319],[0.2326746519291718,1.53031805867262]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[-0.038891578717109465,-0.6110295692161472,0.71338606911949],"aabb_xy":[[-0.05212252425179075,-0.6242569882381465],[-0.025660633182428165,-0.5978021501941476]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[0.23808039823336213,1.0057323598002879,0.71338606911949],"aabb_xy":[[0.2298658531176781,0.9970557695026464],[0.24629494334904606,1.014408950097929]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.2711201146671882,-0.899859485053893,0.71338606911949],"aabb_xy":[[0.2498421065237159,-0.964859487379966],[0.2923981228106604,-0.8348594827278198]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[0.060688106045010404,-1.0507981757724252,0.71338606911949],"aabb_xy":[[0.050932116535836514,-1.0605607098316594],[0.0704440955541843,-1.0410356417131905]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[-0.5683691001283777,-0.5666614440062889,0.71338606911949],"aabb_xy":[[-0.6181858795932125,-0.6166614424905923],[-0.518552320663543,-0.5166614455219856]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[-0.5576063509103086,-0.371953366983409,0.71338606911949],"aabb_xy":[[-0.6216063532531102,-0.41689421822754147],[-0.4936063485675071,-0.3270125157392765]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[0.5666400261865414,-1.4549554139602285,0.71338606911949],"aabb_xy":[[0.4966400227949794,-1.4902711876636594],[0.6366400295781033,-1.4196396402567977]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_22","position":[-0.656996456595474,-1.5700941658069787,0.71338606911949],"aabb_xy":[[-0.6822172934553136,-1.595317916659865],[-0.6317756197356342,-1.5448704149540915]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[-0.09498953832909585,-1.206087709238998,0.71338606911949],"aabb_xy":[[-0.1069222726909239,-1.2184698620468575],[-0.08305680396726776,-1.1937055564311387]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7004775116447393,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1661.png","name":"1661"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1661.png","name":"1661"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7007.png","name":"7007"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5660.png","name":"5660"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5884.png","name":"5884"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3052.png","name":"3052"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":684.1121402321824,"rotation_z_degrees":348.9838768158974,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010187383269930007,0.012455405661171547,0.008715906498406006]},{"name":"camera_2","offset_m":[-0.011499764112117838,0.0042214414522233935,0.01936086989051126]},{"name":"camera_3","offset_m":[0.004461328003384394,-0.014384533379634412,-0.014842761108477966]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015380048039005075,-0.0007862798196722415,-0.001471018972861194],"end_effector_yaw_offset_degrees":0.7413879820606326},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012820939485696011,0.0009283728270098037,0.00030922858443171086],"end_effector_yaw_offset_degrees":-0.5864872635040177},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003595798429497656,0.0009004840034214259,-0.00027094287548146264],"end_effector_yaw_offset_degrees":0.15794453395458552},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001652123121121221,-0.0015122702779831946,0.001888938109170879],"end_effector_yaw_offset_degrees":-0.3228271027942151}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032193124084896807,0.0034469737789471428],"position_m":[0.1556193124084897,0.22704697377894714,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026090247191611314,0.003526062498178253],"position_m":[0.23979097528083887,-0.3061739375018217,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003056842617206506,0.004846360439327226],"position_m":[0.3275568426172065,-0.03675363956067277,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024321016894136398,0.0009761818384780687],"position_m":[0.35343210168941364,0.3193761818384781,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a3462ff19cc344b6a242846e42682d1f054535154e4dc9968a88f646972e6036","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0101.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1661/tex_ceiling_textures_3052/tex_floor_textures_5884/tex_table_textures_7007/tex_wall_textures_5660","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":5325905960612260723,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":5325905960612260723,"visual_seed":5325905960612260723,"scene_id":"lab_003","finished_at":"2026-09-04T23:40:12"}
+{"episode_id":"ep_000095","started_at":"2026-09-04T23:40:17","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.3286474205545163,-2.263692767239855,0.71338606911949],"aabb_xy":[[-0.36544205367942256,-2.3005986423364373],[-0.29185278742961,-2.2267868921432727]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[0.631116788903233,0.18028670454123086,0.71338606911949],"aabb_xy":[[0.5810193249221594,0.11628670403141908],[0.6812142528843066,0.2442867050510427]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_2","position":[0.6591254696075468,1.429989036195177,0.71338606911949],"aabb_xy":[[0.6510891349062619,1.42195091689076],[0.6671618043088315,1.4380271554995936]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[-0.6235064487770297,-1.485765521370795,0.71338606911949],"aabb_xy":[[-0.6340739284351286,-1.4963105514838035],[-0.6129389691189305,-1.4752204912577864]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[0.6526592738394728,0.7634507459644624,0.71338606911949],"aabb_xy":[[0.6151592737338797,0.7566285841114812],[0.6901592739450656,0.7702729078174434]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.5220604305214829,-1.0546005476248308,0.71338606911949],"aabb_xy":[[-0.57206043188237,-1.1045784522002464],[-0.4720604291605956,-1.0046226430494152]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[-0.24695868160904888,0.7160632126869833,0.71338606911949],"aabb_xy":[[-0.3109586809032171,0.652077072318129],[-0.18295868231488063,0.7800493530558373]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.2035211919178198,-0.7470570683902789,0.71338606911949],"aabb_xy":[[-0.24102119343345152,-0.7582838414064239],[-0.1660211904021881,-0.7358302953741338]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[-0.19795226190345333,1.63854274590089,0.71338606911949],"aabb_xy":[[-0.28795226132182417,1.6051672490567004],[-0.10795226248508241,1.6719182427450798]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[0.6011631624152274,-1.859725469552866,0.71338606911949],"aabb_xy":[[0.5371631651128809,-1.9040918965207225],[0.6651631597175737,-1.815359042585009]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[-0.5331096867994993,1.341008098716272,0.71338606911949],"aabb_xy":[[-0.5439501650260141,1.3238218174256233],[-0.5222692085729843,1.3581943800069207]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.32043870199829705,0.20857738349812882,0.71338606911949],"aabb_xy":[[-0.4004386994018905,0.128584812299946],[-0.24043870459470365,0.28856995469631164]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.43581940897399235,-1.6792390965643307,0.71338606911949],"aabb_xy":[[-0.4402500383288326,-1.6846874682990132],[-0.43138877961915223,-1.6737907248296482]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.48678385138460345,-2.1408432348539774,0.71338606911949],"aabb_xy":[[0.4217838532286843,-2.167139479403889],[0.5517838495405224,-2.114546990304065]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[0.6372267379632428,-0.22719253445279275,0.71338606911949],"aabb_xy":[[0.5732267362852455,-0.27570992593210697],[0.7012267396412402,-0.17867514297347853]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.20768396756979401,1.8011239033791724,0.71338606911949],"aabb_xy":[[0.19632223291650783,1.789755436972884],[0.21904570222308015,1.8124923697854602]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[-0.46373739486520515,-0.6428646673072558,0.71338606911949],"aabb_xy":[[-0.5187373944869511,-0.6978483600947286],[-0.40873739524345937,-0.5878809745197832]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[-0.5651492428752524,-0.8630738111972016,0.71338606911949],"aabb_xy":[[-0.6351492455118387,-0.8831786761930671],[-0.495149240238666,-0.8429689462013361]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.20794825885517126,-1.9635583206118628,0.71338606911949],"aabb_xy":[[-0.24294825712529114,-1.9706324483068505],[-0.17294826058505133,-1.9564841929168741]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_19","position":[-0.6105909336921823,1.5866243627855545,0.71338606911949],"aabb_xy":[[-0.6264754269575076,1.5722714224867305],[-0.5947064404268573,1.6009773030843786]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[-0.533176354582209,-0.1560116092653292,0.71338606911949],"aabb_xy":[[-0.5759430614616292,-0.22001161268713168],[-0.49040964770278883,-0.09201160584352677]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[0.5435828308837494,-1.0280578386799901,0.71338606911949],"aabb_xy":[[0.5363005145070855,-1.1180578422894987],[0.5508651472604128,-0.9380578350704808]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[0.3102695329488552,-2.3244764560276385,0.71338606911949],"aabb_xy":[[0.2552958109125223,-2.379476455591872],[0.36524325498518806,-2.269476456463406]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_23","position":[0.49169010598703045,-0.48279780909435166,0.71338606911949],"aabb_xy":[[0.4566901046355487,-0.5031575450511724],[0.5266901073385122,-0.46243807313753077]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6973988537363864,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7716.png","name":"7716"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7716.png","name":"7716"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4146.png","name":"4146"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6047.png","name":"6047"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4689.png","name":"4689"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8428.png","name":"8428"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":808.2238104731716,"rotation_z_degrees":42.40157050365979,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004216908356176104,-0.015401210822072908,0.015816404986706136]},{"name":"camera_2","offset_m":[-0.003706500138885172,0.014639269972553739,-0.009981515015551915]},{"name":"camera_3","offset_m":[-0.019141571642113175,-0.0024934211502529377,0.013119030683026594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001546531726138122,-0.0016408668535282524,0.0014987014040798406],"end_effector_yaw_offset_degrees":-0.07478852560947646},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015512102052832825,0.0014256375115631209,0.0004527936022856588],"end_effector_yaw_offset_degrees":-0.16747247063038428},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015763512952095505,5.139176215384093e-05,0.0016749420298580184],"end_effector_yaw_offset_degrees":-0.557205479933607},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009248250781929779,-0.0014185228092296125,0.001210315679896548],"end_effector_yaw_offset_degrees":0.6621601919171232}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033560796097312773,-0.002337920770011912],"position_m":[0.14904392039026873,0.22126207922998808,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0048097449568622495,0.0016280865202071846],"position_m":[0.24720974495686227,-0.3080719134797928,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004054735816057248,0.0018234097545236447],"position_m":[0.32044526418394276,-0.039776590245476355,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003615680454883471,-0.0017377988835662142],"position_m":[0.35136156804548835,0.3166622011164338,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2c9a9a5b92eaac341b705e9ce49754ad766e41f6288000d8bb4217b9cf93e6d6","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0102.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7716/tex_ceiling_textures_8428/tex_floor_textures_4689/tex_table_textures_4146/tex_wall_textures_6047","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4297793764547281142,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4297793764547281142,"visual_seed":4297793764547281142,"scene_id":"lab_003","finished_at":"2026-09-04T23:44:05"}
+{"episode_id":"ep_000096","started_at":"2026-09-04T23:44:10","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_0","position":[-0.15070131256045272,1.8066791979478336,0.71338606911949],"aabb_xy":[[-0.23070131363357305,1.7969011516104494],[-0.07070131148733239,1.8164572442852183]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_1","position":[0.16798085945268493,0.7526284496931273,0.71338606911949],"aabb_xy":[[0.1304808595089185,0.7443353596582906],[0.2054808593964513,0.7609215397279637]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[-0.6035320660040107,1.3992077838907857,0.71338606911949],"aabb_xy":[[-0.6217378896652584,1.3881823833087943],[-0.5853262423427631,1.4102331844727776]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.4661900732942368,-0.8278578546441044,0.71338606911949],"aabb_xy":[[0.3861900700302236,-0.8414178869530177],[0.5461900765582499,-0.814297822335191]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[0.44167203164033997,-0.3115482966658405,0.71338606911949],"aabb_xy":[[0.38765643535843997,-0.3755482995580976],[0.49568762792223997,-0.24754829377358328]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[-0.5780706916925111,1.495526828203595,0.71338606911949],"aabb_xy":[[-0.613070691669007,1.4860622121559783],[-0.5430706917160153,1.5049914442512116]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[-0.3735825698535558,-0.9355981691466311,0.71338606911949],"aabb_xy":[[-0.4435825714558353,-0.9490309623482888],[-0.30358256825127633,-0.9221653759449736]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[0.6828511644472932,-1.5327362167418792,0.71338606911949],"aabb_xy":[[0.6661740284541978,-1.5494361407158095],[0.6995283004403888,-1.516036292767949]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[0.6749352500938501,-1.6767009345314339,0.71338606911949],"aabb_xy":[[0.6486464257734094,-1.702972368186085],[0.7012240744142907,-1.6504295008767826]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[0.33667575321993737,-1.7391889854740503,0.71338606911949],"aabb_xy":[[0.25667575178981017,-1.8187061404866598],[0.41667575465006457,-1.6596718304614408]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.5961808836460594,1.1687905909468315,0.71338606911949],"aabb_xy":[[-0.6041748722237628,1.160790510851741],[-0.588186895068356,1.1767906710419216]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.03889748406665361,1.6324083228823807,0.71338606911949],"aabb_xy":[[-0.11889748147024702,1.5524157516841974],[0.04110251333693981,1.712400894080563]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[-0.38146716040281414,-2.1370330111488562,0.71338606911949],"aabb_xy":[[-0.44546715957258404,-2.1837996982678187],[-0.31746716123304414,-2.0902663240298938]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.2938411901531267,1.0776270575883244,0.71338606911949],"aabb_xy":[[0.2763412567191433,1.0601270576680897],[0.31134112358711,1.0951270575085588]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[0.3363852552560247,0.7863984570907778,0.71338606911949],"aabb_xy":[[0.31888525597793776,0.7690603570244319],[0.3538852545341115,0.8037365571571238]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[-0.26814953575164574,-1.624413696010511,0.71338606911949],"aabb_xy":[[-0.29863378587867584,-1.6744136957920068],[-0.23766528562461553,-1.574413696229015]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[-0.6069061943491081,-2.413330484097807,0.71338606911949],"aabb_xy":[[-0.6444061944547009,-2.420152645950788],[-0.569406194243515,-2.406508322244826]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[-0.3558420388877317,-2.358442853866013,0.71338606911949],"aabb_xy":[[-0.42084203744480453,-2.3881953872798953],[-0.29084204033065886,-2.32869032045213]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[0.622981943288548,-0.6714972083345561,0.71338606911949],"aabb_xy":[[0.5679896926530371,-0.7264972100778687],[0.677974193924059,-0.6164972065912432]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.13672218580117457,-1.0431176225132686,0.71338606911949],"aabb_xy":[[-0.17422218437679537,-1.0558539181768265],[-0.09922218722555377,-1.0303813268497106]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[-0.3463260190082947,-0.5628843766097087,0.71338606911949],"aabb_xy":[[-0.35336632894183173,-0.6428843760093802],[-0.33928570907475775,-0.4828843772100374]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972072145038665,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/479.png","name":"479"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/479.png","name":"479"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5782.png","name":"5782"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5.png","name":"5"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1684.png","name":"1684"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8148.png","name":"8148"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":725.006037260546,"rotation_z_degrees":140.2700840365022,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018339716320885442,-0.011575401325022413,0.005931310057915716]},{"name":"camera_2","offset_m":[-0.015333765856396587,-0.012331511308512521,0.01549240315578759]},{"name":"camera_3","offset_m":[0.000610280547110556,0.0018235119514338413,-0.005207432065852733]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009515589927573326,0.0006789880173322452,0.0014658140741179398],"end_effector_yaw_offset_degrees":-0.12568108103935938},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001929505317213199,-0.001273394396959478,-0.0002806792072159686],"end_effector_yaw_offset_degrees":-0.8691799929396087},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012142570358878156,-0.0006748774948883351,5.903327967202556e-05],"end_effector_yaw_offset_degrees":0.30848627754860924},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015406333986707913,0.0019451586467130744,0.0006328274834385191],"end_effector_yaw_offset_degrees":0.8891251017469672}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-2.426016865837797e-05,0.0025773740480674054],"position_m":[0.15237573983134162,0.2261773740480674,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003251111528474641,-0.0017296646880694865],"position_m":[0.23914888847152535,-0.3114296646880695,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0028100710659435483,-0.0015825532726110913],"position_m":[0.32731007106594356,-0.04318255327261109,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007187973054389929,-4.6240433321510094e-05],"position_m":[0.350281202694561,0.3183537595666785,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6dd07428b017fd6afe6b529ab9754e9ce92768f8ac1a5ce153230aae551aab63","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0103.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_479/tex_ceiling_textures_8148/tex_floor_textures_1684/tex_table_textures_5782/tex_wall_textures_5","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":2928997367138036036,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":2928997367138036036,"visual_seed":2928997367138036036,"scene_id":"lab_003","finished_at":"2026-09-04T23:48:14"}
+{"episode_id":"ep_000097","started_at":"2026-09-04T23:48:18","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[0.6615821050591366,-1.6265270707223585,0.71338606911949],"aabb_xy":[[0.6188153981797164,-1.6905270741441607],[0.7043488119385568,-1.5625270673005558]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.4983260654934133,-1.84997287791286,0.71338606911949],"aabb_xy":[[-0.5036585801480262,-1.8552972061580955],[-0.4929935508388003,-1.8446485496676244]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[0.5938644319000959,0.40313348075748623,0.71338606911949],"aabb_xy":[[0.5563644319563293,0.39484039072264965],[0.6313644318438622,0.4114265707923228]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[-0.5698252721046553,-2.5135373405612325,0.71338606911949],"aabb_xy":[[-0.6338252740169976,-2.5694484898192433],[-0.5058252701923129,-2.4576261913032225]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[0.08496859228560516,1.076262146337474,0.71338606911949],"aabb_xy":[[0.07618736513836893,1.067482399048944],[0.09374981943284139,1.0850418936260045]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[0.546058016791096,-0.11859957370624619,0.71338606911949],"aabb_xy":[[0.46605801353325305,-0.19859608149823016],[0.626058020048939,-0.0386030659142622]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_6","position":[-0.13673643943690295,0.2357985817595023,0.71338606911949],"aabb_xy":[[-0.17358698737389058,0.19829858093646854],[-0.09988589149991536,0.27329858258253603]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_7","position":[0.1392906245071761,-1.8976536123434862,0.71338606911949],"aabb_xy":[[0.13187816896578763,-1.9035048227651141],[0.14670308004856458,-1.8918024019218582]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[-0.09595891888572128,-1.473546006209695,0.71338606911949],"aabb_xy":[[-0.1181314458623721,-1.495721673365818],[-0.07378639190907044,-1.4513703390535715]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[-0.4636548240494731,1.6214103782390326,0.71338606911949],"aabb_xy":[[-0.5336548258582186,1.600056609474845],[-0.3936548222407277,1.6427641470032197]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[0.4464696136474766,0.6334736367007627,0.71338606911949],"aabb_xy":[[0.4126940544567836,0.6194351414875976],[0.48024517283816953,0.6475121319139276]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.027133865121636735,1.765636288984092,0.71338606911949],"aabb_xy":[[-0.08213386474338258,1.7106525961966195],[0.027866134500109104,1.820619981771565]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[-0.6817814607160415,-0.32962250816288075,0.71338606911949],"aabb_xy":[[-0.6877479996567772,-0.3355836528222447],[-0.6758149217753058,-0.32366136350351665]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[-0.0409510383091678,0.8277030711969031,0.71338606911949],"aabb_xy":[[-0.08622965319031706,0.7637030718487194],[0.004327576571981462,0.8917030705450868]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[0.4409902554615779,-0.3871193099865322,0.71338606911949],"aabb_xy":[[0.430149777235063,-0.404305591277181],[0.4518307336880928,-0.3699330286958834]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.5682449484642556,0.9575973008900549,0.71338606911949],"aabb_xy":[[0.5307449481720807,0.9535558254894512],[0.6057449487564304,0.9616387762906584]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_16","position":[-0.6083433238699918,-0.6518206750835902,0.71338606911949],"aabb_xy":[[-0.6633433220717364,-0.6923426417100277],[-0.5533433256682467,-0.6112987084571525]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[-0.46085641876152783,0.6907890068270586,0.71338606911949],"aabb_xy":[[-0.491340668888558,0.6407890070455627],[-0.4303721686344977,0.7407890066085546]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[-0.05834533611124393,-1.5860109363607953,0.71338606911949],"aabb_xy":[[-0.07351750539287727,-1.6011797932889988],[-0.04317316682961059,-1.5708420794325921]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.5165836234386894,-0.018026112771788227,0.71338606911949],"aabb_xy":[[-0.566064044652648,-0.08202611068464005],[-0.46710320222473045,0.0459738851410636]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[0.06163193017984958,-1.2580582784660002,0.71338606911949],"aabb_xy":[[0.025718425754859893,-1.2939717866827547],[0.09754543460483925,-1.2221447702492456]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_21","position":[-0.15473655378682194,0.4725966644387176,0.71338606911949],"aabb_xy":[[-0.19598536481673665,0.4175966649265001],[-0.11348774275690719,0.527596663950935]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_22","position":[0.579045616385039,-0.6243084280890048,0.71338606911949],"aabb_xy":[[0.5290626661975596,-0.6743084277315651],[0.6290285665725183,-0.5743084284464443]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_23","position":[0.16247736346805264,0.6817739755093162,0.71338606911949],"aabb_xy":[[0.09247736007649064,0.6464582018058853],[0.2324773668596146,0.717089749212747]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_24","position":[-0.019800879674922056,1.6025550774490323,0.71338606911949],"aabb_xy":[[-0.057300878098322405,1.5893908634812015],[0.017699118748478296,1.615719291416863]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_25","position":[-0.23548547402502346,-1.3895363175083553,0.71338606911949],"aabb_xy":[[-0.25739415616437444,-1.411436984328446],[-0.21357679188567238,-1.3676356506882645]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6925195040229147,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7509.png","name":"7509"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7509.png","name":"7509"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3031.png","name":"3031"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9516.png","name":"9516"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6007.png","name":"6007"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9936.png","name":"9936"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":650.6108088035851,"rotation_z_degrees":246.50761742603544,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005621408205017891,0.018506876204166283,-0.015301909583457212]},{"name":"camera_2","offset_m":[0.008245115175744742,0.007331407874627636,-0.008602246145084643]},{"name":"camera_3","offset_m":[0.012882438194145019,0.017868230934715183,-0.010536853924267318]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[4.811126615641504e-05,-0.0014922838406461008,0.00048689200746944656],"end_effector_yaw_offset_degrees":-0.8256693775584965},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011823490259052728,-0.0004344554727018638,0.0015627872300227313],"end_effector_yaw_offset_degrees":-0.9885421148135431},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017659991087569625,-0.0003772518582326118,0.001503891174925105],"end_effector_yaw_offset_degrees":-0.5011715648763908},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008865402150316682,-0.0019785229715067396,0.001804374424845265],"end_effector_yaw_offset_degrees":0.27355243220236636}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020411445956569985,0.0049492937694316464],"position_m":[0.15035885540434302,0.22854929376943164,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004394703207854881,0.001971648751567783],"position_m":[0.23800529679214513,-0.3077283512484322,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034356481140541484,0.0004507892681526182],"position_m":[0.32106435188594584,-0.04114921073184738,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038818742160784394,-0.0041573086941158145],"position_m":[0.34711812578392154,0.3142426913058842,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ab2ffe487a498a11f2dd9559422d2c44ba29f8ddcae94ed5022e7c93b9c408ac","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0104.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7509/tex_ceiling_textures_9936/tex_floor_textures_6007/tex_table_textures_3031/tex_wall_textures_9516","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":7229419721329350637,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":7229419721329350637,"visual_seed":7229419721329350637,"scene_id":"lab_003","finished_at":"2026-09-04T23:52:00"}
+{"episode_id":"ep_000098","started_at":"2026-09-04T23:57:01","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.1625908679007636,-1.5691457499797625,0.71338606911949],"aabb_xy":[[0.1553296203303562,-1.581932760243272],[0.16985211547117102,-1.556358739716253]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[-0.04477050656770265,1.5776843595518888,0.71338606911949],"aabb_xy":[[-0.09477050600789827,1.5277164350675723],[0.005229492872492969,1.6276522840362049]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.3516004071840537,-1.1957785588574494,0.71338606911949],"aabb_xy":[[-0.38660040549474917,-1.2034935737809949],[-0.3166004088733583,-1.1880635439339036]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_3","position":[-0.3724963006988375,-1.3507102457724083,0.71338606911949],"aabb_xy":[[-0.3977171375586771,-1.3759339966252948],[-0.34727546383899777,-1.3254864949195213]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[0.2391286829582785,-0.9020920586262748,0.71338606911949],"aabb_xy":[[0.23113469438057507,-0.9100921387213651],[0.24712267153598186,-0.8940919785311844]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[0.21931308160373997,1.2999936993786019,0.71338606911949],"aabb_xy":[[0.18246253366675239,1.2624936985555684],[0.2561636295407276,1.3374937002016358]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_6","position":[0.3753104589715377,-0.8477446121744114,0.71338606911949],"aabb_xy":[[0.3103104580144105,-0.899692824108117],[0.4403104599286649,-0.7957964002407059]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[-0.15932694900757904,-2.303175625563164,0.71338606911949],"aabb_xy":[[-0.21432242682823838,-2.358175626997071],[-0.1043314711869196,-2.248175624129257]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[0.5354935627744282,-0.9145900861436376,0.71338606911949],"aabb_xy":[[0.5004935645043082,-0.9216642138386257],[0.570493561044548,-0.9075159584486494]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[-0.44684358631646715,-1.8967790959758632,0.71338606911949],"aabb_xy":[[-0.511843584198115,-1.9479027596824043],[-0.3818435884348194,-1.8456554322693226]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[-0.4192292937436929,0.28550944859816907,0.71338606911949],"aabb_xy":[[-0.42526630674435767,0.27948274752922087],[-0.4131922807430282,0.2915361496671173]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[0.012193387511936327,-0.9155359734506925,0.71338606911949],"aabb_xy":[[0.007349792750706352,-0.9203876259296766],[0.0170369822731663,-0.9106843209717084]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_12","position":[0.4522268507767533,1.480402307340826,0.71338606911949],"aabb_xy":[[0.39222685026890036,1.4235555736549046],[0.5122268512846062,1.5372490410267472]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.523811457378262,-2.500812856250772,0.71338606911949],"aabb_xy":[[0.5119393743667608,-2.585812855944422],[0.5356835403897631,-2.415812856557121]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[0.21945282911275643,-2.492771471582251,0.71338606911949],"aabb_xy":[[0.15545283268543456,-2.5399410954043478],[0.28345282554007833,-2.445601847760155]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[0.4265865355282419,-1.9807530931258537,0.71338606911949],"aabb_xy":[[0.4171690609583791,-1.9901692702635727],[0.4360040100981046,-1.9713369159881347]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[-0.16087654379779392,-0.2193218015614784,0.71338606911949],"aabb_xy":[[-0.2208765436443607,-0.2761404237545171],[-0.10087654395122714,-0.1625031793684397]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.013795379306132172,-2.4446127116589396,0.71338606911949],"aabb_xy":[[-0.018226008660972348,-2.4500610833936225],[-0.009364749951291997,-2.4391643399242575]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[0.23835892866976005,-0.6324975396843966,0.71338606911949],"aabb_xy":[[0.20787467854272987,-0.6824975394658925],[0.2688431787967902,-0.5824975399029007]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[0.5176948821356882,-0.18245067293464334,0.71338606911949],"aabb_xy":[[0.4476948803269427,-0.20380444169883072],[0.5876948839444336,-0.16109690417045597]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.541216775511563,0.9593399838052625,0.71338606911949],"aabb_xy":[[-0.5695464854601032,0.9548792416115456],[-0.5128870655630228,0.9638007259989797]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[-0.5885761004725745,-2.1111166365422873,0.71338606911949],"aabb_xy":[[-0.6685761009427905,-2.1194273441566356],[-0.5085761000023586,-2.102805928927939]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_22","position":[0.6217563623820057,0.8356238623782093,0.71338606911949],"aabb_xy":[[0.5872940149838637,0.8011299799803864],[0.6562187097801473,0.8701177447760318]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[0.4802291435904291,-2.309685206252332,0.71338606911949],"aabb_xy":[[0.40022914251730873,-2.319463252589717],[0.5602291446635494,-2.299907159914948]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_24","position":[0.2983852506321377,-1.1797803976369525,0.71338606911949],"aabb_xy":[[0.21838525197525172,-1.1942852565612152],[0.37838524928902373,-1.1652755387126899]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[0.6528417884360036,-0.38550398473484826,0.71338606911949],"aabb_xy":[[0.5888417865236611,-0.4414151339928587],[0.7168417903483458,-0.3295928354768378]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[0.3256727861548534,-0.5124907422943723,0.71338606911949],"aabb_xy":[[0.31774950591610507,-0.5349907425323757],[0.33359606639360173,-0.48999074205636894]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_27","position":[0.681508615761713,-0.5218379303002241,0.71338606911949],"aabb_xy":[[0.6569624001389621,-0.5520868268492611],[0.7060548313844636,-0.49158903375118707]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6954608601993516,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/469.png","name":"469"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/469.png","name":"469"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4556.png","name":"4556"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2617.png","name":"2617"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9318.png","name":"9318"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7007.png","name":"7007"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":673.967377718106,"rotation_z_degrees":47.99847086578558,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013514184297124237,0.0029987947848560993,0.014461117692644913]},{"name":"camera_2","offset_m":[-0.012652209738947704,0.017552420440059193,0.002447775974218847]},{"name":"camera_3","offset_m":[-0.014656674903398743,-0.0028588094858504783,0.006754978662053091]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0001125347157968303,-0.0007087436457932381,-0.0005457892758677562],"end_effector_yaw_offset_degrees":0.05113484606416607},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004713375296962229,-0.000885876161644454,0.0006262294334328992],"end_effector_yaw_offset_degrees":-0.7513269329932157},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015509140338865277,0.001480842561220828,0.0014175282463443628],"end_effector_yaw_offset_degrees":0.9317433575239229},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001812262584154489,-0.0016399070417689625,-0.0012690742119938602],"end_effector_yaw_offset_degrees":-0.5056807551855851}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0031092573660649195,-0.0015348706797157106],"position_m":[0.15550925736606494,0.22206512932028427,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001926269908345572,0.00382055592882181],"position_m":[0.24259262699083456,-0.3058794440711782,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021556825840387296,0.00041719438525443],"position_m":[0.32665568258403876,-0.04118280561474557,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002460444775639852,-0.00047766133904086905],"position_m":[0.34853955522436014,0.31792233866095915,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1080436c6112858e8025b6aa29194b259d9d7de094b451c46ad11475a88c68dd","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0106.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_469/tex_ceiling_textures_7007/tex_floor_textures_9318/tex_table_textures_4556/tex_wall_textures_2617","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":4346515422523950267,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":4346515422523950267,"visual_seed":4346515422523950267,"scene_id":"lab_003","finished_at":"2026-09-05T00:01:07"}
+{"episode_id":"ep_000099","started_at":"2026-09-05T00:01:11","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[-0.10400210396617537,-2.2661325025231167,0.71338606911949],"aabb_xy":[[-0.11744863060021872,-2.2796023541762085],[-0.09055557733213206,-2.252662650870026]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[0.3432504050444525,1.807361253727215,0.71338606911949],"aabb_xy":[[0.3395471437153136,1.803659235418497],[0.3469536663735914,1.8110632720359325]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[-0.36113792341299195,1.4653679157829234,0.71338606911949],"aabb_xy":[[-0.3836379229366993,1.4428719683323021],[-0.3386379238892845,1.4878638632335437]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[0.4905904856403174,1.4704453526985968,0.71338606911949],"aabb_xy":[[0.48355017570678055,1.3904453532989256],[0.49763079557385453,1.5504453520982686]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[-0.025243569477300998,-2.092399325921534,0.71338606911949],"aabb_xy":[[-0.03402479662453723,-2.101179073210065],[-0.016462342330064775,-2.0836195786330043]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.1512741121971819,-1.4665426968090458,0.71338606911949],"aabb_xy":[[0.1411924051186084,-1.5465426947011605],[0.16135581927575535,-1.3865426989169312]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[-0.18861102896719129,-2.1090481952145392,0.71338606911949],"aabb_xy":[[-0.22611102739059163,-2.1222124091823695],[-0.15111103054379094,-2.095883981246708]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[-0.09576875011706376,-0.5946904222035441,0.71338606911949],"aabb_xy":[[-0.14576874876298496,-0.6446099658630063],[-0.045768751471142566,-0.5447708785440816]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[0.44945414790220783,-1.0053092244862378,0.71338606911949],"aabb_xy":[[0.4434876089614721,-1.0112703691456015],[0.4554206868429437,-0.9993480798268736]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_9","position":[0.11010625049431022,-0.6560963879655355,0.71338606911949],"aabb_xy":[[0.08226121371370311,-0.6868808867038472],[0.13795128727491734,-0.6253118892272238]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.6286645985011224,1.0030748295242526,0.71338606911949],"aabb_xy":[[-0.6522497219650174,0.9380748272788209],[-0.6050794750372277,1.0680748317696844]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_11","position":[-0.2839631890290054,0.8225463257879486,0.71338606911949],"aabb_xy":[[-0.2948036672555203,0.8053600444972999],[-0.2731227108024905,0.8397326070785975]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.18518338928768452,0.48728599532253103,0.71338606911949],"aabb_xy":[[-0.1949393787968584,0.47752346126329653],[-0.17542739977851063,0.4970485293817654]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[-0.24682212147428095,0.17430893736690667,0.71338606911949],"aabb_xy":[[-0.2824512773742407,0.1386762706100537],[-0.21119296557432118,0.2099416041237596]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_14","position":[-0.6047691056690861,0.14294917646036742,0.71338606911949],"aabb_xy":[[-0.6747691072713656,0.12951638325870987],[-0.5347691040668067,0.15638196966202503]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[-0.45761807072234606,-0.19388444757559142,0.71338606911949],"aabb_xy":[[-0.5376180728851085,-0.27383963120173505],[-0.3776180685595835,-0.1139292639494478]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[-0.16401343130783796,0.7839499657645361,0.71338606911949],"aabb_xy":[[-0.21383021077267272,0.7339499672802328],[-0.1141966518430032,0.8339499642488395]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[0.5022239800324595,-0.4366409910337272,0.71338606911949],"aabb_xy":[[0.4821655684192192,-0.45670607794288476],[0.5222823916456998,-0.4165759041245697]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.18887476965973993,1.4257382812258048,0.71338606911949],"aabb_xy":[[0.15641306877781241,1.3956054491109018],[0.22133647054166733,1.455871113340707]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_19","position":[0.38039725601697816,0.9785794678077702,0.71338606911949],"aabb_xy":[[0.3003972580361931,0.9709779268459182],[0.4603972539977632,0.9861810087696221]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_20","position":[-0.02013294203839544,0.7343552660298531,0.71338606911949],"aabb_xy":[[-0.055132940349090886,0.7266402511063075],[0.014867056272300005,0.7420702809533988]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[0.14077185445386575,-2.069374611739139,0.71338606911949],"aabb_xy":[[0.12992024820499015,-2.08023390246679],[0.15162346070274135,-2.0585153210114884]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[-0.13006647363813273,-2.184801316181459,0.71338606911949],"aabb_xy":[[-0.1404780323186164,-2.1901470495173574],[-0.11965491495764899,-2.1794555828455606]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_23","position":[-0.6582249383531178,1.3412396039942012,0.71338606911949],"aabb_xy":[[-0.6623408884651903,1.3371240489613554],[-0.654108988241045,1.3453551590270465]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_24","position":[0.03188508512598465,-1.7783908651342681,0.71338606911949],"aabb_xy":[[-0.05183714037409781,-1.8683908686689639],[0.1156073106260671,-1.688390861599572]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[0.6377406243409376,-1.7848208701103245,0.71338606911949],"aabb_xy":[[0.6263788896876513,-1.7961893365166122],[0.6491023589942236,-1.773452403704036]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7009259373107128,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5277.png","name":"5277"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5277.png","name":"5277"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4967.png","name":"4967"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5459.png","name":"5459"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5390.png","name":"5390"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5603.png","name":"5603"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":784.8091877892828,"rotation_z_degrees":39.64971280375234,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015893712288641323,-0.009426035057703381,-0.013828847566637008]},{"name":"camera_2","offset_m":[0.0003522016499277955,-0.004287254200177799,-0.006606066966135207]},{"name":"camera_3","offset_m":[-0.01701570570479348,-0.011541356836244075,-0.011819708245305432]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-7.31367595045657e-05,-0.00133526992609419,0.0015772850126491958],"end_effector_yaw_offset_degrees":-0.8644458995627935},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012383163087281092,0.000966944629592818,0.0018104401209515695],"end_effector_yaw_offset_degrees":0.5712961458137302},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004251390725903098,-0.00166746573090355,-0.0010451594815043133],"end_effector_yaw_offset_degrees":0.5680663798625365},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009261930911961774,-0.0009967899231405673,-0.0009894807544879778],"end_effector_yaw_offset_degrees":0.87316311350362}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00004","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0001907885495268536,-0.00405492006541902],"position_m":[0.15220921145047314,0.21954507993458097,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037717680854244596,-0.0004269199779996071],"position_m":[0.23862823191457555,-0.31012691997799957,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002887558397135296,-0.00455959141188167],"position_m":[0.3273875583971353,-0.04615959141188167,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016656680317862016,0.0034456494788689647],"position_m":[0.3526656680317862,0.32184564947886896,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"614b300fc85fa14377c1beb0001aef54d29a6bf5cc7b32e015fb06a2e9a827f4","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/dataset/episode_0107.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5277/tex_ceiling_textures_5603/tex_floor_textures_5390/tex_table_textures_4967/tex_wall_textures_5459","seeds":{"action_seed":5534205038649275162,"physical_seed":6190658053621552877,"visual_seed":3773840809268294448,"layout_id":"layout_00004","physical_randomization_enabled":true},"episode_seed":3773840809268294448,"visual_seed":3773840809268294448,"scene_id":"lab_003","finished_at":"2026-09-05T00:05:16"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..e1549a71161713d5e9f3ed75076d79980e346caf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_htb_00004
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00004
+  reproducibility:
+    enabled: true
+    layout_id: layout_00004
+    action_seed: 5534205038649275162
+    step_seeds:
+    - 8177086777345662735
+    - 7334121879167987492
+    - 3939905729978646839
+    - 3527837777090367145
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1524
+      - 0.1524
+      'y':
+      - 0.2236
+      - 0.2236
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3245
+      - 0.3245
+      'y':
+      - -0.0416
+      - -0.0416
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.351
+      - 0.351
+      'y':
+      - 0.3184
+      - 0.3184
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2424
+      - 0.2424
+      'y':
+      - -0.3097
+      - -0.3097
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8c6e11c67a2bdaba0f89ca5d89b38cf747ffe74
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1722733502166792,
+              0.22824064560522958,
+              1.0478380961762626
+            ],
+            "current_z": 1.0478380961762626,
+            "required_z": 0.8611065878409712,
+            "initial_z": 0.7611065878409712,
+            "lift_margin": 0.1867315083352914,
+            "gripper_z": 1.053783320265636,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16957773330226814,
+              0.22484585495414883,
+              1.053783320265636
+            ],
+            "object_minus_gripper": [
+              0.0026956169144110587,
+              0.0033947906510807535,
+              -0.005945224089373369
+            ],
+            "object_to_gripper_xy": 0.0043348534131991455,
+            "object_to_gripper_z": -0.005945224089373369,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1722733502166792,
+              0.20483653800825793,
+              1.0478380961762626
+            ],
+            "finger_b": [
+              0.16338589175970428,
+              0.22824064560522958,
+              1.0478380961762626
+            ],
+            "finger_midpoint": [
+              0.16782962098819174,
+              0.21653859180674376,
+              1.0478380961762626
+            ],
+            "object_minus_finger_midpoint": [
+              0.0044437292284874585,
+              0.011702053798485823,
+              0.0
+            ],
+            "finger_gap": 0.02503475924060547,
+            "fingertip_max_gap": 0.09717010284174063,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012517379620302735,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478380961762626,
+            "object_top_z": 1.1005949357963998,
+            "finger_top_clearance": 0.05275683962013722,
+            "fingertip_min_top_clearance": 0.015827051886041166,
+            "object_projection_between_fingers": 0.873971627152603,
+            "object_to_finger_line_xy": 0.008308569377143563,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05108505142087032,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.533447534818268,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17304693099893267,
+              0.23116442846027851,
+              1.2436239739032395
+            ],
+            "held_position": [
+              0.17580829760829575,
+              0.2344129668368641,
+              1.2376070830068704
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007374355781643881,
+            "max_held_gripper_dist": 0.007387968689155029,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0060168908963691425,
+            "max_held_gripper_z_dist": 0.006047791853815099,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08576757326445236,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17580829760829575,
+              0.21072779049631374,
+              1.2376070830068704
+            ],
+            "held_grasp_finger_b": [
+              0.1677382648234055,
+              0.2344129668368641,
+              1.2376070830068704
+            ],
+            "held_grasp_midpoint": [
+              0.17177328121585062,
+              0.2225703786665889,
+              1.2376070830068704
+            ],
+            "held_grasp_object_position": [
+              0.17580829760829575,
+              0.2344129668368641,
+              1.2376070830068704
+            ],
+            "held_grasp_finger_gap": 0.02502225024717342,
+            "held_grasp_max_gap": 0.12496591866016388,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02370221544241458,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.004593026517771766,
+              -0.9991544596321291,
+              0.040856699629744135
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004117847387190137,
+            "held_grasp_line_xy_max_dist": 0.04748295933008194,
+            "held_grasp_object_top_z": 0.04972074553370476,
+            "held_grasp_top_clearance": 0.037906703687077756,
+            "held_grasp_min_top_clearance": 0.014916223660111427
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2974006414976603,
+              -0.3142321136085555,
+              0.8515395971330436
+            ],
+            "target_position": [
+              0.29404895329557623,
+              -0.3140617633981668,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0033560144514243615,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1800350258848521,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395971330436,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516292737304683,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08745844349341374,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14896615610869846,
+            "release_required_pad_clearance": 0.05372922174670687,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4676915282053655,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007344603538513184,
+            "max_z_decrease": 0.007344603538513184,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351960358279521,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007344603538513184,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021258316619328456,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007344603538513184,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007344615267097604,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1497488766908645,
+              -0.37032321095466614,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1497488766908645,
+              -0.37032321095466614,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15111034231982617,
+              -0.37165871670673273,
+              0.8079581257516175
+            ],
+            "closest_button": [
+              0.14974033832550043,
+              -0.3703288435935974,
+              0.7728139162063599
+            ],
+            "closest_ee_minus_button": [
+              0.0013700039943257414,
+              -0.0013298731131353159,
+              0.035144209545257654
+            ],
+            "button_min_z_position": [
+              0.14973592758178705,
+              -0.37032535672187805,
+              0.7694642543792725
+            ],
+            "min_active_finger_to_button": 0.14466236993164583,
+            "closest_active_finger": [
+              0.010156266391277313,
+              -0.3538109362125397,
+              0.8107454776763916
+            ],
+            "closest_active_finger_button": [
+              0.1497500985860824,
+              -0.3703252971172333,
+              0.7765688896179199
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395938321948051,
+              0.016514360904693604,
+              0.03417658805847168
+            ],
+            "min_contact_pad_to_button": 0.021258316619328456,
+            "closest_contact_pad": [
+              0.14973592758178705,
+              -0.37306617924237045,
+              0.7905451442418655
+            ],
+            "closest_contact_pad_button": [
+              0.14973592758178705,
+              -0.37032535672187805,
+              0.7694642543792725
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002740822520492403,
+              0.021080889862593044
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "392bba0750e3e1e3921c4f2eb25240acb022b6b78257774701b228a04c1916b8",
+    "visual_seed": 3878897624647413684,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f254d4983a96f6c97297e5fd09040a0bdd6c4f2d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1751008453623213,
+              0.22942807162424886,
+              1.0491186153243237
+            ],
+            "current_z": 1.0491186153243237,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18801192849562343,
+            "gripper_z": 1.0550322508485184,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17188811823023292,
+              0.22570179482691455,
+              1.0550322508485184
+            ],
+            "object_minus_gripper": [
+              0.0032127271320883666,
+              0.0037262767973343103,
+              -0.00591363552419466
+            ],
+            "object_to_gripper_xy": 0.004920036015682079,
+            "object_to_gripper_z": -0.00591363552419466,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1751008453623213,
+              0.20585051572394733,
+              1.0491186153243237
+            ],
+            "finger_b": [
+              0.16547297991189813,
+              0.22942807162424886,
+              1.0491186153243237
+            ],
+            "finger_midpoint": [
+              0.1702869126371097,
+              0.2176392936740981,
+              1.0491186153243237
+            ],
+            "object_minus_finger_midpoint": [
+              0.004813932725211578,
+              0.011788777950150764,
+              0.0
+            ],
+            "finger_gap": 0.025467566341590146,
+            "fingertip_max_gap": 0.09476167387701723,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012733783170795073,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491186153243237,
+            "object_top_z": 1.1008275900392614,
+            "finger_top_clearance": 0.05170897471493774,
+            "fingertip_min_top_clearance": 0.015512692414481338,
+            "object_projection_between_fingers": 0.8570825915488938,
+            "object_to_finger_line_xy": 0.008913357986908475,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049880836938508616,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6988521373151664,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17557198748785277,
+              0.23162608875785817,
+              1.2419388169926804
+            ],
+            "held_position": [
+              0.17884841650194644,
+              0.2351458544031408,
+              1.2359048565637818
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007715725224476359,
+            "max_held_gripper_dist": 0.007730376117619048,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006033960428898588,
+            "max_held_gripper_z_dist": 0.00606565249073987,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08610032408539517,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17884841650194644,
+              0.21110258156668046,
+              1.2359048565637818
+            ],
+            "held_grasp_finger_b": [
+              0.1704925613788426,
+              0.2351458544031408,
+              1.2359048565637818
+            ],
+            "held_grasp_midpoint": [
+              0.17467048894039452,
+              0.22312421798491064,
+              1.2359048565637818
+            ],
+            "held_grasp_object_position": [
+              0.17884841650194644,
+              0.2351458544031408,
+              1.2359048565637818
+            ],
+            "held_grasp_finger_gap": 0.02545386578747465,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023883914926040313,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.017283793658079496,
+              -0.9993787437036087,
+              0.030714770228374322
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003986763039480271,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037633871731290375,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2945623101071515,
+              -0.3050904797734937,
+              0.8515395661473986
+            ],
+            "target_position": [
+              0.2905193195985422,
+              -0.3056481134141569,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004081265432424616,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18273462563402298,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395661473986,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590315359992036,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0876291633992952,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1500457700116321,
+            "release_required_pad_clearance": 0.053814581699647604,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6384619533912197,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00694805383682251,
+            "max_z_decrease": 0.00694805383682251,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515346857610315,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00694805383682251,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02112550337731649,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00694805383682251,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006948074709717112,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14621923863887787,
+              -0.36190956830978394,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14621923863887787,
+              -0.36190956830978394,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1447677515512041,
+              -0.36287018306502933,
+              0.8081676597324592
+            ],
+            "closest_button": [
+              0.1462087482213974,
+              -0.3619143664836883,
+              0.7730567455291748
+            ],
+            "closest_ee_minus_button": [
+              -0.0014409966701932897,
+              -0.0009558165813410291,
+              0.03511091420328438
+            ],
+            "button_min_z_position": [
+              0.1462022215127945,
+              -0.36191025376319885,
+              0.7698608040809631
+            ],
+            "min_active_finger_to_button": 0.14744219203433934,
+            "closest_active_finger": [
+              0.0034008175134658813,
+              -0.3487529456615448,
+              0.8109824657440186
+            ],
+            "closest_active_finger_button": [
+              0.14621955156326294,
+              -0.3619107007980346,
+              0.7767935395240784
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14281873404979706,
+              0.013157755136489813,
+              0.034188926219940186
+            ],
+            "min_contact_pad_to_button": 0.02112550337731649,
+            "closest_contact_pad": [
+              0.1462022215127945,
+              -0.36392579953822163,
+              0.7908899378761007
+            ],
+            "closest_contact_pad_button": [
+              0.1462022215127945,
+              -0.36191025376319885,
+              0.7698608040809631
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020155457750227757,
+              0.0210291337951376
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "903904c707386292e8cb4b6c4c27b8e7753393cdd6076fdd5b26bea67eab64a3",
+    "visual_seed": 6405835710246206760,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dea4406685b4144a9026f12f8472b1f777af8708
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18033258386235135,
+              0.22901858327865252,
+              1.0465435677260484
+            ],
+            "current_z": 1.0465435677260484,
+            "required_z": 0.861107044456569,
+            "initial_z": 0.7611070444565691,
+            "lift_margin": 0.18543652326947935,
+            "gripper_z": 1.052240244428466,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1768822518470329,
+              0.22503598758367696,
+              1.052240244428466
+            ],
+            "object_minus_gripper": [
+              0.0034503320153184414,
+              0.003982595694975555,
+              -0.00569667670241758
+            ],
+            "object_to_gripper_xy": 0.005269331977164586,
+            "object_to_gripper_z": -0.00569667670241758,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18033258386235135,
+              0.20562789349453026,
+              1.0465435677260484
+            ],
+            "finger_b": [
+              0.1698710962803538,
+              0.22901858327865252,
+              1.0465435677260484
+            ],
+            "finger_midpoint": [
+              0.17510184007135257,
+              0.2173232383865914,
+              1.0465435677260484
+            ],
+            "object_minus_finger_midpoint": [
+              0.005230743790998776,
+              0.011695344892061116,
+              0.0
+            ],
+            "finger_gap": 0.02562356515017632,
+            "fingertip_max_gap": 0.09426859710275781,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012811782575088146,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465435677260484,
+            "object_top_z": 1.0982874008130366,
+            "finger_top_clearance": 0.051743833086988156,
+            "fingertip_min_top_clearance": 0.015523149926096446,
+            "object_projection_between_fingers": 0.8333106792472479,
+            "object_to_finger_line_xy": 0.009549858080902853,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04963429855137891,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4673649013692438,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18066501277568284,
+              0.23062413934334708,
+              1.2410410693792364
+            ],
+            "held_position": [
+              0.18431402564370397,
+              0.23430429418147233,
+              1.2352395697641743
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007779217976578808,
+            "max_held_gripper_dist": 0.007793050580375836,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005801499615062156,
+            "max_held_gripper_z_dist": 0.005835076873990097,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860257627611086,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18431402564370397,
+              0.21005367153008686,
+              1.2352395697641743
+            ],
+            "held_grasp_finger_b": [
+              0.1755996111944121,
+              0.23430429418147233,
+              1.2352395697641743
+            ],
+            "held_grasp_midpoint": [
+              0.17995681841905803,
+              0.22217898285577958,
+              1.2352395697641743
+            ],
+            "held_grasp_object_position": [
+              0.18431402564370397,
+              0.23430429418147233,
+              1.2352395697641743
+            ],
+            "held_grasp_finger_gap": 0.02576885170460487,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023778483738777476,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.049251197082028984,
+              -0.9982291766389352,
+              0.033359114088066126
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037768418256106683,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03740181285720977,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.297628086878968,
+              -0.30541831167554,
+              0.8515395778163539
+            ],
+            "target_position": [
+              0.29285542840557144,
+              -0.30618175181814056,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004833333193047854,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18218778609386704,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395778163539,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556192971379674,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851797044434474,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1502015479643434,
+            "release_required_pad_clearance": 0.0525898522217237,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.24389312370440733,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00715947151184082,
+            "max_z_decrease": 0.00715947151184082,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035173919221949665,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00715947151184082,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021223456978042482,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00715947151184082,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0071594880589635,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14855535328388209,
+              -0.36244320869445795,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14855535328388209,
+              -0.36244320869445795,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14752241097818006,
+              -0.3639290876439969,
+              0.8079229156937461
+            ],
+            "closest_button": [
+              0.1485437154769897,
+              -0.3624497652053833,
+              0.7727949619293213
+            ],
+            "closest_ee_minus_button": [
+              -0.0010213044988096331,
+              -0.001479322438613595,
+              0.03512795376442479
+            ],
+            "button_min_z_position": [
+              0.1485400944948196,
+              -0.3624452352523803,
+              0.7696493864059448
+            ],
+            "min_active_finger_to_button": 0.14694198583455473,
+            "closest_active_finger": [
+              0.00645650178194046,
+              -0.34711068868637085,
+              0.8106170296669006
+            ],
+            "closest_active_finger_button": [
+              0.14855435490608213,
+              -0.36244633793830866,
+              0.7764854431152344
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14209785312414167,
+              0.01533564925193781,
+              0.03413158655166626
+            ],
+            "min_contact_pad_to_button": 0.021223456978042482,
+            "closest_contact_pad": [
+              0.1485400944948196,
+              -0.3652811725219869,
+              0.7906825170788065
+            ],
+            "closest_contact_pad_button": [
+              0.1485400944948196,
+              -0.3624452352523803,
+              0.7696493864059448
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00283593726960657,
+              0.021033130672861722
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3462ff19cc344b6a242846e42682d1f054535154e4dc9968a88f646972e6036",
+    "visual_seed": 5325905960612260723,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2b81797cbdca88267b49cfaa54a1384954dd2af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17350343178206046,
+              0.22219484550712926,
+              1.0497228924250004
+            ],
+            "current_z": 1.0497228924250004,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18861626520094488,
+            "gripper_z": 1.0554752728988759,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1702964816634723,
+              0.21843655880977697,
+              1.0554752728988759
+            ],
+            "object_minus_gripper": [
+              0.0032069501185881533,
+              0.0037582866973522866,
+              -0.005752380473875496
+            ],
+            "object_to_gripper_xy": 0.004940571623062227,
+            "object_to_gripper_z": -0.005752380473875496,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17350343178206046,
+              0.19872456092284213,
+              1.0497228924250004
+            ],
+            "finger_b": [
+              0.1636813742798705,
+              0.22219484550712926,
+              1.0497228924250004
+            ],
+            "finger_midpoint": [
+              0.16859240303096548,
+              0.2104597032149857,
+              1.0497228924250004
+            ],
+            "object_minus_finger_midpoint": [
+              0.004911028751094976,
+              0.011735142292143563,
+              0.0
+            ],
+            "finger_gap": 0.025442623136063464,
+            "fingertip_max_gap": 0.09080244179213229,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012721311568031732,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497228924250004,
+            "object_top_z": 1.0994586366850105,
+            "finger_top_clearance": 0.04973574426001015,
+            "fingertip_min_top_clearance": 0.014920723278003045,
+            "object_projection_between_fingers": 0.8509674355627669,
+            "object_to_finger_line_xy": 0.009060641410549864,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047901220896066146,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8392856020289229,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17434677149874495,
+              0.22366833113658838,
+              1.2451600664480194
+            ],
+            "held_position": [
+              0.17769437111334255,
+              0.22716076813330552,
+              1.2392960620538251
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007601979143014118,
+            "max_held_gripper_dist": 0.0076187966777452425,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005864004394194211,
+            "max_held_gripper_z_dist": 0.005895662969862547,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08622499768245698,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17769437111334255,
+              0.203022552761208,
+              1.2392960620538251
+            ],
+            "held_grasp_finger_b": [
+              0.1694232136547951,
+              0.22716076813330552,
+              1.2392960620538251
+            ],
+            "held_grasp_midpoint": [
+              0.17355879238406882,
+              0.21509166044725675,
+              1.2392960620538251
+            ],
+            "held_grasp_object_position": [
+              0.17769437111334255,
+              0.22716076813330552,
+              1.2392960620538251
+            ],
+            "held_grasp_finger_gap": 0.025515984932074437,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023784033468575657,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.040169241729198876,
+              -0.9990912426684804,
+              0.014252046942555326
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036515434204268463,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037495987212474574,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30724192085054625,
+              -0.3064319497321931,
+              0.8515395628811937
+            ],
+            "target_position": [
+              0.30027419808159483,
+              -0.30807972779611165,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071599115310801865,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18324282115617924,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395628811937,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528595089572263,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08518632724494461,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522321177110381,
+            "release_required_pad_clearance": 0.05259316362247231,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.25022906818412033,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073659420013427734,
+            "max_z_decrease": 0.0073659420013427734,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520320145036436,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073659420013427734,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021209956809159596,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0073659420013427734,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007365966571110611,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15597411990165705,
+              -0.3643411993980407,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15597411990165705,
+              -0.3643411993980407,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15753011790391946,
+              -0.3656844549011688,
+              0.8079875200334409
+            ],
+            "closest_button": [
+              0.15596301853656763,
+              -0.3643481731414795,
+              0.7728446125984192
+            ],
+            "closest_ee_minus_button": [
+              0.0015670993673518319,
+              -0.0013362817596893062,
+              0.035142907435021686
+            ],
+            "button_min_z_position": [
+              0.1559553295373916,
+              -0.36434417963027954,
+              0.7694429159164429
+            ],
+            "min_active_finger_to_button": 0.14448866367057706,
+            "closest_active_finger": [
+              0.01619064062833786,
+              -0.35128548741340637,
+              0.8107640147209167
+            ],
+            "closest_active_finger_button": [
+              0.1559745073318481,
+              -0.36434340476989746,
+              0.7766035795211792
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13978386670351023,
+              0.013057917356491089,
+              0.03416043519973755
+            ],
+            "min_contact_pad_to_button": 0.021209956809159596,
+            "closest_contact_pad": [
+              0.1559553295373916,
+              -0.3667578852386295,
+              0.7905150846012896
+            ],
+            "closest_contact_pad_button": [
+              0.1559553295373916,
+              -0.36434417963027954,
+              0.7694429159164429
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024137056083499697,
+              0.021072168684846737
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2c9a9a5b92eaac341b705e9ce49754ad766e41f6288000d8bb4217b9cf93e6d6",
+    "visual_seed": 4297793764547281142,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dfb6a237a5cfbaf17c28219deb44b8d5cf0a60e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17686665824240216,
+              0.22950013836424582,
+              1.0495267360471572
+            ],
+            "current_z": 1.0495267360471572,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18841998961381212,
+            "gripper_z": 1.0554237582123445,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17345676817033795,
+              0.22563218724019884,
+              1.0554237582123445
+            ],
+            "object_minus_gripper": [
+              0.0034098900720642145,
+              0.0038679511240469755,
+              -0.005897022165187282
+            ],
+            "object_to_gripper_xy": 0.005156393720574327,
+            "object_to_gripper_z": -0.005897022165187282,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17686665824240216,
+              0.20590527022580957,
+              1.0495267360471572
+            ],
+            "finger_b": [
+              0.1668687306586134,
+              0.22950013836424582,
+              1.0495267360471572
+            ],
+            "finger_midpoint": [
+              0.17186769445050779,
+              0.2177027042950277,
+              1.0495267360471572
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049989637918943786,
+              0.011797434069218127,
+              0.0
+            ],
+            "finger_gap": 0.025625697228385383,
+            "fingertip_max_gap": 0.0921410917830556,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012812848614192691,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495267360471572,
+            "object_top_z": 1.0998887981198537,
+            "finger_top_clearance": 0.050362062072696556,
+            "fingertip_min_top_clearance": 0.015108618621808999,
+            "object_projection_between_fingers": 0.8477810953815791,
+            "object_to_finger_line_xy": 0.009205594715909843,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0485705458915278,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0736710428728256,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17733286336451792,
+              0.23103545385519902,
+              1.2436536737990753
+            ],
+            "held_position": [
+              0.18087677761161824,
+              0.23464754611274952,
+              1.2376431915132229
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007856999171210518,
+            "max_held_gripper_dist": 0.007871973812668532,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0060104822858524365,
+            "max_held_gripper_z_dist": 0.006044559277696537,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08632221182126498,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18087677761161824,
+              0.21042923704542532,
+              1.2376431915132229
+            ],
+            "held_grasp_finger_b": [
+              0.172348582746266,
+              0.23464754611274952,
+              1.2376431915132229
+            ],
+            "held_grasp_midpoint": [
+              0.1766126801789421,
+              0.22253839157908742,
+              1.2376431915132229
+            ],
+            "held_grasp_object_position": [
+              0.18087677761161824,
+              0.23464754611274952,
+              1.2376431915132229
+            ],
+            "held_grasp_finger_gap": 0.02567599271190615,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023915667250253285,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03340472147239979,
+              -0.9992666770053146,
+              0.01871450801137442
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003863944253085354,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03747753447082898,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2980098584232327,
+              -0.31019276178901733,
+              0.851539553946577
+            ],
+            "target_position": [
+              0.2922133415962579,
+              -0.31143747900438834,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00592865315831875,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18382260198922645,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539553946577,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562211638904685,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0861575589941808,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1517039915240044,
+            "release_required_pad_clearance": 0.0530787794970904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.186286157608669,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007408499717712402,
+            "max_z_decrease": 0.007408499717712402,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03524907967115631,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007408499717712402,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021076963114894376,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007408499717712402,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007408525415559157,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14791326224803925,
+              -0.3676989376544952,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14791326224803925,
+              -0.3676989376544952,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14990381990809554,
+              -0.36577612163303264,
+              0.8078306074809672
+            ],
+            "closest_button": [
+              0.14790165424346924,
+              -0.3677045106887817,
+              0.7726913094520569
+            ],
+            "closest_ee_minus_button": [
+              0.0020021656646262986,
+              0.0019283890557490468,
+              0.03513929802891036
+            ],
+            "button_min_z_position": [
+              0.14789383113384247,
+              -0.36770072579383845,
+              0.7694003582000732
+            ],
+            "min_active_finger_to_button": 0.1435312134486494,
+            "closest_active_finger": [
+              0.02361758053302765,
+              -0.43084779381752014,
+              0.8105050921440125
+            ],
+            "closest_active_finger_button": [
+              0.14791224896907806,
+              -0.36770144104957575,
+              0.7763791084289551
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12429466843605042,
+              -0.06314635276794439,
+              0.03412598371505737
+            ],
+            "min_contact_pad_to_button": 0.021076963114894376,
+            "closest_contact_pad": [
+              0.14789383113384247,
+              -0.36770072579383845,
+              0.7904773213149676
+            ],
+            "closest_contact_pad_button": [
+              0.14789383113384247,
+              -0.36770072579383845,
+              0.7694003582000732
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021076963114894376
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6dd07428b017fd6afe6b529ab9754e9ce92768f8ac1a5ce153230aae551aab63",
+    "visual_seed": 2928997367138036036,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..641443f142fab563bafa7f6dfc0f3b3e80f8ce1a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17469562879504227,
+              0.22948449320639702,
+              1.0484195577976827
+            ],
+            "current_z": 1.0484195577976827,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.18731281136433742,
+            "gripper_z": 1.054226893791026,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.171737790139017,
+              0.22594531543575178,
+              1.054226893791026
+            ],
+            "object_minus_gripper": [
+              0.00295783865602528,
+              0.0035391777706452465,
+              -0.0058073359933432656
+            ],
+            "object_to_gripper_xy": 0.004612438488186796,
+            "object_to_gripper_z": -0.0058073359933432656,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17469562879504227,
+              0.20597004430526628,
+              1.0484195577976827
+            ],
+            "finger_b": [
+              0.16549376756525275,
+              0.22948449320639702,
+              1.0484195577976827
+            ],
+            "finger_midpoint": [
+              0.1700946981801475,
+              0.21772726875583165,
+              1.0484195577976827
+            ],
+            "object_minus_finger_midpoint": [
+              0.004600930614894777,
+              0.011757224450565373,
+              0.0
+            ],
+            "finger_gap": 0.0252508130010935,
+            "fingertip_max_gap": 0.09677256535244852,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012625406500546756,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484195577976827,
+            "object_top_z": 1.1010119348424472,
+            "finger_top_clearance": 0.05259237704476449,
+            "fingertip_min_top_clearance": 0.015777713113429313,
+            "object_projection_between_fingers": 0.8671992194303378,
+            "object_to_finger_line_xy": 0.008569098178098726,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05088628267622426,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.503119462041242,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17545364059837748,
+              0.23161419608579642,
+              1.2445005784312249
+            ],
+            "held_position": [
+              0.17850156358039201,
+              0.23497107230813344,
+              1.238610542196624
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007433100249646489,
+            "max_held_gripper_dist": 0.007447572938185627,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005890036234600826,
+            "max_held_gripper_z_dist": 0.005922373987175655,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08583386027407966,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17850156358039201,
+              0.21106543799327324,
+              1.238610542196624
+            ],
+            "held_grasp_finger_b": [
+              0.17032901399962447,
+              0.23497107230813344,
+              1.238610542196624
+            ],
+            "held_grasp_midpoint": [
+              0.17441528879000823,
+              0.22301825515070334,
+              1.238610542196624
+            ],
+            "held_grasp_object_position": [
+              0.17850156358039201,
+              0.23497107230813344,
+              1.238610542196624
+            ],
+            "held_grasp_finger_gap": 0.025264004406386677,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023857552948838075,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.00338201922369678,
+              -0.9991449025796965,
+              0.041207106122361115
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004075732014297142,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037763833875887255,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29477598084991863,
+              -0.30766437559055937,
+              0.8515395775285121
+            ],
+            "target_position": [
+              0.2910697499168777,
+              -0.30773616556475103,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003706926156456865,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18338124003386472,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395775285121,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530700129423838,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08720444203937304,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15189021847996867,
+            "release_required_pad_clearance": 0.05360222101968652,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.214950039786535,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007297933101654053,
+            "max_z_decrease": 0.007297933101654053,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035218924128320485,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007297933101654053,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0213003975879759,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007297933101654053,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007297953223713143,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14676967263221735,
+              -0.36399763822555536,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14676967263221735,
+              -0.36399763822555536,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1481590606028081,
+              -0.36596356704719196,
+              0.8078952573421685
+            ],
+            "closest_button": [
+              0.14675833284854883,
+              -0.3640043139457702,
+              0.7727587819099426
+            ],
+            "closest_ee_minus_button": [
+              0.0014007277542592567,
+              -0.001959253101421754,
+              0.03513647543222587
+            ],
+            "button_min_z_position": [
+              0.14675268530845637,
+              -0.36399990320205683,
+              0.7695109248161316
+            ],
+            "min_active_finger_to_button": 0.1445870902372929,
+            "closest_active_finger": [
+              0.006914451718330383,
+              -0.3506412208080292,
+              0.8106200098991394
+            ],
+            "closest_active_finger_button": [
+              0.1467695832252502,
+              -0.3639999330043792,
+              0.7764511108398438
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1398551315069198,
+              0.013358712196350042,
+              0.034168899059295654
+            ],
+            "min_contact_pad_to_button": 0.0213003975879759,
+            "closest_contact_pad": [
+              0.14675268530845637,
+              -0.36710135044531944,
+              0.7905843194739248
+            ],
+            "closest_contact_pad_button": [
+              0.14675268530845637,
+              -0.36399990320205683,
+              0.7695109248161316
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031014472432626117,
+              0.021073394657793232
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ab2ffe487a498a11f2dd9559422d2c44ba29f8ddcae94ed5022e7c93b9c408ac",
+    "visual_seed": 7229419721329350637,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6087ae749bf1c5be855c12c3ed6bfc2814a671a2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1803405608537417,
+              0.22407757600796047,
+              1.0476868094287846
+            ],
+            "current_z": 1.0476868094287846,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.1865802418093736,
+            "gripper_z": 1.05338117563701,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17669055056836666,
+              0.2200559027756649,
+              1.05338117563701
+            ],
+            "object_minus_gripper": [
+              0.0036500102853750382,
+              0.004021673232295575,
+              -0.005694366208225388
+            ],
+            "object_to_gripper_xy": 0.005431061652265264,
+            "object_to_gripper_z": -0.005694366208225388,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1803405608537417,
+              0.20039046675849642,
+              1.0476868094287846
+            ],
+            "finger_b": [
+              0.17001418238848975,
+              0.22407757600796047,
+              1.0476868094287846
+            ],
+            "finger_midpoint": [
+              0.17517737162111574,
+              0.21223402138322844,
+              1.0476868094287846
+            ],
+            "object_minus_finger_midpoint": [
+              0.005163189232625959,
+              0.011843554624732022,
+              0.0
+            ],
+            "finger_gap": 0.02584014777054621,
+            "fingertip_max_gap": 0.09120353634807246,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012920073885273099,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476868094287846,
+            "object_top_z": 1.0976391385931457,
+            "finger_top_clearance": 0.0499523291643611,
+            "fingertip_min_top_clearance": 0.014985698749308312,
+            "object_projection_between_fingers": 0.8402995682426856,
+            "object_to_finger_line_xy": 0.009465969662005752,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810176817403623,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8547482422900936,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1807302605023501,
+              0.22501477812639106,
+              1.2427084309640435
+            ],
+            "held_position": [
+              0.1845499301716285,
+              0.22872797306798612,
+              1.236897712665177
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007883028618841497,
+            "max_held_gripper_dist": 0.007896618938905189,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00581071829886648,
+            "max_held_gripper_z_dist": 0.005846115793298079,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08639404595595593,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1845499301716285,
+              0.20433002120898322,
+              1.236897712665177
+            ],
+            "held_grasp_finger_b": [
+              0.17585273537740573,
+              0.22872797306798612,
+              1.236897712665177
+            ],
+            "held_grasp_midpoint": [
+              0.1802013327745171,
+              0.21652899713848467,
+              1.236897712665177
+            ],
+            "held_grasp_object_position": [
+              0.1845499301716285,
+              0.22872797306798612,
+              1.236897712665177
+            ],
+            "held_grasp_finger_gap": 0.02590176156563253,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023986273141907308,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04418591640241841,
+              -0.9988775617256409,
+              0.01706521235488101
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038111071018754905,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03734281997702833,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3025640269969918,
+              -0.3040056072285393,
+              0.8515395994866045
+            ],
+            "target_position": [
+              0.29565708011556713,
+              -0.30588725838749703,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007158667914272113,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1857471486024507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395994866045,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588848402169784,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865895327560167,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15313307844450047,
+            "release_required_pad_clearance": 0.053294766378008354,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.608111888322644,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007294595241546631,
+            "max_z_decrease": 0.007294595241546631,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035179029735125496,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007294595241546631,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021241957542997358,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007294595241546631,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007294612186905541,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15135701000690457,
+              -0.36214870214462275,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15135701000690457,
+              -0.36214870214462275,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15023803168618932,
+              -0.3637282563589467,
+              0.8078103352733085
+            ],
+            "closest_button": [
+              0.15134522318840027,
+              -0.362155646085739,
+              0.7726839184761047
+            ],
+            "closest_ee_minus_button": [
+              -0.0011071915022109469,
+              -0.001572610273207653,
+              0.03512641679720374
+            ],
+            "button_min_z_position": [
+              0.15134152770042417,
+              -0.36215144395828236,
+              0.769514262676239
+            ],
+            "min_active_finger_to_button": 0.14701162877317098,
+            "closest_active_finger": [
+              0.009228222072124481,
+              -0.3464391529560089,
+              0.8104935884475708
+            ],
+            "closest_active_finger_button": [
+              0.15135693550109863,
+              -0.3621520400047301,
+              0.7763621807098389
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14212871342897415,
+              0.015712887048721202,
+              0.034131407737731934
+            ],
+            "min_contact_pad_to_button": 0.021241957542997358,
+            "closest_contact_pad": [
+              0.15134152770042417,
+              -0.3651373273725406,
+              0.7905453173453458
+            ],
+            "closest_contact_pad_button": [
+              0.15134152770042417,
+              -0.36215144395828236,
+              0.769514262676239
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029858834142582613,
+              0.02103105466910682
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1080436c6112858e8025b6aa29194b259d9d7de094b451c46ad11475a88c68dd",
+    "visual_seed": 4346515422523950267,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..728278a1df5149fd6cea80f50b0878437c825029
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_107_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1769786566441385,
+              0.22099100509641265,
+              1.0493967081750362
+            ],
+            "current_z": 1.0493967081750362,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1882899617416911,
+            "gripper_z": 1.0554491770988141,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17347081084043642,
+              0.21713997212943767,
+              1.0554491770988141
+            ],
+            "object_minus_gripper": [
+              0.0035078458037020865,
+              0.0038510329669749765,
+              -0.006052468923777976
+            ],
+            "object_to_gripper_xy": 0.005209168560843316,
+            "object_to_gripper_z": -0.006052468923777976,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1769786566441385,
+              0.19715304970733644,
+              1.0493967081750362
+            ],
+            "finger_b": [
+              0.167246745424108,
+              0.22099100509641265,
+              1.0493967081750362
+            ],
+            "finger_midpoint": [
+              0.17211270103412324,
+              0.20907202740187453,
+              1.0493967081750362
+            ],
+            "object_minus_finger_midpoint": [
+              0.004865955610015266,
+              0.011918977694538119,
+              0.0
+            ],
+            "finger_gap": 0.025747974932529026,
+            "fingertip_max_gap": 0.09284180693177496,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01287398746626453,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493967081750362,
+            "object_top_z": 1.0999288251340626,
+            "finger_top_clearance": 0.050532116959026485,
+            "fingertip_min_top_clearance": 0.015159635087707945,
+            "object_projection_between_fingers": 0.8571401724582981,
+            "object_to_finger_line_xy": 0.009009984906442151,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04892090346588748,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4204142041540961,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17717405404696737,
+              0.2231192532104327,
+              1.2455324160042325
+            ],
+            "held_position": [
+              0.18077514873434816,
+              0.2267707301351955,
+              1.2393934949383243
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007999219870275395,
+            "max_held_gripper_dist": 0.008012801022029888,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006138921065908187,
+            "max_held_gripper_z_dist": 0.006172585859990143,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08604274358137906,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18077514873434816,
+              0.20261047228791032,
+              1.2393934949383243
+            ],
+            "held_grasp_finger_b": [
+              0.17199065545667783,
+              0.2267707301351955,
+              1.2393934949383243
+            ],
+            "held_grasp_midpoint": [
+              0.176382902095513,
+              0.21469060121155292,
+              1.2393934949383243
+            ],
+            "held_grasp_object_position": [
+              0.18077514873434816,
+              0.2267707301351955,
+              1.2393934949383243
+            ],
+            "held_grasp_finger_gap": 0.025707691094159744,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024066995819615956,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.009965008396093397,
+              -0.9997630621975149,
+              0.01935246943193558
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004278065538070002,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03759921461101967,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29715179904968114,
+              -0.30869030119816543,
+              0.8515395972720057
+            ],
+            "target_position": [
+              0.2916926850393081,
+              -0.3101347342943184,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005646973768976898,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1824149022499548,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395972720057,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573181243922784,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08770428480646263,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15012898503766087,
+            "release_required_pad_clearance": 0.053852142403231315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.713635312660545,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007263779640197754,
+            "max_z_decrease": 0.007263779640197754,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035141843481719226,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007263779640197754,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021151861401136982,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007263779640197754,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007263802099583216,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14739261567592615,
+              -0.3663961887359619,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14739261567592615,
+              -0.3663961887359619,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14686803412393193,
+              -0.3674361934027898,
+              0.8079358417374678
+            ],
+            "closest_button": [
+              0.1473802328109741,
+              -0.36640170216560364,
+              0.7728129625320435
+            ],
+            "closest_ee_minus_button": [
+              -0.0005121986870421646,
+              -0.0010344912371861859,
+              0.03512287920542434
+            ],
+            "button_min_z_position": [
+              0.14737457036972046,
+              -0.3663969933986664,
+              0.7695450782775879
+            ],
+            "min_active_finger_to_button": 0.1465446063169939,
+            "closest_active_finger": [
+              0.005469068884849548,
+              -0.35363006591796875,
+              0.810720682144165
+            ],
+            "closest_active_finger_button": [
+              0.14739204943180084,
+              -0.36639776825904846,
+              0.776512861251831
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1419229805469513,
+              0.012767702341079712,
+              0.034207820892333984
+            ],
+            "min_contact_pad_to_button": 0.021151861401136982,
+            "closest_contact_pad": [
+              0.14737457036972046,
+              -0.3684427417776957,
+              0.7905977777316391
+            ],
+            "closest_contact_pad_button": [
+              0.14737457036972046,
+              -0.3663969933986664,
+              0.7695450782775879
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002045748379029322,
+              0.021052699454051194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "614b300fc85fa14377c1beb0001aef54d29a6bf5cc7b32e015fb06a2e9a827f4",
+    "visual_seed": 3773840809268294448,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe2c0cb53f4f3467f3e76eaef560257fbe0208b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1805461013747263,
+              0.22421975689804197,
+              1.047767111088025
+            ],
+            "current_z": 1.047767111088025,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18666042425932483,
+            "gripper_z": 1.0541718090444632,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1763826417443283,
+              0.219990306386014,
+              1.0541718090444632
+            ],
+            "object_minus_gripper": [
+              0.004163459630397992,
+              0.004229450512027971,
+              -0.006404697956438277
+            ],
+            "object_to_gripper_xy": 0.005934867119628497,
+            "object_to_gripper_z": -0.006404697956438277,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1805461013747263,
+              0.20024420626368264,
+              1.047767111088025
+            ],
+            "finger_b": [
+              0.1698559529905217,
+              0.22421975689804197,
+              1.047767111088025
+            ],
+            "finger_midpoint": [
+              0.17520102718262398,
+              0.21223198158086232,
+              1.047767111088025
+            ],
+            "object_minus_finger_midpoint": [
+              0.0053450741921023115,
+              0.01198777531717965,
+              0.0
+            ],
+            "finger_gap": 0.026250834285733472,
+            "fingertip_max_gap": 0.11044535581519138,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01312541714286673,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047767111088025,
+            "object_top_z": 1.1060111591248427,
+            "finger_top_clearance": 0.05824404803681782,
+            "fingertip_min_top_clearance": 0.017473214411045327,
+            "object_projection_between_fingers": 0.8341630712696761,
+            "object_to_finger_line_xy": 0.009763582790723124,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05772267790759569,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 7.374663192893822,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1792450614048425,
+              0.22725987585027257,
+              1.2410991956230797
+            ],
+            "held_position": [
+              0.183445891268835,
+              0.23131867812818396,
+              1.2345846006404506
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00874990258603408,
+            "max_held_gripper_dist": 0.00877042680631577,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006514594982629074,
+            "max_held_gripper_z_dist": 0.006557205684396994,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0861742791688285,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.183445891268835,
+              0.20707061619503334,
+              1.2345846006404506
+            ],
+            "held_grasp_finger_b": [
+              0.17360880089415776,
+              0.23131867812818396,
+              1.2345846006404506
+            ],
+            "held_grasp_midpoint": [
+              0.1785273460814964,
+              0.21919464716160864,
+              1.2345846006404506
+            ],
+            "held_grasp_object_position": [
+              0.183445891268835,
+              0.23131867812818396,
+              1.2345846006404506
+            ],
+            "held_grasp_finger_gap": 0.026167477038367234,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02475993216990027,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.06912776154426466,
+              -0.9930655983383748,
+              0.09508979956191307
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005856225963063271,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.038020300022854996,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29439704630920027,
+              -0.317346569980835,
+              0.8515395841677321
+            ],
+            "target_position": [
+              0.29691210344473523,
+              -0.3143693280584238,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038973685814364355,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17575087419960944,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395841677321,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519039874146381,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08961403547913081,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14434449849866066,
+            "release_required_pad_clearance": 0.05480701773956541,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.668955406889241,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007411539554595947,
+            "max_z_decrease": 0.007411539554595947,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515363600843934,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007411539554595947,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021066905889900275,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007411539554595947,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007411559936125624,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15261203050613398,
+              -0.3706308007240295,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15261203050613398,
+              -0.3706308007240295,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1529453391521,
+              -0.3698302295240211,
+              0.8079990446955949
+            ],
+            "closest_button": [
+              0.15260097384452814,
+              -0.3706369996070861,
+              0.7728563547134399
+            ],
+            "closest_ee_minus_button": [
+              0.00034436530757187,
+              0.0008067700830650115,
+              0.03514268998215497
+            ],
+            "button_min_z_position": [
+              0.15259483456611628,
+              -0.3706333339214324,
+              0.7693973183631897
+            ],
+            "min_active_finger_to_button": 0.1454512607836278,
+            "closest_active_finger": [
+              0.02617480605840683,
+              -0.43393296003341675,
+              0.8107079863548279
+            ],
+            "closest_active_finger_button": [
+              0.15261231362819666,
+              -0.37063270807266224,
+              0.7766095399856567
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12643750756978983,
+              -0.0633002519607545,
+              0.03409844636917114
+            ],
+            "min_contact_pad_to_button": 0.021066905889900275,
+            "closest_contact_pad": [
+              0.15259483456611628,
+              -0.3709103858377463,
+              0.7904624024126204
+            ],
+            "closest_contact_pad_button": [
+              0.15259483456611628,
+              -0.3706333339214324,
+              0.7693973183631897
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00027705191631394177,
+              0.02106508404943075
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4e917a4acc45ba69d88b9b1215f59fa66177c8f6f3f78af9760399bae627f718",
+    "visual_seed": 9069415152747864409,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7e7a331ac7d840703a289e46cceafc610d04866a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17212551569231854,
+              0.22723458196222424,
+              1.0487563928058505
+            ],
+            "current_z": 1.0487563928058505,
+            "required_z": 0.8611068656426347,
+            "initial_z": 0.7611068656426347,
+            "lift_margin": 0.1876495271632158,
+            "gripper_z": 1.054739103495898,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16894740283316204,
+              0.2234245682889497,
+              1.054739103495898
+            ],
+            "object_minus_gripper": [
+              0.0031781128591565067,
+              0.003810013673274548,
+              -0.00598271069004741
+            ],
+            "object_to_gripper_xy": 0.004961512424258853,
+            "object_to_gripper_z": -0.00598271069004741,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17212551569231854,
+              0.2039761919701378,
+              1.0487563928058505
+            ],
+            "finger_b": [
+              0.16197435292513926,
+              0.22723458196222424,
+              1.0487563928058505
+            ],
+            "finger_midpoint": [
+              0.1670499343087289,
+              0.21560538696618103,
+              1.0487563928058505
+            ],
+            "object_minus_finger_midpoint": [
+              0.005075581383589656,
+              0.011629194996043202,
+              0.0
+            ],
+            "finger_gap": 0.02537713164543529,
+            "fingertip_max_gap": 0.09486049792418616,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012688565822717638,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487563928058505,
+            "object_top_z": 1.1008714509128283,
+            "finger_top_clearance": 0.05211505810697781,
+            "fingertip_min_top_clearance": 0.015634517432093323,
+            "object_projection_between_fingers": 0.8399902238362815,
+            "object_to_finger_line_xy": 0.009303640214778613,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04993024896209308,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.774003873109329,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17306727372356276,
+              0.2283419076320044,
+              1.2437532262167352
+            ],
+            "held_position": [
+              0.17643914664794424,
+              0.23183590855059594,
+              1.2376549098213623
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007795321179744293,
+            "max_held_gripper_dist": 0.007812369067594465,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006098316395372949,
+            "max_held_gripper_z_dist": 0.006131660021149621,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08532896337567902,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17643914664794424,
+              0.20765447554598035,
+              1.2376549098213623
+            ],
+            "held_grasp_finger_b": [
+              0.16821360928340517,
+              0.23183590855059594,
+              1.2376549098213623
+            ],
+            "held_grasp_midpoint": [
+              0.1723263779656747,
+              0.21974519204828813,
+              1.2376549098213623
+            ],
+            "held_grasp_object_position": [
+              0.17643914664794424,
+              0.23183590855059594,
+              1.2376549098213623
+            ],
+            "held_grasp_finger_gap": 0.02554214491956657,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02369573409028486,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05254529463363141,
+              -0.9977881530023108,
+              0.040716013312973476
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035071240175537665,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03744016974061298,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30246969199583484,
+              -0.3101042721147393,
+              0.8515395912636571
+            ],
+            "target_position": [
+              0.29780367539323616,
+              -0.3104530202249856,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004679031542972005,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18155999763903333,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395912636571,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516198708206383,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08598821572279429,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1506681296576443,
+            "release_required_pad_clearance": 0.05299410786139715,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0218144334295611,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007368505001068115,
+            "max_z_decrease": 0.007368505001068115,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523494828017747,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007368505001068115,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021075322825654608,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007368505001068115,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007368530059624346,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15350359678268433,
+              -0.3667144775390625,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15350359678268433,
+              -0.3667144775390625,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1555936962250104,
+              -0.3654359697398472,
+              0.8080098300489611
+            ],
+            "closest_button": [
+              0.15349286794662478,
+              -0.3667213916778564,
+              0.7728610634803772
+            ],
+            "closest_ee_minus_button": [
+              0.002100828278385619,
+              0.0012854219380091791,
+              0.0351487665685839
+            ],
+            "button_min_z_position": [
+              0.15348456799983978,
+              -0.3667171597480774,
+              0.7694403529167175
+            ],
+            "min_active_finger_to_button": 0.14371740928156596,
+            "closest_active_finger": [
+              0.028898492455482483,
+              -0.429688423871994,
+              0.8107176423072815
+            ],
+            "closest_active_finger_button": [
+              0.15350446105003357,
+              -0.3667170405387878,
+              0.7766199707984924
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12460596859455109,
+              -0.06297138333320623,
+              0.03409767150878906
+            ],
+            "min_contact_pad_to_button": 0.021075322825654608,
+            "closest_contact_pad": [
+              0.15348456799983978,
+              -0.3667171597480774,
+              0.7905156757423721
+            ],
+            "closest_contact_pad_button": [
+              0.15348456799983978,
+              -0.3667171597480774,
+              0.7694403529167175
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021075322825654608
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e938d5c1527331625354b887f93c8c20fcce040d97821946898cdb7b51f310a",
+    "visual_seed": 4561707038118673964,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a36e960d6294408698ab343c101c753dd5e2992e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17904603517559847,
+              0.23055410368793597,
+              1.0495741870268618
+            ],
+            "current_z": 1.0495741870268618,
+            "required_z": 0.8611068656426345,
+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.18846732138422728,
+            "gripper_z": 1.0555825470030076,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17564298423940689,
+              0.2266790546208487,
+              1.0555825470030076
+            ],
+            "object_minus_gripper": [
+              0.0034030509361915873,
+              0.0038750490670872717,
+              -0.006008359976145794
+            ],
+            "object_to_gripper_xy": 0.00515720476097744,
+            "object_to_gripper_z": -0.006008359976145794,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17904603517559847,
+              0.20698891462695387,
+              1.0495741870268618
+            ],
+            "finger_b": [
+              0.16899861492968468,
+              0.23055410368793597,
+              1.0495741870268618
+            ],
+            "finger_midpoint": [
+              0.1740223250526416,
+              0.21877150915744492,
+              1.0495741870268618
+            ],
+            "object_minus_finger_midpoint": [
+              0.0050237101229568815,
+              0.011782594530491047,
+              0.0
+            ],
+            "finger_gap": 0.025617743637522578,
+            "fingertip_max_gap": 0.0953569898983399,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012808871818761284,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495741870268618,
+            "object_top_z": 1.1018605050910955,
+            "finger_top_clearance": 0.05228631806423367,
+            "fingertip_min_top_clearance": 0.015685895419270117,
+            "object_projection_between_fingers": 0.8461748367770904,
+            "object_to_finger_line_xy": 0.009242397028413504,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050178494949169955,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8785687112443141,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17970897022864882,
+              0.23159654658616213,
+              1.2426443845191553
+            ],
+            "held_position": [
+              0.1832476964491564,
+              0.23518402644986394,
+              1.2365066054515723
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00794134289139017,
+            "max_held_gripper_dist": 0.007956829817105441,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006137779067582949,
+            "max_held_gripper_z_dist": 0.0061711000361583945,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08630542989988485,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1832476964491564,
+              0.21090388656761533,
+              1.2365066054515723
+            ],
+            "held_grasp_finger_b": [
+              0.17488015859095324,
+              0.23518402644986394,
+              1.2365066054515723
+            ],
+            "held_grasp_midpoint": [
+              0.17906392752005482,
+              0.22304395650873965,
+              1.2365066054515723
+            ],
+            "held_grasp_object_position": [
+              0.1832476964491564,
+              0.23518402644986394,
+              1.2365066054515723
+            ],
+            "held_grasp_finger_gap": 0.02568152804079272,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023918854643460774,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.038583268777933374,
+              -0.9984168840549655,
+              0.04092746027282102
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037457921781634063,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03743797578617209,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29425906334242224,
+              -0.3138723811722941,
+              0.8515395789375148
+            ],
+            "target_position": [
+              0.29054585881923345,
+              -0.313988145193379,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037150086325077993,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1811269317038483,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395789375148,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756970723271114,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08636897645904422,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1486701568783979,
+            "release_required_pad_clearance": 0.05318448822952211,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3921007481487433,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007140457630157471,
+            "max_z_decrease": 0.007140457630157471,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521436697046286,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007140457630157471,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021299755808832588,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007140457630157471,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007140482619414677,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14624577760696408,
+              -0.37024959921836853,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14624577760696408,
+              -0.37024959921836853,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14738640588595808,
+              -0.372188834501718,
+              0.8081995033632661
+            ],
+            "closest_button": [
+              0.1462351232767105,
+              -0.3702554702758789,
+              0.7730571031570435
+            ],
+            "closest_ee_minus_button": [
+              0.0011512826092475725,
+              -0.0019333642258391182,
+              0.03514240020622261
+            ],
+            "button_min_z_position": [
+              0.14622700214385986,
+              -0.37025168538093567,
+              0.7696684002876282
+            ],
+            "min_active_finger_to_button": 0.14481996562639646,
+            "closest_active_finger": [
+              0.006262391805648804,
+              -0.3557344377040863,
+              0.8104084134101868
+            ],
+            "closest_active_finger_button": [
+              0.1462455689907074,
+              -0.3702515959739685,
+              0.7762501835823059
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1399831771850586,
+              0.014517158269882202,
+              0.03415822982788086
+            ],
+            "min_contact_pad_to_button": 0.021299755808832588,
+            "closest_contact_pad": [
+              0.14622700214385986,
+              -0.37341393319241417,
+              0.7907321080878873
+            ],
+            "closest_contact_pad_button": [
+              0.14622700214385986,
+              -0.37025168538093567,
+              0.7696684002876282
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031622478114785024,
+              0.021063707800259124
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4dacd9acf978553accc5aabaefe7350861d73e840ae82c079aa97ae62f2c6aea",
+    "visual_seed": 2781180879378872804,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a14f1eae4009d65e993741824e28058dd212bb35
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18175038602326968,
+              0.22264965296153152,
+              1.0489715349248954
+            ],
+            "current_z": 1.0489715349248954,
+            "required_z": 0.8611069252472795,
+            "initial_z": 0.7611069252472795,
+            "lift_margin": 0.18786460967761587,
+            "gripper_z": 1.055112761657408,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17823459151606674,
+              0.21878606090801878,
+              1.055112761657408
+            ],
+            "object_minus_gripper": [
+              0.003515794507202935,
+              0.003863592053512749,
+              -0.006141226732512717
+            ],
+            "object_to_gripper_xy": 0.005223806521383156,
+            "object_to_gripper_z": -0.006141226732512717,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18175038602326968,
+              0.1988463928418799,
+              1.0489715349248954
+            ],
+            "finger_b": [
+              0.17196409645713995,
+              0.22264965296153152,
+              1.0489715349248954
+            ],
+            "finger_midpoint": [
+              0.1768572412402048,
+              0.21074802290170572,
+              1.0489715349248954
+            ],
+            "object_minus_finger_midpoint": [
+              0.004893144783064879,
+              0.011901630059825807,
+              0.0
+            ],
+            "finger_gap": 0.025736484915309173,
+            "fingertip_max_gap": 0.10503100837969112,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012868242457654592,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489715349248954,
+            "object_top_z": 1.1054105286628635,
+            "finger_top_clearance": 0.056438993737968124,
+            "fingertip_min_top_clearance": 0.016931698121390438,
+            "object_projection_between_fingers": 0.8554101982125666,
+            "object_to_finger_line_xy": 0.009051181500324183,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05501550418984556,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 5.2919635498076625,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18129832977324475,
+              0.22568793581037377,
+              1.243015348372433
+            ],
+            "held_position": [
+              0.1852192788465987,
+              0.22954851494437287,
+              1.2366219262745277
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008435268757288604,
+            "max_held_gripper_dist": 0.00844868914706742,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006393422097905388,
+            "max_held_gripper_z_dist": 0.006430788226221118,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08599287081292548,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1852192788465987,
+              0.20537914760767964,
+              1.2366219262745277
+            ],
+            "held_grasp_finger_b": [
+              0.1758205130590892,
+              0.22954851494437287,
+              1.2366219262745277
+            ],
+            "held_grasp_midpoint": [
+              0.18051989595284396,
+              0.21746383127602625,
+              1.2366219262745277
+            ],
+            "held_grasp_object_position": [
+              0.1852192788465987,
+              0.22954851494437287,
+              1.2366219262745277
+            ],
+            "held_grasp_finger_gap": 0.025932510788284124,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024555644518451047,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.053889117339515805,
+              -0.9950261829804126,
+              0.08377862624678623
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005436868939067204,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03794891900323927,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2920683061622209,
+              -0.31194125080567303,
+              0.8515395209761838
+            ],
+            "target_position": [
+              0.29393724741861055,
+              -0.3093846398649655,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003166891365674031,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1759939844166372,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395209761838,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533460280407489,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08931533125366108,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14434158580984238,
+            "release_required_pad_clearance": 0.05465766562683054,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.357769432743334,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007386982440948486,
+            "max_z_decrease": 0.007386982440948486,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515212010065101,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007386982440948486,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021109409254133255,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007386982440948486,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073870034774178965,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1496371775865555,
+              -0.36564609408378596,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1496371775865555,
+              -0.36564609408378596,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1504540055042483,
+              -0.3656884386180999,
+              0.8078350094479945
+            ],
+            "closest_button": [
+              0.14962519705295566,
+              -0.36565196514129633,
+              0.7726926803588867
+            ],
+            "closest_ee_minus_button": [
+              0.0008288084512926563,
+              -3.647347680357793e-05,
+              0.03514232908910775
+            ],
+            "button_min_z_position": [
+              0.1496197581291199,
+              -0.36564880609512324,
+              0.7694218754768372
+            ],
+            "min_active_finger_to_button": 0.14531570221983897,
+            "closest_active_finger": [
+              0.009258359670639038,
+              -0.3500160872936249,
+              0.8105306625366211
+            ],
+            "closest_active_finger_button": [
+              0.14963668584823608,
+              -0.36564823985099787,
+              0.7763807773590088
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14037832617759705,
+              0.01563215255737299,
+              0.034149885177612305
+            ],
+            "min_contact_pad_to_button": 0.021109409254133255,
+            "closest_contact_pad": [
+              0.1496197581291199,
+              -0.3668700355588259,
+              0.7904959296111387
+            ],
+            "closest_contact_pad_button": [
+              0.1496197581291199,
+              -0.36564880609512324,
+              0.7694218754768372
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012212294637026777,
+              0.021074054134301523
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e669e5c4ecdabea20ef98e5cc6ee7be9681319ca6418ab8606faf9ad83355787",
+    "visual_seed": 2829860590359702210,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ec9a6b47147b7a02416ba612278706637fd4c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1730167361621765,
+              0.2221825874921596,
+              1.0496408324418613
+            ],
+            "current_z": 1.0496408324418613,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.1885340264038714,
+            "gripper_z": 1.055732529706473,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1700432498727256,
+              0.21862237980559346,
+              1.055732529706473
+            ],
+            "object_minus_gripper": [
+              0.002973486289450905,
+              0.003560207686566147,
+              -0.006091697264611673
+            ],
+            "object_to_gripper_xy": 0.0046386096499961265,
+            "object_to_gripper_z": -0.006091697264611673,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1730167361621765,
+              0.19860108187976724,
+              1.0496408324418613
+            ],
+            "finger_b": [
+              0.16387364397728782,
+              0.2221825874921596,
+              1.0496408324418613
+            ],
+            "finger_midpoint": [
+              0.16844519006973216,
+              0.21039183468596342,
+              1.0496408324418613
+            ],
+            "object_minus_finger_midpoint": [
+              0.00457154609244434,
+              0.01179075280619618,
+              0.0
+            ],
+            "finger_gap": 0.025291965950646558,
+            "fingertip_max_gap": 0.09547811081683638,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012645982975323279,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496408324418613,
+            "object_top_z": 1.1015621036930061,
+            "finger_top_clearance": 0.05192127125114476,
+            "fingertip_min_top_clearance": 0.015576381375343461,
+            "object_projection_between_fingers": 0.8693164209197581,
+            "object_to_finger_line_xy": 0.008524757628303757,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05023905540841819,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.010500851255135,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17327376180820747,
+              0.2252536676369704,
+              1.24275436081183
+            ],
+            "held_position": [
+              0.17608096042918875,
+              0.22859987033794202,
+              1.2364628408141964
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007659024774359538,
+            "max_held_gripper_dist": 0.007680896690112194,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0062915199976336655,
+            "max_held_gripper_z_dist": 0.006326496112134317,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08595574447065163,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17608096042918875,
+              0.2049504203898006,
+              1.2364628408141964
+            ],
+            "held_grasp_finger_b": [
+              0.16783477596684426,
+              0.22859987033794202,
+              1.2364628408141964
+            ],
+            "held_grasp_midpoint": [
+              0.1719578681980165,
+              0.21677514536387132,
+              1.2364628408141964
+            ],
+            "held_grasp_object_position": [
+              0.17608096042918875,
+              0.22859987033794202,
+              1.2364628408141964
+            ],
+            "held_grasp_finger_gap": 0.025045878723587593,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023750758816296555,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01475504686954815,
+              -0.9991389241556845,
+              0.03877755573651964
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004321387754828877,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03796654350018362,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2943757117694279,
+              -0.30828171288318984,
+              0.8515395966614937
+            ],
+            "target_position": [
+              0.29192109556817103,
+              -0.30808214349982815,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0024627157030904004,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1815482154898949,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395966614937,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570008196329896,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0885740117910263,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14913962850701173,
+            "release_required_pad_clearance": 0.05428700589551315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5940057841999518,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007144927978515625,
+            "max_z_decrease": 0.007144927978515625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351999934792736,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007144927978515625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02109155696898679,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007144927978515625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007144948321535841,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1476210206747055,
+              -0.3643436133861541,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1476210206747055,
+              -0.3643436133861541,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14876494921373545,
+              -0.3628488499409287,
+              0.8079685098406434
+            ],
+            "closest_button": [
+              0.14760994911193848,
+              -0.36435016989707947,
+              0.7728195190429688
+            ],
+            "closest_ee_minus_button": [
+              0.0011550001017969769,
+              0.0015013199561507706,
+              0.03514899079767464
+            ],
+            "button_min_z_position": [
+              0.14760437607765195,
+              -0.3643473088741302,
+              0.76966392993927
+            ],
+            "min_active_finger_to_button": 0.1444613925624331,
+            "closest_active_finger": [
+              0.02059100568294525,
+              -0.42409712076187134,
+              0.8106249570846558
+            ],
+            "closest_active_finger_button": [
+              0.14762140810489655,
+              -0.3643463850021361,
+              0.7765336036682129
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270304024219513,
+              -0.05975073575973522,
+              0.03409135341644287
+            ],
+            "min_contact_pad_to_button": 0.02109155696898679,
+            "closest_contact_pad": [
+              0.14760437607765195,
+              -0.3643473088741302,
+              0.7907554869082568
+            ],
+            "closest_contact_pad_button": [
+              0.14760437607765195,
+              -0.3643473088741302,
+              0.76966392993927
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02109155696898679
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7dcac28852b4bafeab6b3eb2c51808bd61984f5273f1816bf60db7f42d30d1bc",
+    "visual_seed": 3744374789024282673,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..65af7a44ecf07082d8e9c7c7f55778345fc06855
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1731465883819923,
+              0.22932420824976069,
+              1.0474465811545315
+            ],
+            "current_z": 1.0474465811545315,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18633977511654165,
+            "gripper_z": 1.0533197956748979,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17026906219983742,
+              0.22579446924816804,
+              1.0533197956748979
+            ],
+            "object_minus_gripper": [
+              0.002877526182154866,
+              0.0035297390015926466,
+              -0.005873214520366377
+            ],
+            "object_to_gripper_xy": 0.004554032756618139,
+            "object_to_gripper_z": -0.005873214520366377,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1731465883819923,
+              0.20592719986312175,
+              1.0474465811545315
+            ],
+            "finger_b": [
+              0.1638702257054897,
+              0.22932420824976069,
+              1.0474465811545315
+            ],
+            "finger_midpoint": [
+              0.16850840704374098,
+              0.21762570405644122,
+              1.0474465811545315
+            ],
+            "object_minus_finger_midpoint": [
+              0.004638181338251307,
+              0.01169850419331947,
+              0.0
+            ],
+            "finger_gap": 0.025168847926563168,
+            "fingertip_max_gap": 0.09547416236376108,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012584423963281589,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474465811545315,
+            "object_top_z": 1.0996197896112774,
+            "finger_top_clearance": 0.05217320845674589,
+            "fingertip_min_top_clearance": 0.015651962537023733,
+            "object_projection_between_fingers": 0.8641596580084464,
+            "object_to_finger_line_xy": 0.008623324197154544,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05023708118188054,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8990730751928995,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17405494917868394,
+              0.23118790344943563,
+              1.2405943948376121
+            ],
+            "held_position": [
+              0.1770074776723881,
+              0.2345105895805668,
+              1.2346045729211248
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007458929830972976,
+            "max_held_gripper_dist": 0.007474100747111566,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005989821916487337,
+            "max_held_gripper_z_dist": 0.006020092314234837,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08610119968097235,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1770074776723881,
+              0.2105848479646126,
+              1.2346045729211248
+            ],
+            "held_grasp_finger_b": [
+              0.1690983351544772,
+              0.2345105895805668,
+              1.2346045729211248
+            ],
+            "held_grasp_midpoint": [
+              0.17305290641343266,
+              0.22254771877258972,
+              1.2346045729211248
+            ],
+            "held_grasp_object_position": [
+              0.1770074776723881,
+              0.2345105895805668,
+              1.2346045729211248
+            ],
+            "held_grasp_finger_gap": 0.025199119969594754,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02373262842172082,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.021604050134520113,
+              -0.9990703033112863,
+              0.03730675621492063
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003722246612622303,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03768306634775664,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.301823939773874,
+              -0.3104205517457034,
+              0.8515395650464821
+            ],
+            "target_position": [
+              0.2981040977870733,
+              -0.3104302943208831,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037198547450856866,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18021759727128533,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395650464821,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580905937464633,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08733563914891161,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14768129392288762,
+            "release_required_pad_clearance": 0.05366781957445581,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.345395767432997,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0071585774421691895,
+            "max_z_decrease": 0.0071585774421691895,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351587344418474,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0071585774421691895,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02105803227426257,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0071585774421691895,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007158595388544505,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15380401909351343,
+              -0.3666917383670806,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15380401909351343,
+              -0.3666917383670806,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15277680307366362,
+              -0.36609334550215095,
+              0.8081815453626251
+            ],
+            "closest_button": [
+              0.1537924110889434,
+              -0.3666976690292358,
+              0.7730426788330078
+            ],
+            "closest_ee_minus_button": [
+              -0.0010156080152797786,
+              0.0006043235270848379,
+              0.035138866529617285
+            ],
+            "button_min_z_position": [
+              0.15378808975219715,
+              -0.3666935265064239,
+              0.7696502804756165
+            ],
+            "min_active_finger_to_button": 0.1467145198644268,
+            "closest_active_finger": [
+              0.026383288204669952,
+              -0.4309261441230774,
+              0.8109151124954224
+            ],
+            "closest_active_finger_button": [
+              0.1538036465644836,
+              -0.3666928410530089,
+              0.7768081426620483
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12742035835981363,
+              -0.06423330307006847,
+              0.03410696983337402
+            ],
+            "min_contact_pad_to_button": 0.02105803227426257,
+            "closest_contact_pad": [
+              0.15378808975219715,
+              -0.36712731928774306,
+              0.7907038442377627
+            ],
+            "closest_contact_pad_button": [
+              0.15378808975219715,
+              -0.3666935265064239,
+              0.7696502804756165
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00043379278131916443,
+              0.021053563762146288
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "097dafe9814835bb04b9abcb47b8a949141898e79312e5faa6242a30e1114090",
+    "visual_seed": 3526922526869720147,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee92582f80a4f5dccedf459caa2efe2a79b41ca7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1793721081252154,
+              0.2273725732042207,
+              1.0472727663460084
+            ],
+            "current_z": 1.0472727663460084,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18616607951730835,
+            "gripper_z": 1.0529123329401007,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1755328076685003,
+              0.2232740119137473,
+              1.0529123329401007
+            ],
+            "object_minus_gripper": [
+              0.0038393004567151,
+              0.004098561290473396,
+              -0.00563956659409226
+            ],
+            "object_to_gripper_xy": 0.0056159088889243675,
+            "object_to_gripper_z": -0.00563956659409226,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1793721081252154,
+              0.20350269678581245,
+              1.0472727663460084
+            ],
+            "finger_b": [
+              0.16900414883211942,
+              0.2273725732042207,
+              1.0472727663460084
+            ],
+            "finger_midpoint": [
+              0.1741881284786674,
+              0.21543763499501656,
+              1.0472727663460084
+            ],
+            "object_minus_finger_midpoint": [
+              0.005183979646547987,
+              0.011934938209204132,
+              0.0
+            ],
+            "finger_gap": 0.02602432669894414,
+            "fingertip_max_gap": 0.09156721905272197,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013012163349472082,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472727663460084,
+            "object_top_z": 1.097443644191082,
+            "finger_top_clearance": 0.05017087784507357,
+            "fingertip_min_top_clearance": 0.015051263353522087,
+            "object_projection_between_fingers": 0.8412814956842694,
+            "object_to_finger_line_xy": 0.009509637267477463,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04828360952636099,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9465331294756237,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17940179150325997,
+              0.22851753643642214,
+              1.2415226335791816
+            ],
+            "held_position": [
+              0.18338399387464324,
+              0.2323391639312342,
+              1.2357638870284289
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007976586630355125,
+            "max_held_gripper_dist": 0.007990215227166383,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0057587465507527025,
+            "max_held_gripper_z_dist": 0.005795470251336532,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866125526235367,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18338399387464324,
+              0.20788423086712632,
+              1.2357638870284289
+            ],
+            "held_grasp_finger_b": [
+              0.17445193777489362,
+              0.2323391639312342,
+              1.2357638870284289
+            ],
+            "held_grasp_midpoint": [
+              0.17891796582476843,
+              0.22011169739918024,
+              1.2357638870284289
+            ],
+            "held_grasp_object_position": [
+              0.18338399387464324,
+              0.2323391639312342,
+              1.2357638870284289
+            ],
+            "held_grasp_finger_gap": 0.026035079745202833,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024127392362449908,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03490564996867793,
+              -0.9993554888129037,
+              0.008378697976801462
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004037815354422297,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03734477466515165,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3040408114457016,
+              -0.3037172236498572,
+              0.8515395620747105
+            ],
+            "target_position": [
+              0.2967486379492512,
+              -0.3058478551135815,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00759706421827178,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18510033349749402,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395620747105,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568557606647773,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635385629292679,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15290265334399247,
+            "release_required_pad_clearance": 0.053176928146463395,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3774048250922912,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007402241230010986,
+            "max_z_decrease": 0.007402241230010986,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516809692519849,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007402241230010986,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108346579599671,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007402241230010986,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007402260756614973,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15244856476783752,
+              -0.36210930347442627,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15244856476783752,
+              -0.36210930347442627,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15328801629898742,
+              -0.36116423198009745,
+              0.8077771581566607
+            ],
+            "closest_button": [
+              0.15243731439113617,
+              -0.3621161580085754,
+              0.7726322412490845
+            ],
+            "closest_ee_minus_button": [
+              0.0008507019078512479,
+              0.0009519260284779341,
+              0.03514491690757626
+            ],
+            "button_min_z_position": [
+              0.1524319052696228,
+              -0.3621127009391784,
+              0.7694066166877747
+            ],
+            "min_active_finger_to_button": 0.14494865678635258,
+            "closest_active_finger": [
+              0.0262199267745018,
+              -0.424674928188324,
+              0.8103986382484436
+            ],
+            "closest_active_finger_button": [
+              0.15244883298873899,
+              -0.36211213469505305,
+              0.7763065099716187
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12622890621423719,
+              -0.06256279349327093,
+              0.03409212827682495
+            ],
+            "min_contact_pad_to_button": 0.02108346579599671,
+            "closest_contact_pad": [
+              0.1524319052696228,
+              -0.3623663923509508,
+              0.7904885561298316
+            ],
+            "closest_contact_pad_button": [
+              0.1524319052696228,
+              -0.3621127009391784,
+              0.7694066166877747
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002536914117723943,
+              0.02108193944205694
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e187e60c901f38a736e230cb736d338300e4b841ce80b829e9c91982f46c9523",
+    "visual_seed": 7704735083248935592,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2208e1d68beff73680d7ff22c5f8986113ac998c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17584590976412284,
+              0.22455957649488814,
+              1.0481274603828297
+            ],
+            "current_z": 1.0481274603828297,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18702077355412938,
+            "gripper_z": 1.0543294679184136,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17250612259273215,
+              0.22079763083762513,
+              1.0543294679184136
+            ],
+            "object_minus_gripper": [
+              0.00333978717139069,
+              0.0037619456572630106,
+              -0.0062020075355839754
+            ],
+            "object_to_gripper_xy": 0.005030548029627175,
+            "object_to_gripper_z": -0.0062020075355839754,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17584590976412284,
+              0.20089901441909044,
+              1.0481274603828297
+            ],
+            "finger_b": [
+              0.16615466386124322,
+              0.22455957649488814,
+              1.0481274603828297
+            ],
+            "finger_midpoint": [
+              0.17100028681268303,
+              0.2127292954569893,
+              1.0481274603828297
+            ],
+            "object_minus_finger_midpoint": [
+              0.00484562295143981,
+              0.011830281037898849,
+              0.0
+            ],
+            "finger_gap": 0.025568387608387772,
+            "fingertip_max_gap": 0.10277127661851651,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012784193804193886,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481274603828297,
+            "object_top_z": 1.10354917175108,
+            "finger_top_clearance": 0.05542171136825025,
+            "fingertip_min_top_clearance": 0.01662651341047509,
+            "object_projection_between_fingers": 0.8563344817461132,
+            "object_to_finger_line_xy": 0.008968118318171955,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05388563830925826,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.557161813720115,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1760934676196918,
+              0.22691991427239488,
+              1.2407967850994526
+            ],
+            "held_position": [
+              0.17948624584892536,
+              0.23048741962687416,
+              1.2344721266248473
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00801494500214418,
+            "max_held_gripper_dist": 0.008029753239276221,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0063246584746052825,
+            "max_held_gripper_z_dist": 0.006356422055433297,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08588564170221716,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17948624584892536,
+              0.20643675677560996,
+              1.2344721266248473
+            ],
+            "held_grasp_finger_b": [
+              0.17093993222358234,
+              0.23048741962687416,
+              1.2344721266248473
+            ],
+            "held_grasp_midpoint": [
+              0.17521308903625385,
+              0.21846208820124208,
+              1.2344721266248473
+            ],
+            "held_grasp_object_position": [
+              0.17948624584892536,
+              0.23048741962687416,
+              1.2344721266248473
+            ],
+            "held_grasp_finger_gap": 0.025523985977270548,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024134447514839504,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.017326329592467684,
+              -0.9973268269778849,
+              0.07098590348144661
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004560963457323721,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0378011025593486,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2981462940581266,
+              -0.31344924334493296,
+              0.8515396071970502
+            ],
+            "target_position": [
+              0.29756152442888206,
+              -0.3119694371999444,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0015911573605500672,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17752236495525103,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396071970502,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576832706057358,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08874776186578369,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14476216553367316,
+            "release_required_pad_clearance": 0.05437388093289185,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.771911056560029,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007479429244995117,
+            "max_z_decrease": 0.007479429244995117,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0352103384751588,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007479429244995117,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02128235160943957,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007479429244995117,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00747945044396102,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1532614529132843,
+              -0.3682309091091156,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1532614529132843,
+              -0.3682309091091156,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.154692226880182,
+              -0.36991568335889763,
+              0.8078683506038871
+            ],
+            "closest_button": [
+              0.1532505303621292,
+              -0.36823832988739014,
+              0.7727275490760803
+            ],
+            "closest_ee_minus_button": [
+              0.0014416965180527874,
+              -0.0016773534715074923,
+              0.03514080152780674
+            ],
+            "button_min_z_position": [
+              0.15324394404888153,
+              -0.36823415756225586,
+              0.7693294286727905
+            ],
+            "min_active_finger_to_button": 0.14456331647692902,
+            "closest_active_finger": [
+              0.013563290238380432,
+              -0.3535600006580353,
+              0.8106327652931213
+            ],
+            "closest_active_finger_button": [
+              0.15326189994812012,
+              -0.36823368072509766,
+              0.7764635682106018
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13969860970973969,
+              0.014673680067062378,
+              0.03416919708251953
+            ],
+            "min_contact_pad_to_button": 0.02128235160943957,
+            "closest_contact_pad": [
+              0.15324394404888153,
+              -0.37117720528185855,
+              0.7904073071274158
+            ],
+            "closest_contact_pad_button": [
+              0.15324394404888153,
+              -0.36823415756225586,
+              0.7693294286727905
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002943047719602687,
+              0.021077878454625276
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "248cd6c8d96deb5f149f850cb2fea77879ab92dd8075cecfcd3ee40a8b8dcc1a",
+    "visual_seed": 901332237085736602,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0a48cbbed42c9909a100be7b74ac0f31f03df10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17406512379389688,
+              0.23122125901211737,
+              1.0480812143076923
+            ],
+            "current_z": 1.0480812143076923,
+            "required_z": 0.8611069252472796,
+            "initial_z": 0.7611069252472796,
+            "lift_margin": 0.1869742890604127,
+            "gripper_z": 1.0544214062776833,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17050509453876073,
+              0.22743674621780202,
+              1.0544214062776833
+            ],
+            "object_minus_gripper": [
+              0.0035600292551361545,
+              0.0037845127943153534,
+              -0.006340191969991027
+            ],
+            "object_to_gripper_xy": 0.00519580074557925,
+            "object_to_gripper_z": -0.006340191969991027,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17406512379389688,
+              0.2074359070901789,
+              1.0480812143076923
+            ],
+            "finger_b": [
+              0.16430460677317685,
+              0.23122125901211737,
+              1.0480812143076923
+            ],
+            "finger_midpoint": [
+              0.16918486528353688,
+              0.21932858305114813,
+              1.0480812143076923
+            ],
+            "object_minus_finger_midpoint": [
+              0.004880258510360003,
+              0.01189267596096924,
+              0.0
+            ],
+            "finger_gap": 0.025710127548540636,
+            "fingertip_max_gap": 0.11015740692100595,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012855063774270311,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480812143076923,
+            "object_top_z": 1.1063059272310025,
+            "finger_top_clearance": 0.05822471292331022,
+            "fingertip_min_top_clearance": 0.017467413876993066,
+            "object_projection_between_fingers": 0.855875708995399,
+            "object_to_finger_line_xy": 0.009029800876700609,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05757870346050298,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 7.101103504107166,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17373992177397146,
+              0.23397316789933437,
+              1.2434269378734513
+            ],
+            "held_position": [
+              0.17735043808998646,
+              0.23760383603692894,
+              1.2370036811836638
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008214365812188717,
+            "max_held_gripper_dist": 0.008228131560092817,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006423256689787493,
+            "max_held_gripper_z_dist": 0.006459171716027612,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08573269497154368,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17735043808998646,
+              0.21361467695467165,
+              1.2370036811836638
+            ],
+            "held_grasp_finger_b": [
+              0.16831095903897297,
+              0.23760383603692894,
+              1.2370036811836638
+            ],
+            "held_grasp_midpoint": [
+              0.17283069856447972,
+              0.2256092564958003,
+              1.2370036811836638
+            ],
+            "held_grasp_object_position": [
+              0.17735043808998646,
+              0.23760383603692894,
+              1.2370036811836638
+            ],
+            "held_grasp_finger_gap": 0.025635755011069197,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02441138977309354,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.06478678056045502,
+              -0.99318825415004,
+              0.09684918627953029
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005410386218145855,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03810019392920713,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29774309040684,
+              -0.3127776542165239,
+              0.8515395852970008
+            ],
+            "target_position": [
+              0.3002328481363506,
+              -0.309290171697347,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004285023672422628,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17471060295683713,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395852970008,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579724162342191,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09072494241754091,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14158115088553452,
+            "release_required_pad_clearance": 0.055362471208770456,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.846441346266724,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 141,
+            "max_placed_release_frames": 141
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007224559783935547,
+            "max_z_decrease": 0.007224559783935547,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035258810912626594,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007224559783935547,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021317227586853282,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007224559783935547,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007224579165404802,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15593276917934423,
+              -0.365551620721817,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15593276917934423,
+              -0.365551620721817,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15828558179169072,
+              -0.36731496759257454,
+              0.8081852408007059
+            ],
+            "closest_button": [
+              0.15592466294765475,
+              -0.3655613660812378,
+              0.7730492949485779
+            ],
+            "closest_ee_minus_button": [
+              0.0023609188440359696,
+              -0.0017536015113367442,
+              0.03513594585212798
+            ],
+            "button_min_z_position": [
+              0.15591648221015936,
+              -0.36555546522140503,
+              0.7695842981338501
+            ],
+            "min_active_finger_to_button": 0.1436960797812584,
+            "closest_active_finger": [
+              0.01718711107969284,
+              -0.35051095485687256,
+              0.8105076551437378
+            ],
+            "closest_active_finger_button": [
+              0.1559342443943024,
+              -0.36555394530296326,
+              0.776280403137207
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13874713331460956,
+              0.015042990446090698,
+              0.03422725200653076
+            ],
+            "min_contact_pad_to_button": 0.021317227586853282,
+            "closest_contact_pad": [
+              0.15592466294765475,
+              -0.3655613660812378,
+              0.7943665225354312
+            ],
+            "closest_contact_pad_button": [
+              0.15592466294765475,
+              -0.3655613660812378,
+              0.7730492949485779
+            ],
+            "closest_contact_pad_index": 1,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021317227586853282
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3006b3fcc4696026acff6d2cf33e902685c501c32b62bd5c5d00e94d2840ce24",
+    "visual_seed": 5182356674695623237,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4a3106403540d87cbb6fdde01066ff20d446ee9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17721272653007294,
+              0.2274369163729085,
+              1.046517472886491
+            ],
+            "current_z": 1.046517472886491,
+            "required_z": 0.8611065676194105,
+            "initial_z": 0.7611065676194105,
+            "lift_margin": 0.18541090526708048,
+            "gripper_z": 1.0525992357229865,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1738601927169749,
+              0.22368345575832327,
+              1.0525992357229865
+            ],
+            "object_minus_gripper": [
+              0.003352533813098052,
+              0.00375346061458523,
+              -0.00608176283649553
+            ],
+            "object_to_gripper_xy": 0.005032688104105826,
+            "object_to_gripper_z": -0.00608176283649553,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17721272653007294,
+              0.20367399168048242,
+              1.046517472886491
+            ],
+            "finger_b": [
+              0.16765962062157683,
+              0.2274369163729085,
+              1.046517472886491
+            ],
+            "finger_midpoint": [
+              0.17243617357582489,
+              0.21555545402669546,
+              1.046517472886491
+            ],
+            "object_minus_finger_midpoint": [
+              0.004776552954248059,
+              0.01188146234621304,
+              0.0
+            ],
+            "finger_gap": 0.025611294821559813,
+            "fingertip_max_gap": 0.09520102807064376,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012805647410779906,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046517472886491,
+            "object_top_z": 1.0984935141261016,
+            "finger_top_clearance": 0.05197604123961064,
+            "fingertip_min_top_clearance": 0.015592812371883157,
+            "object_projection_between_fingers": 0.8608682928499607,
+            "object_to_finger_line_xy": 0.008863657142834689,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05010051403532188,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8636475488699422,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17763290217075314,
+              0.22944519111538672,
+              1.243088240487531
+            ],
+            "held_position": [
+              0.18107844690829816,
+              0.2330006349869011,
+              1.2369205621581938
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007909059086647968,
+            "max_held_gripper_dist": 0.007924945498995174,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006167678329337178,
+            "max_held_gripper_z_dist": 0.0062017392196582755,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08473738933937278,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18107844690829816,
+              0.20889062606992906,
+              1.2369205621581938
+            ],
+            "held_grasp_finger_b": [
+              0.1725150274932637,
+              0.2330006349869011,
+              1.2369205621581938
+            ],
+            "held_grasp_midpoint": [
+              0.17679673720078093,
+              0.2209456305284151,
+              1.2369205621581938
+            ],
+            "held_grasp_object_position": [
+              0.18107844690829816,
+              0.2330006349869011,
+              1.2369205621581938
+            ],
+            "held_grasp_finger_gap": 0.025585634290637795,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02399627441526729,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.011372140118559288,
+              -0.9993218544099551,
+              0.03502150379084789
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004165876548845775,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03762472845697965,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29671426127985634,
+              -0.3080792958105062,
+              0.8515395855412261
+            ],
+            "target_position": [
+              0.29206699362345223,
+              -0.3087930847970062,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004701764709926307,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18219458056062268,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395855412261,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751456747765497,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08599449496586196,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15118920848153636,
+            "release_required_pad_clearance": 0.052997247482930984,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0279240329962576,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007201671600341797,
+            "max_z_decrease": 0.007201671600341797,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035140244293580286,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007201671600341797,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021077211973654638,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007201671600341797,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072016929961249984,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1477669179439544,
+              -0.3650545477867126,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1477669179439544,
+              -0.3650545477867126,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1474791930456639,
+              -0.3644460380886244,
+              0.8079580060121362
+            ],
+            "closest_button": [
+              0.14775563776493067,
+              -0.3650608360767364,
+              0.772824227809906
+            ],
+            "closest_ee_minus_button": [
+              -0.00027644471926677183,
+              0.0006147979881119814,
+              0.03513377820223018
+            ],
+            "button_min_z_position": [
+              0.14774942398071286,
+              -0.3650560081005096,
+              0.7696071863174438
+            ],
+            "min_active_finger_to_button": 0.1460864368836581,
+            "closest_active_finger": [
+              0.020782776176929474,
+              -0.42870980501174927,
+              0.8106487989425659
+            ],
+            "closest_active_finger_button": [
+              0.14776688814163202,
+              -0.36505639553070063,
+              0.7765236496925354
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12698411196470255,
+              -0.06365340948104864,
+              0.03412514925003052
+            ],
+            "min_contact_pad_to_button": 0.021077211973654638,
+            "closest_contact_pad": [
+              0.14774942398071286,
+              -0.36555702891463593,
+              0.7906784426332448
+            ],
+            "closest_contact_pad_button": [
+              0.14774942398071286,
+              -0.3650560081005096,
+              0.7696071863174438
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005010208141263406,
+              0.02107125631580098
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fe24897e831b5541d309217cb4e1f5aa78d1fde50b4c683555c802d1e5770ee2",
+    "visual_seed": 4661805178704940409,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..13d57baa516ec6531ce3e8a0dfcb024a43060b83
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_1_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17999411317912695,
+              0.2234049945648648,
+              1.0479076373226843
+            ],
+            "current_z": 1.0479076373226843,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.18680089088933916,
+            "gripper_z": 1.0537186518751704,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17633765545943517,
+              0.21936473436394013,
+              1.0537186518751704
+            ],
+            "object_minus_gripper": [
+              0.0036564577196917802,
+              0.004040260200924656,
+              -0.005811014552486116
+            ],
+            "object_to_gripper_xy": 0.005449163747500102,
+            "object_to_gripper_z": -0.005811014552486116,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17999411317912695,
+              0.19975378339944386,
+              1.0479076373226843
+            ],
+            "finger_b": [
+              0.16958864686446407,
+              0.2234049945648648,
+              1.0479076373226843
+            ],
+            "finger_midpoint": [
+              0.1747913800217955,
+              0.21157938898215434,
+              1.0479076373226843
+            ],
+            "object_minus_finger_midpoint": [
+              0.005202733157331441,
+              0.011825605582710452,
+              0.0
+            ],
+            "finger_gap": 0.025838992217517225,
+            "fingertip_max_gap": 0.09086967027611065,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0129194961087586,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479076373226843,
+            "object_top_z": 1.0976681143627296,
+            "finger_top_clearance": 0.04976047704004527,
+            "fingertip_min_top_clearance": 0.014928143112013613,
+            "object_projection_between_fingers": 0.8378294636753427,
+            "object_to_finger_line_xy": 0.009524438066741806,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047934835138055326,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8617379619527106,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1803716520388862,
+              0.2246226124763407,
+              1.2410575849240342
+            ],
+            "held_position": [
+              0.18418456902052066,
+              0.22835679000974643,
+              1.2351081285214613
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00799239946736545,
+            "max_held_gripper_dist": 0.008008216738373833,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005949456402572828,
+            "max_held_gripper_z_dist": 0.005982906666871957,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08633820515763341,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18418456902052066,
+              0.20396167639689797,
+              1.2351081285214613
+            ],
+            "held_grasp_finger_b": [
+              0.17550714787271887,
+              0.22835679000974643,
+              1.2351081285214613
+            ],
+            "held_grasp_midpoint": [
+              0.17984585844661977,
+              0.2161592332033222,
+              1.2351081285214613
+            ],
+            "held_grasp_object_position": [
+              0.18418456902052066,
+              0.22835679000974643,
+              1.2351081285214613
+            ],
+            "held_grasp_finger_gap": 0.025892454614425842,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023978067638000408,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044965771093698356,
+              -0.9988989991086479,
+              0.01337419192664202
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037894188291722275,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037341029318079186,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.303230297548979,
+              -0.30719122124061315,
+              0.851539566241459
+            ],
+            "target_position": [
+              0.296156186808859,
+              -0.30919306564331306,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007351899331200196,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18417375264243444,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539566241459,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565815419374577,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08592033738654652,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.152233815284135,
+            "release_required_pad_clearance": 0.05296016869327326,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9561265132162768,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007417023181915283,
+            "max_z_decrease": 0.007417023181915283,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351574896317298,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007417023181915283,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021143709375576226,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007417023181915283,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007417040317087263,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15185610949993134,
+              -0.3654545247554779,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15185610949993134,
+              -0.3654545247554779,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.151211621134833,
+              -0.3665712808966159,
+              0.807811533923872
+            ],
+            "closest_button": [
+              0.1518443822860718,
+              -0.36546021699905396,
+              0.7726773023605347
+            ],
+            "closest_ee_minus_button": [
+              -0.0006327611512388087,
+              -0.001111063897561937,
+              0.03513423156333728
+            ],
+            "button_min_z_position": [
+              0.15184028446674347,
+              -0.3654564619064331,
+              0.7693918347358704
+            ],
+            "min_active_finger_to_button": 0.14662488915729122,
+            "closest_active_finger": [
+              0.009896554052829742,
+              -0.35204052925109863,
+              0.8105167746543884
+            ],
+            "closest_active_finger_button": [
+              0.15185542404651642,
+              -0.3654565215110779,
+              0.7763620018959045
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14195886999368668,
+              0.013415992259979248,
+              0.03415477275848389
+            ],
+            "min_contact_pad_to_button": 0.021143709375576226,
+            "closest_contact_pad": [
+              0.15184028446674347,
+              -0.36763224041146725,
+              0.7904232976915437
+            ],
+            "closest_contact_pad_button": [
+              0.15184028446674347,
+              -0.3654564619064331,
+              0.7693918347358704
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021757785050341427,
+              0.021031462955673375
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ffabb97d46490bd3d6ab106179cc26aea8e62a4cad89ef6694ecdafbbc0f91a6",
+    "visual_seed": 6209897766329474753,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a9f9e359268f701447db7d5a60ef770111dc9c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17747472341575068,
+              0.22796944369023162,
+              1.0484936613654536
+            ],
+            "current_z": 1.0484936613654536,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18738709374604268,
+            "gripper_z": 1.0544325844405593,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17436423750582694,
+              0.22429497544213634,
+              1.0544325844405593
+            ],
+            "object_minus_gripper": [
+              0.0031104859099237436,
+              0.0036744682480952806,
+              -0.005938923075105684
+            ],
+            "object_to_gripper_xy": 0.004814233012858283,
+            "object_to_gripper_z": -0.005938923075105684,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17747472341575068,
+              0.20444040393973278,
+              1.0484936613654536
+            ],
+            "finger_b": [
+              0.16796239846478198,
+              0.22796944369023162,
+              1.0484936613654536
+            ],
+            "finger_midpoint": [
+              0.17271856094026633,
+              0.2162049238149822,
+              1.0484936613654536
+            ],
+            "object_minus_finger_midpoint": [
+              0.0047561624754843546,
+              0.01176451987524943,
+              0.0
+            ],
+            "finger_gap": 0.025379126020282416,
+            "fingertip_max_gap": 0.09548641496076882,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01268956301014122,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484936613654536,
+            "object_top_z": 1.10060996524916,
+            "finger_top_clearance": 0.05211630388370647,
+            "fingertip_min_top_clearance": 0.015634891165111957,
+            "object_projection_between_fingers": 0.85951821037532,
+            "object_to_finger_line_xy": 0.008818895958518676,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05024320748038441,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8783492804320583,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1778867584089155,
+              0.23051373014242765,
+              1.2412566372117937
+            ],
+            "held_position": [
+              0.18104504386243422,
+              0.23400263481080646,
+              1.2351913232077862
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007676930164991236,
+            "max_held_gripper_dist": 0.007695699918775571,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006065314004007449,
+            "max_held_gripper_z_dist": 0.006097780634809924,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08580987380813337,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18104504386243422,
+              0.21005991458162018,
+              1.2351913232077862
+            ],
+            "held_grasp_finger_b": [
+              0.17269405924780923,
+              0.23400263481080646,
+              1.2351913232077862
+            ],
+            "held_grasp_midpoint": [
+              0.17686955155512174,
+              0.2220312746962133,
+              1.2351913232077862
+            ],
+            "held_grasp_object_position": [
+              0.18104504386243422,
+              0.23400263481080646,
+              1.2351913232077862
+            ],
+            "held_grasp_finger_gap": 0.025357302616934422,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02382049373859339,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.012648666451392072,
+              -0.9993067758590956,
+              0.03501398233707387
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040456063138612,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037704374381867266,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29634930097610923,
+              -0.3086366871091683,
+              0.8515396535167218
+            ],
+            "target_position": [
+              0.2924508693599168,
+              -0.3091049034696379,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003926448220254532,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1812820017759303,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396535167218,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754418818831493,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08673743452245018,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1495885817408835,
+            "release_required_pad_clearance": 0.05336871726122509,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7534066772853105,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007169604301452637,
+            "max_z_decrease": 0.007169604301452637,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035149482233710456,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007169604301452637,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.0210749792300324,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007169604301452637,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007169629644630278,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14815080165863037,
+              -0.36536636948585505,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14815080165863037,
+              -0.36536636948585505,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14746667518301834,
+              -0.36489819710625876,
+              0.8079715261498479
+            ],
+            "closest_button": [
+              0.1481391340494156,
+              -0.3653725385665893,
+              0.7728316783905029
+            ],
+            "closest_ee_minus_button": [
+              -0.0006724588663972464,
+              0.0004743414603305407,
+              0.03513984775934498
+            ],
+            "button_min_z_position": [
+              0.14813187718391418,
+              -0.3653686642646789,
+              0.769639253616333
+            ],
+            "min_active_finger_to_button": 0.14648225614650312,
+            "closest_active_finger": [
+              0.02009568363428116,
+              -0.4277929663658142,
+              0.8106279969215393
+            ],
+            "closest_active_finger_button": [
+              0.14815032482147214,
+              -0.3653684556484222,
+              0.7765363454818726
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12805464118719098,
+              -0.06242451071739202,
+              0.03409165143966675
+            ],
+            "min_contact_pad_to_button": 0.0210749792300324,
+            "closest_contact_pad": [
+              0.14813187718391418,
+              -0.3661610038749257,
+              0.7906993330912147
+            ],
+            "closest_contact_pad_button": [
+              0.14813187718391418,
+              -0.3653686642646789,
+              0.769639253616333
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007923396102467728,
+              0.021060079474881643
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cb78dbff2600d1223009e050f8e4ee889d81c67091ed3f4e824286512d7a7407",
+    "visual_seed": 499634115447281845,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d20965d766ddfa5a2f6858b2550f94320be7d3a1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1805012353665173,
+              0.22875086517967164,
+              1.0467800664773708
+            ],
+            "current_z": 1.0467800664773708,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1856733200440256,
+            "gripper_z": 1.0525542761859434,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1766278273209831,
+              0.2245882073913921,
+              1.0525542761859434
+            ],
+            "object_minus_gripper": [
+              0.00387340804553421,
+              0.004162657788279539,
+              -0.005774209708572675
+            ],
+            "object_to_gripper_xy": 0.00568603638306452,
+            "object_to_gripper_z": -0.005774209708572675,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1805012353665173,
+              0.20495758590012936,
+              1.0467800664773708
+            ],
+            "finger_b": [
+              0.16991444429354183,
+              0.22875086517967164,
+              1.0467800664773708
+            ],
+            "finger_midpoint": [
+              0.17520783983002958,
+              0.2168542255399005,
+              1.0467800664773708
+            ],
+            "object_minus_finger_midpoint": [
+              0.005293395536487722,
+              0.01189663963977114,
+              0.0
+            ],
+            "finger_gap": 0.026042278780804284,
+            "fingertip_max_gap": 0.09242605488293293,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013021139390402135,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467800664773708,
+            "object_top_z": 1.0972901131975046,
+            "finger_top_clearance": 0.05051004672013382,
+            "fingertip_min_top_clearance": 0.015153014016040162,
+            "object_projection_between_fingers": 0.834738870137687,
+            "object_to_finger_line_xy": 0.009672520549896785,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871302744146647,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.098070109941974,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18042145382408806,
+              0.23008667869264596,
+              1.2430529433063127
+            ],
+            "held_position": [
+              0.18447344426730167,
+              0.23395263967540222,
+              1.2371842053015483
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0081121123414715,
+            "max_held_gripper_dist": 0.008126211988629567,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0058687380047643956,
+            "max_held_gripper_z_dist": 0.0059064327977242925,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08489021006983749,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18447344426730167,
+              0.20951583387155984,
+              1.2371842053015483
+            ],
+            "held_grasp_finger_b": [
+              0.17531852368693154,
+              0.23395263967540222,
+              1.2371842053015483
+            ],
+            "held_grasp_midpoint": [
+              0.1798959839771166,
+              0.22173423677348103,
+              1.2371842053015483
+            ],
+            "held_grasp_object_position": [
+              0.18447344426730167,
+              0.23395263967540222,
+              1.2371842053015483
+            ],
+            "held_grasp_finger_gap": 0.02609540282746349,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024084404694499354,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.036187185254220905,
+              -0.9991361267719294,
+              0.020432518262900934
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00413994919569104,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03734675691581585,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30387520678301355,
+              -0.3060694363675959,
+              0.8515395674563643
+            ],
+            "target_position": [
+              0.29762494528878763,
+              -0.3077195717787965,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006464419202179054,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18322189663249758,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395674563643,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578852160097721,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864646636346894,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15080537706935654,
+            "release_required_pad_clearance": 0.0532323318173447,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4856628823865996,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007398664951324463,
+            "max_z_decrease": 0.007398664951324463,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035184882585130736,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007398664951324463,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106650326473014,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007398664951324463,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007398681919849406,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15332487225532532,
+              -0.3639810383319854,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15332487225532532,
+              -0.3639810383319854,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1523151470486874,
+              -0.36256411120999077,
+              0.8077865605390324
+            ],
+            "closest_button": [
+              0.15331341326236725,
+              -0.36398705840110773,
+              0.7726446390151978
+            ],
+            "closest_ee_minus_button": [
+              -0.0009982662136798492,
+              0.0014229471911169633,
+              0.03514192152383466
+            ],
+            "button_min_z_position": [
+              0.15330927073955536,
+              -0.3639838099479675,
+              0.7694101929664612
+            ],
+            "min_active_finger_to_button": 0.14635196439720766,
+            "closest_active_finger": [
+              0.025319837033748627,
+              -0.42620784044265747,
+              0.8104032874107361
+            ],
+            "closest_active_finger_button": [
+              0.15332439541816711,
+              -0.36398288607597346,
+              0.7763183116912842
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1280045583844185,
+              -0.062224954366684015,
+              0.034084975719451904
+            ],
+            "min_contact_pad_to_button": 0.02106650326473014,
+            "closest_contact_pad": [
+              0.15330927073955536,
+              -0.3639838099479675,
+              0.7904766962311913
+            ],
+            "closest_contact_pad_button": [
+              0.15330927073955536,
+              -0.3639838099479675,
+              0.7694101929664612
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106650326473014
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e22af626c69260dbc19d5f3b1e4e6cf06c59590787e17750385341505396a0b",
+    "visual_seed": 2918354049628142280,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6fae9dadb8c531433e2c3911d8ca3e89936e8750
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1756341925214147,
+              0.23077073614758314,
+              1.0460823492743254
+            ],
+            "current_z": 1.0460823492743254,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.18497560284098047,
+            "gripper_z": 1.051970727206215,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17211870969853396,
+              0.22690720735373213,
+              1.051970727206215
+            ],
+            "object_minus_gripper": [
+              0.00351548282288075,
+              0.0038635287938510177,
+              -0.005888377931889677
+            ],
+            "object_to_gripper_xy": 0.005223549963280289,
+            "object_to_gripper_z": -0.005888377931889677,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1756341925214147,
+              0.2068884921444928,
+              1.0460823492743254
+            ],
+            "finger_b": [
+              0.16593907747124603,
+              0.23077073614758314,
+              1.0460823492743254
+            ],
+            "finger_midpoint": [
+              0.17078663499633037,
+              0.21882961414603797,
+              1.0460823492743254
+            ],
+            "object_minus_finger_midpoint": [
+              0.0048475575250843395,
+              0.011941122001545179,
+              0.0
+            ],
+            "finger_gap": 0.025775120454794218,
+            "fingertip_max_gap": 0.09304379144896721,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012887560227397121,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460823492743254,
+            "object_top_z": 1.0967175079194134,
+            "finger_top_clearance": 0.05063515864508794,
+            "fingertip_min_top_clearance": 0.015190547593526381,
+            "object_projection_between_fingers": 0.8585169129590906,
+            "object_to_finger_line_xy": 0.008983124004105083,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04902189572448361,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4453896429914859,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17556529759563777,
+              0.23313282027793492,
+              1.2389263012686818
+            ],
+            "held_position": [
+              0.1791123131695673,
+              0.23682905491150985,
+              1.2329143708036523
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007898530107842014,
+            "max_held_gripper_dist": 0.007912833872425166,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006011930465029458,
+            "max_held_gripper_z_dist": 0.006046411887564274,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08593524308782008,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1791123131695673,
+              0.21267653652977614,
+              1.2329143708036523
+            ],
+            "held_grasp_finger_b": [
+              0.17036980077316066,
+              0.23682905491150985,
+              1.2329143708036523
+            ],
+            "held_grasp_midpoint": [
+              0.174741056971364,
+              0.224752795720643,
+              1.2329143708036523
+            ],
+            "held_grasp_object_position": [
+              0.1791123131695673,
+              0.23682905491150985,
+              1.2329143708036523
+            ],
+            "held_grasp_finger_gap": 0.025686098714699915,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024110067692384125,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.004359640893149823,
+              -0.9998204545493432,
+              0.018440504223788512
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00432431344565162,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03762710200935076,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2966130512422372,
+              -0.31128269768829775,
+              0.851539590796849
+            ],
+            "target_position": [
+              0.2910139473620126,
+              -0.3128889519461189,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0058249478111237,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18347259430537255,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539590796849,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752861864655995,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659098648743334,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15232033602773776,
+            "release_required_pad_clearance": 0.05329549324371667,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6095714009886704,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007166087627410889,
+            "max_z_decrease": 0.007166087627410889,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522403749106403,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007166087627410889,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021199299895006102,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007166087627410889,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007166107342153475,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14671386778354642,
+              -0.3691504001617431,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14671386778354642,
+              -0.3691504001617431,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14878884726033395,
+              -0.3704927763879084,
+              0.8081986547326545
+            ],
+            "closest_button": [
+              0.14670336246490476,
+              -0.3691564202308654,
+              0.7730618119239807
+            ],
+            "closest_ee_minus_button": [
+              0.0020854847954291933,
+              -0.0013363561570429727,
+              0.035136842808673796
+            ],
+            "button_min_z_position": [
+              0.14669716358184814,
+              -0.3691522777080536,
+              0.7696427702903748
+            ],
+            "min_active_finger_to_button": 0.1440086138984978,
+            "closest_active_finger": [
+              0.007422447204589844,
+              -0.3562154471874237,
+              0.8104494214057922
+            ],
+            "closest_active_finger_button": [
+              0.14671318233013153,
+              -0.3691528141498565,
+              0.7762559056282043
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1392907351255417,
+              0.012937366962432806,
+              0.03419351577758789
+            ],
+            "min_contact_pad_to_button": 0.021199299895006102,
+            "closest_contact_pad": [
+              0.14669716358184814,
+              -0.37149344367754616,
+              0.7907123990944542
+            ],
+            "closest_contact_pad_button": [
+              0.14669716358184814,
+              -0.3691522777080536,
+              0.7696427702903748
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023411659694925757,
+              0.021069628804079477
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "765d84cf1b397907af8f0c1a0bb3f1d1beb6e8d67dbaec7a96738d2c8e045915",
+    "visual_seed": 6187617146051377106,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c17794ba3af78e29903fcd40b4c316b98da89a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1725822655849885,
+              0.2254815744415623,
+              1.0459941751521038
+            ],
+            "current_z": 1.0459941751521038,
+            "required_z": 0.8611070444565689,
+            "initial_z": 0.761107044456569,
+            "lift_margin": 0.18488713069553486,
+            "gripper_z": 1.0517929756583566,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16935844555267066,
+              0.22177465093403098,
+              1.0517929756583566
+            ],
+            "object_minus_gripper": [
+              0.003223820032317831,
+              0.0037069235075313234,
+              -0.00579880050625281
+            ],
+            "object_to_gripper_xy": 0.004912667044636962,
+            "object_to_gripper_z": -0.00579880050625281,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1725822655849885,
+              0.20182123595010215,
+              1.0459941751521038
+            ],
+            "finger_b": [
+              0.16309369346057695,
+              0.2254815744415623,
+              1.0459941751521038
+            ],
+            "finger_midpoint": [
+              0.16783797952278273,
+              0.21365140519583223,
+              1.0459941751521038
+            ],
+            "object_minus_finger_midpoint": [
+              0.004744286062205755,
+              0.011830169245730077,
+              0.0
+            ],
+            "finger_gap": 0.025492050103721173,
+            "fingertip_max_gap": 0.09420708607864839,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01274602505186058,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0459941751521038,
+            "object_top_z": 1.097266751929709,
+            "finger_top_clearance": 0.05127257677760522,
+            "fingertip_min_top_clearance": 0.015381773033281565,
+            "object_projection_between_fingers": 0.8614545717570519,
+            "object_to_finger_line_xy": 0.008806778087708161,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0496035430393242,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.649978546178363,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17292983391420685,
+              0.2278461916924449,
+              1.2409475366412803
+            ],
+            "held_position": [
+              0.17621783557460888,
+              0.23136820625913487,
+              1.2350423406148439
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076214750302958925,
+            "max_held_gripper_dist": 0.007635527220357971,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005905196026436466,
+            "max_held_gripper_z_dist": 0.0059375071369554,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08614923880055855,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17621783557460888,
+              0.20735399321637085,
+              1.2350423406148439
+            ],
+            "held_grasp_finger_b": [
+              0.167767573331246,
+              0.23136820625913487,
+              1.2350423406148439
+            ],
+            "held_grasp_midpoint": [
+              0.17199270445292744,
+              0.21936109973775286,
+              1.2350423406148439
+            ],
+            "held_grasp_object_position": [
+              0.17621783557460888,
+              0.23136820625913487,
+              1.2350423406148439
+            ],
+            "held_grasp_finger_gap": 0.025457599259255805,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02393124539323738,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.008742940263242861,
+              -0.9996215777919518,
+              0.026081836750549984
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004131913782542515,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03768074723547392,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30109944319254234,
+              -0.30464544632335655,
+              0.8515395680042526
+            ],
+            "target_position": [
+              0.2963928426024024,
+              -0.3055263836974991,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00478833371563291,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18025063858644055,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395680042526,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07564696321252733,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08760803049746678,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14820960867780394,
+            "release_required_pad_clearance": 0.05380401524873339,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6173136780908486,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007097065448760986,
+            "max_z_decrease": 0.007097065448760986,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035242911741968426,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007097065448760986,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021124098893189534,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007097065448760986,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00709708550045521,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15209276974201202,
+              -0.3617878556251525,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15209276974201202,
+              -0.3617878556251525,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15464163008113468,
+              -0.3617359704190093,
+              0.8081747491750113
+            ],
+            "closest_button": [
+              0.15208260715007782,
+              -0.3617951571941375,
+              0.7730249166488647
+            ],
+            "closest_ee_minus_button": [
+              0.0025590229310568646,
+              5.918677512822823e-05,
+              0.03514983252614656
+            ],
+            "button_min_z_position": [
+              0.15207628905773166,
+              -0.3617914617061614,
+              0.7697117924690247
+            ],
+            "min_active_finger_to_button": 0.14367562616255053,
+            "closest_active_finger": [
+              0.013468928635120392,
+              -0.3456939458847046,
+              0.8103809952735901
+            ],
+            "closest_active_finger_button": [
+              0.15209273993968964,
+              -0.361790895462036,
+              0.7762194275856018
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13862381130456924,
+              0.016096949577331432,
+              0.03416156768798828
+            ],
+            "min_contact_pad_to_button": 0.021124098893189534,
+            "closest_contact_pad": [
+              0.15207628905773166,
+              -0.36300195496254095,
+              0.79080117985049
+            ],
+            "closest_contact_pad_button": [
+              0.15207628905773166,
+              -0.3617914617061614,
+              0.7697117924690247
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012104932563795634,
+              0.021089387381465374
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "11aa051dac4a3b76c980c737a943c917dff3896830b27d032817cd6867ca27fe",
+    "visual_seed": 5353099497690680684,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5ce6ad305775c3d9359ea4fd7778ede5e9f0fb9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18045971754433449,
+              0.22451926126626037,
+              1.0463297971327026
+            ],
+            "current_z": 1.0463297971327026,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1852231103040023,
+            "gripper_z": 1.0524071971951536,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1767699383899177,
+              0.22050775760973035,
+              1.0524071971951536
+            ],
+            "object_minus_gripper": [
+              0.003689779154416789,
+              0.004011503656530024,
+              -0.006077400062451055
+            ],
+            "object_to_gripper_xy": 0.005450379050554414,
+            "object_to_gripper_z": -0.006077400062451055,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18045971754433449,
+              0.20071666467861254,
+              1.0463297971327026
+            ],
+            "finger_b": [
+              0.17025896206355648,
+              0.22451926126626037,
+              1.0463297971327026
+            ],
+            "finger_midpoint": [
+              0.17535933980394547,
+              0.21261796297243646,
+              1.0463297971327026
+            ],
+            "object_minus_finger_midpoint": [
+              0.005100377740389017,
+              0.011901298293823914,
+              0.0
+            ],
+            "finger_gap": 0.025896312801109864,
+            "fingertip_max_gap": 0.09413441153764762,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012948156400554937,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463297971327026,
+            "object_top_z": 1.098438153962016,
+            "finger_top_clearance": 0.052108356829313474,
+            "fingertip_min_top_clearance": 0.015632507048794025,
+            "object_projection_between_fingers": 0.844836770523212,
+            "object_to_finger_line_xy": 0.00937602466663866,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04956720576882381,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.482655690467354,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1808616035854296,
+              0.22557142323309168,
+              1.240780353762577
+            ],
+            "held_position": [
+              0.18469221666723767,
+              0.2292922666062902,
+              1.2345775116755537
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008184957052235623,
+            "max_held_gripper_dist": 0.008199814247888706,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006202842087023264,
+            "max_held_gripper_z_dist": 0.00623684670736302,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08557671690679616,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18469221666723767,
+              0.20486978740691175,
+              1.2345775116755537
+            ],
+            "held_grasp_finger_b": [
+              0.17603182087417607,
+              0.2292922666062902,
+              1.2345775116755537
+            ],
+            "held_grasp_midpoint": [
+              0.18036201877070687,
+              0.21708102700660098,
+              1.2345775116755537
+            ],
+            "held_grasp_object_position": [
+              0.18469221666723767,
+              0.2292922666062902,
+              1.2345775116755537
+            ],
+            "held_grasp_finger_gap": 0.02591254417336423,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023942190183078093,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04971205073055599,
+              -0.997962410741238,
+              0.039996734362935715
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037503039633656984,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037318628943544645,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2962059656209739,
+              -0.31241522074197015,
+              0.851539565443558
+            ],
+            "target_position": [
+              0.2919133080647153,
+              -0.31275101727819593,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004305771499864461,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1799817678520364,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539565443558,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757671566235068,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08598734823936476,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1475634539242197,
+            "release_required_pad_clearance": 0.05299367411968238,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0210481650476484,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007217705249786377,
+            "max_z_decrease": 0.007217705249786377,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03524908528341224,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007217705249786377,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021202696797059564,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007217705249786377,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072177298219769205,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14761322736740112,
+              -0.3690124750137329,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14761322736740112,
+              -0.3690124750137329,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1500044899616393,
+              -0.37030624942227636,
+              0.8081601390205233
+            ],
+            "closest_button": [
+              0.14760193228721616,
+              -0.36901798844337463,
+              0.773016631603241
+            ],
+            "closest_ee_minus_button": [
+              0.002402557674423128,
+              -0.001288260978901723,
+              0.03514350741728234
+            ],
+            "button_min_z_position": [
+              0.14759449660778043,
+              -0.36901444196701044,
+              0.7695911526679993
+            ],
+            "min_active_finger_to_button": 0.14368802753168827,
+            "closest_active_finger": [
+              0.008709363639354706,
+              -0.3554146885871887,
+              0.810373067855835
+            ],
+            "closest_active_finger_button": [
+              0.14761210978031156,
+              -0.36901417374610895,
+              0.7762068510055542
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13890274614095685,
+              0.013599485158920233,
+              0.03416621685028076
+            ],
+            "min_contact_pad_to_button": 0.021202696797059564,
+            "closest_contact_pad": [
+              0.14759449660778043,
+              -0.3713887021050948,
+              0.790660496280574
+            ],
+            "closest_contact_pad_button": [
+              0.14759449660778043,
+              -0.36901444196701044,
+              0.7695911526679993
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023742601380843387,
+              0.02106934361257473
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "52d7e603f9ba2c40c132020fc571d2880929a6ff813b4ff23867981597750368",
+    "visual_seed": 4840412870409845807,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aff35e25de7677e5984fedf5bfface6399b3c68b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17341507511939108,
+              0.22462054140116683,
+              1.0493455148551791
+            ],
+            "current_z": 1.0493455148551791,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1882388876311235,
+            "gripper_z": 1.055079024504048,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17025262539564873,
+              0.2209232917373884,
+              1.055079024504048
+            ],
+            "object_minus_gripper": [
+              0.0031624497237423554,
+              0.0036972496637784347,
+              -0.005733509648868873
+            ],
+            "object_to_gripper_xy": 0.004865258814442234,
+            "object_to_gripper_z": -0.005733509648868873,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17341507511939108,
+              0.2010807752018821,
+              1.0493455148551791
+            ],
+            "finger_b": [
+              0.16381484020141102,
+              0.22462054140116683,
+              1.0493455148551791
+            ],
+            "finger_midpoint": [
+              0.16861495766040105,
+              0.21285065830152447,
+              1.0493455148551791
+            ],
+            "object_minus_finger_midpoint": [
+              0.004800117458990033,
+              0.011769883099642359,
+              0.0
+            ],
+            "finger_gap": 0.025422138053228155,
+            "fingertip_max_gap": 0.09174501326854667,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012711069026614077,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493455148551791,
+            "object_top_z": 1.0996141869018077,
+            "finger_top_clearance": 0.05026867204662855,
+            "fingertip_min_top_clearance": 0.015080601613988597,
+            "object_projection_between_fingers": 0.8573934165828136,
+            "object_to_finger_line_xy": 0.008889389435077966,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837250663427334,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9140193460887588,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17426067627676875,
+              0.22602879848341223,
+              1.2450840304365416
+            ],
+            "held_position": [
+              0.17754715806810717,
+              0.22948201625166695,
+              1.2392472010265128
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007536196194471493,
+            "max_held_gripper_dist": 0.007550231559380411,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005836829410028832,
+            "max_held_gripper_z_dist": 0.005868773453139076,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608564747073807,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17754715806810717,
+              0.20537115621340635,
+              1.2392472010265128
+            ],
+            "held_grasp_finger_b": [
+              0.16933968826825918,
+              0.22948201625166695,
+              1.2392472010265128
+            ],
+            "held_grasp_midpoint": [
+              0.17344342316818318,
+              0.21742658623253663,
+              1.2392472010265128
+            ],
+            "held_grasp_object_position": [
+              0.17754715806810717,
+              0.22948201625166695,
+              1.2392472010265128
+            ],
+            "held_grasp_finger_gap": 0.025469513782167275,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023813108029158182,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03399782996239175,
+              -0.9992237586549787,
+              0.019900444649936344
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036993817195538786,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03753465989283927,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2987404572429133,
+              -0.3051027888595734,
+              0.8515395909940568
+            ],
+            "target_position": [
+              0.29250752994480783,
+              -0.3062485034730612,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006337353128793438,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18514036903620723,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395909940568,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536151926412551,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08582060079674174,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15367795875018406,
+            "release_required_pad_clearance": 0.05291030039837087,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.859566921679812,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0072765350341796875,
+            "max_z_decrease": 0.0072765350341796875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035202761031987134,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072765350341796875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0212775726730165,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0072765350341796875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007276555859111598,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14820745587348935,
+              -0.36250996589660645,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14820745587348935,
+              -0.36250996589660645,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14916383429269087,
+              -0.36446119730907356,
+              0.8079089033956754
+            ],
+            "closest_button": [
+              0.14819636940956116,
+              -0.3625166714191437,
+              0.7727732062339783
+            ],
+            "closest_ee_minus_button": [
+              0.0009674648831297095,
+              -0.0019445258899298823,
+              0.03513569716169718
+            ],
+            "button_min_z_position": [
+              0.1481902152299881,
+              -0.3625123798847198,
+              0.769532322883606
+            ],
+            "min_active_finger_to_button": 0.1450177424366983,
+            "closest_active_finger": [
+              0.007833465933799744,
+              -0.3499675989151001,
+              0.8106421232223511
+            ],
+            "closest_active_finger_button": [
+              0.1482073664665222,
+              -0.36251240968704224,
+              0.776466965675354
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14037390053272245,
+              0.012544810771942139,
+              0.03417515754699707
+            ],
+            "min_contact_pad_to_button": 0.0212775726730165,
+            "closest_contact_pad": [
+              0.1481902152299881,
+              -0.3655077069476527,
+              0.7905980085985681
+            ],
+            "closest_contact_pad_button": [
+              0.1481902152299881,
+              -0.3625123798847198,
+              0.769532322883606
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029953270629329287,
+              0.021065685714962146
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c54f77019b43bda270a8cdb5a234aba358547fd68c1388b9477b52af519f629",
+    "visual_seed": 4810576874097341974,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4006f190f2ba141a26220eb225acbff34cbabe0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1765690334477563,
+              0.2243871950680489,
+              1.0493201572898205
+            ],
+            "current_z": 1.0493201572898205,
+            "required_z": 0.8611068656426344,
+            "initial_z": 0.7611068656426344,
+            "lift_margin": 0.18821329164718614,
+            "gripper_z": 1.0553706431463759,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17289870048784955,
+              0.22031362778066743,
+              1.0553706431463759
+            ],
+            "object_minus_gripper": [
+              0.003670332959906736,
+              0.00407356728738148,
+              -0.006050485856555321
+            ],
+            "object_to_gripper_xy": 0.005483182878712167,
+            "object_to_gripper_z": -0.006050485856555321,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1765690334477563,
+              0.20079985231574096,
+              1.0493201572898205
+            ],
+            "finger_b": [
+              0.16601010282108186,
+              0.2243871950680489,
+              1.0493201572898205
+            ],
+            "finger_midpoint": [
+              0.1712895681344191,
+              0.21259352369189494,
+              1.0493201572898205
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052794653133372005,
+              0.011793671376153975,
+              0.0
+            ],
+            "finger_gap": 0.025842866599775218,
+            "fingertip_max_gap": 0.09371221865860929,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012921433299887604,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493201572898205,
+            "object_top_z": 1.1010441002490265,
+            "finger_top_clearance": 0.051723942959206015,
+            "fingertip_min_top_clearance": 0.01551718288776182,
+            "object_projection_between_fingers": 0.8330607332885216,
+            "object_to_finger_line_xy": 0.009637364137900156,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04935610932930465,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4407091326687347,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17704253454108485,
+              0.22525065057519914,
+              1.2434902198817714
+            ],
+            "held_position": [
+              0.18090151306486227,
+              0.22898453476116373,
+              1.2373059908870814
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00819013398058525,
+            "max_held_gripper_dist": 0.008202877101238928,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006184228994690066,
+            "max_held_gripper_z_dist": 0.006218560789340577,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08556554526887636,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18090151306486227,
+              0.2045527387579199,
+              1.2373059908870814
+            ],
+            "held_grasp_finger_b": [
+              0.17222084606142501,
+              0.22898453476116373,
+              1.2373059908870814
+            ],
+            "held_grasp_midpoint": [
+              0.17656117956314366,
+              0.21676863675954183,
+              1.2373059908870814
+            ],
+            "held_grasp_object_position": [
+              0.18090151306486227,
+              0.22898453476116373,
+              1.2373059908870814
+            ],
+            "held_grasp_finger_gap": 0.025928105128772628,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023884265136622146,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05657515719751498,
+              -0.9976906828169552,
+              0.037583946151438
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036716666019168415,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037287007401485245,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2981561200317626,
+              -0.3040240625445185,
+              0.8515396053247543
+            ],
+            "target_position": [
+              0.29272402567946826,
+              -0.30485613712514825,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005495452407214388,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18374167103665223,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396053247543,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529953591878744,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551504608198134,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15236532261888366,
+            "release_required_pad_clearance": 0.05275752304099067,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.565097256465484,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007100045680999756,
+            "max_z_decrease": 0.007100045680999756,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035177235497953735,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007100045680999756,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02125038797195593,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007100045680999756,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007100067927830384,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1484239548444748,
+              -0.36111760139465326,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1484239548444748,
+              -0.36111760139465326,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14832436438230356,
+              -0.36276079885287293,
+              0.8080766271825699
+            ],
+            "closest_button": [
+              0.1484125703573227,
+              -0.36112415790557856,
+              0.7729375958442688
+            ],
+            "closest_ee_minus_button": [
+              -8.820597501912886e-05,
+              -0.0016366409472943766,
+              0.0351390313383011
+            ],
+            "button_min_z_position": [
+              0.14840629696846008,
+              -0.36111962795257563,
+              0.7697088122367859
+            ],
+            "min_active_finger_to_button": 0.14604487891843748,
+            "closest_active_finger": [
+              0.007141105830669403,
+              -0.34692269563674927,
+              0.8108153939247131
+            ],
+            "closest_active_finger_button": [
+              0.14842529594898224,
+              -0.36111915111541737,
+              0.776663601398468
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14128419011831284,
+              0.014196455478668102,
+              0.03415179252624512
+            ],
+            "min_contact_pad_to_button": 0.02125038797195593,
+            "closest_contact_pad": [
+              0.14840629696846008,
+              -0.36399916694494777,
+              0.790763200001574
+            ],
+            "closest_contact_pad_button": [
+              0.14840629696846008,
+              -0.36111962795257563,
+              0.7697088122367859
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028795389923721437,
+              0.021054387764788074
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f884621644c67ee00df03bf76e4fd699f8cb83d001b34e32ce0ab6798f0e24f2",
+    "visual_seed": 1076668003081581824,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3c47f7d84c578bb6cf9caceaf52b729e4537fd1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17427931772238947,
+              0.2297584061608754,
+              1.0481843557465096
+            ],
+            "current_z": 1.0481843557465096,
+            "required_z": 0.8611069252472797,
+            "initial_z": 0.7611069252472797,
+            "lift_margin": 0.18707743049922987,
+            "gripper_z": 1.0539394060028198,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17087197613207133,
+              0.22585910327320585,
+              1.0539394060028198
+            ],
+            "object_minus_gripper": [
+              0.003407341590318136,
+              0.0038993028876695424,
+              -0.005755050256310179
+            ],
+            "object_to_gripper_xy": 0.005178275748055501,
+            "object_to_gripper_z": -0.005755050256310179,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17427931772238947,
+              0.2062539232971818,
+              1.0481843557465096
+            ],
+            "finger_b": [
+              0.16411818863751745,
+              0.2297584061608754,
+              1.0481843557465096
+            ],
+            "finger_midpoint": [
+              0.16919875317995348,
+              0.21800616472902862,
+              1.0481843557465096
+            ],
+            "object_minus_finger_midpoint": [
+              0.005080564542435995,
+              0.011752241431846777,
+              0.0
+            ],
+            "finger_gap": 0.025606820555646833,
+            "fingertip_max_gap": 0.09100566128966317,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0128034102778234,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481843557465096,
+            "object_top_z": 1.0979677601533127,
+            "finger_top_clearance": 0.04978340440680307,
+            "fingertip_min_top_clearance": 0.014935021322040902,
+            "object_projection_between_fingers": 0.8425391393103724,
+            "object_to_finger_line_xy": 0.009326893353750846,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04800283064483159,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.890871566060918,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17475812397507498,
+              0.231320022131892,
+              1.2415100891748057
+            ],
+            "held_position": [
+              0.17830945832843004,
+              0.23494354831956057,
+              1.2356286311658011
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077674620072275295,
+            "max_held_gripper_dist": 0.007783790090906266,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005881458009004525,
+            "max_held_gripper_z_dist": 0.005915864657550118,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08596170328809705,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17830945832843004,
+              0.21071857194518173,
+              1.2356286311658011
+            ],
+            "held_grasp_finger_b": [
+              0.1697906306574011,
+              0.23494354831956057,
+              1.2356286311658011
+            ],
+            "held_grasp_midpoint": [
+              0.17405004449291556,
+              0.22283106013237114,
+              1.2356286311658011
+            ],
+            "held_grasp_object_position": [
+              0.17830945832843004,
+              0.23494354831956057,
+              1.2356286311658011
+            ],
+            "held_grasp_finger_gap": 0.025679172596248138,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023849474075285974,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0413875841258595,
+              -0.999053513949813,
+              0.013384474018642619
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037580071094578146,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03744293933556366,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2978964281123867,
+              -0.30591621487908904,
+              0.8515396031749558
+            ],
+            "target_position": [
+              0.29156659345243235,
+              -0.3072934772600071,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006477936283126862,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18131201164257857,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396031749558,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551926820194817,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564939803658682,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14959667141258667,
+            "release_required_pad_clearance": 0.05282469901829341,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6943584074020172,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007228851318359375,
+            "max_z_decrease": 0.007228851318359375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03525074804207481,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007228851318359375,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021100498845009034,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007228851318359375,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007228872078483464,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1472665220499039,
+              -0.3635549247264862,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1472665220499039,
+              -0.3635549247264862,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.149529447321408,
+              -0.362133214681614,
+              0.8078791239507007
+            ],
+            "closest_button": [
+              0.14725518226623535,
+              -0.3635615706443786,
+              0.772730827331543
+            ],
+            "closest_ee_minus_button": [
+              0.0022742650551726418,
+              0.0014283559627645825,
+              0.03514829661915775
+            ],
+            "button_min_z_position": [
+              0.14724960923194888,
+              -0.363558679819107,
+              0.7695800065994263
+            ],
+            "min_active_finger_to_button": 0.14351128070344057,
+            "closest_active_finger": [
+              0.02121054381132126,
+              -0.4230731725692749,
+              0.8105365633964539
+            ],
+            "closest_active_finger_button": [
+              0.14726661145687103,
+              -0.36355784535408014,
+              0.7764296531677246
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12605606764554977,
+              -0.05951532721519476,
+              0.03410691022872925
+            ],
+            "min_contact_pad_to_button": 0.021100498845009034,
+            "closest_contact_pad": [
+              0.14724960923194888,
+              -0.3636477284731445,
+              0.7906803175413399
+            ],
+            "closest_contact_pad_button": [
+              0.14724960923194888,
+              -0.363558679819107,
+              0.7695800065994263
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -8.904865403752682e-05,
+              0.02110031094191367
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b338bf478e731a8b7797c537196a63ab63d76d7390b66d69df2866bbe8b07a3",
+    "visual_seed": 6769908930858518400,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2aa16acb197b30d1afb152d180ff065ca143cd64
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17774876073851698,
+              0.228465449247852,
+              1.047147915305183
+            ],
+            "current_z": 1.047147915305183,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.18604110926719342,
+            "gripper_z": 1.0530304893916886,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17477131954294642,
+              0.22490210850778422,
+              1.0530304893916886
+            ],
+            "object_minus_gripper": [
+              0.002977441195570557,
+              0.003563340740067783,
+              -0.00588257408650561
+            ],
+            "object_to_gripper_xy": 0.004643549644712269,
+            "object_to_gripper_z": -0.00588257408650561,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17774876073851698,
+              0.20496957983399067,
+              1.047147915305183
+            ],
+            "finger_b": [
+              0.1684633620269787,
+              0.228465449247852,
+              1.047147915305183
+            ],
+            "finger_midpoint": [
+              0.17310606138274784,
+              0.21671751454092134,
+              1.047147915305183
+            ],
+            "object_minus_finger_midpoint": [
+              0.0046426993557691365,
+              0.011747934706930668,
+              0.0
+            ],
+            "finger_gap": 0.0252640952488994,
+            "fingertip_max_gap": 0.09735959703043218,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0126320476244497,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047147915305183,
+            "object_top_z": 1.1003046522586106,
+            "finger_top_clearance": 0.0531567369534276,
+            "fingertip_min_top_clearance": 0.015947021086028246,
+            "object_projection_between_fingers": 0.8649192031784244,
+            "object_to_finger_line_xy": 0.008635516666342671,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05117979851521609,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4995486969572904,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1784205934082979,
+              0.23056903474661627,
+              1.2412891273979587
+            ],
+            "held_position": [
+              0.18147068415987627,
+              0.2339476893694346,
+              1.2353048370755388
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007518649567320163,
+            "max_held_gripper_dist": 0.007531963180374189,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005984290322419872,
+            "max_held_gripper_z_dist": 0.006014347129124298,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08604426424629133,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18147068415987627,
+              0.21002315925910303,
+              1.2353048370755388
+            ],
+            "held_grasp_finger_b": [
+              0.1733329335989852,
+              0.2339476893694346,
+              1.2353048370755388
+            ],
+            "held_grasp_midpoint": [
+              0.17740180887943074,
+              0.22198542431426882,
+              1.2353048370755388
+            ],
+            "held_grasp_object_position": [
+              0.18147068415987627,
+              0.2339476893694346,
+              1.2353048370755388
+            ],
+            "held_grasp_finger_gap": 0.025270657395316122,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02380244846447997,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.011558804222580682,
+              -0.9988288597445025,
+              0.04698194319566751
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003970468931710253,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03772496317230954,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30060966745717904,
+              -0.3064803060591992,
+              0.8515395797549303
+            ],
+            "target_position": [
+              0.2974735788912057,
+              -0.30629270440859974,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0031416947453462895,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1797174848518963,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395797549303,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757513570494901,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08875277356081145,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14723262046887906,
+            "release_required_pad_clearance": 0.054376386780405725,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.777096000877178,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007155001163482666,
+            "max_z_decrease": 0.007155001163482666,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035225872765887456,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007155001163482666,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021093971378493503,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007155001163482666,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007155020533020201,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15317350625991816,
+              -0.3625541627407074,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15317350625991816,
+              -0.3625541627407074,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15545776530772504,
+              -0.36227383019412346,
+              0.808174833939707
+            ],
+            "closest_button": [
+              0.15316267311573023,
+              -0.3625604808330536,
+              0.7730249762535095
+            ],
+            "closest_ee_minus_button": [
+              0.0022950921919948075,
+              0.00028665063893013043,
+              0.035149857686197494
+            ],
+            "button_min_z_position": [
+              0.15315710008144373,
+              -0.36255699396133423,
+              0.769653856754303
+            ],
+            "min_active_finger_to_button": 0.1439431461764194,
+            "closest_active_finger": [
+              0.014101020991802216,
+              -0.34798508882522583,
+              0.8103690147399902
+            ],
+            "closest_active_finger_button": [
+              0.1531729251146316,
+              -0.362556517124176,
+              0.7762177586555481
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13907190412282938,
+              0.014571428298950195,
+              0.03415125608444214
+            ],
+            "min_contact_pad_to_button": 0.021093971378493503,
+            "closest_contact_pad": [
+              0.15315710008144373,
+              -0.363344758280651,
+              0.7907331132851656
+            ],
+            "closest_contact_pad_button": [
+              0.15315710008144373,
+              -0.36255699396133423,
+              0.769653856754303
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007877643193167638,
+              0.021079256530862622
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba67f96a4550fb104601b8d521ffb982a90f07fadcd161d03d97665325fbe5c7",
+    "visual_seed": 8571568930894911448,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d92ce114fc42421f1e0787659cee9b5bb59a5e06
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18211444406667887,
+              0.22760690656960278,
+              1.0470792854989233
+            ],
+            "current_z": 1.0470792854989233,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18597271787951242,
+            "gripper_z": 1.0528240947173815,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17816395809360128,
+              0.22334327350288302,
+              1.0528240947173815
+            ],
+            "object_minus_gripper": [
+              0.003950485973077594,
+              0.0042636330667197575,
+              -0.005744809218458213
+            ],
+            "object_to_gripper_xy": 0.005812478503281449,
+            "object_to_gripper_z": -0.005744809218458213,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18211444406667887,
+              0.2039009284584902,
+              1.0470792854989233
+            ],
+            "finger_b": [
+              0.17119255520583823,
+              0.22760690656960278,
+              1.0470792854989233
+            ],
+            "finger_midpoint": [
+              0.17665349963625854,
+              0.2157539175140465,
+              1.0470792854989233
+            ],
+            "object_minus_finger_midpoint": [
+              0.005460944430420334,
+              0.01185298905555629,
+              0.0
+            ],
+            "finger_gap": 0.026100978037098602,
+            "fingertip_max_gap": 0.09195315573912943,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013050489018549306,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470792854989233,
+            "object_top_z": 1.0973505311537273,
+            "finger_top_clearance": 0.05027124565480401,
+            "fingertip_min_top_clearance": 0.015081373696441169,
+            "object_projection_between_fingers": 0.8249016944358994,
+            "object_to_finger_line_xy": 0.009919707142739459,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04847657786956472,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.090198449785044,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18218605346816047,
+              0.2285954048635899,
+              1.2418419351452057
+            ],
+            "held_position": [
+              0.18635137380682187,
+              0.23250029910975165,
+              1.235977871803359
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008184456700023792,
+            "max_held_gripper_dist": 0.008201351674776076,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005864063341846748,
+            "max_held_gripper_z_dist": 0.0059017995088597175,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0862784115170721,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18635137380682187,
+              0.20795068870792616,
+              1.235977871803359
+            ],
+            "held_grasp_finger_b": [
+              0.17723893551189343,
+              0.23250029910975165,
+              1.235977871803359
+            ],
+            "held_grasp_midpoint": [
+              0.18179515465935764,
+              0.2202254939088389,
+              1.235977871803359
+            ],
+            "held_grasp_object_position": [
+              0.18635137380682187,
+              0.23250029910975165,
+              1.235977871803359
+            ],
+            "held_grasp_finger_gap": 0.02618625407652451,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02406905701733683,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04897335485738065,
+              -0.9986033704937088,
+              0.01982218334638297
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003957237324513924,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03723945488719313,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30523928714087756,
+              -0.30717381690651846,
+              0.8515395638262933
+            ],
+            "target_position": [
+              0.29906875076858025,
+              -0.3086514325005571,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006344987546527589,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18356929101655103,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395638262933,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0759029591566434,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622095307256437,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15079377771613983,
+            "release_required_pad_clearance": 0.05311047653628219,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2480194814202275,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007224142551422119,
+            "max_z_decrease": 0.007224142551422119,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035146239419154825,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007224142551422119,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0210899356593528,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007224142551422119,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007224164842209846,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1547686755657196,
+              -0.3649128973484039,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1547686755657196,
+              -0.3649128973484039,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15425920456493364,
+              -0.3650327005249346,
+              0.8080988931674613
+            ],
+            "closest_button": [
+              0.1547577679157257,
+              -0.3649198412895202,
+              0.772956371307373
+            ],
+            "closest_ee_minus_button": [
+              -0.0004985633507920695,
+              -0.00011285923541437537,
+              0.03514252186008826
+            ],
+            "button_min_z_position": [
+              0.15475091338157654,
+              -0.3649154603481292,
+              0.7695847153663635
+            ],
+            "min_active_finger_to_button": 0.14658814162812026,
+            "closest_active_finger": [
+              0.027436450123786926,
+              -0.42903822660446167,
+              0.8108134865760803
+            ],
+            "closest_active_finger_button": [
+              0.1547725349664688,
+              -0.3649145364761352,
+              0.7767289280891418
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12733608484268188,
+              -0.06412369012832647,
+              0.03408455848693848
+            ],
+            "min_contact_pad_to_button": 0.0210899356593528,
+            "closest_contact_pad": [
+              0.15475091338157654,
+              -0.3661804381028893,
+              0.7906366800584202
+            ],
+            "closest_contact_pad_button": [
+              0.15475091338157654,
+              -0.3649154603481292,
+              0.7695847153663635
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012649777547600882,
+              0.021051964692056724
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46677de6ae91e675c78e264adc9ddbeb3b9fbd0e8473f3dd06ac44a8eff76104",
+    "visual_seed": 7583262660084496579,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e1d07a28c650cf6a64ab4713570377a912d51de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17453348266962943,
+              0.2309480408042298,
+              1.0469945871285384
+            ],
+            "current_z": 1.0469945871285384,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.1858877810905486,
+            "gripper_z": 1.0528381690427235,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1714069508160648,
+              0.22721511339832812,
+              1.0528381690427235
+            ],
+            "object_minus_gripper": [
+              0.0031265318535646236,
+              0.0037329274059016704,
+              -0.005843581914185103
+            ],
+            "object_to_gripper_xy": 0.004869286236101346,
+            "object_to_gripper_z": -0.005843581914185103,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17453348266962943,
+              0.20758124946302317,
+              1.0469945871285384
+            ],
+            "finger_b": [
+              0.1646886535787024,
+              0.2309480408042298,
+              1.0469945871285384
+            ],
+            "finger_midpoint": [
+              0.16961106812416593,
+              0.21926464513362648,
+              1.0469945871285384
+            ],
+            "object_minus_finger_midpoint": [
+              0.004922414545463494,
+              0.011683395670603308,
+              0.0
+            ],
+            "finger_gap": 0.025356016986369356,
+            "fingertip_max_gap": 0.09411001020877696,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012678008493184673,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469945871285384,
+            "object_top_z": 1.0985392487532462,
+            "finger_top_clearance": 0.05154466162470772,
+            "fingertip_min_top_clearance": 0.015463398487412332,
+            "object_projection_between_fingers": 0.8492510506322288,
+            "object_to_finger_line_xy": 0.009072484344887308,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04955500510438848,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.498958384467586,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17532975522503402,
+              0.23227703714136141,
+              1.2423220223936768
+            ],
+            "held_position": [
+              0.17861891533111943,
+              0.23573899087776237,
+              1.2363797719485192
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007623256405855714,
+            "max_held_gripper_dist": 0.007638379786058201,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005942250445157615,
+            "max_held_gripper_z_dist": 0.005975134786003311,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08603414057617956,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17861891533111943,
+              0.2116216185311345,
+              1.2363797719485192
+            ],
+            "held_grasp_finger_b": [
+              0.1703927872461486,
+              0.23573899087776237,
+              1.2363797719485192
+            ],
+            "held_grasp_midpoint": [
+              0.174505851288634,
+              0.22368030470444844,
+              1.2363797719485192
+            ],
+            "held_grasp_object_position": [
+              0.17861891533111943,
+              0.23573899087776237,
+              1.2363797719485192
+            ],
+            "held_grasp_finger_gap": 0.025481696022365472,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02375452321813697,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04020111747027746,
+              -0.9986669531589362,
+              0.0323757134653161
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003646216201902367,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037512288919557116,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.299026314459693,
+              -0.30737694654071435,
+              0.8515395856983698
+            ],
+            "target_position": [
+              0.2939280313180432,
+              -0.3079696568125848,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005132620817751076,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1822604599474898,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395856983698,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516240716540548,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551501625008572,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15144266439983536,
+            "release_required_pad_clearance": 0.05275750812504286,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5650972583694348,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007039308547973633,
+            "max_z_decrease": 0.007039308547973633,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035191351897722864,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007039308547973633,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021123349272980214,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007039308547973633,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007039328180762368,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1496279537677765,
+              -0.36423110961914057,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1496279537677765,
+              -0.36423110961914057,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15134820652874373,
+              -0.3644577766621793,
+              0.8082419633684684
+            ],
+            "closest_button": [
+              0.14961758255958557,
+              -0.3642378449440002,
+              0.7730938792228699
+            ],
+            "closest_ee_minus_button": [
+              0.001730623969158157,
+              -0.00021993171817913382,
+              0.03514808414559856
+            ],
+            "button_min_z_position": [
+              0.14961159229278564,
+              -0.3642340600490569,
+              0.769769549369812
+            ],
+            "min_active_finger_to_button": 0.14443892353063975,
+            "closest_active_finger": [
+              0.01012817770242691,
+              -0.3488694131374359,
+              0.8104422092437744
+            ],
+            "closest_active_finger_button": [
+              0.14962781965732572,
+              -0.3642338812351226,
+              0.7762898206710815
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1394996419548988,
+              0.015364468097686712,
+              0.03415238857269287
+            ],
+            "min_contact_pad_to_button": 0.021123349272980214,
+            "closest_contact_pad": [
+              0.14961159229278564,
+              -0.3656341109725105,
+              0.7908464500414015
+            ],
+            "closest_contact_pad_button": [
+              0.14961159229278564,
+              -0.3642340600490569,
+              0.769769549369812
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014000509234535774,
+              0.021076900671589516
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "32b0c69bffa474caf993511e3ef2438ce496c01277b5c66a40c027a2b70ac220",
+    "visual_seed": 6957917073197183572,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ddb2f88dc009c8c45093e68125de5d60e70affe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17835094288107672,
+              0.22520408297567604,
+              1.0474813911637693
+            ],
+            "current_z": 1.0474813911637693,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1863746447304241,
+            "gripper_z": 1.0535755202591377,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17462996833870653,
+              0.2211578744583217,
+              1.0535755202591377
+            ],
+            "object_minus_gripper": [
+              0.0037209745423701923,
+              0.004046208517354349,
+              -0.006094129095368439
+            ],
+            "object_to_gripper_xy": 0.005497040559326259,
+            "object_to_gripper_z": -0.006094129095368439,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17835094288107672,
+              0.2014427087554963,
+              1.0474813911637693
+            ],
+            "finger_b": [
+              0.16801828413040681,
+              0.22520408297567604,
+              1.0474813911637693
+            ],
+            "finger_midpoint": [
+              0.17318461350574177,
+              0.21332339586558619,
+              1.0474813911637693
+            ],
+            "object_minus_finger_midpoint": [
+              0.005166329375334955,
+              0.011880687110089855,
+              0.0
+            ],
+            "finger_gap": 0.02591074567991469,
+            "fingertip_max_gap": 0.09170153193023281,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012955372839957333,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474813911637693,
+            "object_top_z": 1.0977393980775254,
+            "finger_top_clearance": 0.05025800691375615,
+            "fingertip_min_top_clearance": 0.015077402074126826,
+            "object_projection_between_fingers": 0.8409753861366914,
+            "object_to_finger_line_xy": 0.009475534756778604,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835076596511641,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9303302772452225,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17868382715562053,
+              0.22627181967423327,
+              1.2406616841251197
+            ],
+            "held_position": [
+              0.18253932091451644,
+              0.23001576093687515,
+              1.2344245214837657
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008233111569613255,
+            "max_held_gripper_dist": 0.00824795288806236,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006237162641353988,
+            "max_held_gripper_z_dist": 0.006271337872423288,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0858508221189295,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18253932091451644,
+              0.20558424008592413,
+              1.2344245214837657
+            ],
+            "held_grasp_finger_b": [
+              0.17386768342243733,
+              0.23001576093687515,
+              1.2344245214837657
+            ],
+            "held_grasp_midpoint": [
+              0.17820350216847688,
+              0.21780000051139964,
+              1.2344245214837657
+            ],
+            "held_grasp_object_position": [
+              0.18253932091451644,
+              0.23001576093687515,
+              1.2344245214837657
+            ],
+            "held_grasp_finger_gap": 0.025924824163038915,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0240466090167959,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.041411116849726745,
+              -0.998943592547938,
+              0.019920298910354295
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003834075017632235,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03733784336823415,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.298344468766625,
+              -0.31251283259099794,
+              0.8515395704630558
+            ],
+            "target_position": [
+              0.29221932995244865,
+              -0.3138803397173761,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006275938275160533,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18532618901802766,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395704630558,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575452639423774,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635246993462663,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15289423303322788,
+            "release_required_pad_clearance": 0.053176234967313316,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3762678770705319,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007075250148773193,
+            "max_z_decrease": 0.007075250148773193,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516088017704245,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007075250148773193,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021160907196621056,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007075250148773193,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007075267447345289,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14791925251483917,
+              -0.37014180421829224,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14791925251483917,
+              -0.37014180421829224,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14734617273855544,
+              -0.3711411579439371,
+              0.808208942128278
+            ],
+            "closest_button": [
+              0.1479087471961975,
+              -0.3701484799385071,
+              0.7730665802955627
+            ],
+            "closest_ee_minus_button": [
+              -0.0005625744576420733,
+              -0.0009926780054300144,
+              0.03514236183271524
+            ],
+            "button_min_z_position": [
+              0.14790378510951996,
+              -0.37014415860176086,
+              0.7697336077690125
+            ],
+            "min_active_finger_to_button": 0.1465631001907758,
+            "closest_active_finger": [
+              0.006302312016487122,
+              -0.35403743386268616,
+              0.8104036450386047
+            ],
+            "closest_active_finger_button": [
+              0.1479194611310959,
+              -0.37014433741569513,
+              0.7762584686279297
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14161714911460876,
+              0.016106903553008978,
+              0.03414517641067505
+            ],
+            "min_contact_pad_to_button": 0.021160907196621056,
+            "closest_contact_pad": [
+              0.14790378510951996,
+              -0.3724396378481921,
+              0.7907696427664451
+            ],
+            "closest_contact_pad_button": [
+              0.14790378510951996,
+              -0.37014415860176086,
+              0.7697336077690125
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022954792464312535,
+              0.021036034997432673
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0f4520db8cda2a359473a044080dad021a29bb474fa14eb9aa6899430aa6fe7a",
+    "visual_seed": 4427120823058288530,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..97941af396fcff95fe88d73d235281abe30a24d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1734058527462766,
+              0.22606078966304033,
+              1.047828095458934
+            ],
+            "current_z": 1.047828095458934,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.18672128942094446,
+            "gripper_z": 1.053708670398084,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17018583410169563,
+              0.22224800988072896,
+              1.053708670398084
+            ],
+            "object_minus_gripper": [
+              0.003220018644580963,
+              0.0038127797823113707,
+              -0.005880574939149952
+            ],
+            "object_to_gripper_xy": 0.004990572085427819,
+            "object_to_gripper_z": -0.005880574939149952,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1734058527462766,
+              0.20265224448877733,
+              1.047828095458934
+            ],
+            "finger_b": [
+              0.16342428516320545,
+              0.22606078966304033,
+              1.047828095458934
+            ],
+            "finger_midpoint": [
+              0.168415068954741,
+              0.21435651707590883,
+              1.047828095458934
+            ],
+            "object_minus_finger_midpoint": [
+              0.004990783791535586,
+              0.011704272587131498,
+              0.0
+            ],
+            "finger_gap": 0.02544782266896184,
+            "fingertip_max_gap": 0.09104938302890192,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012723911334480925,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047828095458934,
+            "object_top_z": 1.097664361622721,
+            "finger_top_clearance": 0.049836266163787,
+            "fingertip_min_top_clearance": 0.014950879849136116,
+            "object_projection_between_fingers": 0.8461504452432097,
+            "object_to_finger_line_xy": 0.009181688300715111,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802469151445096,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9674579630868726,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1739526391497537,
+              0.2279868487333116,
+              1.2425493163040733
+            ],
+            "held_position": [
+              0.17731400685831256,
+              0.23154689643338972,
+              1.2365571431371127
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007738143948119321,
+            "max_held_gripper_dist": 0.007753496507509014,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005992173166960546,
+            "max_held_gripper_z_dist": 0.006024894250552526,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08468446176773703,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17731400685831256,
+              0.2074478753436573,
+              1.2365571431371127
+            ],
+            "held_grasp_finger_b": [
+              0.16886451501698524,
+              0.23154689643338972,
+              1.2365571431371127
+            ],
+            "held_grasp_midpoint": [
+              0.1730892609376489,
+              0.21949738588852352,
+              1.2365571431371127
+            ],
+            "held_grasp_object_position": [
+              0.17731400685831256,
+              0.23154689643338972,
+              1.2365571431371127
+            ],
+            "held_grasp_finger_gap": 0.025537359492712332,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023765723150260806,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03729250447411281,
+              -0.9992449806526507,
+              0.010896685300227917
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037747648546180555,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03752228578266798,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3064232751511353,
+              -0.3128760444983144,
+              0.8515395037686663
+            ],
+            "target_position": [
+              0.30005707332626674,
+              -0.3145071559379412,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006571837658025449,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18434698304317737,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395037686663,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580980922481892,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08646388516000868,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15184799005619534,
+            "release_required_pad_clearance": 0.05323194258000434,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4851359601768697,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007328331470489502,
+            "max_z_decrease": 0.007328331470489502,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520072589138952,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007328331470489502,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021212895073628966,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007328331470489502,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007328353105798541,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15575699508190155,
+              -0.3707686066627502,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15575699508190155,
+              -0.3707686066627502,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1571047185986593,
+              -0.3722353578894812,
+              0.8082040651396787
+            ],
+            "closest_button": [
+              0.15574683248996735,
+              -0.3707755506038666,
+              0.7730598449707031
+            ],
+            "closest_ee_minus_button": [
+              0.001357886108691947,
+              -0.0014598072856146227,
+              0.03514422016897556
+            ],
+            "button_min_z_position": [
+              0.155739352107048,
+              -0.3707710206508636,
+              0.7694805264472961
+            ],
+            "min_active_finger_to_button": 0.14469178153645826,
+            "closest_active_finger": [
+              0.015746310353279114,
+              -0.357899934053421,
+              0.8104527592658997
+            ],
+            "closest_active_finger_button": [
+              0.15575706958770752,
+              -0.37077090144157404,
+              0.7762908339500427
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1400107592344284,
+              0.01287096738815302,
+              0.034161925315856934
+            ],
+            "min_contact_pad_to_button": 0.021212895073628966,
+            "closest_contact_pad": [
+              0.155739352107048,
+              -0.3732752525983071,
+              0.7905450876760091
+            ],
+            "closest_contact_pad_button": [
+              0.155739352107048,
+              -0.3707710206508636,
+              0.7694805264472961
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025042319474434804,
+              0.02106456122871292
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ed3f72049da7f8e0dbb14703faf49ded16e7a2bf43464714319ad714242bd2bc",
+    "visual_seed": 927309091606890456,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..30d6e4849fe193d34931f57fe2276f625664c251
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17626080907175787,
+              0.22668124373742082,
+              1.0491752088974193
+            ],
+            "current_z": 1.0491752088974193,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18806852206871927,
+            "gripper_z": 1.0549851030840083,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17298962123175876,
+              0.22290139177424706,
+              1.0549851030840083
+            ],
+            "object_minus_gripper": [
+              0.003271187839999107,
+              0.0037798519631737637,
+              -0.005809894186588949
+            ],
+            "object_to_gripper_xy": 0.004998794929587188,
+            "object_to_gripper_z": -0.005809894186588949,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17626080907175787,
+              0.20310794669000146,
+              1.0491752088974193
+            ],
+            "finger_b": [
+              0.16649363924376623,
+              0.22668124373742082,
+              1.0491752088974193
+            ],
+            "finger_midpoint": [
+              0.17137722415776205,
+              0.21489459521371113,
+              1.0491752088974193
+            ],
+            "object_minus_finger_midpoint": [
+              0.00488358491399582,
+              0.011786648523709697,
+              0.0
+            ],
+            "finger_gap": 0.02551662086042548,
+            "fingertip_max_gap": 0.09253954661241703,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012758310430212754,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491752088974193,
+            "object_top_z": 1.0998152625227766,
+            "finger_top_clearance": 0.050640053625357284,
+            "fingertip_min_top_clearance": 0.015192016087607185,
+            "object_projection_between_fingers": 0.8534819409364217,
+            "object_to_finger_line_xy": 0.00902331060712401,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04876977330620852,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.031416102326066,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17676487218556328,
+              0.22849841056409861,
+              1.2454714464908836
+            ],
+            "held_position": [
+              0.18016335674953057,
+              0.2320506106152596,
+              1.2395735870412499
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007678057607404753,
+            "max_held_gripper_dist": 0.007690269742525581,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0058978594496337244,
+            "max_held_gripper_z_dist": 0.005930810352950955,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08473657792171088,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18016335674953057,
+              0.20795129786325747,
+              1.2395735870412499
+            ],
+            "held_grasp_finger_b": [
+              0.17163851115222936,
+              0.2320506106152596,
+              1.2395735870412499
+            ],
+            "held_grasp_midpoint": [
+              0.17590093395087997,
+              0.22000095423925853,
+              1.2395735870412499
+            ],
+            "held_grasp_object_position": [
+              0.18016335674953057,
+              0.2320506106152596,
+              1.2395735870412499
+            ],
+            "held_grasp_finger_gap": 0.025562665502185774,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023835498546932336,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0291187937037779,
+              -0.9993534676724698,
+              0.021088918991892136
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003918078209457846,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03755426757632452,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3045218354548167,
+              -0.3053734621517775,
+              0.851539588781381
+            ],
+            "target_position": [
+              0.2982138213005574,
+              -0.30684242841300063,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00647679739122257,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18495046914346266,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539588781381,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537091946834297,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569473177122543,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15344629983706004,
+            "release_required_pad_clearance": 0.052847365885612715,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7380708429992359,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007221877574920654,
+            "max_z_decrease": 0.007221877574920654,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035173334765662465,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007221877574920654,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02125599644710593,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007221877574920654,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072218991510443475,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15391375124454498,
+              -0.3631038963794708,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15391375124454498,
+              -0.3631038963794708,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1545383153789402,
+              -0.36448359552883064,
+              0.8080774664148099
+            ],
+            "closest_button": [
+              0.1539040505886078,
+              -0.36311265826225286,
+              0.7729365825653076
+            ],
+            "closest_ee_minus_button": [
+              0.0006342647903324061,
+              -0.0013709372665777764,
+              0.035140883849502313
+            ],
+            "button_min_z_position": [
+              0.15389636158943176,
+              -0.3631069362163544,
+              0.769586980342865
+            ],
+            "min_active_finger_to_button": 0.1453838649761812,
+            "closest_active_finger": [
+              0.013430476188659668,
+              -0.34783682227134705,
+              0.8102924227714539
+            ],
+            "closest_active_finger_button": [
+              0.15391334891319275,
+              -0.3631084859371186,
+              0.7761192321777344
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14048287272453308,
+              0.01527166366577154,
+              0.03417319059371948
+            ],
+            "min_contact_pad_to_button": 0.02125599644710593,
+            "closest_contact_pad": [
+              0.15389636158943176,
+              -0.365833816265463,
+              0.7906673387401303
+            ],
+            "closest_contact_pad_button": [
+              0.15389636158943176,
+              -0.3631069362163544,
+              0.769586980342865
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002726880049108593,
+              0.021080358397265297
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e2acbdc950d22ae3ea54785432b252bd5b68f96bbae2749a903bd7212c1c7d7",
+    "visual_seed": 6220366624355491649,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7c2b5dd5044d11dadf9596dd236b395244f8689
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17737268355087377,
+              0.22648952782695037,
+              1.046845909241342
+            ],
+            "current_z": 1.046845909241342,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.1857390435987074,
+            "gripper_z": 1.0526906307242416,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17438342999782158,
+              0.22288102655339487,
+              1.0526906307242416
+            ],
+            "object_minus_gripper": [
+              0.0029892535530521847,
+              0.0036085012735554978,
+              -0.005844721482899606
+            ],
+            "object_to_gripper_xy": 0.004685820978834633,
+            "object_to_gripper_z": -0.005844721482899606,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17737268355087377,
+              0.20307960418187984,
+              1.046845909241342
+            ],
+            "finger_b": [
+              0.1678976211753519,
+              0.22648952782695037,
+              1.046845909241342
+            ],
+            "finger_midpoint": [
+              0.17263515236311283,
+              0.2147845660044151,
+              1.046845909241342
+            ],
+            "object_minus_finger_midpoint": [
+              0.004737531187760935,
+              0.011704961822535276,
+              0.0
+            ],
+            "finger_gap": 0.02525472890545575,
+            "fingertip_max_gap": 0.09606078619940048,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012627364452727887,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046845909241342,
+            "object_top_z": 1.0994625517900527,
+            "finger_top_clearance": 0.05261664254871068,
+            "fingertip_min_top_clearance": 0.01578499276461322,
+            "object_projection_between_fingers": 0.8592401700916572,
+            "object_to_finger_line_xy": 0.008782928835768648,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05053039309970024,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.020484097910036,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1782395439292763,
+              0.22826393701805386,
+              1.2418620038302621
+            ],
+            "held_position": [
+              0.18134915389209996,
+              0.23164864485938055,
+              1.235917005541978
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075145808891602705,
+            "max_held_gripper_dist": 0.007530653199891685,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005944998288284209,
+            "max_held_gripper_z_dist": 0.00597611544136778,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0859786958133561,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18134915389209996,
+              0.2076504124411214,
+              1.235917005541978
+            ],
+            "held_grasp_finger_b": [
+              0.17325031432858978,
+              0.23164864485938055,
+              1.235917005541978
+            ],
+            "held_grasp_midpoint": [
+              0.1772997341103449,
+              0.21964952865025097,
+              1.235917005541978
+            ],
+            "held_grasp_object_position": [
+              0.18134915389209996,
+              0.23164864485938055,
+              1.235917005541978
+            ],
+            "held_grasp_finger_gap": 0.025327975866149717,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023738237098064215,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.028236917014542784,
+              -0.9986953597673224,
+              0.04254709034390658
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003744290207160768,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03762244526039402,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29656925879513685,
+              -0.306353749216554,
+              0.8515395288662517
+            ],
+            "target_position": [
+              0.2932625835982907,
+              -0.30613944299607426,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0033136125322031414,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18160391340559925,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395288662517,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758134267360727,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08698947244171033,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14885584091493811,
+            "release_required_pad_clearance": 0.05349473622085517,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.001857605815298,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007107555866241455,
+            "max_z_decrease": 0.007107555866241455,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518188696605861,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007107555866241455,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021240775885988637,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007107555866241455,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007107572893620315,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14896251261234283,
+              -0.3624008893966674,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14896251261234283,
+              -0.3624008893966674,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14802039745238738,
+              -0.3642428143009027,
+              0.8080218102925709
+            ],
+            "closest_button": [
+              0.14895130693912506,
+              -0.362406313419342,
+              0.7729002237319946
+            ],
+            "closest_ee_minus_button": [
+              -0.0009309094867376855,
+              -0.001836500881560732,
+              0.03512158656057629
+            ],
+            "button_min_z_position": [
+              0.14894695580005646,
+              -0.36240106821060175,
+              0.7697013020515442
+            ],
+            "min_active_finger_to_button": 0.1468541046933502,
+            "closest_active_finger": [
+              0.006712034344673157,
+              -0.34957650303840637,
+              0.8107735514640808
+            ],
+            "closest_active_finger_button": [
+              0.1489613801240921,
+              -0.3624039888381958,
+              0.7766164541244507
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14224934577941895,
+              0.012827485799789429,
+              0.03415709733963013
+            ],
+            "min_contact_pad_to_button": 0.021240775885988637,
+            "closest_contact_pad": [
+              0.14894695580005646,
+              -0.36537908229956345,
+              0.7907322790218312
+            ],
+            "closest_contact_pad_button": [
+              0.14894695580005646,
+              -0.36240106821060175,
+              0.7697013020515442
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029780140889617,
+              0.021030976970286996
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e11c709f87642504450a729a291cfa6596b6054790280bf6713cb08206cb0e75",
+    "visual_seed": 4538737462591820059,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f35bd6901a47c10cd756a284199d034009e0e0e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1824047093063125,
+              0.2256684728848425,
+              1.0495611143304462
+            ],
+            "current_z": 1.0495611143304462,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1884544275017459,
+            "gripper_z": 1.0553908210218466,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17838722912861632,
+              0.22144092335834586,
+              1.0553908210218466
+            ],
+            "object_minus_gripper": [
+              0.004017480177696181,
+              0.004227549526496649,
+              -0.0058297066914003715
+            ],
+            "object_to_gripper_xy": 0.005832008399956552,
+            "object_to_gripper_z": -0.0058297066914003715,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1824047093063125,
+              0.20174657919250694,
+              1.0495611143304462
+            ],
+            "finger_b": [
+              0.1717574741653799,
+              0.2256684728848425,
+              1.0495611143304462
+            ],
+            "finger_midpoint": [
+              0.17708109173584619,
+              0.2137075260386747,
+              1.0495611143304462
+            ],
+            "object_minus_finger_midpoint": [
+              0.005323617570466316,
+              0.011960946846167803,
+              0.0
+            ],
+            "finger_gap": 0.02618435819289285,
+            "fingertip_max_gap": 0.09205492549966152,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013092179096446444,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495611143304462,
+            "object_top_z": 1.0998883429625923,
+            "finger_top_clearance": 0.050327228632146115,
+            "fingertip_min_top_clearance": 0.015098168589643834,
+            "object_projection_between_fingers": 0.8346554729600704,
+            "object_to_finger_line_xy": 0.009727258742886512,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04852746274983076,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0240980022877453,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1822971991791372,
+              0.22681910573620773,
+              1.242950884705041
+            ],
+            "held_position": [
+              0.1864537194022429,
+              0.23074535880896954,
+              1.2369841753901516
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00826400288025399,
+            "max_held_gripper_dist": 0.008277535509412914,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005966709314889407,
+            "max_held_gripper_z_dist": 0.006002682028654727,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08648775722324584,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1864537194022429,
+              0.20620210943393041,
+              1.2369841753901516
+            ],
+            "held_grasp_finger_b": [
+              0.1773447721763199,
+              0.23074535880896954,
+              1.2369841753901516
+            ],
+            "held_grasp_midpoint": [
+              0.1818992457892814,
+              0.21847373412145,
+              1.2369841753901516
+            ],
+            "held_grasp_object_position": [
+              0.1864537194022429,
+              0.23074535880896954,
+              1.2369841753901516
+            ],
+            "held_grasp_finger_gap": 0.026179075794420418,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024194031499819173,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0360985719874512,
+              -0.9991689002648596,
+              0.0189315040072876
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041151681129384535,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037294414333020595,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30425594930414923,
+              -0.30480416759093176,
+              0.8515395467397942
+            ],
+            "target_position": [
+              0.29691911289244494,
+              -0.30682370345475357,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007609710483150621,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.184477244465488,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395467397942,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526732243058952,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852877983557404,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15336251290623587,
+            "release_required_pad_clearance": 0.0526438991778702,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3471788016262206,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007038116455078125,
+            "max_z_decrease": 0.007038116455078125,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035147250835068665,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007038116455078125,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02112925708522586,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007038116455078125,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007038133712792383,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15261903405189509,
+              -0.36308515071868896,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15261903405189509,
+              -0.36308515071868896,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15234555167353417,
+              -0.3637885871780733,
+              0.8082512477418455
+            ],
+            "closest_button": [
+              0.15260839462280268,
+              -0.3630921840667724,
+              0.773111879825592
+            ],
+            "closest_ee_minus_button": [
+              -0.00026284294926851026,
+              -0.0006964031113008695,
+              0.035139367916253494
+            ],
+            "button_min_z_position": [
+              0.15260359644889826,
+              -0.3630872964859008,
+              0.7697707414627075
+            ],
+            "min_active_finger_to_button": 0.14632705156611503,
+            "closest_active_finger": [
+              0.010973013937473297,
+              -0.349638968706131,
+              0.8104699850082397
+            ],
+            "closest_active_finger_button": [
+              0.15261894464492792,
+              -0.3630874156951904,
+              0.7763060331344604
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14164593070745463,
+              0.013448446989059393,
+              0.0341639518737793
+            ],
+            "min_contact_pad_to_button": 0.02112925708522586,
+            "closest_contact_pad": [
+              0.15260359644889826,
+              -0.3648264246298807,
+              0.7908283039586942
+            ],
+            "closest_contact_pad_button": [
+              0.15260359644889826,
+              -0.3630872964859008,
+              0.7697707414627075
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017391281439798623,
+              0.02105756249598667
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b1644d33f59f0d96ba92fbf1b03a237e67f2d53b8c7cabb5e967c77f7707890",
+    "visual_seed": 574546214226440905,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cba31446a06692fb0f10023c6552e01b450d24d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17309085701113897,
+              0.22332915689352098,
+              1.0496771084472525
+            ],
+            "current_z": 1.0496771084472525,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18857048122319686,
+            "gripper_z": 1.0553697036814036,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17008288124855594,
+              0.21971950909670912,
+              1.0553697036814036
+            ],
+            "object_minus_gripper": [
+              0.0030079757625830206,
+              0.00360964779681186,
+              -0.00569259523415111
+            ],
+            "object_to_gripper_xy": 0.004698667407394954,
+            "object_to_gripper_z": -0.00569259523415111,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17309085701113897,
+              0.19987679311139459,
+              1.0496771084472525
+            ],
+            "finger_b": [
+              0.16365420154615362,
+              0.22332915689352098,
+              1.0496771084472525
+            ],
+            "finger_midpoint": [
+              0.1683725292786463,
+              0.21160297500245778,
+              1.0496771084472525
+            ],
+            "object_minus_finger_midpoint": [
+              0.004718327732492672,
+              0.011726181891063198,
+              0.0
+            ],
+            "finger_gap": 0.025279711891831987,
+            "fingertip_max_gap": 0.09311720139853402,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012639855945915993,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496771084472525,
+            "object_top_z": 1.1006190576599266,
+            "finger_top_clearance": 0.05094194921267414,
+            "fingertip_min_top_clearance": 0.01528258476380226,
+            "object_projection_between_fingers": 0.8606548176881541,
+            "object_to_finger_line_xy": 0.00875452528092041,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04905860069926701,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2155617155969471,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1739492105827441,
+              0.22537518294957734,
+              1.24433224812302
+            ],
+            "held_position": [
+              0.17704927842230178,
+              0.22876974232105202,
+              1.2385279829913272
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007404251998366248,
+            "max_held_gripper_dist": 0.007419945529816823,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005804265131692743,
+            "max_held_gripper_z_dist": 0.005834851049427492,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08623564764261404,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17704927842230178,
+              0.20479507840738528,
+              1.2385279829913272
+            ],
+            "held_grasp_finger_b": [
+              0.16893579397874486,
+              0.22876974232105202,
+              1.2385279829913272
+            ],
+            "held_grasp_midpoint": [
+              0.17299253620052332,
+              0.21678241036421864,
+              1.2385279829913272
+            ],
+            "held_grasp_object_position": [
+              0.17704927842230178,
+              0.22876974232105202,
+              1.2385279829913272
+            ],
+            "held_grasp_finger_gap": 0.025310336615484076,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023743280833065716,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0265349809882041,
+              -0.9993287945473983,
+              0.0252557948281128
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037495826529484913,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037633318498104334,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29709626848476584,
+              -0.31213311691041573,
+              0.8515395712254366
+            ],
+            "target_position": [
+              0.2921641392234446,
+              -0.31281886220852023,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004979572839536915,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18177409892908644,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395712254366,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557435608983794,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08636638312696941,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14990095537643625,
+            "release_required_pad_clearance": 0.05318319156348471,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3898499627003673,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073899030685424805,
+            "max_z_decrease": 0.0073899030685424805,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514603484115105,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073899030685424805,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021109016767128785,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0073899030685424805,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007389920345081116,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14786405861377716,
+              -0.36908033490180964,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14786405861377716,
+              -0.36908033490180964,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.147593635416458,
+              -0.3687594655297702,
+              0.8077954085089263
+            ],
+            "closest_button": [
+              0.1478523164987564,
+              -0.3690869212150573,
+              0.7726518511772156
+            ],
+            "closest_ee_minus_button": [
+              -0.0002586810822984009,
+              0.00032745568528713687,
+              0.035143557331710706
+            ],
+            "button_min_z_position": [
+              0.14784838259220123,
+              -0.36908343434333796,
+              0.7694189548492432
+            ],
+            "min_active_finger_to_button": 0.14618330367154628,
+            "closest_active_finger": [
+              0.01926083117723465,
+              -0.42965400218963623,
+              0.8104209303855896
+            ],
+            "closest_active_finger_button": [
+              0.14786407351493835,
+              -0.36908277869224543,
+              0.7763344049453735
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1286032423377037,
+              -0.0605712234973908,
+              0.034086525440216064
+            ],
+            "min_contact_pad_to_button": 0.021109016767128785,
+            "closest_contact_pad": [
+              0.14784838259220123,
+              -0.37023020111627264,
+              0.7904967990189731
+            ],
+            "closest_contact_pad_button": [
+              0.14784838259220123,
+              -0.36908343434333796,
+              0.7694189548492432
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001146766772934682,
+              0.02107784416972991
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa8cec15d7fe4ca389e3f9258947fc44bef782ef039a4890483540c499a90184",
+    "visual_seed": 7241929123315846033,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0b479462da2d24edf97ebcc5d29d2a75e7c3151
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18054180348757085,
+              0.23163126596746195,
+              1.0468504973565205
+            ],
+            "current_z": 1.0468504973565205,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18574381052782007,
+            "gripper_z": 1.0525184169925172,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17673099335829037,
+              0.22749053762107183,
+              1.0525184169925172
+            ],
+            "object_minus_gripper": [
+              0.003810810129280473,
+              0.004140728346390121,
+              -0.0056679196359967765
+            ],
+            "object_to_gripper_xy": 0.005627424373550063,
+            "object_to_gripper_z": -0.0056679196359967765,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18054180348757085,
+              0.20791102263459615,
+              1.0468504973565205
+            ],
+            "finger_b": [
+              0.1699401512055164,
+              0.23163126596746195,
+              1.0468504973565205
+            ],
+            "finger_midpoint": [
+              0.17524097734654362,
+              0.21977114430102906,
+              1.0468504973565205
+            ],
+            "object_minus_finger_midpoint": [
+              0.005300826141027226,
+              0.011860121666432882,
+              0.0
+            ],
+            "finger_gap": 0.025981627641084276,
+            "fingertip_max_gap": 0.0924038994097455,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012990813820542124,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468504973565205,
+            "object_top_z": 1.0976743791613846,
+            "finger_top_clearance": 0.05082388180486408,
+            "fingertip_min_top_clearance": 0.015247164541459206,
+            "object_projection_between_fingers": 0.8334999366085527,
+            "object_to_finger_line_xy": 0.00967890754708194,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04870194970487275,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9043014006875009,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18069580652632458,
+              0.23251199687747032,
+              1.2411085582134807
+            ],
+            "held_position": [
+              0.1846912394620754,
+              0.23633414214788237,
+              1.235311428386412
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008011179254273701,
+            "max_held_gripper_dist": 0.008025961730784232,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005797129827068703,
+            "max_held_gripper_z_dist": 0.005832134667079769,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08634178215141602,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1846912394620754,
+              0.21184112750752737,
+              1.235311428386412
+            ],
+            "held_grasp_finger_b": [
+              0.17581540080727684,
+              0.23633414214788237,
+              1.235311428386412
+            ],
+            "held_grasp_midpoint": [
+              0.18025332013467613,
+              0.22408763482770488,
+              1.235311428386412
+            ],
+            "held_grasp_object_position": [
+              0.1846912394620754,
+              0.23633414214788237,
+              1.235311428386412
+            ],
+            "held_grasp_finger_gap": 0.026051646358697965,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02400127244871016,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05094652743678178,
+              -0.9983852933305918,
+              0.02512483638397222
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003820878156235586,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037267420688188835,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3010085916834232,
+              -0.3115274915512567,
+              0.8515395778767504
+            ],
+            "target_position": [
+              0.2948930222986579,
+              -0.31305129286230104,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006302551811403007,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18306747269125045,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395778767504,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07561167875372546,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0853852465523318,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15123530067632543,
+            "release_required_pad_clearance": 0.052692623276165904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.44057392209943386,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007252871990203857,
+            "max_z_decrease": 0.007252871990203857,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515536238200975,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007252871990203857,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021191372037323807,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007252871990203857,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007252893286380258,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15059295296669006,
+              -0.36931276321411133,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15059295296669006,
+              -0.36931276321411133,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15086651707846274,
+              -0.37017631014308194,
+              0.8080882336241434
+            ],
+            "closest_button": [
+              0.15058182179927826,
+              -0.36932018399238586,
+              0.772944450378418
+            ],
+            "closest_ee_minus_button": [
+              0.00028469527918448256,
+              -0.0008561261506960793,
+              0.035143783245725424
+            ],
+            "button_min_z_position": [
+              0.15057557821273804,
+              -0.36931541562080383,
+              0.7695559859275818
+            ],
+            "min_active_finger_to_button": 0.14575606711628739,
+            "closest_active_finger": [
+              0.009865894913673401,
+              -0.35277917981147766,
+              0.8108717799186707
+            ],
+            "closest_active_finger_button": [
+              0.1505967229604721,
+              -0.36931416392326355,
+              0.7767212390899658
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1407308280467987,
+              0.01653498411178589,
+              0.034150540828704834
+            ],
+            "min_contact_pad_to_button": 0.021191372037323807,
+            "closest_contact_pad": [
+              0.15057557821273804,
+              -0.3715687697698325,
+              0.7906272137964869
+            ],
+            "closest_contact_pad_button": [
+              0.15057557821273804,
+              -0.36931541562080383,
+              0.7695559859275818
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022533541490286635,
+              0.02107122786890514
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aa2ab1791751ba87fdf6b13b1fe8bdc1a56deef437a89a91e4da3a016af033e6",
+    "visual_seed": 9126676619167957831,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..931679f97fc7df5df7cdb6831e9bd1cd07811f9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17991438306442536,
+              0.22706154296137734,
+              1.0495551863122792
+            ],
+            "current_z": 1.0495551863122792,
+            "required_z": 0.8611070444565693,
+            "initial_z": 0.7611070444565693,
+            "lift_margin": 0.1884481418557099,
+            "gripper_z": 1.0555735919440334,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17636558615862874,
+              0.22318705911561618,
+              1.0555735919440334
+            ],
+            "object_minus_gripper": [
+              0.003548796905796625,
+              0.0038744838457611674,
+              -0.0060184056317542645
+            ],
+            "object_to_gripper_xy": 0.005254101688172389,
+            "object_to_gripper_z": -0.0060184056317542645,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17991438306442536,
+              0.20316372471780916,
+              1.0495551863122792
+            ],
+            "finger_b": [
+              0.1701981844644372,
+              0.22706154296137734,
+              1.0495551863122792
+            ],
+            "finger_midpoint": [
+              0.17505628376443128,
+              0.21511263383959325,
+              1.0495551863122792
+            ],
+            "object_minus_finger_midpoint": [
+              0.00485809929999409,
+              0.01194890912178409,
+              0.0
+            ],
+            "finger_gap": 0.025797484994414317,
+            "fingertip_max_gap": 0.09582528538959056,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012898742497207164,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495551863122792,
+            "object_top_z": 1.101296713855339,
+            "finger_top_clearance": 0.05174152754305972,
+            "fingertip_min_top_clearance": 0.015522458262917914,
+            "object_projection_between_fingers": 0.8581471618468541,
+            "object_to_finger_line_xy": 0.009000720349724167,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050412642694795284,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4972976188754403,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17964994429235395,
+              0.22982871604140168,
+              1.243208628775752
+            ],
+            "held_position": [
+              0.18321739629647832,
+              0.2335622624173182,
+              1.2370811481286976
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0080132453739341,
+            "max_held_gripper_dist": 0.008026576778539626,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006127480647054373,
+            "max_held_gripper_z_dist": 0.006160194255965479,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08568381872915962,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18321739629647832,
+              0.20947321799964588,
+              1.2370811481286976
+            ],
+            "held_grasp_finger_b": [
+              0.17427232763318445,
+              0.2335622624173182,
+              1.2370811481286976
+            ],
+            "held_grasp_midpoint": [
+              0.1787448619648314,
+              0.22151774020848203,
+              1.2370811481286976
+            ],
+            "held_grasp_object_position": [
+              0.18321739629647832,
+              0.2335622624173182,
+              1.2370811481286976
+            ],
+            "held_grasp_finger_gap": 0.025696231520353947,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024229453362767793,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.017161646896753802,
+              -0.9994560529448989,
+              0.028161606978196356
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00469078080505067,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03775903549857783,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29522834029694034,
+              -0.31228790064746903,
+              0.8515395821192312
+            ],
+            "target_position": [
+              0.2912603299662931,
+              -0.31294929045079933,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0040227530940977006,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18083237593599258,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395821192312,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582052224029852,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08879554454641907,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1483526670944291,
+            "release_required_pad_clearance": 0.054397772273209535,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.82098649967681,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007029891014099121,
+            "max_z_decrease": 0.007029891014099121,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035164876426830284,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007029891014099121,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021188013540659356,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007029891014099121,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007029916658311845,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14696025848388672,
+              -0.3692107498645782,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14696025848388672,
+              -0.3692107498645782,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1461725043716951,
+              -0.3703186054810696,
+              0.8081978633091133
+            ],
+            "closest_button": [
+              0.14694942533969882,
+              -0.3692170679569244,
+              0.7730588316917419
+            ],
+            "closest_ee_minus_button": [
+              -0.0007769209680037192,
+              -0.001101537524145213,
+              0.03513903161737131
+            ],
+            "button_min_z_position": [
+              0.1469413787126541,
+              -0.36921277642250055,
+              0.7697789669036865
+            ],
+            "min_active_finger_to_button": 0.14674382636297453,
+            "closest_active_finger": [
+              0.005258597433567047,
+              -0.3522077798843384,
+              0.8103780746459961
+            ],
+            "closest_active_finger_button": [
+              0.1469603031873703,
+              -0.369213193655014,
+              0.7762431502342224
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14170170575380325,
+              0.017005413770675604,
+              0.03413492441177368
+            ],
+            "min_contact_pad_to_button": 0.021188013540659356,
+            "closest_contact_pad": [
+              0.1469413787126541,
+              -0.3717755350614418,
+              0.7908114224416806
+            ],
+            "closest_contact_pad_button": [
+              0.1469413787126541,
+              -0.36921277642250055,
+              0.7697789669036865
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025627586389412316,
+              0.021032455537994044
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "513aea1951755773fbafdf8ada2b58da68a3888b821198bc6c4d6749233b72cb",
+    "visual_seed": 1912293760918088307,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f3173d4e1a40036f33b4d482f23d16905039c86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17430701144061023,
+              0.2231893094578779,
+              1.0486501749986394
+            ],
+            "current_z": 1.0486501749986394,
+            "required_z": 0.8611071040612139,
+            "initial_z": 0.761107104061214,
+            "lift_margin": 0.1875430709374255,
+            "gripper_z": 1.0544043302120247,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17112901943904812,
+              0.21947296602706012,
+              1.0544043302120247
+            ],
+            "object_minus_gripper": [
+              0.003177992001562102,
+              0.003716343430817781,
+              -0.0057541552133852925
+            ],
+            "object_to_gripper_xy": 0.004889871333458087,
+            "object_to_gripper_z": -0.0057541552133852925,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17430701144061023,
+              0.19971202744320313,
+              1.0486501749986394
+            ],
+            "finger_b": [
+              0.16458866739199218,
+              0.2231893094578779,
+              1.0486501749986394
+            ],
+            "finger_midpoint": [
+              0.1694478394163012,
+              0.2114506684505405,
+              1.0486501749986394
+            ],
+            "object_minus_finger_midpoint": [
+              0.004859172024309022,
+              0.011738641007337403,
+              0.0
+            ],
+            "finger_gap": 0.025409230248944606,
+            "fingertip_max_gap": 0.09175264471434921,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012704615124472315,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486501749986394,
+            "object_top_z": 1.0989414812407075,
+            "finger_top_clearance": 0.05029130624206801,
+            "fingertip_min_top_clearance": 0.015087391872620386,
+            "object_projection_between_fingers": 0.8537144184922174,
+            "object_to_finger_line_xy": 0.008979426047529271,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04837632235717461,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.853455143385359,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1749396667753218,
+              0.22486375559849506,
+              1.2422331229030008
+            ],
+            "held_position": [
+              0.17822149035877577,
+              0.22834597264969062,
+              1.2363547626176583
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007579664983945114,
+            "max_held_gripper_dist": 0.0075954915052850545,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005878360285342499,
+            "max_held_gripper_z_dist": 0.005909757005192917,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08619885501154548,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17822149035877577,
+              0.20426769962917163,
+              1.2363547626176583
+            ],
+            "held_grasp_finger_b": [
+              0.16997251760872056,
+              0.22834597264969062,
+              1.2363547626176583
+            ],
+            "held_grasp_midpoint": [
+              0.17409700398374817,
+              0.21630683613943114,
+              1.2363547626176583
+            ],
+            "held_grasp_object_position": [
+              0.17822149035877577,
+              0.22834597264969062,
+              1.2363547626176583
+            ],
+            "held_grasp_finger_gap": 0.025452087990611022,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02377008199938455,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03506210410946821,
+              -0.9992123737545597,
+              0.018581738110170058
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003706671077810051,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03754598272904419,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3044787167429742,
+              -0.3081492793730978,
+              0.8515395813905292
+            ],
+            "target_position": [
+              0.2983829038126529,
+              -0.3094475545709917,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006232531890888235,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841592099858727,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395813905292,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546874722014181,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569359624516552,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15249023678642476,
+            "release_required_pad_clearance": 0.052846798122582764,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7370096315053959,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007177829742431641,
+            "max_z_decrease": 0.007177829742431641,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035159860737292645,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007177829742431641,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.0211583327531614,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007177829742431641,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007177846219283493,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15408283472061163,
+              -0.3657090067863463,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15408283472061163,
+              -0.3657090067863463,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15285473333959124,
+              -0.366562098906412,
+              0.8080903924940651
+            ],
+            "closest_button": [
+              0.15407225489616394,
+              -0.3657164573669433,
+              0.7729617953300476
+            ],
+            "closest_ee_minus_button": [
+              -0.0012175215565727038,
+              -0.0008456415394687,
+              0.035128597164017505
+            ],
+            "button_min_z_position": [
+              0.15406768023967743,
+              -0.36571162939071644,
+              0.769631028175354
+            ],
+            "min_active_finger_to_button": 0.14721051980989905,
+            "closest_active_finger": [
+              0.011817730963230133,
+              -0.3494341969490051,
+              0.810886025428772
+            ],
+            "closest_active_finger_button": [
+              0.15408548712730408,
+              -0.36571210622787464,
+              0.7767414450645447
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14226775616407394,
+              0.016277909278869518,
+              0.034144580364227295
+            ],
+            "min_contact_pad_to_button": 0.0211583327531614,
+            "closest_contact_pad": [
+              0.15406768023967743,
+              -0.3679555461174485,
+              0.7906700367693205
+            ],
+            "closest_contact_pad_button": [
+              0.15406768023967743,
+              -0.36571162939071644,
+              0.769631028175354
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002243916726732076,
+              0.021039008593966457
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "996400996abb6079b69feac81ba21236bb207883a8a8b6d79e872810297154db",
+    "visual_seed": 6685385190669835538,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..864e94fbeb3f72d72c00b40fd00d7681f9fd6c3b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18021666674229747,
+              0.22803843654995284,
+              1.0492648437319352
+            ],
+            "current_z": 1.0492648437319352,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1881583357171691,
+            "gripper_z": 1.0553076509420765,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1766042488910714,
+              0.22396068235067443,
+              1.0553076509420765
+            ],
+            "object_minus_gripper": [
+              0.0036124178512260685,
+              0.004077754199278416,
+              -0.006042807210141277
+            ],
+            "object_to_gripper_xy": 0.005447718976010925,
+            "object_to_gripper_z": -0.006042807210141277,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18021666674229747,
+              0.2045557787968256,
+              1.0492648437319352
+            ],
+            "finger_b": [
+              0.16957334494025877,
+              0.22803843654995284,
+              1.0492648437319352
+            ],
+            "finger_midpoint": [
+              0.17489500584127812,
+              0.21629710767338922,
+              1.0492648437319352
+            ],
+            "object_minus_finger_midpoint": [
+              0.005321660901019348,
+              0.011741328876563623,
+              0.0
+            ],
+            "finger_gap": 0.025782077382015968,
+            "fingertip_max_gap": 0.09534101393817351,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012891038691007984,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492648437319352,
+            "object_top_z": 1.1015608372740697,
+            "finger_top_clearance": 0.052295993542134545,
+            "fingertip_min_top_clearance": 0.015688798062640345,
+            "object_projection_between_fingers": 0.8295807806898685,
+            "object_to_finger_line_xy": 0.009694078546518155,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05017050696908676,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9920931657998873,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18083354873055676,
+              0.22867978676168071,
+              1.2432536626754749
+            ],
+            "held_position": [
+              0.18466930615516686,
+              0.23239315985924777,
+              1.2370818412317983
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008160487406694042,
+            "max_held_gripper_dist": 0.008176508979905843,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006171821443676562,
+            "max_held_gripper_z_dist": 0.006205888856033015,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08544435467615855,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18466930615516686,
+              0.20794222009010097,
+              1.2370818412317983
+            ],
+            "held_grasp_finger_b": [
+              0.17606073171435135,
+              0.23239315985924777,
+              1.2370818412317983
+            ],
+            "held_grasp_midpoint": [
+              0.1803650189347591,
+              0.22016768997467437,
+              1.2370818412317983
+            ],
+            "held_grasp_object_position": [
+              0.18466930615516686,
+              0.23239315985924777,
+              1.2370818412317983
+            ],
+            "held_grasp_finger_gap": 0.02592211429450744,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02393200191378577,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.053594892053096053,
+              -0.9976458067453455,
+              0.04278354624439007
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036809392609767604,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037292873495315626,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3008031226071151,
+              -0.31251689653178705,
+              0.8515395506668273
+            ],
+            "target_position": [
+              0.29595653631096397,
+              -0.3128932675789581,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004861178241042875,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1809597533850284,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395506668273,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542031525215101,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08536636506662319,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1493679289620315,
+            "release_required_pad_clearance": 0.0526831825333116,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.42243544041662784,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00735706090927124,
+            "max_z_decrease": 0.00735706090927124,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351502231790336,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00735706090927124,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021164238501510963,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00735706090927124,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007357080306629527,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15165646374225616,
+              -0.3691547214984893,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15165646374225616,
+              -0.3691547214984893,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15226783666343166,
+              -0.3695961664357196,
+              0.8079904027016445
+            ],
+            "closest_button": [
+              0.15164577960968018,
+              -0.36916187405586237,
+              0.77284836769104
+            ],
+            "closest_ee_minus_button": [
+              0.0006220570537514847,
+              -0.00043429237985720404,
+              0.03514203501060442
+            ],
+            "button_min_z_position": [
+              0.1516399085521698,
+              -0.36915808916091913,
+              0.7694517970085144
+            ],
+            "min_active_finger_to_button": 0.14548422273616002,
+            "closest_active_finger": [
+              0.01131875067949295,
+              -0.3517599403858185,
+              0.8107852339744568
+            ],
+            "closest_active_finger_button": [
+              0.1516574025154114,
+              -0.3691570162773132,
+              0.7766082882881165
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14033865183591845,
+              0.017397075891494695,
+              0.03417694568634033
+            ],
+            "min_contact_pad_to_button": 0.021164238501510963,
+            "closest_contact_pad": [
+              0.1516399085521698,
+              -0.37101760060438793,
+              0.7905341879673323
+            ],
+            "closest_contact_pad_button": [
+              0.1516399085521698,
+              -0.36915808916091913,
+              0.7694517970085144
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018595114434687976,
+              0.02108239095881792
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "789a5627bc78d1de54eaa21461c744bad143f6b016a8e64d24a2910ebf3fe58f",
+    "visual_seed": 1528934794322384789,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b58eb6861056035777895f252ceb5a6b8e936e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17460918273365203,
+              0.22879508186804234,
+              1.0465819280077513
+            ],
+            "current_z": 1.0465819280077513,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18547524117905123,
+            "gripper_z": 1.0525068993740156,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17138753805812143,
+              0.22492254994386496,
+              1.0525068993740156
+            ],
+            "object_minus_gripper": [
+              0.0032216446755305994,
+              0.003872531924177386,
+              -0.005924971366264353
+            ],
+            "object_to_gripper_xy": 0.005037409842284789,
+            "object_to_gripper_z": -0.005924971366264353,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17460918273365203,
+              0.20548823318521042,
+              1.0465819280077513
+            ],
+            "finger_b": [
+              0.16441962252637785,
+              0.22879508186804234,
+              1.0465819280077513
+            ],
+            "finger_midpoint": [
+              0.16951440263001494,
+              0.2171416575266264,
+              1.0465819280077513
+            ],
+            "object_minus_finger_midpoint": [
+              0.005094780103637092,
+              0.011653424341415947,
+              0.0
+            ],
+            "finger_gap": 0.025436908867668837,
+            "fingertip_max_gap": 0.09412139008550077,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012718454433834406,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465819280077513,
+            "object_top_z": 1.0982247603657949,
+            "finger_top_clearance": 0.05164283235804357,
+            "fingertip_min_top_clearance": 0.015492849707413103,
+            "object_projection_between_fingers": 0.839534301300123,
+            "object_to_finger_line_xy": 0.009336297076465851,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04956069504275039,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2350031882215942,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17493645656199674,
+              0.23081789539498987,
+              1.242827186009605
+            ],
+            "held_position": [
+              0.17833198278598827,
+              0.2344076480516624,
+              1.2368107653897158
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007785450503941895,
+            "max_held_gripper_dist": 0.007801622206253409,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006016420619889162,
+            "max_held_gripper_z_dist": 0.006050905760464076,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08593302953453694,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17833198278598827,
+              0.21032891470374776,
+              1.2368107653897158
+            ],
+            "held_grasp_finger_b": [
+              0.16972026583408445,
+              0.2344076480516624,
+              1.2368107653897158
+            ],
+            "held_grasp_midpoint": [
+              0.17402612431003636,
+              0.2223682813777051,
+              1.2368107653897158
+            ],
+            "held_grasp_object_position": [
+              0.17833198278598827,
+              0.2344076480516624,
+              1.2368107653897158
+            ],
+            "held_grasp_finger_gap": 0.025572388791422748,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023645913656137326,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04598241692353613,
+              -0.9984703459299461,
+              0.0307015574915025
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003766187088166264,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03750130568271647,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3018203258708123,
+              -0.31303323736989275,
+              0.8515395614476843
+            ],
+            "target_position": [
+              0.2969859518444634,
+              -0.31379842476600617,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004894556566003471,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1814690420374459,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395614476843,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519037853455543,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613007908093544,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15054769727805323,
+            "release_required_pad_clearance": 0.05306503954046772,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.159594409190882,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0072789788246154785,
+            "max_z_decrease": 0.0072789788246154785,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035163779911583724,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072789788246154785,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02106190286491072,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0072789788246154785,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007279003767294951,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15268588066101074,
+              -0.3700598776340485,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15268588066101074,
+              -0.3700598776340485,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15220710508016713,
+              -0.3689381326405796,
+              0.808096447665079
+            ],
+            "closest_button": [
+              0.1526747792959213,
+              -0.3700658679008484,
+              0.7729538679122925
+            ],
+            "closest_ee_minus_button": [
+              -0.0004676742157541658,
+              0.0011277352602687696,
+              0.03514257975278656
+            ],
+            "button_min_z_position": [
+              0.15266697108745572,
+              -0.3700622320175171,
+              0.7695298790931702
+            ],
+            "min_active_finger_to_button": 0.14602154372626674,
+            "closest_active_finger": [
+              0.025288961827754974,
+              -0.4327448904514313,
+              0.810817539691925
+            ],
+            "closest_active_finger_button": [
+              0.15268944203853607,
+              -0.37006035447120667,
+              0.7767285704612732
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1274004802107811,
+              -0.06268453598022461,
+              0.034088969230651855
+            ],
+            "min_contact_pad_to_button": 0.02106190286491072,
+            "closest_contact_pad": [
+              0.15266697108745572,
+              -0.3700622320175171,
+              0.7905917819580809
+            ],
+            "closest_contact_pad_button": [
+              0.15266697108745572,
+              -0.3700622320175171,
+              0.7695298790931702
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106190286491072
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df3f0bdf2da1b2e1b44836ae3cb053bc08096f0714a66899a6ac641890a883d1",
+    "visual_seed": 8611097807868407146,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ac111fe01690df5837602939dfc0904c757e210
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1796925248626335,
+              0.22781358065068533,
+              1.0471059482780252
+            ],
+            "current_z": 1.0471059482780252,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.18599914224003555,
+            "gripper_z": 1.0528765337069406,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1759186330957776,
+              0.22361906542406706,
+              1.0528765337069406
+            ],
+            "object_minus_gripper": [
+              0.0037738917668559135,
+              0.004194515226618262,
+              -0.005770585428915398
+            ],
+            "object_to_gripper_xy": 0.005642359174518695,
+            "object_to_gripper_z": -0.005770585428915398,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1796925248626335,
+              0.2042911873020083,
+              1.0471059482780252
+            ],
+            "finger_b": [
+              0.16879840762227927,
+              0.22781358065068533,
+              1.0471059482780252
+            ],
+            "finger_midpoint": [
+              0.1742454662424564,
+              0.2160523839763468,
+              1.0471059482780252
+            ],
+            "object_minus_finger_midpoint": [
+              0.005447058620177109,
+              0.011761196674338531,
+              0.0
+            ],
+            "finger_gap": 0.025922669216276114,
+            "fingertip_max_gap": 0.09244629450726918,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012961334608138062,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471059482780252,
+            "object_top_z": 1.0976102283723814,
+            "finger_top_clearance": 0.05050428009435626,
+            "fingertip_min_top_clearance": 0.015151284028306844,
+            "object_projection_between_fingers": 0.8233861925104361,
+            "object_to_finger_line_xy": 0.009885390612218298,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048723147253634594,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2084241479708782,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1798118574874441,
+              0.2289936799772549,
+              1.242571601498074
+            ],
+            "held_position": [
+              0.18383146737152806,
+              0.23283585145304628,
+              1.2366963451213584
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008089387044872371,
+            "max_held_gripper_dist": 0.008104166286887378,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0058752563767157095,
+            "max_held_gripper_z_dist": 0.0059125694819797125,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08646980229137433,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18383146737152806,
+              0.2083869331169823,
+              1.2366963451213584
+            ],
+            "held_grasp_finger_b": [
+              0.1747918109025693,
+              0.23283585145304628,
+              1.2366963451213584
+            ],
+            "held_grasp_midpoint": [
+              0.17931163913704867,
+              0.2206113922850143,
+              1.2366963451213584
+            ],
+            "held_grasp_object_position": [
+              0.18383146737152806,
+              0.23283585145304628,
+              1.2366963451213584
+            ],
+            "held_grasp_finger_gap": 0.02606654938576092,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02395209515780332,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05086643368367139,
+              -0.9984863096415764,
+              0.02092117068069399
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003900713908028293,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03728438740489194,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30358423995656797,
+              -0.3045552693087993,
+              0.8515395160224147
+            ],
+            "target_position": [
+              0.2973993945241905,
+              -0.30608688914437443,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006371669509879463,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1838711352657884,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395160224147,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590605070340535,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08604878623955735,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15111972016115632,
+            "release_required_pad_clearance": 0.053024393119778676,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0806341822490868,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007052958011627197,
+            "max_z_decrease": 0.007052958011627197,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035160050642385705,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007052958011627197,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02116666495690813,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007052958011627197,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007052975163087937,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15309931337833402,
+              -0.3623483479022979,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15309931337833402,
+              -0.3623483479022979,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15332606370099375,
+              -0.3634776876642555,
+              0.808257541470656
+            ],
+            "closest_button": [
+              0.15308897197246552,
+              -0.3623546361923217,
+              0.7731162309646606
+            ],
+            "closest_ee_minus_button": [
+              0.00023709172852823257,
+              -0.0011230514719337559,
+              0.03514131050599534
+            ],
+            "button_min_z_position": [
+              0.1530839204788208,
+              -0.362350583076477,
+              0.7697558999061584
+            ],
+            "min_active_finger_to_button": 0.14580784502761981,
+            "closest_active_finger": [
+              0.011900879442691803,
+              -0.3498682677745819,
+              0.8104777932167053
+            ],
+            "closest_active_finger_button": [
+              0.15309925377368927,
+              -0.36235040426254267,
+              0.7763143181800842
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14119837433099747,
+              0.01248213648796076,
+              0.034163475036621094
+            ],
+            "min_contact_pad_to_button": 0.02116666495690813,
+            "closest_contact_pad": [
+              0.1530839204788208,
+              -0.36445735487446557,
+              0.7908174577305266
+            ],
+            "closest_contact_pad_button": [
+              0.1530839204788208,
+              -0.362350583076477,
+              0.7697558999061584
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021067717979885714,
+              0.021061557824368138
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "21ef6193338aea8a21bb836fbe65004fff6bb14d8e2efe66424348c4eabf71b6",
+    "visual_seed": 9099483652780808234,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..47f5636e737a04ca7197de735d168fbc13efc3c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1758492760123129,
+              0.22842860009301552,
+              1.0488080278437857
+            ],
+            "current_z": 1.0488080278437857,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18770146022437473,
+            "gripper_z": 1.0545249666424292,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1726132758955711,
+              0.22471882798728604,
+              1.0545249666424292
+            ],
+            "object_minus_gripper": [
+              0.0032360001167417995,
+              0.003709772105729481,
+              -0.005716938798643545
+            ],
+            "object_to_gripper_xy": 0.004922814828124402,
+            "object_to_gripper_z": -0.005716938798643545,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1758492760123129,
+              0.20473834406644484,
+              1.0488080278437857
+            ],
+            "finger_b": [
+              0.16638289611860718,
+              0.22842860009301552,
+              1.0488080278437857
+            ],
+            "finger_midpoint": [
+              0.17111608606546003,
+              0.21658347207973017,
+              1.0488080278437857
+            ],
+            "object_minus_finger_midpoint": [
+              0.004733189946852873,
+              0.011845128013285355,
+              0.0
+            ],
+            "finger_gap": 0.02551157735022326,
+            "fingertip_max_gap": 0.09429451133162223,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012755788675111648,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488080278437857,
+            "object_top_z": 1.1002195362120406,
+            "finger_top_clearance": 0.05141150836825492,
+            "fingertip_min_top_clearance": 0.015423452510476443,
+            "object_projection_between_fingers": 0.8623129054984494,
+            "object_to_finger_line_xy": 0.008790556548033549,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049647255665811116,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5512535316042604,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17616617008477653,
+              0.2306507217654477,
+              1.2422955428086613
+            ],
+            "held_position": [
+              0.1794523889434151,
+              0.23418558995306693,
+              1.236465581272637
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007568551975261581,
+            "max_held_gripper_dist": 0.007583254477768603,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00582996153602422,
+            "max_held_gripper_z_dist": 0.005862305802130541,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08592256135082688,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1794523889434151,
+              0.2101575694331011,
+              1.236465581272637
+            ],
+            "held_grasp_finger_b": [
+              0.17101579265464117,
+              0.23418558995306693,
+              1.236465581272637
+            ],
+            "held_grasp_midpoint": [
+              0.17523409079902813,
+              0.22217157969308401,
+              1.236465581272637
+            ],
+            "held_grasp_object_position": [
+              0.1794523889434151,
+              0.23418558995306693,
+              1.236465581272637
+            ],
+            "held_grasp_finger_gap": 0.025466093674681493,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023935078120449822,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.00985497242408935,
+              -0.9995921438585078,
+              0.02680345975564935
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004112366415216125,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03766956858609111,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30279693818216086,
+              -0.3104862866487661,
+              0.8515396004861068
+            ],
+            "target_position": [
+              0.29820191312440714,
+              -0.31143632268351157,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004692208834727999,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1824000371001114,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396004861068,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758943949652558,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08796475434975269,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14974406945875926,
+            "release_required_pad_clearance": 0.05398237717487635,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.975600204316494,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007410287857055664,
+            "max_z_decrease": 0.007410287857055664,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035157308856390186,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007410287857055664,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021085495146926272,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007410287857055664,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007410310459819455,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15390184521675104,
+              -0.36769777536392206,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15390184521675104,
+              -0.36769777536392206,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1548427345188035,
+              -0.3675642398218879,
+              0.8079995342846942
+            ],
+            "closest_button": [
+              0.15389047563076014,
+              -0.367703765630722,
+              0.7728554010391235
+            ],
+            "closest_ee_minus_button": [
+              0.0009522588880433724,
+              0.0001395258088340845,
+              0.03514413324557064
+            ],
+            "button_min_z_position": [
+              0.15388371050357813,
+              -0.3677002489566803,
+              0.76939857006073
+            ],
+            "min_active_finger_to_button": 0.14521728291340968,
+            "closest_active_finger": [
+              0.028346195816993713,
+              -0.4322088956832886,
+              0.810702383518219
+            ],
+            "closest_active_finger_button": [
+              0.15390199422836298,
+              -0.3676996231079101,
+              0.7766090631484985
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12555579841136927,
+              -0.06450927257537847,
+              0.03409332036972046
+            ],
+            "min_contact_pad_to_button": 0.021085495146926272,
+            "closest_contact_pad": [
+              0.15388371050357813,
+              -0.3686085054458697,
+              0.7904644945773729
+            ],
+            "closest_contact_pad_button": [
+              0.15388371050357813,
+              -0.3677002489566803,
+              0.76939857006073
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009082564891894074,
+              0.02106592451664291
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8aff01aeadf2c95ca07af4468da05f9341c6441071bc078c087bdac9d09f2062",
+    "visual_seed": 3414530582484394007,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..42d93caebaaa85831ab947e3f7223556fa4f71e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17749097136886594,
+              0.21998293710066094,
+              1.0471040374398015
+            ],
+            "current_z": 1.0471040374398015,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18599746982039056,
+            "gripper_z": 1.053160199226963,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17447318621638574,
+              0.21624699244247195,
+              1.053160199226963
+            ],
+            "object_minus_gripper": [
+              0.00301778515248019,
+              0.0037359446581889943,
+              -0.006056161787161507
+            ],
+            "object_to_gripper_xy": 0.00480253159443858,
+            "object_to_gripper_z": -0.006056161787161507,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17749097136886594,
+              0.1968799172785326,
+              1.0471040374398015
+            ],
+            "finger_b": [
+              0.16740496804114097,
+              0.21998293710066094,
+              1.0471040374398015
+            ],
+            "finger_midpoint": [
+              0.17244796970500345,
+              0.20843142718959679,
+              1.0471040374398015
+            ],
+            "object_minus_finger_midpoint": [
+              0.005043001663862484,
+              0.011551509911064156,
+              0.0
+            ],
+            "finger_gap": 0.025208668906321376,
+            "fingertip_max_gap": 0.0958237506245114,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012604334453160676,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471040374398015,
+            "object_top_z": 1.0996912933410288,
+            "finger_top_clearance": 0.05258725590122726,
+            "fingertip_min_top_clearance": 0.015776176770368144,
+            "object_projection_between_fingers": 0.8399195170820075,
+            "object_to_finger_line_xy": 0.0092435318847022,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0504118753122557,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.007832046588467,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17832475590920027,
+              0.2216520688415653,
+              1.2412460677347834
+            ],
+            "held_position": [
+              0.1815219102799987,
+              0.2250928186289795,
+              1.235083639349336
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007748295217405794,
+            "max_held_gripper_dist": 0.007762112662709985,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006162428385447338,
+            "max_held_gripper_z_dist": 0.006193271525752442,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08622381425762915,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1815219102799987,
+              0.20105904391379623,
+              1.235083639349336
+            ],
+            "held_grasp_finger_b": [
+              0.17331953113913157,
+              0.2250928186289795,
+              1.235083639349336
+            ],
+            "held_grasp_midpoint": [
+              0.17742072070956513,
+              0.21307593127138785,
+              1.235083639349336
+            ],
+            "held_grasp_object_position": [
+              0.1815219102799987,
+              0.2250928186289795,
+              1.235083639349336
+            ],
+            "held_grasp_finger_gap": 0.025394907966573052,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023574761015682046,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04959133592663527,
+              -0.9978261109314692,
+              0.043402208980545254
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035395064194457993,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03752610262288167,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2971664021625522,
+              -0.30879420441334204,
+              0.8515395726384956
+            ],
+            "target_position": [
+              0.2938910792111365,
+              -0.3086338174769369,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0032792475364692786,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18019600503579836,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395726384956,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577443725151402,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534040161751814,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14756406953211698,
+            "release_required_pad_clearance": 0.052670200808759074,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.39762033085415693,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007255971431732178,
+            "max_z_decrease": 0.007255971431732178,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515820200860312,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007255971431732178,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02106703806999514,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007255971431732178,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007255991191610803,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14959099888801575,
+              -0.36489528417587275,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14959099888801575,
+              -0.36489528417587275,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14859239862887463,
+              -0.36417960728004495,
+              0.8078985850901287
+            ],
+            "closest_button": [
+              0.1495789885520935,
+              -0.3649014830589294,
+              0.7727616429328918
+            ],
+            "closest_ee_minus_button": [
+              -0.0009865899232188724,
+              0.0007218757788844399,
+              0.03513694215723684
+            ],
+            "button_min_z_position": [
+              0.1495741903781891,
+              -0.3648973405361175,
+              0.7695528864860535
+            ],
+            "min_active_finger_to_button": 0.14664701932976446,
+            "closest_active_finger": [
+              0.021517276763916016,
+              -0.42766863107681274,
+              0.8105410933494568
+            ],
+            "closest_active_finger_button": [
+              0.14959070086479187,
+              -0.36489748954772944,
+              0.776448130607605
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12807342410087585,
+              -0.06277114152908331,
+              0.03409296274185181
+            ],
+            "min_contact_pad_to_button": 0.02106703806999514,
+            "closest_contact_pad": [
+              0.1495741903781891,
+              -0.36536823305731037,
+              0.7906146611804165
+            ],
+            "closest_contact_pad_button": [
+              0.1495741903781891,
+              -0.3648973405361175,
+              0.7695528864860535
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004708925211928672,
+              0.02106177469436299
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "94ce2ed1c6bb3873e851871d41ad2ea6aac0cf86e99059a4f9a8dfe0cc146cd7",
+    "visual_seed": 3529826772979616499,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25c74f87d59232534433bdbc11c7593e60849fda
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17981136350238888,
+              0.2258594158214849,
+              1.0484059255800342
+            ],
+            "current_z": 1.0484059255800342,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.18729917914668892,
+            "gripper_z": 1.054311307542924,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17607404007762167,
+              0.22176725866800917,
+              1.054311307542924
+            ],
+            "object_minus_gripper": [
+              0.0037373234247672082,
+              0.004092157153475717,
+              -0.005905381962889811
+            ],
+            "object_to_gripper_xy": 0.005541961435273271,
+            "object_to_gripper_z": -0.005905381962889811,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17981136350238888,
+              0.20215601517120976,
+              1.0484059255800342
+            ],
+            "finger_b": [
+              0.16932972647710479,
+              0.2258594158214849,
+              1.0484059255800342
+            ],
+            "finger_midpoint": [
+              0.17457054498974683,
+              0.21400771549634734,
+              1.0484059255800342
+            ],
+            "object_minus_finger_midpoint": [
+              0.005240818512642048,
+              0.011851700325137549,
+              0.0
+            ],
+            "finger_gap": 0.025917482846859755,
+            "fingertip_max_gap": 0.09177022104728685,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012958741423429865,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484059255800342,
+            "object_top_z": 1.0985356507235045,
+            "finger_top_clearance": 0.05012972514347025,
+            "fingertip_min_top_clearance": 0.01503891754304109,
+            "object_projection_between_fingers": 0.8364416981492698,
+            "object_to_finger_line_xy": 0.009586210333353036,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838511052364343,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0515435424972674,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1800042911414522,
+              0.22723045823258448,
+              1.241201697587427
+            ],
+            "held_position": [
+              0.18388735830602035,
+              0.2310263750761167,
+              1.2351566448190412
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008125875845724393,
+            "max_held_gripper_dist": 0.008141129127829657,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006045052768385739,
+            "max_held_gripper_z_dist": 0.006079421266931284,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08609136718838559,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18388735830602035,
+              0.20661810225667504,
+              1.2351566448190412
+            ],
+            "held_grasp_finger_b": [
+              0.1750661634444756,
+              0.2310263750761167,
+              1.2351566448190412
+            ],
+            "held_grasp_midpoint": [
+              0.17947676087524797,
+              0.21882223866639589,
+              1.2351566448190412
+            ],
+            "held_grasp_object_position": [
+              0.18388735830602035,
+              0.2310263750761167,
+              1.2351566448190412
+            ],
+            "held_grasp_finger_gap": 0.02595336704193963,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02404345226196452,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03889198453881211,
+              -0.9991090404688212,
+              0.016387153264192374
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003937770753736148,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03735545016494375,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30265396928648136,
+              -0.3031301491972215,
+              0.8515396137455128
+            ],
+            "target_position": [
+              0.29588631214477573,
+              -0.30489495682791795,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0069939780640951195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827942809585907,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396137455128,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549040296348014,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08554452729082689,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15111826059992572,
+            "release_required_pad_clearance": 0.052772263645413445,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5934708897386011,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007086336612701416,
+            "max_z_decrease": 0.007086336612701416,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521168321229686,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007086336612701416,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021251239865914234,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007086336612701416,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0070863569371704205,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15158623456954956,
+              -0.361156404018402,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15158623456954956,
+              -0.361156404018402,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15348397265706062,
+              -0.3623020971202384,
+              0.8081441635503698
+            ],
+            "closest_button": [
+              0.15157683193683624,
+              -0.36116477847099293,
+              0.773002564907074
+            ],
+            "closest_ee_minus_button": [
+              0.0019071407202243817,
+              -0.001137318649245489,
+              0.0351415986432958
+            ],
+            "button_min_z_position": [
+              0.15156973898410797,
+              -0.36116039752960194,
+              0.7697225213050842
+            ],
+            "min_active_finger_to_button": 0.14417715448512045,
+            "closest_active_finger": [
+              0.012485668063163757,
+              -0.3447687029838562,
+              0.8109757304191589
+            ],
+            "closest_active_finger_button": [
+              0.1515885293483734,
+              -0.3611583411693572,
+              0.7767876386642456
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13910286128520966,
+              0.016389638185500988,
+              0.03418809175491333
+            ],
+            "min_contact_pad_to_button": 0.021251239865914234,
+            "closest_contact_pad": [
+              0.15156973898410797,
+              -0.3637290018056609,
+              0.7908179584399633
+            ],
+            "closest_contact_pad_button": [
+              0.15156973898410797,
+              -0.36116039752960194,
+              0.7697225213050842
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025686042760589833,
+              0.021095437134879047
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8eaa10c047cd996331c53dd7bbe93ef4b77019cd6f18240a89d8e3658703555d",
+    "visual_seed": 2756820221977340974,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f88c379b7f40e14ccca27a2770b366f3cf6216cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17719742060726526,
+              0.22028162105115168,
+              1.0461982046370628
+            ],
+            "current_z": 1.0461982046370628,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.18509157741300708,
+            "gripper_z": 1.0521907500439058,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17405893955436458,
+              0.21645227384581334,
+              1.0521907500439058
+            ],
+            "object_minus_gripper": [
+              0.0031384810529006824,
+              0.0038293472053383404,
+              -0.0059925454068430195
+            ],
+            "object_to_gripper_xy": 0.004951157777575779,
+            "object_to_gripper_z": -0.0059925454068430195,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17719742060726526,
+              0.19712531765258554,
+              1.0461982046370628
+            ],
+            "finger_b": [
+              0.1669462199433289,
+              0.22028162105115168,
+              1.0461982046370628
+            ],
+            "finger_midpoint": [
+              0.17207182027529708,
+              0.20870346935186862,
+              1.0461982046370628
+            ],
+            "object_minus_finger_midpoint": [
+              0.005125600331968183,
+              0.011578151699283057,
+              0.0
+            ],
+            "finger_gap": 0.025323931411586457,
+            "fingertip_max_gap": 0.10092071583954809,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012661965705793216,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461982046370628,
+            "object_top_z": 1.10147642518421,
+            "finger_top_clearance": 0.05527822054714715,
+            "fingertip_min_top_clearance": 0.01658346616414411,
+            "object_projection_between_fingers": 0.8361346188932588,
+            "object_to_finger_line_xy": 0.009373738576194559,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05296035791977405,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.7929851245956296,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17773893151008544,
+              0.22211731177681718,
+              1.2409346785445463
+            ],
+            "held_position": [
+              0.18113284722236714,
+              0.22568289997272747,
+              1.2348115283094048
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007856529249420596,
+            "max_held_gripper_dist": 0.00787020289913469,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006123150235141539,
+            "max_held_gripper_z_dist": 0.006155141395181474,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08468883944114283,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18113284722236714,
+              0.20157268043717086,
+              1.2348115283094048
+            ],
+            "held_grasp_finger_b": [
+              0.17264417829135403,
+              0.22568289997272747,
+              1.2348115283094048
+            ],
+            "held_grasp_midpoint": [
+              0.17688851275686057,
+              0.21362779020494915,
+              1.2348115283094048
+            ],
+            "held_grasp_object_position": [
+              0.18113284722236714,
+              0.22568289997272747,
+              1.2348115283094048
+            ],
+            "held_grasp_finger_gap": 0.025560911295825956,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023695243733632288,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.037890233848500626,
+              -0.9961286892917716,
+              0.07932190459616618
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039050184839195972,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03755099055242033,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2946824212981991,
+              -0.3147965600131275,
+              0.8515395643760206
+            ],
+            "target_position": [
+              0.2941616677059914,
+              -0.31329106957411584,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0015930115397424945,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1766763254558685,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395643760206,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526338411828251,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08513553644294612,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14525306890991696,
+            "release_required_pad_clearance": 0.05256776822147306,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2017411104834771,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007335662841796875,
+            "max_z_decrease": 0.007335662841796875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035177762284413654,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007335662841796875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021140480486847385,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007335662841796875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007335688100079443,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14986158907413477,
+              -0.36955252289772034,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14986158907413477,
+              -0.36955252289772034,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15131216318869023,
+              -0.3703835053767838,
+              0.8080711211041256
+            ],
+            "closest_button": [
+              0.14985051751136774,
+              -0.36955842375755305,
+              0.7729334235191345
+            ],
+            "closest_ee_minus_button": [
+              0.0014616456773224873,
+              -0.0008250816192307275,
+              0.03513769758499108
+            ],
+            "button_min_z_position": [
+              0.1498424112796783,
+              -0.36955419182777405,
+              0.7694731950759888
+            ],
+            "min_active_finger_to_button": 0.14464711485091136,
+            "closest_active_finger": [
+              0.009924225509166718,
+              -0.35645976662635803,
+              0.8108800649642944
+            ],
+            "closest_active_finger_button": [
+              0.1498636901378631,
+              -0.3695532083511352,
+              0.7766997218132019
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1399394646286964,
+              0.013093441724777166,
+              0.03418034315109253
+            ],
+            "min_contact_pad_to_button": 0.021140480486847385,
+            "closest_contact_pad": [
+              0.1498424112796783,
+              -0.37135665351742286,
+              0.7905366954278326
+            ],
+            "closest_contact_pad_button": [
+              0.1498424112796783,
+              -0.36955419182777405,
+              0.7694731950759888
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018024616896488155,
+              0.02106350035184379
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a09b0ebbea5bc8259c4c7a2a93b17188fe035e5df54f0fe774ae1ce4338c7698",
+    "visual_seed": 4654636444151200282,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..152cf873a6d6a9dac404b8acdee00dd673632b26
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1739419590624494,
+              0.22991379292612535,
+              1.0496199645784494
+            ],
+            "current_z": 1.0496199645784494,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18851321814510436,
+            "gripper_z": 1.0554528090307298,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17058647191763057,
+              0.22603848758371356,
+              1.0554528090307298
+            ],
+            "object_minus_gripper": [
+              0.0033554871448188417,
+              0.003875305342411789,
+              -0.0058328444522803835
+            ],
+            "object_to_gripper_xy": 0.005126137481181114,
+            "object_to_gripper_z": -0.0058328444522803835,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1739419590624494,
+              0.20644431725446627,
+              1.0496199645784494
+            ],
+            "finger_b": [
+              0.16382365304734509,
+              0.22991379292612535,
+              1.0496199645784494
+            ],
+            "finger_midpoint": [
+              0.16888280605489725,
+              0.2181790550902958,
+              1.0496199645784494
+            ],
+            "object_minus_finger_midpoint": [
+              0.005059153007552164,
+              0.01173473783582954,
+              0.0
+            ],
+            "finger_gap": 0.0255577073486237,
+            "fingertip_max_gap": 0.092561967210955,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01277885367431185,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496199645784494,
+            "object_top_z": 1.1001305469166949,
+            "finger_top_clearance": 0.05051058233824546,
+            "fingertip_min_top_clearance": 0.015153174701473636,
+            "object_projection_between_fingers": 0.8432628902356474,
+            "object_to_finger_line_xy": 0.009291574303619246,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0487809836054775,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2158209480703572,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17435257334517335,
+              0.23151870462135937,
+              1.2443551585855128
+            ],
+            "held_position": [
+              0.17786465844181026,
+              0.2351289216555944,
+              1.2384159538731485
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007787333393124398,
+            "max_held_gripper_dist": 0.0078017064618529424,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00593920471236431,
+            "max_held_gripper_z_dist": 0.005973920382222886,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08598170277935213,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17786465844181026,
+              0.21095347203438602,
+              1.2384159538731485
+            ],
+            "held_grasp_finger_b": [
+              0.1692925227551193,
+              0.2351289216555944,
+              1.2384159538731485
+            ],
+            "held_grasp_midpoint": [
+              0.17357859059846478,
+              0.2230411968449902,
+              1.2384159538731485
+            ],
+            "held_grasp_object_position": [
+              0.17786465844181026,
+              0.2351289216555944,
+              1.2384159538731485
+            ],
+            "held_grasp_finger_gap": 0.025650221726500243,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023853859014047428,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03522773600508115,
+              -0.9991886945435232,
+              0.01951817902279984
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038648823962087997,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037491343630100864,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30003760046032013,
+              -0.3103541731546736,
+              0.8515395702685138
+            ],
+            "target_position": [
+              0.294623281164911,
+              -0.3115538882379734,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005545644210886306,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18345409439116003,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395702685138,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583243557478309,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08649425501900575,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1507741781795053,
+            "release_required_pad_clearance": 0.053247127509502876,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5148785825187092,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007215619087219238,
+            "max_z_decrease": 0.007215619087219238,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03525829611653476,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007215619087219238,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108804856939328,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007215619087219238,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072156390298715855,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15032321214675906,
+              -0.3678153455257415,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15032321214675906,
+              -0.3678153455257415,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15238333510267818,
+              -0.3660097715629531,
+              0.8080885977305283
+            ],
+            "closest_button": [
+              0.1503131091594696,
+              -0.36782234907150263,
+              0.7729378342628479
+            ],
+            "closest_ee_minus_button": [
+              0.0020702259432085757,
+              0.0018125775085495177,
+              0.035150763467680424
+            ],
+            "button_min_z_position": [
+              0.1503065973520279,
+              -0.3678187727928161,
+              0.7695932388305664
+            ],
+            "min_active_finger_to_button": 0.14353708036866933,
+            "closest_active_finger": [
+              0.024675339460372925,
+              -0.42824703454971313,
+              0.8108124732971191
+            ],
+            "closest_active_finger_button": [
+              0.15032769739627838,
+              -0.36781680583953846,
+              0.7767160534858704
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12565235793590546,
+              -0.06043022871017467,
+              0.03409641981124878
+            ],
+            "min_contact_pad_to_button": 0.02108804856939328,
+            "closest_contact_pad": [
+              0.1503065973520279,
+              -0.3678187727928161,
+              0.7906812873999597
+            ],
+            "closest_contact_pad_button": [
+              0.1503065973520279,
+              -0.3678187727928161,
+              0.7695932388305664
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108804856939328
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c53d428b60565a9a12d5b129f82b1137bd9c0aba771dada3f2c2df142197a43",
+    "visual_seed": 7427474612668822049,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d2af4c4b6f2610b8dc3fd34db1f70c47b5fa9044
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1741599102175368,
+              0.2202394117508519,
+              1.0461681819228286
+            ],
+            "current_z": 1.0461681819228286,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.1850614950941285,
+            "gripper_z": 1.0522653233854422,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17114552817115294,
+              0.2166212849832772,
+              1.0522653233854422
+            ],
+            "object_minus_gripper": [
+              0.003014382046383851,
+              0.0036181267675746975,
+              -0.006097141462613642
+            ],
+            "object_to_gripper_xy": 0.004709282368663173,
+            "object_to_gripper_z": -0.006097141462613642,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1741599102175368,
+              0.19678824672972783,
+              1.0461681819228286
+            ],
+            "finger_b": [
+              0.16470406853518677,
+              0.2202394117508519,
+              1.0461681819228286
+            ],
+            "finger_midpoint": [
+              0.16943198937636178,
+              0.20851382924028988,
+              1.0461681819228286
+            ],
+            "object_minus_finger_midpoint": [
+              0.004727920841175015,
+              0.011725582510562021,
+              0.0
+            ],
+            "finger_gap": 0.025285768384007264,
+            "fingertip_max_gap": 0.09365762582908932,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01264288419200362,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0461681819228286,
+            "object_top_z": 1.0975556457977858,
+            "finger_top_clearance": 0.051387463874957184,
+            "fingertip_min_top_clearance": 0.015416239162487171,
+            "object_projection_between_fingers": 0.8601546360531229,
+            "object_to_finger_line_xy": 0.008769775169128989,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04932881291454466,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2888597802340984,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17507396368261782,
+              0.22188586496492732,
+              1.2420072116454748
+            ],
+            "held_position": [
+              0.17820314104272084,
+              0.22526003476862963,
+              1.2358101837312612
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007718803520283471,
+            "max_held_gripper_dist": 0.007734490987196222,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006197027914213615,
+            "max_held_gripper_z_dist": 0.006228476576068065,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08600689463646113,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17820314104272084,
+              0.20124721697959463,
+              1.2358101837312612
+            ],
+            "held_grasp_finger_b": [
+              0.17011740071337542,
+              0.22526003476862963,
+              1.2358101837312612
+            ],
+            "held_grasp_midpoint": [
+              0.17416027087804814,
+              0.21325362587411212,
+              1.2358101837312612
+            ],
+            "held_grasp_object_position": [
+              0.17820314104272084,
+              0.22526003476862963,
+              1.2358101837312612
+            ],
+            "held_grasp_finger_gap": 0.025337612650820095,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023716532843976224,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0334635642428797,
+              -0.9989294361735332,
+              0.0319401223258422
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003659206771213939,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03759140595714466,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3029237860993951,
+              -0.31145544798606095,
+              0.851539553038746
+            ],
+            "target_position": [
+              0.2977901526462385,
+              -0.31206374590018576,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005169547251326473,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18225906001614964,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539553038746,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516307433530406,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506164252615404,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15137791436381434,
+            "release_required_pad_clearance": 0.052530821263077024,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13122120442433002,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074086785316467285,
+            "max_z_decrease": 0.0074086785316467285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516685293765902,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074086785316467285,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02117024375091819,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0074086785316467285,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007408698210874123,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1534900814294815,
+              -0.3683252036571502,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1534900814294815,
+              -0.3683252036571502,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15501927035758142,
+              -0.3685218508878835,
+              0.8078850216841765
+            ],
+            "closest_button": [
+              0.1534806191921234,
+              -0.3683345019817352,
+              0.7727523446083069
+            ],
+            "closest_ee_minus_button": [
+              0.0015386511654580104,
+              -0.00018734890614829913,
+              0.035132677075869645
+            ],
+            "button_min_z_position": [
+              0.15347343683242798,
+              -0.36832901835441584,
+              0.7694001793861389
+            ],
+            "min_active_finger_to_button": 0.144654153189361,
+            "closest_active_finger": [
+              0.01409982144832611,
+              -0.35035961866378784,
+              0.8107358813285828
+            ],
+            "closest_active_finger_button": [
+              0.1534915566444397,
+              -0.3683283627033233,
+              0.7765029668807983
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1393917351961136,
+              0.017968744039535467,
+              0.034232914447784424
+            ],
+            "min_contact_pad_to_button": 0.02117024375091819,
+            "closest_contact_pad": [
+              0.15347343683242798,
+              -0.37000552502595924,
+              0.7905039360624646
+            ],
+            "closest_contact_pad_button": [
+              0.15347343683242798,
+              -0.36832901835441584,
+              0.7694001793861389
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016765066715433985,
+              0.02110375667632569
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "de02ddcd4973d60fa7589a1edc449a7bff06a9890ca7632a85fd59c1d41bc744",
+    "visual_seed": 1453493514762801176,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9206b0bfc4e6bf92a7708c5e8d7a0e8c7a5888d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17833364828900267,
+              0.2276600865032552,
+              1.0478886684643796
+            ],
+            "current_z": 1.0478886684643796,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18678204124032405,
+            "gripper_z": 1.0537481638548762,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17480817006112628,
+              0.22370056217637108,
+              1.0537481638548762
+            ],
+            "object_minus_gripper": [
+              0.003525478227876383,
+              0.003959524326884123,
+              -0.005859495390496683
+            ],
+            "object_to_gripper_xy": 0.005301587463243209,
+            "object_to_gripper_z": -0.005859495390496683,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17833364828900267,
+              0.20406112964185014,
+              1.0478886684643796
+            ],
+            "finger_b": [
+              0.16809411652131317,
+              0.2276600865032552,
+              1.0478886684643796
+            ],
+            "finger_midpoint": [
+              0.17321388240515792,
+              0.21586060807255267,
+              1.0478886684643796
+            ],
+            "object_minus_finger_midpoint": [
+              0.005119765883844746,
+              0.011799478430702531,
+              0.0
+            ],
+            "finger_gap": 0.025724672510412633,
+            "fingertip_max_gap": 0.09235821458860086,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012862336255206316,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478886684643796,
+            "object_top_z": 1.0984335414635307,
+            "finger_top_clearance": 0.050544872999151114,
+            "fingertip_min_top_clearance": 0.01516346189974535,
+            "object_projection_between_fingers": 0.8415615860932938,
+            "object_to_finger_line_xy": 0.009393405042139253,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867910729430043,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.143727486595151,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1788903899116399,
+              0.22867188741062644,
+              1.2441376754730709
+            ],
+            "held_position": [
+              0.1826081837309172,
+              0.2323249223850081,
+              1.2381812819503977
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007914877080767272,
+            "max_held_gripper_dist": 0.007929037402661057,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005956393522673187,
+            "max_held_gripper_z_dist": 0.00599192838099194,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08629502869997824,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1826081837309172,
+              0.20798075623462495,
+              1.2381812819503977
+            ],
+            "held_grasp_finger_b": [
+              0.17399092579985206,
+              0.2323249223850081,
+              1.2381812819503977
+            ],
+            "held_grasp_midpoint": [
+              0.17829955476538462,
+              0.22015283930981652,
+              1.2381812819503977
+            ],
+            "held_grasp_object_position": [
+              0.1826081837309172,
+              0.2323249223850081,
+              1.2381812819503977
+            ],
+            "held_grasp_finger_gap": 0.025824321090939944,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023948702476546374,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.042584246905551064,
+              -0.9988291143645915,
+              0.022956093159176797
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037968329841466743,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03737893939243658,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29799443863554465,
+              -0.3108825379129886,
+              0.8515396129302498
+            ],
+            "target_position": [
+              0.29188226562047964,
+              -0.3122561486140326,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006264620126081985,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18335142725544135,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396129302498,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535380790123021,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08524521153741497,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15200972518416736,
+            "release_required_pad_clearance": 0.05262260576870749,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.30646679615365613,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007413089275360107,
+            "max_z_decrease": 0.007413089275360107,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035169216086806954,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007413089275360107,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021084878997184194,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007413089275360107,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007413114082251676,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1475821882486343,
+              -0.3685176074504851,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1475821882486343,
+              -0.3685176074504851,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14891782615231622,
+              -0.36810506457681,
+              0.807832931996413
+            ],
+            "closest_button": [
+              0.14757035672664642,
+              -0.36852306127548207,
+              0.7726920247077942
+            ],
+            "closest_ee_minus_button": [
+              0.001347469425669795,
+              0.0004179966986720407,
+              0.03514090728861885
+            ],
+            "button_min_z_position": [
+              0.14756314456462855,
+              -0.3685198724269866,
+              0.7693957686424255
+            ],
+            "min_active_finger_to_button": 0.14475238902057785,
+            "closest_active_finger": [
+              0.02194211632013321,
+              -0.43180325627326965,
+              0.8104863166809082
+            ],
+            "closest_active_finger_button": [
+              0.1475817114114761,
+              -0.36851948499679554,
+              0.7763819098472595
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1256395950913429,
+              -0.06328377127647411,
+              0.03410440683364868
+            ],
+            "min_contact_pad_to_button": 0.021084878997184194,
+            "closest_contact_pad": [
+              0.14756314456462855,
+              -0.36923882633581623,
+              0.7904683866004031
+            ],
+            "closest_contact_pad_button": [
+              0.14756314456462855,
+              -0.3685198724269866,
+              0.7693957686424255
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007189539088296448,
+              0.021072617957977546
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9951f470d300da2590866e1015729d2cf3df2ca45696cf81e19373d93248561b",
+    "visual_seed": 5309524758312050847,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d78d0ca543e9eb8eb6ab0170772265d0ed73349
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1813016153925766,
+              0.22792410613964395,
+              1.0459142992218156
+            ],
+            "current_z": 1.0459142992218156,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18480767199776005,
+            "gripper_z": 1.0522210202281368,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17778170353522127,
+              0.22405093509469584,
+              1.0522210202281368
+            ],
+            "object_minus_gripper": [
+              0.00351991185735534,
+              0.0038731710449481094,
+              -0.0063067210063212364
+            ],
+            "object_to_gripper_xy": 0.0052336634804862215,
+            "object_to_gripper_z": -0.0063067210063212364,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1813016153925766,
+              0.20407106712978548,
+              1.0459142992218156
+            ],
+            "finger_b": [
+              0.17154956294847323,
+              0.22792410613964395,
+              1.0459142992218156
+            ],
+            "finger_midpoint": [
+              0.17642558917052492,
+              0.21599758663471472,
+              1.0459142992218156
+            ],
+            "object_minus_finger_midpoint": [
+              0.004876026222051688,
+              0.011926519504929234,
+              0.0
+            ],
+            "finger_gap": 0.02576955562050639,
+            "fingertip_max_gap": 0.0974563820956886,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012884777810253194,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0459142992218156,
+            "object_top_z": 1.0987887675556274,
+            "finger_top_clearance": 0.05287446833381182,
+            "fingertip_min_top_clearance": 0.015862340500143512,
+            "object_projection_between_fingers": 0.856788399837975,
+            "object_to_finger_line_xy": 0.009026779149822712,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051228191047844304,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5932291120099644,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18125136385860643,
+              0.23031811377822925,
+              1.2391735067376857
+            ],
+            "held_position": [
+              0.18480905017155685,
+              0.23401735441097662,
+              1.23274729340217
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008224216132488511,
+            "max_held_gripper_dist": 0.008238252391204457,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00642621333551574,
+            "max_held_gripper_z_dist": 0.006459752069096991,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0858229755235349,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18480905017155685,
+              0.20986239039688903,
+              1.23274729340217
+            ],
+            "held_grasp_finger_b": [
+              0.17604758325596415,
+              0.23401735441097662,
+              1.23274729340217
+            ],
+            "held_grasp_midpoint": [
+              0.1804283167137605,
+              0.22193987240393281,
+              1.23274729340217
+            ],
+            "held_grasp_object_position": [
+              0.18480905017155685,
+              0.23401735441097662,
+              1.23274729340217
+            ],
+            "held_grasp_finger_gap": 0.0256948553028596,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024172108133330324,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.004253246330647421,
+              -0.999167021828086,
+              0.04058537158686515
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004459043787904782,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037671460680439736,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3026614834424355,
+              -0.30755095458072057,
+              0.8515395871362892
+            ],
+            "target_position": [
+              0.29877124608200106,
+              -0.30805251108284315,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003922436187542282,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17951155219545079,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395871362892,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533598440849996,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08721478332288972,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14818048611553092,
+            "release_required_pad_clearance": 0.05360739166144486,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.225174616544497,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0071579813957214355,
+            "max_z_decrease": 0.0071579813957214355,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035152856235346995,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0071579813957214355,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021126124545558907,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0071579813957214355,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007157997968437442,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15447117388248444,
+              -0.3643139600753785,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15447117388248444,
+              -0.3643139600753785,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1535484489056152,
+              -0.36473212178031883,
+              0.8081200049573799
+            ],
+            "closest_button": [
+              0.15446099638938904,
+              -0.3643205761909485,
+              0.7729814052581787
+            ],
+            "closest_ee_minus_button": [
+              -0.0009125474837738401,
+              -0.00041154558937034347,
+              0.03513859969920119
+            ],
+            "button_min_z_position": [
+              0.15445612370967865,
+              -0.36431723833084106,
+              0.7696508765220642
+            ],
+            "min_active_finger_to_button": 0.14696465924702398,
+            "closest_active_finger": [
+              0.012424930930137634,
+              -0.3483634293079376,
+              0.8109097480773926
+            ],
+            "closest_active_finger_button": [
+              0.15447504818439484,
+              -0.36431592702865606,
+              0.7767645716667175
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1420501172542572,
+              0.01595249772071844,
+              0.03414517641067505
+            ],
+            "min_contact_pad_to_button": 0.021126124545558907,
+            "closest_contact_pad": [
+              0.15445612370967865,
+              -0.3660088270021814,
+              0.7907091686199875
+            ],
+            "closest_contact_pad_button": [
+              0.15445612370967865,
+              -0.36431723833084106,
+              0.7696508765220642
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016915886713403383,
+              0.021058292097923315
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d0de79bc6435930f538a533f0122ce7488b3db6888be51d66b5d36c990f81df5",
+    "visual_seed": 2541281629686658694,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..57bfb65ee60e4694155c397d9dd338f2c227d9c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17585180769991265,
+              0.23158364133049625,
+              1.0483987060777085
+            ],
+            "current_z": 1.0483987060777085,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18729207885365284,
+            "gripper_z": 1.0541492620798862,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17217067332537,
+              0.22750484516898567,
+              1.0541492620798862
+            ],
+            "object_minus_gripper": [
+              0.0036811343745426495,
+              0.004078796161510578,
+              -0.005750556002177776
+            ],
+            "object_to_gripper_xy": 0.00549429962876006,
+            "object_to_gripper_z": -0.005750556002177776,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17585180769991265,
+              0.20796229250306367,
+              1.0483987060777085
+            ],
+            "finger_b": [
+              0.16532871104078364,
+              0.23158364133049625,
+              1.0483987060777085
+            ],
+            "finger_midpoint": [
+              0.17059025937034816,
+              0.21977296691677994,
+              1.0483987060777085
+            ],
+            "object_minus_finger_midpoint": [
+              0.005261548329564492,
+              0.011810674413716304,
+              0.0
+            ],
+            "finger_gap": 0.025859305553796737,
+            "fingertip_max_gap": 0.09123506898053299,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012929652776898375,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0483987060777085,
+            "object_top_z": 1.0982481598344602,
+            "finger_top_clearance": 0.04984945375675176,
+            "fingertip_min_top_clearance": 0.014954836127025544,
+            "object_projection_between_fingers": 0.8344026420183833,
+            "object_to_finger_line_xy": 0.009612390263650412,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0481175344902665,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0817569643611469,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17620724297692164,
+              0.2326509475589636,
+              1.2423353552581866
+            ],
+            "held_position": [
+              0.18006684297128303,
+              0.23640540272039287,
+              1.2364588368776728
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007970314545372371,
+            "max_held_gripper_dist": 0.007985731629102126,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00587651838051384,
+            "max_held_gripper_z_dist": 0.005912927705658211,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08620216741721953,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18006684297128303,
+              0.2119911434465744,
+              1.2364588368776728
+            ],
+            "held_grasp_finger_b": [
+              0.17130940800275554,
+              0.23640540272039287,
+              1.2364588368776728
+            ],
+            "held_grasp_midpoint": [
+              0.1756881254870193,
+              0.22419827308348364,
+              1.2364588368776728
+            ],
+            "held_grasp_object_position": [
+              0.18006684297128303,
+              0.23640540272039287,
+              1.2364588368776728
+            ],
+            "held_grasp_finger_gap": 0.025937400083994904,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023997933853266755,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04454218656247822,
+              -0.9989248038172948,
+              0.012854179663157717
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003833903158930839,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03733120784128476,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2984547273339595,
+              -0.30260010943556515,
+              0.8515396514348719
+            ],
+            "target_position": [
+              0.2908735287776192,
+              -0.3047079110653348,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007868760973693132,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18380962744941887,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396514348719,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554573684914671,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854701281517437,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15208236449025633,
+            "release_required_pad_clearance": 0.05273506407587185,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5218944388935522,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007148802280426025,
+            "max_z_decrease": 0.007148802280426025,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520257049391869,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007148802280426025,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02118838575467725,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007148802280426025,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007148822411585419,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14657345414161677,
+              -0.36096936464309687,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14657345414161677,
+              -0.36096936464309687,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14839764682715093,
+              -0.36173421947555434,
+              0.8079558883478469
+            ],
+            "closest_button": [
+              0.14656206965446467,
+              -0.36097592115402216,
+              0.7728093862533569
+            ],
+            "closest_ee_minus_button": [
+              0.001835577172686259,
+              -0.0007582983215321804,
+              0.035146502094489995
+            ],
+            "button_min_z_position": [
+              0.14655677974224088,
+              -0.36097249388694763,
+              0.7696600556373596
+            ],
+            "min_active_finger_to_button": 0.1442670740505648,
+            "closest_active_finger": [
+              0.007331520318984985,
+              -0.34488505125045776,
+              0.8106545805931091
+            ],
+            "closest_active_finger_button": [
+              0.14657340943813318,
+              -0.3609718084335327,
+              0.7765092849731445
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1392418891191482,
+              0.01608675718307495,
+              0.0341452956199646
+            ],
+            "min_contact_pad_to_button": 0.02118838575467725,
+            "closest_contact_pad": [
+              0.14655677974224088,
+              -0.3630701621599636,
+              0.7907443502356001
+            ],
+            "closest_contact_pad_button": [
+              0.14655677974224088,
+              -0.36097249388694763,
+              0.7696600556373596
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020976682730159957,
+              0.02108429459824046
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bad4f4a668f6cbab73918994936c56feb1e299d7e8e1a3f62594ce9c42419de7",
+    "visual_seed": 2435844873898407143,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..46d6d5dd59638c67bc2395a09308bafff962bdd4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17697466968973297,
+              0.22980430475167649,
+              1.049866904850187
+            ],
+            "current_z": 1.049866904850187,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18876009881219713,
+            "gripper_z": 1.055654072620503,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17382644096681876,
+              0.2261468877347848,
+              1.055654072620503
+            ],
+            "object_minus_gripper": [
+              0.0031482287229142036,
+              0.0036574170168916786,
+              -0.005787167770316071
+            ],
+            "object_to_gripper_xy": 0.004825768677343623,
+            "object_to_gripper_z": -0.005787167770316071,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17697466968973297,
+              0.20615697574767602,
+              1.049866904850187
+            ],
+            "finger_b": [
+              0.16760596595665064,
+              0.22980430475167649,
+              1.049866904850187
+            ],
+            "finger_midpoint": [
+              0.17229031782319182,
+              0.21798064024967626,
+              1.049866904850187
+            ],
+            "object_minus_finger_midpoint": [
+              0.004684351866541148,
+              0.01182366450200023,
+              0.0
+            ],
+            "finger_gap": 0.02543558095781797,
+            "fingertip_max_gap": 0.0959591999896881,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01271779047890898,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049866904850187,
+            "object_top_z": 1.1021619206866298,
+            "finger_top_clearance": 0.052295015836442804,
+            "fingertip_min_top_clearance": 0.015688504750932825,
+            "object_projection_between_fingers": 0.8643325419507373,
+            "object_to_finger_line_xy": 0.008710035752067618,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050479599994844054,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1050229724294756,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17730856488362917,
+              0.23232472780370914,
+              1.2443133458806424
+            ],
+            "held_position": [
+              0.18050323226242843,
+              0.23582219418220737,
+              1.2384291852023188
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00755390744040583,
+            "max_held_gripper_dist": 0.007568330496327322,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005884160678323536,
+            "max_held_gripper_z_dist": 0.0059151592189281565,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0856142191452963,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18050323226242843,
+              0.21188656620596277,
+              1.2384291852023188
+            ],
+            "held_grasp_finger_b": [
+              0.1720397574568856,
+              0.23582219418220737,
+              1.2384291852023188
+            ],
+            "held_grasp_midpoint": [
+              0.176271494859657,
+              0.22385438019408507,
+              1.2384291852023188
+            ],
+            "held_grasp_object_position": [
+              0.18050323226242843,
+              0.23582219418220737,
+              1.2384291852023188
+            ],
+            "held_grasp_finger_gap": 0.025387884756340795,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023902379013023275,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0020284009461095376,
+              -0.9993281294756775,
+              0.03659474317775091
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004230201882458013,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03775189324328049,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3028236719041648,
+              -0.3076256010758486,
+              0.851539566694906
+            ],
+            "target_position": [
+              0.2991868537056861,
+              -0.3079047653474968,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0036475168675896307,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18093448058035191,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539566694906,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573104299025464,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08747165278033435,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14861661497565895,
+            "release_required_pad_clearance": 0.05373582639016718,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.480978009433991,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007138431072235107,
+            "max_z_decrease": 0.007138431072235107,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517168758339828,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007138431072235107,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021101163846899307,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007138431072235107,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007138451750470014,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.154886782169342,
+              -0.36416622996330256,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.154886782169342,
+              -0.36416622996330256,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15427374378458814,
+              -0.3626359322266953,
+              0.8080886480511226
+            ],
+            "closest_button": [
+              0.15487684309482574,
+              -0.3641738295555114,
+              0.7729557752609253
+            ],
+            "closest_ee_minus_button": [
+              -0.0006030993102376092,
+              0.0015378973288160958,
+              0.03513287279019728
+            ],
+            "button_min_z_position": [
+              0.1548701524734497,
+              -0.3641705513000488,
+              0.7696704268455505
+            ],
+            "min_active_finger_to_button": 0.14602160965347363,
+            "closest_active_finger": [
+              0.02598109096288681,
+              -0.4236469864845276,
+              0.8108920454978943
+            ],
+            "closest_active_finger_button": [
+              0.15489180386066437,
+              -0.36416742205619806,
+              0.7767376899719238
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12891071289777756,
+              -0.05947956442832952,
+              0.03415435552597046
+            ],
+            "min_contact_pad_to_button": 0.021101163846899307,
+            "closest_contact_pad": [
+              0.1548701524734497,
+              -0.3641705513000488,
+              0.7907715906924498
+            ],
+            "closest_contact_pad_button": [
+              0.1548701524734497,
+              -0.3641705513000488,
+              0.7696704268455505
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021101163846899307
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7194cf130dd13c3196d7196f0a4dadb6a0a99edec09a19f90d0889ead53e70de",
+    "visual_seed": 4931969693525592257,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..71e60d1df5ef1adc8672df9689016912d26adede
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17874935240313625,
+              0.2281010350925772,
+              1.0494908912843988
+            ],
+            "current_z": 1.0494908912843988,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.1883843236649878,
+            "gripper_z": 1.0553443143172216,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17498247501252195,
+              0.22397515370635684,
+              1.0553443143172216
+            ],
+            "object_minus_gripper": [
+              0.0037668773906142927,
+              0.004125881386220359,
+              -0.00585342303282288
+            ],
+            "object_to_gripper_xy": 0.005586793578527918,
+            "object_to_gripper_z": -0.00585342303282288,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17874935240313625,
+              0.2044287949782035,
+              1.0494908912843988
+            ],
+            "finger_b": [
+              0.16813738641658765,
+              0.2281010350925772,
+              1.0494908912843988
+            ],
+            "finger_midpoint": [
+              0.17344336940986194,
+              0.21626491503539036,
+              1.0494908912843988
+            ],
+            "object_minus_finger_midpoint": [
+              0.005305982993274311,
+              0.011836120057186844,
+              0.0
+            ],
+            "finger_gap": 0.02594202717854232,
+            "fingertip_max_gap": 0.09388277738784162,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012971013589271153,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494908912843988,
+            "object_top_z": 1.1010498422130364,
+            "finger_top_clearance": 0.051558950928637604,
+            "fingertip_min_top_clearance": 0.01546768527859128,
+            "object_projection_between_fingers": 0.8326661209990138,
+            "object_to_finger_line_xy": 0.009683476360202494,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944138869392081,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5176763554414048,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1792664272026128,
+              0.22882532326469301,
+              1.2445220110580446
+            ],
+            "held_position": [
+              0.18324821721155274,
+              0.2325994024687636,
+              1.238550665894143
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008108963471390371,
+            "max_held_gripper_dist": 0.008123748390940112,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005971345163901631,
+            "max_held_gripper_z_dist": 0.006007402446937871,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08555965261131143,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18324821721155274,
+              0.208086100858981,
+              1.238550665894143
+            ],
+            "held_grasp_finger_b": [
+              0.17447151252204943,
+              0.2325994024687636,
+              1.238550665894143
+            ],
+            "held_grasp_midpoint": [
+              0.17885986486680108,
+              0.2203427516638723,
+              1.238550665894143
+            ],
+            "held_grasp_object_position": [
+              0.18324821721155274,
+              0.2325994024687636,
+              1.238550665894143
+            ],
+            "held_grasp_finger_gap": 0.02603713695894615,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02401782116665789,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05106404562137637,
+              -0.9980701745033119,
+              0.03533256305034304
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003782085102948105,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03726316543809596,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29811623756687844,
+              -0.30500251419954033,
+              0.8515395812492051
+            ],
+            "target_position": [
+              0.2925529906138206,
+              -0.3057905994725369,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005618789465554053,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18486562705981294,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395812492051,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544562179581389,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520834640821227,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1531019864906567,
+            "release_required_pad_clearance": 0.05260417320410614,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.271241854490522,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007097184658050537,
+            "max_z_decrease": 0.007097184658050537,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035175516679406924,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007097184658050537,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021080207320694266,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007097184658050537,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007097204729618848,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1482529193162918,
+              -0.3620520532131194,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1482529193162918,
+              -0.3620520532131194,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14881427171266848,
+              -0.36070424986064875,
+              0.8080176586775172
+            ],
+            "closest_button": [
+              0.14824174344539642,
+              -0.362058013677597,
+              0.7728728652000427
+            ],
+            "closest_ee_minus_button": [
+              0.0005725282672720544,
+              0.001353763816948239,
+              0.035144793477474456
+            ],
+            "button_min_z_position": [
+              0.14823628962039948,
+              -0.36205494403839106,
+              0.7697116732597351
+            ],
+            "min_active_finger_to_button": 0.1450188280245885,
+            "closest_active_finger": [
+              0.021691113710403442,
+              -0.4241039752960205,
+              0.8106746673583984
+            ],
+            "closest_active_finger_button": [
+              0.14825282990932465,
+              -0.3620537221431731,
+              0.7765812873840332
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1265617161989212,
+              -0.0620502531528474,
+              0.034093379974365234
+            ],
+            "min_contact_pad_to_button": 0.021080207320694266,
+            "closest_contact_pad": [
+              0.14823628962039948,
+              -0.36205494403839106,
+              0.7907918805804294
+            ],
+            "closest_contact_pad_button": [
+              0.14823628962039948,
+              -0.36205494403839106,
+              0.7697116732597351
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021080207320694266
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb800facf202f96dae40710b4809156c844539a5af5a93fee3a89f00d9d2ae12",
+    "visual_seed": 7050316135417298646,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc128f92cf161b23d5f02915e16a6151ece5b312
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18121370217110333,
+              0.22776825173453802,
+              1.0497494626154853
+            ],
+            "current_z": 1.0497494626154853,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18864271618214024,
+            "gripper_z": 1.0556734910997871,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17797472878130624,
+              0.22399061710818302,
+              1.0556734910997871
+            ],
+            "object_minus_gripper": [
+              0.0032389733897970896,
+              0.0037776346263549976,
+              -0.0059240284843018465
+            ],
+            "object_to_gripper_xy": 0.0049760900303400775,
+            "object_to_gripper_z": -0.0059240284843018465,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18121370217110333,
+              0.20429193308789276,
+              1.0497494626154853
+            ],
+            "finger_b": [
+              0.17134672452944966,
+              0.22776825173453802,
+              1.0497494626154853
+            ],
+            "finger_midpoint": [
+              0.1762802133502765,
+              0.2160300924112154,
+              1.0497494626154853
+            ],
+            "object_minus_finger_midpoint": [
+              0.004933488820826837,
+              0.011738159323322617,
+              0.0
+            ],
+            "finger_gap": 0.025465560763111374,
+            "fingertip_max_gap": 0.09639760316359294,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012732780381555673,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497494626154853,
+            "object_top_z": 1.1025593949918355,
+            "finger_top_clearance": 0.05280993237635023,
+            "fingertip_min_top_clearance": 0.015842979712905086,
+            "object_projection_between_fingers": 0.8498719649936144,
+            "object_to_finger_line_xy": 0.009096218746155913,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050698801581796474,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1726968622844702,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18202011072953717,
+              0.22931189031357826,
+              1.2449714400223026
+            ],
+            "held_position": [
+              0.18541481377343916,
+              0.2328273645171611,
+              1.2389514715100678
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007753875709645656,
+            "max_held_gripper_dist": 0.00776849024141226,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006019968512234852,
+            "max_held_gripper_z_dist": 0.006052342425884483,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08610025040743702,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18541481377343916,
+              0.20867055174430507,
+              1.2389514715100678
+            ],
+            "held_grasp_finger_b": [
+              0.17705733653923755,
+              0.2328273645171611,
+              1.2389514715100678
+            ],
+            "held_grasp_midpoint": [
+              0.18123607515633836,
+              0.2207489581307331,
+              1.2389514715100678
+            ],
+            "held_grasp_object_position": [
+              0.18541481377343916,
+              0.2328273645171611,
+              1.2389514715100678
+            ],
+            "held_grasp_finger_gap": 0.025561671092927753,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023835601222629142,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03383490030288668,
+              -0.9984088488168762,
+              0.04511064315274072
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038073253655763377,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037519675049777636,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30319810478385667,
+              -0.3092668639121866,
+              0.8515396045157343
+            ],
+            "target_position": [
+              0.2993920770143564,
+              -0.30916612519243986,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003807360722582448,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18102833160053308,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396045157343,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757999760124876,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08739822620576175,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1484946516649886,
+            "release_required_pad_clearance": 0.05369911310288088,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4076453891610905,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007196307182312012,
+            "max_z_decrease": 0.007196307182312012,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351802187358714,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007196307182312012,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021073534752317324,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007196307182312012,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007196326657830207,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15509200096130366,
+              -0.3654275834560393,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15509200096130366,
+              -0.3654275834560393,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15501018158250124,
+              -0.3639045217590312,
+              0.8081325304568017
+            ],
+            "closest_button": [
+              0.15508057177066795,
+              -0.36543381214141835,
+              0.7729856371879578
+            ],
+            "closest_ee_minus_button": [
+              -7.039018816670795e-05,
+              0.0015292903823871384,
+              0.035146893268843904
+            ],
+            "button_min_z_position": [
+              0.15507559478282917,
+              -0.36543092131614674,
+              0.7696125507354736
+            ],
+            "min_active_finger_to_button": 0.1454973929012439,
+            "closest_active_finger": [
+              0.028134062886238098,
+              -0.42779088020324707,
+              0.8108466863632202
+            ],
+            "closest_active_finger_button": [
+              0.1550949960947036,
+              -0.36542749404907215,
+              0.7767699956893921
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1269609332084655,
+              -0.062363386154174916,
+              0.034076690673828125
+            ],
+            "min_contact_pad_to_button": 0.021073534752317324,
+            "closest_contact_pad": [
+              0.15507559478282917,
+              -0.36543092131614674,
+              0.790686085487791
+            ],
+            "closest_contact_pad_button": [
+              0.15507559478282917,
+              -0.36543092131614674,
+              0.7696125507354736
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021073534752317324
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ce40c94024f27910f6417966c316df26316c0e9eb5efcbd12dcd42cc2aebd2a5",
+    "visual_seed": 2925549224863248540,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..876a2f9fc825d319196c228c2a55e8fc4ebafbe6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17945508238126218,
+              0.22291985822989638,
+              1.0477287446639454
+            ],
+            "current_z": 1.0477287446639454,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18662193862595555,
+            "gripper_z": 1.053390896959851,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17574951660231317,
+              0.21881318025855345,
+              1.053390896959851
+            ],
+            "object_minus_gripper": [
+              0.0037055657789490104,
+              0.004106677971342926,
+              -0.00566215229590572
+            ],
+            "object_to_gripper_xy": 0.005531367073557064,
+            "object_to_gripper_z": -0.00566215229590572,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17945508238126218,
+              0.1993270232426073,
+              1.0477287446639454
+            ],
+            "finger_b": [
+              0.16883807350936839,
+              0.22291985822989638,
+              1.0477287446639454
+            ],
+            "finger_midpoint": [
+              0.1741465779453153,
+              0.21112344073625183,
+              1.0477287446639454
+            ],
+            "object_minus_finger_midpoint": [
+              0.005308504435946881,
+              0.011796417493644545,
+              0.0
+            ],
+            "finger_gap": 0.025871659013741728,
+            "fingertip_max_gap": 0.09128272794458742,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012935829506870859,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477287446639454,
+            "object_top_z": 1.0977961226591524,
+            "finger_top_clearance": 0.050067377995206996,
+            "fingertip_min_top_clearance": 0.015020213398562115,
+            "object_projection_between_fingers": 0.8315946814256876,
+            "object_to_finger_line_xy": 0.009681842909267215,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04814136397229371,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8427286061093358,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17968478333578658,
+              0.2242174562873943,
+              1.2412935666006126
+            ],
+            "held_position": [
+              0.18357339015743512,
+              0.22800740507275158,
+              1.2355008389921243
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007939815360267893,
+            "max_held_gripper_dist": 0.007955073184231332,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005792727608488368,
+            "max_held_gripper_z_dist": 0.005828586582478978,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608446899557856,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18357339015743512,
+              0.20360470391296953,
+              1.2355008389921243
+            ],
+            "held_grasp_finger_b": [
+              0.17473208736755905,
+              0.22800740507275158,
+              1.2355008389921243
+            ],
+            "held_grasp_midpoint": [
+              0.1791527387624971,
+              0.21580605449286056,
+              1.2355008389921243
+            ],
+            "held_grasp_object_position": [
+              0.18357339015743512,
+              0.22800740507275158,
+              1.2355008389921243
+            ],
+            "held_grasp_finger_gap": 0.025954969830764563,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023937033542816188,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.049206136428959345,
+              -0.998745169009079,
+              0.009318987002956858
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003816639436763548,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037316686947398585,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3019812281837483,
+              -0.303881605933234,
+              0.8515395138624975
+            ],
+            "target_position": [
+              0.29425848698745455,
+              -0.30630816777851405,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008094994377632475,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1843935309537256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395138624975,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529110443646879,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553896926795505,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1532709915955398,
+            "release_required_pad_clearance": 0.05276948463397753,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5881719260577555,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00739055871963501,
+            "max_z_decrease": 0.00739055871963501,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035211449785336135,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00739055871963501,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02115899726600785,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00739055871963501,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007390579348063625,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14995841681957245,
+              -0.3625696301460265,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14995841681957245,
+              -0.3625696301460265,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1520347020815337,
+              -0.36322520387938684,
+              0.8078133638819418
+            ],
+            "closest_button": [
+              0.149946928024292,
+              -0.3625763952732085,
+              0.7726698517799377
+            ],
+            "closest_ee_minus_button": [
+              0.002087774057241698,
+              -0.0006488086061783305,
+              0.03514351210200406
+            ],
+            "button_min_z_position": [
+              0.14994119107723236,
+              -0.3625724911689758,
+              0.7694182991981506
+            ],
+            "min_active_finger_to_button": 0.14404607709909723,
+            "closest_active_finger": [
+              0.010797671973705292,
+              -0.3478451371192932,
+              0.8105117678642273
+            ],
+            "closest_active_finger_button": [
+              0.1499582976102829,
+              -0.36257216334342945,
+              0.7763546705245972
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1391606256365776,
+              0.014727026224136242,
+              0.03415709733963013
+            ],
+            "min_contact_pad_to_button": 0.02115899726600785,
+            "closest_contact_pad": [
+              0.14994119107723236,
+              -0.36439583276677767,
+              0.7904985883498832
+            ],
+            "closest_contact_pad_button": [
+              0.14994119107723236,
+              -0.3625724911689758,
+              0.7694182991981506
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018233415978018974,
+              0.021080289151732545
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5818ec0fa7b7a2e9f0d457d7484fa800e0cc51a393d5be4aab136fac771d2574",
+    "visual_seed": 6299049199133746647,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..070da976451f2e6155588f3e4dec911c9aab8194
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1797109280062419,
+              0.22699694254376565,
+              1.0499279131669763
+            ],
+            "current_z": 1.0499279131669763,
+            "required_z": 0.8611069848519243,
+            "initial_z": 0.7611069848519243,
+            "lift_margin": 0.18882092831505204,
+            "gripper_z": 1.0559412834483493,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17605947720228401,
+              0.22296081797087547,
+              1.0559412834483493
+            ],
+            "object_minus_gripper": [
+              0.003651450803957873,
+              0.004036124572890182,
+              -0.006013370281372943
+            ],
+            "object_to_gripper_xy": 0.005442737779979167,
+            "object_to_gripper_z": -0.006013370281372943,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1797109280062419,
+              0.20333519581370896,
+              1.0499279131669763
+            ],
+            "finger_b": [
+              0.16932543367606567,
+              0.22699694254376565,
+              1.0499279131669763
+            ],
+            "finger_midpoint": [
+              0.17451818084115378,
+              0.21516606917873732,
+              1.0499279131669763
+            ],
+            "object_minus_finger_midpoint": [
+              0.005192747165088107,
+              0.011830873365028333,
+              0.0
+            ],
+            "finger_gap": 0.02584060275611757,
+            "fingertip_max_gap": 0.0928064624875968,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012920301378058772,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499279131669763,
+            "object_top_z": 1.1006781835994532,
+            "finger_top_clearance": 0.05075027043247693,
+            "fingertip_min_top_clearance": 0.015225081129743079,
+            "object_projection_between_fingers": 0.8384715348481494,
+            "object_to_finger_line_xy": 0.009509798932569124,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048903231243798403,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.330592269937738,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18021639185045252,
+              0.22801859656567786,
+              1.2435516273887512
+            ],
+            "held_position": [
+              0.18403589991020292,
+              0.23174106767546698,
+              1.237406457640236
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008136863291206303,
+            "max_held_gripper_dist": 0.008152247262637106,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006145169748515311,
+            "max_held_gripper_z_dist": 0.006179088003463118,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0857379830496122,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18403589991020292,
+              0.20732289189825356,
+              1.237406457640236
+            ],
+            "held_grasp_finger_b": [
+              0.17538938663050002,
+              0.23174106767546698,
+              1.237406457640236
+            ],
+            "held_grasp_midpoint": [
+              0.17971264327035147,
+              0.2195319797868603,
+              1.237406457640236
+            ],
+            "held_grasp_object_position": [
+              0.18403589991020292,
+              0.23174106767546698,
+              1.237406457640236
+            ],
+            "held_grasp_finger_gap": 0.02590385106857609,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02403691707752834,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.040845206553135234,
+              -0.9988496241870205,
+              0.025121651280913815
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038334340308199613,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037348622910457,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3062014149465883,
+              -0.30536955053647297,
+              0.8515395802509875
+            ],
+            "target_position": [
+              0.30017091128248635,
+              -0.3067214357582762,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006180175409782247,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18493450326116836,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395802509875,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07592287062768212,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08693479145085613,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15222315220297383,
+            "release_required_pad_clearance": 0.053467395725428066,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9479563221865195,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007333338260650635,
+            "max_z_decrease": 0.007333338260650635,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517619261972291,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007333338260650635,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02114276857118614,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007333338260650635,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007333357662380004,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15587083995342255,
+              -0.3629828989505767,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15587083995342255,
+              -0.3629828989505767,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15731832238845642,
+              -0.3633523468488501,
+              0.8080118557593295
+            ],
+            "closest_button": [
+              0.15586067736148834,
+              -0.36299058794975275,
+              0.772867739200592
+            ],
+            "closest_ee_minus_button": [
+              0.001457645026968074,
+              -0.00036175889909734193,
+              0.035144116558737504
+            ],
+            "button_min_z_position": [
+              0.15585437417030334,
+              -0.3629865646362304,
+              0.769475519657135
+            ],
+            "min_active_finger_to_button": 0.1446924611729283,
+            "closest_active_finger": [
+              0.016102254390716553,
+              -0.34773388504981995,
+              0.8108019828796387
+            ],
+            "closest_active_finger_button": [
+              0.15587218105793,
+              -0.36298575997352595,
+              0.7766309976577759
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13976992666721344,
+              0.015251874923706,
+              0.03417098522186279
+            ],
+            "min_contact_pad_to_button": 0.02114276857118614,
+            "closest_contact_pad": [
+              0.15585437417030334,
+              -0.36457194576095586,
+              0.7905587648898809
+            ],
+            "closest_contact_pad_button": [
+              0.15585437417030334,
+              -0.3629865646362304,
+              0.769475519657135
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001585381124725449,
+              0.02108324523274585
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ee64ee2094b0a2b6fbc92f1ee2668924c7ac8fb5f05345c211eb38e369eb983",
+    "visual_seed": 7348434948841271344,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..75e29651dcf09fe716819592e9d643383f178fb9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18100314137981494,
+              0.23136268462987408,
+              1.0467152716939274
+            ],
+            "current_z": 1.0467152716939274,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18560870407451668,
+            "gripper_z": 1.0525422710957881,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1772254538107118,
+              0.22716283729009956,
+              1.0525422710957881
+            ],
+            "object_minus_gripper": [
+              0.0037776875691031275,
+              0.004199847339774521,
+              -0.005826999401860711
+            ],
+            "object_to_gripper_xy": 0.005648861924951558,
+            "object_to_gripper_z": -0.005826999401860711,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18100314137981494,
+              0.20783653080912998,
+              1.0467152716939274
+            ],
+            "finger_b": [
+              0.17010293465919726,
+              0.23136268462987408,
+              1.0467152716939274
+            ],
+            "finger_midpoint": [
+              0.1755530380195061,
+              0.21959960771950204,
+              1.0467152716939274
+            ],
+            "object_minus_finger_midpoint": [
+              0.005450103360308822,
+              0.011763076910372039,
+              0.0
+            ],
+            "finger_gap": 0.025928640923687286,
+            "fingertip_max_gap": 0.0928550701618378,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012964320461843626,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467152716939274,
+            "object_top_z": 1.0974963315923385,
+            "finger_top_clearance": 0.050781059898411085,
+            "fingertip_min_top_clearance": 0.015234317969523308,
+            "object_projection_between_fingers": 0.8232701283973536,
+            "object_to_finger_line_xy": 0.009890219111055984,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048927535080918905,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.23429703039066,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18114305240897818,
+              0.23235162350928695,
+              1.2392916662533544
+            ],
+            "held_position": [
+              0.18512729882976997,
+              0.2361879681714123,
+              1.2333255276820807
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008135512851679952,
+            "max_held_gripper_dist": 0.00814900233809311,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005966138571273705,
+            "max_held_gripper_z_dist": 0.0060020953557293755,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08650146330588943,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18512729882976997,
+              0.21171179168174675,
+              1.2333255276820807
+            ],
+            "held_grasp_finger_b": [
+              0.17623575346227044,
+              0.2361879681714123,
+              1.2333255276820807
+            ],
+            "held_grasp_midpoint": [
+              0.1806815261460202,
+              0.22394987992657953,
+              1.2333255276820807
+            ],
+            "held_grasp_object_position": [
+              0.18512729882976997,
+              0.2361879681714123,
+              1.2333255276820807
+            ],
+            "held_grasp_finger_gap": 0.026041174984542437,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023962557432297513,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.053059867796164,
+              -0.9982907936751242,
+              0.024497789552206377
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003802225941443996,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03726718713224318,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29759092242840146,
+              -0.31073729623005025,
+              0.8515395792005032
+            ],
+            "target_position": [
+              0.2916113867592197,
+              -0.3121990777171151,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0061556195411138145,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18110157569900248,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395792005032,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586661028846806,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08580821438651924,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14858821668280053,
+            "release_required_pad_clearance": 0.05290410719325962,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8476469635450006,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007370889186859131,
+            "max_z_decrease": 0.007370889186859131,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514825305901601,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007370889186859131,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021112647931787187,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007370889186859131,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007370906941756334,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14731131494045258,
+              -0.36846053600311274,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14731131494045258,
+              -0.36846053600311274,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14657652910273933,
+              -0.36874183615025685,
+              0.8077949919797516
+            ],
+            "closest_button": [
+              0.14729920029640198,
+              -0.36846637725830067,
+              0.7726552486419678
+            ],
+            "closest_ee_minus_button": [
+              -0.0007226711936626495,
+              -0.0002754588919561818,
+              0.0351397433377838
+            ],
+            "button_min_z_position": [
+              0.14729534089565277,
+              -0.368463099002838,
+              0.7694379687309265
+            ],
+            "min_active_finger_to_button": 0.14677803090745217,
+            "closest_active_finger": [
+              0.005598008632659912,
+              -0.35126376152038574,
+              0.8104662895202637
+            ],
+            "closest_active_finger_button": [
+              0.14731082320213318,
+              -0.3684625625610351,
+              0.7763273119926453
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14171281456947327,
+              0.01719880104064936,
+              0.03413897752761841
+            ],
+            "min_contact_pad_to_button": 0.021112647931787187,
+            "closest_contact_pad": [
+              0.14729534089565277,
+              -0.37009458766088565,
+              0.7904874852918896
+            ],
+            "closest_contact_pad_button": [
+              0.14729534089565277,
+              -0.368463099002838,
+              0.7694379687309265
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016314886580476307,
+              0.0210495165609631
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a2abdd2946cf057550df76c78c41e30048dfd466d89ec1ece0493d08f0f9c1c5",
+    "visual_seed": 244853680946759833,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aed8496eb981874fb50da6ef9b361eb6a40b1e64
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17737307816000603,
+              0.22682036902925873,
+              1.0496172139750775
+            ],
+            "current_z": 1.0496172139750775,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18851052714637717,
+            "gripper_z": 1.0553761684226715,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1743082914605195,
+              0.22311226993727568,
+              1.0553761684226715
+            ],
+            "object_minus_gripper": [
+              0.003064786699486538,
+              0.0037080990919830525,
+              -0.005758954447594
+            ],
+            "object_to_gripper_xy": 0.004810708512196007,
+            "object_to_gripper_z": -0.005758954447594,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17737307816000603,
+              0.20349238512448745,
+              1.0496172139750775
+            ],
+            "finger_b": [
+              0.16758432763068137,
+              0.22682036902925873,
+              1.0496172139750775
+            ],
+            "finger_midpoint": [
+              0.1724787028953437,
+              0.21515637707687307,
+              1.0496172139750775
+            ],
+            "object_minus_finger_midpoint": [
+              0.004894375264662326,
+              0.011663991952385655,
+              0.0
+            ],
+            "finger_gap": 0.02529850726795203,
+            "fingertip_max_gap": 0.09613764206600572,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012649253633976027,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496172139750775,
+            "object_top_z": 1.1022580358879523,
+            "finger_top_clearance": 0.05264082191287489,
+            "fingertip_min_top_clearance": 0.01579224657386245,
+            "object_projection_between_fingers": 0.8502852022590105,
+            "object_to_finger_line_xy": 0.009026295993565657,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050568821033002864,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.143555383581873,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17793025370056575,
+              0.22925858015216216,
+              1.245105503769518
+            ],
+            "held_position": [
+              0.18112300634295636,
+              0.23273881028928914,
+              1.2392570230681286
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007517339805901003,
+            "max_held_gripper_dist": 0.007533380255996147,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005848480701389436,
+            "max_held_gripper_z_dist": 0.00588021799271865,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08613180920520894,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18112300634295636,
+              0.20879219185406578,
+              1.2392570230681286
+            ],
+            "held_grasp_finger_b": [
+              0.1726886909307542,
+              0.23273881028928914,
+              1.2392570230681286
+            ],
+            "held_grasp_midpoint": [
+              0.17690584863685527,
+              0.22076550107167747,
+              1.2392570230681286
+            ],
+            "held_grasp_object_position": [
+              0.18112300634295636,
+              0.23273881028928914,
+              1.2392570230681286
+            ],
+            "held_grasp_finger_gap": 0.025388544876670072,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023691287762049585,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02663782335053655,
+              -0.9987196994338153,
+              0.0430045152277656
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003930907274627777,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03764993438503732,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29559645104865007,
+              -0.30907303956310517,
+              0.8515395819561034
+            ],
+            "target_position": [
+              0.2917980938572005,
+              -0.3090275952083848,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0037986290346929755,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18176005544442697,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395819561034,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520331403127403,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496537530763153,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15055466184447114,
+            "release_required_pad_clearance": 0.052482687653815766,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956466641713263,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007166862487792969,
+            "max_z_decrease": 0.007166862487792969,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517273635493919,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007166862487792969,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108698433487335,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007166862487792969,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007166882803175043,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14749802649021143,
+              -0.36528906226158137,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14749802649021143,
+              -0.36528906226158137,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14750299329560834,
+              -0.363880434418822,
+              0.8079336588803226
+            ],
+            "closest_button": [
+              0.14748691022396082,
+              -0.3652958869934082,
+              0.7727894186973572
+            ],
+            "closest_ee_minus_button": [
+              1.608307164752132e-05,
+              0.0014154525745861957,
+              0.03514424018296547
+            ],
+            "button_min_z_position": [
+              0.1474813669919967,
+              -0.3652927577495575,
+              0.7696419954299927
+            ],
+            "min_active_finger_to_button": 0.14550213945213883,
+            "closest_active_finger": [
+              0.019146554172039032,
+              -0.4247411787509918,
+              0.8105857968330383
+            ],
+            "closest_active_finger_button": [
+              0.14749801158905024,
+              -0.36529123783111567,
+              0.7764906287193298
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1283514574170112,
+              -0.059449940919876154,
+              0.034095168113708496
+            ],
+            "min_contact_pad_to_button": 0.02108698433487335,
+            "closest_contact_pad": [
+              0.1474813669919967,
+              -0.3653686376877822,
+              0.7907288432402788
+            ],
+            "closest_contact_pad_button": [
+              0.1474813669919967,
+              -0.3652927577495575,
+              0.7696419954299927
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -7.587993822472106e-05,
+              0.021086847810286136
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7843ff3393fbc61d491d4a1c5b2219068bd96c085d5e4a38e4b2f0cf6fd44526",
+    "visual_seed": 2823695182464145106,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1de0a5aed05677d276ad640adc8e2d2949ab612e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17523275526784712,
+              0.22370950228852088,
+              1.0500105313884514
+            ],
+            "current_z": 1.0500105313884514,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.18890372535046174,
+            "gripper_z": 1.0556144880562641,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1717880208549605,
+              0.21984754995226283,
+              1.0556144880562641
+            ],
+            "object_minus_gripper": [
+              0.0034447344128866186,
+              0.003861952336258051,
+              -0.005603956667812771
+            ],
+            "object_to_gripper_xy": 0.005175023770269498,
+            "object_to_gripper_z": -0.005603956667812771,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17523275526784712,
+              0.19996419030561607,
+              1.0500105313884514
+            ],
+            "finger_b": [
+              0.1654159114670441,
+              0.22370950228852088,
+              1.0500105313884514
+            ],
+            "finger_midpoint": [
+              0.17032433336744562,
+              0.21183684629706848,
+              1.0500105313884514
+            ],
+            "object_minus_finger_midpoint": [
+              0.0049084219004014995,
+              0.011872655991452402,
+              0.0
+            ],
+            "finger_gap": 0.02569455707683725,
+            "fingertip_max_gap": 0.091752776057733,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01284727853841862,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500105313884514,
+            "object_top_z": 1.1002609980426539,
+            "finger_top_clearance": 0.05025046665420252,
+            "fingertip_min_top_clearance": 0.015075139996260738,
+            "object_projection_between_fingers": 0.8540307117966619,
+            "object_to_finger_line_xy": 0.009072116637015229,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483763880288665,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.128627642899974,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17551856836528876,
+              0.22545647400530738,
+              1.2443353307195932
+            ],
+            "held_position": [
+              0.17905175149433722,
+              0.22910480689504625,
+              1.2386161701550402
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007648693578702276,
+            "max_held_gripper_dist": 0.007663583898494255,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005719160564553016,
+            "max_held_gripper_z_dist": 0.005751557972512256,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0847623587808562,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17905175149433722,
+              0.2049140929129517,
+              1.2386161701550402
+            ],
+            "held_grasp_finger_b": [
+              0.17043750590534673,
+              0.22910480689504625,
+              1.2386161701550402
+            ],
+            "held_grasp_midpoint": [
+              0.17474462869984198,
+              0.21700944990399898,
+              1.2386161701550402
+            ],
+            "held_grasp_object_position": [
+              0.17905175149433722,
+              0.22910480689504625,
+              1.2386161701550402
+            ],
+            "held_grasp_finger_gap": 0.025678704601886496,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02399476603415223,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02202274053684341,
+              -0.9997421054864296,
+              0.005542690394335081
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00404026589122883,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03753315775749196,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30361289156193283,
+              -0.305221828294081,
+              0.8515396043270446
+            ],
+            "target_position": [
+              0.29666499735615387,
+              -0.3073935047593256,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007279382704899778,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18219192160185652,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396043270446,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586285736663877,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08728623668912981,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14976507831228605,
+            "release_required_pad_clearance": 0.05364311834456491,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.296153854617985,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007119715213775635,
+            "max_z_decrease": 0.007119715213775635,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035162338330639094,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007119715213775635,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021182319169232657,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007119715213775635,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007119742013460297,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1523649245500564,
+              -0.36365497112274164,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1523649245500564,
+              -0.36365497112274164,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15231003386810074,
+              -0.36498038239929426,
+              0.8081897789540857
+            ],
+            "closest_button": [
+              0.15235368907451627,
+              -0.36366137862205494,
+              0.7730522155761719
+            ],
+            "closest_ee_minus_button": [
+              -4.3655206415527115e-05,
+              -0.0013190037772393137,
+              0.03513756337791385
+            ],
+            "button_min_z_position": [
+              0.15234546363353726,
+              -0.3636566698551177,
+              0.76968914270401
+            ],
+            "min_active_finger_to_button": 0.14605590275722646,
+            "closest_active_finger": [
+              0.010917998850345612,
+              -0.3511408567428589,
+              0.8109926581382751
+            ],
+            "closest_active_finger_button": [
+              0.1523645669221878,
+              -0.3636562228202819,
+              0.7768084406852722
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1414465680718422,
+              0.01251536607742304,
+              0.03418421745300293
+            ],
+            "min_contact_pad_to_button": 0.021182319169232657,
+            "closest_contact_pad": [
+              0.15234546363353726,
+              -0.36601049424312,
+              0.7907402746483423
+            ],
+            "closest_contact_pad_button": [
+              0.15234546363353726,
+              -0.3636566698551177,
+              0.76968914270401
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023538243880023013,
+              0.02105113194433228
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f644e4fbf54ea473e2cdbccbccd1f84c81fe83d496e135f009ec0eda943d3d8",
+    "visual_seed": 203169238570402618,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df04a76914f16469616132b7e32163aa29c03aae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_61_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17964648831930213,
+              0.22420124713688794,
+              1.0469944148313322
+            ],
+            "current_z": 1.0469944148313322,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.18588748958405277,
+            "gripper_z": 1.0527856285360657,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17627994048028142,
+              0.22028407633100014,
+              1.0527856285360657
+            ],
+            "object_minus_gripper": [
+              0.0033665478390207115,
+              0.0039171708058877985,
+              -0.0057912137047335666
+            ],
+            "object_to_gripper_xy": 0.005165062581897212,
+            "object_to_gripper_z": -0.0057912137047335666,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17964648831930213,
+              0.20081949290049078,
+              1.0469944148313322
+            ],
+            "finger_b": [
+              0.16932984285354413,
+              0.22420124713688794,
+              1.0469944148313322
+            ],
+            "finger_midpoint": [
+              0.17448816558642313,
+              0.21251037001868936,
+              1.0469944148313322
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051583227328790004,
+              0.011690877118198578,
+              0.0
+            ],
+            "finger_gap": 0.025556596112108153,
+            "fingertip_max_gap": 0.09511307828685425,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012778298056054077,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469944148313322,
+            "object_top_z": 1.0993370059578542,
+            "finger_top_clearance": 0.052342591126522064,
+            "fingertip_min_top_clearance": 0.015702777337956636,
+            "object_projection_between_fingers": 0.8370437608164364,
+            "object_to_finger_line_xy": 0.009438708807942895,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05005653914342713,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.834419791225523,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18045349221601112,
+              0.22521096019122905,
+              1.2429050760813989
+            ],
+            "held_position": [
+              0.1840399187539306,
+              0.2287960183774111,
+              1.2370103191308033
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007775812305913721,
+            "max_held_gripper_dist": 0.007791680441435985,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005894756950595603,
+            "max_held_gripper_z_dist": 0.005928131201508258,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08535486175665913,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1840399187539306,
+              0.20450011967684806,
+              1.2370103191308033
+            ],
+            "held_grasp_finger_b": [
+              0.17559958318247185,
+              0.2287960183774111,
+              1.2370103191308033
+            ],
+            "held_grasp_midpoint": [
+              0.17981975096820124,
+              0.21664806902712958,
+              1.2370103191308033
+            ],
+            "held_grasp_object_position": [
+              0.1840399187539306,
+              0.2287960183774111,
+              1.2370103191308033
+            ],
+            "held_grasp_finger_gap": 0.025720224692386585,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02376725980984337,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055468170651597995,
+              -0.9975111471433721,
+              0.043529224312858994
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035798783934476996,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03736845019133895,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2977775505803108,
+              -0.3058518297395818,
+              0.851539538279743
+            ],
+            "target_position": [
+              0.29376131334954336,
+              -0.30592062912542994,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004016826464921728,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1818896593531281,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539538279743,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567192673426439,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544121169566586,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14947198267613412,
+            "release_required_pad_clearance": 0.05272060584783293,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4941630937178991,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007280528545379639,
+            "max_z_decrease": 0.007280528545379639,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518108797636419,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007280528545379639,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021163408798969777,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007280528545379639,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007280548631610214,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14946123957633972,
+              -0.36218208074569697,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14946123957633972,
+              -0.36218208074569697,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15099808160186165,
+              -0.36259750008182906,
+              0.8078696798963879
+            ],
+            "closest_button": [
+              0.14944998919963837,
+              -0.3621887862682342,
+              0.7727250456809998
+            ],
+            "closest_ee_minus_button": [
+              0.0015480924022232834,
+              -0.00040871381359486314,
+              0.03514463421538816
+            ],
+            "button_min_z_position": [
+              0.1494444906711578,
+              -0.36218553781509394,
+              0.769528329372406
+            ],
+            "min_active_finger_to_button": 0.14458759158557902,
+            "closest_active_finger": [
+              0.00996696949005127,
+              -0.345442533493042,
+              0.8105766177177429
+            ],
+            "closest_active_finger_button": [
+              0.14946146309375763,
+              -0.36218473315238947,
+              0.7764217257499695
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13949449360370636,
+              0.01674219965934748,
+              0.03415489196777344
+            ],
+            "min_contact_pad_to_button": 0.021163408798969777,
+            "closest_contact_pad": [
+              0.1494444906711578,
+              -0.3639718713396548,
+              0.7906162141532782
+            ],
+            "closest_contact_pad_button": [
+              0.1494444906711578,
+              -0.36218553781509394,
+              0.769528329372406
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001786333524560868,
+              0.0210878847808722
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0fc37101872193f7460f05aa8e561f15ca342c35c157102b944a0df223f2bc4e",
+    "visual_seed": 4325262789465548060,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd6ad5737906b177ad5a6e60dbc382317d58d9f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18040011712146412,
+              0.2255107765473206,
+              1.048193786648996
+            ],
+            "current_z": 1.048193786648996,
+            "required_z": 0.8611069252472796,
+            "initial_z": 0.7611069252472796,
+            "lift_margin": 0.1870868614017165,
+            "gripper_z": 1.0542580851898171,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17695016468534985,
+              0.22164196459114158,
+              1.0542580851898171
+            ],
+            "object_minus_gripper": [
+              0.003449952436114262,
+              0.0038688119561790246,
+              -0.006064298540821023
+            ],
+            "object_to_gripper_xy": 0.005183616282454219,
+            "object_to_gripper_z": -0.006064298540821023,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18040011712146412,
+              0.20184309271924145,
+              1.048193786648996
+            ],
+            "finger_b": [
+              0.1704559647999615,
+              0.2255107765473206,
+              1.048193786648996
+            ],
+            "finger_midpoint": [
+              0.1754280409607128,
+              0.21367693463328102,
+              1.048193786648996
+            ],
+            "object_minus_finger_midpoint": [
+              0.004972076160751321,
+              0.011833841914039578,
+              0.0
+            ],
+            "finger_gap": 0.025671880008662502,
+            "fingertip_max_gap": 0.09616229865018328,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012835940004331256,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048193786648996,
+            "object_top_z": 1.100719194793107,
+            "finger_top_clearance": 0.052525408144110886,
+            "fingertip_min_top_clearance": 0.015757622443233265,
+            "object_projection_between_fingers": 0.849955462984282,
+            "object_to_finger_line_xy": 0.009167815251713812,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05058114932509164,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1842135953064776,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18091306760408637,
+              0.22699982931813806,
+              1.2408443380735656
+            ],
+            "held_position": [
+              0.18446345224054775,
+              0.23061458407754903,
+              1.234644349733566
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008006968118684956,
+            "max_held_gripper_dist": 0.008021950513582251,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006199988339999685,
+            "max_held_gripper_z_dist": 0.006231820629803986,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08563758571164032,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18446345224054775,
+              0.20635920604342836,
+              1.234644349733566
+            ],
+            "held_grasp_finger_b": [
+              0.17602458162315232,
+              0.23061458407754903,
+              1.234644349733566
+            ],
+            "held_grasp_midpoint": [
+              0.18024401693185005,
+              0.21848689506048868,
+              1.234644349733566
+            ],
+            "held_grasp_object_position": [
+              0.18446345224054775,
+              0.23061458407754903,
+              1.234644349733566
+            ],
+            "held_grasp_finger_gap": 0.025681469990544614,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024022036250247236,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02429747011596443,
+              -0.998833307104306,
+              0.04173317103982366
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003956301398709842,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03750418873833279,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29570645442574073,
+              -0.30982558106748737,
+              0.8515395403767969
+            ],
+            "target_position": [
+              0.29147567109204414,
+              -0.31003297215222636,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004235863392357456,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18012678250037,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395403767969,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523363765553036,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08581685300999985,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14903919487454045,
+            "release_required_pad_clearance": 0.052908426504999925,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8559169209298395,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007302522659301758,
+            "max_z_decrease": 0.007302522659301758,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035163650457590505,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007302522659301758,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021234207726347498,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007302522659301758,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00730254928694813,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.147175595164299,
+              -0.36629444360733027,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.147175595164299,
+              -0.36629444360733027,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14751977998179489,
+              -0.3675066007236167,
+              0.8078647982893201
+            ],
+            "closest_button": [
+              0.14716337621212006,
+              -0.36630138754844666,
+              0.7727236151695251
+            ],
+            "closest_ee_minus_button": [
+              0.000356403769674829,
+              -0.001205213175170028,
+              0.03514118311979497
+            ],
+            "button_min_z_position": [
+              0.14715607464313507,
+              -0.3662972450256347,
+              0.7695063352584839
+            ],
+            "min_active_finger_to_button": 0.14563582459050695,
+            "closest_active_finger": [
+              0.006556965410709381,
+              -0.3498556315898895,
+              0.8105606436729431
+            ],
+            "closest_active_finger_button": [
+              0.1471753865480423,
+              -0.366296648979187,
+              0.776414692401886
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14061842113733292,
+              0.016441017389297485,
+              0.03414595127105713
+            ],
+            "min_contact_pad_to_button": 0.021234207726347498,
+            "closest_contact_pad": [
+              0.14715607464313507,
+              -0.36893211546645477,
+              0.7905764333960287
+            ],
+            "closest_contact_pad_button": [
+              0.14715607464313507,
+              -0.3662972450256347,
+              0.7695063352584839
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026348704408200585,
+              0.02107009813754479
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e0872d1a1bccbca026c3f9534f30f6cb0b50f907a328d37a1156cf075c5a4dd",
+    "visual_seed": 321669787245097638,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fe282bf2fe0e218774512afa57aec23adadaeba
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1776271084033843,
+              0.2228590525045299,
+              1.04903410233219
+            ],
+            "current_z": 1.04903410233219,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.18792735589884524,
+            "gripper_z": 1.0551209309366059,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17423858898241276,
+              0.21901909826665827,
+              1.0551209309366059
+            ],
+            "object_minus_gripper": [
+              0.003388519420971542,
+              0.003839954237871618,
+              -0.006086828604415784
+            ],
+            "object_to_gripper_xy": 0.005121260822810093,
+            "object_to_gripper_z": -0.006086828604415784,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1776271084033843,
+              0.1992347031183794,
+              1.04903410233219
+            ],
+            "finger_b": [
+              0.1677285955652545,
+              0.2228590525045299,
+              1.04903410233219
+            ],
+            "finger_midpoint": [
+              0.1726778519843194,
+              0.21104687781145465,
+              1.04903410233219
+            ],
+            "object_minus_finger_midpoint": [
+              0.004949256419064907,
+              0.011812174693075245,
+              0.0
+            ],
+            "finger_gap": 0.02561426243961613,
+            "fingertip_max_gap": 0.09291499635005959,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012807131219808065,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04903410233219,
+            "object_top_z": 1.099834508444475,
+            "finger_top_clearance": 0.05080040611228487,
+            "fingertip_min_top_clearance": 0.015240121833685427,
+            "object_projection_between_fingers": 0.8506599846844192,
+            "object_to_finger_line_xy": 0.009129520174260362,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0489574981750298,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2124354763865701,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17808942587907775,
+              0.22441810605907653,
+              1.2432305159279002
+            ],
+            "held_position": [
+              0.18158515072290302,
+              0.22801018028777176,
+              1.2370227000063991
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007978725961169253,
+            "max_held_gripper_dist": 0.00799282347717914,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006207815921501103,
+            "max_held_gripper_z_dist": 0.006240587778199913,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08626930270307168,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18158515072290302,
+              0.20381535388590863,
+              1.2370227000063991
+            ],
+            "held_grasp_finger_b": [
+              0.1731179474013205,
+              0.22801018028777176,
+              1.2370227000063991
+            ],
+            "held_grasp_midpoint": [
+              0.17735154906211176,
+              0.2159127670868402,
+              1.2370227000063991
+            ],
+            "held_grasp_object_position": [
+              0.18158515072290302,
+              0.22801018028777176,
+              1.2370227000063991
+            ],
+            "held_grasp_finger_gap": 0.025633633310658696,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023928489937582634,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029450099260336864,
+              -0.9992983423100268,
+              0.02314119076428267
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038856972827602297,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037506645123025685,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2983946927986265,
+              -0.31088591012930333,
+              0.8515395661402387
+            ],
+            "target_position": [
+              0.2926049813614263,
+              -0.3120244037851682,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005900586947964697,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18359462565623294,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395661402387,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525896297055248,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08552211866081293,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523968422563749,
+            "release_required_pad_clearance": 0.052761059330406465,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5719805641579115,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007013916969299316,
+            "max_z_decrease": 0.007013916969299316,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519320807446649,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007013916969299316,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021083916954302895,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007013916969299316,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007013937240403277,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14830490946769714,
+              -0.36828586459159846,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14830490946769714,
+              -0.36828586459159846,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14924504085648257,
+              -0.36681637033726894,
+              0.8082438052066945
+            ],
+            "closest_button": [
+              0.14829470217227936,
+              -0.36829257011413563,
+              0.7730944156646729
+            ],
+            "closest_ee_minus_button": [
+              0.0009503386842032169,
+              0.0014761997768666935,
+              0.035149389542021625
+            ],
+            "button_min_z_position": [
+              0.14828833937644956,
+              -0.36828899383544916,
+              0.7697949409484863
+            ],
+            "min_active_finger_to_button": 0.14466121071234667,
+            "closest_active_finger": [
+              0.021279029548168182,
+              -0.42852821946144104,
+              0.8103888630867004
+            ],
+            "closest_active_finger_button": [
+              0.14830508828163147,
+              -0.3682885766029357,
+              0.7762944102287292
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270260587334633,
+              -0.06023964285850536,
+              0.03409445285797119
+            ],
+            "min_contact_pad_to_button": 0.021083916954302895,
+            "closest_contact_pad": [
+              0.14828833937644956,
+              -0.36828899383544916,
+              0.7908788579027892
+            ],
+            "closest_contact_pad_button": [
+              0.14828833937644956,
+              -0.36828899383544916,
+              0.7697949409484863
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021083916954302895
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b3591aba647639a33b6203244d7fc768fca667c49e70e55000d88df4670f27e",
+    "visual_seed": 6309274432327138028,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c473c7dd1bdc434810ef2f0a832d6773e73da5ab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1730696328686903,
+              0.2320184044210621,
+              1.0471522472782175
+            ],
+            "current_z": 1.0471522472782175,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.18604550084487226,
+            "gripper_z": 1.0529743815979486,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16970123478782925,
+              0.228172105520973,
+              1.0529743815979486
+            ],
+            "object_minus_gripper": [
+              0.0033683980808610348,
+              0.0038462989000891123,
+              -0.005822134319731109
+            ],
+            "object_to_gripper_xy": 0.005112741031968568,
+            "object_to_gripper_z": -0.005822134319731109,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1730696328686903,
+              0.20843642728365988,
+              1.0471522472782175
+            ],
+            "finger_b": [
+              0.16312702723670994,
+              0.2320184044210621,
+              1.0471522472782175
+            ],
+            "finger_midpoint": [
+              0.1680983300527001,
+              0.220227415852361,
+              1.0471522472782175
+            ],
+            "object_minus_finger_midpoint": [
+              0.004971302815990175,
+              0.011790988568701116,
+              0.0
+            ],
+            "finger_gap": 0.025592285018381008,
+            "fingertip_max_gap": 0.09126351529370513,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012796142509190504,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471522472782175,
+            "object_top_z": 1.0970051073360372,
+            "finger_top_clearance": 0.04985286005781964,
+            "fingertip_min_top_clearance": 0.014955858017345856,
+            "object_projection_between_fingers": 0.8490676618828981,
+            "object_to_finger_line_xy": 0.009161600792237492,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04813175764685257,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9840251124827553,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1733698992408743,
+              0.2339142036523716,
+              1.2405944935646678
+            ],
+            "held_position": [
+              0.17684414060290357,
+              0.2375273746679902,
+              1.2346550218290724
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007771916258406166,
+            "max_held_gripper_dist": 0.007786719518067932,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005939471735595392,
+            "max_held_gripper_z_dist": 0.005973890644303648,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08597212992684264,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17684414060290357,
+              0.2133787147096807,
+              1.2346550218290724
+            ],
+            "held_grasp_finger_b": [
+              0.1682902139056206,
+              0.2375273746679902,
+              1.2346550218290724
+            ],
+            "held_grasp_midpoint": [
+              0.17256717725426207,
+              0.22545304468883545,
+              1.2346550218290724
+            ],
+            "held_grasp_object_position": [
+              0.17684414060290357,
+              0.2375273746679902,
+              1.2346550218290724
+            ],
+            "held_grasp_finger_gap": 0.02561888833896879,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02388002058819265,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02993369646020826,
+              -0.9994786988247278,
+              0.012095636066667194
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039163704489852775,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037524189130699395,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3016203845364652,
+              -0.3121179934335315,
+              0.8515396018445262
+            ],
+            "target_position": [
+              0.29534133272867535,
+              -0.313776501596685,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064943930380102505,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18252093114607967,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396018445262,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557334980926472,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08604962094857659,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15064092479384225,
+            "release_required_pad_clearance": 0.053024810474288295,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.081358228324938,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007307231426239014,
+            "max_z_decrease": 0.007307231426239014,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516057710181517,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007307231426239014,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021069045609792954,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007307231426239014,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007307252638514696,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15104125440120694,
+              -0.3700379729270935,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15104125440120694,
+              -0.3700379729270935,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1513502485305855,
+              -0.36904903317638443,
+              0.8080542142315161
+            ],
+            "closest_button": [
+              0.15103021264076227,
+              -0.37004363536834717,
+              0.7729091644287109
+            ],
+            "closest_ee_minus_button": [
+              0.00032003588982323916,
+              0.0009946021919627346,
+              0.035145049802805195
+            ],
+            "button_min_z_position": [
+              0.1510238349437713,
+              -0.37004053592681885,
+              0.7695016264915466
+            ],
+            "min_active_finger_to_button": 0.14539655988134653,
+            "closest_active_finger": [
+              0.024209782481193542,
+              -0.432418555021286,
+              0.8107610940933228
+            ],
+            "closest_active_finger_button": [
+              0.1510427594184875,
+              -0.37003886699676514,
+              0.776668131351471
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12683297693729395,
+              -0.062379688024520874,
+              0.03409296274185181
+            ],
+            "min_contact_pad_to_button": 0.021069045609792954,
+            "closest_contact_pad": [
+              0.1510238349437713,
+              -0.37022483244324816,
+              0.7905698660407251
+            ],
+            "closest_contact_pad_button": [
+              0.1510238349437713,
+              -0.37004053592681885,
+              0.7695016264915466
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00018429651642931644,
+              0.02106823954917847
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fc3903498e3db636d4f3b54826ed96e78f3449699435a0e2f8105defc9d758c3",
+    "visual_seed": 3049252845266234498,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aba0ee5d05d383bf920b7682b3272d70db3a16f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17704875784426613,
+              0.22317494813742442,
+              1.0487958181068109
+            ],
+            "current_z": 1.0487958181068109,
+            "required_z": 0.8611068060379901,
+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.18768901206882083,
+            "gripper_z": 1.0547613678643752,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.174207305345228,
+              0.21968247331276536,
+              1.0547613678643752
+            ],
+            "object_minus_gripper": [
+              0.0028414524990381385,
+              0.0034924748246590587,
+              -0.005965549757564359
+            ],
+            "object_to_gripper_xy": 0.004502358571367612,
+            "object_to_gripper_z": -0.005965549757564359,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17704875784426613,
+              0.1997516422589389,
+              1.0487958181068109
+            ],
+            "finger_b": [
+              0.16790039020422245,
+              0.22317494813742442,
+              1.0487958181068109
+            ],
+            "finger_midpoint": [
+              0.1724745740242443,
+              0.21146329519818166,
+              1.0487958181068109
+            ],
+            "object_minus_finger_midpoint": [
+              0.004574183820021838,
+              0.011711652939242756,
+              0.0
+            ],
+            "finger_gap": 0.025146448829894297,
+            "fingertip_max_gap": 0.09729973754913285,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012573224414947149,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487958181068109,
+            "object_top_z": 1.1018925699365456,
+            "finger_top_clearance": 0.05309675182973472,
+            "fingertip_min_top_clearance": 0.015929025548920416,
+            "object_projection_between_fingers": 0.8676469687368292,
+            "object_to_finger_line_xy": 0.00852148209757705,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051149868774566426,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.423419715225722,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17792506555591636,
+              0.22555786052568147,
+              1.2437287524469747
+            ],
+            "held_position": [
+              0.18083688167536963,
+              0.22886973630954108,
+              1.2376658977436867
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007497026175384757,
+            "max_held_gripper_dist": 0.0075118061143202505,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006062854703287934,
+            "max_held_gripper_z_dist": 0.006090533646054164,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08594304542665185,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18083688167536963,
+              0.2050278120597207,
+              1.2376658977436867
+            ],
+            "held_grasp_finger_b": [
+              0.17281493753454757,
+              0.22886973630954108,
+              1.2376658977436867
+            ],
+            "held_grasp_midpoint": [
+              0.1768259096049586,
+              0.21694877418463088,
+              1.2376658977436867
+            ],
+            "held_grasp_object_position": [
+              0.18083688167536963,
+              0.22886973630954108,
+              1.2376658977436867
+            ],
+            "held_grasp_finger_gap": 0.025155296454874906,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023724185418884613,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.011371122394521297,
+              -0.9988876601573525,
+              0.045761774013452834
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003913513237000166,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037766938851985454,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2989064150905506,
+              -0.3082833736688386,
+              0.8515395819501744
+            ],
+            "target_position": [
+              0.2961319116824697,
+              -0.307961932329384,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0027930617064724555,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18162965418551438,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395819501744,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558087667113843,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08712724835183426,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14951717438848844,
+            "release_required_pad_clearance": 0.05356362417591713,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1383547596473047,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007063448429107666,
+            "max_z_decrease": 0.007063448429107666,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517167993949,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007063448429107666,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108337804602136,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007063448429107666,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007063467968331208,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15183183550834653,
+              -0.36422339081764216,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15183183550834653,
+              -0.36422339081764216,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15301878445254466,
+              -0.3637166479372001,
+              0.80824625033544
+            ],
+            "closest_button": [
+              0.1518212407827377,
+              -0.36422964930534363,
+              0.7730987071990967
+            ],
+            "closest_ee_minus_button": [
+              0.0011975436698069553,
+              0.0005130013681435286,
+              0.03514754313634327
+            ],
+            "button_min_z_position": [
+              0.1518154442310333,
+              -0.36422610282897944,
+              0.769745409488678
+            ],
+            "min_active_finger_to_button": 0.1448461955504928,
+            "closest_active_finger": [
+              0.026305921375751495,
+              -0.4279553294181824,
+              0.8103899359703064
+            ],
+            "closest_active_finger_button": [
+              0.151831567287445,
+              -0.36422568559646606,
+              0.776297926902771
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12552564591169352,
+              -0.06372964382171631,
+              0.0340920090675354
+            ],
+            "min_contact_pad_to_button": 0.02108337804602136,
+            "closest_contact_pad": [
+              0.1518154442310333,
+              -0.36481675467067576,
+              0.7908205123409384
+            ],
+            "closest_contact_pad_button": [
+              0.1518154442310333,
+              -0.36422610282897944,
+              0.769745409488678
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005906518416963213,
+              0.02107510285226044
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "664b6487dd74276150ff5f96a976dc03b4b7e1dc7f0a9e629afa5e8e005d7172",
+    "visual_seed": 8067300624363374937,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4729949f247623cb9770dc0fa553acf82c025739
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1725120650979,
+              0.23031343784795244,
+              1.0471424929291244
+            ],
+            "current_z": 1.0471424929291244,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1860358657050688,
+            "gripper_z": 1.053110772578923,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1696328564315154,
+              0.2267346638481261,
+              1.053110772578923
+            ],
+            "object_minus_gripper": [
+              0.0028792086663846084,
+              0.00357877399982634,
+              -0.005968279649798625
+            ],
+            "object_to_gripper_xy": 0.004593197784378249,
+            "object_to_gripper_z": -0.005968279649798625,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1725120650979,
+              0.20704951640837932,
+              1.0471424929291244
+            ],
+            "finger_b": [
+              0.1629862189579332,
+              0.23031343784795244,
+              1.0471424929291244
+            ],
+            "finger_midpoint": [
+              0.1677491420279166,
+              0.21868147712816588,
+              1.0471424929291244
+            ],
+            "object_minus_finger_midpoint": [
+              0.00476292306998341,
+              0.01163196071978656,
+              0.0
+            ],
+            "finger_gap": 0.025138651225333285,
+            "fingertip_max_gap": 0.0972628483856578,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012569325612666642,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471424929291244,
+            "object_top_z": 1.100591790955359,
+            "finger_top_clearance": 0.05344929802623466,
+            "fingertip_min_top_clearance": 0.01603478940787038,
+            "object_projection_between_fingers": 0.8564103357652073,
+            "object_to_finger_line_xy": 0.008815450529116881,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0511314241928289,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4065851456421883,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1734834090195946,
+              0.2321947051856495,
+              1.2403999986400844
+            ],
+            "held_position": [
+              0.1764686185843526,
+              0.23553814380759608,
+              1.234313712348607
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075586333940781195,
+            "max_held_gripper_dist": 0.007574346743678514,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00608628629147745,
+            "max_held_gripper_z_dist": 0.006116953766393207,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.085817178140081,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1764686185843526,
+              0.21159280270162847,
+              1.234313712348607
+            ],
+            "held_grasp_finger_b": [
+              0.16852457645821822,
+              0.23553814380759608,
+              1.234313712348607
+            ],
+            "held_grasp_midpoint": [
+              0.1724965975212854,
+              0.2235654732546123,
+              1.234313712348607
+            ],
+            "held_grasp_object_position": [
+              0.1764686185843526,
+              0.23553814380759608,
+              1.234313712348607
+            ],
+            "held_grasp_finger_gap": 0.025228697270825128,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02360767889034288,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03641748221493832,
+              -0.9979803919865876,
+              0.0520471344016321
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00358855418966774,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0376271086120804,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29806274524900284,
+              -0.3120128609413444,
+              0.8515395572930785
+            ],
+            "target_position": [
+              0.2957736884513676,
+              -0.3112168393179759,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0024235163394684097,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18250964290634292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395572930785,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574322893079889,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08620738303394325,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14985373715917996,
+            "release_required_pad_clearance": 0.05310369151697163,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2347790640788665,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007269740104675293,
+            "max_z_decrease": 0.007269740104675293,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522340263553458,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007269740104675293,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021089098531214937,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007269740104675293,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072697599365976395,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1514736115932465,
+              -0.3674783110618591,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1514736115932465,
+              -0.3674783110618591,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15342974227845144,
+              -0.36629625280789285,
+              0.8080528191707652
+            ],
+            "closest_button": [
+              0.1514637470245362,
+              -0.3674860000610351,
+              0.7729044556617737
+            ],
+            "closest_ee_minus_button": [
+              0.001965995253915248,
+              0.0011897472531422482,
+              0.03514836350899153
+            ],
+            "button_min_z_position": [
+              0.15145701169967657,
+              -0.3674818873405456,
+              0.7695391178131104
+            ],
+            "min_active_finger_to_button": 0.14389131578151979,
+            "closest_active_finger": [
+              0.02568793296813965,
+              -0.4284611940383911,
+              0.8107836842536926
+            ],
+            "closest_active_finger_button": [
+              0.15147648751735687,
+              -0.36748090386390686,
+              0.7766757011413574
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12578855454921722,
+              -0.06098029017448425,
+              0.034107983112335205
+            ],
+            "min_contact_pad_to_button": 0.021089098531214937,
+            "closest_contact_pad": [
+              0.15145701169967657,
+              -0.36764075248100675,
+              0.7906276179666641
+            ],
+            "closest_contact_pad_button": [
+              0.15145701169967657,
+              -0.3674818873405456,
+              0.7695391178131104
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00015886514046115074,
+              0.02108850015355379
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a245b3dff61fb733a4262db122733bb44890a0129ae357dd3a5ab4b52a6fa6fc",
+    "visual_seed": 6718726225059919531,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..33f276ac831224443bcbe45717d76c174f0260e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18133016678195152,
+              0.22672377577646005,
+              1.0478351358796734
+            ],
+            "current_z": 1.0478351358796734,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.18672838944632808,
+            "gripper_z": 1.0539484282183493,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17749289137849592,
+              0.22261958120000186,
+              1.0539484282183493
+            ],
+            "object_minus_gripper": [
+              0.0038372754034556034,
+              0.004104194576458192,
+              -0.0061132923386759686
+            ],
+            "object_to_gripper_xy": 0.005618638237455247,
+            "object_to_gripper_z": -0.0061132923386759686,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18133016678195152,
+              0.20287253224685095,
+              1.0478351358796734
+            ],
+            "finger_b": [
+              0.17092658805717992,
+              0.22672377577646005,
+              1.0478351358796734
+            ],
+            "finger_midpoint": [
+              0.17612837741956572,
+              0.2147981540116555,
+              1.0478351358796734
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052017893623858,
+              0.01192562176480455,
+              0.0
+            ],
+            "finger_gap": 0.02602145784139006,
+            "fingertip_max_gap": 0.0939312733586504,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01301072892069503,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478351358796734,
+            "object_top_z": 1.0993280922332553,
+            "finger_top_clearance": 0.051492956353581976,
+            "fingertip_min_top_clearance": 0.015447886906074591,
+            "object_projection_between_fingers": 0.84015381793788,
+            "object_to_finger_line_xy": 0.009535910372757646,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0494656366793252,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4596322204990173,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18146287853199997,
+              0.2277105985723702,
+              1.242798760385063
+            ],
+            "held_position": [
+              0.1854478747859108,
+              0.23151437706737782,
+              1.2365670771252768
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008317619986093686,
+            "max_held_gripper_dist": 0.008330255929147502,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00623168325978618,
+            "max_held_gripper_z_dist": 0.006266870500627686,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08624336878997377,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1854478747859108,
+              0.20704579494277944,
+              1.2365670771252768
+            ],
+            "held_grasp_finger_b": [
+              0.176551917625203,
+              0.23151437706737782,
+              1.2365670771252768
+            ],
+            "held_grasp_midpoint": [
+              0.1809998962055569,
+              0.21928008600507864,
+              1.2365670771252768
+            ],
+            "held_grasp_object_position": [
+              0.1854478747859108,
+              0.23151437706737782,
+              1.2365670771252768
+            ],
+            "held_grasp_finger_gap": 0.02603554426151609,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024119530443320426,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03599236479643257,
+              -0.9988203179984303,
+              0.03259634994712468
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004024821206295733,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03734029831309322,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3032524745520001,
+              -0.3110022135633067,
+              0.851539568389946
+            ],
+            "target_position": [
+              0.29697002994932675,
+              -0.31233341173484336,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006421931076986274,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18454956854144056,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539568389946,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517373323408137,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506157624183829,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15357402865940928,
+            "release_required_pad_clearance": 0.052530788120919145,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13122121172078516,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007167816162109375,
+            "max_z_decrease": 0.007167816162109375,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519629864798878,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007167816162109375,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021071779058450035,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007167816162109375,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007167840801967765,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15266995131969452,
+              -0.3685948848724366,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15266995131969452,
+              -0.3685948848724366,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15174651262507213,
+              -0.3668988910534145,
+              0.8081274701727121
+            ],
+            "closest_button": [
+              0.152658998966217,
+              -0.3686024248600006,
+              0.7729842662811279
+            ],
+            "closest_ee_minus_button": [
+              -0.0009124863411448803,
+              0.0017035338065861105,
+              0.03514320389158421
+            ],
+            "button_min_z_position": [
+              0.15265141427516932,
+              -0.36859798431396484,
+              0.7696410417556763
+            ],
+            "min_active_finger_to_button": 0.1461921722491745,
+            "closest_active_finger": [
+              0.024035491049289703,
+              -0.4291117787361145,
+              0.8108574748039246
+            ],
+            "closest_active_finger_button": [
+              0.15267443656921384,
+              -0.36859697103500366,
+              0.7767674326896667
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12863894551992414,
+              -0.06051480770111084,
+              0.03409004211425781
+            ],
+            "min_contact_pad_to_button": 0.021071779058450035,
+            "closest_contact_pad": [
+              0.15265141427516932,
+              -0.36859798431396484,
+              0.7907128208141263
+            ],
+            "closest_contact_pad_button": [
+              0.15265141427516932,
+              -0.36859798431396484,
+              0.7696410417556763
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021071779058450035
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bc584a88ea94c061ff39211be095f1220e90c6a6ab832b5ff0b3c7bf83d652df",
+    "visual_seed": 5699529745298900786,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c0779ec872b994b901a5ededfadc497a2c3447d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17219133584075988,
+              0.23079740400704182,
+              1.0496640774279669
+            ],
+            "current_z": 1.0496640774279669,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18855745020391135,
+            "gripper_z": 1.0556420998475526,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16935167156255687,
+              0.22729388730024921,
+              1.0556420998475526
+            ],
+            "object_minus_gripper": [
+              0.002839664278203008,
+              0.0035035167067926087,
+              -0.005978022419585782
+            ],
+            "object_to_gripper_xy": 0.004509802936678845,
+            "object_to_gripper_z": -0.005978022419585782,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17219133584075988,
+              0.2073469368989402,
+              1.0496640774279669
+            ],
+            "finger_b": [
+              0.16307187235819454,
+              0.23079740400704182,
+              1.0496640774279669
+            ],
+            "finger_midpoint": [
+              0.1676316040994772,
+              0.21907217045299102,
+              1.0496640774279669
+            ],
+            "object_minus_finger_midpoint": [
+              0.0045597317412826854,
+              0.011725233554050807,
+              0.0
+            ],
+            "finger_gap": 0.025161260338027555,
+            "fingertip_max_gap": 0.09824759834204982,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012580630169013781,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496640774279669,
+            "object_top_z": 1.1031674625032015,
+            "finger_top_clearance": 0.053503385075234666,
+            "fingertip_min_top_clearance": 0.01605101552257038,
+            "object_projection_between_fingers": 0.8686367772202841,
+            "object_to_finger_line_xy": 0.008499402476998366,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051623799171024914,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6808500582650505,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17294600282052255,
+              0.23336255543122653,
+              1.246306470830574
+            ],
+            "held_position": [
+              0.17587126041192402,
+              0.23669645714637294,
+              1.2402531465857947
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007504316560136668,
+            "max_held_gripper_dist": 0.0075189454100547375,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0060533242447793345,
+            "max_held_gripper_z_dist": 0.006083818270057106,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08605088230079475,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17587126041192402,
+              0.2128788636550571,
+              1.2402531465857947
+            ],
+            "held_grasp_finger_b": [
+              0.1677099344202678,
+              0.23669645714637294,
+              1.2402531465857947
+            ],
+            "held_grasp_midpoint": [
+              0.17179059741609592,
+              0.22478766040071502,
+              1.2402531465857947
+            ],
+            "held_grasp_object_position": [
+              0.17587126041192402,
+              0.23669645714637294,
+              1.2402531465857947
+            ],
+            "held_grasp_finger_gap": 0.025177072936694894,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02374520812623098,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.005332646522135352,
+              -0.9987881270024206,
+              0.0489268866786613
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004059212087760049,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037804124540314156,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.301448950955605,
+              -0.3094600251438071,
+              0.8515395819122129
+            ],
+            "target_position": [
+              0.29865589248490243,
+              -0.30886341634960834,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0028560668189099763,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1785003719767669,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395819122129,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560865340981754,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08835837159330227,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14622504482853496,
+            "release_required_pad_clearance": 0.05417918579665114,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.3742725738409893,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007152080535888672,
+            "max_z_decrease": 0.007152080535888672,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035155907658987434,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007152080535888672,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021057755089145144,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007152080535888672,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007152096806291004,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1543558239936828,
+              -0.36512488126754755,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1543558239936828,
+              -0.36512488126754755,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1531614869232923,
+              -0.36493764379329174,
+              0.8081468459464545
+            ],
+            "closest_button": [
+              0.15434470772743225,
+              -0.36513081192970276,
+              0.7730113863945007
+            ],
+            "closest_ee_minus_button": [
+              -0.0011832208041399617,
+              0.00019316813641101493,
+              0.03513545955195374
+            ],
+            "button_min_z_position": [
+              0.15434062480926514,
+              -0.3651261925697326,
+              0.769656777381897
+            ],
+            "min_active_finger_to_button": 0.1470379156355224,
+            "closest_active_finger": [
+              0.02656107395887375,
+              -0.42936813831329346,
+              0.8108685612678528
+            ],
+            "closest_active_finger_button": [
+              0.15435697138309473,
+              -0.36512711644172663,
+              0.7767885327339172
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12779589742422098,
+              -0.06424102187156683,
+              0.03408002853393555
+            ],
+            "min_contact_pad_to_button": 0.021057755089145144,
+            "closest_contact_pad": [
+              0.15434062480926514,
+              -0.3660458995822824,
+              0.790694438573329
+            ],
+            "closest_contact_pad_button": [
+              0.15434062480926514,
+              -0.3651261925697326,
+              0.769656777381897
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009197070125497864,
+              0.021037661191432022
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1278cd7251889121f8f520f19dd94af8e950fc3a758d9b53834ced7f66d139de",
+    "visual_seed": 7924056651823107141,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..02a04f2863069c7d9532ee39200968bce12bd8a9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1805155551462909,
+              0.22603283049953551,
+              1.0477574776266252
+            ],
+            "current_z": 1.0477574776266252,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18665085040256968,
+            "gripper_z": 1.053567572701424,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17691618945089185,
+              0.2219867820794375,
+              1.053567572701424
+            ],
+            "object_minus_gripper": [
+              0.003599365695399037,
+              0.0040460484200980085,
+              -0.005810095074798793
+            ],
+            "object_to_gripper_xy": 0.0054153431310483904,
+            "object_to_gripper_z": -0.005810095074798793,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1805155551462909,
+              0.2025055890284423,
+              1.0477574776266252
+            ],
+            "finger_b": [
+              0.16999524700251645,
+              0.22603283049953551,
+              1.0477574776266252
+            ],
+            "finger_midpoint": [
+              0.17525540107440368,
+              0.2142692097639889,
+              1.0477574776266252
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052601540718872075,
+              0.011763620735546626,
+              0.0
+            ],
+            "finger_gap": 0.025772232628918583,
+            "fingertip_max_gap": 0.09297738281628412,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012886116314459298,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477574776266252,
+            "object_top_z": 1.0987307792389998,
+            "finger_top_clearance": 0.050973301612374566,
+            "fingertip_min_top_clearance": 0.015291990483712336,
+            "object_projection_between_fingers": 0.8333701375786116,
+            "object_to_finger_line_xy": 0.009603895541869297,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04898869140814206,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.178717948690035,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18092093808122744,
+              0.22721569204498843,
+              1.2406851824385212
+            ],
+            "held_position": [
+              0.18470006198874822,
+              0.230941088652345,
+              1.2347397831021332
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00796919887188307,
+            "max_held_gripper_dist": 0.007984853639880007,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005945399336388046,
+            "max_held_gripper_z_dist": 0.005978489364505846,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08568172234170848,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18470006198874822,
+              0.2065672842917553,
+              1.2347397831021332
+            ],
+            "held_grasp_finger_b": [
+              0.17603206009959013,
+              0.230941088652345,
+              1.2347397831021332
+            ],
+            "held_grasp_midpoint": [
+              0.1803660610441692,
+              0.21875418647205014,
+              1.2347397831021332
+            ],
+            "held_grasp_object_position": [
+              0.18470006198874822,
+              0.230941088652345,
+              1.2347397831021332
+            ],
+            "held_grasp_finger_gap": 0.02586922101182696,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023909763087048314,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.049141992478578006,
+              -0.9984377330130029,
+              0.026592440111637083
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003744174169294647,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0373394056429296,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2993367495027519,
+              -0.30858005309240877,
+              0.8515395806048521
+            ],
+            "target_position": [
+              0.2934876367085546,
+              -0.30977780832640384,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005970488931386209,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18111627370241387,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395806048521,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527680408296658,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551065392710248,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1499988250191085,
+            "release_required_pad_clearance": 0.052755326963551244,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5609267344952704,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007316648960113525,
+            "max_z_decrease": 0.007316648960113525,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515190617758487,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007316648960113525,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021114540649561846,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007316648960113525,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073166687781012,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1491875648498535,
+              -0.3660392761230469,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1491875648498535,
+              -0.3660392761230469,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14825205418272674,
+              -0.36681742904998793,
+              0.8078348753007657
+            ],
+            "closest_button": [
+              0.1491756439208984,
+              -0.3660453259944916,
+              0.7727035880088806
+            ],
+            "closest_ee_minus_button": [
+              -0.0009235897381716651,
+              -0.0007721030554963537,
+              0.03513128729188508
+            ],
+            "button_min_z_position": [
+              0.14917071163654325,
+              -0.36604171991348267,
+              0.7694922089576721
+            ],
+            "min_active_finger_to_button": 0.14692903549917455,
+            "closest_active_finger": [
+              0.007091701030731201,
+              -0.3508431911468506,
+              0.8105316758155823
+            ],
+            "closest_active_finger_button": [
+              0.14918695390224454,
+              -0.3660420179367065,
+              0.7763838171958923
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14209525287151334,
+              0.015198826789855902,
+              0.03414785861968994
+            ],
+            "min_contact_pad_to_button": 0.021114540649561846,
+            "closest_contact_pad": [
+              0.14917071163654325,
+              -0.36801075583468196,
+              0.7905147379297779
+            ],
+            "closest_contact_pad_button": [
+              0.14917071163654325,
+              -0.36604171991348267,
+              0.7694922089576721
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019690359211992914,
+              0.02102252897210577
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "44e2b6826155a108b67bd1db00787d02d71db18c279e235dbaec7b0d35f129be",
+    "visual_seed": 3362218444766053042,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..180a0eab83ab8450fd17ef49dc9b74b59e289ea5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18014561704929885,
+              0.22821464358126411,
+              1.04852847677958
+            ],
+            "current_z": 1.04852847677958,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.1874216707415901,
+            "gripper_z": 1.054685611094906,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17694999095490813,
+              0.22452633883850243,
+              1.054685611094906
+            ],
+            "object_minus_gripper": [
+              0.0031956260943907244,
+              0.003688304742761689,
+              -0.006157134315326163
+            ],
+            "object_to_gripper_xy": 0.004880124794575369,
+            "object_to_gripper_z": -0.006157134315326163,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18014561704929885,
+              0.20450394316508227,
+              1.04852847677958
+            ],
+            "finger_b": [
+              0.17079236436274955,
+              0.22821464358126411,
+              1.04852847677958
+            ],
+            "finger_midpoint": [
+              0.1754689907060242,
+              0.2163592933731732,
+              1.04852847677958
+            ],
+            "object_minus_finger_midpoint": [
+              0.004676626343274648,
+              0.01185535020809092,
+              0.0
+            ],
+            "finger_gap": 0.0254888338306084,
+            "fingertip_max_gap": 0.10032533945219715,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0127444169153042,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04852847677958,
+            "object_top_z": 1.102687664045722,
+            "finger_top_clearance": 0.054159187266141995,
+            "fingertip_min_top_clearance": 0.016247756179842563,
+            "object_projection_between_fingers": 0.8653440951143192,
+            "object_to_finger_line_xy": 0.008700757902125059,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05266266972609858,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3343470085719162,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18001872653162365,
+              0.23130250793622809,
+              1.2417446059020274
+            ],
+            "held_position": [
+              0.18321426466741358,
+              0.2348642665820916,
+              1.2354889148318193
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007875992597416047,
+            "max_held_gripper_dist": 0.00789812467839653,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006255691070208069,
+            "max_held_gripper_z_dist": 0.006288174678637404,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08591746383675145,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18321426466741358,
+              0.21100745225185757,
+              1.2354889148318193
+            ],
+            "held_grasp_finger_b": [
+              0.17452905611475933,
+              0.2348642665820916,
+              1.2354889148318193
+            ],
+            "held_grasp_midpoint": [
+              0.17887166039108646,
+              0.22293585941697458,
+              1.2354889148318193
+            ],
+            "held_grasp_object_position": [
+              0.18321426466741358,
+              0.2348642665820916,
+              1.2354889148318193
+            ],
+            "held_grasp_finger_gap": 0.02538858872781941,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02401680666038113,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.022790059712264214,
+              -0.9984095072017524,
+              0.05156616242717371
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004653813575658902,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03790978316143295,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29392872065969855,
+              -0.31075424572090227,
+              0.8515395768300319
+            ],
+            "target_position": [
+              0.29199006600888566,
+              -0.30981907365532085,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002152423900481094,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18130406534261084,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395768300319,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757768376190168,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09194647310843095,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14854547320687791,
+            "release_required_pad_clearance": 0.055973236554215475,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 7.179302215741669,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007292985916137695,
+            "max_z_decrease": 0.007292985916137695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035167125010880255,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007292985916137695,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02110516033330591,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007292985916137695,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007293005176836778,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14768999814987183,
+              -0.36608052253723145,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14768999814987183,
+              -0.36608052253723145,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14890933928522698,
+              -0.3659607964762909,
+              0.8079069379231387
+            ],
+            "closest_button": [
+              0.14767850935459137,
+              -0.36608645319938654,
+              0.7727615833282471
+            ],
+            "closest_ee_minus_button": [
+              0.001230829930635613,
+              0.00012565672309566844,
+              0.035145354594891653
+            ],
+            "button_min_z_position": [
+              0.14767347276210785,
+              -0.3660833239555358,
+              0.769515872001648
+            ],
+            "min_active_finger_to_button": 0.14495033594404927,
+            "closest_active_finger": [
+              0.007762789726257324,
+              -0.3498062491416931,
+              0.8106111884117126
+            ],
+            "closest_active_finger_button": [
+              0.1476898044347763,
+              -0.36608278751373285,
+              0.7764629125595093
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13992701470851898,
+              0.01627653837203974,
+              0.03414827585220337
+            ],
+            "min_contact_pad_to_button": 0.02110516033330591,
+            "closest_contact_pad": [
+              0.14767347276210785,
+              -0.3671787890923789,
+              0.7905925830550479
+            ],
+            "closest_contact_pad_button": [
+              0.14767347276210785,
+              -0.3660833239555358,
+              0.769515872001648
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00109546513684311,
+              0.02107671105339992
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6cc5d9c232ff126b76d5398c6feb60d7761f7df5ab02736f83bedbe2bda74c11",
+    "visual_seed": 1893979326206725160,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bb65febb18099b37be96e884cd963bba47c7f94
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1786553891076569,
+              0.23069472423868487,
+              1.0459028510356916
+            ],
+            "current_z": 1.0459028510356916,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18479610460234652,
+            "gripper_z": 1.051964748850977,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17517319754539804,
+              0.22684657768968633,
+              1.051964748850977
+            ],
+            "object_minus_gripper": [
+              0.003482191562258874,
+              0.003848146548998538,
+              -0.006061897815285322
+            ],
+            "object_to_gripper_xy": 0.0051897870802987914,
+            "object_to_gripper_z": -0.006061897815285322,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1786553891076569,
+              0.20685413925986693,
+              1.0459028510356916
+            ],
+            "finger_b": [
+              0.1689729903734302,
+              0.23069472423868487,
+              1.0459028510356916
+            ],
+            "finger_midpoint": [
+              0.17381418974054355,
+              0.2187744317492759,
+              1.0459028510356916
+            ],
+            "object_minus_finger_midpoint": [
+              0.004841199367113358,
+              0.011920292489408957,
+              0.0
+            ],
+            "finger_gap": 0.02573173793937741,
+            "fingertip_max_gap": 0.09536073900986489,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012865868969688691,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0459028510356916,
+            "object_top_z": 1.0976977310050764,
+            "finger_top_clearance": 0.05179487996938481,
+            "fingertip_min_top_clearance": 0.01553846399081546,
+            "object_projection_between_fingers": 0.8584115956283785,
+            "object_to_finger_line_xy": 0.008970791260425704,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050180369504932446,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.028678866415251,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 205,
+            "max_stable_success_frames": 205,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17836857488040725,
+              0.23335808426926638,
+              1.2389703846435514
+            ],
+            "held_position": [
+              0.18186134787929736,
+              0.23705512235386245,
+              1.2327905008425786
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008003656515259474,
+            "max_held_gripper_dist": 0.00802639351213738,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006179883800972785,
+            "max_held_gripper_z_dist": 0.006218090212138927,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0856983891014653,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18186134787929736,
+              0.21299366326191052,
+              1.2327905008425786
+            ],
+            "held_grasp_finger_b": [
+              0.1730185801988696,
+              0.23705512235386245,
+              1.2327905008425786
+            ],
+            "held_grasp_midpoint": [
+              0.17743996403908346,
+              0.2250243928078865,
+              1.2327905008425786
+            ],
+            "held_grasp_object_position": [
+              0.18186134787929736,
+              0.23705512235386245,
+              1.2327905008425786
+            ],
+            "held_grasp_finger_gap": 0.025634904990728832,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024101835870875315,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.005816168317301494,
+              -0.9995405828775998,
+              0.029745510027780475
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004505485807595278,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03772076315987757,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2968824548539807,
+              -0.3078743708464378,
+              0.8515395934796686
+            ],
+            "target_position": [
+              0.29276859234272284,
+              -0.308554773506958,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004169749697760713,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18191046423925988,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395934796686,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589458695982794,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08837393894012606,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14921781257323313,
+            "release_required_pad_clearance": 0.05418696947006303,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.390011151293647,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00728452205657959,
+            "max_z_decrease": 0.00728452205657959,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03526904278373725,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00728452205657959,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021091498618478477,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00728452205657959,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007284542083408985,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14846852421760554,
+              -0.3648162186145782,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14846852421760554,
+              -0.3648162186145782,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15072696370894131,
+              -0.36305134433636044,
+              0.80788197144599
+            ],
+            "closest_button": [
+              0.14845685660839078,
+              -0.36482235789299006,
+              0.7727306485176086
+            ],
+            "closest_ee_minus_button": [
+              0.0022701071005505336,
+              0.0017710135566296192,
+              0.03515132292838141
+            ],
+            "button_min_z_position": [
+              0.14845176041126246,
+              -0.3648194968700409,
+              0.769524335861206
+            ],
+            "min_active_finger_to_button": 0.1433627055925052,
+            "closest_active_finger": [
+              0.023033909499645233,
+              -0.42529353499412537,
+              0.8105201125144958
+            ],
+            "closest_active_finger_button": [
+              0.14846813678741452,
+              -0.364818811416626,
+              0.7764330506324768
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1254342272877693,
+              -0.06047472357749939,
+              0.03408706188201904
+            ],
+            "min_contact_pad_to_button": 0.021091498618478477,
+            "closest_contact_pad": [
+              0.14845176041126246,
+              -0.3648194968700409,
+              0.7906158344796845
+            ],
+            "closest_contact_pad_button": [
+              0.14845176041126246,
+              -0.3648194968700409,
+              0.769524335861206
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021091498618478477
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "97312a898b33caebe5b052e17dca19ccc25117933da86c3a44a80c32816ecf3a",
+    "visual_seed": 7170105350679195000,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25abfb963b12b94eddb359a2f9a8720193353af8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17842912803704383,
+              0.22028105827106545,
+              1.0463998362382063
+            ],
+            "current_z": 1.0463998362382063,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.18529320901415058,
+            "gripper_z": 1.0522368866268368,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1750069035587249,
+              0.2163167397590793,
+              1.0522368866268368
+            ],
+            "object_minus_gripper": [
+              0.0034222244783189415,
+              0.003964318511986142,
+              -0.005837050388630471
+            ],
+            "object_to_gripper_xy": 0.0052371215036966035,
+            "object_to_gripper_z": -0.005837050388630471,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17842912803704383,
+              0.19690369516167383,
+              1.0463998362382063
+            ],
+            "finger_b": [
+              0.16799678629039722,
+              0.22028105827106545,
+              1.0463998362382063
+            ],
+            "finger_midpoint": [
+              0.17321295716372054,
+              0.20859237671636965,
+              1.0463998362382063
+            ],
+            "object_minus_finger_midpoint": [
+              0.005216170873323295,
+              0.011688681554695796,
+              0.0
+            ],
+            "finger_gap": 0.02559950898488426,
+            "fingertip_max_gap": 0.09273289211156824,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012799754492442111,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463998362382063,
+            "object_top_z": 1.0971917123286685,
+            "finger_top_clearance": 0.05079187609046221,
+            "fingertip_min_top_clearance": 0.015237562827138678,
+            "object_projection_between_fingers": 0.8339264993861979,
+            "object_to_finger_line_xy": 0.009526770268782382,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886644605578412,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.131531900164592,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17897948248343507,
+              0.22138767806598633,
+              1.2412353924542368
+            ],
+            "held_position": [
+              0.18260262821700146,
+              0.22502353106522469,
+              1.235277341661111
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00786415801546474,
+            "max_held_gripper_dist": 0.007881120319137342,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005958050793125835,
+            "max_held_gripper_z_dist": 0.0059915555783935925,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08626348685014687,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18260262821700146,
+              0.2007320112377959,
+              1.235277341661111
+            ],
+            "held_grasp_finger_b": [
+              0.1740786412004934,
+              0.22502353106522469,
+              1.235277341661111
+            ],
+            "held_grasp_midpoint": [
+              0.17834063470874745,
+              0.2128777711515103,
+              1.235277341661111
+            ],
+            "held_grasp_object_position": [
+              0.18260262821700146,
+              0.22502353106522469,
+              1.235277341661111
+            ],
+            "held_grasp_finger_gap": 0.025743665049560507,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023802677265046247,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.052520931063739514,
+              -0.9983057944421482,
+              0.025041816695867802
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036312009491347857,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03737122370308971,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3031084496240881,
+              -0.31333300356733285,
+              0.8515395986467398
+            ],
+            "target_position": [
+              0.2970524582757154,
+              -0.3144875134339166,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0061650567104937735,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18348017375071474,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395986467398,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513435207233254,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858111618619438,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526282812653077,
+            "release_required_pad_clearance": 0.052905580930971904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8504125493172089,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007236182689666748,
+            "max_z_decrease": 0.007236182689666748,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035265944538607485,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007236182689666748,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02122730029459457,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007236182689666748,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007236207075374786,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15275238454341886,
+              -0.37074896693229675,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15275238454341886,
+              -0.37074896693229675,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1552470389792421,
+              -0.3722296990716981,
+              0.808260279245306
+            ],
+            "closest_button": [
+              0.15274290740489957,
+              -0.37075674533843994,
+              0.7731142044067383
+            ],
+            "closest_ee_minus_button": [
+              0.0025041315743425385,
+              -0.0014729537332581755,
+              0.03514607483856769
+            ],
+            "button_min_z_position": [
+              0.1527337282896042,
+              -0.37075117230415344,
+              0.7695726752281189
+            ],
+            "min_active_finger_to_button": 0.1435823113435253,
+            "closest_active_finger": [
+              0.01394592970609665,
+              -0.3572954535484314,
+              0.8105227947235107
+            ],
+            "closest_active_finger_button": [
+              0.1527524441480636,
+              -0.3707517981529236,
+              0.7763532400131226
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13880651444196695,
+              0.013456344604492188,
+              0.034169554710388184
+            ],
+            "min_contact_pad_to_button": 0.02122730029459457,
+            "closest_contact_pad": [
+              0.1527337282896042,
+              -0.3733266921418902,
+              0.790643151619561
+            ],
+            "closest_contact_pad_button": [
+              0.1527337282896042,
+              -0.37075117230415344,
+              0.7695726752281189
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025755198377367394,
+              0.021070476391442106
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa40a1f34697f084e8237865a9dc867a5db739467bbf00996ddeb7a292a2ea00",
+    "visual_seed": 8644037600111475192,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..190b94cf22555637794bc57b7f1f9e49cdc9fb88
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1796225545111403,
+              0.22580988166450913,
+              1.0473374508436692
+            ],
+            "current_z": 1.0473374508436692,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1862308832242584,
+            "gripper_z": 1.0533719021995922,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1757579374426659,
+              0.2215876032066195,
+              1.0533719021995922
+            ],
+            "object_minus_gripper": [
+              0.0038646170684743797,
+              0.004222278457889639,
+              -0.006034451355922954
+            ],
+            "object_to_gripper_xy": 0.005723888578746307,
+            "object_to_gripper_z": -0.006034451355922954,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1796225545111403,
+              0.2021606250646617,
+              1.0473374508436692
+            ],
+            "finger_b": [
+              0.16876483539748782,
+              0.22580988166450913,
+              1.0473374508436692
+            ],
+            "finger_midpoint": [
+              0.17419369495431405,
+              0.2139852533645854,
+              1.0473374508436692
+            ],
+            "object_minus_finger_midpoint": [
+              0.005428859556826232,
+              0.011824628299923728,
+              0.0
+            ],
+            "finger_gap": 0.026022632497047664,
+            "fingertip_max_gap": 0.09242942722408037,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013011316248523846,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473374508436692,
+            "object_top_z": 1.0978437020922462,
+            "finger_top_clearance": 0.050506251248576994,
+            "fingertip_min_top_clearance": 0.015151875374573132,
+            "object_projection_between_fingers": 0.8259096301951415,
+            "object_to_finger_line_xy": 0.00986744847728096,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871471361204019,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2098988579783503,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17975585897513766,
+              0.2267064297952034,
+              1.240724019984103
+            ],
+            "held_position": [
+              0.18381490099115835,
+              0.23057121475260808,
+              1.2345473503785445
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008340481537119625,
+            "max_held_gripper_dist": 0.008355206717472847,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006176669605558516,
+            "max_held_gripper_z_dist": 0.006215136268370225,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08636515552830423,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18381490099115835,
+              0.20605096495657718,
+              1.2345473503785445
+            ],
+            "held_grasp_finger_b": [
+              0.1748785184055236,
+              0.23057121475260808,
+              1.2345473503785445
+            ],
+            "held_grasp_midpoint": [
+              0.179346709698341,
+              0.21831108985459263,
+              1.2345473503785445
+            ],
+            "held_grasp_object_position": [
+              0.18381490099115835,
+              0.23057121475260808,
+              1.2345473503785445
+            ],
+            "held_grasp_finger_gap": 0.026097922978210154,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024050725105309926,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04863702387803212,
+              -0.998577272343862,
+              0.021860262271533593
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038760490097805114,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03726024846423935,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30697595995579413,
+              -0.31241995179198534,
+              0.8515396122819718
+            ],
+            "target_position": [
+              0.3001574574189877,
+              -0.31412512459039016,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007028484268806151,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1813241594549722,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396122819718,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754951977623653,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08508473584131603,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14971720944894318,
+            "release_required_pad_clearance": 0.052542367920658015,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1532333577660637,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007396101951599121,
+            "max_z_decrease": 0.007396101951599121,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523801337037931,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007396101951599121,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021107347885420766,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007396101951599121,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007396120941905971,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1558573842048645,
+              -0.3703865706920623,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1558573842048645,
+              -0.3703865706920623,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15839807207856033,
+              -0.3698806503718699,
+              0.808078083590806
+            ],
+            "closest_button": [
+              0.15584805607795715,
+              -0.37039521336555475,
+              0.772936224937439
+            ],
+            "closest_ee_minus_button": [
+              0.0025500160006031725,
+              0.0005145629936848528,
+              0.03514185865336705
+            ],
+            "button_min_z_position": [
+              0.15584097802639008,
+              -0.3703899979591369,
+              0.7694127559661865
+            ],
+            "min_active_finger_to_button": 0.14368474414089127,
+            "closest_active_finger": [
+              0.030955910682678223,
+              -0.4326678216457367,
+              0.8108969330787659
+            ],
+            "closest_active_finger_button": [
+              0.15585967898368835,
+              -0.3703885674476623,
+              0.7767553329467773
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12490376830101013,
+              -0.062279254198074396,
+              0.034141600131988525
+            ],
+            "min_contact_pad_to_button": 0.021107347885420766,
+            "closest_contact_pad": [
+              0.15584097802639008,
+              -0.37115485826100075,
+              0.7905062412987438
+            ],
+            "closest_contact_pad_button": [
+              0.15584097802639008,
+              -0.3703899979591369,
+              0.7694127559661865
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007648603018638456,
+              0.021093485332557282
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "432ace78291d663f0b93fa8582ab6f432454497cf30c40724e8acb49d5ed8155",
+    "visual_seed": 2474888401255851530,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..99639059cfc610c502b4eb5b623ff46264082270
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_74_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17969881924236947,
+              0.22661722483726535,
+              1.0472487217376443
+            ],
+            "current_z": 1.0472487217376443,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.186142034908944,
+            "gripper_z": 1.052896833001911,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17624406681146484,
+              0.22271305192205576,
+              1.052896833001911
+            ],
+            "object_minus_gripper": [
+              0.003454752430904623,
+              0.003904172915209586,
+              -0.005648111264266786
+            ],
+            "object_to_gripper_xy": 0.005213240883624842,
+            "object_to_gripper_z": -0.005648111264266786,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17969881924236947,
+              0.20298215394884217,
+              1.0472487217376443
+            ],
+            "finger_b": [
+              0.16966450187598126,
+              0.22661722483726535,
+              1.0472487217376443
+            ],
+            "finger_midpoint": [
+              0.17468166055917536,
+              0.21479968939305377,
+              1.0472487217376443
+            ],
+            "object_minus_finger_midpoint": [
+              0.005017158683194106,
+              0.011817535444211574,
+              0.0
+            ],
+            "finger_gap": 0.025676917667628817,
+            "fingertip_max_gap": 0.09309731351070943,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012838458833814395,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472487217376443,
+            "object_top_z": 1.0980777196585532,
+            "finger_top_clearance": 0.05082899792090889,
+            "fingertip_min_top_clearance": 0.01524869937627265,
+            "object_projection_between_fingers": 0.8472821193279428,
+            "object_to_finger_line_xy": 0.00923638130329459,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04904865675535472,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2647663111846479,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17999015652331687,
+              0.22840289724682133,
+              1.243054821266388
+            ],
+            "held_position": [
+              0.18359255931575374,
+              0.2320636542107958,
+              1.237316474164708
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007701108679119182,
+            "max_held_gripper_dist": 0.007715217870758117,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005738347101680086,
+            "max_held_gripper_z_dist": 0.005772836879093912,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08602247585308173,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18359255931575374,
+              0.2078517069429013,
+              1.237316474164708
+            ],
+            "held_grasp_finger_b": [
+              0.17486931413065981,
+              0.2320636542107958,
+              1.237316474164708
+            ],
+            "held_grasp_midpoint": [
+              0.17923093672320678,
+              0.21995768057684856,
+              1.237316474164708
+            ],
+            "held_grasp_object_position": [
+              0.18359255931575374,
+              0.2320636542107958,
+              1.237316474164708
+            ],
+            "held_grasp_finger_gap": 0.025735450201280104,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023947516725356218,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02849429456863012,
+              -0.9993446283165804,
+              0.022324628369406185
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004024079605193702,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0374979289895185,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30395991846918946,
+              -0.31328977115391565,
+              0.8515395842359996
+            ],
+            "target_position": [
+              0.298013592270337,
+              -0.31467610680995545,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006105794118242617,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18182109653798795,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395842359996,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542006542204681,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595281977850615,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1503964689396933,
+            "release_required_pad_clearance": 0.052976409889253076,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9875362462437344,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007523715496063232,
+            "max_z_decrease": 0.007523715496063232,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519845942940426,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007523715496063232,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021078458970358406,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007523715496063232,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007523735771579189,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15371352434158328,
+              -0.37093755602836603,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15371352434158328,
+              -0.37093755602836603,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15530676688650177,
+              -0.369905970093947,
+              0.8078575756275456
+            ],
+            "closest_button": [
+              0.15370224416255956,
+              -0.3709442317485808,
+              0.7727110385894775
+            ],
+            "closest_ee_minus_button": [
+              0.0016045227239422089,
+              0.001038261654633832,
+              0.035146537038068026
+            ],
+            "button_min_z_position": [
+              0.15369631350040436,
+              -0.3709405362606048,
+              0.7692851424217224
+            ],
+            "min_active_finger_to_button": 0.14425718227272682,
+            "closest_active_finger": [
+              0.02825070172548294,
+              -0.43344250321388245,
+              0.810545802116394
+            ],
+            "closest_active_finger_button": [
+              0.1537134796380997,
+              -0.3709403276443481,
+              0.7764473557472229
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12546277791261676,
+              -0.06250217556953436,
+              0.03409844636917114
+            ],
+            "min_contact_pad_to_button": 0.021078458970358406,
+            "closest_contact_pad": [
+              0.15369631350040436,
+              -0.3710688234651408,
+              0.7903632109992329
+            ],
+            "closest_contact_pad_button": [
+              0.15369631350040436,
+              -0.3709405362606048,
+              0.7692851424217224
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00012828720453600395,
+              0.02107806857751049
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d301325287bd66aa4294895d503849fcfd036ca061386f651fcfbc95f100342f",
+    "visual_seed": 4800809122297039814,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..db8f1014002db620916dc1473d28ff4e6c19cc1a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18181593099172394,
+              0.22679517431675122,
+              1.0486485478909633
+            ],
+            "current_z": 1.0486485478909633,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18754186106226323,
+            "gripper_z": 1.0545756842851841,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17817153828587584,
+              0.22286603959789852,
+              1.0545756842851841
+            ],
+            "object_minus_gripper": [
+              0.0036443927058480985,
+              0.0039291347188527,
+              -0.005927136394220822
+            ],
+            "object_to_gripper_xy": 0.005359076210815864,
+            "object_to_gripper_z": -0.005927136394220822,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18181593099172394,
+              0.2028898329306979,
+              1.0486485478909633
+            ],
+            "finger_b": [
+              0.17192979863480448,
+              0.22679517431675122,
+              1.0486485478909633
+            ],
+            "finger_midpoint": [
+              0.1768728648132642,
+              0.21484250362372456,
+              1.0486485478909633
+            ],
+            "object_minus_finger_midpoint": [
+              0.004943066178459743,
+              0.011952670693026662,
+              0.0
+            ],
+            "finger_gap": 0.025868918797705556,
+            "fingertip_max_gap": 0.09729933432907603,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012934459398852783,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486485478909633,
+            "object_top_z": 1.1016841808068105,
+            "finger_top_clearance": 0.05303563291584723,
+            "fingertip_min_top_clearance": 0.015910689874754167,
+            "object_projection_between_fingers": 0.8539517740481904,
+            "object_to_finger_line_xy": 0.009135726577054666,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05114966716453802,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4375972109545536,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18174596637418036,
+              0.22900605395818413,
+              1.2433376281295891
+            ],
+            "held_position": [
+              0.1854414374884388,
+              0.23273806218219195,
+              1.2372940978724776
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00800678775221397,
+            "max_held_gripper_dist": 0.008020234591702912,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0060435302571115734,
+            "max_held_gripper_z_dist": 0.006077334111059152,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08565681838776368,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1854414374884388,
+              0.2085211416227281,
+              1.2372940978724776
+            ],
+            "held_grasp_finger_b": [
+              0.17654734152228285,
+              0.23273806218219195,
+              1.2372940978724776
+            ],
+            "held_grasp_midpoint": [
+              0.18099438950536084,
+              0.22062960190246003,
+              1.2372940978724776
+            ],
+            "held_grasp_object_position": [
+              0.1854414374884388,
+              0.23273806218219195,
+              1.2372940978724776
+            ],
+            "held_grasp_finger_gap": 0.025798530664333852,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02416829784090011,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.002361674025952616,
+              -0.998859567504947,
+              0.0476863387106371
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004456040366846749,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03761509619421741,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29913053647392374,
+              -0.305557665288322,
+              0.8515395741179225
+            ],
+            "target_position": [
+              0.2958068333829145,
+              -0.30543039530186233,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0033261388856506927,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1786077292704169,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395741179225,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585422455450133,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08940961788559597,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14589992815300606,
+            "release_required_pad_clearance": 0.054704808942797986,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.455833079416045,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007372438907623291,
+            "max_z_decrease": 0.007372438907623291,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516470511494265,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007372438907623291,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021171251162439154,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007372438907623291,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007372461510757183,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15150676667690277,
+              -0.3616918623447418,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15150676667690277,
+              -0.3616918623447418,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1523086767647607,
+              -0.36267406589828177,
+              0.8078344157363092
+            ],
+            "closest_button": [
+              0.15149497985839844,
+              -0.36169794201850886,
+              0.7726926803588867
+            ],
+            "closest_ee_minus_button": [
+              0.0008136969063622657,
+              -0.0009761238797729166,
+              0.03514173537742249
+            ],
+            "button_min_z_position": [
+              0.15148873627185824,
+              -0.36169472336769104,
+              0.7694364190101624
+            ],
+            "min_active_finger_to_button": 0.14523853811928517,
+            "closest_active_finger": [
+              0.01099889725446701,
+              -0.3480740785598755,
+              0.8105300664901733
+            ],
+            "closest_active_finger_button": [
+              0.15150633454322815,
+              -0.36169388890266413,
+              0.7763775587081909
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14050743728876114,
+              0.01361981034278864,
+              0.03415250778198242
+            ],
+            "min_contact_pad_to_button": 0.021171251162439154,
+            "closest_contact_pad": [
+              0.15148873627185824,
+              -0.36375488998007965,
+              0.7905071947270713
+            ],
+            "closest_contact_pad_button": [
+              0.15148873627185824,
+              -0.36169472336769104,
+              0.7694364190101624
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002060166612388614,
+              0.021070775716908963
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2e3c402ff1f52657b8d8370c5f6db7793ddba8e8c5f2d83ef965f2d219f49689",
+    "visual_seed": 4824106521173910161,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cd9830e730b2ba24266f4c8cb9ddcffbfb532e3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18130186535129772,
+              0.2274337317324832,
+              1.0489971721242288
+            ],
+            "current_z": 1.0489971721242288,
+            "required_z": 0.8611069848519242,
+            "initial_z": 0.7611069848519242,
+            "lift_margin": 0.18789018727230467,
+            "gripper_z": 1.0549745211365043,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17768817698060693,
+              0.22341140863301756,
+              1.0549745211365043
+            ],
+            "object_minus_gripper": [
+              0.0036136883706907874,
+              0.004022323099465652,
+              -0.005977349012275424
+            ],
+            "object_to_gripper_xy": 0.0054072013793607515,
+            "object_to_gripper_z": -0.005977349012275424,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18130186535129772,
+              0.2038148272747134,
+              1.0489971721242288
+            ],
+            "finger_b": [
+              0.1709170476662175,
+              0.2274337317324832,
+              1.0489971721242288
+            ],
+            "finger_midpoint": [
+              0.1761094565087576,
+              0.2156242795035983,
+              1.0489971721242288
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051924088425401305,
+              0.011809452228884909,
+              0.0
+            ],
+            "finger_gap": 0.025801106296777548,
+            "fingertip_max_gap": 0.09432558573510375,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01290055314838878,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489971721242288,
+            "object_top_z": 1.1007117418277799,
+            "finger_top_clearance": 0.05171456970355104,
+            "fingertip_min_top_clearance": 0.015514370911065311,
+            "object_projection_between_fingers": 0.8379977311030902,
+            "object_to_finger_line_xy": 0.009506492236958942,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049662792867551875,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5766559171211123,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18184167420329198,
+              0.2285097648646104,
+              1.2441021245201092
+            ],
+            "held_position": [
+              0.18563926578388623,
+              0.23220770358374704,
+              1.2380137792085764
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008072447040145495,
+            "max_held_gripper_dist": 0.008086019395943176,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006088345311532795,
+            "max_held_gripper_z_dist": 0.00612410519494877,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0864500683194028,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18563926578388623,
+              0.2078162709500849,
+              1.2380137792085764
+            ],
+            "held_grasp_finger_b": [
+              0.17696908422810217,
+              0.23220770358374704,
+              1.2380137792085764
+            ],
+            "held_grasp_midpoint": [
+              0.18130417500599422,
+              0.22001198726691595,
+              1.2380137792085764
+            ],
+            "held_grasp_object_position": [
+              0.18563926578388623,
+              0.23220770358374704,
+              1.2380137792085764
+            ],
+            "held_grasp_finger_gap": 0.02588656087881773,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023965628489249505,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04453671226776961,
+              -0.9983739059632512,
+              0.03558124719651045
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003812800185965155,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03735129444421103,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29703830687051935,
+              -0.30854105929920617,
+              0.8515395897053253
+            ],
+            "target_position": [
+              0.2917127785907171,
+              -0.3093511496621888,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005386789197209313,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1819221716195755,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395897053253,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533389577813972,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517294495769638,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15051549237644368,
+            "release_required_pad_clearance": 0.05258647247884819,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.23738812687177216,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007132828235626221,
+            "max_z_decrease": 0.007132828235626221,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513974184403373,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007132828235626221,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02109662999379523,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007132828235626221,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007132846450423093,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14741270244121546,
+              -0.3656125962734222,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14741270244121546,
+              -0.3656125962734222,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14634501410755937,
+              -0.3661206803511759,
+              0.8080196875484809
+            ],
+            "closest_button": [
+              0.14740179479122162,
+              -0.3656171858310699,
+              0.7728994488716125
+            ],
+            "closest_ee_minus_button": [
+              -0.001056780683662245,
+              -0.000503494520106007,
+              0.03512023867686831
+            ],
+            "button_min_z_position": [
+              0.14739660918712613,
+              -0.3656135201454162,
+              0.7696760296821594
+            ],
+            "min_active_finger_to_button": 0.14711308464503317,
+            "closest_active_finger": [
+              0.004969991743564606,
+              -0.3520790636539459,
+              0.8108137845993042
+            ],
+            "closest_active_finger_button": [
+              0.14741143584251404,
+              -0.3656152784824371,
+              0.7766163349151611
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14244144409894943,
+              0.013536214828491155,
+              0.034197449684143066
+            ],
+            "min_contact_pad_to_button": 0.02109662999379523,
+            "closest_contact_pad": [
+              0.14739660918712613,
+              -0.3671390026238719,
+              0.7907174341101681
+            ],
+            "closest_contact_pad_button": [
+              0.14739660918712613,
+              -0.3656135201454162,
+              0.7696760296821594
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015254824784556864,
+              0.021041404428008725
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "54ce62c9e4cf33ec0cdc9ebd9ca2b013f082a1c105a97898689a52a45ab00857",
+    "visual_seed": 2719056636248556434,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfdcd71eb5a562496b816ea6b617c2b49c39e8fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1737885265837839,
+              0.22605938481221716,
+              1.0484883766646584
+            ],
+            "current_z": 1.0484883766646584,
+            "required_z": 0.8611068656426347,
+            "initial_z": 0.7611068656426347,
+            "lift_margin": 0.18738151102202372,
+            "gripper_z": 1.054483589738532,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17047779833668247,
+              0.22214824280848808,
+              1.054483589738532
+            ],
+            "object_minus_gripper": [
+              0.0033107282471014354,
+              0.003911142003729079,
+              -0.005995213073873629
+            ],
+            "object_to_gripper_xy": 0.005124251486752896,
+            "object_to_gripper_z": -0.005995213073873629,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1737885265837839,
+              0.20276314770207396,
+              1.0484883766646584
+            ],
+            "finger_b": [
+              0.16342022964648148,
+              0.22605938481221716,
+              1.0484883766646584
+            ],
+            "finger_midpoint": [
+              0.16860437811513268,
+              0.21441126625714557,
+              1.0484883766646584
+            ],
+            "object_minus_finger_midpoint": [
+              0.0051841484686512285,
+              0.011648118555071585,
+              0.0
+            ],
+            "finger_gap": 0.025499338126157078,
+            "fingertip_max_gap": 0.09184944424055735,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012749669063078532,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484883766646584,
+            "object_top_z": 1.099073657125402,
+            "finger_top_clearance": 0.05058528046074362,
+            "fingertip_min_top_clearance": 0.015175584138223085,
+            "object_projection_between_fingers": 0.8346679551181886,
+            "object_to_finger_line_xy": 0.009472493077457428,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842472212027868,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7648225527706317,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17464181700506828,
+              0.22695142325490697,
+              1.2433342075930442
+            ],
+            "held_position": [
+              0.17815954059546257,
+              0.23051875824039725,
+              1.2372184562341562
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007905863193912534,
+            "max_held_gripper_dist": 0.00792079360697698,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0061157513588880885,
+            "max_held_gripper_z_dist": 0.006148641496861673,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08531546692630312,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17815954059546257,
+              0.20624688165103822,
+              1.2372184562341562
+            ],
+            "held_grasp_finger_b": [
+              0.16981856094576253,
+              0.23051875824039725,
+              1.2372184562341562
+            ],
+            "held_grasp_midpoint": [
+              0.17398905077061255,
+              0.21838281994571773,
+              1.2372184562341562
+            ],
+            "held_grasp_object_position": [
+              0.17815954059546257,
+              0.23051875824039725,
+              1.2372184562341562
+            ],
+            "held_grasp_finger_gap": 0.02566507227119739,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023676528752380317,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06442738168726725,
+              -0.9976120364147215,
+              0.02488648808883076
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033937037020465442,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037344598214367954,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2995600710898729,
+              -0.3132979842105139,
+              0.8515396623198158
+            ],
+            "target_position": [
+              0.2937897264469651,
+              -0.31442983327440427,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00588030267940048,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1840066330375652,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396623198158,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547332702211744,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537784658042429,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15229829731452113,
+            "release_required_pad_clearance": 0.052688923290212145,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4334096271094747,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0072342753410339355,
+            "max_z_decrease": 0.0072342753410339355,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522204647250001,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0072342753410339355,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107089569885312,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0072342753410339355,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007234300006219033,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14948965609073636,
+              -0.3706912994384765,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14948965609073636,
+              -0.3706912994384765,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15113171181863536,
+              -0.36911111346592745,
+              0.8081375289766284
+            ],
+            "closest_button": [
+              0.14947891235351562,
+              -0.3706971108913421,
+              0.7729900479316711
+            ],
+            "closest_ee_minus_button": [
+              0.0016527994651197309,
+              0.0015859974254146536,
+              0.03514748104495724
+            ],
+            "button_min_z_position": [
+              0.14947088062763214,
+              -0.37069338560104365,
+              0.7695745825767517
+            ],
+            "min_active_finger_to_button": 0.1439818486149585,
+            "closest_active_finger": [
+              0.02433442324399948,
+              -0.4331740140914917,
+              0.8108690977096558
+            ],
+            "closest_active_finger_button": [
+              0.1494922339916229,
+              -0.37069213390350336,
+              0.7767764329910278
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12515781074762342,
+              -0.06248188018798834,
+              0.03409266471862793
+            ],
+            "min_contact_pad_to_button": 0.02107089569885312,
+            "closest_contact_pad": [
+              0.14947088062763214,
+              -0.37069338560104365,
+              0.7906454782756048
+            ],
+            "closest_contact_pad_button": [
+              0.14947088062763214,
+              -0.37069338560104365,
+              0.7695745825767517
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107089569885312
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4a02843c8dfbf88cdf6244ef0042dfa7b22c32f68ea8b4a7f00b668abd226e2f",
+    "visual_seed": 4168814326586195257,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_78_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..07b5ced3991ef0e67d900a28b8c9a2f3924287ff
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_78_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 78,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17457344681075085,
+              0.22922555473957038,
+              1.046450154285906
+            ],
+            "current_z": 1.046450154285906,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18534346745720554,
+            "gripper_z": 1.0524890788874064,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17087897567761962,
+              0.22512053421066586,
+              1.0524890788874064
+            ],
+            "object_minus_gripper": [
+              0.003694471133131233,
+              0.004105020528904518,
+              -0.006038924601500462
+            ],
+            "object_to_gripper_xy": 0.005522708619533309,
+            "object_to_gripper_z": -0.006038924601500462,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17457344681075085,
+              0.20563754732752834,
+              1.046450154285906
+            ],
+            "finger_b": [
+              0.16396566076471042,
+              0.22922555473957038,
+              1.046450154285906
+            ],
+            "finger_midpoint": [
+              0.16926955378773062,
+              0.21743155103354936,
+              1.046450154285906
+            ],
+            "object_minus_finger_midpoint": [
+              0.005303893023020229,
+              0.011794003706021017,
+              0.0
+            ],
+            "finger_gap": 0.025863472668400892,
+            "fingertip_max_gap": 0.09173672331835084,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012931736334200451,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046450154285906,
+            "object_top_z": 1.096642999869947,
+            "finger_top_clearance": 0.050192845584041024,
+            "fingertip_min_top_clearance": 0.01505785367521234,
+            "object_projection_between_fingers": 0.8317806968439423,
+            "object_to_finger_line_xy": 0.009674514288449114,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04836836165917542,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.132530311242852,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1746860349318904,
+              0.23041837633709172,
+              1.2397539954573078
+            ],
+            "held_position": [
+              0.17854707719541002,
+              0.23420208156919878,
+              1.2335760461334377
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008209210101615478,
+            "max_held_gripper_dist": 0.00822487167060822,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006177949323870058,
+            "max_held_gripper_z_dist": 0.006213887796980622,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08637348270131465,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17854707719541002,
+              0.20981040397967718,
+              1.2335760461334377
+            ],
+            "held_grasp_finger_b": [
+              0.16973747454997407,
+              0.23420208156919878,
+              1.2335760461334377
+            ],
+            "held_grasp_midpoint": [
+              0.17414227587269204,
+              0.22200624277443798,
+              1.2335760461334377
+            ],
+            "held_grasp_object_position": [
+              0.17854707719541002,
+              0.23420208156919878,
+              1.2335760461334377
+            ],
+            "held_grasp_finger_gap": 0.02593382028166391,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023978195121361467,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04415305060988766,
+              -0.9989950819654271,
+              0.007702878080971143
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038631828173117835,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037342181677957394,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30755726695299856,
+              -0.3089496915432859,
+              0.8515395728672944
+            ],
+            "target_position": [
+              0.3001118746282114,
+              -0.31124722286320844,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007791823729784003,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18438310239598818,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395728672944,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755723174668447,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537206409754804,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526615677489061,
+            "release_required_pad_clearance": 0.05268603204877402,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.42795771589164805,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076288580894470215,
+            "max_z_decrease": 0.0076288580894470215,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522721023029226,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076288580894470215,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02122240404833091,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076288580894470215,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007628883058115561,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15581180155277247,
+              -0.3675086796283721,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15581180155277247,
+              -0.3675086796283721,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15779991229462767,
+              -0.36894999825803126,
+              0.807778494613674
+            ],
+            "closest_button": [
+              0.1558004915714263,
+              -0.36751624941825856,
+              0.7726373076438904
+            ],
+            "closest_ee_minus_button": [
+              0.0019994207232013617,
+              -0.0014337488397727083,
+              0.03514118696978363
+            ],
+            "button_min_z_position": [
+              0.15579248964786524,
+              -0.3675115108489989,
+              0.7691799998283386
+            ],
+            "min_active_finger_to_button": 0.14406206881883418,
+            "closest_active_finger": [
+              0.0164804607629776,
+              -0.3543422520160675,
+              0.8105234503746033
+            ],
+            "closest_active_finger_button": [
+              0.15581180155277247,
+              -0.3675114810466765,
+              0.7763587236404419
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13933134078979487,
+              0.01316922903060902,
+              0.03416472673416138
+            ],
+            "min_contact_pad_to_button": 0.02122240404833091,
+            "closest_contact_pad": [
+              0.15579248964786524,
+              -0.3700393871261199,
+              0.7902513138623086
+            ],
+            "closest_contact_pad_button": [
+              0.15579248964786524,
+              -0.3675115108489989,
+              0.7691799998283386
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025278762771209773,
+              0.02107131403397
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 78,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eaa45308f00a9c98637846a354197c362dcb2e661d3131b39d0bf4fe65c399a1",
+    "visual_seed": 801156144838688017,
+    "episode_index": 78,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5724d9bccae2f934dc565d93abc40e9ca2377afe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17338172016549264,
+              0.22549727877215528,
+              1.0479436011072278
+            ],
+            "current_z": 1.0479436011072278,
+            "required_z": 0.8611069848519242,
+            "initial_z": 0.7611069848519242,
+            "lift_margin": 0.18683661625530368,
+            "gripper_z": 1.0540715218836985,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.170564122693829,
+              0.2218824174909058,
+              1.0540715218836985
+            ],
+            "object_minus_gripper": [
+              0.00281759747166363,
+              0.003614861281249493,
+              -0.006127920776470619
+            ],
+            "object_to_gripper_xy": 0.004583238766964035,
+            "object_to_gripper_z": -0.006127920776470619,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17338172016549264,
+              0.20251555314142924,
+              1.0479436011072278
+            ],
+            "finger_b": [
+              0.16349528514291284,
+              0.22549727877215528,
+              1.0479436011072278
+            ],
+            "finger_midpoint": [
+              0.16843850265420274,
+              0.21400641595679226,
+              1.0479436011072278
+            ],
+            "object_minus_finger_midpoint": [
+              0.004943217511289899,
+              0.011490862815363018,
+              0.0
+            ],
+            "finger_gap": 0.02501801971423123,
+            "fingertip_max_gap": 0.0978522168432541,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012509009857115614,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479436011072278,
+            "object_top_z": 1.101701750099032,
+            "finger_top_clearance": 0.0537581489918042,
+            "fingertip_min_top_clearance": 0.01612744469754124,
+            "object_projection_between_fingers": 0.843838643843316,
+            "object_to_finger_line_xy": 0.009081747466434587,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05142610842162705,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6870596194346645,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17443046535963502,
+              0.22717985547784159,
+              1.2420604527526478
+            ],
+            "held_position": [
+              0.1774299625986786,
+              0.2305155730000766,
+              1.2358284104404813
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007678694319727072,
+            "max_held_gripper_dist": 0.007695973520407775,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0062320423121664525,
+            "max_held_gripper_z_dist": 0.006262907021204134,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08618368885227345,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1774299625986786,
+              0.20658039940594078,
+              1.2358284104404813
+            ],
+            "held_grasp_finger_b": [
+              0.16943622193765456,
+              0.2305155730000766,
+              1.2358284104404813
+            ],
+            "held_grasp_midpoint": [
+              0.17343309226816658,
+              0.2185479862030087,
+              1.2358284104404813
+            ],
+            "held_grasp_object_position": [
+              0.1774299625986786,
+              0.2305155730000766,
+              1.2358284104404813
+            ],
+            "held_grasp_finger_gap": 0.025234746377507465,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023473539162664227,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.049309059327054025,
+              -0.9971811109409037,
+              0.056554828714673974
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034696629077569925,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03758931665626343,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3005526129345709,
+              -0.3111424135532638,
+              0.8515396325901742
+            ],
+            "target_position": [
+              0.2984707311037451,
+              -0.31041929854624484,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0022038891240029755,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17831326956473306,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396325901742,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578418720978947,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556762370114267,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14575044747140817,
+            "release_required_pad_clearance": 0.052783811850571336,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6154827218344089,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007499873638153076,
+            "max_z_decrease": 0.007499873638153076,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035259215947224344,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007499873638153076,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02122074687617526,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007499873638153076,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007499893955490007,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15417066216468805,
+              -0.36668077111244196,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15417066216468805,
+              -0.36668077111244196,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1565978296550913,
+              -0.3681654646127764,
+              0.807894734925173
+            ],
+            "closest_button": [
+              0.15415908396244044,
+              -0.3666872680187225,
+              0.7727510333061218
+            ],
+            "closest_ee_minus_button": [
+              0.0024387456926508733,
+              -0.0014781965940539044,
+              0.035143701619051226
+            ],
+            "button_min_z_position": [
+              0.1541533768177032,
+              -0.36668321490287775,
+              0.7693089842796326
+            ],
+            "min_active_finger_to_button": 0.1436335130334315,
+            "closest_active_finger": [
+              0.015217632055282593,
+              -0.3541918992996216,
+              0.8106486797332764
+            ],
+            "closest_active_finger_button": [
+              0.15417012572288508,
+              -0.36668294668197626,
+              0.7764907479286194
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13895249366760248,
+              0.01249104738235468,
+              0.03415793180465698
+            ],
+            "min_contact_pad_to_button": 0.02122074687617526,
+            "closest_contact_pad": [
+              0.1541533768177032,
+              -0.3691844403147709,
+              0.790381809657868
+            ],
+            "closest_contact_pad_button": [
+              0.1541533768177032,
+              -0.36668321490287775,
+              0.7693089842796326
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025012254118931265,
+              0.021072825378235405
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "46367d9ce68d2ee1dd13d461fb5942ec4812cbbc155214edee7c5597d2b53ca6",
+    "visual_seed": 1294973602164261285,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd3be2fec91e2a8d6f94970e08390e5aa5204a2a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17217173352607434,
+              0.2279975991840579,
+              1.0498793166605087
+            ],
+            "current_z": 1.0498793166605087,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.18877257022716354,
+            "gripper_z": 1.0558745177892477,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1687615834620548,
+              0.2240518787434324,
+              1.0558745177892477
+            ],
+            "object_minus_gripper": [
+              0.0034101500640195404,
+              0.003945720440625494,
+              -0.0059952011287389695
+            ],
+            "object_to_gripper_xy": 0.005215154192802196,
+            "object_to_gripper_z": -0.0059952011287389695,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17217173352607434,
+              0.2046068417825496,
+              1.0498793166605087
+            ],
+            "finger_b": [
+              0.16179150464595232,
+              0.2279975991840579,
+              1.0498793166605087
+            ],
+            "finger_midpoint": [
+              0.16698161908601333,
+              0.21630222048330375,
+              1.0498793166605087
+            ],
+            "object_minus_finger_midpoint": [
+              0.005190114440061011,
+              0.011695378700754155,
+              0.0
+            ],
+            "finger_gap": 0.025590558481985794,
+            "fingertip_max_gap": 0.09234452466469983,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012795279240992897,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498793166605087,
+            "object_top_z": 1.1005386889249822,
+            "finger_top_clearance": 0.05065937226447348,
+            "fingertip_min_top_clearance": 0.015197811679342043,
+            "object_projection_between_fingers": 0.8354665018137073,
+            "object_to_finger_line_xy": 0.009487929529868695,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867226233234992,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9802799998323667,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17261933968347612,
+              0.22939260271750045,
+              1.2430543655439978
+            ],
+            "held_position": [
+              0.1761910167762442,
+              0.23303466298480668,
+              1.2369245253916836
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007974736393048906,
+            "max_held_gripper_dist": 0.007988317221793823,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006129840152314214,
+            "max_held_gripper_z_dist": 0.006163443377315669,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08626702019717364,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1761910167762442,
+              0.2087996592652411,
+              1.2369245253916836
+            ],
+            "held_grasp_finger_b": [
+              0.1676541109605775,
+              0.23303466298480668,
+              1.2369245253916836
+            ],
+            "held_grasp_midpoint": [
+              0.17192256386841087,
+              0.2209171611250239,
+              1.2369245253916836
+            ],
+            "held_grasp_object_position": [
+              0.1761910167762442,
+              0.23303466298480668,
+              1.2369245253916836
+            ],
+            "held_grasp_finger_gap": 0.025694633023122193,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023771560359373025,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04999945368584879,
+              -0.9984896749484663,
+              0.02276891856067875
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003667820936222259,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03740762926345766,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30153478630023955,
+              -0.30749439871833184,
+              0.8515395264204373
+            ],
+            "target_position": [
+              0.29584560279146543,
+              -0.30878851918341177,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005834514270669505,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18183389358416882,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395264204373,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562444261070572,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506164607976878,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1497937044376973,
+            "release_required_pad_clearance": 0.05253082303988439,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13122120338277282,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007144570350646973,
+            "max_z_decrease": 0.007144570350646973,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035195119715718266,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007144570350646973,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021102947984431814,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007144570350646973,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007144590505975593,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15154552459716797,
+              -0.36504998803138733,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15154552459716797,
+              -0.36504998803138733,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15327776137113217,
+              -0.3644855220313442,
+              0.8081425390443453
+            ],
+            "closest_button": [
+              0.15153506398200986,
+              -0.36505681276321406,
+              0.7729952335357666
+            ],
+            "closest_ee_minus_button": [
+              0.0017426973891223052,
+              0.0005712907318698446,
+              0.0351473055085787
+            ],
+            "button_min_z_position": [
+              0.1515289098024368,
+              -0.36505344510078425,
+              0.7696642875671387
+            ],
+            "min_active_finger_to_button": 0.14434444796768836,
+            "closest_active_finger": [
+              0.025612711906433105,
+              -0.4267996847629547,
+              0.8108851909637451
+            ],
+            "closest_active_finger_button": [
+              0.1515478938817978,
+              -0.3650513887405395,
+              0.7767853736877441
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12593518197536469,
+              -0.06174829602241522,
+              0.03409981727600098
+            ],
+            "min_contact_pad_to_button": 0.021102947984431814,
+            "closest_contact_pad": [
+              0.1515289098024368,
+              -0.3658326784052773,
+              0.7907528439210194
+            ],
+            "closest_contact_pad_button": [
+              0.1515289098024368,
+              -0.36505344510078425,
+              0.7696642875671387
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007792333044930322,
+              0.02108855635388074
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4482457cd0de7305c5a39ccb030155f372cc90af6cc2a75abeaf1b0e7151b169",
+    "visual_seed": 4910561129281350340,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc38ae4051b65e7c970b0c78ddab6b928e147159
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17863943089315115,
+              0.22549115852931687,
+              1.048097007563653
+            ],
+            "current_z": 1.048097007563653,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.18699026113030814,
+            "gripper_z": 1.053808816701707,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17506119381261875,
+              0.22149923601264998,
+              1.053808816701707
+            ],
+            "object_minus_gripper": [
+              0.003578237080532398,
+              0.003991922516666885,
+              -0.005711809138053914
+            ],
+            "object_to_gripper_xy": 0.005360897871025813,
+            "object_to_gripper_z": -0.005711809138053914,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17863943089315115,
+              0.2018700089739489,
+              1.048097007563653
+            ],
+            "finger_b": [
+              0.16834338553299547,
+              0.22549115852931687,
+              1.048097007563653
+            ],
+            "finger_midpoint": [
+              0.1734914082130733,
+              0.2136805837516329,
+              1.048097007563653
+            ],
+            "object_minus_finger_midpoint": [
+              0.005148022680077857,
+              0.011810574777683963,
+              0.0
+            ],
+            "finger_gap": 0.025767562096082025,
+            "fingertip_max_gap": 0.0925021435302068,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012883781048041006,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048097007563653,
+            "object_top_z": 1.098711686732228,
+            "finger_top_clearance": 0.05061467916857487,
+            "fingertip_min_top_clearance": 0.015184403750572478,
+            "object_projection_between_fingers": 0.8403406959598014,
+            "object_to_finger_line_xy": 0.00943839492359539,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048751071765103404,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0619910649690094,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17891750622376598,
+              0.22712312514551772,
+              1.2438843444461676
+            ],
+            "held_position": [
+              0.18266772030386658,
+              0.23083798402381223,
+              1.2380756437046712
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00784890351810298,
+            "max_held_gripper_dist": 0.007863621132583109,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00580870074149642,
+            "max_held_gripper_z_dist": 0.005843953964960624,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08606240254181355,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18266772030386658,
+              0.20654676888359547,
+              1.2380756437046712
+            ],
+            "held_grasp_finger_b": [
+              0.17384904875362137,
+              0.23083798402381223,
+              1.2380756437046712
+            ],
+            "held_grasp_midpoint": [
+              0.17825838452874398,
+              0.21869237645370385,
+              1.2380756437046712
+            ],
+            "held_grasp_object_position": [
+              0.18266772030386658,
+              0.23083798402381223,
+              1.2380756437046712
+            ],
+            "held_grasp_finger_gap": 0.02584244765689582,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0239321021348935,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.038101486038227626,
+              -0.9990486884150304,
+              0.02121308412009548
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00395189249133046,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037418194511700927,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3018969060863933,
+              -0.31061946789756334,
+              0.85153956913766
+            ],
+            "target_position": [
+              0.29563779929158474,
+              -0.3120584928593232,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064223991396818916,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18222478141780166,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153956913766,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530597406132425,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15106411193220579,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007384002208709717,
+            "max_z_decrease": 0.007384002208709717,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522102059431519,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007384002208709717,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021298073665096205,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007384002208709717,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007384024409521669,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15133772790431976,
+              -0.3683199584484099,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15133772790431976,
+              -0.3683199584484099,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15327400763072535,
+              -0.36980048081509465,
+              0.8079085307544142
+            ],
+            "closest_button": [
+              0.15132758021354675,
+              -0.36832898855209345,
+              0.7727721333503723
+            ],
+            "closest_ee_minus_button": [
+              0.0019464274171785978,
+              -0.001471492263001195,
+              0.03513639740404184
+            ],
+            "button_min_z_position": [
+              0.1513199657201767,
+              -0.3683234751224517,
+              0.7694248557090759
+            ],
+            "min_active_finger_to_button": 0.14409862787165856,
+            "closest_active_finger": [
+              0.012357667088508606,
+              -0.35163241624832153,
+              0.8107280135154724
+            ],
+            "closest_active_finger_button": [
+              0.1513388454914093,
+              -0.3683229386806487,
+              0.7765216827392578
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1389811784029007,
+              0.01669052243232716,
+              0.0342063307762146
+            ],
+            "min_contact_pad_to_button": 0.021298073665096205,
+            "closest_contact_pad": [
+              0.1513199657201767,
+              -0.3712692814977455,
+              0.7905182235445626
+            ],
+            "closest_contact_pad_button": [
+              0.1513199657201767,
+              -0.3683234751224517,
+              0.7694248557090759
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029458063752937913,
+              0.021093367835486654
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c6939e12963437cb337b3716312b1712c6094b68f98e323818ae056ea2e932b9",
+    "visual_seed": 5743257293878290009,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f299b895df0396961b523db9b2de705d6b086bb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1745807895448788,
+              0.22735084882798248,
+              1.04776406981052
+            ],
+            "current_z": 1.04776406981052,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.18665726377253034,
+            "gripper_z": 1.0537113957278619,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17153266196786118,
+              0.22371395769259994,
+              1.0537113957278619
+            ],
+            "object_minus_gripper": [
+              0.003048127577017612,
+              0.0036368911353825417,
+              -0.005947325917341928
+            ],
+            "object_to_gripper_xy": 0.004745319679052126,
+            "object_to_gripper_z": -0.005947325917341928,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1745807895448788,
+              0.20389087474476958,
+              1.04776406981052
+            ],
+            "finger_b": [
+              0.1650719741203554,
+              0.22735084882798248,
+              1.04776406981052
+            ],
+            "finger_midpoint": [
+              0.1698263818326171,
+              0.21562086178637602,
+              1.04776406981052
+            ],
+            "object_minus_finger_midpoint": [
+              0.004754407712261682,
+              0.011729987041606466,
+              0.0
+            ],
+            "finger_gap": 0.025313789814302302,
+            "fingertip_max_gap": 0.09555236235918879,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01265689490715116,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04776406981052,
+            "object_top_z": 1.1000212134779979,
+            "finger_top_clearance": 0.05225714366747791,
+            "fingertip_min_top_clearance": 0.015677143100243374,
+            "object_projection_between_fingers": 0.8588962696542237,
+            "object_to_finger_line_xy": 0.008812452226941363,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0502761811795944,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.923673774032287,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17543177879880228,
+              0.22920108657653254,
+              1.2431917479913932
+            ],
+            "held_position": [
+              0.1785898759488768,
+              0.23260859904986494,
+              1.237146826355986
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076240275736279605,
+            "max_held_gripper_dist": 0.007638127713803513,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006044921635407263,
+            "max_held_gripper_z_dist": 0.006076860797670225,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08592787792527745,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1785898759488768,
+              0.2085957398144818,
+              1.237146826355986
+            ],
+            "held_grasp_finger_b": [
+              0.17042810722782858,
+              0.23260859904986494,
+              1.237146826355986
+            ],
+            "held_grasp_midpoint": [
+              0.1745089915883527,
+              0.22060216943217337,
+              1.237146826355986
+            ],
+            "held_grasp_object_position": [
+              0.1785898759488768,
+              0.23260859904986494,
+              1.237146826355986
+            ],
+            "held_grasp_finger_gap": 0.025362016428395574,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0237841098632741,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.024884579880651018,
+              -0.9989319395016091,
+              0.03893247908516883
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003809874490758155,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03762509295275169,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3013389078052351,
+              -0.3066904616730455,
+              0.851539570367131
+            ],
+            "target_position": [
+              0.2973419741643295,
+              -0.30697674941096253,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00400717346750605,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18276748128706968,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539570367131,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555731099464548,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08649900143993504,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15068264321789854,
+            "release_required_pad_clearance": 0.05324950071996752,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5195215720077162,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007316410541534424,
+            "max_z_decrease": 0.007316410541534424,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517660836670522,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007316410541534424,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021081524844898114,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007316410541534424,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073164282761788045,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1530418992042541,
+              -0.36323821544647206,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1530418992042541,
+              -0.36323821544647206,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15228582271930752,
+              -0.36189499077911386,
+              0.8078384484139703
+            ],
+            "closest_button": [
+              0.15303105115890497,
+              -0.36324512958526606,
+              0.7726956605911255
+            ],
+            "closest_ee_minus_button": [
+              -0.0007452284395974562,
+              0.0013501388061522013,
+              0.035142787822844856
+            ],
+            "button_min_z_position": [
+              0.15302617847919459,
+              -0.36324173212051386,
+              0.7694924473762512
+            ],
+            "min_active_finger_to_button": 0.14618235358205686,
+            "closest_active_finger": [
+              0.02465003728866577,
+              -0.4242507219314575,
+              0.8104807734489441
+            ],
+            "closest_active_finger_button": [
+              0.15304228663444513,
+              -0.36324083805084223,
+              0.7763852477073669
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12839224934577936,
+              -0.06100988388061529,
+              0.03409552574157715
+            ],
+            "min_contact_pad_to_button": 0.021081524844898114,
+            "closest_contact_pad": [
+              0.15302617847919459,
+              -0.36324173212051386,
+              0.7905739722211493
+            ],
+            "closest_contact_pad_button": [
+              0.15302617847919459,
+              -0.36324173212051386,
+              0.7694924473762512
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021081524844898114
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10ad97a643771dee6ea748ea7744527d3607dd6a702f062d3607cb98c21525eb",
+    "visual_seed": 2328915786282996783,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..28debc4c918c2e286a5e4ac41dea9e1f83a921ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1715153472164203,
+              0.22201837948479933,
+              1.0492685218223472
+            ],
+            "current_z": 1.0492685218223472,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18816201380758102,
+            "gripper_z": 1.0553095341501226,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.16886689574859978,
+              0.21860286609472906,
+              1.0553095341501226
+            ],
+            "object_minus_gripper": [
+              0.0026484514678205284,
+              0.0034155133900702628,
+              -0.00604101232777543
+            ],
+            "object_to_gripper_xy": 0.00432203966839153,
+            "object_to_gripper_z": -0.00604101232777543,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1715153472164203,
+              0.19880296983916,
+              1.0492685218223472
+            ],
+            "finger_b": [
+              0.162379663495037,
+              0.22201837948479933,
+              1.0492685218223472
+            ],
+            "finger_midpoint": [
+              0.16694750535572866,
+              0.21041067466197966,
+              1.0492685218223472
+            ],
+            "object_minus_finger_midpoint": [
+              0.004567841860691646,
+              0.01160770482281967,
+              0.0
+            ],
+            "finger_gap": 0.024948265712710218,
+            "fingertip_max_gap": 0.09618356887529156,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012474132856355104,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492685218223472,
+            "object_top_z": 1.101789118498506,
+            "finger_top_clearance": 0.052520596676158826,
+            "fingertip_min_top_clearance": 0.015756179002847665,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012474132856355104,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05059178443764578,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1067232300754317,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17271767943648195,
+              0.22408874880155932,
+              1.2451731362479819
+            ],
+            "held_position": [
+              0.1754751431376545,
+              0.22729199647087714,
+              1.239048155617581
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007441759833336498,
+            "max_held_gripper_dist": 0.007456402786670681,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0061249806304009,
+            "max_held_gripper_z_dist": 0.006154183991731399,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08582023505292272,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1754751431376545,
+              0.2035125063523446,
+              1.239048155617581
+            ],
+            "held_grasp_finger_b": [
+              0.1676574376440182,
+              0.22729199647087714,
+              1.239048155617581
+            ],
+            "held_grasp_midpoint": [
+              0.17156629039083635,
+              0.21540225141161087,
+              1.239048155617581
+            ],
+            "held_grasp_object_position": [
+              0.1754751431376545,
+              0.22729199647087714,
+              1.239048155617581
+            ],
+            "held_grasp_finger_gap": 0.025031593426760063,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023577835261349704,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.022420823881491483,
+              -0.9988908315939001,
+              0.0414054732387139
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003674664179075403,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03775605304139002,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29693901491829233,
+              -0.3133962596489239,
+              0.8515395701079355
+            ],
+            "target_position": [
+              0.29390632639664305,
+              -0.31303701649068805,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003053891831103815,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18134262148616417,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395701079355,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557973441238147,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08671495619494561,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14910098088185064,
+            "release_required_pad_clearance": 0.05335747809747281,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7313951560220542,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007143676280975342,
+            "max_z_decrease": 0.007143676280975342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516253812177667,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007143676280975342,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107862176194919,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007143676280975342,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007143696004229682,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14960625767707825,
+              -0.36929848790168757,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14960625767707825,
+              -0.36929848790168757,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14988268625589538,
+              -0.3682974854683619,
+              0.808158801593914
+            ],
+            "closest_button": [
+              0.1495954990386963,
+              -0.36930462718009943,
+              0.7730118632316589
+            ],
+            "closest_ee_minus_button": [
+              0.00028718721719908635,
+              0.001007141711737547,
+              0.03514693836225502
+            ],
+            "button_min_z_position": [
+              0.14958973228931427,
+              -0.3693014383316039,
+              0.7696651816368103
+            ],
+            "min_active_finger_to_button": 0.14542395305339775,
+            "closest_active_finger": [
+              0.022141754627227783,
+              -0.43044620752334595,
+              0.8108803629875183
+            ],
+            "closest_active_finger_button": [
+              0.14960741996765137,
+              -0.36929994821548456,
+              0.7767956852912903
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12746566534042358,
+              -0.061146259307861384,
+              0.03408467769622803
+            ],
+            "min_contact_pad_to_button": 0.02107862176194919,
+            "closest_contact_pad": [
+              0.14958973228931427,
+              -0.36962729058912336,
+              0.7907412845899083
+            ],
+            "closest_contact_pad_button": [
+              0.14958973228931427,
+              -0.3693014383316039,
+              0.7696651816368103
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00032585225751946556,
+              0.02107610295309803
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b0024dfc3b57ffef6398eede5619bbf35c6b9faff83ef5b9b94beb1eac3d6d00",
+    "visual_seed": 2458776664688192788,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..18ce62efb6f2fa22b5026e0eedc2c9845256166b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17436449713428404,
+              0.2296162064835171,
+              1.0471157477767954
+            ],
+            "current_z": 1.0471157477767954,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.18600900134345055,
+            "gripper_z": 1.0529618275750772,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17126233972222324,
+              0.22588890205488135,
+              1.0529618275750772
+            ],
+            "object_minus_gripper": [
+              0.0031021574120607964,
+              0.0037273044286357526,
+              -0.005846079798281778
+            ],
+            "object_to_gripper_xy": 0.0048493482977541875,
+            "object_to_gripper_z": -0.005846079798281778,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17436449713428404,
+              0.20628734143705937,
+              1.0471157477767954
+            ],
+            "finger_b": [
+              0.16450386993780453,
+              0.2296162064835171,
+              1.0471157477767954
+            ],
+            "finger_midpoint": [
+              0.16943418353604428,
+              0.21795177396028825,
+              1.0471157477767954
+            ],
+            "object_minus_finger_midpoint": [
+              0.004930313598239755,
+              0.011664432523228851,
+              0.0
+            ],
+            "finger_gap": 0.02532721684401562,
+            "fingertip_max_gap": 0.09392032543360179,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012663608422007798,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471157477767954,
+            "object_top_z": 1.098548520213008,
+            "finger_top_clearance": 0.05143277243621269,
+            "fingertip_min_top_clearance": 0.015429831730863791,
+            "object_projection_between_fingers": 0.8484227087157789,
+            "object_to_finger_line_xy": 0.009082610322201869,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0494601627168009,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4210271665516767,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1751346663447029,
+              0.23100161474965714,
+              1.2397402454277089
+            ],
+            "held_position": [
+              0.1783641259305382,
+              0.23446049045844353,
+              1.2337635535881204
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007623258865523301,
+            "max_held_gripper_dist": 0.00763844217826336,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005976691839588488,
+            "max_held_gripper_z_dist": 0.006008056323097533,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08620948011118101,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1783641259305382,
+              0.2103599356436385,
+              1.2337635535881204
+            ],
+            "held_grasp_finger_b": [
+              0.17024842150204425,
+              0.23446049045844353,
+              1.2337635535881204
+            ],
+            "held_grasp_midpoint": [
+              0.1743062737162912,
+              0.22241021305104103,
+              1.2337635535881204
+            ],
+            "held_grasp_object_position": [
+              0.1783641259305382,
+              0.23446049045844353,
+              1.2337635535881204
+            ],
+            "held_grasp_finger_gap": 0.025430324432694478,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023736570229818198,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04095735130715353,
+              -0.9986893734253547,
+              0.030692519954787167
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003580319488228166,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03751956719780311,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30480191910331145,
+              -0.30534682581785244,
+              0.851539566106028
+            ],
+            "target_position": [
+              0.30003504698214517,
+              -0.3060849717360745,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004823684195315878,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18140931610896424,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539566106028,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580114380420266,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08620760195238102,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14883339837713067,
+            "release_required_pad_clearance": 0.05310380097619051,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2347790525921853,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00724560022354126,
+            "max_z_decrease": 0.00724560022354126,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035169919855662785,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00724560022354126,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.021129120050297108,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00724560022354126,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007245621016626151,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.155734971165657,
+              -0.3623464405536651,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.155734971165657,
+              -0.3623464405536651,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15714747799516043,
+              -0.3613528320443601,
+              0.8079433753976748
+            ],
+            "closest_button": [
+              0.15572756528854365,
+              -0.36235696077346796,
+              0.7728164792060852
+            ],
+            "closest_ee_minus_button": [
+              0.0014199127066167883,
+              0.0010041287291078782,
+              0.035126896191589596
+            ],
+            "button_min_z_position": [
+              0.1557182222604751,
+              -0.3623510003089904,
+              0.7695632576942444
+            ],
+            "min_active_finger_to_button": 0.14448641890876726,
+            "closest_active_finger": [
+              0.028927668929100037,
+              -0.4225546717643738,
+              0.8107940554618835
+            ],
+            "closest_active_finger_button": [
+              0.1557373404502868,
+              -0.3623493015766143,
+              0.776574969291687
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12680967152118677,
+              -0.060205370187759455,
+              0.03421908617019653
+            ],
+            "min_contact_pad_to_button": 0.021129120050297108,
+            "closest_contact_pad": [
+              0.1557182222604751,
+              -0.3628729620120164,
+              0.790685929638874
+            ],
+            "closest_contact_pad_button": [
+              0.1557182222604751,
+              -0.3623510003089904,
+              0.7695632576942444
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000521961703025986,
+              0.02112267194462958
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1db174c02ef0c789088fae0317a73ee9570035cae87610190a92afcb872186ac",
+    "visual_seed": 5704388823143910812,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b364ea50fb8a218536bc4043fe6df28529a62d8f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17954760756293198,
+              0.23112139717764052,
+              1.049937079446083
+            ],
+            "current_z": 1.049937079446083,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18883057143131687,
+            "gripper_z": 1.055696432967095,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17582708940779415,
+              0.22715412779658994,
+              1.055696432967095
+            ],
+            "object_minus_gripper": [
+              0.0037205181551378252,
+              0.0039672693810505755,
+              -0.005759353521012089
+            ],
+            "object_to_gripper_xy": 0.005438886070192276,
+            "object_to_gripper_z": -0.005759353521012089,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17954760756293198,
+              0.2071528945358675,
+              1.049937079446083
+            ],
+            "finger_b": [
+              0.16962044339169516,
+              0.23112139717764052,
+              1.049937079446083
+            ],
+            "finger_midpoint": [
+              0.17458402547731355,
+              0.219137145856754,
+              1.049937079446083
+            ],
+            "object_minus_finger_midpoint": [
+              0.004963582085618423,
+              0.011984251320886513,
+              0.0
+            ],
+            "finger_gap": 0.025942970288141035,
+            "fingertip_max_gap": 0.09312591481192603,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012971485144070522,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049937079446083,
+            "object_top_z": 1.1006265163036,
+            "finger_top_clearance": 0.050689436857517034,
+            "fingertip_min_top_clearance": 0.015206831057255094,
+            "object_projection_between_fingers": 0.8535764231285322,
+            "object_to_finger_line_xy": 0.00917162753612565,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04906295740596302,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4453155969419547,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17948037909976639,
+              0.23301665726493337,
+              1.2453654127056455
+            ],
+            "held_position": [
+              0.18329024808122163,
+              0.23679079002083797,
+              1.2395162242311613
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007935501592532517,
+            "max_held_gripper_dist": 0.007950509503300868,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005849188474484235,
+            "max_held_gripper_z_dist": 0.005886199473603471,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860486851414991,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18329024808122163,
+              0.21250555804204624,
+              1.2395162242311613
+            ],
+            "held_grasp_finger_b": [
+              0.17429460257544727,
+              0.23679079002083797,
+              1.2395162242311613
+            ],
+            "held_grasp_midpoint": [
+              0.17879242532833445,
+              0.2246481740314421,
+              1.2395162242311613
+            ],
+            "held_grasp_object_position": [
+              0.18329024808122163,
+              0.23679079002083797,
+              1.2395162242311613
+            ],
+            "held_grasp_finger_gap": 0.02589776303716765,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024200714527088916,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.008761980374272704,
+              -0.9997653807741148,
+              0.019809369134581093
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004397861050437127,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0375410731371751,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3028563188196909,
+              -0.30511318380765284,
+              0.851539556903062
+            ],
+            "target_position": [
+              0.29718449424102567,
+              -0.3066367032362318,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005872878808591959,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18310248171613192,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539556903062,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589286594168271,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08819906842007995,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15040369280625532,
+            "release_required_pad_clearance": 0.054099534210039976,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.2124065147660286,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.006995975971221924,
+            "max_z_decrease": 0.006995975971221924,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351433335818439,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.006995975971221924,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02112866185509014,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.006995975971221924,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.006995994243919476,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15288442373275754,
+              -0.36289817094802845,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15288442373275754,
+              -0.36289817094802845,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.152401702051656,
+              -0.36279119894217987,
+              0.8082140555301321
+            ],
+            "closest_button": [
+              0.1528744399547577,
+              -0.3629063963890075,
+              0.7730740904808044
+            ],
+            "closest_ee_minus_button": [
+              -0.0004727379031016776,
+              0.00011519744682764177,
+              0.035139965049327704
+            ],
+            "button_min_z_position": [
+              0.15286886692047116,
+              -0.3629018664360046,
+              0.7698128819465637
+            ],
+            "min_active_finger_to_button": 0.1464894754508234,
+            "closest_active_finger": [
+              0.02423630654811859,
+              -0.4240919351577759,
+              0.810393750667572
+            ],
+            "closest_active_finger_button": [
+              0.152885153889656,
+              -0.3629010021686553,
+              0.7762717604637146
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12864884734153742,
+              -0.061190932989120594,
+              0.03412199020385742
+            ],
+            "min_contact_pad_to_button": 0.02112866185509014,
+            "closest_contact_pad": [
+              0.15286886692047116,
+              -0.3642738056294608,
+              0.7908969549552639
+            ],
+            "closest_contact_pad_button": [
+              0.15286886692047116,
+              -0.3629018664360046,
+              0.7698128819465637
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013719391934562397,
+              0.021084073008700188
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "60a47056bbf8485afbdfcf5e2ab73fe2c05bfbb0faa6694e334d03df3f82760c",
+    "visual_seed": 4228595903578015465,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c706b246a17612ac0ef2928ff7bffe13a3fbf616
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17574771549354523,
+              0.2247406295285451,
+              1.049566382375033
+            ],
+            "current_z": 1.049566382375033,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18845957633704313,
+            "gripper_z": 1.055397368602073,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17294538330724132,
+              0.22127168777098413,
+              1.055397368602073
+            ],
+            "object_minus_gripper": [
+              0.0028023321863039075,
+              0.0034689417575609616,
+              -0.005830986227040036
+            ],
+            "object_to_gripper_xy": 0.004459441960575894,
+            "object_to_gripper_z": -0.005830986227040036,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17574771549354523,
+              0.2013347974922883,
+              1.049566382375033
+            ],
+            "finger_b": [
+              0.16663922548638152,
+              0.2247406295285451,
+              1.049566382375033
+            ],
+            "finger_midpoint": [
+              0.17119347048996336,
+              0.2130377135104167,
+              1.049566382375033
+            ],
+            "object_minus_finger_midpoint": [
+              0.004554245003581869,
+              0.011702916018128395,
+              0.0
+            ],
+            "finger_gap": 0.025115683616419162,
+            "fingertip_max_gap": 0.09670522624635691,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012557841808209584,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049566382375033,
+            "object_top_z": 1.102534376131001,
+            "finger_top_clearance": 0.052967993755967946,
+            "fingertip_min_top_clearance": 0.01589039812679035,
+            "object_projection_between_fingers": 0.8684766793523575,
+            "object_to_finger_line_xy": 0.008488392769537237,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05085261312317846,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2480117422612396,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1769156539404956,
+              0.22666085342023826,
+              1.2461186500061072
+            ],
+            "held_position": [
+              0.17983092046455218,
+              0.22992980734522142,
+              1.2402044282085414
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007359541979005943,
+            "max_held_gripper_dist": 0.007376018872692783,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005914221797565844,
+            "max_held_gripper_z_dist": 0.005944421443611736,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08593596904609999,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17983092046455218,
+              0.2060408122283382,
+              1.2402044282085414
+            ],
+            "held_grasp_finger_b": [
+              0.17190800707520998,
+              0.22992980734522142,
+              1.2402044282085414
+            ],
+            "held_grasp_midpoint": [
+              0.17586946376988108,
+              0.21798530978677982,
+              1.2402044282085414
+            ],
+            "held_grasp_object_position": [
+              0.17983092046455218,
+              0.22992980734522142,
+              1.2402044282085414
+            ],
+            "held_grasp_finger_gap": 0.02516856460486947,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0236868103191907,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02150495907636383,
+              -0.9986687230110125,
+              0.04688622841173795
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037460753965200197,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03770646298229633,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29667916814183803,
+              -0.3121923181062565,
+              0.8515395806483587
+            ],
+            "target_position": [
+              0.2939629460192035,
+              -0.311746114692175,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0027526278546558653,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18075238464224194,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395806483587,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559730789326267,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08696026161434782,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14856359411616077,
+            "release_required_pad_clearance": 0.05348013080717391,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9731083547628672,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007091403007507324,
+            "max_z_decrease": 0.007091403007507324,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519851469872174,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007091403007507324,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108237951529912,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007091403007507324,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0070914229507329386,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14966286718845362,
+              -0.3680075705051421,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14966286718845362,
+              -0.3680075705051421,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15082326115165662,
+              -0.3665950784571023,
+              0.8081983934634162
+            ],
+            "closest_button": [
+              0.14965239167213434,
+              -0.36801394820213307,
+              0.7730479836463928
+            ],
+            "closest_ee_minus_button": [
+              0.001170869479522274,
+              0.0014188697450307486,
+              0.03515040981702333
+            ],
+            "button_min_z_position": [
+              0.14964637160301203,
+              -0.36801084876060475,
+              0.7697174549102783
+            ],
+            "min_active_finger_to_button": 0.14448278007997312,
+            "closest_active_finger": [
+              0.023107610642910004,
+              -0.42879411578178406,
+              0.8109281063079834
+            ],
+            "closest_active_finger_button": [
+              0.1496624201536178,
+              -0.3680090904235839,
+              0.7768057584762573
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1265548095107078,
+              -0.060785025358200184,
+              0.034122347831726074
+            ],
+            "min_contact_pad_to_button": 0.02108237951529912,
+            "closest_contact_pad": [
+              0.14964637160301203,
+              -0.36801084876060475,
+              0.7907998344255774
+            ],
+            "closest_contact_pad_button": [
+              0.14964637160301203,
+              -0.36801084876060475,
+              0.7697174549102783
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108237951529912
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "29bc6a97a43503e3972fd6c5bec1e50c0802fb9b92cc6e1f2bcbcc7b62b967fd",
+    "visual_seed": 3754540703558056963,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a59214cc1b39ffc4d46def8452ccfccd90bbdd77
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17407562751721428,
+              0.2305976632730702,
+              1.0462459993704627
+            ],
+            "current_z": 1.0462459993704627,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18513925293711764,
+            "gripper_z": 1.0521132353158418,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17052872150287196,
+              0.22653972957338797,
+              1.0521132353158418
+            ],
+            "object_minus_gripper": [
+              0.0035469060143423214,
+              0.004057933699682242,
+              -0.005867235945379079
+            ],
+            "object_to_gripper_xy": 0.005389561038303077,
+            "object_to_gripper_z": -0.005867235945379079,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17407562751721428,
+              0.20721389186946093,
+              1.0462459993704627
+            ],
+            "finger_b": [
+              0.16339233603059766,
+              0.2305976632730702,
+              1.0462459993704627
+            ],
+            "finger_midpoint": [
+              0.16873398177390597,
+              0.21890577757126556,
+              1.0462459993704627
+            ],
+            "object_minus_finger_midpoint": [
+              0.00534164574330831,
+              0.011691885701804655,
+              0.0
+            ],
+            "finger_gap": 0.02570862660750804,
+            "fingertip_max_gap": 0.09295196470354472,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012854313303754033,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462459993704627,
+            "object_top_z": 1.0971415342675441,
+            "finger_top_clearance": 0.05089553489708143,
+            "fingertip_min_top_clearance": 0.015268660469124461,
+            "object_projection_between_fingers": 0.8273158796025857,
+            "object_to_finger_line_xy": 0.009717191422750338,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04897598235177236,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3691642595591091,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1746405741849549,
+              0.23134669086345366,
+              1.239716677316446
+            ],
+            "held_position": [
+              0.17840850097440764,
+              0.23503752623457402,
+              1.233712393110694
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007991931359241871,
+            "max_held_gripper_dist": 0.008008571590982451,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006004284205752164,
+            "max_held_gripper_z_dist": 0.0060400614552256204,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08547688196810657,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17840850097440764,
+              0.2106365297508152,
+              1.233712393110694
+            ],
+            "held_grasp_finger_b": [
+              0.1698444529345351,
+              0.23503752623457402,
+              1.233712393110694
+            ],
+            "held_grasp_midpoint": [
+              0.17412647695447137,
+              0.22283702799269461,
+              1.233712393110694
+            ],
+            "held_grasp_object_position": [
+              0.17840850097440764,
+              0.23503752623457402,
+              1.233712393110694
+            ],
+            "held_grasp_finger_gap": 0.02586023101655619,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02386804078587107,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05653921525976989,
+              -0.9980020839600204,
+              0.028198538069655214
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036021627093251593,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037302025121538164,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30225880078209966,
+              -0.3119433948425985,
+              0.8515395129526184
+            ],
+            "target_position": [
+              0.29670254136928087,
+              -0.3128378761982926,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005627798464606013,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1820736108056791,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395129526184,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578913604097276,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566435397713228,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14957756672262704,
+            "release_required_pad_clearance": 0.05283217698856614,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7088606792529341,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007302820682525635,
+            "max_z_decrease": 0.007302820682525635,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517478753100618,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007302820682525635,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021067037802281363,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007302820682525635,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007302841851408958,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15240246057510373,
+              -0.369099348783493,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15240246057510373,
+              -0.369099348783493,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15260858777960565,
+              -0.3676761120232813,
+              0.8080641469594712
+            ],
+            "closest_button": [
+              0.15239129960536954,
+              -0.3691048324108124,
+              0.7729190587997437
+            ],
+            "closest_ee_minus_button": [
+              0.0002172881742361077,
+              0.0014287203875310572,
+              0.0351450881597275
+            ],
+            "button_min_z_position": [
+              0.15238505601882935,
+              -0.3691018521785736,
+              0.76950603723526
+            ],
+            "min_active_finger_to_button": 0.14529180257948315,
+            "closest_active_finger": [
+              0.02584395557641983,
+              -0.4317895174026489,
+              0.8107719421386719
+            ],
+            "closest_active_finger_button": [
+              0.15240423381328583,
+              -0.36910003423690796,
+              0.7766804099082947
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.126560278236866,
+              -0.06268948316574097,
+              0.0340915322303772
+            ],
+            "min_contact_pad_to_button": 0.021067037802281363,
+            "closest_contact_pad": [
+              0.15238505601882935,
+              -0.3691018521785736,
+              0.7905730750375414
+            ],
+            "closest_contact_pad_button": [
+              0.15238505601882935,
+              -0.3691018521785736,
+              0.76950603723526
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021067037802281363
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8cd65819f194259c66241559605077210aa8af508e3a320d022a12f66fa49b0",
+    "visual_seed": 2723896763446266747,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9de8e4a5a3be5eb2f25b3c2c4e04ce6632499a04
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17348800427151073,
+              0.22211600204665635,
+              1.046574645395532
+            ],
+            "current_z": 1.046574645395532,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18546783935754219,
+            "gripper_z": 1.0528677959860904,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17091759780571616,
+              0.21868484638665026,
+              1.0528677959860904
+            ],
+            "object_minus_gripper": [
+              0.002570406465794567,
+              0.0034311556600060966,
+              -0.00629315059055835
+            ],
+            "object_to_gripper_xy": 0.004287169061582525,
+            "object_to_gripper_z": -0.00629315059055835,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17348800427151073,
+              0.19909687709680662,
+              1.046574645395532
+            ],
+            "finger_b": [
+              0.16414826242723998,
+              0.22211600204665635,
+              1.046574645395532
+            ],
+            "finger_midpoint": [
+              0.16881813334937534,
+              0.21060643957173147,
+              1.046574645395532
+            ],
+            "object_minus_finger_midpoint": [
+              0.0046698709221353885,
+              0.011509562474924878,
+              0.0
+            ],
+            "finger_gap": 0.02484171675175482,
+            "fingertip_max_gap": 0.0973303458210028,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01242085837587743,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046574645395532,
+            "object_top_z": 1.0996920418073697,
+            "finger_top_clearance": 0.05311739641183766,
+            "fingertip_min_top_clearance": 0.01593521892355128,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.01242085837587743,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051165172910501405,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.455604545167251,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1746759419146333,
+              0.2243244524917913,
+              1.2407783683674276
+            ],
+            "held_position": [
+              0.17737206224139745,
+              0.22752957136492805,
+              1.2343838454259743
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007644067991331599,
+            "max_held_gripper_dist": 0.00766057486442481,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006394522941453262,
+            "max_held_gripper_z_dist": 0.006423141652109443,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08595066707211826,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17737206224139745,
+              0.20376149842630129,
+              1.2343838454259743
+            ],
+            "held_grasp_finger_b": [
+              0.16963317895928604,
+              0.22752957136492805,
+              1.2343838454259743
+            ],
+            "held_grasp_midpoint": [
+              0.17350262060034174,
+              0.21564553489561467,
+              1.2343838454259743
+            ],
+            "held_grasp_object_position": [
+              0.17737206224139745,
+              0.22752957136492805,
+              1.2343838454259743
+            ],
+            "held_grasp_finger_gap": 0.024996231829418316,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02350483243850451,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029305142365339983,
+              -0.9984663702486378,
+              0.04696931033618877
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035639222639917132,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037741044774511776,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2989896822955931,
+              -0.310138908413492,
+              0.8515395051477059
+            ],
+            "target_position": [
+              0.2965686492085194,
+              -0.3096705759625938,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002465914940396351,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17865954411584176,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395051477059,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565124142713986,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08632244653349751,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14632518798993543,
+            "release_required_pad_clearance": 0.053161223266748756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.346951307156905,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007098793983459473,
+            "max_z_decrease": 0.007098793983459473,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035154089960746815,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007098793983459473,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021094966745389004,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007098793983459473,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007098813085078889,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15226857364177704,
+              -0.36593204736709595,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15226857364177704,
+              -0.36593204736709595,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15110226916582437,
+              -0.3658675319943645,
+              0.8081258417589771
+            ],
+            "closest_button": [
+              0.15225785970687866,
+              -0.3659389019012451,
+              0.7729908227920532
+            ],
+            "closest_ee_minus_button": [
+              -0.0011555905410542966,
+              7.136990688061395e-05,
+              0.03513501896692384
+            ],
+            "button_min_z_position": [
+              0.15225230157375336,
+              -0.36593458056449885,
+              0.7697100639343262
+            ],
+            "min_active_finger_to_button": 0.14708399564398966,
+            "closest_active_finger": [
+              0.023016013205051422,
+              -0.4272955358028412,
+              0.8108598589897156
+            ],
+            "closest_active_finger_button": [
+              0.15227003395557406,
+              -0.3659352660179138,
+              0.7767714858055115
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12925402075052264,
+              -0.06136026978492737,
+              0.0340883731842041
+            ],
+            "min_contact_pad_to_button": 0.021094966745389004,
+            "closest_contact_pad": [
+              0.15225230157375336,
+              -0.3673243704611992,
+              0.7907591994517791
+            ],
+            "closest_contact_pad_button": [
+              0.15225230157375336,
+              -0.36593458056449885,
+              0.7697100639343262
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013897898967003552,
+              0.02104913551745291
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c4da45a85ffe0675ef0b747f9ea7fb77743880c920c332c12e4c7c67f34f7029",
+    "visual_seed": 2120780757057069985,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_89_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3463d31c05247faeb361665442d3d783a3fb39b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_89_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 89,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17666507646841867,
+              0.22919391151872037,
+              1.04570301975436
+            ],
+            "current_z": 1.04570301975436,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.18459639253030424,
+            "gripper_z": 1.0517659991520887,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17336031717206327,
+              0.2254496833809696,
+              1.0517659991520887
+            ],
+            "object_minus_gripper": [
+              0.003304759296355403,
+              0.0037442281377507713,
+              -0.006062979397728707
+            ],
+            "object_to_gripper_xy": 0.004994064312198239,
+            "object_to_gripper_z": -0.006062979397728707,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17666507646841867,
+              0.20548290770300998,
+              1.04570301975436
+            ],
+            "finger_b": [
+              0.16711428542480775,
+              0.22919391151872037,
+              1.04570301975436
+            ],
+            "finger_midpoint": [
+              0.17188968094661322,
+              0.21733840961086517,
+              1.04570301975436
+            ],
+            "object_minus_finger_midpoint": [
+              0.004775395521805448,
+              0.011855501907855198,
+              0.0
+            ],
+            "finger_gap": 0.02556226342692195,
+            "fingertip_max_gap": 0.09613280989638565,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01278113171346097,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04570301975436,
+            "object_top_z": 1.097901262367784,
+            "finger_top_clearance": 0.052198242613423984,
+            "fingertip_min_top_clearance": 0.015659472784027177,
+            "object_projection_between_fingers": 0.8604017175962081,
+            "object_to_finger_line_xy": 0.008859107626580782,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050566404948192825,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2849387642638974,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 206,
+            "max_stable_success_frames": 206,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17672674188562032,
+              0.23170563645497252,
+              1.2405021760163892
+            ],
+            "held_position": [
+              0.18008683410644827,
+              0.235283818241227,
+              1.2343415080163482
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007877019413120733,
+            "max_held_gripper_dist": 0.007890770082236369,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006160668000041003,
+            "max_held_gripper_z_dist": 0.00619532787055288,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08561681689827363,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18008683410644827,
+              0.21127475113214889,
+              1.2343415080163482
+            ],
+            "held_grasp_finger_b": [
+              0.17144733958124667,
+              0.235283818241227,
+              1.2343415080163482
+            ],
+            "held_grasp_midpoint": [
+              0.17576708684384745,
+              0.22327928468668795,
+              1.2343415080163482
+            ],
+            "held_grasp_object_position": [
+              0.18008683410644827,
+              0.235283818241227,
+              1.2343415080163482
+            ],
+            "held_grasp_finger_gap": 0.025516194251870798,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02401581166706196,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0024492605047608663,
+              -0.9993995678935661,
+              0.034561609006717446
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004368864329842323,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037733504609285755,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29502158368196335,
+              -0.3074292756789514,
+              0.8515395941606144
+            ],
+            "target_position": [
+              0.29090330543977155,
+              -0.3080262578922252,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004161322319056247,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18206202004054312,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395941606144,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753789331794233,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08708627566974912,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15044034918266344,
+            "release_required_pad_clearance": 0.05354313783487456,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0977037978277497,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007044672966003418,
+            "max_z_decrease": 0.007044672966003418,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515268147409596,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007044672966003418,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021089127297286677,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007044672966003418,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007044697317741791,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14660322666168213,
+              -0.3642877042293548,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14660322666168213,
+              -0.3642877042293548,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1453168791103601,
+              -0.3645814979991614,
+              0.8080904498609096
+            ],
+            "closest_button": [
+              0.14659227430820465,
+              -0.364293485879898,
+              0.7729620933532715
+            ],
+            "closest_ee_minus_button": [
+              -0.0012753951978445588,
+              -0.0002880121192633811,
+              0.035128356507638125
+            ],
+            "button_min_z_position": [
+              0.14658477902412415,
+              -0.3642893731594085,
+              0.7697641849517822
+            ],
+            "min_active_finger_to_button": 0.14732683388367776,
+            "closest_active_finger": [
+              0.004178717732429504,
+              -0.34835338592529297,
+              0.8108347058296204
+            ],
+            "closest_active_finger_button": [
+              0.14660468697547913,
+              -0.3642906248569488,
+              0.7766873240470886
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14242596924304962,
+              0.01593723893165583,
+              0.03414738178253174
+            ],
+            "min_contact_pad_to_button": 0.021089127297286677,
+            "closest_contact_pad": [
+              0.14658477902412415,
+              -0.365844781311813,
+              0.7907958752224332
+            ],
+            "closest_contact_pad_button": [
+              0.14658477902412415,
+              -0.3642893731594085,
+              0.7697641849517822
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015554081524045138,
+              0.021031690270650993
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 89,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b0b9209a9f4f502f70d5b7616732dfa826fe8f90003ede9ee7e9a5efcf112317",
+    "visual_seed": 7798165682881209324,
+    "episode_index": 89,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..70b2273e01f4c21b64e69a686f793acc4eebf34d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17944796250966522,
+              0.22149716653248142,
+              1.0470131788010728
+            ],
+            "current_z": 1.0470131788010728,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.18590643236772797,
+            "gripper_z": 1.0529164151853547,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1757853038361848,
+              0.21740799853934403,
+              1.0529164151853547
+            ],
+            "object_minus_gripper": [
+              0.0036626586734804234,
+              0.0040891679931373826,
+              -0.005903236384281918
+            ],
+            "object_to_gripper_xy": 0.005489659682942157,
+            "object_to_gripper_z": -0.005903236384281918,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17944796250966522,
+              0.19793530904651044,
+              1.0470131788010728
+            ],
+            "finger_b": [
+              0.16884895697920574,
+              0.22149716653248142,
+              1.0470131788010728
+            ],
+            "finger_midpoint": [
+              0.1741484597444355,
+              0.20971623778949594,
+              1.0470131788010728
+            ],
+            "object_minus_finger_midpoint": [
+              0.005299502765229724,
+              0.011780928742985475,
+              0.0
+            ],
+            "finger_gap": 0.025836022263961554,
+            "fingertip_max_gap": 0.09165976590161906,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01291801113198076,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470131788010728,
+            "object_top_z": 1.0973009295814014,
+            "finger_top_clearance": 0.050287750780328544,
+            "fingertip_min_top_clearance": 0.01508632523409853,
+            "object_projection_between_fingers": 0.8317020068589387,
+            "object_to_finger_line_xy": 0.009666049024506903,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832988295080953,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8468762694011309,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1798794707026384,
+              0.22253376778419576,
+              1.2428169507292803
+            ],
+            "held_position": [
+              0.1837564103317864,
+              0.22627846093521098,
+              1.236800101870097
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008078109796083196,
+            "max_held_gripper_dist": 0.008094569009861689,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00601684885918341,
+            "max_held_gripper_z_dist": 0.006051210626365711,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08643130588823603,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1837564103317864,
+              0.20185988558280005,
+              1.236800101870097
+            ],
+            "held_grasp_finger_b": [
+              0.17498232154585616,
+              0.22627846093521098,
+              1.236800101870097
+            ],
+            "held_grasp_midpoint": [
+              0.1793693659388213,
+              0.2140691732590055,
+              1.236800101870097
+            ],
+            "held_grasp_object_position": [
+              0.1837564103317864,
+              0.22627846093521098,
+              1.236800101870097
+            ],
+            "held_grasp_finger_gap": 0.02594708955287197,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023901522524293194,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.054230019066834216,
+              -0.9983113746249503,
+              0.02082076671146027
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037273270585041437,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03729366980579337,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3071458994623285,
+              -0.30748147082411126,
+              0.8515395130582285
+            ],
+            "target_position": [
+              0.30013390775233373,
+              -0.3092284193188882,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0072263307967764,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18499344767813855,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395130582285,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531757413231055,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553340288253446,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1537901991181359,
+            "release_required_pad_clearance": 0.05276670144126723,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5828247859783875,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007238209247589111,
+            "max_z_decrease": 0.007238209247589111,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035169461549897925,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007238209247589111,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02109171913676433,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007238209247589111,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0072382359902875585,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15583384037017817,
+              -0.36548987030982966,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15583384037017817,
+              -0.36548987030982966,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1546038846642878,
+              -0.36429527134952927,
+              0.8080009949924891
+            ],
+            "closest_button": [
+              0.1558248102664947,
+              -0.3654987514019012,
+              0.7728733420372009
+            ],
+            "closest_ee_minus_button": [
+              -0.001220925602206907,
+              0.0012034800523719191,
+              0.03512765295528819
+            ],
+            "button_min_z_position": [
+              0.15581470727920527,
+              -0.36549445986747736,
+              0.7695706486701965
+            ],
+            "min_active_finger_to_button": 0.14671132871216064,
+            "closest_active_finger": [
+              0.026224516332149506,
+              -0.4251342713832855,
+              0.810814619064331
+            ],
+            "closest_active_finger_button": [
+              0.15583561360836024,
+              -0.3654927611351013,
+              0.776637613773346
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12961109727621073,
+              -0.059641510248184204,
+              0.03417700529098511
+            ],
+            "min_contact_pad_to_button": 0.02109171913676433,
+            "closest_contact_pad": [
+              0.15581470727920527,
+              -0.36584473873317064,
+              0.7906594589936927
+            ],
+            "closest_contact_pad_button": [
+              0.15581470727920527,
+              -0.36549445986747736,
+              0.7695706486701965
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003502788656932765,
+              0.021088810323496188
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "27f9303d367b71d96cc3c0ce6a0996ee4b46ce0dfa664075bfba20eff1a29722",
+    "visual_seed": 3645417780319828000,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc5f70d2c506e5974dd42d14333af029b76fb1d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17753321207353195,
+              0.22670617494770806,
+              1.045943984274432
+            ],
+            "current_z": 1.045943984274432,
+            "required_z": 0.8611070444565688,
+            "initial_z": 0.7611070444565688,
+            "lift_margin": 0.1848369398178632,
+            "gripper_z": 1.051823653353939,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17433477688643031,
+              0.222996656853168,
+              1.051823653353939
+            ],
+            "object_minus_gripper": [
+              0.003198435187101639,
+              0.003709518094540065,
+              -0.005879669079506877
+            ],
+            "object_to_gripper_xy": 0.004898011039167843,
+            "object_to_gripper_z": -0.005879669079506877,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17753321207353195,
+              0.20311674929491047,
+              1.045943984274432
+            ],
+            "finger_b": [
+              0.16796397603046984,
+              0.22670617494770806,
+              1.045943984274432
+            ],
+            "finger_midpoint": [
+              0.17274859405200088,
+              0.21491146212130927,
+              1.045943984274432
+            ],
+            "object_minus_finger_midpoint": [
+              0.004784618021531073,
+              0.011794712826398795,
+              0.0
+            ],
+            "finger_gap": 0.025456458533674793,
+            "fingertip_max_gap": 0.09529440478360951,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012728229266837402,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.045943984274432,
+            "object_top_z": 1.0978491315874939,
+            "finger_top_clearance": 0.05190514731306184,
+            "fingertip_min_top_clearance": 0.015571544193918518,
+            "object_projection_between_fingers": 0.8586946631716681,
+            "object_to_finger_line_xy": 0.008867407141228096,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05014720239180476,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8916269948624582,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1780059803267915,
+              0.22883574269838125,
+              1.2405567253892866
+            ],
+            "held_position": [
+              0.18129635015646228,
+              0.23234245610725945,
+              1.2345726157718566
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007676792328924389,
+            "max_held_gripper_dist": 0.0076914053775297905,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005984109617430011,
+            "max_held_gripper_z_dist": 0.006016462219888163,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08601340287956738,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18129635015646228,
+              0.20829761206489822,
+              1.2345726157718566
+            ],
+            "held_grasp_finger_b": [
+              0.17290870938436667,
+              0.23234245610725945,
+              1.2345726157718566
+            ],
+            "held_grasp_midpoint": [
+              0.17710252977041446,
+              0.22032003408607884,
+              1.2345726157718566
+            ],
+            "held_grasp_object_position": [
+              0.18129635015646228,
+              0.23234245610725945,
+              1.2345726157718566
+            ],
+            "held_grasp_finger_gap": 0.025465801435320963,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023912173837427428,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.013982951428500392,
+              -0.9993601026735388,
+              0.03292206332662462
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040448085225954725,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037646879177865425,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30476404871205537,
+              -0.3052670880718436,
+              0.8515396279042423
+            ],
+            "target_position": [
+              0.3002724731112256,
+              -0.3059370845259686,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004541271476856356,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1819245140388604,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396279042423,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541154108618396,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08667964629950363,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15021488803669905,
+            "release_required_pad_clearance": 0.05333982314975182,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6966900369778797,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007248401641845703,
+            "max_z_decrease": 0.007248401641845703,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512591906844259,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007248401641845703,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021188648316906596,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007248401641845703,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007248428963974743,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15597240626811976,
+              -0.36219853162765503,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15597240626811976,
+              -0.36219853162765503,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15610093731782426,
+              -0.3625066340144083,
+              0.8079830131611568
+            ],
+            "closest_button": [
+              0.15596605837345118,
+              -0.36220833659172064,
+              0.7728586196899414
+            ],
+            "closest_ee_minus_button": [
+              0.00013487894437308467,
+              -0.00029829742268766557,
+              0.03512439347121543
+            ],
+            "button_min_z_position": [
+              0.1559530198574066,
+              -0.3622030317783356,
+              0.7695604562759399
+            ],
+            "min_active_finger_to_button": 0.14601472738036766,
+            "closest_active_finger": [
+              0.015212193131446838,
+              -0.3440137505531311,
+              0.8109111785888672
+            ],
+            "closest_active_finger_button": [
+              0.15597490966320032,
+              -0.3622009456157685,
+              0.7766273021697998
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14076271653175348,
+              0.018187195062637385,
+              0.03428387641906738
+            ],
+            "min_contact_pad_to_button": 0.021188648316906596,
+            "closest_contact_pad": [
+              0.1559530198574066,
+              -0.36407037698022443,
+              0.7906666600889076
+            ],
+            "closest_contact_pad_button": [
+              0.1559530198574066,
+              -0.3622030317783356,
+              0.7695604562759399
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018673452018888037,
+              0.021106203812967683
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "38fbaaed489379f356fef4ad002e87d1250509aae12902e665bd8cc0466a79b7",
+    "visual_seed": 7584104362818934106,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1058f5a6c786cd6f97b2139db1efc844bb1d67c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.172278837736007,
+              0.227513912285333,
+              1.046908817129913
+            ],
+            "current_z": 1.046908817129913,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1858021899058574,
+            "gripper_z": 1.0526223602023164,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1691561235628409,
+              0.22388826401466427,
+              1.0526223602023164
+            ],
+            "object_minus_gripper": [
+              0.0031227141731660912,
+              0.0036256482706687188,
+              -0.005713543072403349
+            ],
+            "object_to_gripper_xy": 0.004785046414602,
+            "object_to_gripper_z": -0.005713543072403349,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.172278837736007,
+              0.20389548214459188,
+              1.046908817129913
+            ],
+            "finger_b": [
+              0.16294365890850265,
+              0.227513912285333,
+              1.046908817129913
+            ],
+            "finger_midpoint": [
+              0.16761124832225482,
+              0.21570469721496244,
+              1.046908817129913
+            ],
+            "object_minus_finger_midpoint": [
+              0.004667589413752171,
+              0.011809215070370555,
+              0.0
+            ],
+            "finger_gap": 0.02539637387609801,
+            "fingertip_max_gap": 0.09408145526329004,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012698186938049005,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046908817129913,
+            "object_top_z": 1.0981508234532193,
+            "finger_top_clearance": 0.05124200632330633,
+            "fingertip_min_top_clearance": 0.015372601896991899,
+            "object_projection_between_fingers": 0.8648855307076211,
+            "object_to_finger_line_xy": 0.008681643689150654,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04954072763164502,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7198860162137055,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1725873437570075,
+              0.22992741818839157,
+              1.2408130780761328
+            ],
+            "held_position": [
+              0.17571254079984766,
+              0.23342219130152975,
+              1.2349251367521412
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007526496442811795,
+            "max_held_gripper_dist": 0.0075410224031109,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005887941323991619,
+            "max_held_gripper_z_dist": 0.005920427653199889,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08520564447597367,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17571254079984766,
+              0.20954551311062927,
+              1.2349251367521412
+            ],
+            "held_grasp_finger_b": [
+              0.16725830206127568,
+              0.23342219130152975,
+              1.2349251367521412
+            ],
+            "held_grasp_midpoint": [
+              0.17148542143056167,
+              0.22148385220607952,
+              1.2349251367521412
+            ],
+            "held_grasp_object_position": [
+              0.17571254079984766,
+              0.23342219130152975,
+              1.2349251367521412
+            ],
+            "held_grasp_finger_gap": 0.025329230428115922,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023911328061412,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.005380638125952377,
+              -0.9995460286106603,
+              0.029644315171965196
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004305834878984394,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03781007523867173,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2946880642546734,
+              -0.3121091637463961,
+              0.8515396563974281
+            ],
+            "target_position": [
+              0.2911026281334383,
+              -0.31218196042837876,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003586175056570064,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1815555681896219,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396563974281,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586463080866375,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08881212564508749,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14877750466130663,
+            "release_required_pad_clearance": 0.054406062822543746,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8379535209803652,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007383108139038086,
+            "max_z_decrease": 0.007383108139038086,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035153565790125484,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007383108139038086,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021099722935021322,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007383108139038086,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073831335523985775,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1468025594949722,
+              -0.3684434294700622,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1468025594949722,
+              -0.3684434294700622,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14798185806584088,
+              -0.36858217166765384,
+              0.8078683793962844
+            ],
+            "closest_button": [
+              0.1467912197113037,
+              -0.36844819784164423,
+              0.7727352380752563
+            ],
+            "closest_ee_minus_button": [
+              0.0011906383545371713,
+              -0.0001339738260096035,
+              0.03513314132102807
+            ],
+            "button_min_z_position": [
+              0.146783247590065,
+              -0.36844494938850403,
+              0.7694257497787476
+            ],
+            "min_active_finger_to_button": 0.14497462052920537,
+            "closest_active_finger": [
+              0.006597749888896942,
+              -0.3546288013458252,
+              0.8106281757354736
+            ],
+            "closest_active_finger_button": [
+              0.14680206775665283,
+              -0.36844500899314875,
+              0.7764301896095276
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1402043178677559,
+              0.013816207647323553,
+              0.034197986125946045
+            ],
+            "min_contact_pad_to_button": 0.021099722935021322,
+            "closest_contact_pad": [
+              0.146783247590065,
+              -0.36955670562328624,
+              0.7904961628266469
+            ],
+            "closest_contact_pad_button": [
+              0.146783247590065,
+              -0.36844494938850403,
+              0.7694257497787476
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001111756234782213,
+              0.02107041304789936
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e3ae23d34c40352f5108c2f3e486be874ff0e52cbebb457e249ce85fd401f40b",
+    "visual_seed": 5114386986622261904,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3eafdb90992490e2a3a605b3fa54b65057f5856c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17777310250152234,
+              0.228064628044633,
+              1.048266088681016
+            ],
+            "current_z": 1.048266088681016,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.18715916343373662,
+            "gripper_z": 1.0543226138998723,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17452498293659718,
+              0.22430633038465214,
+              1.0543226138998723
+            ],
+            "object_minus_gripper": [
+              0.003248119564925156,
+              0.0037582976599808693,
+              -0.006056525218856246
+            ],
+            "object_to_gripper_xy": 0.004967401937539106,
+            "object_to_gripper_z": -0.006056525218856246,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17777310250152234,
+              0.2044972117008802,
+              1.048266088681016
+            ],
+            "finger_b": [
+              0.16805437285278996,
+              0.228064628044633,
+              1.048266088681016
+            ],
+            "finger_midpoint": [
+              0.17291373767715615,
+              0.2162809198727566,
+              1.048266088681016
+            ],
+            "object_minus_finger_midpoint": [
+              0.004859364824366191,
+              0.011783708171876406,
+              0.0
+            ],
+            "finger_gap": 0.025492681677393946,
+            "fingertip_max_gap": 0.09467484566599504,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012746340838696973,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048266088681016,
+            "object_top_z": 1.0999532735478017,
+            "finger_top_clearance": 0.051687184866785696,
+            "fingertip_min_top_clearance": 0.01550615546003569,
+            "object_projection_between_fingers": 0.8546590627509394,
+            "object_to_finger_line_xy": 0.008984749068873366,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049837422832997524,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6351789719568894,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17829850992919813,
+              0.22981834805253568,
+              1.2442119333070014
+            ],
+            "held_position": [
+              0.18166938727501847,
+              0.23334834180045222,
+              1.2380653080865063
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007848864347287546,
+            "max_held_gripper_dist": 0.007864194104433375,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006146625220495139,
+            "max_held_gripper_z_dist": 0.006180343197461191,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08472298959775945,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18166938727501847,
+              0.20925451386607236,
+              1.2380653080865063
+            ],
+            "held_grasp_finger_b": [
+              0.17320605055468227,
+              0.23334834180045222,
+              1.2380653080865063
+            ],
+            "held_grasp_midpoint": [
+              0.17743771891485038,
+              0.2213014278332623,
+              1.2380653080865063
+            ],
+            "held_grasp_object_position": [
+              0.18166938727501847,
+              0.23334834180045222,
+              1.2380653080865063
+            ],
+            "held_grasp_finger_gap": 0.02553704393568869,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023878516600572906,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.023282995214681565,
+              -0.999242150085206,
+              0.031193390757145778
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003968013319614915,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037583939941448784,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2965343523098034,
+              -0.3058819949070458,
+              0.851539562044547
+            ],
+            "target_position": [
+              0.29181914566978884,
+              -0.30671314538293837,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004787899828903472,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1820512104943212,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539562044547,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514677068540802,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539259283295424,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1510836175171366,
+            "release_required_pad_clearance": 0.05269629641647712,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4476235615906475,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007168412208557129,
+            "max_z_decrease": 0.007168412208557129,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523331077430091,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007168412208557129,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 76,
+            "contact_point_distance": 0.02109402520044001,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007168412208557129,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 76,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007168432622137597,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1475190669298172,
+              -0.36297461390495306,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1475190669298172,
+              -0.36297461390495306,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14966447471853594,
+              -0.3618559406713085,
+              0.8079553659274002
+            ],
+            "closest_button": [
+              0.14750824868679047,
+              -0.3629813492298126,
+              0.7728061079978943
+            ],
+            "closest_ee_minus_button": [
+              0.0021562260317454784,
+              0.0011254085585041262,
+              0.03514925792950596
+            ],
+            "button_min_z_position": [
+              0.14750228822231293,
+              -0.3629779517650604,
+              0.7696404457092285
+            ],
+            "min_active_finger_to_button": 0.1437444234354589,
+            "closest_active_finger": [
+              0.021849825978279114,
+              -0.4238617420196533,
+              0.8106153607368469
+            ],
+            "closest_active_finger_button": [
+              0.14751948416233063,
+              -0.36297735571861267,
+              0.7765171527862549
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1256696581840515,
+              -0.06088438630104065,
+              0.03409820795059204
+            ],
+            "min_contact_pad_to_button": 0.02109402520044001,
+            "closest_contact_pad": [
+              0.14750228822231293,
+              -0.3632331685283271,
+              0.7907329269184307
+            ],
+            "closest_contact_pad_button": [
+              0.14750228822231293,
+              -0.3629779517650604,
+              0.7696404457092285
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00025521676326667464,
+              0.021092481209202152
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "26a3739e6ed1d4a32da584372edc9f05815cc1ed69586ee18c300870d6445c03",
+    "visual_seed": 2477742531760522281,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3bc6759e65687e8560c740ae192929423951344
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17522336255704177,
+              0.2233472038233567,
+              1.0472019908078827
+            ],
+            "current_z": 1.0472019908078827,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.18609518476989295,
+            "gripper_z": 1.0532558812525843,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17211417396633172,
+              0.21966149293311837,
+              1.0532558812525843
+            ],
+            "object_minus_gripper": [
+              0.003109188590710049,
+              0.003685710890238336,
+              -0.006053890444701615
+            ],
+            "object_to_gripper_xy": 0.00482198283479141,
+            "object_to_gripper_z": -0.006053890444701615,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17522336255704177,
+              0.19990261271690543,
+              1.0472019908078827
+            ],
+            "finger_b": [
+              0.16556182409455364,
+              0.2233472038233567,
+              1.0472019908078827
+            ],
+            "finger_midpoint": [
+              0.1703925933257977,
+              0.21162490827013108,
+              1.0472019908078827
+            ],
+            "object_minus_finger_midpoint": [
+              0.004830769231244064,
+              0.011722295553225626,
+              0.0
+            ],
+            "finger_gap": 0.025357329859644763,
+            "fingertip_max_gap": 0.09356083921421854,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01267866492982237,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472019908078827,
+            "object_top_z": 1.0984569391197954,
+            "finger_top_clearance": 0.051254948311912685,
+            "fingertip_min_top_clearance": 0.015376484493573789,
+            "object_projection_between_fingers": 0.8548271061971666,
+            "object_to_finger_line_xy": 0.008932755142834257,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04928041960710927,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3760661867315527,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1761516185980592,
+              0.22480175973245325,
+              1.242854055094473
+            ],
+            "held_position": [
+              0.17939494545370907,
+              0.2282280293556414,
+              1.2366940799533652
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007759109894983361,
+            "max_held_gripper_dist": 0.007773662383388702,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006159975141107887,
+            "max_held_gripper_z_dist": 0.0061914791590944596,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08623541070139529,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17939494545370907,
+              0.20413337055533656,
+              1.2366940799533652
+            ],
+            "held_grasp_finger_b": [
+              0.1712575623886355,
+              0.2282280293556414,
+              1.2366940799533652
+            ],
+            "held_grasp_midpoint": [
+              0.1753262539211723,
+              0.216180699955489,
+              1.2366940799533652
+            ],
+            "held_grasp_object_position": [
+              0.17939494545370907,
+              0.2282280293556414,
+              1.2366940799533652
+            ],
+            "held_grasp_finger_gap": 0.025431665023172467,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02377969849806822,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03548951382177716,
+              -0.9989139280330765,
+              0.030190375788047064
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036569248587291704,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03754160905229993,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3053653453809979,
+              -0.30409231455180696,
+              0.8515395730524086
+            ],
+            "target_position": [
+              0.29995963677974585,
+              -0.30499851903022485,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005481139666014277,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1837774516757336,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395730524086,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547670481003907,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08558174634628433,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15206739809474226,
+            "release_required_pad_clearance": 0.05279087317314217,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6293155806988573,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007106363773345947,
+            "max_z_decrease": 0.007106363773345947,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035146823013037405,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007106363773345947,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021120829291529072,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007106363773345947,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007106381679776017,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15565955638885495,
+              -0.3612599670886993,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15565955638885495,
+              -0.3612599670886993,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1545468159665574,
+              -0.3607665922238817,
+              0.8080702359254104
+            ],
+            "closest_button": [
+              0.15565079450607294,
+              -0.36126780509948725,
+              0.7729443311691284
+            ],
+            "closest_ee_minus_button": [
+              -0.0011039785395155488,
+              0.0005012128756055612,
+              0.03512590475628197
+            ],
+            "button_min_z_position": [
+              0.1556442081928253,
+              -0.3612643182277679,
+              0.7697024941444397
+            ],
+            "min_active_finger_to_button": 0.14689546759201666,
+            "closest_active_finger": [
+              0.026146605610847473,
+              -0.4215752184391022,
+              0.8103011250495911
+            ],
+            "closest_active_finger_button": [
+              0.15565821528434748,
+              -0.36126565933227534,
+              0.776128351688385
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1295116096735,
+              -0.06030955910682684,
+              0.034172773361206055
+            ],
+            "min_contact_pad_to_button": 0.021120829291529072,
+            "closest_contact_pad": [
+              0.1556442081928253,
+              -0.3623311584248472,
+              0.7907963624941713
+            ],
+            "closest_contact_pad_button": [
+              0.1556442081928253,
+              -0.3612643182277679,
+              0.7697024941444397
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010668401970793107,
+              0.021093868349731593
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6ed773044dd174c7610ce2d7065b1358631765ee5d24add0422ff8c960b6e705",
+    "visual_seed": 2791941497219055321,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..10f5c2e5eec62c3e044b39c16e96d5bfb8218fd7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18164692233471566,
+              0.22213788391743558,
+              1.0482822855181775
+            ],
+            "current_z": 1.0482822855181775,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1871755986894773,
+            "gripper_z": 1.0543409262920702,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17824998797057037,
+              0.21820000970479225,
+              1.0543409262920702
+            ],
+            "object_minus_gripper": [
+              0.0033969343641452876,
+              0.0039378742126433275,
+              -0.006058640773892732
+            ],
+            "object_to_gripper_xy": 0.005200578466758526,
+            "object_to_gripper_z": -0.006058640773892732,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18164692233471566,
+              0.19874102836952673,
+              1.0482822855181775
+            ],
+            "finger_b": [
+              0.17129342550127793,
+              0.22213788391743558,
+              1.0482822855181775
+            ],
+            "finger_midpoint": [
+              0.1764701739179968,
+              0.21043945614348114,
+              1.0482822855181775
+            ],
+            "object_minus_finger_midpoint": [
+              0.005176748416718863,
+              0.01169842777395444,
+              0.0
+            ],
+            "finger_gap": 0.025585303324559557,
+            "fingertip_max_gap": 0.09826947839950964,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01279265166227979,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482822855181775,
+            "object_top_z": 1.1024195395107572,
+            "finger_top_clearance": 0.05413725399257974,
+            "fingertip_min_top_clearance": 0.016241176197773904,
+            "object_projection_between_fingers": 0.8362456031101368,
+            "object_to_finger_line_xy": 0.009467906897751972,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05163473919975482,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9474827841730122,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1824482178558092,
+              0.22312710459425467,
+              1.2437129967428122
+            ],
+            "held_position": [
+              0.18605776162267051,
+              0.2267288179605185,
+              1.2375436036466103
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008003908829632846,
+            "max_held_gripper_dist": 0.008018289548299909,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006169393096201903,
+            "max_held_gripper_z_dist": 0.006202164823612355,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08538388699858987,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18605776162267051,
+              0.2024135675500725,
+              1.2375436036466103
+            ],
+            "held_grasp_finger_b": [
+              0.17761616115306456,
+              0.2267288179605185,
+              1.2375436036466103
+            ],
+            "held_grasp_midpoint": [
+              0.18183696138786754,
+              0.21457119275529551,
+              1.2375436036466103
+            ],
+            "held_grasp_object_position": [
+              0.18605776162267051,
+              0.2267288179605185,
+              1.2375436036466103
+            ],
+            "held_grasp_finger_gap": 0.025738920354419405,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023777108057064275,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.053786481139762546,
+              -0.9965413323936932,
+              0.0633434075307342
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003644623374612024,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03737765205711505,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2998864640982587,
+              -0.30853847074100693,
+              0.8515395658821961
+            ],
+            "target_position": [
+              0.29781481699137835,
+              -0.3074996809775589,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002317499926233028,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1797893320057581,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395658821961,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589344848728326,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593377293598879,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14671654938126455,
+            "release_required_pad_clearance": 0.0529668864679944,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9691357122022384,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007080554962158203,
+            "max_z_decrease": 0.007080554962158203,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516548000106302,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007080554962158203,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02118164288766487,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007080554962158203,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007080571579008826,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15351474285125732,
+              -0.36376112699508667,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15351474285125732,
+              -0.36376112699508667,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1523314221525331,
+              -0.3648373146844409,
+              0.8081467044419846
+            ],
+            "closest_button": [
+              0.15350429713726044,
+              -0.3637683689594269,
+              0.7730170488357544
+            ],
+            "closest_ee_minus_button": [
+              -0.0011728749847273456,
+              -0.0010689457250140366,
+              0.03512965560623016
+            ],
+            "button_min_z_position": [
+              0.15349967777729034,
+              -0.3637640178203583,
+              0.7697283029556274
+            ],
+            "min_active_finger_to_button": 0.14713956164965725,
+            "closest_active_finger": [
+              0.011291474103927612,
+              -0.3477441072463989,
+              0.810939371585846
+            ],
+            "closest_active_finger_button": [
+              0.15351565182209015,
+              -0.3637632131576538,
+              0.7767966985702515
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14222417771816254,
+              0.016019105911254883,
+              0.03414267301559448
+            ],
+            "min_contact_pad_to_button": 0.02118164288766487,
+            "closest_contact_pad": [
+              0.15349967777729034,
+              -0.36622993370322043,
+              0.7907659181788226
+            ],
+            "closest_contact_pad_button": [
+              0.15349967777729034,
+              -0.3637640178203583,
+              0.7697283029556274
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024659158828621575,
+              0.02103761522319514
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f92050f5b5bd411b936f101734a895cafb103e3ba35de5901cf4c1b431b06f4",
+    "visual_seed": 8003842708373446091,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..212dc7844a6cff66328eec7f91f53aee91685e9c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17780888905265194,
+              0.22397545530520122,
+              1.0460006666510817
+            ],
+            "current_z": 1.0460006666510817,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.18489403942702598,
+            "gripper_z": 1.0519174913708427,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17437822214713045,
+              0.2200816912158151,
+              1.0519174913708427
+            ],
+            "object_minus_gripper": [
+              0.00343066690552149,
+              0.0038937640893861036,
+              -0.00591682471976096
+            ],
+            "object_to_gripper_xy": 0.005189496526680906,
+            "object_to_gripper_z": -0.00591682471976096,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17780888905265194,
+              0.20041071785047815,
+              1.0460006666510817
+            ],
+            "finger_b": [
+              0.16771523641529376,
+              0.22397545530520122,
+              1.0460006666510817
+            ],
+            "finger_midpoint": [
+              0.17276206273397285,
+              0.2121930865778397,
+              1.0460006666510817
+            ],
+            "object_minus_finger_midpoint": [
+              0.005046826318679087,
+              0.01178236872736152,
+              0.0
+            ],
+            "finger_gap": 0.02563549638438226,
+            "fingertip_max_gap": 0.09193508327063005,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012817748192191116,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460006666510817,
+            "object_top_z": 1.0961775243667662,
+            "finger_top_clearance": 0.050176857715684475,
+            "fingertip_min_top_clearance": 0.015053057314705326,
+            "object_projection_between_fingers": 0.8449708923022622,
+            "object_to_finger_line_xy": 0.009278317485727532,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048467541635315026,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1616122005345146,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1782332593288615,
+              0.22557311162306382,
+              1.2391926879613573
+            ],
+            "held_position": [
+              0.18178962353558906,
+              0.2292015470374146,
+              1.2331432399665458
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007899942466178858,
+            "max_held_gripper_dist": 0.007915641852394757,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006049447994811441,
+            "max_held_gripper_z_dist": 0.006083245802443793,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08597988733005604,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18178962353558906,
+              0.20496675126220457,
+              1.2331432399665458
+            ],
+            "held_grasp_finger_b": [
+              0.17328719806560278,
+              0.2292015470374146,
+              1.2331432399665458
+            ],
+            "held_grasp_midpoint": [
+              0.1775384108005959,
+              0.21708414914980959,
+              1.2331432399665458
+            ],
+            "held_grasp_object_position": [
+              0.18178962353558906,
+              0.2292015470374146,
+              1.2331432399665458
+            ],
+            "held_grasp_finger_gap": 0.025683001482280254,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023928409090427708,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03397506883160144,
+              -0.9992772295518206,
+              0.017050313695827102
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038426935152245027,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037467175034302865,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.299277588739743,
+              -0.3131053498844349,
+              0.8515395013303811
+            ],
+            "target_position": [
+              0.2927376291410875,
+              -0.314705292586323,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006732821711687548,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18429626731590704,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395013303811,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752410299401572,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535851760466771,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15321026696549553,
+            "release_required_pad_clearance": 0.05267925880233386,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.41495811019542495,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00716710090637207,
+            "max_z_decrease": 0.00716710090637207,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521023687674141,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00716710090637207,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108203512558937,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00716710090637207,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007167120715174034,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14843755960464472,
+              -0.37096676230430603,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14843755960464472,
+              -0.37096676230430603,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14951940907555802,
+              -0.3692088890885979,
+              0.808142240250505
+            ],
+            "closest_button": [
+              0.14842705428600306,
+              -0.37097325921058655,
+              0.7729932069778442
+            ],
+            "closest_ee_minus_button": [
+              0.0010923547895549668,
+              0.0017643701219886565,
+              0.035149033272660724
+            ],
+            "button_min_z_position": [
+              0.14842097461223597,
+              -0.3709697425365448,
+              0.7696417570114136
+            ],
+            "min_active_finger_to_button": 0.14441054520852406,
+            "closest_active_finger": [
+              0.021582908928394318,
+              -0.4309651255607605,
+              0.8108692169189453
+            ],
+            "closest_active_finger_button": [
+              0.14844013750553126,
+              -0.37096819281578064,
+              0.7767808437347412
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12685722857713694,
+              -0.05999693274497986,
+              0.0340883731842041
+            ],
+            "min_contact_pad_to_button": 0.02108203512558937,
+            "closest_contact_pad": [
+              0.14842097461223597,
+              -0.3709697425365448,
+              0.790723792137003
+            ],
+            "closest_contact_pad_button": [
+              0.14842097461223597,
+              -0.3709697425365448,
+              0.7696417570114136
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02108203512558937
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c0c019ca2b79d2db1eb53e74d620cec8536d78cff26861d5810d7610d6da0e2",
+    "visual_seed": 5774905417343452257,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6280df4b4506efd7aaca2fc98a99c64111880172
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17857530029645474,
+              0.22595796062925108,
+              1.0490646910255714
+            ],
+            "current_z": 1.0490646910255714,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18795800419687136,
+            "gripper_z": 1.0549065892880332,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1749043856072791,
+              0.22190069437173884,
+              1.0549065892880332
+            ],
+            "object_minus_gripper": [
+              0.0036709146891756306,
+              0.004057266257512238,
+              -0.005841898262461731
+            ],
+            "object_to_gripper_xy": 0.005471473671649419,
+            "object_to_gripper_z": -0.005841898262461731,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17857530029645474,
+              0.2023119755375185,
+              1.0490646910255714
+            ],
+            "finger_b": [
+              0.1681309054873827,
+              0.22595796062925108,
+              1.0490646910255714
+            ],
+            "finger_midpoint": [
+              0.17335310289191871,
+              0.21413496808338478,
+              1.0490646910255714
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052221974045360275,
+              0.011822992545866301,
+              0.0
+            ],
+            "finger_gap": 0.02584991284097899,
+            "fingertip_max_gap": 0.0916653315981398,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012924956420489507,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490646910255714,
+            "object_top_z": 1.0991953838953576,
+            "finger_top_clearance": 0.05013069286978622,
+            "fingertip_min_top_clearance": 0.015039207860935865,
+            "object_projection_between_fingers": 0.8367518026664406,
+            "object_to_finger_line_xy": 0.009553920180186335,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048332665799069904,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9537659944707225,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17884686322277255,
+              0.22716436144882365,
+              1.2444699748114012
+            ],
+            "held_position": [
+              0.18269516861418653,
+              0.23091465284190862,
+              1.2385190262590884
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008017975342373357,
+            "max_held_gripper_dist": 0.008033143345217618,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005950948552312818,
+            "max_held_gripper_z_dist": 0.005988293991610494,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08659620433805365,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18269516861418653,
+              0.20654258552720306,
+              1.2385190262590884
+            ],
+            "held_grasp_finger_b": [
+              0.17386367792229002,
+              0.23091465284190862,
+              1.2385190262590884
+            ],
+            "held_grasp_midpoint": [
+              0.17827942326823826,
+              0.21872861918455583,
+              1.2385190262590884
+            ],
+            "held_grasp_object_position": [
+              0.18269516861418653,
+              0.23091465284190862,
+              1.2385190262590884
+            ],
+            "held_grasp_finger_gap": 0.025922825714678445,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023968712522660893,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04273319047140334,
+              -0.9989349685512411,
+              0.017401236670588238
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038968269696352505,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037358496034881374,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3075482046742736,
+              -0.3058332463906662,
+              0.8515394982038521
+            ],
+            "target_position": [
+              0.3001901000658341,
+              -0.30787350422294874,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007635728874896535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829448933900857,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394982038521,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554620955334432,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08547468230877857,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1511954303744228,
+            "release_required_pad_clearance": 0.052737341154389286,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5263743185362868,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074043869972229,
+            "max_z_decrease": 0.0074043869972229,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522588571758419,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074043869972229,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108038088392423,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074043869972229,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007404408134470392,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15589003264904025,
+              -0.3641349673271179,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15589003264904025,
+              -0.3641349673271179,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15811682018134257,
+              -0.363434093695481,
+              0.8079328676207572
+            ],
+            "closest_button": [
+              0.15587927401065832,
+              -0.36414200067520136,
+              0.7727852463722229
+            ],
+            "closest_ee_minus_button": [
+              0.0022375461706842514,
+              0.0007079069797203408,
+              0.03514762124853432
+            ],
+            "button_min_z_position": [
+              0.15587259829044345,
+              -0.364137977361679,
+              0.7694044709205627
+            ],
+            "min_active_finger_to_button": 0.1438565642407051,
+            "closest_active_finger": [
+              0.03189405798912048,
+              -0.4286113977432251,
+              0.8106276392936707
+            ],
+            "closest_active_finger_button": [
+              0.15589027106761935,
+              -0.3641377389430999,
+              0.7765278220176697
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12399621307849887,
+              -0.06447365880012518,
+              0.03409981727600098
+            ],
+            "min_contact_pad_to_button": 0.02108038088392423,
+            "closest_contact_pad": [
+              0.15587259829044345,
+              -0.3644289761799278,
+              0.7904828431987795
+            ],
+            "closest_contact_pad_button": [
+              0.15587259829044345,
+              -0.364137977361679,
+              0.7694044709205627
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002909988182487888,
+              0.02107837227821674
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f70b5755efd62cfba1646ecc7a0b46f309e45f262e45c7d3283b175de072aee",
+    "visual_seed": 860064976345001164,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8a57e5d58b23e33af41eb7229bb813d3742d7166
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17756623223585583,
+              0.22901124366678402,
+              1.0463488900319278
+            ],
+            "current_z": 1.0463488900319278,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18524208399393793,
+            "gripper_z": 1.0522639146400883,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17409352365638792,
+              0.22506736697225838,
+              1.0522639146400883
+            ],
+            "object_minus_gripper": [
+              0.003472708579467909,
+              0.003943876694525644,
+              -0.005915024608160513
+            ],
+            "object_to_gripper_xy": 0.0052548899379085525,
+            "object_to_gripper_z": -0.005915024608160513,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17756623223585583,
+              0.20548410340003198,
+              1.0463488900319278
+            ],
+            "finger_b": [
+              0.167311618024942,
+              0.22901124366678402,
+              1.0463488900319278
+            ],
+            "finger_midpoint": [
+              0.1724389251303989,
+              0.21724767353340801,
+              1.0463488900319278
+            ],
+            "object_minus_finger_midpoint": [
+              0.005127307105456919,
+              0.011763570133376006,
+              0.0
+            ],
+            "finger_gap": 0.02566482888596963,
+            "fingertip_max_gap": 0.09423578464494234,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012832414442984804,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463488900319278,
+            "object_top_z": 1.0980177694494446,
+            "finger_top_clearance": 0.051668879417516855,
+            "fingertip_min_top_clearance": 0.015500663825255057,
+            "object_projection_between_fingers": 0.8403525791753387,
+            "object_to_finger_line_xy": 0.009400481413436997,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04961789232247117,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.506952854922198,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17797102068772191,
+              0.2305151250569604,
+              1.2398608139906206
+            ],
+            "held_position": [
+              0.18159462085733732,
+              0.23417146985915596,
+              1.2338206610633666
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007936169282871594,
+            "max_held_gripper_dist": 0.007950340972795508,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006040152927254017,
+            "max_held_gripper_z_dist": 0.006074668232208813,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08600437532297242,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18159462085733732,
+              0.209901996711651,
+              1.2338206610633666
+            ],
+            "held_grasp_finger_b": [
+              0.1730138089290116,
+              0.23417146985915596,
+              1.2338206610633666
+            ],
+            "held_grasp_midpoint": [
+              0.17730421489317447,
+              0.22203673328540346,
+              1.2338206610633666
+            ],
+            "held_grasp_object_position": [
+              0.18159462085733732,
+              0.23417146985915596,
+              1.2338206610633666
+            ],
+            "held_grasp_finger_gap": 0.025741749361820023,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02388459051966916,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.040924872120811626,
+              -0.9986108475956015,
+              0.03318930409468867
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038118447790921432,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03742678617940101,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30064647688272006,
+              -0.305563275070712,
+              0.8515395847606366
+            ],
+            "target_position": [
+              0.29598624380117033,
+              -0.3062590991227102,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00471189383217721,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1810047255907377,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395847606366,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758452871368381,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08627520824394873,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14854512539921613,
+            "release_required_pad_clearance": 0.053137604121974366,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3008369264453696,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0073348283767700195,
+            "max_z_decrease": 0.0073348283767700195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519446658578532,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0073348283767700195,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021261443530265475,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0073348283767700195,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0073348448878266595,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15168617665767667,
+              -0.3625205457210541,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15168617665767667,
+              -0.3625205457210541,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1503855977362897,
+              -0.36436742624258583,
+              0.8077932081585845
+            ],
+            "closest_button": [
+              0.15167440474033356,
+              -0.3625263571739197,
+              0.772670567035675
+            ],
+            "closest_ee_minus_button": [
+              -0.0012888070040438515,
+              -0.0018410690686661568,
+              0.035122641122909415
+            ],
+            "button_min_z_position": [
+              0.151670753955841,
+              -0.3625226318836212,
+              0.7694740295410156
+            ],
+            "min_active_finger_to_button": 0.14715760787849605,
+            "closest_active_finger": [
+              0.009286276996135712,
+              -0.3479023277759552,
+              0.8104637861251831
+            ],
+            "closest_active_finger_button": [
+              0.15168525278568268,
+              -0.3625233471393585,
+              0.7763445973396301
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14239897578954697,
+              0.01462101936340332,
+              0.03411918878555298
+            ],
+            "min_contact_pad_to_button": 0.021261443530265475,
+            "closest_contact_pad": [
+              0.151670753955841,
+              -0.3656945075044835,
+              0.790497544614296
+            ],
+            "closest_contact_pad_button": [
+              0.151670753955841,
+              -0.3625226318836212,
+              0.7694740295410156
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031718756208622967,
+              0.021023515073280374
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c41073693fee5f2cae856de42085e9b2813ab47cd5e4d1668e986c5106bfb30e",
+    "visual_seed": 2120745836828719922,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aea97c997d1daf92f81c544ce98c31f5c94107c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1769966742546376,
+              0.22856860098074697,
+              1.0481864398898284
+            ],
+            "current_z": 1.0481864398898284,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.18707969345648345,
+            "gripper_z": 1.053947368613745,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17347505729630214,
+              0.22453867801887656,
+              1.053947368613745
+            ],
+            "object_minus_gripper": [
+              0.0035216169583354717,
+              0.004029922961870408,
+              -0.005760928723916647
+            ],
+            "object_to_gripper_xy": 0.005351828199769341,
+            "object_to_gripper_z": -0.005760928723916647,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1769966742546376,
+              0.20515860037865963,
+              1.0481864398898284
+            ],
+            "finger_b": [
+              0.16642735790877963,
+              0.22856860098074697,
+              1.0481864398898284
+            ],
+            "finger_midpoint": [
+              0.1717120160817086,
+              0.21686360067970328,
+              1.0481864398898284
+            ],
+            "object_minus_finger_midpoint": [
+              0.005284658172929002,
+              0.011705000301043683,
+              0.0
+            ],
+            "finger_gap": 0.025685376699759538,
+            "fingertip_max_gap": 0.09224702003367274,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012842688349879786,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481864398898284,
+            "object_top_z": 1.098586516118214,
+            "finger_top_clearance": 0.050400076228385604,
+            "fingertip_min_top_clearance": 0.01512002286851568,
+            "object_projection_between_fingers": 0.8306746762318962,
+            "object_to_finger_line_xy": 0.009633018231050648,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048623510016836374,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0938456019821032,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1773668035123805,
+              0.2300820884213884,
+              1.2443816414486732
+            ],
+            "held_position": [
+              0.18110096999590616,
+              0.23378955478101554,
+              1.2385257594507597
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007872779693852824,
+            "max_held_gripper_dist": 0.007887202623601514,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005855881997913537,
+            "max_held_gripper_z_dist": 0.005890227278530835,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08608586634956122,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.18110096999590616,
+              0.2094975396613287,
+              1.2385257594507597
+            ],
+            "held_grasp_finger_b": [
+              0.17230036449767058,
+              0.23378955478101554,
+              1.2385257594507597
+            ],
+            "held_grasp_midpoint": [
+              0.17670066724678837,
+              0.22164354722117213,
+              1.2385257594507597
+            ],
+            "held_grasp_object_position": [
+              0.18110096999590616,
+              0.23378955478101554,
+              1.2385257594507597
+            ],
+            "held_grasp_finger_gap": 0.025837040382185195,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023827922628619644,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04888144261865787,
+              -0.9986042245475026,
+              0.02000518141381868
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003809223514671429,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03737610246311379,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3046416863975789,
+              -0.3040168854379377,
+              0.8515396370283582
+            ],
+            "target_position": [
+              0.2977368535359338,
+              -0.30583663764249397,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071406032611566455,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827943872534501,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396370283582,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553655389351747,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500711091810263,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15115735506176242,
+            "release_required_pad_clearance": 0.05250355545905132,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0791292402318111,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007071256637573242,
+            "max_z_decrease": 0.007071256637573242,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514692510956959,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007071256637573242,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021165418878613982,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007071256637573242,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007071276952317992,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15343677997589114,
+              -0.36209809780120844,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15343677997589114,
+              -0.36209809780120844,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15405359070620006,
+              -0.36241241653433875,
+              0.8081675424379907
+            ],
+            "closest_button": [
+              0.15342704951763153,
+              -0.36210587620735163,
+              0.7730275392532349
+            ],
+            "closest_ee_minus_button": [
+              0.0006265411885685301,
+              -0.00030654032698712586,
+              0.03514000318475585
+            ],
+            "button_min_z_position": [
+              0.15342034399509433,
+              -0.36210224032402033,
+              0.7697376012802124
+            ],
+            "min_active_finger_to_button": 0.14550365395764858,
+            "closest_active_finger": [
+              0.013063736259937286,
+              -0.34485965967178345,
+              0.8110076785087585
+            ],
+            "closest_active_finger_button": [
+              0.1534365564584732,
+              -0.36209964752197266,
+              0.7768087387084961
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14037282019853592,
+              0.01723998785018921,
+              0.03419893980026245
+            ],
+            "min_contact_pad_to_button": 0.021165418878613982,
+            "closest_contact_pad": [
+              0.15342034399509433,
+              -0.3638438033055403,
+              0.7908312475910945
+            ],
+            "closest_contact_pad_button": [
+              0.15342034399509433,
+              -0.36210224032402033,
+              0.7697376012802124
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017415629815199507,
+              0.021093646310882064
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a9f6e13b4fbf1f842a3f2d2a0d8930d9551303114e9c8c65a2c20c9ff879083f",
+    "visual_seed": 5811655351359248645,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..97283e025027951af91f8180dfb6a2baa2a64aab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.17711217561530115,
+              0.22811971768208353,
+              1.0460827015384588
+            ],
+            "current_z": 1.0460827015384588,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.184975895500469,
+            "gripper_z": 1.051890002890852,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17367011276173525,
+              0.22412915069855205,
+              1.051890002890852
+            ],
+            "object_minus_gripper": [
+              0.003442062853565908,
+              0.003990566983531479,
+              -0.005807301352393157
+            ],
+            "object_to_gripper_xy": 0.005269954604923064,
+            "object_to_gripper_z": -0.005807301352393157,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.17711217561530115,
+              0.2047776148409307,
+              1.0460827015384588
+            ],
+            "finger_b": [
+              0.16658021721668012,
+              0.22811971768208353,
+              1.0460827015384588
+            ],
+            "finger_midpoint": [
+              0.17184619641599064,
+              0.2164486662615071,
+              1.0460827015384588
+            ],
+            "object_minus_finger_midpoint": [
+              0.0052659791993105165,
+              0.011671051420576423,
+              0.0
+            ],
+            "finger_gap": 0.025608122007621695,
+            "fingertip_max_gap": 0.09279776432721762,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01280406100381086,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460827015384588,
+            "object_top_z": 1.0968887992731875,
+            "finger_top_clearance": 0.05080609773472866,
+            "fingertip_min_top_clearance": 0.015241829320418614,
+            "object_projection_between_fingers": 0.830853580388601,
+            "object_to_finger_line_xy": 0.009600003310909998,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04889888216360881,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1777118152898285,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1775742738205231,
+              0.2294748818723097,
+              1.2394763617373377
+            ],
+            "held_position": [
+              0.1812107385142297,
+              0.2331373853363347,
+              1.233540801497413
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007865664781462839,
+            "max_held_gripper_dist": 0.007881060892988808,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005935560239924698,
+            "max_held_gripper_z_dist": 0.005969869390620941,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0860183432897452,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1812107385142297,
+              0.20885650092768288,
+              1.233540801497413
+            ],
+            "held_grasp_finger_b": [
+              0.17263047246340038,
+              0.2331373853363347,
+              1.233540801497413
+            ],
+            "held_grasp_midpoint": [
+              0.17692060548881505,
+              0.2209969431320088,
+              1.233540801497413
+            ],
+            "held_grasp_object_position": [
+              0.1812107385142297,
+              0.2331373853363347,
+              1.233540801497413
+            ],
+            "held_grasp_finger_gap": 0.025752326364220497,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02379022799429046,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05243740254047771,
+              -0.9983225672976256,
+              0.024543236116818305
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003659992405585623,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037375209208138103,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2984058627381724,
+              -0.30961595515845164,
+              0.8515396158326072
+            ],
+            "target_position": [
+              0.2927696254780577,
+              -0.31079829972076817,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005758915619831973,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18035218995318744,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396158326072,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541105152687347,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08531949842444479,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14888860159261177,
+            "release_required_pad_clearance": 0.0526597492122224,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.37742315908403956,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007046401500701904,
+            "max_z_decrease": 0.007046401500701904,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035174208732146134,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007046401500701904,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021262048918050728,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007046401500701904,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007046419599481269,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14846955239772797,
+              -0.3670597672462463,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14846955239772797,
+              -0.3670597672462463,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14832886759814,
+              -0.3685441308625207,
+              0.8081923973545383
+            ],
+            "closest_button": [
+              0.14845934510231015,
+              -0.3670666813850403,
+              0.7730494737625122
+            ],
+            "closest_ee_minus_button": [
+              -0.00013047750417014004,
+              -0.0014774494774804081,
+              0.03514292359202609
+            ],
+            "button_min_z_position": [
+              0.1484538912773132,
+              -0.36706289649009705,
+              0.7697624564170837
+            ],
+            "min_active_finger_to_button": 0.14608248063364504,
+            "closest_active_finger": [
+              0.007438085973262787,
+              -0.35026630759239197,
+              0.810988187789917
+            ],
+            "closest_active_finger_button": [
+              0.1484692096710205,
+              -0.36706113815307617,
+              0.7768085598945618
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14103112369775772,
+              0.016794830560684204,
+              0.034179627895355225
+            ],
+            "min_contact_pad_to_button": 0.021262048918050728,
+            "closest_contact_pad": [
+              0.1484538912773132,
+              -0.3699983502644665,
+              0.790820894994816
+            ],
+            "closest_contact_pad_button": [
+              0.1484538912773132,
+              -0.36706289649009705,
+              0.7697624564170837
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029354537743694342,
+              0.021058438577732264
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fdac4d18ad20d57168e78505dc5581af368d43c049fea3c3c22225fbf5f725f0",
+    "visual_seed": 1930476612529469628,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0825f1f3862a079e559e3d2963df91efa486f6b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1728067607917678,
+              0.22430122620796294,
+              1.0493162784555052
+            ],
+            "current_z": 1.0493162784555052,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18820959162680506,
+            "gripper_z": 1.0553987298601342,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17027503457684595,
+              0.22098177312376438,
+              1.0553987298601342
+            ],
+            "object_minus_gripper": [
+              0.0025317262149218422,
+              0.0033194530841985648,
+              -0.00608245140462893
+            ],
+            "object_to_gripper_xy": 0.004174734291606814,
+            "object_to_gripper_z": -0.00608245140462893,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1728067607917678,
+              0.20098884021492372,
+              1.0493162784555052
+            ],
+            "finger_b": [
+              0.16408067495628678,
+              0.22430122620796294,
+              1.0493162784555052
+            ],
+            "finger_midpoint": [
+              0.1684437178740273,
+              0.21264503321144335,
+              1.0493162784555052
+            ],
+            "object_minus_finger_midpoint": [
+              0.004363042917740506,
+              0.011656192996519599,
+              0.0
+            ],
+            "finger_gap": 0.024892005035686334,
+            "fingertip_max_gap": 0.09908193599417764,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012446002517843153,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493162784555052,
+            "object_top_z": 1.1029938538152033,
+            "finger_top_clearance": 0.05367757535969808,
+            "fingertip_min_top_clearance": 0.016103272607909423,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012446002517843153,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05204096799708882,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.056590983529489,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.17338123056014632,
+              0.2279016919608824,
+              1.2431340449371593
+            ],
+            "held_position": [
+              0.17591770216821964,
+              0.23110559701631384,
+              1.236954689119909
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007408315202457705,
+            "max_held_gripper_dist": 0.0074247830559277935,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006179355817250265,
+            "max_held_gripper_z_dist": 0.006210435534057757,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08588966560992214,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.17591770216821964,
+              0.20760794543464442,
+              1.236954689119909
+            ],
+            "held_grasp_finger_b": [
+              0.16790718539067886,
+              0.23110559701631384,
+              1.236954689119909
+            ],
+            "held_grasp_midpoint": [
+              0.17191244377944925,
+              0.21935677122547914,
+              1.236954689119909
+            ],
+            "held_grasp_object_position": [
+              0.17591770216821964,
+              0.23110559701631384,
+              1.236954689119909
+            ],
+            "held_grasp_finger_gap": 0.024825551532580165,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.023605262092843315,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.01724727073239732,
+              -0.9986999109128595,
+              0.04796894406728258
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004244656284077687,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03805577857524206,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2959584529017316,
+              -0.3154080260879164,
+              0.8515395059307469
+            ],
+            "target_position": [
+              0.2941566314312511,
+              -0.31441250457724607,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.002058548928175367,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17911372123636202,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395059307469,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556520180262893,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08877910288676559,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14688054327679037,
+            "release_required_pad_clearance": 0.0543895514433828,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8041496152318888,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007406413555145264,
+            "max_z_decrease": 0.007406413555145264,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035196629301447735,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007406413555145264,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021156675506028712,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007406413555145264,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007406435136323509,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1498565524816513,
+              -0.3706739544868468,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1498565524816513,
+              -0.3706739544868468,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15175423483074282,
+              -0.37100616004334747,
+              0.8079018365394701
+            ],
+            "closest_button": [
+              0.14984580874443054,
+              -0.37068152427673334,
+              0.7727584838867188
+            ],
+            "closest_ee_minus_button": [
+              0.0019084260863122815,
+              -0.0003246357666141231,
+              0.03514335265275137
+            ],
+            "button_min_z_position": [
+              0.14983895421028137,
+              -0.3706771135330199,
+              0.7694024443626404
+            ],
+            "min_active_finger_to_button": 0.144259417882288,
+            "closest_active_finger": [
+              0.01078680157661438,
+              -0.3532871901988983,
+              0.8106722235679626
+            ],
+            "closest_active_finger_button": [
+              0.1498571336269379,
+              -0.3706769347190856,
+              0.7764988541603088
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13907033205032351,
+              0.017389744520187267,
+              0.03417336940765381
+            ],
+            "min_contact_pad_to_button": 0.021156675506028712,
+            "closest_contact_pad": [
+              0.14983895421028137,
+              -0.37241055387943967,
+              0.7904879868748168
+            ],
+            "closest_contact_pad_button": [
+              0.14983895421028137,
+              -0.3706771135330199,
+              0.7694024443626404
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017334403464197568,
+              0.021085542512176425
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 5534205038649275162,
+    "physical_seed": 6190658053621552877,
+    "layout_id": "layout_00004",
+    "step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "workflow_spec_digest": "f5a3a7322ec7311ff83e145bf3fbf56ec94fe9d6c460bf05dfe2a977cb06c9d5",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b71876f9165de1fc0b42260862863cffb144b364f228613bca54c9657c63337f",
+    "visual_seed": 3194214623423763918,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      8177086777345662735,
+      7334121879167987492,
+      3939905729978646839,
+      3527837777090367145
+    ],
+    "runtime_workflow_digest": "f27318ec63175488d41da29787be4f10229f633c2f4e7a6dae7fd9cf8f00b851"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaa3e44a859256c247d6f5038ab144eb45fe7368
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00004/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s04_pslr_htb_00004",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0001.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1890cdc812f425ac36bc0cb443ff6f9b07a77c38
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0001.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc7ce8eaee4ef89abab884c248d7a0c28d03d9ff6749e5fda052531e61ed61a1
+size 6097250
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e2d2574c9cbe91d30d10446ac5883544b5798b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d4c92245db2fc6069708cfec7d4655b563ca99ffb286a14e97db6c48f5dc8f0
+size 6748646
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ae139dbebb022f1037ee4556ddfdb126c0b4641d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e3e8035bd9d659439e9bd2822275cca3836b1eca7d2fb38f4cd800f6cf68fd8
+size 6413983
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e82d547b44eca665bbf27083d97cb462ea4aeca4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5421d081689f3ecacadcbf0799e08eb43643a6e7b1584537a8c824b0add081ab
+size 6668198
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..08951be25c4e4e6e35f9a6dd021ea19356b62ebc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3321b40b252ffc0cdb8525ac21d1d5141bb609eca135407597809c09b0fe596d
+size 7519019
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..de081f9e359a4a908785ceada159beff95bbc39b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a89c5fa480bcf240f50d96902147721cda2fdd4732c81fdc6d2b9aab1955b5a9
+size 7461975
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..40d250e15f441bdf5570ba0a5a53833aa21052fd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83681a1cd932f4ffd10c67bf53e0a0a015707ad6dc36e0d977f057cea723a3ea
+size 6880822
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e4b916ccbfd6a17666c10befe770c19d1e28a7c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56b0c73c831030692c9d27592b94b07153d276d8b1ba8a20ac1a20fb2edb2a61
+size 7010885
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5d875992d51be789fe02d5c9b0fdee770d9916ee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b0e51e0bb0b3da6c0325d38a82c23dd61913a5894d9b65331f326197cb8ba71
+size 7301811
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7788492a1ab8b01c27dc63d15daa13f7a87418a4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ef24609262565a5e2791076411fd67a3d7c0f2536154aec4255ff79f1d0c0de
+size 5593327
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..af43648ca0dfa982f448c0c0a6e1d20f93e70c7c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f00f115626bff8d2b013ee6b6e7148f72493350cbf487a1938fdacc898992c7b
+size 5550261
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2d432c30ee44fafdfdc86e8fd2d8168c12ea2cdd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e873f8c8c56508808cf17187895e8cf2a0b3bdaf4fc116dcc8a967db91fcfb4
+size 5655290
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..50ae45fff577a44114301e6e4e4854cbe41c0245
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06f870c9e48b235761c151dddc9e8e77af5cc072c7aa80fee835b10242c71c21
+size 6715317
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8d0189e2d494576f2056619712275a128f1c72ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a3615e7648e8bbde1dfad9c04debe085cdc8fac579091106116c536def39d90
+size 7138991
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b792f29a80d2ab88ecd8c3432138bebc3be3d9b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:748dc41eecbe8b6d09fabd08f94d784ac49e8411f4fea3a43d1b53d80d10e776
+size 5645330
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4b59ec3a5164b94498a1ce84093fb7fd3962ce79
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c694d3296ee5b157cb2a7b4bbde5cd8bffb790b613d42596bc57bfb04b51b5e
+size 7098311
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3e2a8ab0f9c95cbf2e098213c3d9c6a9d1a7c044
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ca99a318c7e83eb19740172cd1c273b04af16f449678b5f5fec08e496b89a1d
+size 6589238
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..60379fe505cb3a7bb92d9902ed85b9efbf83e2de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80c4c9fefcb0c55031fe2f2c9f56630c260bc8c7ed6937004de953de4e47b4b1
+size 8025240
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a276db9a56f435f2aa548634f0d5a214f47017c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4f934ba843c0444bfb146183bbb59e5ba1c9e8047ce51d6e35904e25dd307f4
+size 6764359
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2049da9b9bdf08193b009f16fe02b36cbbcc7525
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7e7dc37feddcbfd13670570f9bfcffa3ce525b0cf8f490c6b5e7953a815cf49
+size 7800347
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..772cbae965611d91b72e3f5c43300780320f502c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b85a2d995800b95136329851f3b89783b97c81e4ef834c1ab78068f0c3f731b5
+size 6149270
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1af5afc8de7d5a2ecef028e544875c8ecb1438fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:453e89ebcf554771585d1f52f9886db21012f29041a70e38b701c76f542bbfdf
+size 6809792
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..795f56eacaa712fd34986f8150fdcf65bb02bf65
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0699f389fff59c7a45680c4e414e47175748ef6164e2129fe25faea2efb4f3ac
+size 7044084
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4589be9619f785d6282340c94e928f8025fb2d52
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a490fb4f7a909704992685ae4c10d9aa654046e85c29aae3f168d00b8a79248
+size 6117012
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e2f84d363265352111cc684fc6a2ad3aae9887a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e1e4a5f7daa280dd97e76b4cab696d52b88376e12c18a596e9097cb7628b04a
+size 5394691
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0116cad5691e324878bc76af366620d06f28c86c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b646c64542bbd992771c984208712a4a7df5774fa1349397e0c3e3a5b9afdd6
+size 5967246
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..67a5654de7b40df880873f143f8454a9dc22f3ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d0759d69bd6ecadb78b7212f84936385ddfefd6f0bb8a26c9f367c5e5d2b01d
+size 5891539
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5a51a1fb2f33f6dadb690fbdb5c2988fa3a66171
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ba3a85a0417c2d4c5eb290c4c9f7be1a7c57bca7fa16c8fa4a5cd9fe363d102
+size 6703430
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c29c25022d7ef46ab6b83175248d144b016dd70e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48fce38a4a3891c649496f5cb2f9477d47306d7890ba220bea282d9b29ca1318
+size 5677190
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e1e481a25f6641b47d4c75533ad6ed6b26ca62fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86f34a3358461e848fa237d9cbcb7da70785886ac126f1e5432dfe087b5e61b0
+size 7242829
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..efc459ecb9566eac15b64bc01a3f0d179919b222
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d4ee5520c5e941078de523da19766de717702372f055e66a92f1322e72788fa
+size 5898132
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a29ce51c8289084ef73a1699eaeabfabdb19de3a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce418b6e678d6e49b238923ff618a028155dcdbca9520eca4a61c18eced7c1c1
+size 8047145
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..77a653fb7d7c924bd96c0f4f21e273e7176bdc97
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15412ca71e6fbef6c09f8fc35465b43eb985b278799c475e059cfbac7ae5abf3
+size 8000186
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0fa2dcf8ce0ed36d6934e71081f28a290e130456
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5ac5e9951aac6818dc44f34ba19e2de6ade55121d19d73941a7f44a182f591
+size 5400883
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..955e0cb93c60c1510898d9244302a66398fd141c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5797fa1554df8b8c24eadb0583de35ebaacae58d5820e19e276fbcf2ddd24840
+size 7127305
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7f8020781dc690517905a69c17a055c77e7441c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9264f5297082b2925cb494e87a637893d8e342beff7734cc970c0a20e598e0c5
+size 8615018
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..19f2e3ea25b6604a3dd3131b14e712467b53322d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65e945f705c0e6eefc94f4bbb00d73dedc5b800b2b8e7c2a73df792b0858c212
+size 6525682
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9396e592912ddd59ea3b279adc3d0e6c1d24472c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3f46c3f3b97cb7c69a39925d5ea26ae71aad4ad1088f309a2f1340fa423f8d9
+size 6036347
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ea628743ecf009e775cf0afd1145acc23aa570e8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a888f401900dff5428ca72c18f396e46004770a088a713a20f251574098c3e97
+size 7606189
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c0e3a8bec15ec7ce51d1585b98d7cfd2608be66b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cc07858f68dc81fa1cb53a374be422c86574bf9475f21a711f84ec1dac43444
+size 7319754
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3eed7a6a26f6481a8fd4fadf7515e796868f7018
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:753ba044d797beff6261a334aa30dc67b8a9b21e11e5c20b62504e7201c62b2c
+size 6704207
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3077fedc4efacbd20550a998464165f8a24d2cf9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01cdb718bc7adc9dc341d2f9ba1238072ea4da9848ba89e46dfdfb0f94955e34
+size 6458810
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c99bd37fd5b87bbecd58a26e562f35fc80bd5128
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ae5220561ee5bcf6356e1bc591a8af7cc1d265ae8da17c97bdea1402c637550
+size 6473068
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dbf8e0f4e28478d4e52e5e4e2ccfd0b6009e5caa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8ba5c4cbe8d243f721c66072e56cc044198b8938236d12c46435fb3e2a91325
+size 7505104
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8c6b13d62a34126beaa3d26398a06d4aece568b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bdb8148bb3d8bd2666ef927d21fc6de1d9cb74e0111bf2ccf84f841aa6167d3
+size 8064886
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..29ec680c7d8dc0feb42c6bed6c2301546f85fc91
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9ef62bc619b89e41cd19b59b97b6f4bc701951546993a586065a82ad8b57e2d
+size 6566679
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..55128cd4d216358158fc9bf12755307278c9b6f4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c70d18f6633bf2f2e534d876f97d0835b7424646f1cfd48319ee4053bbd87f9
+size 7041208
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..04fa298da9490fc2cdf64cb5a9d1f937d1ad3c78
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63bac4a66e481cc99e22a6eaf4d2c22c20813fcae7413b314017ce34e9c8d8a0
+size 5769915
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..abc24133e69df0d33dfd97ce8745c4eb896b5f86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e921c52e6f70d1128755b7834c99590d029245aacd3bffe5b5b5c3e6e319011
+size 6162246
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c9fe2fc12d99e7d59daf427b9b69878b0ebcf6dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df2c29dde2cbd254c60eaf9c9f0410b1c3fbbcf998c31aeaa4cb729fc780af34
+size 6207620
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d2e9f668819fc1303a0b0b0eca10421151f656de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd06aead07d923c2410237d31df1bfc04365f83881c05bce441bd3e34520f1a2
+size 6494735
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9b6a686ab7ad22086a25f2257a6889c0c4e9553a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe67a9029a0a281d85dd891f2be2e180d68102bee44534dc4a160c433f5a8f7f
+size 5263967
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2a55bc9c83fb391775f4a8ea5aa4deebcf6df262
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12cdddd83ec1f580f9f2a71f498c7a73c670084c4b757b7f9a51331e248437ea
+size 8043233
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dee5208438b1c2c09e2ae305f488615647c0602a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ef8d2ce7058af3282ab4e5d12fa83a897cc41affed8873db642089ece86521
+size 5167976
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d7915e282253d86a21012f514477af226d3a7360
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:103590902d02f64697d4130ecacbe489ff106b167ae50862132248b8ac5022ce
+size 6979876
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3cc50c63c641e7a7925fa49e3f447fcf349f9217
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a5648b69996203f29a800411e76dc1132246cb127bce29442290133ca6a32e8
+size 6249727
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d375e43ca2b618533e8378702f0918a3db9ce376
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d72cacd166d445c050e1991e6929271f989c429a654bc53d937d1b5570bfa09b
+size 7034573
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9aaed6139dc4afe648146e899f02cc2067aff919
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff7b826caddb70c2ae62d3c3403e65251f978b65510065072a509056ddc870bb
+size 7388795
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ff04cbf82e8c07dc4ee459a53d2e12802229d894
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565ae10b238162ec58bb8fe5b7f40318ae53c6d1f87d26113d97094373c711aa
+size 6274177
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2143b3207c3fe5f522082442786422dd753458c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72aba1cf931c6b536af037b1a5f7a6d626b49d74b0d834cbc2b274b6f5ac65a5
+size 7187151
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..06a1dc3d59a1d973ce6700792beb8efb5c202640
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bd63c8469d0c3184dd07e3d5ef0ef9a2809bf827fe096f6662738b541e495a6
+size 8007668
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..919646f9af445902f2ecfe1f6421cbd82bf37c70
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03e5f356a2cedacd87d931c9194e760b3471c41642b4e2e4d33d046783ebf74d
+size 6653174
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cbf312d614e2ad30c7361cd0bde9559d2b9d1630
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96b3c1083c0fd0ccede10d778967f62cd2095b9044bcf6eaa072fb1d07a09cab
+size 7269061
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e7e03120a90120b09a91f00b7d6d432897a76d2f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea7c3e8cfc32c89125ca753d5aa1262be41b6a4e7d1ba2433d9510cf58f9a35f
+size 7651181
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..274ddd8ceae40f998c0f1dddfd41ba2ad0b739ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:305272af6731a49b8a4d64f7ca3e70e2f4b612c8fdfd60ddfce5ced883f890ba
+size 7088663
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0a92714182ed5b79a9150b3598741b629b479d3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef7460bbcbbb21287a88f99d6a61d7505fa0e5f182bc3d42d04cccf1883150a4
+size 7549181
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ba9c38e4ed0e7a9a86bb8e6d18f4e5937adab330
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a52d5ab479921ee1e3aa4845e800b9effe07c34028d3066bff0666a5f620afb6
+size 7218469
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6f2d3d6bb5925d20e0678c2d3e5803719865db94
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65a713d18dce34d16e4b936b9b4ad8db622aa01d14953c3a77ea8abb8fc6a35a
+size 8323179
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bc4a789b9f3abbfbf578ac26e9982193e7f61fdf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebdba0b26e05f31d2baccebccfc9ad6f9e9a867ec1055d123759560765249625
+size 6998083
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..91bbc3f357c974a264b59d360e2dcee394069cb7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed36305410ba11629f4a269c9d518f1f98e0c3d57f7eaee2eb9ef61444e4d306
+size 5412769
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7828166253cd8d946b76a8dc8c113c2cd50794d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18c553738c794f85a664b6b84e4ea4f2a2e22f2320857adfe20d6e18db5ffbc7
+size 6388798
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bf1ac32e5be2ff8db147e41a1685425f563deddb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed68602bf3c0aef95b17bfc6a0d5484f17d1035a85063e79cb247ec54aab468e
+size 6925137
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e2419336ab382fe0f8fc8007f9f876e69486796a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd14d8cbba3b741d32792baf48ca4a266676e5202f0a700e3870f82f37c515c3
+size 7168200
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bf3a29b99e316f392fa8c4bb9b77c7bc4bed246a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79531ac76835c1a8e3e8db4f01643c474085ba5dda41b1ff7835df91ef663037
+size 6140832
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..225b74e5cccc98afdf223e5e3ffb44473bfff2e7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9700e50e86f694eb29efec448735e56920d9777dd7d32624d3bf99a3783b9e2
+size 7408579
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..26588d4c345b7d068205ba037723e4090d22226b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b82b4abda8fe3f3ac9f1e753b6336ad56134ccfd77b58d669d54ad97d3aab3b
+size 7862870
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f526fe2e0e4ba932e818849432c497b66a2c8002
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12101f82f1273c768bbab8136b99f00aa4981a14ad0f651d1b0510ee0666d047
+size 8208886
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3cf21c043eec417a7c92c6a976c79e07861e4e97
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2365e37347b5943ed0ae74dd15e7d1deca01adc853e2621048db6a9edb42ce9
+size 8377753
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fd75642f101b19a6cf3e7eed8dabab64a080ffb3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f091faacdacb0bf1f38fb2e1faff0343ac525261b75d5605c62ef55116f4ffd2
+size 7990527
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0098.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6ab02b1512c693a1ae3beed6ce75db014f8f26a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0098.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74b966de4b043801cefecf0094cbc1f0884ccc5e0eae71612d2e3411decadfb6
+size 5450707
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0100.h5
new file mode 100644
index 0000000000000000000000000000000000000000..88e6dd65f43799939d9313b6616a4f4c7eb1cd40
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0100.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7580a5ad7747e4a3eb9a0a311e7ffe2b18befaa031069c5eb5c94711c46a04ef
+size 6988188
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0101.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0101.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2f85eb29182cf48a569dabe085626709bbe34859
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0101.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75fba6b00168ba5c7a0d14c23ba0faa061e4c44bac7d6cba00cf2b9a48f323ef
+size 7240323
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0104.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0104.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c43ec45938033d38e1ee33658f04e4b37ff7ca79
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0104.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2f6b6b032a94f07bc35e47132fabac168f47fc8bdc9ec8f39f82fc23dab47bf
+size 5969247
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0105.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0105.h5
new file mode 100644
index 0000000000000000000000000000000000000000..084b0672fc55e8677ff927972af69f9f39b7a259
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0105.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc2fde2f7bd29fc06c5da5d01372b66a64cd189d51e4676bbd7a5f31cce3906d
+size 6886381
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0107.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0107.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7afa3e5facb5cad763f05e9dea5f52d9b2a3ce1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0107.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c23dfa284250466ac35c447c13962036d15fd64d549cd496f507137a2b37448
+size 5606198
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0108.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0108.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4c41fb3bae61932d0556e892760199e86977aaec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0108.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:437ab1acff85b25222397d34976c8e42eaca067d5c0668078b75052d2d1974e9
+size 6099153
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0110.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0110.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ab85c8e3c815cc168309dd98e123b81920c57aab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0110.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff5edc8ac9322eb97d74721d88a8a1dc3d101d756838c168e7102b0093799936
+size 7842538
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0111.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0111.h5
new file mode 100644
index 0000000000000000000000000000000000000000..569ba96b7c3727cb916c058c56b972cdbca8954a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0111.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab39d0791bd6a4eb4e5b1ef9accd5a0a5a6677bc992c1106157f4caf12638af7
+size 7937127
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0112.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0112.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8c071be4228f9adf86d82cb81360ab47c52b92b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0112.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70f37e52ec91603dd1c7fd26bf0625cd74d72e453607e5731cf9df754a8701b6
+size 5989626
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0113.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0113.h5
new file mode 100644
index 0000000000000000000000000000000000000000..191aacbc1dde9d69cd7d3779664d13ae28f32c6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0113.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a5cf098e7db586d4b166448c015fb7120326307512748eb35eccafd4a7a6224
+size 7834192
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0114.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0114.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7360a21643802327d35b917dec36fa90a3a6ec96
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0114.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:598105fe66fd04513b0fdc316a04e7c81c216c61229fe529e3f320729011ec98
+size 9606410
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0115.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0115.h5
new file mode 100644
index 0000000000000000000000000000000000000000..21d25ab6c586a6c8f1ddbe6c1904d410bc9e868c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0115.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4412b49421a07c5c40b53fe976e7175188f9e377ddae3b3eaa8e89065db1c1c
+size 5813151
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0116.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0116.h5
new file mode 100644
index 0000000000000000000000000000000000000000..456e03b167a7e6a5aad0988c3d8e8bb34b71fa1c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0116.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:767410e3392a26733e1e2b6032d2b6c8abab35897f271d7affce29bbf7b281df
+size 5559571
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0117.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0117.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a185b947cbf907526787be1060f19ac8d43c973d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0117.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f338ba360e2dff5de6a135a6a081121838ccf05cfd3905d6548af6bff207616
+size 6106056
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0118.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0118.h5
new file mode 100644
index 0000000000000000000000000000000000000000..54d9757e40944cf48a6670f3030c5b9ef401ae93
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0118.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b830025fc67a8e603a38db44d61fc40a476f1d04ba04fa3760b2ec6d14d6f551
+size 10091508
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0119.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0119.h5
new file mode 100644
index 0000000000000000000000000000000000000000..453cc4e595449688895dd466aa6b1ea00f8d42b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0119.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f548e6b4a923ea5cff386c1f5e7efcf57c36d9cb2a0d5dbeb07d6d4341e5746
+size 7322110
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0120.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0120.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1551f7fdb178c25ea2fec43133c05ee3e83f0b22
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0120.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a46415f4f937eea6e828d6689a8bbfacbfef54bb4e73032379363a71f8f92f02
+size 5986258
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0123.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0123.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cde4b231255207ade39483b85f0385ec4ac10f09
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0123.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:149818d94f7b87cb2aaa403fc3924e1e91c46156c34a4bdcbef4a3be615fcaac
+size 6185929
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0125.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0125.h5
new file mode 100644
index 0000000000000000000000000000000000000000..129368cdf75a5f163c8010c6f38b0ae1df2c4694
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0125.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6bf7b254d2965bbce7c868a81f1f858de7dbd96e5a279df64ba7c5901313167
+size 6349030
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0129.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0129.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d0ac3097fc3d31f55da83d1d2f14e6c69db41250
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0129.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42f74ffe7aad9aa9d8d540a939d10ec86ad882d6dcbeada1449977a5beed6774
+size 7465518
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e26043cb2da8f1446c0e16702b86ff92e8896c88
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":1,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1245,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1244,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1244,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1408,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1239,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1240,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1244,"success":true,"robot_type":"ur5e"}
+{"episode_index":16,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1240,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1245,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1240,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1240,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1240,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1239,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1240,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1244,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1239,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1244,"success":true,"robot_type":"ur5e"}
+{"episode_index":43,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1207,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1246,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1248,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":55,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1245,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1240,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1240,"success":true,"robot_type":"ur5e"}
+{"episode_index":61,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":66,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1246,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1244,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1247,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1239,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":74,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1240,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1200,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1245,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1244,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1245,"success":true,"robot_type":"ur5e"}
+{"episode_index":98,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":100,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":101,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":104,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":105,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1244,"success":true,"robot_type":"ur5e"}
+{"episode_index":107,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1240,"success":true,"robot_type":"ur5e"}
+{"episode_index":108,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":110,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":111,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":112,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":113,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":114,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1196,"success":true,"robot_type":"ur5e"}
+{"episode_index":115,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":116,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":117,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1243,"success":true,"robot_type":"ur5e"}
+{"episode_index":118,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":119,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1244,"success":true,"robot_type":"ur5e"}
+{"episode_index":120,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":123,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":125,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1242,"success":true,"robot_type":"ur5e"}
+{"episode_index":129,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1246,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..21ac353a9cfb8d823680f442ee1d13da7d92fa91
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-04T17:07:24","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.33939971351621373,0.9358334700455782,0.71338606911949],"aabb_xy":[[-0.35689971376126306,0.9183336822060112],[-0.3218997132711643,0.9533332578851449]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_1","position":[0.5983600316508806,-1.9434423772770708,0.71338606911949],"aabb_xy":[[0.5432348260212897,-2.0034423787183573],[0.6534852372804713,-1.8834423758357834]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.5153421191356644,-0.23045216326905438,0.71338606911949],"aabb_xy":[[0.49945762587033926,-0.2448051035678784],[0.5312266124009896,-0.2160992229702303]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_3","position":[0.6526969988306046,-2.144124080778284,0.71338606911949],"aabb_xy":[[0.6222127487035743,-2.19412408055978],[0.6831812489576347,-2.0941240809967883]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[0.17069597805232117,1.410715620165372,0.71338606911949],"aabb_xy":[[0.13319597738774244,1.3950285621651497],[0.20819597871689985,1.426402678165594]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[-0.5827713592348458,1.274680964402326,0.71338606911949],"aabb_xy":[[-0.6527713608371254,1.2612481712006685],[-0.5127713576325664,1.2881137576039836]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[0.4665409369207536,1.1425264495256653,0.71338606911949],"aabb_xy":[[0.42904093849735325,1.1293622355578345],[0.504040935344154,1.155690663493496]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[-0.5237895465533802,0.7768998012062256,0.71338606911949],"aabb_xy":[[-0.5412895468127169,0.7628082590174532],[-0.5062895462940437,0.7909913433949984]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[0.2653326789933287,1.6122509737168058,0.71338606911949],"aabb_xy":[[0.2579202234519402,1.6063997632951776],[0.27274513453471716,1.6181021841384335]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[-0.001866444998061878,1.6607739647038966,0.71338606911949],"aabb_xy":[[-0.01703861427969522,1.6456051077756935],[0.013305724283571463,1.6759428216321002]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_10","position":[0.2863788436576017,-1.84920548541044,0.71338606911949],"aabb_xy":[[0.22478808443360893,-1.9132054835194872],[0.34796960288159456,-1.7852054873013934]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.3536737447776041,-1.4575597455360385,0.71338606911949],"aabb_xy":[[-0.3617171047035593,-1.542559746631405],[-0.34563038485164893,-1.372559744440672]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[0.17757204974596552,-1.641987103901112,0.71338606911949],"aabb_xy":[[0.14007204823033378,-1.653213876917257],[0.2150720512615972,-1.630760330884967]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[0.387181493978068,1.6716586571662133,0.71338606911949],"aabb_xy":[[0.3762757178905053,1.591658660767384],[0.3980872700656307,1.7516586535650422]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.41519680536061476,-0.6521745916231507,0.71338606911949],"aabb_xy":[[0.3901968061949817,-0.6591268373285073],[0.44019680452624793,-0.6452223459177941]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[0.4931847295306644,-2.3654272775615452,0.71338606911949],"aabb_xy":[[0.4431897185712125,-2.415427276597137],[0.5431797404901165,-2.3154272785259535]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[0.7185312559377175,-0.49774522066232096,0.71338606911949],"aabb_xy":[[0.714617382742295,-0.5064942360688778],[0.72244512913314,-0.48899620525576415]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.11392867175315591,1.1830846901673535,0.71338606911949],"aabb_xy":[[-0.1389286716856738,1.1762020219464304],[-0.08892867182063802,1.189967358388277]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[0.18891557127896896,-0.952573073607806,0.71338606911949],"aabb_xy":[[0.128915570771116,-1.0094198072937273],[0.24891557178682186,-0.8957263399218847]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_19","position":[-0.10423500683117604,-0.2658615334531569,0.71338606911949],"aabb_xy":[[-0.12173500610926291,-0.28319963351950284],[-0.08673500755308916,-0.24852343338681093]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.13454876136041838,0.0039909656042929065,0.71338606911949],"aabb_xy":[[-0.1656956802040015,-0.06600903308251427],[-0.10340184251683526,0.07399096429110008]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[0.6924031082673587,-2.3074594677456064,0.71338606911949],"aabb_xy":[[0.6746096013324423,-2.325259213341404],[0.7101966152022752,-2.2896597221498087]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_22","position":[0.18128829100055033,1.1137689581615935,0.71338606911949],"aabb_xy":[[0.17259032870983504,1.1016439838541188],[0.18998625329126564,1.1258939324690682]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_23","position":[0.584079081639205,-0.05272513299498005,0.71338606911949],"aabb_xy":[[0.5536809705400613,-0.08313203499664956],[0.6144771927383484,-0.022318230993310543]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_24","position":[-0.24625755094540674,-2.259954265815857,0.71338606911949],"aabb_xy":[[-0.2835888274706494,-2.294607320610709],[-0.20892627442016415,-2.2253012110210046]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_25","position":[-0.46654222638334986,-0.6316308875357508,0.71338606911949],"aabb_xy":[[-0.5118208412644991,-0.6956308868839345],[-0.4212636115022006,-0.5676308881875671]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_26","position":[-0.4034051328928449,-1.1402505212617378,0.71338606911949],"aabb_xy":[[-0.467405136182553,-1.1835854402656552],[-0.3394051296031368,-1.09691560225782]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_27","position":[-0.49216072300734015,-0.20973655684131787,0.71338606911949],"aabb_xy":[[-0.52716072127746,-0.21681068453630606],[-0.4571607247372202,-0.20266242914632973]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_28","position":[0.04055954942261619,-1.5565785732181627,0.71338606911949],"aabb_xy":[[0.008097848540688726,-1.5867114053330649],[0.07302125030454362,-1.5264457411032597]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_29","position":[0.10074307760570578,0.6970106600849602,0.71338606911949],"aabb_xy":[[0.06574307841288748,0.6860436140872974],[0.13574307679852401,0.7079777060826227]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_30","position":[0.1232930508932828,-1.8260512409021004,0.71338606911949],"aabb_xy":[[0.10566021529975522,-1.8436741869177233],[0.14092588648681037,-1.8084282948864774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6679091611275493,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9041.png","name":"9041"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9041.png","name":"9041"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3978.png","name":"3978"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3159.png","name":"3159"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6720.png","name":"6720"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7663.png","name":"7663"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":554.5586196931409,"rotation_z_degrees":0.54049714147125,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010229321766418057,-0.016474998601984994,-0.005119858777559258]},{"name":"camera_2","offset_m":[-0.019141840538173648,0.005528111763304568,0.003947001176918517]},{"name":"camera_3","offset_m":[0.008795668881793638,-0.012224179980122356,0.008327172885346318]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015430001437538765,-0.0010846135077367132,9.645926379274125e-05],"end_effector_yaw_offset_degrees":0.009583205899576397},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[6.0918030538385706e-05,-6.325264669150457e-05,0.0014077825431580214],"end_effector_yaw_offset_degrees":-0.5788763529454164},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014966476787717717,-0.00045814352376462157,8.489942811675498e-05],"end_effector_yaw_offset_degrees":-0.06627045941630683},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001375935814816705,0.00034994739545650584,0.00015566921519804882],"end_effector_yaw_offset_degrees":-0.2457071191791631}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009905607921836621,0.0030947177942428133],"position_m":[0.23899056079218364,0.29669471779424283,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006249302044832837,-0.0006547840873649471],"position_m":[0.2392249302044833,-0.360454784087365,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0036233185607310817,0.0038357624775706015],"position_m":[0.34807668143926895,-0.12756423752242937,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00034978716366386095,0.002916428993570009],"position_m":[0.35964978716366386,0.07731642899357,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"623556ae608241000ea2338a261d39b74fe6bd61d0b06400afdbe92959e30138","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9041/tex_ceiling_textures_7663/tex_floor_textures_6720/tex_table_textures_3978/tex_wall_textures_3159","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":156454733150218704,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":156454733150218704,"visual_seed":156454733150218704,"scene_id":"lab_003","finished_at":"2026-09-04T17:11:29"}
+{"episode_id":"ep_000001","started_at":"2026-09-04T17:11:32","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_0","position":[-0.23175687045193927,0.8800756739525553,0.71338606911949],"aabb_xy":[[-0.26519704564795876,0.8466320481216251],[-0.1983166952559196,0.9135192997834852]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.12665329573386663,1.6139032305829466,0.71338606911949],"aabb_xy":[[-0.16111577374695438,1.6072395534000237],[-0.09219081772077883,1.620566907765869]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.4617621530582212,-1.4267715753605912,0.71338606911949],"aabb_xy":[[-0.4842621528721236,-1.431246191731072],[-0.43926215324431883,-1.4222969589901104]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_3","position":[-0.120494007742463,-0.24592569260677966,0.71338606911949],"aabb_xy":[[-0.13759608570083115,-0.2630324981380494],[-0.10339192978409482,-0.22881888707550993]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.15025077479400506,-1.89916374097941,0.71338606911949],"aabb_xy":[[-0.1678836103875326,-1.916786686995033],[-0.13261793920047746,-1.881540794963787]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[0.1275119827046527,-2.113360333409461,0.71338606911949],"aabb_xy":[[0.0774145187235791,-2.177360333919273],[0.17760944668572634,-2.0493603328996493]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[0.23735513009380227,-1.1758622121606719,0.71338606911949],"aabb_xy":[[0.14766805378568681,-1.2658622124151224],[0.3270422064019177,-1.0858622119062213]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[0.14045023250425115,0.6769843292959412,0.71338606911949],"aabb_xy":[[0.13549421231936995,0.6544843290938196],[0.14540625268913235,0.6994843294980628]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[-0.6417332125355798,-0.1393814968531446,0.71338606911949],"aabb_xy":[[-0.6496564927743281,-0.16188149709114796],[-0.6338099322968315,-0.11688149661514124]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.17223967453377087,1.161732245821527,0.71338606911949],"aabb_xy":[[0.16421340390314487,1.1529807508441743],[0.18026594516439687,1.1704837407988795]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[-0.5317641798775129,-0.6443325898411336,0.71338606911949],"aabb_xy":[[-0.5520484826009117,-0.6646152149838424],[-0.5114798771541141,-0.6240499646984247]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.25973375695786705,-1.2719265506904922,0.71338606911949],"aabb_xy":[[-0.32473375511378616,-1.2982227952404046],[-0.19473375880194804,-1.2456303061405802]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[0.2601478641930428,-1.4109052726874942,0.71338606911949],"aabb_xy":[[0.19014786259076333,-1.4243380658891518],[0.3301478657953223,-1.3974724794858366]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[-0.3865059950812727,1.4489198642475487,0.71338606911949],"aabb_xy":[[-0.456505997717859,1.4288149992516832],[-0.3165059924446863,1.4690247292434142]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_14","position":[-0.36152006294734157,1.2503363123835984,0.71338606911949],"aabb_xy":[[-0.4165132742844784,1.1953363120448048],[-0.3065268516102048,1.305336312722392]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.6193251187392577,-1.2055060324490203,0.71338606911949],"aabb_xy":[[0.5493251153476955,-1.2408218061524512],[0.6893251221308194,-1.1701902587455895]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.6139412520481369,-0.056144938571184966,0.71338606911949],"aabb_xy":[[0.603100773821622,-0.07333121986183377],[0.6247817302746518,-0.03895865728053616]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[-0.014826546862546475,-1.1094015077509944,0.71338606911949],"aabb_xy":[[-0.09482654426613989,-1.189394078949177],[0.06517345054104694,-1.0294089365528114]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[-0.35081616660147213,-1.7797063167160931,0.71338606911949],"aabb_xy":[[-0.43081616458225724,-1.7873078576779449],[-0.27081616862068714,-1.772104775754241]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[0.5289127001865672,-0.6885714115584176,0.71338606911949],"aabb_xy":[[0.46391269908062405,-0.7135367846265459],[0.5939127012925106,-0.6636060384902893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6676114526563807,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1967.png","name":"1967"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1967.png","name":"1967"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6542.png","name":"6542"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4691.png","name":"4691"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8873.png","name":"8873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3983.png","name":"3983"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":779.8050815820391,"rotation_z_degrees":246.05856478955323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008984959154595651,0.0032375065689656986,0.015642723829738237]},{"name":"camera_2","offset_m":[0.012513191955618074,-0.0017791455010192775,-0.012054098410563223]},{"name":"camera_3","offset_m":[-0.011631005803064283,-0.01342683653668253,-0.007574140869291748]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011006470708666235,-0.00035934914107654424,0.0007524351262570635],"end_effector_yaw_offset_degrees":0.11922151513541168},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007997102359810363,-0.001274256099291629,-8.576002691622255e-06],"end_effector_yaw_offset_degrees":0.668009151037654},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007072281879652279,0.0006320424921535729,0.0010047379647845876],"end_effector_yaw_offset_degrees":0.17018933525461644},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006387630575058628,-0.000990741428635442,-0.0015717608270038026],"end_effector_yaw_offset_degrees":-0.8203341179103323}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004588951517070243,0.0044328128743885776],"position_m":[0.23341104848292973,0.2980328128743886,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007172239650771375,4.1377688033710294e-05],"position_m":[0.23931722396507715,-0.3597586223119663,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002963852879887106,-0.003010134110776084],"position_m":[0.3546638528798871,-0.13441013411077607,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0041673287048037575,0.0012635606617546046],"position_m":[0.36346732870480375,0.0756635606617546,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9e3dc479cbc83b0aac64042d79a7d173140db11dd78a5607881dfe6205815206","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0002.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1967/tex_ceiling_textures_3983/tex_floor_textures_8873/tex_table_textures_6542/tex_wall_textures_4691","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":2335219081376025811,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":2335219081376025811,"visual_seed":2335219081376025811,"scene_id":"lab_003","finished_at":"2026-09-04T17:15:13"}
+{"episode_id":"ep_000002","started_at":"2026-09-04T17:19:27","dimensions":{"distractor":{"count":31,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[0.2464585746265474,-1.2704423855272,0.71338606911949],"aabb_xy":[[0.2348895938796109,-1.295442385644132],[0.25802755537348404,-1.2454423854102685]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_1","position":[-0.10149311568840591,-1.9489028854415507,0.71338606911949],"aabb_xy":[[-0.16549311760074825,-2.004814034699561],[-0.03749311377606357,-1.8929917361835404]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[-0.4718992085464415,0.5811639743784571,0.71338606911949],"aabb_xy":[[-0.521872502549702,0.5311639738239097],[-0.421925914543181,0.6311639749330044]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[-0.5299709439959713,-1.828205759489552,0.71338606911949],"aabb_xy":[[-0.5685166368211724,-1.8667515305457407],[-0.4914252511707703,-1.7896599884333633]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[-0.5186063923663542,-1.6528906773837146,0.71338606911949],"aabb_xy":[[-0.535517124802696,-1.666362882976329],[-0.5016956599300124,-1.6394184717910998]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[0.0669137903962943,1.7185215505268254,0.71338606911949],"aabb_xy":[[-0.013086211766468181,1.6385663669006818],[0.1469137925590568,1.798476734152969]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[0.16631278090261092,-2.403237063641693,0.71338606911949],"aabb_xy":[[0.08259055540252846,-2.493237067176389],[0.2500350064026934,-2.313237060106997]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[-0.0915006253147147,-1.1063938583544521,0.71338606911949],"aabb_xy":[[-0.09876187288512213,-1.1191808686179616],[-0.0842393777443073,-1.0936068480909427]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.2794257583030121,-0.4720348578714679,0.71338606911949],"aabb_xy":[[0.268858278644913,-0.48257988798447643],[0.28999323796111104,-0.4614898277584593]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.4895505907348484,-0.9495364105214081,0.71338606911949],"aabb_xy":[[-0.5395505893807695,-0.9994559541808705],[-0.43955059208892716,-0.8996168668619458]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.4503189577960309,0.1450774198814364,0.71338606911949],"aabb_xy":[[-0.5143189563826034,0.09807045648192769],[-0.38631895920945847,0.19208438328094513]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.36116740041390627,-0.7567030498716822,0.71338606911949],"aabb_xy":[[0.3441573031238556,-0.7728375383699562],[0.3781774977039569,-0.7405685613734083]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.4212854997648252,1.1610783578524457,0.71338606911949],"aabb_xy":[[-0.5112854991831961,1.127702861008256],[-0.3312855003464543,1.1944538546966355]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[-0.39089796440880314,-0.3225093995697055,0.71338606911949],"aabb_xy":[[-0.41589796434132104,-0.3293920677906288],[-0.36589796447628525,-0.31562673134878216]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[-0.25674297871853896,-2.054957871631997,0.71338606911949],"aabb_xy":[[-0.29174297861455784,-2.0633321071439368],[-0.22174297882252011,-2.0465836361200567]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_15","position":[0.5463605092376054,-1.0614322678075911,0.71338606911949],"aabb_xy":[[0.4823648118425087,-1.1254322661082998],[0.6103562066327018,-0.9974322695068825]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[-0.07146254857108647,-2.1546662364744775,0.71338606911949],"aabb_xy":[[-0.12909301745835727,-2.2146662354011877],[-0.013832079683815595,-2.0946662375477665]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.5311839924363159,-0.14963131453217482,0.71338606911949],"aabb_xy":[[-0.5399860477452886,-0.15744264068710387],[-0.5223819371273432,-0.14181998837724571]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_18","position":[-0.2856184137014724,-2.208306973737401,0.71338606911949],"aabb_xy":[[-0.3031184139465217,-2.225806761576967],[-0.26811841345642295,-2.1908071858978335]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.4295139719331231,1.5057997205491058,0.71338606911949],"aabb_xy":[[-0.4795139732940102,1.4558218159736902],[-0.37951397057223574,1.5557776251245214]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_20","position":[0.1006527461779293,-1.5245241456339347,0.71338606911949],"aabb_xy":[[0.08297711558933095,-1.5422043619133372],[0.11832837676652762,-1.5068439293545317]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[0.553413971397271,-0.40919289240931356,0.71338606911949],"aabb_xy":[[0.5034139719570753,-0.4591608168936299],[0.6034139708374665,-0.3592249679249973]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[0.5801545585226604,0.36074214679931416,0.71338606911949],"aabb_xy":[[0.5251613471855237,0.3057421464605205],[0.6351477698597972,0.41574214713810775]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[-0.46276421932813805,-1.4115851986236347,0.71338606911949],"aabb_xy":[[-0.4914135516885542,-1.44023075790071],[-0.43411488696772177,-1.3829396393465585]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_24","position":[0.3479199214145423,-2.083725215950783,0.71338606911949],"aabb_xy":[[0.2679199209443264,-2.0920359235651316],[0.4279199218847583,-2.075414508336435]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_25","position":[0.6300131966959783,0.9167552525400797,0.71338606911949],"aabb_xy":[[0.5965730214999585,0.8833116267091495],[0.6634533718919977,0.9501988783710097]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_26","position":[-0.2814074021264189,-0.5639309372506589,0.71338606911949],"aabb_xy":[[-0.3614074035565461,-0.6434480922632684],[-0.2014074006962917,-0.48441378223804943]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_27","position":[0.5610583491962302,0.5204916901011027,0.71338606911949],"aabb_xy":[[0.557617672956173,0.5166302571267384],[0.5644990254362874,0.5243531230754673]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_28","position":[-0.14240716380270912,-1.7510860980962146,0.71338606911949],"aabb_xy":[[-0.22240716487582946,-1.7608641444335993],[-0.062407162729588794,-1.7413080517588304]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_29","position":[-0.6185567849795127,0.8125371102287886,0.71338606911949],"aabb_xy":[[-0.6785567858403254,0.761110680222302],[-0.5585567841186998,0.8639635402352748]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_30","position":[0.5190188616428801,-0.6269369288503868,0.71338606911949],"aabb_xy":[[0.4815188614710081,-0.659637664233294],[0.556518861814752,-0.5942361934674796]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664154777067647,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5259.png","name":"5259"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5259.png","name":"5259"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9027.png","name":"9027"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2312.png","name":"2312"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2427.png","name":"2427"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9475.png","name":"9475"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":655.132790886397,"rotation_z_degrees":141.54237973511812,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003725077580196294,0.011538146318037772,0.003038426484087045]},{"name":"camera_2","offset_m":[0.009789032473743457,0.013784111764648024,-0.0032563622654003532]},{"name":"camera_3","offset_m":[-0.012768340933100242,-0.014437224422380629,0.015219468644970747]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009851775699033557,-0.001391264030249463,0.0018265837299807535],"end_effector_yaw_offset_degrees":-0.1469474955913943},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001874830644745944,-0.0010672257649124717,-0.0019376707479773114],"end_effector_yaw_offset_degrees":0.8282734299469654},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00193497340624545,0.0011160693242631544,-0.0004357765765246437],"end_effector_yaw_offset_degrees":0.26113572260079243},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016409582324298719,-0.001958425070043436,0.00091829851910381],"end_effector_yaw_offset_degrees":-0.8995505421692918}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028583748399418846,-0.0013908835618684943],"position_m":[0.24085837483994188,0.2922091164381315,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002404790185525212,0.0015757871181780563],"position_m":[0.23619520981447478,-0.35822421288182194,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003652551717577587,0.004242826410929741],"position_m":[0.3553525517175776,-0.12715717358907025,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022830262453375485,0.002850772419704355],"position_m":[0.36158302624533756,0.07725077241970435,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"78e3beeb498762e64f7913fdd46a501652c9808df142ae7c78b58d80cdb05234","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5259/tex_ceiling_textures_9475/tex_floor_textures_2427/tex_table_textures_9027/tex_wall_textures_2312","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":4128734328886977065,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":4128734328886977065,"visual_seed":4128734328886977065,"scene_id":"lab_003","finished_at":"2026-09-04T17:23:05"}
+{"episode_id":"ep_000003","started_at":"2026-09-04T17:23:10","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[0.3505999281249059,0.6109126420235849,0.71338606911949],"aabb_xy":[[0.3450182564907771,0.5984126422058094],[0.35618159975903463,0.6234126418413604]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[-0.0019444781500205233,-1.7710009754235392,0.71338606911949],"aabb_xy":[[-0.03944447796705408,-1.775639186734681],[0.035555521667013035,-1.7663627641123973]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_2","position":[0.015963226345916626,-1.435900632745419,0.71338606911949],"aabb_xy":[[0.0030913228449764847,-1.5159006331592548],[0.028835129846856763,-1.3559006323315825]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[0.24237782318116918,0.6897179354085985,0.71338606911949],"aabb_xy":[[0.22483112826505025,0.6522179338443472],[0.2599245180972881,0.7272179369728498]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.5320071238533569,-0.2025772206648826,0.71338606911949],"aabb_xy":[[-0.5664696018664446,-0.20924089784780542],[-0.49754464584026903,-0.19591354348195977]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.32760951804818866,1.1226318461475673,0.71338606911949],"aabb_xy":[[-0.3916095153338373,1.0811251271947233],[-0.26360952076254,1.1641385651004112]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.03569571411736372,0.592934840994674,0.71338606911949],"aabb_xy":[[-0.0449893323545143,0.5554348425065401],[-0.02640209588021314,0.6304348394828079]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[-0.002568389098832613,1.4717932978498367,0.71338606911949],"aabb_xy":[[-0.03756838829165088,1.460826251852174],[0.03243161009398565,1.482760343847499]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_8","position":[-0.64992486733679,0.6160058894357494,0.71338606911949],"aabb_xy":[[-0.6724248673469383,0.6019096697961461],[-0.6274248673266417,0.6301021090753527]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[-0.5070870642179549,-2.549340841449555,0.71338606911949],"aabb_xy":[[-0.5184487988712411,-2.5607093078558427],[-0.49572532956466875,-2.537972375043266]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[-0.5394830938334698,-0.7925516984108889,0.71338606911949],"aabb_xy":[[-0.5765172032615296,-0.8269289057445983],[-0.5024489844054101,-0.7581744910771795]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[0.4921051758233925,-2.076871695017247,0.71338606911949],"aabb_xy":[[0.47693300654175924,-2.09204055194545],[0.5072773451050259,-2.061702838089044]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[0.37389622887236884,1.066711973702633,0.71338606911949],"aabb_xy":[[0.3563962286130322,1.0526204315138605],[0.3913962291317055,1.0808035158914058]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[0.5474772389683003,-1.0758003218371737,0.71338606911949],"aabb_xy":[[0.5064592955819294,-1.125800322468131],[0.5884951823546711,-1.0258003212062163]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[-0.5021157491353231,0.36910159511221563,0.71338606911949],"aabb_xy":[[-0.5074533248013277,0.34410159418307584],[-0.4967781734693185,0.3941015960413554]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[0.26038084539081185,-1.0865194414888744,0.71338606911949],"aabb_xy":[[0.20038084513941068,-1.140800766525339],[0.32038084564221303,-1.0322381164524097]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.4473033720022216,-1.4265902129780537,0.71338606911949],"aabb_xy":[[-0.5123033720365243,-1.4732908896583812],[-0.38230337196791886,-1.3798895362977266]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.638780890942822,-1.0924443917327646,0.71338606911949],"aabb_xy":[[-0.6467041711815703,-1.114944391970768],[-0.6308576107040736,-1.0699443914947613]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[0.5685346158522817,-2.3596193067316507,0.71338606911949],"aabb_xy":[[0.4885407922737236,-2.4396193093244922],[0.64852843943084,-2.279619304138809]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[-0.6234910485660088,1.6074518404200382,0.71338606911949],"aabb_xy":[[-0.6811215174532795,1.5474518414933274],[-0.5658605796787378,1.6674518393467486]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[0.32797087055983964,0.4496170087077802,0.71338606911949],"aabb_xy":[[0.3178178550056902,0.4135474671350397],[0.33812388611398897,0.4856865502805204]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[0.3030860298737881,1.2551985606406877,0.71338606911949],"aabb_xy":[[0.239086033478215,1.191235272221954],[0.36708602626936115,1.319161849059421]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[-0.055650089786307255,-1.2012259181383989,0.71338606911949],"aabb_xy":[[-0.05978594611900745,-1.2387259175827563],[-0.05151423345360706,-1.1637259186940423]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[0.5495041273881831,-1.5874972577630206,0.71338606911949],"aabb_xy":[[0.5362731818535017,-1.6007246767850196],[0.5627350729228643,-1.5742698387410208]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[0.084677134229446,0.820141262395242,0.71338606911949],"aabb_xy":[[0.07426557554896228,0.8147955290593434],[0.0950886929099297,0.8254869957311404]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[-0.20833853773767375,-0.2417718649573577,0.71338606911949],"aabb_xy":[[-0.25833853939916845,-0.2917703072130603],[-0.15833853607617895,-0.19177342270165493]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_26","position":[-0.0630295564549751,1.0054407624176647,0.71338606911949],"aabb_xy":[[-0.11083572406874374,0.9404407597106055],[-0.015223388841206453,1.0704407651247234]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_27","position":[0.07854804733879928,-1.700744260114158,0.71338606911949],"aabb_xy":[[0.008548050928837479,-1.7211821957658395],[0.14854804374876104,-1.680306324462476]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_28","position":[0.6836530325802974,-1.5359964807875996,0.71338606911949],"aabb_xy":[[0.6728014263314217,-1.5468557715152507],[0.6945046388291729,-1.5251371900599486]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_29","position":[0.7011780112150829,1.6050801269353836,0.71338606911949],"aabb_xy":[[0.6967473818602429,1.5996317552007013],[0.7056086405699232,1.6105284986700663]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668909676375708,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9541.png","name":"9541"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9541.png","name":"9541"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5316.png","name":"5316"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/10.png","name":"10"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5950.png","name":"5950"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7916.png","name":"7916"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":560.7919954475807,"rotation_z_degrees":273.56539224344334,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00522991459865541,0.007647284237633362,-0.018039522647539847]},{"name":"camera_2","offset_m":[-0.0126742620632277,-0.013822453286411128,-0.007350113341263502]},{"name":"camera_3","offset_m":[0.008680888265896237,-0.013141301228454041,0.014994975930164575]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017887532862556799,-0.000895703264995507,0.0013565520863302208],"end_effector_yaw_offset_degrees":0.7111745946924908},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011823008901986182,-0.001173150437296864,0.0015363260420097643],"end_effector_yaw_offset_degrees":0.11325160590424255},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012989667455458975,0.0018064372587384921,0.0005626555287166],"end_effector_yaw_offset_degrees":-0.4779031155049873},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006156712821359859,-0.0005321510493485327,-4.696450551939786e-05],"end_effector_yaw_offset_degrees":-0.6276566111521364}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003990144400026322,-0.0031608664650221497],"position_m":[0.23400985559997367,0.29043913353497786,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004772176679367002,0.004013368869490213],"position_m":[0.243372176679367,-0.3557866311305098,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009487829764868163,-0.004075514508586724],"position_m":[0.35264878297648683,-0.13547551450858672,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002551119011622467,-0.0047105179390716945],"position_m":[0.35674888098837754,0.0696894820609283,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4b75e6ded1b59285c702d961f8c827a3e109bf82b4212bedbdcc53add8c39644","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0005.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9541/tex_ceiling_textures_7916/tex_floor_textures_5950/tex_table_textures_5316/tex_wall_textures_10","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":5444980828572114707,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":5444980828572114707,"visual_seed":5444980828572114707,"scene_id":"lab_003","finished_at":"2026-09-04T17:26:57"}
+{"episode_id":"ep_000004","started_at":"2026-09-04T17:27:01","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[-0.17878921787808044,1.040441955626057,0.71338606911949],"aabb_xy":[[-0.2209736320389112,0.9764419553488457],[-0.13660480371724973,1.104441955903268]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[0.4474337804634916,0.8654642085447746,0.71338606911949],"aabb_xy":[[0.36243378204606835,0.7805899130824897],[0.5324337788809148,0.9503385040070597]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.06780845470666952,1.4059417454871825,0.71338606911949],"aabb_xy":[[0.01780845434610345,1.3559617582775794],[0.11780845506723557,1.4559217326967853]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.40589644123956975,0.8120381668056869,0.71338606911949],"aabb_xy":[[-0.4113543868765898,0.7320381634980276],[-0.4004384956025497,0.8920381701133459]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_4","position":[0.25767337886827946,-2.452443872835463,0.71338606911949],"aabb_xy":[[0.24017337862323004,-2.4699436606750296],[0.2751733791133288,-2.434944084995896]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_5","position":[0.517515233697871,-0.18058813449138,0.71338606911949],"aabb_xy":[[0.48072060057296473,-0.21749400958796228],[0.5543098668227773,-0.14368225939479773]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[0.04076919317756189,0.7225693693407127,0.71338606911949],"aabb_xy":[[0.02889711016606078,0.6375693696470623],[0.052641276189063,0.807569369034363]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[0.540701113092352,1.5454531894709613,0.71338606911949],"aabb_xy":[[0.49088433362751727,1.4954531909866577],[0.5905178925571868,1.5954531879552645]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.22779677207236337,-1.1331761684363033,0.71338606911949],"aabb_xy":[[0.13779677265399248,-1.166551665280493],[0.31779677149073426,-1.0998006715921136]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[-0.016561215475307645,-0.8724384001292655,0.71338606911949],"aabb_xy":[[-0.027128695133406655,-0.8829834302422741],[-0.005993735817208634,-0.861893370016257]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.29780863293001336,1.8206587714203155,0.71338606911949],"aabb_xy":[[-0.307440269150443,1.8110214586406068],[-0.28817699670958374,1.8302960842000247]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_11","position":[-0.08919967637746085,0.48299882980933617,0.71338606911949],"aabb_xy":[[-0.105084169642786,0.46864588951051206],[-0.0733151831121357,0.4973517701081602]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.52701850625946,-2.4188147920385203,0.71338606911949],"aabb_xy":[[-0.6167055825675755,-2.508814792292971],[-0.43733142995134455,-2.32881479178407]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_13","position":[-0.31073633456569577,-1.593740115512849,0.71338606911949],"aabb_xy":[[-0.3907363331530152,-1.6730557174510097],[-0.23073633597837637,-1.5144245135746879]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_14","position":[-0.16951035317892527,1.5064096470716586,0.71338606911949],"aabb_xy":[[-0.18035083140544017,1.48922336578101],[-0.15866987495241036,1.5235959283623073]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.35769379709858096,-2.132627087486522,0.71338606911949],"aabb_xy":[[0.3463320624452947,-2.1439955538928097],[0.369055531751867,-2.121258621080233]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[0.6687348455098434,-0.7961545980646838,0.71338606911949],"aabb_xy":[[0.6508657377553879,-0.8099875060418946],[0.6866039532642989,-0.7823216900874728]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[-0.3884816481876516,0.17741992394527406,0.71338606911949],"aabb_xy":[[-0.41713098054806774,0.14877436466819824],[-0.3598323158272353,0.20606548322234983]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[-0.6413724953863023,-1.0272290364916727,0.71338606911949],"aabb_xy":[[-0.6500704576770174,-1.0393540107991475],[-0.6326745330955869,-1.015104062184198]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[-0.15861764899095943,1.1624146326538707,0.71338606911949],"aabb_xy":[[-0.16632083966503647,1.1547052619551326],[-0.15091445831688238,1.1701240033526088]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[0.45543096455540133,-0.6193001182463829,0.71338606911949],"aabb_xy":[[0.42195179729436044,-0.65277923161749],[0.48891013181644233,-0.585821004875276]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[-0.5918363377851977,0.7683594265659579,0.71338606911949],"aabb_xy":[[-0.6568363387856981,0.717573061411283],[-0.5268363367846971,0.8191457917206328]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[0.13305434503440017,0.6169696441431598,0.71338606911949],"aabb_xy":[[0.09555434509063379,0.6086765541083231],[0.1705543449781666,0.6252627341779963]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[-0.445221338832797,1.2738426494860726,0.71338606911949],"aabb_xy":[[-0.4952213397833298,1.2422935024825512],[-0.39522133788226416,1.305391796489594]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_24","position":[0.325563709771338,0.6039962658170102,0.71338606911949],"aabb_xy":[[0.3036739621823972,0.5139962685277609],[0.3474534573602788,0.6939962631062592]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6645962649405273,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9371.png","name":"9371"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9371.png","name":"9371"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5080.png","name":"5080"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4429.png","name":"4429"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/256.png","name":"256"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4115.png","name":"4115"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":717.2808780394596,"rotation_z_degrees":26.266614719790763,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013257539852579416,0.0050327389524713224,0.005396726243869186]},{"name":"camera_2","offset_m":[0.000926144392111139,0.002592648953242002,-0.0011747194576975477]},{"name":"camera_3","offset_m":[-0.0025151416891636275,-0.019520956824326818,0.0006742768048253571]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00147934763092838,-0.001263813611713148,-0.0009683104802845671],"end_effector_yaw_offset_degrees":0.0003116193153580582},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017067220631803936,0.0005134275368591781,0.0008724615070417482],"end_effector_yaw_offset_degrees":-0.20436543987292377},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010979234373257039,-0.0009734963378263109,-0.0012160710801964747],"end_effector_yaw_offset_degrees":0.26359100140350433},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007258663658320033,0.0019282923122492385,-0.0004889079974075292],"end_effector_yaw_offset_degrees":-0.021015795865075182}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008911359936984607,0.001111796888659861],"position_m":[0.23710886400630152,0.2947117968886599,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0045273918630680055,-0.0025269457975171895],"position_m":[0.234072608136932,-0.3623269457975172,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007500258448858658,0.0037616996377380927],"position_m":[0.35094997415511414,-0.1276383003622619,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000877839506688567,0.0021591793733248014],"position_m":[0.35842216049331144,0.07655917937332479,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f0f467e5af0ce620bd1f57d4f695377329cc3001c58fb78a0e9ca95e507ac58d","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0006.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9371/tex_ceiling_textures_4115/tex_floor_textures_256/tex_table_textures_5080/tex_wall_textures_4429","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":2988722362069461614,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":2988722362069461614,"visual_seed":2988722362069461614,"scene_id":"lab_003","finished_at":"2026-09-04T17:30:41"}
+{"episode_id":"ep_000005","started_at":"2026-09-04T17:30:46","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[-0.342309975966695,-0.6916548720167219,0.71338606911949],"aabb_xy":[[-0.39212675543152975,-0.7416548705010252],[-0.29249319650186023,-0.6416548735324185]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_1","position":[0.5975773367448576,-0.3645016060604127,0.71338606911949],"aabb_xy":[[0.5857052537333565,-0.4495016057540631],[0.6094494197563587,-0.2795016063667624]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[0.22424882469317653,-1.5531263533512234,0.71338606911949],"aabb_xy":[[0.13424882819230474,-1.5990379957696812],[0.31424882119404823,-1.5072147109327647]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.41645935611090135,-2.249239202906206,0.71338606911949],"aabb_xy":[[0.41014725657456297,-2.2550061421594245],[0.42277145564723984,-2.243472263652987]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_4","position":[-0.17514239323070468,-1.9758386898475808,0.71338606911949],"aabb_xy":[[-0.19764239374274525,-1.998330548212979],[-0.15264239271866406,-1.9533468314821822]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[-0.36863588701510835,-0.9972414119433433,0.71338606911949],"aabb_xy":[[-0.432635884127214,-1.0462737817377539],[-0.3046358899030026,-0.9482090421489326]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_6","position":[-0.3198461911194008,-1.5595829526042142,0.71338606911949],"aabb_xy":[[-0.3373461913644502,-1.5770827404437808],[-0.30234619087435144,-1.5420831647646471]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[0.030892066995135248,1.7088205532303795,0.71338606911949],"aabb_xy":[[-0.01041247606860074,1.6448205536622622],[0.07219661005887124,1.7728205527984964]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[0.1664056999698894,1.3370280544290196,0.71338606911949],"aabb_xy":[[0.1475213162013792,1.3181421296486668],[0.1852900837383996,1.3559139792093724]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[-0.5556472169554152,0.7847615584264775,0.71338606911949],"aabb_xy":[[-0.5842965493158313,0.7561159991494016],[-0.5269978845949989,0.8134071177035532]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[0.286550787043931,-0.7826124860403183,0.71338606911949],"aabb_xy":[[0.2365515118754949,-0.8326124873162656],[0.3365500622123672,-0.7326124847643712]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[0.5095799983443732,0.9356793376646295,0.71338606911949],"aabb_xy":[[0.4644086804962042,0.8716793405200912],[0.5547513161925421,0.999679334809168]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[0.5188479526835741,-2.5212758915136213,0.71338606911949],"aabb_xy":[[0.48134795286654053,-2.525914102824763],[0.5563479525006076,-2.5166376802024795]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.15967369825286426,0.39271413734569016,0.71338606911949],"aabb_xy":[[-0.20965250676318012,0.3427141373399714],[-0.10969488974254835,0.442714137351409]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_14","position":[0.021904815968313285,-1.008198500288084,0.71338606911949],"aabb_xy":[[-0.012686266885731932,-1.0731985005731148],[0.056495898822358497,-0.9431985000030528]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[-0.29880813953536545,0.9457700295707454,0.71338606911949],"aabb_xy":[[-0.308101757772516,0.9082700310826114],[-0.28951452129821487,0.9832700280588792]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_16","position":[-0.5835826269162536,-2.336577068645799,0.71338606911949],"aabb_xy":[[-0.608582626467992,-2.3467195525109337],[-0.558582627364515,-2.3264345847806642]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[-0.21613488392543645,-1.1408847222375482,0.71338606911949],"aabb_xy":[[-0.29613488093968443,-1.1610192739109595],[-0.13613488691118844,-1.120750170564137]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[0.20519591599348108,-0.9495138907832685,0.71338606911949],"aabb_xy":[[0.1411959195661592,-0.9966835146053651],[0.269195912420803,-0.9023442669611722]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.6136224489466409,0.5782567422607299,0.71338606911949],"aabb_xy":[[-0.6327347563046197,0.5591219633834879],[-0.594510141588662,0.5973915211379719]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[0.11309383870452927,1.2233159993190466,0.71338606911949],"aabb_xy":[[0.048093840147456435,1.1935634659051642],[0.1780938372616021,1.2530685327329294]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_21","position":[-0.47836949006121127,-2.5152110987378387,0.71338606911949],"aabb_xy":[[-0.5151641231861174,-2.552116973834421],[-0.4415748569363049,-2.4783052236412564]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[-0.0018838829008828162,-1.8277783433473096,0.71338606911949],"aabb_xy":[[-0.0818838850636453,-1.9077335269734534],[0.07811611926187967,-1.7478231597211662]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[0.02573383232644544,1.0895923750364962,0.71338606911949],"aabb_xy":[[-0.0592661663656292,1.0576065116416171],[0.11073383101852008,1.1215782384313748]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[-0.39643956790697016,0.6851718261142374,0.71338606911949],"aabb_xy":[[-0.41250149536548786,0.6001718243016455],[-0.38037764044845257,0.7701718279268291]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_25","position":[0.16015138482532632,-1.6999590651348617,0.71338606911949],"aabb_xy":[[0.14821865046349825,-1.7123412179427213],[0.17208411918715438,-1.6875769123270026]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_26","position":[0.005221694987207259,-1.3682798018468647,0.71338606911949],"aabb_xy":[[-0.06477830142275452,-1.388717737498546],[0.07522169139716904,-1.3478418661951825]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_27","position":[-0.03696973622200295,0.0345098274743294,0.71338606911949],"aabb_xy":[[-0.042936275162738735,0.028548682814965365],[-0.03100319728126716,0.04047097213369344]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_28","position":[0.0036192262101292227,1.3812392379612604,0.71338606911949],"aabb_xy":[[-0.02982094898589038,1.34779561213033],[0.03705940140614882,1.4146828637921902]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_29","position":[-0.20390706555979032,-2.287765377215702,0.71338606911949],"aabb_xy":[[-0.24245275838499136,-2.326311148271891],[-0.16536137273458928,-2.2492196061595133]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_30","position":[0.3856803765252059,-1.327041672706219,0.71338606911949],"aabb_xy":[[0.34882982858821826,-1.3645416735292528],[0.4225309244621935,-1.2895416718831854]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6722614352330605,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8044.png","name":"8044"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8044.png","name":"8044"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1972.png","name":"1972"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3841.png","name":"3841"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3421.png","name":"3421"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6042.png","name":"6042"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":714.435051047371,"rotation_z_degrees":59.77963781324,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0007014297532470064,0.005002342919358638,0.0016597217473379305]},{"name":"camera_2","offset_m":[-0.014093390683807897,-0.0076055540794626435,0.015546490755556707]},{"name":"camera_3","offset_m":[0.016507453526978483,0.011692513078951066,-0.010812256686496706]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00162297665334552,0.0012646884469928593,-0.0012058595426558591],"end_effector_yaw_offset_degrees":-0.8732697911028093},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008945891234801357,-0.0006321994540522304,-0.0008921967279948734],"end_effector_yaw_offset_degrees":0.013548399515542542},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00118660810058873,0.0011376994334050664,0.0018962105606300282],"end_effector_yaw_offset_degrees":-0.28703625538971433},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001064407119085494,-0.0007541593349166874,-0.001169467390223574],"end_effector_yaw_offset_degrees":0.7214280623990892}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017001993173457993,-0.0010583125076847125],"position_m":[0.2397001993173458,0.2925416874923153,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0048405550990946915,-0.0021417689173921107],"position_m":[0.2434405550990947,-0.3619417689173921,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020119531979660354,0.0032035622749545653],"position_m":[0.34968804680203397,-0.12819643772504544,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002657839722696306,-0.0010508813918415575],"position_m":[0.3590342160277304,0.07334911860815843,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4f32761d4a44f1e0e2181c0d13a8a8baf7ae3a4aa4fb7d650c96da422161cf27","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0007.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8044/tex_ceiling_textures_6042/tex_floor_textures_3421/tex_table_textures_1972/tex_wall_textures_3841","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":6147985914445857175,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":6147985914445857175,"visual_seed":6147985914445857175,"scene_id":"lab_003","finished_at":"2026-09-04T17:35:26"}
+{"episode_id":"ep_000006","started_at":"2026-09-04T17:38:18","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[-0.37014082968418016,-0.6823878532660304,0.71338606911949],"aabb_xy":[[-0.44014083181560965,-0.7051498188917259],[-0.30014082755275057,-0.6596258876403346]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[-0.4464760532421878,0.22208126578826004,0.71338606911949],"aabb_xy":[[-0.48502174606738885,0.1835354947320714],[-0.40793036041698677,0.26062703684444877]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[-0.2944486045546031,-0.9079129610381547,0.71338606911949],"aabb_xy":[[-0.37444860195819646,-0.9879055322363373],[-0.21444860715100963,-0.8279203898399716]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[0.4134079033618714,-1.6934429046442747,0.71338606911949],"aabb_xy":[[0.39429559600389247,-1.712577683521517],[0.4325202107198502,-1.674308125767033]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[0.3118771320297242,0.987196223125923,0.71338606911949],"aabb_xy":[[0.2478771316521906,0.9374509562751109],[0.37587713240725784,1.0369414899767353]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.11793443378311796,-2.484908588320214,0.71338606911949],"aabb_xy":[[-0.1522313448008586,-2.519205474530155],[-0.08363752276537732,-2.4506117021102725]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_6","position":[-0.0646323003027246,-0.6729694452520958,0.71338606911949],"aabb_xy":[[-0.08242580723764104,-0.6907691908478933],[-0.04683879336780816,-0.655169699656298]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_7","position":[-0.4956712282071713,-0.6124414732606647,0.71338606911949],"aabb_xy":[[-0.5029535445838347,-0.7024414768701736],[-0.4883889118305075,-0.5224414696511556]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_8","position":[0.2108219483340893,-2.066809127356112,0.71338606911949],"aabb_xy":[[0.1608219469732021,-2.116787031931527],[0.2608219496949765,-2.016831222780696]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.5405746074855877,0.9813303747932025,0.71338606911949],"aabb_xy":[[0.4505746109847159,0.9354187323747442],[0.6305746039864594,1.0272420172116605]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[-0.0951067373552742,-1.1964079202705455,0.71338606911949],"aabb_xy":[[-0.14510673771584023,-1.2463879074801483],[-0.04510673699470812,-1.1464279330609424]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.34552044204492427,1.8019526790607512,0.71338606911949],"aabb_xy":[[0.32808972696591776,1.7846805643969001],[0.3629511571239308,1.8192247937246018]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[-0.647853888780242,-0.04365453507193706,0.71338606911949],"aabb_xy":[[-0.6649559667386101,-0.060761340603206815],[-0.6307518108218738,-0.02654772954066731]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.6074562306111495,-1.820849762598744,0.71338606911949],"aabb_xy":[[-0.691178456111232,-1.9108497661334403],[-0.523734005111067,-1.7308497590640484]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_14","position":[-0.22305641502047924,-2.190865194196357,0.71338606911949],"aabb_xy":[[-0.2365029416545225,-2.2043350458494486],[-0.20960988838643585,-2.177395342543266]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[-0.15537573634310342,0.9886066988884425,0.71338606911949],"aabb_xy":[[-0.21937573775109406,0.9368177473645178],[-0.09137573493511274,1.0403956504123673]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[-0.3366139528428445,-2.518506365735404,0.71338606911949],"aabb_xy":[[-0.39661395370365726,-2.5699327957418903],[-0.27661395198203165,-2.467079935728917]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_17","position":[0.47543449680791894,-0.14954793747025885,0.71338606911949],"aabb_xy":[[0.4553760851946786,-0.1696130243794164],[0.4954929084211592,-0.12948285056110131]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.07176535571001907,0.581429708115194,0.71338606911949],"aabb_xy":[[-0.14176535211998081,0.560991772463512],[-0.0017653593000572646,0.6018676437668754]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.1642371651518395,0.44624674544379017,0.71338606911949],"aabb_xy":[[-0.17439018070598883,0.4101772038710496],[-0.15408414959769007,0.4823162870165303]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[-0.39925982185818926,0.33104538491747126,0.71338606911949],"aabb_xy":[[-0.41186252099526577,0.31844998869260577],[-0.38665712272111286,0.34364078114233676]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.667728785160796,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6956.png","name":"6956"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6956.png","name":"6956"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7328.png","name":"7328"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3980.png","name":"3980"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3940.png","name":"3940"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5769.png","name":"5769"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":598.0607113734224,"rotation_z_degrees":42.516697353684435,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010342904070557109,0.01006543057142057,-0.00817191419104796]},{"name":"camera_2","offset_m":[-0.004877650482960046,-0.00704007076123077,0.0039765866033380955]},{"name":"camera_3","offset_m":[-0.005641455907855541,0.01849598841686363,0.008827375263078176]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004980325339164265,-0.00017695437600407076,-0.00011533780455450773],"end_effector_yaw_offset_degrees":0.8430031223414558},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000575820860974411,0.0017260371408218504,-0.00045427188848735727],"end_effector_yaw_offset_degrees":-0.728644946853084},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009135531415259549,0.0015200310178696574,-0.0007411750841711431],"end_effector_yaw_offset_degrees":-0.14596866677247466},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009454647649028438,-0.0009952846288346531,0.0013043988292133347],"end_effector_yaw_offset_degrees":-0.3902831470860615}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001017668789654794,-0.003534886928803855],"position_m":[0.2369823312103452,0.29006511307119615,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003045595957146734,0.0034873421555253097],"position_m":[0.24164559595714674,-0.3563126578444747,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0049397560622468795,-0.0038633120177033074],"position_m":[0.3467602439377531,-0.1352633120177033,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028649315676866306,0.004582027162557842],"position_m":[0.36216493156768664,0.07898202716255784,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"40657673e0084ec5d2890ffb18476cfe63ac612a67a3e5494d094dfec01ae01f","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6956/tex_ceiling_textures_5769/tex_floor_textures_3940/tex_table_textures_7328/tex_wall_textures_3980","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":3877004396452070648,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":3877004396452070648,"visual_seed":3877004396452070648,"scene_id":"lab_003","finished_at":"2026-09-04T17:42:33"}
+{"episode_id":"ep_000007","started_at":"2026-09-04T17:42:37","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.14159512755016535,-1.315018195963075,0.71338606911949],"aabb_xy":[[-0.1614861674305056,-1.3276740072477717],[-0.1217040876698251,-1.302362384678378]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_1","position":[0.4368408720268284,1.4956997717501204,0.71338606911949],"aabb_xy":[[0.37921040313955745,1.4356997728234098],[0.49447134091409917,1.5556997706768307]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.3218098310808264,-1.6450040029030433,0.71338606911949],"aabb_xy":[[-0.35627230909391416,-1.651667680085966],[-0.2873473530677386,-1.6383403257201206]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[-0.0895462964606002,-1.4758407991628857,0.71338606911949],"aabb_xy":[[-0.13953053216877742,-1.5258407979763813],[-0.03956206075242298,-1.42584080034939]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[-0.2921643190621164,0.39942876496328505,0.71338606911949],"aabb_xy":[[-0.3571643176191892,0.36967623154940243],[-0.22716432050504354,0.4291812983771677]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[0.40599995982542314,-2.0748665048722046,0.71338606911949],"aabb_xy":[[0.3510044820047637,-2.129866506306111],[0.4609954376460825,-2.019866503438297]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.29936226193599663,-2.1181183780451813,0.71338606911949],"aabb_xy":[[-0.32801159429641286,-2.146763937322257],[-0.2707129295755804,-2.0894728187681055]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[0.12422425227276301,-0.8980696212204253,0.71338606911949],"aabb_xy":[[0.11812962438464471,-0.9066390157720939],[0.13031888016088133,-0.8895002266687565]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_8","position":[-0.264232972050786,-0.9325249251016821,0.71338606911949],"aabb_xy":[[-0.2701995109915218,-0.938486069761046],[-0.2582664331100502,-0.9265637804423179]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.25357603895216035,-1.0532778407354688,0.71338606911949],"aabb_xy":[[-0.27363445056540064,-1.0733429276446262],[-0.23351762733892006,-1.0332127538263114]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_10","position":[0.2839102572508785,-2.4011729767150305,0.71338606911949],"aabb_xy":[[0.2758668973249233,-2.486172977810397],[0.29195361717683366,-2.316172975619664]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[0.6347878209613338,0.7021617269546878,0.71338606911949],"aabb_xy":[[0.587658441959498,0.6381617259102857],[0.6819171999631694,0.7661617279990897]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.4231673097261443,-1.4516784771925264,0.71338606911949],"aabb_xy":[[-0.508167308418219,-1.483664340587405],[-0.3381673110340697,-1.4196926137976473]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[0.5290149896890066,1.3775886878273012,0.71338606911949],"aabb_xy":[[0.4490149864249935,1.3640286555183876],[0.6090149929530198,1.3911487201362143]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_14","position":[-0.1391221795711881,-0.7419052682462868,0.71338606911949],"aabb_xy":[[-0.2031178769662847,-0.8059052665469955],[-0.07512648217609152,-0.6779052699455781]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[-0.5080390540375865,-0.8254943958192169,0.71338606911949],"aabb_xy":[[-0.5630390532141759,-0.8804840705941744],[-0.45303905486099694,-0.7705047210442592]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[-0.5281613796785755,0.017981711699803338,0.71338606911949],"aabb_xy":[[-0.5897521389025684,-0.04601828640924355],[-0.46657062045458275,0.08198170980885022]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[0.08102924788167976,-1.3224533651108723,0.71338606911949],"aabb_xy":[[0.017029246203682416,-1.3709707565901865],[0.1450292495596771,-1.273935973631558]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[0.5671042369699701,-1.2923202553023687,0.71338606911949],"aabb_xy":[[0.5583230098227341,-1.3011000025908992],[0.5758854641172066,-1.2835405080138387]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.5602453631165429,-0.8046523676039192,0.71338606911949],"aabb_xy":[[0.5377453631063946,-0.8187485872435225],[0.5827453631266912,-0.790556147964316]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[0.003253434892573237,1.6342164801729129,0.71338606911949],"aabb_xy":[[-0.07674656376431277,1.61971162124865],[0.08325343354945924,1.6487213390971758]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[-0.2367080203462158,-1.2292297832093084,0.71338606911949],"aabb_xy":[[-0.26170802027873374,-1.2361124514302317],[-0.21170802041369793,-1.222347114988385]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6672629551857121,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1107.png","name":"1107"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1107.png","name":"1107"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6659.png","name":"6659"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1518.png","name":"1518"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5936.png","name":"5936"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/198.png","name":"198"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":591.675077718475,"rotation_z_degrees":284.6241285770139,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012193561278367878,0.0034046490235959195,0.004559312568428099]},{"name":"camera_2","offset_m":[-0.0036541110964548804,0.0009105279119603973,-0.006255034128459123]},{"name":"camera_3","offset_m":[-0.019759308948315103,0.0038375012169534276,0.015695512766783253]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00022358891011786024,-0.0009576496367389375,-0.0012031246020900682],"end_effector_yaw_offset_degrees":0.09480197707858018},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001594810927373951,-0.0017068855420671542,-0.000891417869350232],"end_effector_yaw_offset_degrees":0.4299942366847891},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008392385964079963,0.0001251738989172693,0.000207989555409494],"end_effector_yaw_offset_degrees":0.6296446754495404},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009189265891316428,-0.0015192315747203033,0.0005713429742020284],"end_effector_yaw_offset_degrees":-0.06468789678473463}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028116082336231965,-0.000547745905458751],"position_m":[0.2351883917663768,0.2930522540945413,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018770484358561611,0.002511277403745571],"position_m":[0.24047704843585616,-0.35728872259625444,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003998551760547793,-0.004083658129839778],"position_m":[0.3477014482394522,-0.13548365812983976,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009155701564938267,-0.0037577074951830923],"position_m":[0.36021557015649386,0.0706422925048169,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"94714ab311c62231fd4db0547129a704583aadec2b074455ca935f3aff077e77","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0010.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1107/tex_ceiling_textures_198/tex_floor_textures_5936/tex_table_textures_6659/tex_wall_textures_1518","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":748739952655824354,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":748739952655824354,"visual_seed":748739952655824354,"scene_id":"lab_003","finished_at":"2026-09-04T17:46:23"}
+{"episode_id":"ep_000008","started_at":"2026-09-04T17:46:27","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.24583291047452865,-1.2311520621415388,0.71338606911949],"aabb_xy":[[-0.3108329090316015,-1.2609045955554214],[-0.18083291191745582,-1.2013995287276562]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_1","position":[0.6714534061643083,-0.2362782395260674,0.71338606911949],"aabb_xy":[[0.65635110470329,-0.2513797611571292],[0.6865557076253261,-0.22117671789500556]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.523855860082135,-0.8828329607931491,0.71338606911949],"aabb_xy":[[-0.5788558592587244,-0.9378226355681067],[-0.46885586090554543,-0.8278432860181915]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[-0.03610942868811984,1.1856736926270832,0.71338606911949],"aabb_xy":[[-0.04415278861407501,1.1006736915317166],[-0.028066068762164664,1.2706736937224494]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[0.5890360242390782,-1.5424580673153157,0.71338606911949],"aabb_xy":[[0.5811127440003298,-1.564958067553319],[0.5969593044778264,-1.5199580670773123]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[0.2672945702013335,0.6683906728986813,0.71338606911949],"aabb_xy":[[0.21729456984076748,0.6184106856890782],[0.3172945705618996,0.7183706601082841]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[0.022012617439036597,-2.2826467158531916,0.71338606911949],"aabb_xy":[[-0.041987385850671514,-2.325981634857109],[0.0860126207287447,-2.239311796849274]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_7","position":[0.02513349073672544,-2.1393433712919925,0.71338606911949],"aabb_xy":[[-0.012366509207040969,-2.147636461326829],[0.06263349068049184,-2.131050281257156]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_8","position":[-0.3467672427641157,0.33161051435016065,0.71338606911949],"aabb_xy":[[-0.3706034604047208,0.24161051354167418],[-0.3229310251235107,0.42161051515864717]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[0.28990079966588433,1.2372035975915443,0.71338606911949],"aabb_xy":[[0.2259007994054135,1.192194798238616],[0.3539007999263551,1.282212396944472]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_10","position":[-0.3117121368385329,-0.2603333534805512,0.71338606911949],"aabb_xy":[[-0.3618096008196065,-0.324333353990363],[-0.26161467285745926,-0.1963333529707394]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[0.1751207924871777,-1.7397665317906128,0.71338606911949],"aabb_xy":[[0.15183895028904637,-1.8247665330878406],[0.19840263468530905,-1.6547665304933845]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.4158649139444137,1.3865977633812867,0.71338606911949],"aabb_xy":[[-0.43192684140293136,1.3015977615686947],[-0.3998029864858961,1.4715977651938783]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[0.6708410924432531,-1.0414566171114024,0.71338606911949],"aabb_xy":[[0.6363787450451112,-1.0759504995092246],[0.7053034398413948,-1.0069627347135792]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.32288785586950963,-1.9975304804522747,0.71338606911949],"aabb_xy":[[0.23288785353549057,-2.075012835037387],[0.4128878582035287,-1.9200481258671618]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[-0.1512945581995514,-0.5789271238164608,0.71338606911949],"aabb_xy":[[-0.15625057838443263,-0.6014271240185826],[-0.14633853801467023,-0.5564271236143393]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[-0.6060473275374035,0.7303189438659419,0.71338606911949],"aabb_xy":[[-0.6611725331669942,0.6703189424246546],[-0.5509221219078126,0.7903189453072289]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.30360408605421546,1.414019741194458,0.71338606911949],"aabb_xy":[[-0.3082392012064488,1.410152406117309],[-0.298968970901982,1.4178870762716065]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_18","position":[-0.33397491113530403,-2.153524075672772,0.71338606911949],"aabb_xy":[[-0.3889486331716369,-2.2085240752370052],[-0.27900118909897115,-2.098524076108539]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[-0.47471273142351234,1.6834926463209965,0.71338606911949],"aabb_xy":[[-0.4972264232469696,1.6134926457199887],[-0.4521990396000552,1.7534926469220038]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[-0.039049341691108075,-0.7487621836214979,0.71338606911949],"aabb_xy":[[-0.05098207605293614,-0.7611443364293572],[-0.027116607329280007,-0.7363800308136385]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[0.6717543419775784,1.3656958113311584,0.71338606911949],"aabb_xy":[[0.6342543418057065,1.3329950759482512],[0.7092543421494504,1.3983965467140655]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.5945851535936333,1.6591467581376045,0.71338606911949],"aabb_xy":[[-0.6063533403882909,1.5741467582323831],[-0.5828169667989759,1.7441467580428263]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[-0.6632017881911512,0.39579665503558914,0.71338606911949],"aabb_xy":[[-0.6808774187797494,0.37811643875618633],[-0.6455261576025527,0.41347687131499183]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[0.6719779434834208,0.8996386110589873,0.71338606911949],"aabb_xy":[[0.6541844365485042,0.8818388654631898],[0.6897714504183371,0.9174383566547851]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[-0.19208218213104566,1.289919300116893,0.71338606911949],"aabb_xy":[[-0.24208218157124126,1.2399513756325766],[-0.14208218269085002,1.3398872246012092]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_26","position":[-0.47528635462371627,0.47966857641341587,0.71338606911949],"aabb_xy":[[-0.4797169839785565,0.4742202046787332],[-0.47085572526887615,0.4851169481480984]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_27","position":[-0.22176962138404838,0.9873016317311438,0.71338606911949],"aabb_xy":[[-0.2717696226678883,0.9373227773405216],[-0.17176962010020838,1.0372804861217657]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_28","position":[-0.19946421932075709,-2.4183376585548837,0.71338606911949],"aabb_xy":[[-0.22779392926929734,-2.4227984007486008],[-0.1711345093722169,-2.4138769163611666]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6732301226774601,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/488.png","name":"488"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/488.png","name":"488"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6771.png","name":"6771"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2818.png","name":"2818"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2484.png","name":"2484"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/886.png","name":"886"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":568.480894025904,"rotation_z_degrees":318.9022735539885,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0017751896158191317,0.009883508467542351,-0.019898222013115356]},{"name":"camera_2","offset_m":[0.01610814248560281,-0.015632705251963256,0.004407951848945477]},{"name":"camera_3","offset_m":[0.0016318835784601242,-0.010559387240895366,-0.017974609594023576]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015731631021777387,0.0017527975637222797,-0.0006316844929879881],"end_effector_yaw_offset_degrees":0.4451656908241328},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00015152548468343316,0.0001221266573296193,5.539126398005625e-05],"end_effector_yaw_offset_degrees":0.1427727436457935},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007374946077148975,0.00014370777008237664,0.001418225525250504],"end_effector_yaw_offset_degrees":-0.6267499765329363},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011658475231812399,0.0019554236831022965,-0.0012819960116957642],"end_effector_yaw_offset_degrees":-0.04637925324099301}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036010564591463312,-0.0030414827882018058],"position_m":[0.2416010564591463,0.2905585172117982,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004312442292332766,-0.004758969400768269],"position_m":[0.24291244229233278,-0.36455896940076826,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004177766614834348,-0.004096362296667961],"position_m":[0.3475222333851657,-0.13549636229666795,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034605677772589017,0.0030316325580625548],"position_m":[0.3558394322227411,0.07743163255806255,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"db6ee1557594b151b721b40f33917a7e22dfbca4d66582c84721f68c2f22768a","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0011.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_488/tex_ceiling_textures_886/tex_floor_textures_2484/tex_table_textures_6771/tex_wall_textures_2818","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7086879203238203569,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7086879203238203569,"visual_seed":7086879203238203569,"scene_id":"lab_003","finished_at":"2026-09-04T17:50:38"}
+{"episode_id":"ep_000009","started_at":"2026-09-04T17:50:43","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.3996436313478249,-1.5031194418374163,0.71338606911949],"aabb_xy":[[0.3196436291850623,-1.5830746254635595],[0.47964363351058725,-1.4231642582112722]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[-0.36701264469699285,-0.4382907734002224,0.71338606911949],"aabb_xy":[[-0.3749359249357411,-0.4607907736382258],[-0.35908936445824446,-0.4157907731622191]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_2","position":[-0.4883157494081256,-0.7957499646877704,0.71338606911949],"aabb_xy":[[-0.5217949166691667,-0.8292290780588775],[-0.4548365821470848,-0.7622708513166635]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_3","position":[0.05466505917989639,0.8731637637018781,0.71338606911949],"aabb_xy":[[0.026335349231356164,0.868703021508161],[0.08299476912843662,0.8776245058955952]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[0.024064409027132583,-0.8417070226416854,0.71338606911949],"aabb_xy":[[0.016803161456725172,-0.8544940329051949],[0.03132565659754,-0.8289200123781759]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.4654289983196017,-0.6018770454855982,0.71338606911949],"aabb_xy":[[-0.5029289995043944,-0.6062952681816585],[-0.42792899713480886,-0.5974588227895374]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[0.2334650879184349,1.6322126176335403,0.71338606911949],"aabb_xy":[[0.21129256094178403,1.610036950477417],[0.25563761489508574,1.6543882847896632]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[0.4489706107264957,0.04864987267465937,0.71338606911949],"aabb_xy":[[0.4139706107499999,0.03918525662704276],[0.4839706107029916,0.05811448872227599]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.582278379048393,-0.7641833260786306,0.71338606911949],"aabb_xy":[[0.5653676466120511,-0.777655531671245],[0.5991891114847346,-0.750711120486016]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.505347961253682,0.2109697721952113,0.71338606911949],"aabb_xy":[[-0.5693479635964834,0.1660289209510788],[-0.44134795891088036,0.2559106234393438]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_10","position":[0.41527551831230913,1.7311838332483238,0.71338606911949],"aabb_xy":[[0.3452755219023472,1.7107458975966419],[0.4852755147222708,1.7516217689000053]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.5221994111581356,-0.008870555234198996,0.71338606911949],"aabb_xy":[[-0.6021994085617289,-0.0888631264323818],[-0.44219941375454214,0.0711220159639838]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.024634043648112613,-1.6452398494432532,0.71338606911949],"aabb_xy":[[-0.07864963993001262,-1.7092398523355103],[0.029381552633787392,-1.581239846550996]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[-0.334667373189801,-1.4950043927546321,0.71338606911949],"aabb_xy":[[-0.3846503233772803,-1.5450043923971921],[-0.2846844230023216,-1.4450043931120713]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_14","position":[-0.4646339477601682,-1.3684899246111235,0.71338606911949],"aabb_xy":[[-0.4734151749074046,-1.3772696718996538],[-0.45585272061293214,-1.3597101773225932]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[-0.618873166119156,1.165238201986626,0.71338606911949],"aabb_xy":[[-0.6438731656708944,1.1550957181214914],[-0.5938731665674174,1.1753806858517608]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[-0.15339863557258082,-1.1237951803607515,0.71338606911949],"aabb_xy":[[-0.16773306069874427,-1.1358553959152906],[-0.13906421044641737,-1.111734964806213]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[-0.4944563298730299,-2.060019374869387,0.71338606911949],"aabb_xy":[[-0.5544563297195966,-2.116837997062426],[-0.434456330026463,-2.0032007526763485]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[-0.6567677636533655,-2.1842455046192986,0.71338606911949],"aabb_xy":[[-0.6854170960137816,-2.212891063896374],[-0.6281184312929492,-2.1555999453422223]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[-0.06397074675954195,-2.292377178894192,0.71338606911949],"aabb_xy":[[-0.08897074603150422,-2.3087225424903544],[-0.038970747487579664,-2.2760318152980297]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[0.34530859027629646,-1.8640024123208794,0.71338606911949],"aabb_xy":[[0.3282065123179283,-1.8811092178521491],[0.3624106682346646,-1.8468956067896096]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[0.5574181479666149,1.1005240730017545,0.71338606911949],"aabb_xy":[[0.5445462444656747,1.0205240725879183],[0.570290051467555,1.1805240734155906]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[-0.13373772199753475,1.1332670295948608,0.71338606911949],"aabb_xy":[[-0.1837327329569868,1.083267030559269],[-0.08374271103808274,1.1832670286304525]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[-0.3571025700024722,1.4662779285795469,0.71338606911949],"aabb_xy":[[-0.4371025732603151,1.3862814207875627],[-0.2771025667446292,1.5462744363715306]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[-0.5601283808810305,1.0338621509033286,0.71338606911949],"aabb_xy":[[-0.5683429259967143,1.0251855606056868],[-0.5519138357653464,1.0425387412009695]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[0.1582450469183342,-2.1052270763671523,0.71338606911949],"aabb_xy":[[0.115478340038914,-2.169227079788955],[0.20101175379775438,-2.04122707294535]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_26","position":[-0.636822726964014,-1.7952869635863333,0.71338606911949],"aabb_xy":[[-0.659321862690241,-1.817786964364596],[-0.614323591237787,-1.7727869628080701]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_27","position":[0.05847269873855654,1.4511639936390313,0.71338606911949],"aabb_xy":[[0.05314018408394356,1.4458396653937955],[0.06380521339316952,1.4564883218842666]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_28","position":[-0.17662593988052044,-0.9337594500390558,0.71338606911949],"aabb_xy":[[-0.21412594054509912,-0.949446508039278],[-0.1391259392159417,-0.9180723920388336]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_29","position":[0.5844212775381563,1.5889057096348966,0.71338606911949],"aabb_xy":[[0.5763950069075303,1.580154214657544],[0.5924475481687823,1.5976572046122492]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_30","position":[0.6716038432176972,1.1235489944908168,0.71338606911949],"aabb_xy":[[0.6541039097837138,1.106048994570582],[0.6891037766516805,1.1410489944110511]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_31","position":[-0.6163428230639263,-1.2165414331430204,0.71338606911949],"aabb_xy":[[-0.680342820176032,-1.2655738029374308],[-0.5523428259518206,-1.1675090633486096]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_32","position":[0.2648125975204805,1.7298581264231827,0.71338606911949],"aabb_xy":[[0.25016919196644744,1.7151994067663983],[0.2794560030745134,1.7445168460799667]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_33","position":[0.41417449594266253,-2.181833278153663,0.71338606911949],"aabb_xy":[[0.3525837367186698,-2.24583327626271],[0.47576525516665547,-2.117833280044616]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642769306097294,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5149.png","name":"5149"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5149.png","name":"5149"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2518.png","name":"2518"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7436.png","name":"7436"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9797.png","name":"9797"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5290.png","name":"5290"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":770.1951357776584,"rotation_z_degrees":301.2509085456042,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006592596783785824,0.007686962483421437,-0.01334878078022281]},{"name":"camera_2","offset_m":[0.017267908908922092,-0.012906804942571735,-0.014390523143345258]},{"name":"camera_3","offset_m":[0.017576153976405263,-0.019382779152301383,0.01648213348171591]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009373862517540925,0.0005297782855717007,-0.0015069070149324026],"end_effector_yaw_offset_degrees":0.8949465639423071},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016790478164950403,7.676434099060814e-06,0.0003307517800213511],"end_effector_yaw_offset_degrees":0.407182362722446},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001751434840793497,-0.0005632266518913358,-0.0009574494011862021],"end_effector_yaw_offset_degrees":-0.1373513627560108},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007968044539057883,0.0007823406377876043,-0.00045127721829890275],"end_effector_yaw_offset_degrees":0.9072657109034519}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029671808854449424,0.0015067190264784168],"position_m":[0.23503281911455504,0.29510671902647845,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004374632047276001,-0.0017055103421191385],"position_m":[0.234225367952724,-0.36150551034211914,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015398218143661325,-0.0007482645482837051],"position_m":[0.3501601781856339,-0.13214826454828368,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001534766590131991,0.0035759502608351664],"position_m":[0.35776523340986804,0.07797595026083516,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"410c65775a5ba74eb71fcbfdeec032d5e9338022283277f13c8999e5108225b7","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5149/tex_ceiling_textures_5290/tex_floor_textures_9797/tex_table_textures_2518/tex_wall_textures_7436","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":2532070642059949150,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":2532070642059949150,"visual_seed":2532070642059949150,"scene_id":"lab_003","finished_at":"2026-09-04T17:54:28"}
+{"episode_id":"ep_000010","started_at":"2026-09-04T17:54:32","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_0","position":[-0.28750424990090695,-1.210769392030892,0.71338606911949],"aabb_xy":[[-0.33250425136713585,-1.2557692488923726],[-0.24250424843467816,-1.1657695351694113]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.017795010174340598,0.4960763713831451,0.71338606911949],"aabb_xy":[[-0.035373312363287446,0.47850188180904013],[-0.00021670798539374925,0.5136508609572499]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[-0.5495206500550686,-0.6092627215833606,0.71338606911949],"aabb_xy":[[-0.5612888368497262,-0.6942627214885821],[-0.5377524632604112,-0.524262721678139]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[0.41150469769502274,-0.00033736066874645587,0.71338606911949],"aabb_xy":[[0.3963325284133894,-0.015506217596949812],[0.4266768669766561,0.0148314962594569]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[-0.6131326072445602,0.008019854703948948,0.71338606911949],"aabb_xy":[[-0.6771283046396568,-0.055980143596759735],[-0.5491369098494636,0.07201985300465763]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[0.5611362999915741,1.761987963663414,0.71338606911949],"aabb_xy":[[0.5276961247955543,1.7285443378324836],[0.5945764751875935,1.7954315894943438]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[-0.44725460630223735,-2.024928704693248,0.71338606911949],"aabb_xy":[[-0.49438398530407296,-2.0889287057376498],[-0.4001252273004016,-1.9609287036488459]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[0.39796795349804825,-1.8729903766807263,0.71338606911949],"aabb_xy":[[0.3429679538763024,-1.927974069468199],[0.4529679531197941,-1.8180066838932536]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[-0.26114452490449996,-2.2681110256414763,0.71338606911949],"aabb_xy":[[-0.2833170518811508,-2.2902866927975993],[-0.23897199792784912,-2.245935358485353]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[0.3159115834486972,1.1048936005965078,0.71338606911949],"aabb_xy":[[0.2998496559901795,1.0198935987839157],[0.3319735109072148,1.1898936024090994]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[0.44592451364623953,-1.1486599368500385,0.71338606911949],"aabb_xy":[[0.3759245102546775,-1.1839757105534694],[0.5159245170378014,-1.1133441631466077]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_11","position":[-0.06037773687803083,1.810713180823385,0.71338606911949],"aabb_xy":[[-0.07471216200419428,1.798652965268846],[-0.04604331175186738,1.8227733963779238]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_12","position":[-0.5775968392124202,1.4292458586244838,0.71338606911949],"aabb_xy":[[-0.6228754540935694,1.3652458592763002],[-0.5323182243312709,1.4932458579726675]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[-0.21445263301330292,0.7764115824112285,0.71338606911949],"aabb_xy":[[-0.22173494938996652,0.6864115788017193],[-0.2071703166366392,0.8664115860207373]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.6276641392523294,0.9165927749303369,0.71338606911949],"aabb_xy":[[0.5660733800283366,0.85259277682129],[0.6892548984763223,0.9805927730393837]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[0.22648342691635137,-2.3675593125320016,0.71338606911949],"aabb_xy":[[0.2089834277819842,-2.377438939569589],[0.24398342605071854,-2.3576796854944133]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.4323657788388912,-1.2359831716657643,0.71338606911949],"aabb_xy":[[-0.4610151111993074,-1.26462873094284],[-0.40371644647847493,-1.2073376123886883]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[-0.06765709178546908,1.075358198434357,0.71338606911949],"aabb_xy":[[-0.10515709160250264,1.070719987123215],[-0.030157091968435523,1.0799964097454986]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[-0.640890428370186,-2.1931580216217403,0.71338606911949],"aabb_xy":[[-0.6502374359524813,-2.2074616438393844],[-0.6315434207878908,-2.1788543994040963]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[-0.5056850134621793,0.7711986833121154,0.71338606911949],"aabb_xy":[[-0.5098208697948795,0.7336986838677584],[-0.5015491571294791,0.8086986827564724]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.5335346027389218,-0.8894302005487011,0.71338606911949],"aabb_xy":[[0.5179788333286566,-0.9049806337931086],[0.5490903721491871,-0.8738797673042942]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[0.48488671758690227,0.14170709727757824,0.71338606911949],"aabb_xy":[[0.4492575616869425,0.10607443052072527],[0.520515873486862,0.17733976403443116]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[-0.3284540891280775,-0.8501286492018978,0.71338606911949],"aabb_xy":[[-0.39245408641372614,-0.8916353681547418],[-0.26445409184242885,-0.8086219302490538]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[-0.49139341998591635,-1.8278746122930845,0.71338606911949],"aabb_xy":[[-0.5138934197998188,-1.8323492286635652],[-0.468893420172014,-1.8233999959226037]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_24","position":[-0.32180717344701115,1.162314360084054,0.71338606911949],"aabb_xy":[[-0.3586018065719174,1.1254084849874715],[-0.2850125403221049,1.199220235180636]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[0.5494144550105287,-1.507124894269248,0.71338606911949],"aabb_xy":[[0.5269153192843016,-1.5296248950475109],[0.5719135907367555,-1.484624893490985]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_26","position":[-0.49958680726980653,1.2317193576632133,0.71338606911949],"aabb_xy":[[-0.5170867407037898,1.2142193577429787],[-0.4820868738358231,1.2492193575834478]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_27","position":[-0.06039881804761049,-1.7261339354118723,0.71338606911949],"aabb_xy":[[-0.12039881829901167,-1.780415260448337],[-0.00039881779620931646,-1.6718526103754077]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663665936090856,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5309.png","name":"5309"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5309.png","name":"5309"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1523.png","name":"1523"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3435.png","name":"3435"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2582.png","name":"2582"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2747.png","name":"2747"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":783.6796194061103,"rotation_z_degrees":210.15941605757473,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008346043454647534,0.0037497026673937693,8.172906792027618e-05]},{"name":"camera_2","offset_m":[-0.011511213218605322,0.004145148675810426,-0.0008100881075694816]},{"name":"camera_3","offset_m":[-0.009860135889890044,0.010153384084918424,-0.015626425967162752]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018242897817267682,-0.0007194155541140868,0.0015521505771290663],"end_effector_yaw_offset_degrees":0.06485650266315157},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007830361588307372,0.0018754909222677254,-0.0010935685324417396],"end_effector_yaw_offset_degrees":0.926498760971818},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003217556533514313,-0.0008177849677454612,-0.00043901017007993656],"end_effector_yaw_offset_degrees":0.7874349426500249},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013379271249098013,-0.001963641751504718,-0.0018579559885501422],"end_effector_yaw_offset_degrees":0.2647432569505326}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002776278701102262,-0.004456650949754509],"position_m":[0.23522372129889774,0.2891433490502455,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003684502921556178,0.000487848372785378],"position_m":[0.23491549707844384,-0.35931215162721464,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008879061668041728,-3.705811693481033e-05],"position_m":[0.3525879061668042,-0.1314370581169348,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026430999937320735,-0.004282791038266611],"position_m":[0.3619430999937321,0.07011720896173339,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ffa3878f2c46e44c523c9ff1f9910bf03dd6d19bd07886631ca5a7f0a81415c5","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5309/tex_ceiling_textures_2747/tex_floor_textures_2582/tex_table_textures_1523/tex_wall_textures_3435","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":1076945475504167326,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":1076945475504167326,"visual_seed":1076945475504167326,"scene_id":"lab_003","finished_at":"2026-09-04T17:58:28"}
+{"episode_id":"ep_000011","started_at":"2026-09-04T17:58:32","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[0.4541812840000299,-1.964744151716801,0.71338606911949],"aabb_xy":[[0.419718936601888,-1.9992380341146234],[0.48864363139817163,-1.930250269318978]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[0.678755686013516,-1.7487639529654664,0.71338606911949],"aabb_xy":[[0.6746198296808158,-1.7862639524098234],[0.6828915423462162,-1.7112639535211094]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[-0.022407581236245866,-2.2122071564517434,0.71338606911949],"aabb_xy":[[-0.03990758051433274,-2.2295452565180893],[-0.004907581958158994,-2.1948690563853974]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.17118785989971208,0.1403399326105288,0.71338606911949],"aabb_xy":[[-0.23618786100565534,0.1153745595424005],[-0.10618785879376877,0.1653053056786571]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[-0.6657405998031529,-0.6811934266039785,0.71338606911949],"aabb_xy":[[-0.6832406000624897,-0.6952849687927511],[-0.6482405995438164,-0.6671018844152059]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_5","position":[0.5836493844553388,-1.0858411212405816,0.71338606911949],"aabb_xy":[[0.5375642932006073,-1.1498411184931367],[0.6297344757100702,-1.0218411239880265]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.6424480384093176,0.15000997220005807,0.71338606911949],"aabb_xy":[[0.6172272015494779,0.12478622134717131],[0.6676688752691572,0.1752337230529448]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_7","position":[-0.19530487385875245,-1.299150930634152,0.71338606911949],"aabb_xy":[[-0.25029808519588925,-1.3541509309729458],[-0.1403116625216157,-1.2441509302953586]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.140206887660818,0.017693570777553624,0.71338606911949],"aabb_xy":[[-0.1745037986785586,-0.01660331543238775],[-0.10590997664307736,0.051990456987494986]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[-0.04368974095397993,0.7788611904995069,0.71338606911949],"aabb_xy":[[-0.06112045603298643,0.7615890758356559],[-0.026259025874973415,0.7961333051633576]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[0.6382520139692796,0.7020593861211566,0.71338606911949],"aabb_xy":[[0.5582520128961592,0.692281339783772],[0.7182520150423999,0.7118374324585409]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[-0.32398664544727085,-1.5821127553181908,0.71338606911949],"aabb_xy":[[-0.40770887094735325,-1.6721127588528866],[-0.24026441994718833,-1.4921127517834947]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[0.1029052841927448,0.8691507578244866,0.71338606911949],"aabb_xy":[[0.022911460614186585,0.789150755231645],[0.18289910777130303,0.9491507604173282]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[0.5818281753978307,1.0507300605357113,0.71338606911949],"aabb_xy":[[0.575791162397166,1.0447033594667632],[0.5878651883984954,1.0567567616046594]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_14","position":[0.43038442284099854,-0.8867725449375703,0.71338606911949],"aabb_xy":[[0.3953844237110428,-0.8925177660132344],[0.46538442197095414,-0.8810273238619062]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[0.3896015353390132,0.9184425117513046,0.71338606911949],"aabb_xy":[[0.32560153894344007,0.854479223332571],[0.4536015317345862,0.9824058001700381]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[-0.3036178912552455,-1.4109180568890654,0.71338606911949],"aabb_xy":[[-0.3140294499357292,-1.4162637902249633],[-0.29320633257476175,-1.4055723235531665]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[-0.060962306774664854,1.6187780334054804,0.71338606911949],"aabb_xy":[[-0.14096230820479205,1.5392608783928707],[0.01903769465546236,1.6982951884180897]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.21598138248562448,-1.163009117702934,0.71338606911949],"aabb_xy":[[0.198112274731169,-1.1768420256801448],[0.23385049024007998,-1.1491762097257232]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[0.03821896606284392,-0.7214164837030428,0.71338606911949],"aabb_xy":[[-0.026781031818803883,-0.7725401474095839],[0.10321896394449173,-0.670292819996502]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[-0.5950692353341841,-0.29017488412182635,0.71338606911949],"aabb_xy":[[-0.6200692352667021,-0.29705755234274966],[-0.5700692354016663,-0.28329221590090303]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_21","position":[0.6165804527040919,-0.1939866322592767,0.71338606911949],"aabb_xy":[[0.5932986105059606,-0.2789866335565047],[0.6398622949022232,-0.10898663096204862]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[-0.1358237723820287,1.0321441068702577,0.71338606911949],"aabb_xy":[[-0.17028625039511644,1.0254804296873348],[-0.1013612943689409,1.0388077840531802]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[0.40305623307839866,1.1967888222297542,0.71338606911949],"aabb_xy":[[0.3817782249349263,1.1317888199036812],[0.4243342412218708,1.2617888245558273]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[0.2919907724860107,-1.038180082152501,0.71338606911949],"aabb_xy":[[0.24699818576756027,-1.0831800814269497],[0.3369833592044611,-0.9931800828780522]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[0.21329122958989222,-1.8340521264884109,0.71338606911949],"aabb_xy":[[0.148291228632765,-1.8860003384221165],[0.27829123054701943,-1.7821039145547053]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[0.5157568877473051,1.147191248268633,0.71338606911949],"aabb_xy":[[0.50020111833704,1.1316408150242259],[0.5313126571575705,1.1627416815130402]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_27","position":[-0.49882341981820166,1.397549309153594,0.71338606911949],"aabb_xy":[[-0.5538234180199464,1.3570273425271562],[-0.4438234216164567,1.4380712757800314]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_28","position":[-0.4829313669805482,-0.8585578252745114,0.71338606911949],"aabb_xy":[[-0.537905089016881,-0.9135578248387445],[-0.4279576449442154,-0.8035578257102781]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_29","position":[-0.08091234605723252,0.36281432046537976,0.71338606911949],"aabb_xy":[[-0.08700697394535085,0.35424492591371104],[-0.07481771816911421,0.3713837150170485]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_30","position":[-0.6486012346739123,-1.6031098875563234,0.71338606911949],"aabb_xy":[[-0.6545677736146481,-1.6090710322156876],[-0.6426346957331767,-1.5971487428969593]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_31","position":[-0.5485773269429429,-2.4477765170400216,0.71338606911949],"aabb_xy":[[-0.628577323905982,-2.524852158683795],[-0.46857732997990365,-2.370700875396248]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_32","position":[0.443315726574917,1.6246392091930546,0.71338606911949],"aabb_xy":[[0.43785778093789696,1.5446392058853957],[0.4487736722119371,1.704639212500714]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6714947026463964,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5819.png","name":"5819"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5819.png","name":"5819"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/302.png","name":"302"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6673.png","name":"6673"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6973.png","name":"6973"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4700.png","name":"4700"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":771.0620245784165,"rotation_z_degrees":337.3202014510441,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01433494718008468,1.5170644371099995e-05,0.014303704508418339]},{"name":"camera_2","offset_m":[0.0012383608998303326,-0.012848628312354693,0.015501716255308887]},{"name":"camera_3","offset_m":[-0.010578086900178146,-0.0031027284114284667,0.01183104232503637]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015000173405393222,-0.0007917696935949015,0.0005217703465814467],"end_effector_yaw_offset_degrees":0.034245336291237605},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009752072839665027,0.00014192599073353275,-0.0007135044549945882],"end_effector_yaw_offset_degrees":-0.8222085426300947},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00125287795489095,-0.0014656545862477173,0.00038226050645300295],"end_effector_yaw_offset_degrees":0.46888880073777317},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012385638367154866,0.00121437923667987,-0.0015526764455074816],"end_effector_yaw_offset_degrees":-0.07479401055772428}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003426270275721761,-0.0036771721162103433],"position_m":[0.23457372972427823,0.2899228278837897,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004428242300443512,-0.0013627599576654104],"position_m":[0.2430282423004435,-0.36116275995766545,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005053861529127597,0.0032104394971522116],"position_m":[0.35220538615291275,-0.12818956050284777,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002045347572532299,0.0005227620268910757],"position_m":[0.35725465242746773,0.07492276202689108,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6a2581ef684cc0d2f8e89064f716b295c60be21bbfd1f8085720f7b301b0b26a","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0014.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5819/tex_ceiling_textures_4700/tex_floor_textures_6973/tex_table_textures_302/tex_wall_textures_6673","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":148096153214940044,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":148096153214940044,"visual_seed":148096153214940044,"scene_id":"lab_003","finished_at":"2026-09-04T18:02:19"}
+{"episode_id":"ep_000012","started_at":"2026-09-04T18:02:23","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[-0.5614606627332321,-1.8070476923782914,0.71338606911949],"aabb_xy":[[-0.6114537748424241,-1.857047693052487],[-0.5114675506240404,-1.7570476917040958]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_1","position":[-0.3898186364346694,-2.4260003588565926,0.71338606911949],"aabb_xy":[[-0.4273186370992481,-2.4416874168568143],[-0.3523186357700907,-2.41031330085637]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_2","position":[0.6531996681488523,1.6975298861900003,0.71338606911949],"aabb_xy":[[0.6355240375602538,1.6798496699105976],[0.6708752987374504,1.715210102469403]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[-0.20831525028846726,-0.8380646947762869,0.71338606911949],"aabb_xy":[[-0.22581525054780396,-0.8521562369650597],[-0.19081525002913072,-0.8239731525875145]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[0.5607285175692502,-0.9852936844089897,0.71338606911949],"aabb_xy":[[0.5472819909352068,-0.9987635360620808],[0.5741750442032935,-0.9718238327558983]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.23375832731980017,-1.4488977006752182,0.71338606911949],"aabb_xy":[[-0.2712583274253931,-1.455719862528199],[-0.1962583272142072,-1.4420755388222368]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[0.6438593062460265,-1.2849180477883106,0.71338606911949],"aabb_xy":[[0.5888593066242807,-1.3399017405757834],[0.6988593058677723,-1.229934355000838]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_7","position":[-0.029799435096291016,-0.2264498459356452,0.71338606911949],"aabb_xy":[[-0.03391538520836368,-0.23056540096849068],[-0.02568348498421835,-0.22233429090279969]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.47297001525895926,0.3955866459852553,0.71338606911949],"aabb_xy":[[-0.5379700138160322,0.3658341125713727],[-0.40797001670188643,0.42533917939913796]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[-0.016654091523702785,-2.0043408460396783,0.71338606911949],"aabb_xy":[[-0.03793209966717503,-2.0693408483657514],[0.004623916619769471,-1.9393408437136053]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[-0.6481611417414885,1.193192965994573,0.71338606911949],"aabb_xy":[[-0.6633240147184256,1.1780275086994545],[-0.6329982687645515,1.208358423289692]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[0.6502734375586494,0.15327435119578414,0.71338606911949],"aabb_xy":[[0.6127734372104215,0.14148295561470056],[0.6877734379068771,0.16506574677686767]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.4801630901790428,-0.4342451117049313,0.71338606911949],"aabb_xy":[[0.47223980994029446,-0.4567451119429346],[0.4880863704177911,-0.4117451114669279]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[0.4736827967275026,-1.7125889240638208,0.71338606911949],"aabb_xy":[[0.44868279717576415,-1.7227314079289555],[0.4986827962792411,-1.702446440198686]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[-0.1893419677129493,-2.460490150166903,0.71338606911949],"aabb_xy":[[-0.2543419688188926,-2.4854555232350317],[-0.12434196660700603,-2.435524777098775]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[-0.4363306641244492,-0.49994085857595527,0.71338606911949],"aabb_xy":[[-0.4585031911011,-0.5221165257320785],[-0.4141581371477983,-0.4777651914198321]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[-0.37389064299897,0.19015160678060683,0.71338606911949],"aabb_xy":[[-0.41139064317084195,0.15745087139769964],[-0.3363906428270981,0.22285234216351402]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.45668856508348876,-0.9258493161588881,0.71338606911949],"aabb_xy":[[-0.46082442141618896,-0.9633493156032452],[-0.45255270875078857,-0.8883493167145312]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[0.5698868425196673,-0.28142491347276444,0.71338606911949],"aabb_xy":[[0.5473868429959597,-0.3039208609233851],[0.5923868420433746,-0.25892896602214355]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[0.3465419147012494,-0.9393205457506613,0.71338606911949],"aabb_xy":[[0.3052373716375134,-1.0033205453187783],[0.3878464577649854,-0.8753205461825442]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[0.46955678444590965,0.26586142628690235,0.71338606911949],"aabb_xy":[[0.44705764871968273,0.24336142550863937],[0.4920559201721367,0.2883614270651653]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_21","position":[0.4216108781702219,1.237066895426425,0.71338606911949],"aabb_xy":[[0.41361738837493994,1.2290687634859496],[0.429604367965504,1.2450650273669008]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[0.4114425610411363,0.6915368698381643,0.71338606911949],"aabb_xy":[[0.39829131506984694,0.6665368700814778],[0.42459380701242566,0.7165368695948509]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[0.18982135176762516,0.918524177277031,0.71338606911949],"aabb_xy":[[0.18423968013349637,0.9060241774592553],[0.1954030234017539,0.9310241770948063]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[0.3324835227674703,0.5549366886831169,0.71338606911949],"aabb_xy":[[0.31461441501301474,0.5411037807059058],[0.3503526305219257,0.5687695966603277]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_25","position":[-0.449517170712461,-2.000312781192251,0.71338606911949],"aabb_xy":[[-0.48451716984241666,-2.0060580022679146],[-0.41451717158250534,-1.9945675601165864]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_26","position":[0.3073748931447209,-1.9689049376390573,0.71338606911949],"aabb_xy":[[0.28826258578674196,-1.988039716516299],[0.3264872005026997,-1.949770158761815]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_27","position":[-0.4717397131857221,0.5585745793001844,0.71338606911949],"aabb_xy":[[-0.4787800231192592,0.4785745799005131],[-0.46469940325218523,0.6385745786998559]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_28","position":[-0.5966889669987357,-1.0686340368251133,0.71338606911949],"aabb_xy":[[-0.6466620325312513,-1.1186340366376462],[-0.5467159014662204,-1.0186340370125804]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_29","position":[-0.2296386973018918,-0.6022213408149628,0.71338606911949],"aabb_xy":[[-0.29363869921423413,-0.6581324900729734],[-0.16563869538954948,-0.5463101915569525]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_30","position":[0.18442161224262343,-1.2178841690009963,0.71338606911949],"aabb_xy":[[0.11442161064034398,-1.2313169622026539],[0.2544216138449029,-1.2044513757993387]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_31","position":[-0.10693777772813651,1.0006930784515267,0.71338606911949],"aabb_xy":[[-0.15693777867866932,0.9691439314480053],[-0.056937776777603685,1.032242225455048]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_32","position":[0.13709980660850496,-0.638946843533116,0.71338606911949],"aabb_xy":[[0.09976853008326236,-0.6735998983279682],[0.1744310831337476,-0.6042937887382637]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668302049918611,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7576.png","name":"7576"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7576.png","name":"7576"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9236.png","name":"9236"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7584.png","name":"7584"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5868.png","name":"5868"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3087.png","name":"3087"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":554.4653210464655,"rotation_z_degrees":133.4404669525497,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003129447471947641,0.01910075352851044,-0.005279896569001595]},{"name":"camera_2","offset_m":[0.0033840063474449115,0.01842563981427878,0.009328848649114097]},{"name":"camera_3","offset_m":[0.009873166564520214,0.010222682584930382,-0.010701651557662242]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019683291766105183,0.001902320644359634,0.0015929266763980094],"end_effector_yaw_offset_degrees":0.38901062661043695},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004719226868236852,-0.00044777315644631884,0.001010837343581678],"end_effector_yaw_offset_degrees":-0.09818876338885718},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009707488147467046,-0.0019218795885269332,-0.0019469094725946565],"end_effector_yaw_offset_degrees":-0.7114576286283325},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003098823248861211,0.001957997008960998,-0.0008541420263467382],"end_effector_yaw_offset_degrees":-0.6921345833058603}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000508641476444663,-0.0008288698635695486],"position_m":[0.23749135852355532,0.29277113013643047,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0001236010114367865,-0.002544899601945474],"position_m":[0.2384763989885632,-0.3623448996019455,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002005268963642056,-0.004684255240621894],"position_m":[0.35370526896364207,-0.13608425524062187,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014456416563419327,0.0009558129483255339],"position_m":[0.3578543583436581,0.07535581294832552,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b92af609a5c323d949fc84315d6992159db5bfe092169c495268ae082fe9bc90","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0015.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7576/tex_ceiling_textures_3087/tex_floor_textures_5868/tex_table_textures_9236/tex_wall_textures_7584","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":3642453011061909989,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":3642453011061909989,"visual_seed":3642453011061909989,"scene_id":"lab_003","finished_at":"2026-09-04T18:06:23"}
+{"episode_id":"ep_000013","started_at":"2026-09-04T18:06:27","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[0.34108177558850583,-2.1385083926244413,0.71338606911949],"aabb_xy":[[0.26108177700118634,-2.217823994562602],[0.4210817741758252,-2.0591927906862804]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[-0.5549314640087508,-1.9896741789833277,0.71338606911949],"aabb_xy":[[-0.5621927115791584,-2.002461189246837],[-0.5476702164383435,-1.9768871687198184]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_2","position":[-0.07895739982975136,-0.0635123846772796,0.71338606911949],"aabb_xy":[[-0.09031913448303751,-0.07488085108356766],[-0.06759566517646519,-0.052143918270991504]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[-0.4786681172578283,-1.058191438684969,0.71338606911949],"aabb_xy":[[-0.5426681204764663,-1.1049145505839775],[-0.4146681140391905,-1.0114683267859608]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[-0.34200463164092204,0.6790986504067273,0.71338606911949],"aabb_xy":[[-0.39200463292476195,0.6291197960161051],[-0.292004630357082,0.7290775047973493]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[-0.5700478534873374,-1.8021558431770717,0.71338606911949],"aabb_xy":[[-0.6050478534638333,-1.811620459224688],[-0.5350478535108416,-1.7926912271294548]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.28644769586275765,-2.46468575631373,0.71338606911949],"aabb_xy":[[-0.2937300122394212,-2.554685759923238],[-0.2791653794860939,-2.37468575270422]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.04145316939085497,-0.6907425417028352,0.71338606911949],"aabb_xy":[[0.011461506656984637,-0.7207425410396358],[0.0714448321247253,-0.6607425423660347]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[0.5686756121380778,1.0492511380743266,0.71338606911949],"aabb_xy":[[0.5511756787040943,1.0317511381540918],[0.5861755455720611,1.066751137994561]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[-0.08179076463335833,1.503775541362868,0.71338606911949],"aabb_xy":[[-0.08971404487210667,1.4812755411248648],[-0.07386748439461001,1.5262755416008715]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[-0.16911912854985356,0.40274258688273257,0.71338606911949],"aabb_xy":[[-0.1861292258399042,0.3866080983844587],[-0.1521090312598029,0.41887707538100655]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[0.2643531595223877,-1.9087314857050615,0.71338606911949],"aabb_xy":[[0.24685316024430082,-1.9260695857714072],[0.28185315880047457,-1.8913933856387153]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_12","position":[-0.34873288284494336,-0.15652735877880852,0.71338606911949],"aabb_xy":[[-0.38975082623131424,-0.20652735940976585],[-0.3077149394585725,-0.10652735814785119]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[-0.4893781474586651,0.889927630334856,0.71338606911949],"aabb_xy":[[-0.5072472552131206,0.8760947223576451],[-0.47150903970420954,0.9037605383120669]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[-0.13709135642303338,1.3242710292837092,0.71338606911949],"aabb_xy":[[-0.1720913577745151,1.3039112933268882],[-0.10209135507155163,1.3446307652405298]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[0.5886045775193092,-1.3760783057519468,0.71338606911949],"aabb_xy":[[0.5036045791018859,-1.4609526012142315],[0.6736045759367324,-1.2912040102896616]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[-0.3882100054577998,0.9393853912893726,0.71338606911949],"aabb_xy":[[-0.39525031539133687,0.8593853918897013],[-0.3811696955242629,1.019385390689044]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[0.6993728301851785,-2.414761806814268,0.71338606911949],"aabb_xy":[[0.6929590165419934,-2.4211716270619363],[0.7057866438283633,-2.408351986566599]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[0.5675077797461727,0.49127903379176985,0.71338606911949],"aabb_xy":[[0.5486233959776625,0.472393109011417],[0.5863921635146829,0.5101649585721226]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[-0.14173266451386368,-1.219095105334437,0.71338606911949],"aabb_xy":[[-0.17521183177490465,-1.252574218705544],[-0.10825349725282277,-1.18561599196333]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[-0.24718240830514987,-0.9020837715027228,0.71338606911949],"aabb_xy":[[-0.2846824082489163,-0.9103768615375593],[-0.20968240836138347,-0.8937906814678861]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[0.5645273805439099,-0.5883600419578046,0.71338606911949],"aabb_xy":[[0.5147106010790752,-0.6383600404421079],[0.6143441600087447,-0.5383600434735012]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_22","position":[0.02674459610634683,-1.2932025554051065,0.71338606911949],"aabb_xy":[[-0.03484616311764599,-1.3572025535141536],[0.08833535533033965,-1.2292025572960599]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[-0.3460626475777198,0.20585277482530318,0.71338606911949],"aabb_xy":[[-0.4110626485782203,0.1550664096706282],[-0.28106264657721924,0.2566391399799781]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_24","position":[-0.3441562629186628,-1.7060156104548387,0.71338606911949],"aabb_xy":[[-0.39196243053243135,-1.7710156131618975],[-0.2963500953048941,-1.6410156077477795]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_25","position":[-0.5878716919400577,1.5082082822953748,0.71338606911949],"aabb_xy":[[-0.5987774680276204,1.4282082858965457],[-0.576965915852495,1.588208278694204]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_26","position":[-0.4159154117675282,1.7663050340283175,0.71338606911949],"aabb_xy":[[-0.46589282863278175,1.7163050325390687],[-0.3659379949022746,1.8163050355175658]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638445588389579,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4455.png","name":"4455"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4455.png","name":"4455"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5440.png","name":"5440"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7494.png","name":"7494"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9602.png","name":"9602"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1709.png","name":"1709"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":672.0351233203534,"rotation_z_degrees":240.82697098593354,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.002137395996949218,0.016431368966510613,-0.00010659992066285387]},{"name":"camera_2","offset_m":[-0.0025621225808201177,0.0029586450452400367,0.0008183959834503589]},{"name":"camera_3","offset_m":[0.006472582022344603,0.00921900293212647,0.009847062429142014]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019019551538250025,0.0010880135076736948,0.0015700523507877324],"end_effector_yaw_offset_degrees":-0.29078728136615317},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007704005507789893,-0.0015180714264979222,0.0010923016434536553],"end_effector_yaw_offset_degrees":-0.9972019758612976},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019069834993688112,0.0015300627750692657,0.0014036435402406903],"end_effector_yaw_offset_degrees":0.13122897033077563},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016972760369707372,0.0006181907179225853,0.0015402713373180938],"end_effector_yaw_offset_degrees":0.3785685749815817}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003956803277336554,-0.004312732159838421],"position_m":[0.24195680327733654,0.2892872678401616,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016183907774640184,0.0033839173451348766],"position_m":[0.236981609222536,-0.35641608265486513,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004139715111110845,0.0035053110373264333],"position_m":[0.3475602848888892,-0.12789468896267356,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027371771723308912,0.004720915571762443],"position_m":[0.3565628228276691,0.07912091557176244,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1c2420a62dff2370711d2a0ddaca14bcf683e80b8f04db3383721f32ed32a224","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0016.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4455/tex_ceiling_textures_1709/tex_floor_textures_9602/tex_table_textures_5440/tex_wall_textures_7494","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7105442163053565202,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7105442163053565202,"visual_seed":7105442163053565202,"scene_id":"lab_003","finished_at":"2026-09-04T18:10:07"}
+{"episode_id":"ep_000014","started_at":"2026-09-04T18:10:11","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_0","position":[0.17641685368933246,-1.057323559536254,0.71338606911949],"aabb_xy":[[0.11241685134653091,-1.1022644107803865],[0.24041685603213403,-1.0123827082921215]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[0.17819626002766886,-1.5324770512231716,0.71338606911949],"aabb_xy":[[0.09819626204688385,-1.5400785921850235],[0.2581962580084539,-1.5248755102613196]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.43772549087351165,-1.1932789608474756,0.71338606911949],"aabb_xy":[[-0.44714296544337434,-1.2026951379851947],[-0.42830801630364884,-1.1838627837097566]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[-0.02012726384857333,-1.187041464361022,0.71338606911949],"aabb_xy":[[-0.08412296124366991,-1.2510414626617306],[0.043868433546523256,-1.1230414660603132]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[0.06337697546887266,-1.8292529487439313,0.71338606911949],"aabb_xy":[[0.01624759646703698,-1.893252949788333],[0.11050635447070832,-1.7652529476995291]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_5","position":[0.04456081448270888,-1.654904106370225,0.71338606911949],"aabb_xy":[[-0.013069654404561978,-1.7149041052969354],[0.10219128336997971,-1.5949041074435142]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[0.365776915098736,-0.8029476945768241,0.71338606911949],"aabb_xy":[[0.32827691430674055,-0.8093155355350142],[0.40327691589073145,-0.796579853618634]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[-0.2178543247375409,-0.5197872728050243,0.71338606911949],"aabb_xy":[[-0.22870593098641648,-0.5306465635326754],[-0.20700271848866528,-0.5089279820773733]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[-0.5958302684412616,0.0023404337896257843,0.71338606911949],"aabb_xy":[[-0.6598302657269103,-0.039166285163218184],[-0.531830271155613,0.04384715274246975]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[-0.044556597328812786,0.8694035475589685,0.71338606911949],"aabb_xy":[[-0.06276242099006046,0.8583781469769769],[-0.02635077366756511,0.8804289481409602]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[-0.024975738812586523,-0.7948653950488198,0.71338606911949],"aabb_xy":[[-0.06247573910476134,-0.7989068704494233],[0.012524261479588294,-0.7908239196482161]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[0.6808608645621546,0.5223057959000474,0.71338606911949],"aabb_xy":[[0.6386764504013239,0.45830579562283624],[0.7230452787229854,0.5863057961772586]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_12","position":[0.3612994765833304,1.1529501051716213,0.71338606911949],"aabb_xy":[[0.33880305514946624,1.130450105364874],[0.38379589801719444,1.1754501049783688]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_13","position":[-0.5277325427115754,-0.5347071363120732,0.71338606911949],"aabb_xy":[[-0.6077325398711506,-0.5462547372698902],[-0.44773254555200004,-0.5231595353542561]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[-0.6280652853498623,1.0488541265116544,0.71338606911949],"aabb_xy":[[-0.6605269862317895,1.0187212943967516],[-0.5956035844679346,1.0789869586265568]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[0.3404066116402489,1.735115418784884,0.71338606911949],"aabb_xy":[[0.2951279967590996,1.6711154194367002],[0.38568522652139814,1.7991154181330675]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[-0.4305013319566318,1.4648586390067115,0.71338606911949],"aabb_xy":[[-0.45341704484168177,1.441954341870288],[-0.407585619071582,1.487762936143135]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_17","position":[-0.25684419095796623,-1.4782093379157806,0.71338606911949],"aabb_xy":[[-0.32084419300769823,-1.5183038210050883],[-0.19284418890823424,-1.4381148548264724]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_18","position":[0.23573015130224373,-1.4181853843540093,0.71338606911949],"aabb_xy":[[0.20141387412762576,-1.468185384327187],[0.27004642847686167,-1.3681853843808316]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_19","position":[0.05388545210403417,1.4638797806909936,0.71338606911949],"aabb_xy":[[-0.026114551159978967,1.45031974838208],[0.1338854553680473,1.4774398129999067]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6643484274721958,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7716.png","name":"7716"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7716.png","name":"7716"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6195.png","name":"6195"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7548.png","name":"7548"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8086.png","name":"8086"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1901.png","name":"1901"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":824.2961641793406,"rotation_z_degrees":248.66250292237436,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003226704740512853,8.167380017747028e-05,-0.006707104655221197]},{"name":"camera_2","offset_m":[-0.015561112913522263,0.007209636660902425,-0.011316971071408952]},{"name":"camera_3","offset_m":[-0.0015016327220010693,-0.01725428580861013,0.0039130491696960056]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[1.3360922192012445e-06,-0.0018281035589928218,0.0003620577915218609],"end_effector_yaw_offset_degrees":0.5897303690611253},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00029492138415202797,0.0013584911651766808,8.665044198746027e-05],"end_effector_yaw_offset_degrees":-0.9410182897525419},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001112371816708953,0.001612075536002696,-0.0003709865610605871],"end_effector_yaw_offset_degrees":0.39917060259845405},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015965908833923065,0.0019056792759409662,-0.0013170736563007704],"end_effector_yaw_offset_degrees":-0.9840275281767386}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004827056913546628,0.0023968657677919825],"position_m":[0.2428270569135466,0.295996865767792,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001683370463133479,0.002344518116510334],"position_m":[0.23691662953686654,-0.3574554818834897,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0048816997768800505,0.0024228535898688794],"position_m":[0.34681830022311994,-0.1289771464101311,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002989479113886193,-0.0036036558473692085],"position_m":[0.3563105208861138,0.07079634415263078,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c2f4908c8c092ec8cac188e3176f66496d049680619bea699b1307e0a5d8eb39","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7716/tex_ceiling_textures_1901/tex_floor_textures_8086/tex_table_textures_6195/tex_wall_textures_7548","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7793446681791871559,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7793446681791871559,"visual_seed":7793446681791871559,"scene_id":"lab_003","finished_at":"2026-09-04T18:14:06"}
+{"episode_id":"ep_000015","started_at":"2026-09-04T18:14:11","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[-0.2610695254033272,-0.7444207817841639,0.71338606911949],"aabb_xy":[[-0.26748333904651206,-0.7508306020318322],[-0.2546557117601422,-0.7380109615364955]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[0.06195675340362505,0.9339474455981622,0.71338606911949],"aabb_xy":[[0.05317552625638884,0.9251676983096324],[0.07073798055086129,0.9427271928866927]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.30579743770560025,0.7314986415219447,0.71338606911949],"aabb_xy":[[-0.3159504532597496,0.6954290999492042],[-0.2956444221514508,0.7675681830946848]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.5445780966479947,-1.4713831128695918,0.71338606911949],"aabb_xy":[[-0.5559398313012808,-1.4827515792758799],[-0.5332163619947085,-1.4600146464633037]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.6375890971337554,1.5878852814826154,0.71338606911949],"aabb_xy":[[-0.6750890955571557,1.5747210675147845],[-0.600089098710355,1.601049495450446]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[-0.41072630248725617,1.5419637176432617,0.71338606911949],"aabb_xy":[[-0.42506072761341956,1.529903502088723],[-0.39639187736109266,1.5540239331978007]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.23201444713462138,-1.6687646952941244,0.71338606911949],"aabb_xy":[[-0.2380514601352861,-1.674791396363073],[-0.22597743413395666,-1.6627379942251768]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[0.5624922844496623,-1.0212956151939245,0.71338606911949],"aabb_xy":[[0.5520807257691784,-1.0266413485298227],[0.5729038431301459,-1.015949881858026]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[0.4352790270366118,-1.3176411568498954,0.71338606911949],"aabb_xy":[[0.35527903002236383,-1.3377757085233066],[0.5152790240508598,-1.297506605176484]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[0.717188733104213,-1.083480019987787,0.71338606911949],"aabb_xy":[[0.7132748599087907,-1.0922290353943438],[0.7211026062996356,-1.0747310045812302]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[0.6420743250106156,-1.458855542389358,0.71338606911949],"aabb_xy":[[0.6251635925742737,-1.4723277479819727],[0.6589850574469572,-1.4453833367967435]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[0.002177647327609722,1.3209304006951261,0.71338606911949],"aabb_xy":[[-0.06182235458473262,1.265019251437116],[0.06617764923995206,1.3768415499531368]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.45980150495672845,1.0893174821038687,0.71338606911949],"aabb_xy":[[-0.5147947162938652,1.034317481765075],[-0.4048082936195917,1.1443174824426623]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_13","position":[0.1619665777017677,-1.5302924256941026,0.71338606911949],"aabb_xy":[[0.1275040996886799,-1.5369561028770253],[0.19642905571485544,-1.5236287485111795]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[-0.4131664018600436,-0.5991675596898809,0.71338606911949],"aabb_xy":[[-0.4443133207036267,-0.669167558376688],[-0.3820194830164605,-0.5291675610030736]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[0.039396121558824215,-1.4346678662240806,0.71338606911949],"aabb_xy":[[0.03444010137394302,-1.4571678664262024],[0.04435214174370542,-1.4121678660219592]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.403539267641357,-1.4424655013214056,0.71338606911949],"aabb_xy":[[-0.45853474546201634,-1.4974655027553123],[-0.34854378982069756,-1.3874654998874985]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_17","position":[-0.2781974097686924,-2.1431920612196302,0.71338606911949],"aabb_xy":[[-0.36819740918706323,-2.1765675580638195],[-0.18819741035032145,-2.10981656437544]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.4226412177291712,-2.25461235541671,0.71338606911949],"aabb_xy":[[0.35864121567943924,-2.294706838506018],[0.48664121977890323,-2.214517872327402]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.6079067143436032,-1.8891797185628125,0.71338606911949],"aabb_xy":[[-0.6172537219258986,-1.9034833407804563],[-0.5985597067613081,-1.8748760963451683]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6730608647252124,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1346.png","name":"1346"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1346.png","name":"1346"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4880.png","name":"4880"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3532.png","name":"3532"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7659.png","name":"7659"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/517.png","name":"517"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":737.9693104605715,"rotation_z_degrees":291.0097690018624,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0034312706937971622,-0.0069348096792143914,0.001446196888540155]},{"name":"camera_2","offset_m":[0.00863653995687198,-0.0015645088765299693,-0.016899189455561812]},{"name":"camera_3","offset_m":[-0.01292694692197491,-0.003589697833996621,0.018167632760707483]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001974640923994176,0.0017620271780297986,0.0009200863407686426],"end_effector_yaw_offset_degrees":0.7452296550453061},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00042403335919665884,-0.0019812836232385046,-0.0019338161824976594],"end_effector_yaw_offset_degrees":0.5318914962973056},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016438482881887219,-0.0005380603524796897,0.001442130932592412],"end_effector_yaw_offset_degrees":-0.5424662742233664},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001958373681725529,0.0009059021109663,0.00045215022563215804],"end_effector_yaw_offset_degrees":0.7687311769835552}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037890780563439473,0.004535316974262903],"position_m":[0.23421092194365603,0.29813531697426293,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004993219425407157,-0.0033863453360007956],"position_m":[0.24359321942540715,-0.3631863453360008,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004372267546610934,0.0004102882360054929],"position_m":[0.3560722675466109,-0.1309897117639945,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0015659259980081532,-0.002201369998637899],"position_m":[0.35773407400199186,0.07219863000136209,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7743c47183b500d6f51f54e3066ffd4ca2a102baf6b27970319dd686d4f7e167","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0018.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1346/tex_ceiling_textures_517/tex_floor_textures_7659/tex_table_textures_4880/tex_wall_textures_3532","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":8696967870267870341,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":8696967870267870341,"visual_seed":8696967870267870341,"scene_id":"lab_003","finished_at":"2026-09-04T18:17:56"}
+{"episode_id":"ep_000016","started_at":"2026-09-04T18:18:00","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[-0.30761152732968994,0.8208543168618063,0.71338606911949],"aabb_xy":[[-0.3627367329592807,0.7608543154205191],[-0.25248632170009916,0.8808543183030934]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_1","position":[-0.5962684111199921,-2.000675489319465,0.71338606911949],"aabb_xy":[[-0.6812684095374153,-2.08554978478175],[-0.5112684127025688,-1.9158011938571802]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[0.6682448166895298,1.178489071279761,0.71338606911949],"aabb_xy":[[0.6221597254347984,1.114489074027206],[0.7143299079442613,1.2424890685323162]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[-0.6001653854152668,-0.6542979139438432,0.71338606911949],"aabb_xy":[[-0.6501584975244586,-0.7042979146180389],[-0.5501722733060749,-0.6042979132696477]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[0.6348706586485031,-1.1459228511817705,0.71338606911949],"aabb_xy":[[0.5848706569870082,-1.195921293437473],[0.6848706603099978,-1.0959244089260676]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.46461544958061407,0.7672447177937389,0.71338606911949],"aabb_xy":[[0.45583422243337796,0.7584649705052089],[0.4733966767278504,0.7760244650822692]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_6","position":[0.3600397885812643,-0.6022945433505928,0.71338606911949],"aabb_xy":[[0.32626422939057126,-0.6163330385637578],[0.3938153477719572,-0.5882560481374277]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_7","position":[-0.27835187382078563,-1.6593446094517752,0.71338606911949],"aabb_xy":[[-0.3423518771104937,-1.7026795284556926],[-0.2143518705310775,-1.6160096904478574]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[0.6153232284439631,0.8539380446524807,0.71338606911949],"aabb_xy":[[0.5976903928504356,0.8363150986368576],[0.6329560640374907,0.8715609906681036]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.1000918294222316,0.5516862343539133,0.71338606911949],"aabb_xy":[[-0.12015024103547191,0.5316211474447557],[-0.08003341780899133,0.5717513212630708]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[0.5806598297330865,-0.5841764997111274,0.71338606911949],"aabb_xy":[[0.5456598298370677,-0.5925507352230673],[0.6156598296291055,-0.5758022641991875]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[-0.45121790040315024,-0.7782488645451331,0.71338606911949],"aabb_xy":[[-0.4862179003796461,-0.7877134805927497],[-0.4162179004266544,-0.7687842484975165]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[0.16224209789394084,-1.1353163894027822,0.71338606911949],"aabb_xy":[[0.14707922491700376,-1.150481846697901],[0.17740497087087792,-1.1201509321076635]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[0.2961543693343843,1.1940104280494186,0.71338606911949],"aabb_xy":[[0.23615436948781754,1.13719180585638],[0.3561543691809511,1.2508290502424573]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[0.7205261334844868,0.34777252695226224,0.71338606911949],"aabb_xy":[[0.7165656497147525,0.34010466236674164],[0.7244866172542211,0.35544039153778284]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[-0.08145672106550061,-2.3176223181559163,0.71338606911949],"aabb_xy":[[-0.1614567180797486,-2.3377568698293274],[-0.0014567240512526336,-2.2974877664825053]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.2363022034484219,0.6162401527763222,0.71338606911949],"aabb_xy":[[0.16630220703846005,0.5958022171246403],[0.3063021998583836,0.6366780884280038]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[-0.2969434137811491,-2.155074560213976,0.71338606911949],"aabb_xy":[[-0.3344434149659418,-2.159492782910036],[-0.2594434125963562,-2.150656337517915]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_18","position":[-0.0013968651267495247,1.4973295586635387,0.71338606911949],"aabb_xy":[[-0.051369930659265,1.4473295588510058],[0.04857620040576595,1.5473295584760718]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[0.042422704679928924,-1.2171514468753033,0.71338606911949],"aabb_xy":[[0.035382394746391946,-1.297151446274975],[0.04946301461346594,-1.1371514474756321]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_20","position":[-0.45084811899844796,-1.7733422020094394,0.71338606911949],"aabb_xy":[[-0.5148481222170858,-1.8200653139084477],[-0.3868481157798101,-1.726619090110431]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_21","position":[-0.49149247204220703,-0.14609441835327885,0.71338606911949],"aabb_xy":[[-0.5554924740919389,-0.18618890144258682],[-0.427492469992475,-0.10599993526397089]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[-0.11245718847982844,1.1329291415589267,0.71338606911949],"aabb_xy":[[-0.18245719008210792,1.1194963483572693],[-0.042457186877548944,1.1463619347605845]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[0.546125864997504,-1.361631461209941,0.71338606911949],"aabb_xy":[[0.4821258657033358,-1.4256176015787951],[0.6101258642916723,-1.2976453208410867]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_24","position":[-0.36819563751093537,-0.635454546953794,0.71338606911949],"aabb_xy":[[-0.4331956384680626,-0.6874027588874995],[-0.30319563655380816,-0.5835063350200883]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[-0.36237463195953235,-1.3183630676678793,0.71338606911949],"aabb_xy":[[-0.3859597554234272,-1.383363069913311],[-0.3387895084956375,-1.2533630654224475]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_26","position":[0.15624918213538308,-1.7832579273795601,0.71338606911949],"aabb_xy":[[0.13596487941198426,-1.8035405525222687],[0.1765334848587818,-1.762975302236851]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[0.4954361195224142,1.8207596164086568,0.71338606911949],"aabb_xy":[[0.4841910639517963,1.8095178186845613],[0.506681175093032,1.8320014141327519]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_28","position":[-0.2549859488232206,0.16376085657593675,0.71338606911949],"aabb_xy":[[-0.2598852411297841,0.13608393727336796],[-0.2500866565166571,0.1914377758785055]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_29","position":[-0.24432928492096834,-1.8009249519664554,0.71338606911949],"aabb_xy":[[-0.2787916323191101,-1.8354188343642779],[-0.2098669375228265,-1.7664310695686325]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_30","position":[0.4386178636831113,-0.9243997017924488,0.71338606911949],"aabb_xy":[[0.3746178663807649,-0.9687661287603055],[0.5026178609854577,-0.880033274824592]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_31","position":[0.5568301129121938,-2.1723479739885136,0.71338606911949],"aabb_xy":[[0.5439582094112536,-2.2523479744023494],[0.5697020164131339,-2.092347973574677]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6659692537215144,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8365.png","name":"8365"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8365.png","name":"8365"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3278.png","name":"3278"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4966.png","name":"4966"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6472.png","name":"6472"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3127.png","name":"3127"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":818.8208890114832,"rotation_z_degrees":317.5058440371008,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0065174753640747755,0.0075089535368510416,-0.0049684691094512255]},{"name":"camera_2","offset_m":[0.01992296801886165,0.010307942080640373,0.014775771759443956]},{"name":"camera_3","offset_m":[-0.006563984726773522,-0.0035357489108494497,-0.004481923765001063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001349571789492545,-0.0019280689456851845,0.000345595541412491],"end_effector_yaw_offset_degrees":-0.6806982497901433},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019341340427152286,2.345431398940957e-05,0.0003755172481330854],"end_effector_yaw_offset_degrees":-0.7553776537369958},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014455895184120435,-0.001821372660019539,0.001157603790784664],"end_effector_yaw_offset_degrees":-0.5292663255029684},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004659688890699366,-0.0005742496770204609,0.0017685212320062366],"end_effector_yaw_offset_degrees":0.6808577908479134}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019648627695499645,-0.0010986200329757057],"position_m":[0.23603513723045003,0.2925013799670243,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010495159431762923,0.003622435835254129],"position_m":[0.2396495159431763,-0.3561775641647459,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002270348698729058,-0.0029052169570889332],"position_m":[0.34942965130127096,-0.1343052169570889,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00189671784064766,0.001786605455051292],"position_m":[0.36119671784064766,0.07618660545505129,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b8b8debef5f0d757c1d052a1efe0ebc9effeb5230d6b0eb965b407b9fd570eb1","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0019.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8365/tex_ceiling_textures_3127/tex_floor_textures_6472/tex_table_textures_3278/tex_wall_textures_4966","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":5315615205521909986,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":5315615205521909986,"visual_seed":5315615205521909986,"scene_id":"lab_003","finished_at":"2026-09-04T18:21:17"}
+{"episode_id":"ep_000017","started_at":"2026-09-04T18:21:20","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_0","position":[-0.005840324051486601,-2.068399317186027,0.71338606911949],"aabb_xy":[[-0.06984032116359229,-2.1174316869804377],[0.05815967306061909,-2.0193669473916165]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[0.40735011636680496,1.606924551355752,0.71338606911949],"aabb_xy":[[0.33735011995684305,1.58648661570407],[0.47735011277676664,1.6273624870074335]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[0.6466442865010198,-0.3378940431246171,0.71338606911949],"aabb_xy":[[0.5916442873244302,-0.3928837178995747],[0.7016442856776092,-0.28290436834965943]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.04981254545866853,0.31078033040131414,0.71338606911949],"aabb_xy":[[-0.07231254570218393,0.2985756957415422],[-0.02731254521515314,0.3229849650610861]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[-0.3744727528057731,-2.467858551366969,0.71338606911949],"aabb_xy":[[-0.42447202797420924,-2.5178585526429162],[-0.3244734776373369,-2.417858550091022]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[-0.5671217647158043,-0.8839367055429355,0.71338606911949],"aabb_xy":[[-0.6321217657163049,-0.9347230706976104],[-0.5021217637153038,-0.8331503403882605]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.4667058152432706,0.9811759130154938,0.71338606911949],"aabb_xy":[[0.42920581495109583,0.97713443761489],[0.5042058155354454,0.9852173884160973]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[0.19615097603226728,1.5402071064957252,0.71338606911949],"aabb_xy":[[0.13115097599796455,1.493506429815398],[0.26115097606657,1.5869077831760525]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.06762891205943378,0.5634110233562155,0.71338606911949],"aabb_xy":[[-0.08791321478283252,0.5431283982135067],[-0.04734460933603501,0.5836936484989244]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[-0.29307307363939733,1.4871221005806166,0.71338606911949],"aabb_xy":[[-0.3305730743039759,1.4714350425803941],[-0.2555730729748185,1.5028091585808385]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.3626053015857187,-0.7890864185397695,0.71338606911949],"aabb_xy":[[0.29260529945428915,-0.811848384165465],[0.4326053037171482,-0.7663244529140737]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[0.49504022221582256,-0.6781590603910164,0.71338606911949],"aabb_xy":[[0.42504021957923616,-0.6982639253868818],[0.5650402248524089,-0.6580541953951508]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[0.6711873769134367,-1.8335263186936073,0.71338606911949],"aabb_xy":[[0.6407031267864065,-1.883526318475103],[0.7016716270404668,-1.783526318912111]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.1403177555439733,-0.5906222856823986,0.71338606911949],"aabb_xy":[[-0.15115823377048818,-0.6078085669730474],[-0.12947727731745837,-0.5734360043917498]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[-0.011152488304864483,-0.8460230187914932,0.71338606911949],"aabb_xy":[[-0.019850450595579775,-0.8581479930989679],[-0.0024545260141491947,-0.8338980444840185]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_15","position":[0.24044489267534241,-0.6803611215460725,0.71338606911949],"aabb_xy":[[0.1764448906256104,-0.7204556046353805],[0.3044448947250744,-0.6402666384567646]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_16","position":[-0.6410730366963198,-0.6522777695169388,0.71338606911949],"aabb_xy":[[-0.691057272404497,-0.7022777683304343],[-0.5910888009881425,-0.6022777707034431]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[0.21640355005233602,-2.0037086041249097,0.71338606911949],"aabb_xy":[[0.19890354980728664,-2.021208391964476],[0.2339035502973854,-1.9862088162853426]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[0.00869386949059503,-2.4301297403403552,0.71338606911949],"aabb_xy":[[-0.013806130033112372,-2.452625687790975],[0.03119386901430243,-2.4076337928897336]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[0.38125634280129983,-1.2223822907948316,0.71338606911949],"aabb_xy":[[0.3212563411583779,-1.2743824400867758],[0.4412563444442216,-1.1703821415028874]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.35415277609204304,-1.8834426724491196,0.71338606911949],"aabb_xy":[[-0.3824824860405833,-1.8879034146428366],[-0.32582306614350287,-1.8789819302554025]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[-0.6369896943561091,1.1249977867288439,0.71338606911949],"aabb_xy":[[-0.6570481059693494,1.1049326998196862],[-0.6169312827428688,1.145062873638001]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_22","position":[-0.05564284435185329,-0.960235538770174,0.71338606911949],"aabb_xy":[[-0.14564284085272503,-1.006147181188632],[0.03435715214901846,-0.9143238963517156]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[-0.3520123565696731,-1.139750927706928,0.71338606911949],"aabb_xy":[[-0.3866034394237183,-1.2047509279919588],[-0.31742127371562784,-1.0747509274218967]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_24","position":[0.46492345963912185,0.07356622127104595,0.71338606911949],"aabb_xy":[[0.4099302483019851,0.018566220932252343],[0.5199166709762586,0.12856622160983955]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_25","position":[-0.5523946879700323,-2.3433395004933804,0.71338606911949],"aabb_xy":[[-0.5934126313564032,-2.3933395011243372],[-0.5113767445836614,-2.2933394998624226]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_26","position":[-0.14521734723772373,-2.324812080951341,0.71338606911949],"aabb_xy":[[-0.17869651449876467,-2.3582911943224483],[-0.11173817997668278,-2.2913329675802343]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_27","position":[0.21282901221891526,-2.193151857890018,0.71338606911949],"aabb_xy":[[0.16674392096418378,-2.257151855142573],[0.25891410347364674,-2.129151860637463]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_28","position":[-0.5088412822566635,-2.0225074472258893,0.71338606911949],"aabb_xy":[[-0.5263412156906468,-2.0400074471461234],[-0.4913413488226801,-2.0050074473056543]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_29","position":[0.5938832175895901,-0.9651391434876342,0.71338606911949],"aabb_xy":[[0.5582540616896303,-1.0007718102444874],[0.6295123734895498,-0.9295064767307814]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_30","position":[0.44097232818465737,-0.9750152523608935,0.71338606911949],"aabb_xy":[[0.43219110103742114,-0.9837949996494237],[0.4497535553318936,-0.9662355050723634]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664824679187191,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5947.png","name":"5947"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5947.png","name":"5947"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5971.png","name":"5971"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5395.png","name":"5395"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5645.png","name":"5645"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/541.png","name":"541"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":722.1001090168703,"rotation_z_degrees":111.50601372689802,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01847582571671592,0.016410355750831693,0.008709501560004513]},{"name":"camera_2","offset_m":[0.008910314191086899,-0.014976179934632496,0.015828731718435896]},{"name":"camera_3","offset_m":[0.0039490064699306444,0.0011792273275017633,-0.015780758493126913]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005315405109273608,0.0017523317504042663,0.0011447472267096508],"end_effector_yaw_offset_degrees":-0.09789384245895594},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018999721294477908,-0.0009090900366349301,-0.0005296386984880762],"end_effector_yaw_offset_degrees":0.9259306993772942},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006271041292372447,0.0010799290190853456,-0.0015247037774785684],"end_effector_yaw_offset_degrees":-0.5593915696510923},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001249736800905183,0.001892304506983637,0.0004626434146988048],"end_effector_yaw_offset_degrees":-0.35622006078495083}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00245007430004919,0.0012371666657185155],"position_m":[0.2355499256999508,0.2948371666657185,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011667885198395934,-0.0008044927234052554],"position_m":[0.23743321148016042,-0.3606044927234053,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014923106833760894,0.0018684145363691276],"position_m":[0.3531923106833761,-0.12953158546363086,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025131371635070256,-0.0003363078067510237],"position_m":[0.35678686283649297,0.07406369219324897,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"22b84092d28c3e9bdd1db882f1c37b0490b38c7480606d598f6c8a36668e9e62","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0020.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5947/tex_ceiling_textures_541/tex_floor_textures_5645/tex_table_textures_5971/tex_wall_textures_5395","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":4422868379502135060,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":4422868379502135060,"visual_seed":4422868379502135060,"scene_id":"lab_003","finished_at":"2026-09-04T18:25:09"}
+{"episode_id":"ep_000018","started_at":"2026-09-04T18:25:12","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_0","position":[-0.385146076385716,1.5465298285724267,0.71338606911949],"aabb_xy":[[-0.4027789119792436,1.5289068825568037],[-0.36751324079218844,1.5641527745880497]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[-0.16649905415766564,1.2161470436145119,0.71338606911949],"aabb_xy":[[-0.19149905370940412,1.2060045597493771],[-0.14149905460592715,1.2262895274796466]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[-0.09048054637945224,-1.7190284440308206,0.71338606911949],"aabb_xy":[[-0.1504805480223741,-1.771028593322765],[-0.03048054473653039,-1.6670282947388766]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[-0.6354778413295564,-1.7077579810205168,0.71338606911949],"aabb_xy":[[-0.6906030469591471,-1.7677579824618035],[-0.5803526356999655,-1.6477579795792292]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[-0.5009245850663939,0.7088173990230242,0.71338606911949],"aabb_xy":[[-0.5809245883304069,0.6952573667141109],[-0.4209245818023807,0.7223774313319375]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.12517983703423963,-0.8513618564879357,0.71338606911949],"aabb_xy":[[0.10159471357034477,-0.9163618587333675],[0.14876496049813448,-0.7863618542425039]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[0.1896680291119266,-1.2644272775653023,0.71338606911949],"aabb_xy":[[0.16839002096845432,-1.3294272798913753],[0.21094603725539882,-1.1994272752392292]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_7","position":[-0.23206145916910398,1.0539743626591545,0.71338606911949],"aabb_xy":[[-0.26583701835979695,1.0399358674459895],[-0.198285899978411,1.0680128578723194]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[0.40025758945426837,-1.4518393974807784,0.71338606911949],"aabb_xy":[[0.3541724981995369,-1.5158393947333335],[0.44634268070899985,-1.3878394002282233]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.1487049355787332,-1.8043266821260042,0.71338606911949],"aabb_xy":[[0.13169483828868256,-1.8204611706242781],[0.16571503286878386,-1.7881921936277303]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_10","position":[0.1592276224427941,-1.7248886014809894,0.71338606911949],"aabb_xy":[[0.1423168900064523,-1.738360807073604],[0.17613835487913587,-1.7114163958883748]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_11","position":[0.037342765140657486,0.8547537111919175,0.71338606911949],"aabb_xy":[[0.032005189474652924,0.8297537102627776],[0.04268034080666206,0.8797537121210571]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.24701307670715666,-0.5057695498787327,0.71338606911949],"aabb_xy":[[-0.2630750041656742,-0.5907695516913245],[-0.23095114924863896,-0.4207695480661409]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[0.15337467747309652,0.9230784942362882,0.71338606911949],"aabb_xy":[[0.11587467765606299,0.9184402829251463],[0.1908746772901301,0.92771670554743]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[-0.4293664021573995,1.6180411700514354,0.71338606911949],"aabb_xy":[[-0.43993388181549853,1.6074961399384269],[-0.4187989224993005,1.628586200164444]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[0.6831945634972825,1.2891918599078251,0.71338606911949],"aabb_xy":[[0.6768824639609442,1.2834249206546062],[0.689506663033621,1.294958799161044]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[-0.6095825861079838,-1.0411509416461497,0.71338606911949],"aabb_xy":[[-0.6203555600293515,-1.076150939865189],[-0.598809612186616,-1.006150943427111]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[0.4120097696403069,-0.5536280541854262,0.71338606911949],"aabb_xy":[[0.3692430627608867,-0.6176280576072285],[0.4547764765197271,-0.4896280507636236]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[-0.25676227641394744,1.5884719518490686,0.71338606911949],"aabb_xy":[[-0.26488996460726066,1.5795583434383609],[-0.24863458822063422,1.5973855602597764]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[0.6074931070281602,1.0469812388408095,0.71338606911949],"aabb_xy":[[0.5237708815280777,0.9569812353061136],[0.6912153325282426,1.1369812423755055]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_20","position":[0.5629613960407878,1.5334070334975043,0.71338606911949],"aabb_xy":[[0.5430703561604476,1.5207512222128077],[0.5828524359211281,1.5460628447822014]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6674726804760109,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5225.png","name":"5225"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5225.png","name":"5225"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6362.png","name":"6362"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1689.png","name":"1689"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/827.png","name":"827"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4634.png","name":"4634"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":795.8987724926135,"rotation_z_degrees":295.8376915100212,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006005861478358864,-0.0030414247809680793,0.019835934863104986]},{"name":"camera_2","offset_m":[0.006427303759468782,-0.006490731663634307,-0.0052596717589617585]},{"name":"camera_3","offset_m":[0.003142780972357439,0.012099690404053568,0.006803392185628827]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00079371017161979,-0.0003683869943853532,0.0007306572097442697],"end_effector_yaw_offset_degrees":0.5266562808691491},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016821552010245085,-0.00044430428311951565,0.0004573976924134096],"end_effector_yaw_offset_degrees":-0.8761860448463703},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005766175084787211,0.0009539316914561366,0.0005517231268952656],"end_effector_yaw_offset_degrees":-0.27270656113023173},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001964149266709129,-0.001545921203364586,-5.8632559768106735e-05],"end_effector_yaw_offset_degrees":0.6619057182740089}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001546434047122766,0.0020703431068715243],"position_m":[0.23954643404712275,0.29567034310687157,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017263186534310169,0.0018823955933932515],"position_m":[0.24032631865343101,-0.35791760440660675,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002989072037263324,-0.002290259404668137],"position_m":[0.34871092796273667,-0.13369025940466814,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017763433847586855,-0.0006777037210169354],"position_m":[0.3610763433847587,0.07372229627898305,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f983fa63ee6750aac79542d71a4ffb3bb6d50726e55453c2f61677d538982715","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0021.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5225/tex_ceiling_textures_4634/tex_floor_textures_827/tex_table_textures_6362/tex_wall_textures_1689","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":70214553492676470,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":70214553492676470,"visual_seed":70214553492676470,"scene_id":"lab_003","finished_at":"2026-09-04T18:29:07"}
+{"episode_id":"ep_000019","started_at":"2026-09-04T18:29:11","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.4844846654813149,0.5743508970753801,0.71338606911949],"aabb_xy":[[-0.5484846677017219,0.5299778129500919],[-0.4204846632609079,0.6187239812006685]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[-0.5714156769436595,1.2962195085440413,0.71338606911949],"aabb_xy":[[-0.5751189382727983,1.2925174902353234],[-0.5677124156145205,1.2999215268527589]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[-0.10449318251483575,-0.36174618034076156,0.71338606911949],"aabb_xy":[[-0.1344607394246614,-0.3917461806386473],[-0.0745256256050101,-0.3317461800428758]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[0.6544890103065424,-1.9646022928054236,0.71338606911949],"aabb_xy":[[0.6410424836724989,-1.978072144458515],[0.6679355369405856,-1.9511324411523323]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[-0.6078190141664473,-0.09033200416816234,0.71338606911949],"aabb_xy":[[-0.6577923081697077,-0.14033200472270968],[-0.5578457201631868,-0.04033200361361498]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[-0.08175492218339198,-2.41572506541993,0.71338606911949],"aabb_xy":[[-0.16175491919763996,-2.4358596170933415],[-0.0017549251691439949,-2.3955905137465185]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[-0.1991251065352192,-1.7148865485504379,0.71338606911949],"aabb_xy":[[-0.20989808045658695,-1.7498865467694766],[-0.1883521326138514,-1.6798865503313987]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_7","position":[0.17802336761872672,1.4799069569026488,0.71338606911949],"aabb_xy":[[0.1719287397306084,1.4713375623509803],[0.18411799550684504,1.4884763514543178]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_8","position":[0.12539085665115424,1.0479650099955848,0.71338606911949],"aabb_xy":[[0.09161529746046126,1.03392651478242],[0.1591664158418472,1.0620035052087498]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_9","position":[-0.4522877599668097,-2.1648880840151477,0.71338606911949],"aabb_xy":[[-0.5162877591365795,-2.21165477113411],[-0.38828776079703975,-2.118121396896185]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_10","position":[0.19328552615443073,0.9264853978407097,0.71338606911949],"aabb_xy":[[0.12928982875933412,0.8624853995400009],[0.2572812235495273,0.9904853961414183]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[-0.5600445130975455,1.5715342742374951,0.71338606911949],"aabb_xy":[[-0.6250445140546727,1.5195860623037896],[-0.4950445121404183,1.6234824861712007]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.17844214120900725,-1.3471351547844452,0.71338606911949],"aabb_xy":[[-0.18885369988949097,-1.3524808881203436],[-0.16803058252852354,-1.3417894214485468]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_13","position":[0.6540915148164186,1.710625284490272,0.71338606911949],"aabb_xy":[[0.6423233280217611,1.625625284585051],[0.6658597016110761,1.795625284395494]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.19916359725148075,-1.8889201231617214,0.71338606911949],"aabb_xy":[[-0.22105334484042155,-1.9789201204509708],[-0.17727384966253995,-1.7989201258724725]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_15","position":[-0.4474978158312456,-2.447641696717598,0.71338606911949],"aabb_xy":[[-0.4974820515394228,-2.4976416955310934],[-0.39751358012306837,-2.397641697904102]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.6625299699119642,0.7395986274175201,0.71338606911949],"aabb_xy":[[0.6570720242749442,0.659598624109861],[0.6679879155489843,0.8195986307251792]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[-0.19251392417507152,0.9215156084432916,0.71338606911949],"aabb_xy":[[-0.22954803360313117,0.8871384011095821],[-0.15547981474701175,0.9558928157770009]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.41585880741801384,-0.45895034005525925,0.71338606911949],"aabb_xy":[[0.3658588061341738,-0.5089291944458812],[0.46585880870185375,-0.4089714856646371]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.556275965821714,-0.6779775384706752,0.71338606911949],"aabb_xy":[[0.4662759690861038,-0.7311610017879696],[0.6462759625573242,-0.6247940751533806]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_20","position":[-0.4457181367667593,-1.2437496238926118,0.71338606911949],"aabb_xy":[[-0.4617800642252769,-1.3287496257052034],[-0.4296562093082416,-1.1587496220800197]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_21","position":[0.29771517162216277,0.7358556610723026,0.71338606911949],"aabb_xy":[[0.2477158964537266,0.6858556597963554],[0.34771444679059893,0.7858556623482498]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[0.11558145296652289,0.5843210361205218,0.71338606911949],"aabb_xy":[[0.11214077672646572,0.5804596031461573],[0.11902212920658006,0.5881824690948863]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_23","position":[-0.25033151867438197,0.6262059547383951,0.71338606911949],"aabb_xy":[[-0.34033151839755604,0.6031326022032151],[-0.1603315189512077,0.6492793072735747]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[0.5563651833232899,0.7164563477889914,0.71338606911949],"aabb_xy":[[0.5469477087534271,0.7070401706512723],[0.5657826578931526,0.7258725249267104]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[-0.28329940073949333,-0.546670503497702,0.71338606911949],"aabb_xy":[[-0.32079940225512504,-0.557897276513847],[-0.24579939922386163,-0.5354437304815569]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_26","position":[0.5330238428978769,1.6944719086436861,0.71338606911949],"aabb_xy":[[0.4980238437050585,1.6835048626460232],[0.568023842090695,1.7054389546413482]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_27","position":[-0.472541363090806,-0.12550513689209142,0.71338606911949],"aabb_xy":[[-0.4928256658142047,-0.14578776203480023],[-0.4522570603674072,-0.10522251174938256]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_28","position":[-0.06541919390187201,-1.834102834069669,0.71338606911949],"aabb_xy":[[-0.08321270083678844,-1.8519025796654665],[-0.04762568696695557,-1.8163030884738711]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_29","position":[-0.28469961211811,0.13493704620937086,0.71338606911949],"aabb_xy":[[-0.3646996135482372,0.055419891196761384],[-0.2046996106879828,0.21445420122198033]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657390614936934,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7237.png","name":"7237"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7237.png","name":"7237"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1806.png","name":"1806"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7729.png","name":"7729"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/755.png","name":"755"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9081.png","name":"9081"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":543.5670360052568,"rotation_z_degrees":303.7475770128723,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009266506896862578,-0.009949682616832668,-0.01480870315292469]},{"name":"camera_2","offset_m":[-0.004395030798195228,-0.0011104825392825347,-0.015131679275547141]},{"name":"camera_3","offset_m":[-0.008509871557879571,-0.016143048518109274,-0.01792555009344887]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009419742040666693,0.0009989494334889542,0.0006147494683937001],"end_effector_yaw_offset_degrees":-0.14061716324523688},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006108540955485843,-0.0002519447662400736,0.0003222563192948704],"end_effector_yaw_offset_degrees":-0.6011449168534051},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009635409992900669,-0.0017147927370810328,-0.00031875755589109425],"end_effector_yaw_offset_degrees":0.3448817755726581},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010279703262982233,-0.00010222170174479703,-0.0013236027436149597],"end_effector_yaw_offset_degrees":-0.6204835808035774}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003833699111094684,-0.0005005870652003332],"position_m":[0.2341663008889053,0.2930994129347997,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021828072080002712,-0.0010090005297107721],"position_m":[0.23641719279199974,-0.36080900052971077,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004327579406215197,-0.004211643202528789],"position_m":[0.3473724205937848,-0.13561164320252878,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000651276702327069,-0.00108697003812504],"position_m":[0.35995127670232707,0.07331302996187496,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d7609a8e9959b60bc9753651d7b75d379bc89fc700bd744ad0fa2bc65bfce19f","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0022.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7237/tex_ceiling_textures_9081/tex_floor_textures_755/tex_table_textures_1806/tex_wall_textures_7729","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":5371763988548838990,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":5371763988548838990,"visual_seed":5371763988548838990,"scene_id":"lab_003","finished_at":"2026-09-04T18:33:03"}
+{"episode_id":"ep_000020","started_at":"2026-09-04T18:33:07","dimensions":{"distractor":{"count":31,"items":[{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_0","position":[0.5736109578089577,0.16140349206804583,0.71338606911949],"aabb_xy":[[0.54114925692703,0.1312706599531432],[0.6060726586908849,0.19153632418294841]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[0.3338866113980328,-1.8443188330561968,0.71338606911949],"aabb_xy":[[0.2838866119578371,-1.8942867575405127],[0.38388661083822834,-1.79435090857188]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_2","position":[-0.27344044348390084,-0.6500721017310236,0.71338606911949],"aabb_xy":[[-0.35343426706245906,-0.7300721043238652],[-0.19344661990534262,-0.570072099138182]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.33398305748112156,-2.5111131709640957,0.71338606911949],"aabb_xy":[[0.32273800191050367,-2.5223549686881905],[0.34522811305173934,-2.49987137324]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.3965191276320498,-0.29296566640148614,0.71338606911949],"aabb_xy":[[-0.4581098868560426,-0.356965664510533],[-0.33492836840805695,-0.22896566829243925]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[-0.6425735694960177,0.6836573632616192,0.71338606911949],"aabb_xy":[[-0.6800735710116496,0.672430590245474],[-0.6050735679803861,0.6948841362777641]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[-0.07184365101995982,-2.2133351810099917,0.71338606911949],"aabb_xy":[[-0.10863828414486609,-2.250241056106574],[-0.03504901789505355,-2.1764293059134094]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[-0.5218026471462,-0.04917415124083435,0.71338606911949],"aabb_xy":[[-0.5393025805801832,-0.0666741511610689],[-0.5043027137122165,-0.0316741513205998]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[0.6106587189861543,0.044855001808571604,0.71338606911949],"aabb_xy":[[0.5406587168547247,0.02209303618287594],[0.6806587211175837,0.06761696743426726]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_9","position":[-0.24839545491674841,1.6420378137476637,0.71338606911949],"aabb_xy":[[-0.2571766820639847,1.6332580664591336],[-0.23961422776951224,1.6508175610361941]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[-0.21377435859931326,-0.29228534061017974,0.71338606911949],"aabb_xy":[[-0.2837743604080587,-0.3136391093743671],[-0.14377435679056783,-0.27093157184599237]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[0.6299126403610296,-0.819652019287171,0.71338606911949],"aabb_xy":[[0.565916942965933,-0.8836520175878797],[0.6939083377561261,-0.7556520209864623]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[-0.5169780409460054,-0.47439623616886184,0.71338606911949],"aabb_xy":[[-0.5769780425889273,-0.526396385460806],[-0.45697803930308356,-0.42239608687691765]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.19706002128450306,-1.4785629711715274,0.71338606911949],"aabb_xy":[[-0.2392444354453338,-1.5425629714487386],[-0.15487560712367232,-1.4145629708943162]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.604399798704428,-2.4022735029335998,0.71338606911949],"aabb_xy":[[-0.6347979098035714,-2.4326804049352684],[-0.5740016876052842,-2.3718666009319294]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[-0.3210154017652767,0.6604817812860766,0.71338606911949],"aabb_xy":[[-0.3264733474022968,0.5804817779784173],[-0.31555745612825664,0.7404817845937355]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[-0.5960059852023358,1.064079492261376,0.71338606911949],"aabb_xy":[[-0.6660059868046153,1.0506466990597185],[-0.5260059836000563,1.0775122854630337]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.12503263069379378,1.7076996461528506,0.71338606911949],"aabb_xy":[[0.04503262962067345,1.6979215998154662],[0.2050326317669141,1.717477692490235]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[-0.6573700122258644,-0.5820744373912592,0.71338606911949],"aabb_xy":[[-0.6646312597962718,-0.5948614476547688],[-0.6501087646554571,-0.5692874271277498]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_19","position":[-0.5080470282632367,1.8109496506666871,0.71338606911949],"aabb_xy":[[-0.5455470286114643,1.7991582550856036],[-0.4705470279150088,1.8227410462477707]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[0.6099651029191191,-1.840275743377768,0.71338606911949],"aabb_xy":[[0.6029236519683716,-1.847302495115562],[0.6170065538698668,-1.8332489916399732]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_21","position":[-0.6551492104776806,-1.202177207697646,0.71338606911949],"aabb_xy":[[-0.6780649233627305,-1.2250815048340697],[-0.6322334975926307,-1.1792729105612227]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[0.6037582822696419,-1.5314891442169587,0.71338606911949],"aabb_xy":[[0.579244658172636,-1.555753737518995],[0.6282719063666478,-1.507224550914922]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[0.4693313380563928,1.4381409432043673,0.71338606911949],"aabb_xy":[[0.46490070870155265,1.432692571469685],[0.473761967411233,1.44358931493905]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_24","position":[-0.5750012460112546,-1.9013870577658016,0.71338606911949],"aabb_xy":[[-0.5858417242377695,-1.9185733390564501],[-0.5641607677847397,-1.8842007764751527]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[0.48140683098817716,-0.8546898918650836,0.71338606911949],"aabb_xy":[[0.4774463472184428,-0.8623577564506041],[0.4853673147579115,-0.8470220272795629]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_26","position":[-0.011774712117157748,0.9979255324730385,0.71338606911949],"aabb_xy":[[-0.10177471071162769,0.9816749461596177],[0.0782252864773122,1.0141761187864597]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[-0.2728182035920137,-1.8164344314417171,0.71338606911949],"aabb_xy":[[-0.3101494801172563,-1.8510874862365694],[-0.23548692706677107,-1.7817813766468649]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_28","position":[-0.6087413639521845,-1.7406271235156503,0.71338606911949],"aabb_xy":[[-0.6587413656136792,-1.7906255657713526],[-0.5587413622906897,-1.6906286812599471]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_29","position":[0.056856822234684246,-2.1472725773960435,0.71338606911949],"aabb_xy":[[0.006861811275232223,-2.1972725764316356],[0.1068518331941363,-2.0972725783604522]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_30","position":[-0.42932408075309253,0.6872521476399247,0.71338606911949],"aabb_xy":[[-0.4604709995966756,0.6172521489531174],[-0.39817716190950936,0.7572521463267318]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6685761474542254,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1322.png","name":"1322"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1322.png","name":"1322"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/264.png","name":"264"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/904.png","name":"904"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/306.png","name":"306"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5411.png","name":"5411"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":818.6330915626686,"rotation_z_degrees":170.51526657886103,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016955435206423217,0.0016640966728768657,-0.012972890713601344]},{"name":"camera_2","offset_m":[0.003813353324609345,0.016344983293453092,-0.011648318080718836]},{"name":"camera_3","offset_m":[0.0022421323745851485,0.010694456498345821,-0.005866857034714391]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019366270465180392,-0.0016695526345369975,0.0016682908960111175],"end_effector_yaw_offset_degrees":0.8181328256610705},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013505956728191476,-0.0012434991960023384,-0.001325396265357541],"end_effector_yaw_offset_degrees":0.8644060611070579},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017361437077706796,0.0011185073896308748,0.0005158100456318492],"end_effector_yaw_offset_degrees":0.23839020969662483},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000137954502866083,0.0015968495767370535,0.0009957028522662131],"end_effector_yaw_offset_degrees":-0.5465436135575146}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032856435470285323,0.0017608337175409848],"position_m":[0.24128564354702853,0.295360833717541,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003174351055654014,0.0021051750799285637],"position_m":[0.241774351055654,-0.35769482492007143,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002107516814622958,-0.003377454964746585],"position_m":[0.3519107516814623,-0.13477745496474658,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007210426601659149,0.004846992725191617],"position_m":[0.3585789573398341,0.07924699272519162,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c4780aadccc3d8c3c7ad99eea9258c742f41995d0902bed5ef34d32f8ac4fb07","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0023.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1322/tex_ceiling_textures_5411/tex_floor_textures_306/tex_table_textures_264/tex_wall_textures_904","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":8993264709577879462,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":8993264709577879462,"visual_seed":8993264709577879462,"scene_id":"lab_003","finished_at":"2026-09-04T18:37:23"}
+{"episode_id":"ep_000021","started_at":"2026-09-04T18:37:27","dimensions":{"distractor":{"count":25,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[0.6753015805262279,-0.20945861451070336,0.71338606911949],"aabb_xy":[[0.6581995025678598,-0.2265654200419731],[0.6924036584845961,-0.1923518089794336]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[-0.06168723111690144,-0.9697043969332957,0.71338606911949],"aabb_xy":[[-0.0819715338403002,-0.9899870220760043],[-0.04140292839350268,-0.9494217717905866]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[-0.34581131834186424,1.2754144905676097,0.71338606911949],"aabb_xy":[[-0.3693964418057591,1.2104144883221781],[-0.3222261948779694,1.3404144928130417]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.6610080707132149,0.5146347044009953,0.71338606911949],"aabb_xy":[[0.6264169878591694,0.44963470411596423],[0.6955991535672599,0.5796347046860263]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.18454543012426639,-1.9088142722439843,0.71338606911949],"aabb_xy":[[-0.20122256611736186,-1.9255141962179148],[-0.16786829413117085,-1.8921143482700542]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[-0.1393907538618826,1.6371217176376978,0.71338606911949],"aabb_xy":[[-0.15689068729586594,1.619621717717463],[-0.1218908204278992,1.654621717557932]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[-0.011742355247262193,-2.296058316140813,0.71338606911949],"aabb_xy":[[-0.09174235226151017,-2.3161928678142236],[0.06825764176698579,-2.2759237644674015]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[-0.15940640551710683,-0.26498317511538394,0.71338606911949],"aabb_xy":[[-0.20940123844504843,-0.31498317401062753],[-0.10941157258916523,-0.21498317622014046]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[-0.08016659439353846,0.42808992386140066,0.71338606911949],"aabb_xy":[[-0.08979823061396808,0.41845261108169174],[-0.07053495817310884,0.4377272366411096]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_9","position":[0.49036449435168317,-1.8726681428684735,0.71338606911949],"aabb_xy":[[0.46789972438027805,-1.8951681437473342],[0.5128292643230883,-1.8501681419896132]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.351391335022903,1.3804110449702773,0.71338606911949],"aabb_xy":[[0.3013913346623369,1.3304310577606742],[0.40139133538346905,1.43039103217988]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[0.5858090418194779,1.295884325602009,0.71338606911949],"aabb_xy":[[0.5798425028787422,1.2899231809426446],[0.5917755807602136,1.3018454702613729]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_12","position":[0.6756332593552477,-0.3173499827998665,0.71338606911949],"aabb_xy":[[0.6413169821806298,-0.3673499827730442],[0.7099495365298657,-0.26734998282668876]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[0.279077218100516,1.1027353032910785,0.71338606911949],"aabb_xy":[[0.24344806220055626,1.0671026365342255],[0.31470637400047574,1.1383679700479314]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_14","position":[-0.2976345491595064,-1.6377437946611422,0.71338606911949],"aabb_xy":[[-0.34371964041423786,-1.7017437919136973],[-0.2515494579047749,-1.573743797408587]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_15","position":[-0.03615390204900415,-2.0717655331913627,0.71338606911949],"aabb_xy":[[-0.09115390122559364,-2.12675520796632],[0.018846097127585344,-2.0167758584164046]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_16","position":[0.39800565820980593,0.30403091863159615,0.71338606911949],"aabb_xy":[[0.38884577926592934,0.2974997005880592],[0.40716553715368253,0.3105621366751332]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.4649177609227203,0.29300343853837996,0.71338606911949],"aabb_xy":[[-0.47616281649333814,0.2817616408142847],[-0.45367270535210247,0.30424523626247524]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[0.28561836085154024,-0.6144393197308029,0.71338606911949],"aabb_xy":[[0.195618357174622,-0.6758717263079072],[0.3756183645284583,-0.5530069131536984]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[-0.3466363440693972,0.5237091726988177,0.71338606911949],"aabb_xy":[[-0.35404879961078567,0.5178579622771896],[-0.3392238885280087,0.5295603831204455]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[0.46997284073509693,-1.4057919319221135,0.71338606911949],"aabb_xy":[[0.46605896753967435,-1.4145409473286703],[0.4738867139305194,-1.3970429165155567]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[0.07582103118670125,-1.3873203277431598,0.71338606911949],"aabb_xy":[[0.04542292008755767,-1.4177272297448291],[0.10621914228584484,-1.35691342574149]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_22","position":[-0.15659248562479022,-2.1531921057199948,0.71338606911949],"aabb_xy":[[-0.17426811621338853,-2.170872321999397],[-0.13891685503619186,-2.1355118894405916]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[-0.18491500561359442,-0.8420838981605481,0.71338606911949],"aabb_xy":[[-0.19814595114827568,-0.8553113171825474],[-0.1716840600789131,-0.8288564791385485]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_24","position":[0.24621395875361163,-2.0694347853279957,0.71338606911949],"aabb_xy":[[0.21836892197300453,-2.1002192840663074],[0.27405899553421875,-2.038650286589684]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6696357819396997,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3604.png","name":"3604"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3604.png","name":"3604"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7739.png","name":"7739"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9444.png","name":"9444"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8997.png","name":"8997"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8024.png","name":"8024"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":690.5396529578118,"rotation_z_degrees":141.95001040598683,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009889835067915919,-0.018901721321263106,0.0069118964081924875]},{"name":"camera_2","offset_m":[0.011587840530876675,-0.018940281360543952,-0.012720801684110161]},{"name":"camera_3","offset_m":[-0.007022317059948642,0.006188493441712892,-0.018582892211081115]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012363838154951833,-0.00041009879926281415,0.0008768002126819181],"end_effector_yaw_offset_degrees":0.9111833478161655},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018759121332284723,-0.0011108059444150178,-0.0003293852991399068],"end_effector_yaw_offset_degrees":0.4685822938202573},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010865554474236033,0.0001563474293931671,-0.0002793969851169198],"end_effector_yaw_offset_degrees":-0.1349950831709621},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013426645144126773,-0.0008151945983822656,-0.0013604139717982586],"end_effector_yaw_offset_degrees":-0.5395603945189058}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038709826404914787,0.000627291811808579],"position_m":[0.24187098264049148,0.2942272918118086,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035695605493718035,0.00074991075305046],"position_m":[0.2421695605493718,-0.35905008924694953,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003314429237932963,0.0015814322231774815],"position_m":[0.34838557076206705,-0.12981856777682252,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00030619038107691874,-0.0025161737880591327],"position_m":[0.35960619038107694,0.07188382621194087,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"512d696013c7e9e14eb7082aa0cbc86ed917d850a5cd3e3c235be7f6e1bce162","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0024.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3604/tex_ceiling_textures_8024/tex_floor_textures_8997/tex_table_textures_7739/tex_wall_textures_9444","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":4305452803186125965,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":4305452803186125965,"visual_seed":4305452803186125965,"scene_id":"lab_003","finished_at":"2026-09-04T18:41:18"}
+{"episode_id":"ep_000022","started_at":"2026-09-04T18:41:21","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.2777780290305989,-1.337817456466498,0.71338606911949],"aabb_xy":[[-0.3272584502445577,-1.4018174543793498],[-0.2282976078166401,-1.2738174585536461]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[0.03245566308115766,-1.1656979894120194,0.71338606911949],"aabb_xy":[[-0.017523145429158234,-1.215697989417738],[0.08243447159147355,-1.1156979894063004]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_2","position":[0.07043069575733152,0.925320244263212,0.71338606911949],"aabb_xy":[[0.035430695780835686,0.9158556282155954],[0.10543069573382735,0.9347848603108286]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[0.2741968915773496,-1.4507962884252334,0.71338606911949],"aabb_xy":[[0.22422382604483415,-1.5007962882377666],[0.32416995710986507,-1.4007962886127006]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[-0.42971733475557505,-2.421039490721911,0.71338606911949],"aabb_xy":[[-0.4947173329114941,-2.447335735271823],[-0.364717336599656,-2.3947432461719984]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[0.22232100445394365,-0.749244864716436,0.71338606911949],"aabb_xy":[[0.20714883517231034,-0.7644137216446393],[0.23749317373557702,-0.7340760077882326]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_6","position":[0.18800064117752735,-2.5529116045144695,0.71338606911949],"aabb_xy":[[0.1845599649374702,-2.556773037488834],[0.19144131741758458,-2.549050171540105]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.6393865894147905,-1.879380705451552,0.71338606911949],"aabb_xy":[[0.6321428233685451,-1.9593807036551543],[0.6466303554610358,-1.7993807072479495]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_8","position":[0.6327141199484223,-2.110208791869288,0.71338606911949],"aabb_xy":[[0.582714121302501,-2.1601283355287504],[0.6827141185943434,-2.0602892482098256]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[-0.035347887193260874,-1.4611821800375175,0.71338606911949],"aabb_xy":[[-0.12534788578773082,-1.4774327663509386],[0.05465211140120907,-1.4449315937240965]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[-0.13847591706892848,-2.5821751043572325,0.71338606911949],"aabb_xy":[[-0.16097591688283083,-2.5866497207277135],[-0.11597591725502607,-2.5777004879867524]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[0.21961193422516812,1.2930697204015469,0.71338606911949],"aabb_xy":[[0.21161844442988612,1.2850715884610715],[0.22760542402045017,1.3010678523420227]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[0.17906009088127472,0.7741158904391559,0.71338606911949],"aabb_xy":[[0.1150600935789283,0.729749463471299],[0.2430600881836211,0.8184823174070125]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[-0.33129933712076365,0.6132852697243174,0.71338606911949],"aabb_xy":[[-0.353799336644471,0.5907893222736965],[-0.3087993375970562,0.6357812171749381]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[0.6282603189470721,1.724301055437182,0.71338606911949],"aabb_xy":[[0.620216959021117,1.6393010543418154],[0.6363036788730273,1.8093010565325482]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_15","position":[-0.16471498150486086,0.08537927007952195,0.71338606911949],"aabb_xy":[[-0.22471498210087704,0.03056679753429846],[-0.10471498090884468,0.14019174262474543]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_16","position":[0.429063923738884,0.7948380735342715,0.71338606911949],"aabb_xy":[[0.3790639223779968,0.7448601689588558],[0.47906392509977125,0.844815978109687]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[-0.632481207267614,-1.6913150970466002,0.71338606911949],"aabb_xy":[[-0.6397424548380215,-1.7041021073101095],[-0.6252199596972066,-1.6785280867830905]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.5580945299553379,-0.5057839261976844,0.71338606911949],"aabb_xy":[[-0.5757273655488655,-0.5234068722133073],[-0.5404616943618104,-0.4881609801820614]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_19","position":[0.31493379795864707,-2.112383077813175,0.71338606911949],"aabb_xy":[[0.28993379879301395,-2.1193353235185315],[0.3399337971242802,-2.1054308321078183]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[0.3744207284198211,-0.5253266322945271,0.71338606911949],"aabb_xy":[[0.30942073053817337,-0.5764502960010681],[0.439420726301469,-0.4742029685879864]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[-0.0627370845473244,-1.6417445095650436,0.71338606911949],"aabb_xy":[[-0.07203070278447499,-1.6792445080531773],[-0.053443466310173826,-1.6042445110769095]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_22","position":[-0.35143372982265897,0.2121571292529989,0.71338606911949],"aabb_xy":[[-0.3889337310074517,0.20773890655693833],[-0.3139337286378661,0.2165753519490594]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6728147381000081,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/12.png","name":"12"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/12.png","name":"12"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8803.png","name":"8803"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6092.png","name":"6092"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8321.png","name":"8321"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3801.png","name":"3801"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":644.0479813215486,"rotation_z_degrees":73.07509856021674,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017204158184137317,0.0025741603462245653,0.007119916663168115]},{"name":"camera_2","offset_m":[0.013082338753490613,-0.00011113524645126743,-0.016161237925089673]},{"name":"camera_3","offset_m":[0.009640844158464019,0.004721776406445395,-0.005019017668434569]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00021457426598526412,-6.35932340566003e-05,-6.375270940758848e-06],"end_effector_yaw_offset_degrees":0.8351423936542497},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017271571399704486,0.0018007594252817667,0.0017914306206540456],"end_effector_yaw_offset_degrees":0.8890719494972064},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011257314259933075,0.0017722092877081172,-0.0006540924222764701],"end_effector_yaw_offset_degrees":-0.5458057425062091},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010009191052501266,-5.628157370733428e-05,0.0016498864777861545],"end_effector_yaw_offset_degrees":-0.43887652486243267}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033560933931619154,-0.004152437382039754],"position_m":[0.23464390660683807,0.2894475626179603,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037316291803137164,-0.004893337020777878],"position_m":[0.24233162918031373,-0.3646933370207779,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002644366116137952,-0.0014127315003548912],"position_m":[0.35434436611613795,-0.13281273150035489,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034071104648359285,0.004359703591389667],"position_m":[0.35589288953516407,0.07875970359138966,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"37ce629b8b9e43fcb624b5e2a65d8a68cf0b8db0baf321fdfe4a28b01e12663d","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0025.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_12/tex_ceiling_textures_3801/tex_floor_textures_8321/tex_table_textures_8803/tex_wall_textures_6092","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":6098546359242115717,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":6098546359242115717,"visual_seed":6098546359242115717,"scene_id":"lab_003","finished_at":"2026-09-04T18:45:17"}
+{"episode_id":"ep_000023","started_at":"2026-09-04T18:45:22","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[-0.5450595623654297,-1.944661563213058,0.71338606911949],"aabb_xy":[[-0.590338177246579,-2.0086615625612416],[-0.4997809474842805,-1.8806615638648743]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[0.29815095148530646,-1.3245272729687987,0.71338606911949],"aabb_xy":[[0.24315870084979552,-1.3795272747121112],[0.3531432021208174,-1.2695272712254857]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[0.3746037658964654,-2.110370696063123,0.71338606911949],"aabb_xy":[[0.3106037639841231,-2.1662818453211337],[0.4386037678088078,-2.054459546805113]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[-0.2056829599188415,0.34371903767124623,0.71338606911949],"aabb_xy":[[-0.26568296156176335,0.29171888837930204],[-0.14568295827591965,0.3957191869631904]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[-0.2613903623601435,0.885523274713468,0.71338606911949],"aabb_xy":[[-0.3113903610060647,0.8356037310540056],[-0.21139036371422232,0.9354428183729304]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[-0.45635711457035366,0.891899761560945,0.71338606911949],"aabb_xy":[[-0.5163571144169204,0.8350811393679062],[-0.3963571147237869,0.9487183837539835]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[0.46093902923048935,-1.4702939782248616,0.71338606911949],"aabb_xy":[[0.4109390288699233,-1.5202739654344644],[0.5109390295910554,-1.4203139910152585]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[-0.4314164320775636,-0.2881294567945405,0.71338606911949],"aabb_xy":[[-0.4689164324257913,-0.299920852375624],[-0.39391643172933577,-0.2763380612134569]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_8","position":[0.7161575776900639,1.7478764100902402,0.71338606911949],"aabb_xy":[[0.7097437640468789,1.7414665898425714],[0.7225713913332488,1.754286230337908]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.3237033993142957,0.687389382053861,0.71338606911949],"aabb_xy":[[0.25870339831379513,0.6366030168991861],[0.38870340031479617,0.738175747208536]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[0.6786324841500262,0.9917928045552808,0.71338606911949],"aabb_xy":[[0.6705047959567131,0.9828791961445733],[0.6867601723433395,1.0007064129659886]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_11","position":[0.33411433208825003,-0.5406332933056315,0.71338606911949],"aabb_xy":[[0.31161519636202306,-0.5631332940838943],[0.356613467814477,-0.5181332925273684]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[-0.21822111909392145,0.4600281867488887,0.71338606911949],"aabb_xy":[[-0.25322111828673965,0.4490611407512259],[-0.18322111990110315,0.47099523274655114]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[0.29697217229012374,-0.9735913942222754,0.71338606911949],"aabb_xy":[[0.27197217273838525,-0.98373387808741],[0.3219721718418622,-0.9634489103571405]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[-0.25972745840609135,-0.35988124523917797,0.71338606911949],"aabb_xy":[[-0.27578938586460894,-0.44488124705176973],[-0.24366553094757368,-0.2748812434265861]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[-0.38363331354315006,1.0683246404556086,0.71338606911949],"aabb_xy":[[-0.4061297349770142,1.045824640648861],[-0.361136892109286,1.0908246402623558]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[-0.17103212947796642,-0.12862951238599418,0.71338606911949],"aabb_xy":[[-0.18853206291194977,-0.14612951230622873],[-0.15353219604398302,-0.11112951246575964]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[-0.2601461701633257,0.6280262792538562,0.71338606911949],"aabb_xy":[[-0.2732974161346151,0.6030262794971697],[-0.2469949241920364,0.6530262790105428]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[-0.3683156214397545,-1.5291067321087728,0.71338606911949],"aabb_xy":[[-0.3872000052082647,-1.5479926568891258],[-0.3494312376712443,-1.5102208073284202]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_19","position":[0.1292763798566735,1.638746179523547,0.71338606911949],"aabb_xy":[[0.08147021224290486,1.5737461768164878],[0.17708254747044216,1.7037461822306057]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[0.1430353888087117,1.0543542413870912,0.71338606911949],"aabb_xy":[[0.11852176471170581,1.0300896480850548],[0.16754901290571753,1.0786188346891277]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[0.3256540669019834,-0.8993060493692999,0.71338606911949],"aabb_xy":[[0.30976957363665825,-0.913658989668124],[0.34153856016730855,-0.8849531090704759]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_22","position":[-0.09682031169575167,1.0613898188894764,0.71338606911949],"aabb_xy":[[-0.1468203130566389,1.0114119143140605],[-0.04682031033486445,1.1113677234648918]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_23","position":[0.5828603141952218,-1.5852328110280274,0.71338606911949],"aabb_xy":[[0.49286031560075183,-1.6014833973414484],[0.6728603127896917,-1.5689822247146064]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_24","position":[0.2524463955337731,-0.6791778952143583,0.71338606911949],"aabb_xy":[[0.23494639639940598,-0.6890575222519462],[0.2699463946681403,-0.6692982681767705]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6723342447268971,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7822.png","name":"7822"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7822.png","name":"7822"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3327.png","name":"3327"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6500.png","name":"6500"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7671.png","name":"7671"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/438.png","name":"438"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":721.7678657261947,"rotation_z_degrees":277.9423907802175,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009861843043968794,-0.01890319414173249,0.008707928472094287]},{"name":"camera_2","offset_m":[0.005331094072152428,0.009862403357362184,0.009964910020982324]},{"name":"camera_3","offset_m":[-0.009493079368495989,0.014421386072105833,0.0009356675283936633]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010794519258293441,-0.0005826420472401274,0.0016044605027154745],"end_effector_yaw_offset_degrees":0.6218683148966233},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010276072130411358,0.0003738890606436976,0.0011617282923136376],"end_effector_yaw_offset_degrees":-0.10956028213113744},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013485151864657406,0.0017357254253597622,0.0016331826999947722],"end_effector_yaw_offset_degrees":-0.3972791542939098},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00095682168037562,-0.0012240796161617738,0.0018684679391510165],"end_effector_yaw_offset_degrees":0.008442115227132119}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003409555055439428,0.0015710886892453622],"position_m":[0.24140955505543943,0.2951710886892454,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004449617271280505,-0.0028879035859675516],"position_m":[0.24304961727128052,-0.3626879035859676,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009788219490898887,-0.003226649383412835],"position_m":[0.35072117805091013,-0.13462664938341282,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002020167573438,-0.0046947813079216295],"position_m":[0.361320167573438,0.06970521869207837,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f9db0b8a315258a4b1e8c88cd26c18d957fad8e9dbde6447095659f8b463f270","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7822/tex_ceiling_textures_438/tex_floor_textures_7671/tex_table_textures_3327/tex_wall_textures_6500","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7565506281446290986,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7565506281446290986,"visual_seed":7565506281446290986,"scene_id":"lab_003","finished_at":"2026-09-04T18:49:07"}
+{"episode_id":"ep_000024","started_at":"2026-09-04T18:56:09","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.40835865718506237,-0.6271364587745598,0.71338606911949],"aabb_xy":[[-0.4561648247988309,-0.6921364614816188],[-0.36055248957129366,-0.5621364560675008]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[-0.03695574843988425,-1.8979466014192503,0.71338606911949],"aabb_xy":[[-0.042293324105888826,-1.92294660234839],[-0.03161817277387969,-1.8729466004901105]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[-0.5798869236297662,-2.4172054019397646,0.71338606911949],"aabb_xy":[[-0.6398869252726881,-2.469205551231709],[-0.5198869219868444,-2.3652052526478204]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.3252376650185211,-1.9799221836021257,0.71338606911949],"aabb_xy":[[-0.37523694018695725,-2.029922184878073],[-0.2752383898500849,-1.9299221823261785]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[-0.08868410169485219,0.5748743408084058,0.71338606911949],"aabb_xy":[[-0.1386841003407734,0.5249547971489434],[-0.038684103048930996,0.6247938844678682]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.2728941022423733,-0.8201595874335392,0.71338606911949],"aabb_xy":[[-0.2953941020562757,-0.8246342038040202],[-0.25039410242847093,-0.8156849710630587]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[-0.2693860205152359,1.463679046701143,0.71338606911949],"aabb_xy":[[-0.30688602203086757,1.4524522736849979],[-0.23188601899960415,1.474905819717288]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[0.010846940655485193,1.54661086356013,0.71338606911949],"aabb_xy":[[-0.030171002730885688,1.4966108629291726],[0.051864884041856074,1.5966108641910872]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.1676358224083886,-1.7788300270626634,0.71338606911949],"aabb_xy":[[-0.19263582196012705,-1.7889725109277983],[-0.14263582285665008,-1.7686875431975289]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.06863661637485263,-2.4277639848680312,0.71338606911949],"aabb_xy":[[-0.13263661871765417,-2.4727048361121637],[-0.0046366140320510665,-2.3828231336238987]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_10","position":[0.7043570669376711,-0.6264680709249446,0.71338606911949],"aabb_xy":[[0.6937895872795721,-0.6370131010379532],[0.7149245465957701,-0.615923040811936]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_11","position":[0.29356054875640725,1.0924902324563668,0.71338606911949],"aabb_xy":[[0.26901433313365647,1.0622413359073297],[0.3181067643791579,1.1227391290054038]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_12","position":[0.26977216998186015,0.5107701576878685,0.71338606911949],"aabb_xy":[[0.2585271144112423,0.4995283599637732],[0.281017225552478,0.5220119554119638]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.5733093411211585,1.4548174985904523,0.71338606911949],"aabb_xy":[[-0.657031566621241,1.3648174950557563],[-0.48958711562107604,1.5448175021251482]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_14","position":[-0.09865530244489029,-1.1758480114813092,0.71338606911949],"aabb_xy":[[-0.13456880686988,-1.2117615196980638],[-0.06274179801990061,-1.1399345032645547]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[0.525522645525945,-0.22508806522963054,0.71338606911949],"aabb_xy":[[0.5137544587312874,-0.31008806513485215],[0.5372908323206025,-0.140088065324409]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_16","position":[0.3536841683573151,0.34846994005021825,0.71338606911949],"aabb_xy":[[0.3366740710672644,0.33233545155194427],[0.3706942656473657,0.3646044285484921]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[-0.3860592306694091,1.2995310803434394,0.71338606911949],"aabb_xy":[[-0.39647078934989277,1.2941853470075408],[-0.37564767198892535,1.3048768136793376]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[0.2906780919901799,1.6076002716796984,0.71338606911949],"aabb_xy":[[0.2266780934036074,1.5605933082801897],[0.3546780905767523,1.6546072350792072]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[-0.2838463831734762,0.176916821414288,0.71338606911949],"aabb_xy":[[-0.3184374660275214,0.11191682112925692],[-0.24925530031943097,0.24191682169931902]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[-0.4336421237598736,-0.08853632553852675,0.71338606911949],"aabb_xy":[[-0.4681044711580153,-0.12303020793634943],[-0.3991797763617317,-0.05404244314070405]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[-0.49926976773718124,1.1006633853603072,0.71338606911949],"aabb_xy":[[-0.5492697687563166,1.0641971696224795],[-0.449269766718046,1.1371296010981353]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[-0.6027086413441876,-0.8214535535802465,0.71338606911949],"aabb_xy":[[-0.6827086387477809,-0.9014461247784292],[-0.522708643940594,-0.7414609823820636]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[0.04512339124902398,-1.231359149965964,0.71338606911949],"aabb_xy":[[-0.014876608597542806,-1.2881777721590024],[0.10512339109559077,-1.174540527772925]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[-0.4167771051396287,-2.4689975510764604,0.71338606911949],"aabb_xy":[[-0.4358894124976076,-2.4881323299537024],[-0.39766479778164987,-2.4498627721992183]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[-0.5176195364879435,-1.175842440089833,0.71338606911949],"aabb_xy":[[-0.5816195371914128,-1.221860822562754],[-0.4536195357844741,-1.129824057616912]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_26","position":[0.14990992519344892,-1.9529267816545262,0.71338606911949],"aabb_xy":[[0.10278054619161323,-2.0169267826989277],[0.19703930419528456,-1.888926780610124]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_27","position":[-0.49382650970457675,0.27578449875085465,0.71338606911949],"aabb_xy":[[-0.5064292088416531,0.2631891025259892],[-0.48122381056750024,0.2883798949757202]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6681432150232023,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5978.png","name":"5978"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5978.png","name":"5978"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7698.png","name":"7698"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2502.png","name":"2502"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9329.png","name":"9329"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1610.png","name":"1610"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":565.7668822844058,"rotation_z_degrees":108.88519867893524,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01605137425661263,-0.0105763743137999,0.019538499918973867]},{"name":"camera_2","offset_m":[-0.0008740206885224436,0.0067355557493297274,0.01383994270939148]},{"name":"camera_3","offset_m":[-0.009186858432410627,-0.016131810013907788,-0.013848276948248391]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010560415666230121,-0.0003036643337202595,-0.0016412004722705076],"end_effector_yaw_offset_degrees":0.9205236989479222},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011196479981506954,0.0012455280030412535,0.0014400668171930596],"end_effector_yaw_offset_degrees":-0.590804754533929},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-2.718795574036415e-05,-0.0018142499229801268,-0.00014602782089936017],"end_effector_yaw_offset_degrees":0.4990331091090521},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007787067992253353,0.0006609237584024566,-0.000979086807687759],"end_effector_yaw_offset_degrees":-0.8397147465836685}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015985808149463088,0.0006877109490389388],"position_m":[0.23640141918505367,0.29428771094903894,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017501774825130646,-0.004762271811345697],"position_m":[0.23684982251748693,-0.3645622718113457,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003956364317172321,-0.0011259538537029558],"position_m":[0.35565636431717235,-0.13252595385370294,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002799373692930993,-0.002178539557346444],"position_m":[0.362099373692931,0.07222146044265355,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3c80562f7e6bc21d08db45af6aa3375b952c9c94f3d421fd9140669b81b538ca","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5978/tex_ceiling_textures_1610/tex_floor_textures_9329/tex_table_textures_7698/tex_wall_textures_2502","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":1853873127374963252,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":1853873127374963252,"visual_seed":1853873127374963252,"scene_id":"lab_003","finished_at":"2026-09-04T18:59:59"}
+{"episode_id":"ep_000025","started_at":"2026-09-04T19:00:03","dimensions":{"distractor":{"count":31,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.34903052086881386,-1.3521423487773012,0.71338606911949],"aabb_xy":[[-0.3563128372454774,-1.4421423523868098],[-0.3417482044921501,-1.2621423451677918]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[0.04711361059902386,0.7769061835384039,0.71338606911949],"aabb_xy":[[-0.002886388841171761,0.7269382590540876],[0.09711361003921948,0.8268741080227202]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[-0.3287102207716557,-0.09416600521985652,0.71338606911949],"aabb_xy":[[-0.3927102180573043,-0.1356727241727005],[-0.26471022348600703,-0.05265928626701254]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[0.6116295645408492,0.5712484430418621,0.71338606911949],"aabb_xy":[[0.5891295640288086,0.5487565846764636],[0.6341295650528898,0.5937403014072603]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[0.36081396113285535,-2.33843190254813,0.71338606911949],"aabb_xy":[[0.35201190582388264,-2.3462432287030586],[0.36961601644182807,-2.3306205763932004]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[0.5542055520648108,-2.5526324995098384,0.71338606911949],"aabb_xy":[[0.5263605152842037,-2.58341699824815],[0.5820505888454179,-2.5218480007715267]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[-0.6846944977257802,0.3089180260478721,0.71338606911949],"aabb_xy":[[-0.6910065972621188,0.3031510867946533],[-0.6783823981894418,0.3146849653010909]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[-0.18648079430831854,1.6648502495243789,0.71338606911949],"aabb_xy":[[-0.23646503001649577,1.6148502507108835],[-0.13649655860014132,1.7148502483378747]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[0.6379938191358498,-0.3169096076981339,0.71338606911949],"aabb_xy":[[0.5830006077987131,-0.3719096080369275],[0.6929870304729866,-0.2619096073593403]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[0.2010191969505195,-1.2845191518971217,0.71338606911949],"aabb_xy":[[0.151045902947259,-1.334519152451669],[0.2509924909537799,-1.2345191513425744]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[-0.5225467042545692,0.8584076756579275,0.71338606911949],"aabb_xy":[[-0.6122337805626846,0.7684076754034769],[-0.4328596279464537,0.948407675912378]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[0.6514340590225267,1.4036376950183103,0.71338606911949],"aabb_xy":[[0.586434058988224,1.356937018337983],[0.7164340590568294,1.4503383716986376]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[0.44662025965565166,-0.8828862295840494,0.71338606911949],"aabb_xy":[[0.38662025905963554,-0.9376987021292728],[0.5066202602516678,-0.8280737570388258]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_13","position":[0.032203157783885494,1.6574195320802745,0.71338606911949],"aabb_xy":[[-0.01776990774862997,1.607419532267742],[0.08217622331640097,1.7074195318928078]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_14","position":[-0.24463192376635556,0.20772539118034494,0.71338606911949],"aabb_xy":[[-0.25262591234405896,0.19972531108525457],[-0.23663793518865217,0.21572547127543526]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[-0.6495675806010286,1.2614685345127836,0.71338606911949],"aabb_xy":[[-0.6588611988381792,1.2239685360246495],[-0.640273962363878,1.2989685330009173]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_16","position":[0.3282321804536812,-0.48994078627422954,0.71338606911949],"aabb_xy":[[0.31698712488306335,-0.5011825839983248],[0.339477236024299,-0.47869898855013426]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.2690189373409572,-0.6147324899102682,0.71338606911949],"aabb_xy":[[-0.29151893686466457,-0.6372284373608887],[-0.2465189378172498,-0.5922365424596472]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[-0.16561872435719116,-1.4125433610282325,0.71338606911949],"aabb_xy":[[-0.1881151457910553,-1.43504336083498],[-0.1431223029233271,-1.390043361221485]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.20248708997261866,0.9820932016095929,0.71338606911949],"aabb_xy":[[0.1224870867147757,0.9020966938176089],[0.2824870932304616,1.0620897094015769]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[0.572959286673117,-1.7953735392650771,0.71338606911949],"aabb_xy":[[0.5504455948496598,-1.8653735398660847],[0.5954729784965742,-1.7253735386640696]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[0.6811308926049413,-0.8386481732905902,0.71338606911949],"aabb_xy":[[0.6425851997797403,-0.8771939443467789],[0.7196765854301423,-0.8001024022344017]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.06598145196735905,-1.1145066292784214,0.71338606911949],"aabb_xy":[[0.058568996425970576,-1.1203578397000493],[0.07339390750874752,-1.1086554188567934]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_23","position":[-0.1302611817540955,-0.9975952315303345,0.71338606911949],"aabb_xy":[[-0.13904240890133177,-1.006374978818865],[-0.12147995460685931,-0.9888154842418045]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_24","position":[-0.1775937339976994,0.7744092647104677,0.71338606911949],"aabb_xy":[[-0.2075853967315697,0.744409265373667],[-0.14760207126382904,0.8044092640472681]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[0.03302797287813064,-1.4604281399989947,0.71338606911949],"aabb_xy":[[-0.008220838151784099,-1.5154281395112121],[0.07427678390804535,-1.4054281404867772]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[-0.025491527818191972,1.5525960098308773,0.71338606911949],"aabb_xy":[[-0.06299152792378492,1.5457738479778962],[0.012008472287400982,1.5594181716838584]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_27","position":[0.5094154127286965,1.3680862883768241,0.71338606911949],"aabb_xy":[[0.5052994626166237,1.3639707333439783],[0.5135313628407691,1.3722018434096694]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_28","position":[0.25057054258858935,1.2527999351762817,0.71338606911949],"aabb_xy":[[0.2170913753275484,1.2193208218051748],[0.2840497098496303,1.2862790485473887]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_29","position":[0.6209976319774275,0.24681075576993994,0.71338606911949],"aabb_xy":[[0.5985328620060224,0.22431075489107943],[0.6434624019488326,0.26931075664880044]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_30","position":[-0.5555046618814956,0.11143347243012158,0.71338606911949],"aabb_xy":[[-0.5672728486761532,0.02643347252490002],[-0.5437364750868382,0.1964334723353432]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6694869753499297,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1627.png","name":"1627"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1627.png","name":"1627"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8371.png","name":"8371"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6394.png","name":"6394"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4748.png","name":"4748"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7189.png","name":"7189"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":791.9319865834138,"rotation_z_degrees":355.0693683718097,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011947539458563009,-0.0129137667266592,-0.010739495693700519]},{"name":"camera_2","offset_m":[-0.0012021532921667258,-0.005419133027507343,-0.01826482262073754]},{"name":"camera_3","offset_m":[-0.0153600181837951,-0.015777266592772645,-0.016245765095611618]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001152722302293737,-0.00014339133067806033,-0.001134027329914197],"end_effector_yaw_offset_degrees":0.7580020050720104},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004001814039646151,0.0018872305018163308,0.0014840311791930291],"end_effector_yaw_offset_degrees":-0.8080182773455606},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004630879417288937,0.0014780645551803234,-0.0009598938772488203],"end_effector_yaw_offset_degrees":-0.29291487972525143},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00031543208180730663,0.0018225943054188528,-0.0011713165472404924],"end_effector_yaw_offset_degrees":0.7621299913953918}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003237138098292092,0.00455130251336613],"position_m":[0.2347628619017079,0.29815130251336613,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003785386582759784,0.0013677540485925056],"position_m":[0.2423853865827598,-0.3584322459514075,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029980328322309437,0.0009056665911628368],"position_m":[0.3487019671677691,-0.13049433340883715,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004790302811065021,0.002290228176595791],"position_m":[0.364090302811065,0.07669022817659578,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7bb8ccf8a7a2934790aa559f92413b73dab63a1ce9f7dba90e0ecdf1add535b4","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0030.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1627/tex_ceiling_textures_7189/tex_floor_textures_4748/tex_table_textures_8371/tex_wall_textures_6394","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":8607354453131807000,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":8607354453131807000,"visual_seed":8607354453131807000,"scene_id":"lab_003","finished_at":"2026-09-04T19:03:50"}
+{"episode_id":"ep_000026","started_at":"2026-09-04T19:03:54","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_0","position":[0.21319724146080166,1.7127843150917337,0.71338606911949],"aabb_xy":[[0.1781972401093199,1.6924245791349126],[0.24819724281228336,1.7331440510485543]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[-0.2627540496038277,0.2581523442186895,0.71338606911949],"aabb_xy":[[-0.2709685947195116,0.24947575392104812],[-0.25453950448814366,0.26682893451633066]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[0.5884418725015184,0.5930557813469046,0.71338606911949],"aabb_xy":[[0.49844186882460007,0.5316233747698001],[0.6784418761784364,0.6544881879240089]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[-0.6110174386377926,1.2680320180654183,0.71338606911949],"aabb_xy":[[-0.6609905041703081,1.2180320182528857],[-0.5610443731052772,1.3180320178779514]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[0.19649809225554637,1.1145212599581336,0.71338606911949],"aabb_xy":[[0.1415048809184096,1.05952125961934],[0.2514913035926831,1.1695212602969272]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.3088772974315088,-2.320243028748181,0.71338606911949],"aabb_xy":[[0.29108379049659233,-2.338042774343978],[0.3266708043664252,-2.3024432831523827]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_6","position":[0.3001573983851604,-0.45158439479975465,0.71338606911949],"aabb_xy":[[0.2937435847419754,-0.457994215047423],[0.3065712120283453,-0.4451745745520863]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[0.5056497009786771,-2.3626631429871816,0.71338606911949],"aabb_xy":[[0.4706497010826582,-2.371037378499121],[0.5406497008746959,-2.354288907475241]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[-0.5910722218425389,0.16502721672156095,0.71338606911949],"aabb_xy":[[-0.5981136727932865,0.1580004649837664],[-0.5840307708917913,0.1720539684593555]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[-0.3256969474775278,-1.7896209800623475,0.71338606911949],"aabb_xy":[[-0.3833274163647985,-1.8496209789890576],[-0.26806647859025684,-1.7296209811356364]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.140257403657997,0.8124710778558324,0.71338606911949],"aabb_xy":[[-0.15340864962928635,0.7874710780991458],[-0.12710615768670763,0.8374710776125189]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[0.47193352898739804,-1.102863587861607,0.71338606911949],"aabb_xy":[[0.463940039192116,-1.110861719802083],[0.47992701878268007,-1.0948654559211317]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.544802935236417,0.5937451641629283,0.71338606911949],"aabb_xy":[[-0.5618130325264676,0.5776106756646543],[-0.5277928379463663,0.6098796526612021]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[-0.30571560350308885,0.34984529403544196,0.71338606911949],"aabb_xy":[[-0.3282156030267962,0.3273493465848211],[-0.2832156039793814,0.3723412414860627]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[-0.30130375859567354,-2.512944764838724,0.71338606911949],"aabb_xy":[[-0.38130375575524883,-2.5244923657965406],[-0.22130376143609826,-2.5013971638809065]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[0.10611789616132195,-1.246889511842546,0.71338606911949],"aabb_xy":[[0.0839453691846711,-1.2690651789986693],[0.1282904231379728,-1.2247138446864232]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[0.11891778022673505,-2.2568156031361433,0.71338606911949],"aabb_xy":[[0.08514222103604208,-2.2708540983493077],[0.15269333941742802,-2.242777107922978]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.6674145620433589,-0.6384250893218815,0.71338606911949],"aabb_xy":[[0.6303804526152992,-0.6728022966555909],[0.7044486714714187,-0.604047881988172]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[0.3121241031945565,1.4411294494345506,0.71338606911949],"aabb_xy":[[0.30204239611598305,1.3611294515424355],[0.32220581027313,1.5211294473266648]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_19","position":[0.43998042636685786,-0.30326553384181354,0.71338606911949],"aabb_xy":[[0.41751565639545274,-0.325765534720674],[0.462445196338263,-0.280765532962953]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[0.5307255169990708,1.5214622237543431,0.71338606911949],"aabb_xy":[[0.5023958070505307,1.5170014815606263],[0.5590552269476111,1.5259229659480604]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[-0.004869855838415926,-1.8998250726666668,0.71338606911949],"aabb_xy":[[-0.0848698561120229,-1.9727746204923835],[0.07513014443519105,-1.82687552484095]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626655638149144,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/767.png","name":"767"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/767.png","name":"767"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6824.png","name":"6824"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6804.png","name":"6804"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5735.png","name":"5735"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2849.png","name":"2849"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":719.442153811565,"rotation_z_degrees":175.10250155811565,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01808836533292436,-0.0030951392338844606,-0.0152286593841594]},{"name":"camera_2","offset_m":[-0.017297584508630264,-0.007516935600205001,0.00019958444987063992]},{"name":"camera_3","offset_m":[-0.01903828116018995,0.0077709019260865375,0.00180433210794443]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019341042048356674,0.0017474027186667085,0.0005655466390425928],"end_effector_yaw_offset_degrees":0.8523853101783556},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016048365996671082,0.0004496202569336115,0.0012520696021279297],"end_effector_yaw_offset_degrees":-0.8283830146358409},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008435130498741649,0.0009377540425902103,0.0016921164657689304],"end_effector_yaw_offset_degrees":0.7628048111723065},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010954309752068988,-0.0014182355897191168,-0.000903714683665497],"end_effector_yaw_offset_degrees":0.6247325949722986}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00477065950255487,0.0008314747164052472],"position_m":[0.24277065950255486,0.2944314747164053,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004045697619864322,0.0017757473025669848],"position_m":[0.2345543023801357,-0.35802425269743304,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004551139746119334,-0.0010606347568867004],"position_m":[0.3471488602538807,-0.13246063475688669,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00015547178522829375,0.0003172362440715618],"position_m":[0.3594554717852283,0.07471723624407156,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4b3f7d8eac88a787fbc0159482f4af904145b494d985dab1713c936efd2ddc35","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_767/tex_ceiling_textures_2849/tex_floor_textures_5735/tex_table_textures_6824/tex_wall_textures_6804","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":5839675477230947165,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":5839675477230947165,"visual_seed":5839675477230947165,"scene_id":"lab_003","finished_at":"2026-09-04T19:07:42"}
+{"episode_id":"ep_000027","started_at":"2026-09-04T19:07:47","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[-0.6158154522102706,0.6142255600828896,0.71338606911949],"aabb_xy":[[-0.6708154518320164,0.5592418672954169],[-0.5608154525885247,0.6692092528703624]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[-0.0017433522630875276,-1.216696308667556,0.71338606911949],"aabb_xy":[[-0.021634392143427775,-1.2293521199522528],[0.01814768761725272,-1.2040404973828591]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_2","position":[0.02586554900206195,-0.8319052896640424,0.71338606911949],"aabb_xy":[[0.00558124627866319,-0.852187914806751],[0.04614985172546071,-0.8116226645213334]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[-0.42089019212855816,-0.4113775541076734,0.71338606911949],"aabb_xy":[[-0.44338932785478513,-0.4338775548859364],[-0.3983910564023312,-0.38887755332941043]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[-0.11901080563402722,1.6813462465286757,0.71338606911949],"aabb_xy":[[-0.14897836254385288,1.6513462462307902],[-0.08904324872420157,1.7113462468265617]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[-0.46259242906786113,-2.2908915298057067,0.71338606911949],"aabb_xy":[[-0.5265924311175931,-2.3309860128950146],[-0.39859242701812914,-2.2507970467163987]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[0.019125248280159268,-2.5383020664129265,0.71338606911949],"aabb_xy":[[-0.030874752670373543,-2.569851213416448],[0.06912524923069208,-2.506752919409405]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[0.15087178250954325,1.6326694840414295,0.71338606911949],"aabb_xy":[[0.09685618622764328,1.5686694811491722],[0.20488737879144328,1.6966694869336865]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[-0.1079878620616781,0.991908823256272,0.71338606911949],"aabb_xy":[[-0.17298786316762138,0.9669434501881438],[-0.042987860955734813,1.0168741963244003]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.6598068924121142,-1.4523779371947874,0.71338606911949],"aabb_xy":[[-0.6902911425391444,-1.5023779369762833],[-0.629322642285084,-1.4023779374132914]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_10","position":[0.5746071327959403,-1.0067363669710674,0.71338606911949],"aabb_xy":[[0.4946071295319272,-1.0202963992799807],[0.6546071360599535,-0.993176334662154]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[0.31537225160580706,-2.249919287604423,0.71338606911949],"aabb_xy":[[0.2553722517592403,-2.306737909797462],[0.37537225145237385,-2.1931006654113845]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.28290981623978717,-1.2833091092426785,0.71338606911949],"aabb_xy":[[0.2724982575593034,-1.2886548425785767],[0.2933213749202708,-1.2779633759067799]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[0.2732844969573097,1.3827315975297392,0.71338606911949],"aabb_xy":[[0.2632027898787362,1.3027315996376243],[0.28336620403588314,1.4627315954218536]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_14","position":[0.5328465597152039,-2.008906775991561,0.71338606911949],"aabb_xy":[[0.4712558004912111,-2.0729067741006078],[0.5944373189391967,-1.944906777882514]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.04592311396294313,-1.6606723915878647,0.71338606911949],"aabb_xy":[[0.018078077182336005,-1.6914568903261764],[0.07376815074355025,-1.629887892849553]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_16","position":[-0.536376033922794,-2.1381917828724823,0.71338606911949],"aabb_xy":[[-0.5698552011838349,-2.1716708962435898],[-0.502896866661753,-2.104712669501376]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[0.43549217463443113,-2.251467922487167,0.71338606911949],"aabb_xy":[[0.4267782055844966,-2.2739679231463543],[0.44420614368436556,-2.228967921827978]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[-0.5958053437427376,-1.6859406267980113,0.71338606911949],"aabb_xy":[[-0.6429347227445732,-1.749940627842413],[-0.5486759647409019,-1.621940625753609]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[-0.09643505968711141,1.5477922769546573,0.71338606911949],"aabb_xy":[[-0.18143505837918605,1.5158064135597782],[-0.011435060995036786,1.579778140349536]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_20","position":[-0.6275744579293724,0.5087512276401429,0.71338606911949],"aabb_xy":[[-0.6316526158364221,0.5046702473918796],[-0.6234963000223225,0.5128322078884062]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.6967800516426204,-2.236127390019327,0.71338606911949],"aabb_xy":[[0.6897397417090835,-2.3161273894189986],[0.7038203615761575,-2.156127390619656]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[0.571086414016597,-1.084509152955033,0.71338606911949],"aabb_xy":[[0.5460864140840791,-1.0913918211759563],[0.5960864139491149,-1.0776264847341097]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_23","position":[0.08442537511659542,1.0809756616704038,0.71338606911949],"aabb_xy":[[0.06251669297724437,1.0590749948503129],[0.10633405725594645,1.1028763284904943]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_24","position":[-0.26453722209533104,-0.4487935218764618,0.71338606911949],"aabb_xy":[[-0.3285372223558018,-0.4938023212293899],[-0.2005372218348602,-0.40378472252353387]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_25","position":[0.4865175322302975,0.04599339505654454,0.71338606911949],"aabb_xy":[[0.4519264493762522,-0.019006605228486514],[0.5211086150843426,0.11099339534157558]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_26","position":[-0.270901455055327,-0.23522948750559758,0.71338606911949],"aabb_xy":[[-0.34090145665760646,-0.24866228070725518],[-0.2009014534530475,-0.22179669430394003]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_27","position":[-0.28633686258138497,1.4670383105496412,0.71338606911949],"aabb_xy":[[-0.2944645507746982,1.4581247021389334],[-0.27820917438807174,1.475951918960349]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_28","position":[-0.47486822411119767,0.22978359252605474,0.71338606911949],"aabb_xy":[[-0.5648682206120694,0.18387195010759647],[-0.3848682276103259,0.2756952349445129]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6652972185959977,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/146.png","name":"146"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/146.png","name":"146"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/903.png","name":"903"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9366.png","name":"9366"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4748.png","name":"4748"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1122.png","name":"1122"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":585.7844259255747,"rotation_z_degrees":54.355379994273704,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004017618395960536,-0.004146608317106209,5.7748293821893726e-05]},{"name":"camera_2","offset_m":[-0.019224556889258424,0.007934861947483007,0.012361287941630151]},{"name":"camera_3","offset_m":[0.016348852443684694,-0.018509902391866333,-0.015444659922754848]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001474564602876345,-0.0009947585951247872,-0.0017435382579013923],"end_effector_yaw_offset_degrees":-0.2105442006504168},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001190209883374926,0.0011913193453944103,-0.0001555612429585667],"end_effector_yaw_offset_degrees":0.31755320847706003},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012339772250044897,8.218679091085736e-05,0.0004362906153445637],"end_effector_yaw_offset_degrees":0.24153465679311292},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006954423084114651,-0.0018457567642876614,-0.0004972829360757971],"end_effector_yaw_offset_degrees":0.4498022306727052}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030072864382750374,0.002058388800994824],"position_m":[0.23499271356172496,0.2956583888009949,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008716961742388941,0.0018527042953442648],"position_m":[0.2377283038257611,-0.3579472957046557,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008489578664574128,-0.001650609470170994],"position_m":[0.3508510421335426,-0.13305060947017097,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004085289365204996,-0.004964068375708891],"position_m":[0.363385289365205,0.0694359316242911,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a25fff912042dd69014dbda19fc96bed2a3b55f6292c0214894293e99d159b65","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0032.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_146/tex_ceiling_textures_1122/tex_floor_textures_4748/tex_table_textures_903/tex_wall_textures_9366","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":4874948762335130375,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":4874948762335130375,"visual_seed":4874948762335130375,"scene_id":"lab_003","finished_at":"2026-09-04T19:11:44"}
+{"episode_id":"ep_000028","started_at":"2026-09-04T19:14:34","dimensions":{"distractor":{"count":30,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[-0.6149227377141208,1.118611606010698,0.71338606911949],"aabb_xy":[[-0.6327162446490372,1.1008118604149004],[-0.5971292307792043,1.1364113516064958]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[-0.1548039818518664,-0.6898091318146156,0.71338606911949],"aabb_xy":[[-0.20881957813376636,-0.7538091347068726],[-0.10078838556996636,-0.6258091289223583]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_2","position":[-0.1732974071504585,-2.340910635874567,0.71338606911949],"aabb_xy":[[-0.18100059782453554,-2.3486200065733045],[-0.16559421647638145,-2.3332012651758283]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[0.6624970032196975,-0.7368872642761897,0.71338606911949],"aabb_xy":[[0.6406072556307567,-0.8268872615654387],[0.6843867508086383,-0.6468872669869404]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.28505293591706793,0.9536753811941008,0.71338606911949],"aabb_xy":[[0.22105293262735978,0.9103404621901832],[0.349052939206776,0.9970103001980184]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.4409147091939286,0.8883540178598079,0.71338606911949],"aabb_xy":[[-0.5309147128708467,0.8269216112827034],[-0.3509147055170104,0.9497864244369121]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[0.48546001546151274,-0.10369946745182945,0.71338606911949],"aabb_xy":[[0.4204600169044399,-0.13345200086571207],[0.5504600140185856,-0.07394693403794683]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.5155721909554871,0.9863408531517233,0.71338606911949],"aabb_xy":[[0.5012377658293237,0.9742806375971843],[0.5299066160816506,0.998401068706262]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_8","position":[0.5012661753462269,1.1983580890955778,0.71338606911949],"aabb_xy":[[0.4949540758098884,1.192591149842359],[0.5075782748825652,1.2041250283487968]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[0.215958927519746,-2.513111629568268,0.71338606911949],"aabb_xy":[[0.20438994677280942,-2.5381116296851993],[0.22752790826668257,-2.488111629451336]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.3226602992254653,-1.5804634669599162,0.71338606911949],"aabb_xy":[[-0.32994261560212884,-1.6704634705694248],[-0.31537798284880153,-1.4904634633504068]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[-0.4176773780038744,-0.4681440942257291,0.71338606911949],"aabb_xy":[[-0.4676547948691279,-0.5181440957149775],[-0.36769996113862075,-0.4181440927364805]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[0.6718211638207405,1.3913749704748875,0.71338606911949],"aabb_xy":[[0.6599490808092394,1.306374970781237],[0.6836932468322416,1.4763749701685378]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[0.5479907025860844,0.28758101113993106,0.71338606911949],"aabb_xy":[[0.512990704275389,0.27986599621638536],[0.5829907008967798,0.29529602606347666]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.011252011633316461,1.1354336530610483,0.71338606911949],"aabb_xy":[[-0.0787479907007026,1.0579512984759356],[0.10125201396733552,1.212916007646161]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.35873611121439697,-2.3406631821377695,0.71338606911949],"aabb_xy":[[0.3410604806257986,-2.3583433984171718],[0.37641174180299525,-2.3229829658583663]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_16","position":[-0.2863550300870124,0.44038994473618454,0.71338606911949],"aabb_xy":[[-0.29760008565763024,0.42914814701208925],[-0.2751099745163946,0.4516317424602798]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[0.06524866796535977,0.7564705938477498,0.71338606911949],"aabb_xy":[[-0.01475132943823365,0.676478022649567],[0.14524866536895317,0.8364631650459327]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[-0.46407362388903317,-0.7387762996244245,0.71338606911949],"aabb_xy":[[-0.4687087390412665,-0.7426436347015729],[-0.45943850873679976,-0.7349089645472756]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_19","position":[-0.04238340355777259,-1.9789301158772625,0.71338606911949],"aabb_xy":[[-0.10738340359207532,-2.02563079255759],[0.022616596476530137,-1.9322294391969352]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.33941102693010977,-1.980226761713589,0.71338606911949],"aabb_xy":[[-0.3491670164392836,-1.9899892957728234],[-0.3296550374209358,-1.9704642276543545]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_21","position":[-0.37929518310791766,-2.0567641159822747,0.71338606911949],"aabb_xy":[[-0.40179160454178175,-2.0792641157890217],[-0.35679876167405356,-2.034264116175527]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_22","position":[-0.6186835668952073,-1.9746888555952873,0.71338606911949],"aabb_xy":[[-0.6411827026214342,-1.9971888563735503],[-0.5961844311689802,-1.9521888548170243]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_23","position":[0.06678131931830722,1.7224984880914405,0.71338606911949],"aabb_xy":[[0.002781320148537283,1.675731800972478],[0.13078131848807717,1.769265175210403]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[-0.590810490596404,-1.572448734824715,0.71338606911949],"aabb_xy":[[-0.6458059684170634,-1.6274487362586219],[-0.5358150127757446,-1.517448733390808]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_25","position":[0.20257025885199642,-1.0144481911451144,0.71338606911949],"aabb_xy":[[0.13857026154965,-1.058814618112971],[0.2665702561543428,-0.9700817641772574]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_26","position":[-0.30718085702254705,-2.2396630588372033,0.71338606911949],"aabb_xy":[[-0.33101707466315217,-2.3296630596456898],[-0.28334463938194204,-2.149663058028717]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_27","position":[-0.15524151591888513,-0.24223898090561402,0.71338606911949],"aabb_xy":[[-0.17412589968739534,-0.2611249056859668],[-0.13635713215037493,-0.22335305612526124]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_28","position":[0.5341978546446748,-1.4318231453695724,0.71338606911949],"aabb_xy":[[0.4641978520080884,-1.4519280103654377],[0.6041978572812611,-1.4117182803737067]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[0.02671557593041507,-0.8818962233340046,0.71338606911949],"aabb_xy":[[-0.037284425747582284,-0.9304136148133189],[0.09071557760841242,-0.8333788318546904]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6639009875693552,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8214.png","name":"8214"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8214.png","name":"8214"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7788.png","name":"7788"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9068.png","name":"9068"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/883.png","name":"883"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9453.png","name":"9453"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":699.0534312650725,"rotation_z_degrees":136.00600502066683,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026497713956510453,-0.018671405086594955,-0.017598665647282262]},{"name":"camera_2","offset_m":[-0.0048423047331709775,-0.017213351100956058,-0.007647508512877899]},{"name":"camera_3","offset_m":[0.00376894444683867,-0.007103127999929319,-0.010181380628310217]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000179842554311015,-0.0018903155729448344,-0.0015419782385047189],"end_effector_yaw_offset_degrees":0.5687124060291762},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007165529712611098,0.0010402217065838214,0.00048747655760292795],"end_effector_yaw_offset_degrees":0.3153405662149249},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009681478045818026,-0.0007250040236950808,-0.0003010657758944354],"end_effector_yaw_offset_degrees":0.0261851253726606},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007948071219083751,0.00041816083960695676,-0.0018240166822920912],"end_effector_yaw_offset_degrees":-0.6717014694369847}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004605589054488011,-0.0012011571181087754],"position_m":[0.242605589054488,0.2923988428818913,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003488726920894381,0.00035772321154370346],"position_m":[0.23511127307910562,-0.3594422767884563,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003796464519261956,0.004715042466035301],"position_m":[0.34790353548073805,-0.1266849575339647,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009596263674316275,0.003943410507200201],"position_m":[0.36025962636743164,0.0783434105072002,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"33bb93a5a91bf091da7698f2c9efe21eb24937932d013dd55f19713364f182dd","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0034.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8214/tex_ceiling_textures_9453/tex_floor_textures_883/tex_table_textures_7788/tex_wall_textures_9068","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":245893712720623203,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":245893712720623203,"visual_seed":245893712720623203,"scene_id":"lab_003","finished_at":"2026-09-04T19:18:45"}
+{"episode_id":"ep_000029","started_at":"2026-09-04T19:18:49","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[0.02210475261457212,0.8124640406514096,0.71338606911949],"aabb_xy":[[0.013323525467335898,0.8036842933628796],[0.030885979761808353,0.8212437879399399]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.014888868275425904,-2.1447879578566456,0.71338606911949],"aabb_xy":[[-0.027356226385161553,-2.157253282489969],[-0.0024215101656902566,-2.132322633223322]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.3426543822240419,1.6351510314987823,0.71338606911949],"aabb_xy":[[-0.4066500796191384,1.5711510331980736],[-0.27865868482894524,1.699151029799491]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[0.03666889060859013,1.2735982070056213,0.71338606911949],"aabb_xy":[[-0.02733110667705852,1.2320914880527774],[0.10066888789423878,1.3151049259584653]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[0.3129541312274733,-1.5915867162940969,0.71338606911949],"aabb_xy":[[0.3074961855904532,-1.6715867196017555],[0.31841207686449335,-1.5115867129864373]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[0.30176535843043384,1.8143029199974223,0.71338606911949],"aabb_xy":[[0.2865931891488005,1.7991340630692192],[0.3169375277120672,1.829471776925626]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[-0.051183209997389456,1.5925239070057162,0.71338606911949],"aabb_xy":[[-0.13118320858470886,1.5132083050675553],[0.028816788589929972,1.6718395089438771]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.15140639492447394,-2.1479606249496896,0.71338606911949],"aabb_xy":[[0.13229408756649508,-2.167095403826932],[0.1705187022824528,-2.128825846072448]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[0.5440251634453572,0.37318697450855787,0.71338606911949],"aabb_xy":[[0.5265252300113737,0.3556869745883233],[0.5615250968793405,0.3906869744287924]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_9","position":[-0.5400383862895464,0.3585908671565443,0.71338606911949],"aabb_xy":[[-0.5750383854823645,0.34762382115888163],[-0.505038387096728,0.3695579131542069]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[-0.06429568628794724,-1.2768041318284569,0.71338606911949],"aabb_xy":[[-0.08721139917299715,-1.2997084289648806],[-0.04137997340289735,-1.2538998346920336]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_11","position":[-0.1376434567422079,-0.3425201804797764,0.71338606911949],"aabb_xy":[[-0.14841643066357568,-0.3775201786988154],[-0.12687048282084012,-0.3075201822607374]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.6556980988902235,0.06840943722139237,0.71338606911949],"aabb_xy":[[0.6475704106969103,0.059495828810684714],[0.6638257870835368,0.07732304563210002]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[-0.20918410345755484,-1.7971950102695398,0.71338606911949],"aabb_xy":[[-0.2441841017276747,-1.8042691379645275],[-0.1741841051874349,-1.7901208825745512]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[0.4534015516628853,1.5243978990694065,0.71338606911949],"aabb_xy":[[0.4424957755753226,1.444397902670577],[0.46430732775044803,1.6043978954682354]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[-0.6123407988391271,0.7288273311258853,0.71338606911949],"aabb_xy":[[-0.6301343057740435,0.7110275855300877],[-0.5945472919042106,0.746627076721683]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.43020500200095024,0.27461608585266895,0.71338606911949],"aabb_xy":[[0.4201232949223767,0.19461608796055424],[0.44028670907952366,0.35461608374478354]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[-0.26000606268333465,-0.8021582214324812,0.71338606911949],"aabb_xy":[[-0.34000605984290994,-0.8137058223902982],[-0.18000606552375936,-0.7906106204746641]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[-0.6244431900967464,1.092182639522313,0.71338606911949],"aabb_xy":[[-0.6944431919054919,1.0708288707581257],[-0.554443188288001,1.1135364082865005]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[-0.2289121636972074,-1.2904284706947193,0.71338606911949],"aabb_xy":[[-0.2352242632335458,-1.2961954099479382],[-0.22260006416086894,-1.2846615314415004]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.03274402565246759,-2.487812907322528,0.71338606911949],"aabb_xy":[[-0.08274402429838879,-2.5377324509819905],[0.017255972993453605,-2.4378933636630657]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[-0.27186256947449716,1.8125721826782724,0.71338606911949],"aabb_xy":[[-0.2893625686088643,1.8026925556406843],[-0.25436257034012993,1.82245180971586]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6677641982251961,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7807.png","name":"7807"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7807.png","name":"7807"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4982.png","name":"4982"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2953.png","name":"2953"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2685.png","name":"2685"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7704.png","name":"7704"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":686.4596903493788,"rotation_z_degrees":29.882261221561542,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016385022747355094,-0.01828625098010746,0.016348838021235473]},{"name":"camera_2","offset_m":[-0.017518430009778804,0.007898978257789516,0.009878745770140657]},{"name":"camera_3","offset_m":[0.01586319389378708,-0.0011385366662251643,-0.014766224215650157]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008993327324510665,-0.0018645862218212548,-0.0011427829591909404],"end_effector_yaw_offset_degrees":0.8284896149223111},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001958216374692158,-0.0019721049926118605,-0.0015060096782993854],"end_effector_yaw_offset_degrees":0.9250650202014503},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002572460088874173,-0.0005054746447381447,-0.0004097997984579655],"end_effector_yaw_offset_degrees":-0.05620514683177569},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000353275644991016,0.0016056959732206211,-0.0015659657791723],"end_effector_yaw_offset_degrees":0.1491813873343788}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004066421646602247,0.0030982691382176178],"position_m":[0.24206642164660225,0.2966982691382176,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024978270542450488,0.002554495298865385],"position_m":[0.24109782705424507,-0.35724550470113464,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003082843728655941,0.004091633838808406],"position_m":[0.3513917156271344,-0.1273083661611916,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029587472048277193,0.003402261141646437],"position_m":[0.3622587472048277,0.07780226114164643,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c2b535d14528902dbfd9394987acaca70302e2be7a8e0d13ac87efb6619dcbf1","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0035.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7807/tex_ceiling_textures_7704/tex_floor_textures_2685/tex_table_textures_4982/tex_wall_textures_2953","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7272805257236336218,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7272805257236336218,"visual_seed":7272805257236336218,"scene_id":"lab_003","finished_at":"2026-09-04T19:22:38"}
+{"episode_id":"ep_000030","started_at":"2026-09-04T19:22:41","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[0.30721733182783995,1.222300490312779,0.71338606911949],"aabb_xy":[[0.2372173291912536,1.2021956253169133],[0.3772173344644263,1.2424053553086443]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[0.2255663603505943,1.429849991801016,0.71338606911949],"aabb_xy":[[0.2174527056772172,1.4217441753469868],[0.2336800150239714,1.437955808255045]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.6048790803403333,-0.4658652695151928,0.71338606911949],"aabb_xy":[[-0.614510716560763,-0.4755025822949017],[-0.5952474441199037,-0.4562279567354839]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.42213269019307154,-0.5198379059539473,0.71338606911949],"aabb_xy":[[0.3846326899008967,-0.5238793813545509],[0.45963269048524635,-0.5157964305533437]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.6184181090760551,1.5508504448405946,0.71338606911949],"aabb_xy":[[-0.6559181076516758,1.5381141491770363],[-0.5809181105004342,1.5635867405041521]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[-0.5353730366938684,0.5700479899651363,0.71338606911949],"aabb_xy":[[-0.6153730377669888,0.5602699436277518],[-0.45537303562074816,0.5798260363025207]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_6","position":[0.10801590208829692,-2.235493046824719,0.71338606911949],"aabb_xy":[[0.0706846255630543,-2.2701461016195714],[0.14534717861353955,-2.200839992029867]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[0.5669803314826782,-0.8541767656380321,0.71338606911949],"aabb_xy":[[0.5119803332809333,-0.8946987322644695],[0.621980329684423,-0.8136547990115943]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.22117409527549442,-2.146551290393164,0.71338606911949],"aabb_xy":[[-0.30489632077557693,-2.23655129392786],[-0.137451869775412,-2.056551286858468]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.4107194022564274,-1.8422653301071792,0.71338606911949],"aabb_xy":[[-0.44571940360790907,-1.8626250660639998],[-0.3757194009049456,-1.8219055941503581]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_10","position":[-0.4573866791399781,0.4279261247588386,0.71338606911949],"aabb_xy":[[-0.4748866793850275,0.41042633691927166],[-0.4398866788949287,0.44542591259840536]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[0.6826480279664482,1.3673164272744858,0.71338606911949],"aabb_xy":[[0.6451480295430478,1.3541522133066546],[0.7201480263898485,1.380480641242316]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[-0.5821906678672618,0.7517386381123408,0.71338606911949],"aabb_xy":[[-0.6196906680391336,0.7190379027294335],[-0.5446906676953898,0.7844393734952478]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.0389756063991189,-1.541378442749665,0.71338606911949],"aabb_xy":[[-0.08895302326437247,-1.5913784442389136],[0.011001810466134685,-1.4913784412604165]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[-0.5422415781443638,-1.5406958081301794,0.71338606911949],"aabb_xy":[[-0.572725828271394,-1.5906958079116753],[-0.5117573280173336,-1.4906958083486834]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[0.21844329348731517,-1.8818641730184635,0.71338606911949],"aabb_xy":[[0.1484432900957532,-1.9171799467218942],[0.28844329687887715,-1.8465483993150325]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[0.0885939008498885,-1.7011982546495164,0.71338606911949],"aabb_xy":[[0.02700314162589569,-1.7651982527585635],[0.15018466007388132,-1.6371982565404697]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[0.5301211048873147,-1.7659682034398407,0.71338606911949],"aabb_xy":[[0.5051211049547969,-1.7728508716607645],[0.5551211048198327,-1.7590855352189179]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.31826602676325405,-0.7311542016528012,0.71338606911949],"aabb_xy":[[-0.3421022444038591,-0.8211542024612879],[-0.294429809122649,-0.6411542008443148]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.34976391498849085,-0.4991238304720067,0.71338606911949],"aabb_xy":[[-0.4097639166314127,-0.5511239797639509],[-0.289763913345569,-0.44712368118006257]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[-0.3666226882289557,1.575751537212788,0.71338606911949],"aabb_xy":[[-0.3800692148629991,1.5622816855596962],[-0.35317616159491244,1.5892213888658788]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[0.3228580625609567,-2.234721277751881,0.71338606911949],"aabb_xy":[[0.30535812912697335,-2.252221277672115],[0.3403579959949401,-2.217221277831646]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[-0.3065505447353185,1.4099224815616922,0.71338606911949],"aabb_xy":[[-0.3965505414709287,1.3567390182443972],[-0.2165505479997083,1.4631059448789863]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[-0.1314573109253102,1.217763236992273,0.71338606911949],"aabb_xy":[[-0.15395731143735078,1.1952713786268745],[-0.10895731041326959,1.2402550953576712]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[0.4133917189191443,-1.93175239482582,0.71338606911949],"aabb_xy":[[0.35839624109848484,-1.9867523962597267],[0.4683871967398036,-1.8767523933919128]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[-0.44285539640646965,-2.346322722787192,0.71338606911949],"aabb_xy":[[-0.5128553985378992,-2.3690846884128867],[-0.37285539427504005,-2.323560757161496]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[0.15436467336870363,1.6022518889989246,0.71338606911949],"aabb_xy":[[0.13185098154524644,1.5322518883979168],[0.17687836519216082,1.6722518895999319]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_27","position":[0.43178005618896353,1.0392039663858372,0.71338606911949],"aabb_xy":[[0.40178839345509315,1.0092039670490365],[0.4617717189228338,1.0692039657226375]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_28","position":[-0.5044807469302499,-0.8297282487252244,0.71338606911949],"aabb_xy":[[-0.5081840082593887,-0.8334302670339421],[-0.5007774856011109,-0.8260262304165064]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_29","position":[0.4404608840556483,1.5380056320960187,0.71338606911949],"aabb_xy":[[0.3504608803787301,1.476573225518914],[0.5304608877325664,1.5994380386731224]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_30","position":[-0.026089286946353152,0.8735297299635119,0.71338606911949],"aabb_xy":[[-0.09108928790348035,0.8215815180298063],[0.03891071401077405,0.9254779418972174]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_31","position":[-0.05457704231226279,1.3605884497320986,0.71338606911949],"aabb_xy":[[-0.06704440042199844,1.348123125098775],[-0.04210968420252714,1.373053774365422]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_32","position":[0.4609541131473254,-0.16384683049946425,0.71338606911949],"aabb_xy":[[0.4108566491662517,-0.22784683100927602],[0.511051577128399,-0.09984682998965241]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_33","position":[-0.5592768096385933,1.2203071153234188,0.71338606911949],"aabb_xy":[[-0.6087572308525521,1.156307117410567],[-0.5097963884246345,1.2843071132362707]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6697519305460216,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/116.png","name":"116"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/116.png","name":"116"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7919.png","name":"7919"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1442.png","name":"1442"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2623.png","name":"2623"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":741.5227295845151,"rotation_z_degrees":251.45949951790803,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005258184839529254,-0.015939601352239312,-0.0012247541405048037]},{"name":"camera_2","offset_m":[-0.01872293358717206,0.014427396620604733,0.009389728980117341]},{"name":"camera_3","offset_m":[-0.003338932361386125,-0.009798250859697962,-0.014301859745240604]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018988193973206028,-0.0003238411474022992,-0.0014644403869985014],"end_effector_yaw_offset_degrees":0.42079274986573734},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010849013060335922,0.0004888837777060444,-0.001779722134262336],"end_effector_yaw_offset_degrees":0.7765277943827633},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013944734098372486,-0.0007813349072556903,0.0016931780481188995],"end_effector_yaw_offset_degrees":0.2458734240564977},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017499478442322648,-0.001394777695656182,-0.0019677074988767576],"end_effector_yaw_offset_degrees":0.7514300910956617}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006668772423303838,-0.0025264039966854004],"position_m":[0.2373331227576696,0.2910735960033146,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020206529907809655,-0.0018919748988461614],"position_m":[0.24062065299078098,-0.3616919748988462,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016272363313574812,-0.0003636746560999474],"position_m":[0.35007276366864254,-0.13176367465609995,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002891023108701186,0.0011675714613487865],"position_m":[0.3564089768912988,0.07556757146134878,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d797d83499134f69c1673c798e36d614a2c3c4c26109cc99881663ea45d5da45","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0036.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_116/tex_ceiling_textures_9650/tex_floor_textures_2623/tex_table_textures_7919/tex_wall_textures_1442","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":2080755892378165762,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":2080755892378165762,"visual_seed":2080755892378165762,"scene_id":"lab_003","finished_at":"2026-09-04T19:26:44"}
+{"episode_id":"ep_000031","started_at":"2026-09-04T19:26:47","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[0.40783820390487024,-2.171707056525362,0.71338606911949],"aabb_xy":[[0.37033820340751195,-2.1756757400734807],[0.44533820440222843,-2.1677383729772437]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[0.05201200403016437,0.7179758104497673,0.71338606911949],"aabb_xy":[[-0.011987999188473486,0.671252698550759],[0.11601200724880223,0.7646989223487757]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[-0.44544768136026125,-2.4726350007127365,0.71338606911949],"aabb_xy":[[-0.4804476796709567,-2.480350015636282],[-0.4104476830495658,-2.464919985789191]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_3","position":[0.5868114182062079,0.5436202450319754,0.71338606911949],"aabb_xy":[[0.5742087190691313,0.53102484880711],[0.5994141173432842,0.556215641256841]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.4405205994726207,-2.5084921831040203,0.71338606911949],"aabb_xy":[[0.42384346347952523,-2.5251921070779506],[0.45719773546571624,-2.49179225913009]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[0.5442185612351547,0.05526321340181628,0.71338606911949],"aabb_xy":[[0.4942254491259629,0.005263212727620648],[0.5942116733443467,0.10526321407601194]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[0.3064737700138289,1.001928586974211,0.71338606911949],"aabb_xy":[[0.29490478926689234,0.9769285868572792],[0.3180427507607655,1.0269285870911427]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_7","position":[0.6314563830843916,-2.0807206525409097,0.71338606911949],"aabb_xy":[[0.6143543051260234,-2.097827458072179],[0.6485584610427597,-2.0636138470096395]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[-0.4907038141773255,-2.054643085724277,0.71338606911949],"aabb_xy":[[-0.5547038144513037,-2.1047091859215645],[-0.4267038139033472,-2.0045769855269886]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.16970936916692292,-0.8257273763680149,0.71338606911949],"aabb_xy":[[-0.24970936775424232,-0.9050429783061756],[-0.08970937057960347,-0.7464117744298538]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.24125290639477703,-1.4389073015467713,0.71338606911949],"aabb_xy":[[0.2372924226250427,-1.4465751661322919],[0.24521339016451144,-1.4312394369612507]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_11","position":[-0.3581091260648085,-0.8851422483818965,0.71338606911949],"aabb_xy":[[-0.37399361933013364,-0.8994951886807205],[-0.34222463279948334,-0.8707893080830724]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[-0.6083424397032959,-1.6601191614908328,0.71338606911949],"aabb_xy":[[-0.6583253898907752,-1.710119161133393],[-0.5583594895158165,-1.6101191618482722]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[-0.40205296958735254,0.15643381801804113,0.71338606911949],"aabb_xy":[[-0.467052972225146,0.1049542193185942],[-0.33705296694955905,0.20791341671748811]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[-0.676834220083145,1.4461377032523157,0.71338606911949],"aabb_xy":[[-0.6828712330838098,1.4401110021833676],[-0.6707972070824804,1.4521644043212638]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[-0.19408597212607037,0.3407177377178976,0.71338606911949],"aabb_xy":[[-0.20279994117600483,0.31821773705870926],[-0.18537200307613586,0.3632177383770857]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[0.3187143748149073,-2.463010058931217,0.71338606911949],"aabb_xy":[[0.2687369579496537,-2.513010060420465],[0.36869179168016086,-2.413010057441968]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[-0.018108726368897377,-2.347087629105801,0.71338606911949],"aabb_xy":[[-0.027402344606047957,-2.384587627593935],[-0.008815108131746796,-2.309587630617667]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[0.05643157799116438,1.067416424489739,0.71338606911949],"aabb_xy":[[0.047733615700449095,1.0552914501822643],[0.06512954028187967,1.0795413987972138]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[-0.4388322188324672,-0.7949060019574541,0.71338606911949],"aabb_xy":[[-0.5188322174893532,-0.8094108608817169],[-0.35883222017558114,-0.7804011430331913]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[0.0834624714919443,-1.7970944304700336,0.71338606911949],"aabb_xy":[[0.033478235783767074,-1.8470944292835287],[0.13344670720012153,-1.7470944316565375]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[-0.5981020475016359,1.3440031791058962,0.71338606911949],"aabb_xy":[[-0.6069041028106086,1.3361918529509669],[-0.5892999921926632,1.351814505260825]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680428142152935,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6269.png","name":"6269"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6269.png","name":"6269"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/662.png","name":"662"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3233.png","name":"3233"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4524.png","name":"4524"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/822.png","name":"822"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":787.1190643960688,"rotation_z_degrees":359.5824504978833,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00838796878043456,0.001489569287353651,0.017977297709517285]},{"name":"camera_2","offset_m":[-0.007665095113982355,0.0023096392838490055,-0.008079188198809421]},{"name":"camera_3","offset_m":[0.0008415889432262444,-0.010361083842710218,0.004206028986204379]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018214123566020909,-0.0018579642236457867,-0.00041279637650447625],"end_effector_yaw_offset_degrees":-0.17156711053089246},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013885170220436557,0.0012142255477587583,0.0015858757472107326],"end_effector_yaw_offset_degrees":0.21754069947922372},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001172568063397625,-0.001839315607499175,-0.001329707588604216],"end_effector_yaw_offset_degrees":-0.8071982649609031},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001720059159359384,-0.0015426436076084644,0.0015754270084055735],"end_effector_yaw_offset_degrees":-0.9194743818118296}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013039574943202658,0.0005522631337762209],"position_m":[0.23930395749432026,0.29415226313377624,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001054556346029645,-0.0035071086211759485],"position_m":[0.23754544365397037,-0.36330710862117593,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003989242663205716,0.004604874054106713],"position_m":[0.3477107573367943,-0.1267951259458933,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014343011509674996,-0.0006862943472838948],"position_m":[0.3578656988490325,0.0737137056527161,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"615cf11acd41bbce9ba68a6b1407021f282b75c3d98661b51584f03189f2717b","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0037.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6269/tex_ceiling_textures_822/tex_floor_textures_4524/tex_table_textures_662/tex_wall_textures_3233","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":251689228113457022,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":251689228113457022,"visual_seed":251689228113457022,"scene_id":"lab_003","finished_at":"2026-09-04T19:30:31"}
+{"episode_id":"ep_000032","started_at":"2026-09-04T19:30:36","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[0.3276320201652676,-1.0825584019429926,0.71338606911949],"aabb_xy":[[0.3073477174418688,-1.1028410270857012],[0.3479163228886663,-1.0622757768002835]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[-0.6132019327250269,-0.20933701365746193,0.71338606911949],"aabb_xy":[[-0.6309954396599433,-0.2271367592532596],[-0.5954084257901104,-0.19153726806166427]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[-0.45751292559298606,-2.2636577643576663,0.71338606911949],"aabb_xy":[[-0.46121618692212496,-2.2673597826663836],[-0.45380966426384717,-2.259955746048948]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.13943744835388128,-1.217177527893779,0.71338606911949],"aabb_xy":[[0.12853167226631854,-1.2971775242926082],[0.15034322444144396,-1.13717753149495]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.26514035578454553,-1.87514087705451,0.71338606911949],"aabb_xy":[[0.2372953190039384,-1.9059253757928216],[0.29298539256515266,-1.8443563783161983]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[-0.5239396120660209,-1.3789594923690518,0.71338606911949],"aabb_xy":[[-0.5371705576007021,-1.392186911391051],[-0.5107086665313395,-1.3657320733470522]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[-0.13172735195325325,-0.8545970387634338,0.71338606911949],"aabb_xy":[[-0.1393516200434315,-0.8622302622999777],[-0.124103083863075,-0.8469638152268902]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[-0.38794957149907844,1.7345081665362367,0.71338606911949],"aabb_xy":[[-0.4031217407807118,1.7193393096080332],[-0.3727774022174451,1.7496770234644399]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[-0.022295006381250038,-1.1658297580281947,0.71338606911949],"aabb_xy":[[-0.07229500804274479,-1.2158282002838972],[0.027704995280244723,-1.1158313157724917]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[0.6522018221620078,0.9428633456553257,0.71338606911949],"aabb_xy":[[0.6297054007281437,0.9203633458485782],[0.6746982435958719,0.965363345462073]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.07356868885140622,-0.3107336643310057,0.71338606911949],"aabb_xy":[[-0.12856093948691716,-0.3657336660743185],[-0.018576438215895264,-0.255733662587693]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.6419289534095453,-2.27486899483886,0.71338606911949],"aabb_xy":[[-0.6919020189420608,-2.3248689946513927],[-0.5919558878770299,-2.224868995026327]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[-0.16289404849669942,-1.361596027788543,0.71338606911949],"aabb_xy":[[-0.2278940494971999,-1.412382392943218],[-0.09789404749619887,-1.3108096626338681]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[-0.20417240689347138,1.0626466714688219,0.71338606911949],"aabb_xy":[[-0.26417240775428413,1.0112202414623352],[-0.14417240603265855,1.114073101475308]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[0.16821825450524297,-2.201147994249882,0.71338606911949],"aabb_xy":[[0.08821825591792355,-2.2804635961880426],[0.2482182530925624,-2.121832392311721]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.19160411456361315,-1.6134193054901076,0.71338606911949],"aabb_xy":[[0.17171307468327293,-1.6260751167748047],[0.21149515444395345,-1.600763494205411]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_16","position":[-0.6474669299107323,0.5641635542648045,0.71338606911949],"aabb_xy":[[-0.68192940792382,0.5574998770818815],[-0.6130044518976444,0.5708272314477272]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_17","position":[0.015608941656721553,1.4002637880510065,0.71338606911949],"aabb_xy":[[-0.029562376191447425,1.336263790906468],[0.060780259504890535,1.464263785195545]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_18","position":[-0.38448109356394855,0.7736694032225495,0.71338606911949],"aabb_xy":[[-0.4077629357620799,0.6886694019253214],[-0.3611992513658172,0.8586694045197776]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[-0.12021202544436072,0.28864516673089025,0.71338606911949],"aabb_xy":[[-0.15771202538812712,0.28035207669605366],[-0.08271202550059432,0.2969382567657268]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_20","position":[-0.46071772039781544,-0.6186046218336545,0.71338606911949],"aabb_xy":[[-0.5407115439763737,-0.6986046244264961],[-0.3807238968192573,-0.5386046192408129]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_21","position":[0.44041740933529994,-1.5724040704224307,0.71338606911949],"aabb_xy":[[0.43650353613987736,-1.581153085828987],[0.4443312825307224,-1.5636550550158734]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_22","position":[0.6482281855180305,0.5651058525546708,0.71338606911949],"aabb_xy":[[0.6069236424542944,0.5011058529865537],[0.6895327285817664,0.6291058521227879]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6660975567149264,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7886.png","name":"7886"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7886.png","name":"7886"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9980.png","name":"9980"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4635.png","name":"4635"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3633.png","name":"3633"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4400.png","name":"4400"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":690.2192150007174,"rotation_z_degrees":127.98396467848808,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016522665858026985,0.0015459562524201727,-0.010640668514972362]},{"name":"camera_2","offset_m":[0.006562228066100011,-0.016551200905740672,-0.018446120643578836]},{"name":"camera_3","offset_m":[-0.007751906286815706,0.014551509894309322,0.004659933387921221]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018731272834970922,0.0005732832828012954,0.0008152495140659774],"end_effector_yaw_offset_degrees":0.5861569441723198},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016240332047336198,-0.0011218578630278113,0.0006970198283768117],"end_effector_yaw_offset_degrees":-0.5014371418197578},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012220305875894483,0.0017504704488040942,-0.00016053839697105195],"end_effector_yaw_offset_degrees":0.03724168416423157},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004753774030128847,0.0014863365405455306,-0.001001721499262532],"end_effector_yaw_offset_degrees":-0.47146438190762496}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017088951340182915,0.004559762851023721],"position_m":[0.23970889513401827,0.29815976285102375,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005099944017437101,0.0009323254962608774],"position_m":[0.2380900055982563,-0.35886767450373913,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0041422012915935,-0.003995227602416044],"position_m":[0.3558422012915935,-0.13539522760241604,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00331817411529627,0.0023284033488603483],"position_m":[0.3626181741152963,0.07672840334886034,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"43c422817459c3510843604ac46efd714eae90779772ad764bbd40b8fafef4b2","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0038.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7886/tex_ceiling_textures_4400/tex_floor_textures_3633/tex_table_textures_9980/tex_wall_textures_4635","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":6279874438854478592,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":6279874438854478592,"visual_seed":6279874438854478592,"scene_id":"lab_003","finished_at":"2026-09-04T19:34:35"}
+{"episode_id":"ep_000033","started_at":"2026-09-04T19:34:40","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.24470118958015513,0.7838471691347038,0.71338606911949],"aabb_xy":[[-0.3087011928698632,0.740512250130786],[-0.180701186290447,0.8271820881386213]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[-0.2581940445530036,-0.8269428178186906,0.71338606911949],"aabb_xy":[[-0.3381940478170168,-0.840502850127604],[-0.17819404128899052,-0.8133827855097773]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[0.23113682379230172,-2.0310968074727365,0.71338606911949],"aabb_xy":[[0.14113682519783177,-2.047347393786158],[0.32113682238677166,-2.0148462211593157]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[-0.34773567551840223,-0.5112164197874667,0.71338606911949],"aabb_xy":[[-0.3521663048732424,-0.5166647915221494],[-0.34330504616356206,-0.5057680480527842]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_4","position":[-0.39449887374173315,0.7996816080534437,0.71338606911949],"aabb_xy":[[-0.4319988736854995,0.791388518018607],[-0.3569988737979667,0.8079746980882802]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[0.204632721859903,-1.324949038286793,0.71338606911949],"aabb_xy":[[0.19692953118582596,-1.332658408985531],[0.21233591253398004,-1.3172396675880547]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[-0.1666180166701814,-1.0904673679052377,0.71338606911949],"aabb_xy":[[-0.23661801827246087,-1.1039001611068953],[-0.09661801506790191,-1.07703457470358]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.6197854850450922,-2.2412470682832675,0.71338606911949],"aabb_xy":[[-0.6696681819227885,-2.2912470675295427],[-0.5699027881673961,-2.191247069036993]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_8","position":[-0.3957481838762193,-2.2645631976434877,0.71338606911949],"aabb_xy":[[-0.4055041733853932,-2.2743257317027226],[-0.3859921943670454,-2.2548006635842537]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.15565391214002,-1.7947280889171346,0.71338606911949],"aabb_xy":[[0.1500722405058912,-1.8072280887349104],[0.16123558377414873,-1.7822280890993594]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[-0.2982850293213618,1.1034115673243776,0.71338606911949],"aabb_xy":[[-0.32279865341836766,1.0791469740223412],[-0.27377140522435595,1.127676160626414]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[0.6885863439510487,0.8934329720420493,0.71338606911949],"aabb_xy":[[0.6710080417621018,0.8758584824679442],[0.7061646461399955,0.911007461616154]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_12","position":[0.5885530609760454,-1.5405173540437622,0.71338606911949],"aabb_xy":[[0.5035530625586221,-1.6253916495060472],[0.6735530593934685,-1.4556430585814772]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[0.12707141749086526,1.4852835721816473,0.71338606911949],"aabb_xy":[[0.11665985881038154,1.4799378388457487],[0.13748297617134897,1.4906293055175455]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[0.33285065005033543,-0.5471511811138772,0.71338606911949],"aabb_xy":[[0.28337022883637664,-0.611151179026729],[0.3823310712642942,-0.48315118320102535]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_15","position":[-0.2607713726491306,-0.13238549294229252,0.71338606911949],"aabb_xy":[[-0.35077137498314964,-0.20986784752740514],[-0.17077137031511153,-0.05490313835717983]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[0.11520676172940325,-2.2569897574362283,0.71338606911949],"aabb_xy":[[0.07666106890420221,-2.2955355284924166],[0.1537524545546043,-2.218443986380039]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.32482387944567104,-1.5032705543692029,0.71338606911949],"aabb_xy":[[0.2608238791716928,-1.553336654566491],[0.38882387971964927,-1.4532044541719151]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[0.6664994813239826,-0.5459172139428494,0.71338606911949],"aabb_xy":[[0.6330203140629418,-0.5793963273139565],[0.6999786485850237,-0.5124381005717425]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[0.5006988799958116,-0.9735738098478883,0.71338606911949],"aabb_xy":[[0.4829053730608952,-0.9913735554436861],[0.5184923869307281,-0.9557740642520908]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[0.2680910382486318,-2.552875131853344,0.71338606911949],"aabb_xy":[[0.19809103643988635,-2.574228900617531],[0.3380910400573772,-2.531521363089156]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[-0.6131044065335889,1.0419079117176127,0.71338606911949],"aabb_xy":[[-0.6282765758152222,1.0267390547894093],[-0.5979322372519555,1.057076768645816]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[-0.09219295533944938,0.09142685408965034,0.71338606911949],"aabb_xy":[[-0.10022929004073422,0.08338873478523356],[-0.08415662063816454,0.09946497339406712]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[-0.5164340129211105,-0.7326062502209794,0.71338606911949],"aabb_xy":[[-0.5964340131947174,-0.8055557980466962],[-0.43643401264750353,-0.6596567023952628]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[-0.48701839336240726,-1.7429965327719636,0.71338606911949],"aabb_xy":[[-0.5486091525864001,-1.8069965308810108],[-0.4254276341384145,-1.678996534662917]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.17377652249445874,0.25955307198862654,0.71338606911949],"aabb_xy":[[-0.2377765216642287,0.21278638486966409],[-0.1097765233246888,0.306319759107589]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_26","position":[-0.10227540071528585,-1.6005637303618823,0.71338606911949],"aabb_xy":[[-0.14744671856345481,-1.664563727506421],[-0.05710408286711688,-1.536563733217344]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_27","position":[0.31047184935733285,-0.9019454015073713,0.71338606911949],"aabb_xy":[[0.2604876136491556,-0.9519454003208668],[0.3604560850655101,-0.8519454026938756]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_28","position":[0.06237785038351373,0.699533640613649,0.71338606911949],"aabb_xy":[[-0.0026221481735591093,0.6697811071997664],[0.12737784894058657,0.7292861740275316]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_29","position":[-0.46969492475292995,1.06538549675418,0.71338606911949],"aabb_xy":[[-0.5336949240470982,1.001399356385326],[-0.40569492545876173,1.1293716371230345]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_30","position":[-0.06082973949457393,-0.8315909964997943,0.71338606911949],"aabb_xy":[[-0.0976243726194802,-0.8684968715963766],[-0.024035106369667658,-0.794685121403212]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_31","position":[-0.026990661232781044,1.287166101789107,0.71338606911949],"aabb_xy":[[-0.042875154498106194,1.272813161490283],[-0.01110616796745589,1.301519042087931]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_32","position":[0.480782879523306,-1.9019087079590693,0.71338606911949],"aabb_xy":[[0.40078288256026684,-1.9789843496028425],[0.5607828764863452,-1.8248330663152956]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6655164774259448,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/729.png","name":"729"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/729.png","name":"729"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8069.png","name":"8069"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2253.png","name":"2253"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4032.png","name":"4032"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7851.png","name":"7851"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":818.392776756629,"rotation_z_degrees":196.36418266563663,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013003332072323404,0.015926952329378342,-0.005651652568128473]},{"name":"camera_2","offset_m":[-0.0003706305971284858,0.016521899784611844,0.012602665610767897]},{"name":"camera_3","offset_m":[0.005505577025109624,0.0030778147548539796,-0.008701032316348997]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017381231906219994,-0.0010744160917413028,0.0010346986036525565],"end_effector_yaw_offset_degrees":0.45304947632450987},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019590604067926754,0.0010444697672512926,0.000702574269551449],"end_effector_yaw_offset_degrees":-0.7585645947426052},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009267845147327303,-0.0007255473486361278,-0.00035144454037929233],"end_effector_yaw_offset_degrees":0.07822599879987302},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007555405787113864,-0.0001422512003716632,-0.0016319820432850972],"end_effector_yaw_offset_degrees":-0.6009429957019081}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004567598118697211,-0.0019077946962002246],"position_m":[0.23343240188130276,0.2916922053037998,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016477907342882714,0.00023375024348971582],"position_m":[0.23695220926571173,-0.3595662497565103,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002004970304111221,-0.003333398073915018],"position_m":[0.3496950296958888,-0.13473339807391502,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003348954084261586,-0.004378720872245061],"position_m":[0.3626489540842616,0.07002127912775494,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"09d674492013dddeebca6e2df4a2f9c250ad081732f395ff1d1c8c987f6f6338","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0039.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_729/tex_ceiling_textures_7851/tex_floor_textures_4032/tex_table_textures_8069/tex_wall_textures_2253","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7752298084866566790,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7752298084866566790,"visual_seed":7752298084866566790,"scene_id":"lab_003","finished_at":"2026-09-04T19:38:42"}
+{"episode_id":"ep_000034","started_at":"2026-09-04T19:38:47","dimensions":{"distractor":{"count":31,"items":[{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_0","position":[0.08178381256857481,-0.9418650005621292,0.71338606911949],"aabb_xy":[[0.0699117295570737,-1.0268650002557793],[0.09365589558007592,-0.8568650008684787]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[-0.6699248715764364,-0.517104627115919,0.71338606911949],"aabb_xy":[[-0.680776477825312,-0.5279639178435699],[-0.6590732653275608,-0.5062453363882679]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.44764521767503784,-0.6578207771663542,0.71338606911949],"aabb_xy":[[-0.5116452141023597,-0.7049904009884508],[-0.383645221247716,-0.6106511533442579]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[0.6263292577994608,1.2184842663483826,0.71338606911949],"aabb_xy":[[0.6182858978735057,1.1334842652530162],[0.6343726177254161,1.303484267443749]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_4","position":[0.4861041514835662,0.0976289135659103,0.71338606911949],"aabb_xy":[[0.44093283363539737,0.033628916421371884],[0.5312754693317353,0.16162891071044871]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[-0.0693453942862029,-1.4644673423849572,0.71338606911949],"aabb_xy":[[-0.08713890122111934,-1.4822670879807547],[-0.05155188735128646,-1.4466675967891593]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_6","position":[-0.44513569559062305,1.129374734345534,0.71338606911949],"aabb_xy":[[-0.5251356988546363,1.1158147020366205],[-0.36513569232661,1.1429347666544472]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.15786262904323023,-0.30669737097404726,0.71338606911949],"aabb_xy":[[-0.20796009302430385,-0.370697371483859],[-0.10776516506215661,-0.2426973704642354]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[-0.41717733085459074,0.13316734282913645,0.71338606911949],"aabb_xy":[[-0.4821773308888934,0.08646666614880916],[-0.35217733082028796,0.17986801950946374]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[-0.10614923278557276,0.8499095192407697,0.71338606911949],"aabb_xy":[[-0.17014923500597978,0.8055364351154815],[-0.04214923056516573,0.894282603366058]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.30074615041191066,1.3487827762503177,0.71338606911949],"aabb_xy":[[0.250768733546657,1.298782774761069],[0.3507235672771642,1.398782777739566]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[0.6498824239471428,-2.0790816034797737,0.71338606911949],"aabb_xy":[[0.5998824235865766,-2.129061590689376],[0.6998824243077088,-2.0291016162701703]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_12","position":[-0.262386226363456,-0.5765280246728892,0.71338606911949],"aabb_xy":[[-0.32238622695947217,-0.6313404972181128],[-0.2023862257674398,-0.5217155521276658]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_13","position":[-0.16056004406089153,-0.8672246295995165,0.71338606911949],"aabb_xy":[[-0.16877458917657548,-0.8759012198971577],[-0.15234549894520752,-0.8585480393018751]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[0.46552541790396096,1.5007219317008658,0.71338606911949],"aabb_xy":[[0.4005254167980177,1.4757565586327375],[0.5305254190099042,1.525687304768994]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[0.0966712446027237,-2.125944309345379,0.71338606911949],"aabb_xy":[[0.059171243938144984,-2.141631367345601],[0.13417124526730237,-2.1102572513451565]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[0.412223018967002,-2.1303008308576916,0.71338606911949],"aabb_xy":[[0.36222301939066726,-2.1802814098097976],[0.4622230185433367,-2.0803202519055857]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.3829479811097296,0.7803237060713824,0.71338606911949],"aabb_xy":[[0.3616699729662573,0.7153237037453092],[0.4042259892532018,0.8453237083974553]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_18","position":[-0.21095501339101264,1.219345012878939,0.71338606911949],"aabb_xy":[[-0.24595501170170805,1.2116299979553935],[-0.17595501508031716,1.2270600278024848]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_19","position":[0.17635984029445817,-0.6634868910405678,0.71338606911949],"aabb_xy":[[0.09635983886433092,-0.7430040460531772],[0.2563598417245853,-0.5839697360279582]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[0.19037983739315512,-2.5320462791134464,0.71338606911949],"aabb_xy":[[0.1798123577350561,-2.542591309226455],[0.20094731705125413,-2.521501249000438]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[-0.4992517916829688,-1.3977673757236073,0.71338606911949],"aabb_xy":[[-0.5237654157799747,-1.4220319690256438],[-0.474738167585963,-1.3735027824215709]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.500510606538723,-1.0479472808627568,0.71338606911949],"aabb_xy":[[0.49639465642665026,-1.0520628358956021],[0.5046265566507956,-1.043831725829911]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[-0.3020268377038749,-2.43386579308519,0.71338606911949],"aabb_xy":[[-0.3187039736969704,-2.4505657170591197],[-0.2853497017107794,-2.417165869111259]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_24","position":[-0.475858132740916,-1.0854114523334897,0.71338606911949],"aabb_xy":[[-0.5258581341018032,-1.1353893569089053],[-0.4258581313800288,-1.035433547758074]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[-0.08604084730165407,-0.039713828067083234,0.71338606911949],"aabb_xy":[[-0.12307495672971379,-0.07409103540079268],[-0.049006737873594365,-0.0053366207333737856]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_26","position":[-0.22295410602689653,1.08743472476456,0.71338606911949],"aabb_xy":[[-0.2729370562143758,1.0374347251219993],[-0.17297115583941713,1.1374347244071201]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_27","position":[0.652117136532107,1.665873047859883,0.71338606911949],"aabb_xy":[[0.5921171348891852,1.613872898567939],[0.7121171381750289,1.7178731971518273]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_28","position":[-0.5005138407809384,-0.8450041359254477,0.71338606911949],"aabb_xy":[[-0.5044277139763609,-0.8537531513320044],[-0.4965999675855159,-0.8362551205188907]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_29","position":[-0.448389528853927,-2.143863705589691,0.71338606911949],"aabb_xy":[[-0.47088952837763437,-2.166359653040311],[-0.42588952933021956,-2.1213677581390695]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_30","position":[-0.09807561591135772,1.6741908037111703,0.71338606911949],"aabb_xy":[[-0.1034131915773623,1.6491908027820306],[-0.09273804024535316,1.6991908046403101]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.668354406786156,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7406.png","name":"7406"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7406.png","name":"7406"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9009.png","name":"9009"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2473.png","name":"2473"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6188.png","name":"6188"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1152.png","name":"1152"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":848.1189787236283,"rotation_z_degrees":322.96272503469106,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018697514921460906,-0.003926523265270796,0.007481598513231099]},{"name":"camera_2","offset_m":[-0.011079418885529844,0.009820576787674288,0.01668384757683714]},{"name":"camera_3","offset_m":[-0.01839623275896729,0.005987366078536588,0.018897549933217666]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010091655885016851,-0.00110357639501717,-0.0010682530015946128],"end_effector_yaw_offset_degrees":0.02836749784302639},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00019852313414777441,0.0017791689907651442,-0.001734090455579007],"end_effector_yaw_offset_degrees":0.9004824854613036},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005593914264769482,-0.0009705349899961338,-0.0019607559649804083],"end_effector_yaw_offset_degrees":-0.27346791792784697},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006022456424475799,-0.0012202424576683022,0.0015743540405657786],"end_effector_yaw_offset_degrees":0.6144019550064448}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002642535280999117,-0.001352749898095723],"position_m":[0.2406425352809991,0.29224725010190433,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031985789959119307,0.002558103479066546],"position_m":[0.24179857899591195,-0.35724189652093347,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000903333831894372,-0.0004929604508289564],"position_m":[0.3507966661681056,-0.13189296045082893,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011389607248614687,0.001820205234917445],"position_m":[0.35816103927513854,0.07622020523491743,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a3c28b288fb24d2a1b195394b41a29827cd6876594af56cc5f4232378e16ecdb","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0040.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7406/tex_ceiling_textures_1152/tex_floor_textures_6188/tex_table_textures_9009/tex_wall_textures_2473","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":6717991755771377987,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":6717991755771377987,"visual_seed":6717991755771377987,"scene_id":"lab_003","finished_at":"2026-09-04T19:42:27"}
+{"episode_id":"ep_000035","started_at":"2026-09-04T19:42:31","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_0","position":[-0.06816113817329517,0.3393943287558878,0.71338606911949],"aabb_xy":[[-0.07520258912404276,0.33236757701809333],[-0.06111968722254757,0.3464210804936824]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.44300714852250733,1.7394661698607714,0.71338606911949],"aabb_xy":[[0.4227228457991085,1.7191835447180623],[0.46329145124590604,1.75974879500348]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[-0.25375829522716536,-1.8672676383692177,0.71338606911949],"aabb_xy":[[-0.3187582933830844,-1.89356388291913],[-0.1887582970712463,-1.8409713938193055]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.2665373006470817,1.0845216291167419,0.71338606911949],"aabb_xy":[[-0.2890373004609841,1.0800470127462611],[-0.24403730083317932,1.0889962454872226]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[-0.025086319893086628,0.5005879461067257,0.71338606911949],"aabb_xy":[[-0.03378428218380192,0.48846297179925113],[-0.01638835760237134,0.5127129204142006]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[0.4634980017182919,-1.6950762795433436,0.71338606911949],"aabb_xy":[[0.4284980025254736,-1.706043325541006],[0.49849800091111013,-1.6841092335456804]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[0.4638353008882241,1.355975375696897,0.71338606911949],"aabb_xy":[[0.44827953147795896,1.3404249424524899],[0.4793910702984895,1.3715258089413043]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[0.010329028312657695,-2.408964152475539,0.71338606911949],"aabb_xy":[[0.00401692877631926,-2.414731091728758],[0.01664112784899613,-2.4031972132223207]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[-0.33096879300701754,1.8152601555999364,0.71338606911949],"aabb_xy":[[-0.34290152736884566,1.802878002792077],[-0.3190360586451895,1.8276423084077957]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[-0.4118293800441504,-1.198432689405671,0.71338606911949],"aabb_xy":[[-0.448679927981138,-1.2359326902287047],[-0.37497883210716276,-1.1609326885826372]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.5556975221650489,-0.01416622109265031,0.71338606911949],"aabb_xy":[[0.4656975235705789,-0.030416807406071333],[0.6456975207595188,0.002084365220770712]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_11","position":[0.2754698353288273,0.6804440433394414,0.71338606911949],"aabb_xy":[[0.21546983482097434,0.62359730965352],[0.33546983583668016,0.7372907770253626]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_12","position":[-0.11187742945698032,-0.07593332892943128,0.71338606911949],"aabb_xy":[[-0.16687742765872515,-0.11645529555586885],[-0.0568774312552355,-0.03541136230299368]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.602567363071239,-2.217636116810789,0.71338606911949],"aabb_xy":[[-0.6665673633317097,-2.262644916163717],[-0.5385673628107681,-2.172627317457861]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_14","position":[-0.06673121005163085,-1.4575101927477032,0.71338606911949],"aabb_xy":[[-0.12673120989819764,-1.514328814940742],[-0.006731210205064064,-1.4006915705546645]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_15","position":[0.10687366455685265,-1.9762531009925848,0.71338606911949],"aabb_xy":[[0.05699096767915644,-2.0262531002388595],[0.15675636143454885,-1.92625310174631]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_16","position":[-0.06392894845608543,1.492787591585658,0.71338606911949],"aabb_xy":[[-0.15392894495695716,1.4468759491671996],[0.026071048044786323,1.5386992340041161]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[-0.4983395528288316,1.485811707838526,0.71338606911949],"aabb_xy":[[-0.5159178550177785,1.468237218264421],[-0.4807612506398848,1.503386197412631]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_18","position":[-0.4378682956003017,-2.369755057358863,0.71338606911949],"aabb_xy":[[-0.45303116857723885,-2.384920514653982],[-0.4227054226233647,-2.3545896000637443]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.07455480474844656,-2.0961735680482643,0.71338606911949],"aabb_xy":[[-0.1120548049203185,-2.128874303431171],[-0.03705480457657462,-2.0634728326653566]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[0.40927443145881437,-0.3625568536780994,0.71338606911949],"aabb_xy":[[0.3991214159046649,-0.39862639525083965],[0.41942744701296364,-0.32648731210535903]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_21","position":[-0.23086153878367965,1.3066775334459746,0.71338606911949],"aabb_xy":[[-0.2664906946836394,1.2710448666891216],[-0.1952323828837199,1.3423102002028275]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_22","position":[0.19123733024981626,1.2491877499460937,0.71338606911949],"aabb_xy":[[0.1612697733399906,1.219187749648208],[0.22120488715964193,1.2791877502439795]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_23","position":[0.32720664328745874,1.5976060767297757,0.71338606911949],"aabb_xy":[[0.32016633335392186,1.5176060773301048],[0.33424695322099585,1.6776060761294476]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_24","position":[-0.6421310909741876,-1.4773511991051713,0.71338606911949],"aabb_xy":[[-0.6654129331723189,-1.5623512004023994],[-0.6188492487760562,-1.3923511978079433]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[-0.2243361774484956,-1.2176994642863541,0.71338606911949],"aabb_xy":[[-0.2743361768886912,-1.2676673887706704],[-0.17433617800829998,-1.1677315398020378]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_26","position":[-0.5975920305462473,-0.19417098147586165,0.71338606911949],"aabb_xy":[[-0.6200920310582879,-0.21666283984125997],[-0.5750920300342067,-0.17167912311046327]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.669769094560516,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8482.png","name":"8482"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8482.png","name":"8482"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7183.png","name":"7183"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/369.png","name":"369"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8283.png","name":"8283"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4006.png","name":"4006"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":796.5068155228798,"rotation_z_degrees":334.12830111162265,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009996759179447867,0.016473263145574246,-0.010482006322675642]},{"name":"camera_2","offset_m":[-0.0051356024509093025,0.01672620420310229,-0.01642703902655653]},{"name":"camera_3","offset_m":[0.008877579052975672,-0.01925166189634641,-0.012811252102693063]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018971896849914534,0.0004905957788508141,-0.0006934025152388298],"end_effector_yaw_offset_degrees":0.1450646983462196},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014980692731265926,8.97234794047558e-05,0.0011958924770377175],"end_effector_yaw_offset_degrees":-0.9894491256806599},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008947602636395621,-0.0008693767257534843,0.00019056900699697225],"end_effector_yaw_offset_degrees":-0.31649594650252744},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010420885461051139,-0.0011392741927171684,-0.001586612272764256],"end_effector_yaw_offset_degrees":0.04122425340658942}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030048494666508295,-0.003132050502304767],"position_m":[0.23499515053334916,0.2904679494976953,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012543903381970868,-0.0031150474929686547],"position_m":[0.23985439033819708,-0.36291504749296866,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014195650106370227,0.0015895805992266364],"position_m":[0.350280434989363,-0.12981041940077334,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007861247182001652,0.0029802397736435433],"position_m":[0.3600861247182002,0.07738023977364354,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d920f49d82f7d3b1f66281c9452d254d9407cea3161a182c5f84b2df0ca400c","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0041.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8482/tex_ceiling_textures_4006/tex_floor_textures_8283/tex_table_textures_7183/tex_wall_textures_369","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7628804669834986822,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7628804669834986822,"visual_seed":7628804669834986822,"scene_id":"lab_003","finished_at":"2026-09-04T19:46:29"}
+{"episode_id":"ep_000036","started_at":"2026-09-04T19:46:33","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[0.5437956910760233,-2.451647328520133,0.71338606911949],"aabb_xy":[[0.5062956909041513,-2.4843480639030395],[0.5812956912478952,-2.418946593137225]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_1","position":[0.3242507795092959,0.8322498149117803,0.71338606911949],"aabb_xy":[[0.31546955236205976,0.8234700676232503],[0.3330320066565322,0.8410295622003106]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.1490658764386259,1.5620554063261634,0.71338606911949],"aabb_xy":[[-0.1544034521046305,1.5370554053970238],[-0.14372830077262136,1.5870554072553034]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[0.44355272152887393,-0.5354926381092588,0.71338606911949],"aabb_xy":[[0.43178453473421646,-0.6204926380144804],[0.4553209083235315,-0.4504926382040373]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[0.0809303748543041,-1.0919897555360103,0.71338606911949],"aabb_xy":[[0.025930376652559272,-1.1325117221624479],[0.13593037305604894,-1.0514677889095727]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.3334902762202223,-0.8814521823181001,0.71338606911949],"aabb_xy":[[-0.38346769308547585,-0.9314521838073485],[-0.28351285935496867,-0.8314521808288514]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_6","position":[0.427301629332705,-2.5717025824509037,0.71338606911949],"aabb_xy":[[0.42098952979636656,-2.577469521704123],[0.4336137288690434,-2.5659356431976854]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[-0.1254957365807865,-1.0268144605309102,0.71338606911949],"aabb_xy":[[-0.14799573610449387,-1.0493104079815307],[-0.10299573705707908,-1.0043185130802892]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[-0.5970286043009836,-1.4336116252520614,0.71338606911949],"aabb_xy":[[-0.6314910823140713,-1.4402753024349841],[-0.5625661262878957,-1.4269479480691383]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[0.19726095680954403,-1.778229525611278,0.71338606911949],"aabb_xy":[[0.17905513314829635,-1.7892549261932695],[0.2154667804707917,-1.7672041250292863]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[-0.12784297658314214,1.3000238886164746,0.71338606911949],"aabb_xy":[[-0.13861595050450992,1.2650238903974356],[-0.11707000266177436,1.3350238868355135]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.4969221707624587,-1.5186321640282654,0.71338606911949],"aabb_xy":[[-0.5319221721139403,-1.538991899985086],[-0.4619221694109769,-1.4982724280714443]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[-0.356487432781038,-1.2998183229969043,0.71338606911949],"aabb_xy":[[-0.44648743137550795,-1.3160689093103253],[-0.26648743418656806,-1.2835677366834832]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[-0.16570147955441195,1.0404170718500065,0.71338606911949],"aabb_xy":[[-0.20320147813003273,1.0276807761864486],[-0.1282014809787911,1.0531533675135645]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[-0.4037817944337053,-2.0546457008686225,0.71338606911949],"aabb_xy":[[-0.4538792584147789,-2.1186457013784343],[-0.35368433045263165,-1.9906457003588107]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.0010869305669413132,1.1439009808148306,0.71338606911949],"aabb_xy":[[-0.06291306969352949,1.0988921814619024],[0.06508693082741211,1.1889097801677584]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[0.2401988802172247,-1.4244080184012673,0.71338606911949],"aabb_xy":[[0.20590196919948406,-1.4587049046112084],[0.2744957912349653,-1.3901111321913258]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[0.6726494399375857,-2.1138659905009223,0.71338606911949],"aabb_xy":[[0.6501846699661805,-2.136365991379783],[0.6951142099089908,-2.0913659896220618]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.37043524554803653,-2.51713338358496,0.71338606911949],"aabb_xy":[[-0.43543524650516374,-2.569081595518665],[-0.3054352445909093,-2.465185171651254]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[-0.09701441089651208,-1.7996665183559681,0.71338606911949],"aabb_xy":[[-0.10097489466624646,-1.8073343829414887],[-0.09305392712677771,-1.7919986537704475]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_20","position":[0.3648089716638079,-1.5671133718451433,0.71338606911949],"aabb_xy":[[0.3496368023821745,-1.582282228773347],[0.37998114094544116,-1.5519445149169402]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_21","position":[0.3522344019670145,0.4303969084703878,0.71338606911949],"aabb_xy":[[0.344240413389311,0.42239682837529746],[0.3602283905447178,0.43839698856547815]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_22","position":[0.0012190127077451596,-0.8670001817037869,0.71338606911949],"aabb_xy":[[-0.04378098875848369,-0.9120000385652677],[0.04621901417397401,-0.8220003248423063]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_23","position":[-0.6294083903433976,-1.601770527272647,0.71338606911949],"aabb_xy":[[-0.6463191227797392,-1.6152427328652614],[-0.6124976579070557,-1.5882983216800322]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.670403064155017,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/551.png","name":"551"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/551.png","name":"551"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/180.png","name":"180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3602.png","name":"3602"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5724.png","name":"5724"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1327.png","name":"1327"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":616.0969102155889,"rotation_z_degrees":170.7725429941283,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0013319398178665842,0.010904240475424626,0.00894930040977859]},{"name":"camera_2","offset_m":[0.0041197731574014705,0.000646800990160571,-0.008952431861747727]},{"name":"camera_3","offset_m":[0.0011732354457052556,-0.010080634948874807,-0.005390926768993044]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001807248302881173,-0.0010964045541608344,0.001720361719747154],"end_effector_yaw_offset_degrees":0.6445095951790776},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017656932093548,-0.00043868160909190344,0.0018814713683244855],"end_effector_yaw_offset_degrees":-0.6336801284717166},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001105694158018462,0.0012920476130390116,-0.001136198550299582],"end_effector_yaw_offset_degrees":-0.2044837207333874},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012656619715689962,0.0008327335225127991,-0.0005148999226526976],"end_effector_yaw_offset_degrees":0.773414762269947}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014949386762514961,0.002009174334143946],"position_m":[0.2394949386762515,0.29560917433414396,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004778619015784806,0.0012237902746743403],"position_m":[0.2433786190157848,-0.35857620972532567,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002741422950823508,0.0013038665991024342],"position_m":[0.35444142295082354,-0.13009613340089757,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008036095198663221,0.004731512585173418],"position_m":[0.3584963904801337,0.07913151258517341,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4abd96b09e9fa8327530d3fd0b45ac0937388dcb8a50af7890a17593bf7a23c7","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0042.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_551/tex_ceiling_textures_1327/tex_floor_textures_5724/tex_table_textures_180/tex_wall_textures_3602","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7711475605305074623,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7711475605305074623,"visual_seed":7711475605305074623,"scene_id":"lab_003","finished_at":"2026-09-04T19:50:57"}
+{"episode_id":"ep_000037","started_at":"2026-09-04T19:51:01","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_0","position":[0.07442520350600046,1.3785138048610515,0.71338606911949],"aabb_xy":[[0.02454250662830427,1.3285138056147767],[0.12430790038369668,1.4285138041073262]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[-0.22459379220214964,-2.4250833687453626,0.71338606911949],"aabb_xy":[[-0.2326371521281048,-2.510083369840729],[-0.21655043227619444,-2.340083367649996]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_2","position":[-0.14245777678695748,0.6821233033372645,0.71338606911949],"aabb_xy":[[-0.16234881666729772,0.6694674920525676],[-0.12256673690661724,0.6947791146219613]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[0.02517300159962932,-1.1402131887378788,0.71338606911949],"aabb_xy":[[-0.02482183132831228,-1.1902131876331221],[0.07516783452757092,-1.090213189842635]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[-0.36012405439057416,1.4503365194501252,0.71338606911949],"aabb_xy":[[-0.44012405765458734,1.4367764871412116],[-0.2801240511265611,1.4638965517590383]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_5","position":[-0.03631839036726825,-2.060581847066351,0.71338606911949],"aabb_xy":[[-0.08631340132672027,-2.110581846101943],[0.013676620592183785,-2.0105818480307596]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.6716528381316687,-2.1307121578404327,0.71338606911949],"aabb_xy":[[0.6637295578929203,-2.1532121580784365],[0.679576118370417,-2.1082121576024297]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.4143391641111396,0.4113217800228135,0.71338606911949],"aabb_xy":[[-0.4511337972360458,0.37441590492623117],[-0.37754453098623325,0.4482276551193957]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[0.1364745023662982,-0.7562308548359742,0.71338606911949],"aabb_xy":[[0.13235855225422552,-0.7603464098688196],[0.14059045247837085,-0.7521152998031285]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.6393346189525516,0.24199470313882454,0.71338606911949],"aabb_xy":[[-0.6473281087478336,0.23399657119834888],[-0.6313411291572696,0.2499928350793002]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[-0.40346652819928264,-1.4781608893854576,0.71338606911949],"aabb_xy":[[-0.453449478386762,-1.5281608890280178],[-0.3534835780118033,-1.428160889742897]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[0.6598561835307424,-1.4674255331940744,0.71338606911949],"aabb_xy":[[0.6429454510944004,-1.4808977387866884],[0.6767669159670839,-1.4539533276014596]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[0.3863254214899168,0.3023392017608102,0.71338606911949],"aabb_xy":[[0.38236493772018243,0.29467133717528965],[0.3902859052596511,0.31000706634633085]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_13","position":[0.019499678463083536,-0.7693806711453977,0.71338606911949],"aabb_xy":[[0.014041732826063469,-0.8493806744530568],[0.024957624100103604,-0.6893806678377385]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[0.38728247322079734,-1.7650449800194519,0.71338606911949],"aabb_xy":[[0.3504319252838098,-1.8025449808424856],[0.424133021157785,-1.7275449791964181]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[0.276175553877982,1.463222909977787,0.71338606911949],"aabb_xy":[[0.22117555567623712,1.4227009433513493],[0.33117555207972676,1.5037448766042245]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_16","position":[-0.08524398384234333,-1.5627094229025973,0.71338606911949],"aabb_xy":[[-0.09601695776371112,-1.5977094211216363],[-0.07447100992097556,-1.5277094246835583]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_17","position":[0.17014929181557625,1.0116530667565136,0.71338606911949],"aabb_xy":[[0.15459352240531102,0.9961026335121064],[0.18570506122584154,1.0272035000009208]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[-0.4477746616173153,0.17522017426141012,0.71338606911949],"aabb_xy":[[-0.49385975287204675,0.11122017700885499],[-0.4016895703625838,0.2392201715139652]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[0.26642425254772295,1.799117695371128,0.71338606911949],"aabb_xy":[[0.262720991218584,1.79541567706241],[0.2701275138768618,1.8028197136798454]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[0.03582647532882166,-1.3975604065941942,0.71338606911949],"aabb_xy":[[0.012544633130690317,-1.482560407891422],[0.059108317526952996,-1.312560405296966]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[-0.3610764003111155,0.8872214075973148,0.71338606911949],"aabb_xy":[[-0.41870686919838623,0.8272214086706039],[-0.3034459314238446,0.9472214065240251]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[-0.587079447393667,0.6280199851332888,0.71338606911949],"aabb_xy":[[-0.6292638615544978,0.5640199848560777],[-0.5448950332328363,0.6920199854105001]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[0.5884405796807348,1.1270779468932193,0.71338606911949],"aabb_xy":[[0.554961412419694,1.0935988335221123],[0.6219197469417759,1.1605570602643263]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[0.6930286872821294,-1.8841038032400106,0.71338606911949],"aabb_xy":[[0.6769667598236118,-1.9691038050526022],[0.709090614740647,-1.7991038014274185]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[0.4059931164863242,-1.1819359455361387,0.71338606911949],"aabb_xy":[[0.3359931143548946,-1.2046979111618341],[0.4759931186177537,-1.1591739799104428]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_26","position":[-0.24908362284931812,-0.935443729509073,0.71338606911949],"aabb_xy":[[-0.33908362257249225,-0.9585170820442528],[-0.1590836231261439,-0.9123703769738931]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[0.29676534948623856,-0.658408995634965,0.71338606911949],"aabb_xy":[[0.2887290147849537,-0.6664471149393818],[0.3048016841875234,-0.6503708763305482]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6642315274487445,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5762.png","name":"5762"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5762.png","name":"5762"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1127.png","name":"1127"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1734.png","name":"1734"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2603.png","name":"2603"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8714.png","name":"8714"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":677.0099031324462,"rotation_z_degrees":268.2447200034074,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007973990765599286,-0.017587625324489476,0.012379885691639825]},{"name":"camera_2","offset_m":[-0.008522899758095464,-0.0069275254622295675,0.007145919468051272]},{"name":"camera_3","offset_m":[-0.010662551129237965,0.017097292559439325,0.018221736352398644]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00041275731099387554,0.0007577452336619212,-0.0012290014411337506],"end_effector_yaw_offset_degrees":0.9066992024037637},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00019614900080867112,0.0008494347808989276,0.0002669992341219254],"end_effector_yaw_offset_degrees":-0.9510040057298457},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011335028531437715,-0.0015199535454545371,-0.0004296104563144105],"end_effector_yaw_offset_degrees":-0.9294844114304563},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011398877812464846,-0.0005310124407898935,-0.0014350440597362289],"end_effector_yaw_offset_degrees":-0.7740195924811133}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021270146802455027,-0.0007119880417651662],"position_m":[0.23587298531975448,0.2928880119582349,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004231804872413941,-0.0014017547126478568],"position_m":[0.23436819512758605,-0.36120175471264787,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038762737745187937,-0.004929610635680411],"position_m":[0.34782372622548124,-0.1363296106356804,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003849443456702957,0.0015068471549653552],"position_m":[0.36314944345670297,0.07590684715496535,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"536a269986b07e91b895477af8ab2076905774c13fa3f6192777df9521d02ab4","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5762/tex_ceiling_textures_8714/tex_floor_textures_2603/tex_table_textures_1127/tex_wall_textures_1734","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":4017186216819943078,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":4017186216819943078,"visual_seed":4017186216819943078,"scene_id":"lab_003","finished_at":"2026-09-04T19:54:48"}
+{"episode_id":"ep_000038","started_at":"2026-09-04T19:54:53","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[-0.39609929593922033,-0.964351036588015,0.71338606911949],"aabb_xy":[[-0.4038024866132974,-0.9720604072867531],[-0.3883961052651433,-0.9566416658892771]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.028705564283364793,-1.0087176398273916,0.71338606911949],"aabb_xy":[[-0.07387688213153377,-1.07271763697193],[0.016465753564804182,-0.9447176426828532]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[0.4105257491763046,-1.5238965569817364,0.71338606911949],"aabb_xy":[[0.3305257470135421,-1.6038517406078798],[0.49052575133906706,-1.4439413733555926]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[-0.16957233177378817,1.6779686117026977,0.71338606911949],"aabb_xy":[[-0.19085033991726041,1.6129686093766245],[-0.14829432363031592,1.7429686140287706]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[0.5677832323256842,1.7671876712706713,0.71338606911949],"aabb_xy":[[0.559655544132371,1.7582740628599636],[0.5759109205189974,1.776101279681379]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.5433420415498076,1.016373625733472,0.71338606911949],"aabb_xy":[[0.5020932305198927,0.9613736262212543],[0.5845908525797222,1.0713736252456891]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[-0.4233887937060339,1.7441341401805501,0.71338606911949],"aabb_xy":[[-0.44860963056587344,1.7189103893276634],[-0.3981679568461941,1.7693578910334369]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.04421590608438564,-1.4453245056674817,0.71338606911949],"aabb_xy":[[-0.13421590550275653,-1.4787000025116714],[0.04578409333398526,-1.411949008823292]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_8","position":[0.5651272499298408,-1.9333840494266186,0.71338606911949],"aabb_xy":[[0.5604921347776073,-1.937251384503767],[0.569762365082074,-1.9295167143494696]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[-0.5627585713688982,-0.6095638688242382,0.71338606911949],"aabb_xy":[[-0.5714565336596136,-0.6216888431317129],[-0.554060609078183,-0.5974388945167635]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.2762064911842772,-0.7392286614518453,0.71338606911949],"aabb_xy":[[0.22620649082371116,-0.7892086486614481],[0.32620649154484327,-0.6892486742422422]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[-0.30972056977487217,-2.499796262348748,0.71338606911949],"aabb_xy":[[-0.31793511489055604,-2.508472852646389],[-0.3015060246591881,-2.491119672051106]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[-0.6352420019250018,0.06305805874341486,0.71338606911949],"aabb_xy":[[-0.6711555063499914,0.02714455052666024],[-0.5993284975000122,0.09897156696016948]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[-0.07143504407114498,-0.05172733595451673,0.71338606911949],"aabb_xy":[[-0.14143504620257452,-0.07448930158021239],[-0.0014350419397154424,-0.028965370328821065]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.3618684040559808,-2.3848751762844853,0.71338606911949],"aabb_xy":[[-0.4118684036323156,-2.4348557552365913],[-0.31186840447964614,-2.3348945973323794]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[0.41786080837503725,-2.38882616594193,0.71338606911949],"aabb_xy":[[0.3853991074931097,-2.4189589980568322],[0.4503225092569646,-2.3586933338270266]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[0.033797799900567194,-2.046632047613021,0.71338606911949],"aabb_xy":[[-0.05620219683504302,-2.0998155109303154],[0.1237977966361774,-1.9934485842957264]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.5378186634660959,-2.0457901553334423,0.71338606911949],"aabb_xy":[[-0.5678103261999662,-2.0757901546702424],[-0.5078270007322255,-2.0157901559966414]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.49813633628882165,0.9419891798493905,0.71338606911949],"aabb_xy":[[-0.5481363379503164,0.8919907375936876],[-0.4481363346273269,0.9919876221050931]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_19","position":[-0.32129831594462077,0.3780591484372233,0.71338606911949],"aabb_xy":[[-0.35244523478820383,0.3080591497504161],[-0.2901513971010376,0.44805914712403044]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[-0.4955095334686974,-0.17582525104155966,0.71338606911949],"aabb_xy":[[-0.4994700172384319,-0.18349311562708026],[-0.4915490496989632,-0.16815738645603906]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[0.4155464967729814,-2.5365923984065466,0.71338606911949],"aabb_xy":[[0.4114305466609086,-2.5407079534393917],[0.41966244688505394,-2.5324768433737006]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_22","position":[-0.15518224149318993,0.3181824957700039,0.71338606911949],"aabb_xy":[[-0.1926822421577686,0.30249543776978166],[-0.11768224082861121,0.33386955377022604]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6695889356368153,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/488.png","name":"488"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/488.png","name":"488"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2766.png","name":"2766"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5656.png","name":"5656"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2126.png","name":"2126"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1264.png","name":"1264"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":570.587128928824,"rotation_z_degrees":131.65961404521184,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016022691225946493,-0.015583146151285036,0.01884987840495247]},{"name":"camera_2","offset_m":[-0.017775208342546617,0.002463368844558996,-0.010444934392871717]},{"name":"camera_3","offset_m":[-0.00502131693369464,0.012023646999367154,-0.016553191161012438]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018811578556987678,0.0005497986819677021,0.00042408931536082545],"end_effector_yaw_offset_degrees":-0.5263112459619894},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013528071484855584,-0.0007834692821090394,8.321166482972743e-06],"end_effector_yaw_offset_degrees":-0.2298929145724562},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001718943474845922,-9.754712736154136e-05,0.0012010022423507914],"end_effector_yaw_offset_degrees":-0.7999016862553598},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017922478813050106,0.0002581895216443547,0.0018147772050936752],"end_effector_yaw_offset_degrees":0.8989263761519395}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037825657193676066,0.004172156904111692],"position_m":[0.23421743428063238,0.29777215690411174,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003044279305886002,1.1513436901353959e-05],"position_m":[0.241644279305886,-0.35978848656309864,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003085118512387708,-0.0033699967992909642],"position_m":[0.3486148814876123,-0.13476999679929094,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025768434504619985,0.0013286614006760514],"position_m":[0.356723156549538,0.07572866140067605,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5caa1f0c7ee123149c320008941557cb63aaabbe6bb627e33be71cec326e5b6b","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_488/tex_ceiling_textures_1264/tex_floor_textures_2126/tex_table_textures_2766/tex_wall_textures_5656","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":1810202253966384109,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":1810202253966384109,"visual_seed":1810202253966384109,"scene_id":"lab_003","finished_at":"2026-09-04T19:58:45"}
+{"episode_id":"ep_000039","started_at":"2026-09-04T19:58:48","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.5490707374236642,-1.3491471140750104,0.71338606911949],"aabb_xy":[[-0.6130707347093128,-1.3906538330278544],[-0.48507074013801554,-1.3076403951221665]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_1","position":[-0.17063408167712102,-2.4194942418640206,0.71338606911949],"aabb_xy":[[-0.17660062061785678,-2.4254553865233848],[-0.1646675427363852,-2.4135330972046565]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[0.3028405890717216,-0.7076315570287637,0.71338606911949],"aabb_xy":[[0.27499555229111444,-0.7384160557670755],[0.3306856258523287,-0.6768470582904521]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_3","position":[-0.5063902772112083,-0.3678069061475182,0.71338606911949],"aabb_xy":[[-0.5563633427437239,-0.4178069059600512],[-0.456417211678693,-0.3178069063349854]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[-0.08067124463948327,0.8261674649876962,0.71338606911949],"aabb_xy":[[-0.13066607756742488,0.7761674660924527],[-0.030676411711541673,0.8761674638829398]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[0.6393055556157043,-2.5228876883621276,0.71338606911949],"aabb_xy":[[0.5980010125519682,-2.5868876879302443],[0.6806100986794402,-2.45888768879401]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.49166127424098194,0.3511575509959548,0.71338606911949],"aabb_xy":[[-0.5813483505490974,0.2611575507415042],[-0.4019741979328665,0.4411575512504053]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.6371181849240861,-1.3612065978592651,0.71338606911949],"aabb_xy":[[0.629493916833908,-1.368839821395809],[0.6447424530142645,-1.3535733743227216]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[-0.4425203863028842,1.5990872192688035,0.71338606911949],"aabb_xy":[[-0.5065203865633549,1.5540784199158753],[-0.37852038604241334,1.6440960186217313]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[0.6649524585169986,0.704644314165983,0.71338606911949],"aabb_xy":[[0.6503090529629655,0.6899855945091987],[0.6795958640710315,0.7193030338227672]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[0.7066326028999546,-1.2607205797781176,0.71338606911949],"aabb_xy":[[0.6896225056099038,-1.2768550682763915],[0.7236427001900051,-1.2445860912798437]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[0.532810506863538,0.6880541006630563,0.71338606911949],"aabb_xy":[[0.4628105042269516,0.6679492356671907],[0.6028105095001243,0.7081589656589217]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[0.15166989766352512,-1.61479467598764,0.71338606911949],"aabb_xy":[[0.11312420483832411,-1.6533404470438289],[0.1902155904887262,-1.5762489049314514]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[-0.017473658777924617,1.5436078064335361,0.71338606911949],"aabb_xy":[[-0.06527982639169326,1.478607803726477],[0.03033250883584403,1.6086078091405946]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[0.08656536652527591,-2.555962615983215,0.71338606911949],"aabb_xy":[[0.07139319724364257,-2.5711314729114187],[0.10173753580690925,-2.5407937590550116]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.26486211019306516,0.9982112466361173,0.71338606911949],"aabb_xy":[[0.242365688759201,0.9757112468293697],[0.2873585316269292,1.0207112464428647]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[-0.055581297512223404,-1.9792158451012498,0.71338606911949],"aabb_xy":[[-0.0734504052666789,-1.993048753078461],[-0.037712189757767904,-1.965382937124039]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[0.23363394400880044,1.2818564625672546,0.71338606911949],"aabb_xy":[[0.18363394364823438,1.2318764753576514],[0.2836339443693665,1.3318364497768573]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_18","position":[0.592557788300911,-0.4827702391660531,0.71338606911949],"aabb_xy":[[0.5275577873004104,-0.533556604320728],[0.6575577893014114,-0.4319838740113781]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[-0.6479107396524404,1.3543708646930401,0.71338606911949],"aabb_xy":[[-0.6549521906031881,1.347344112955246],[-0.6408692887016929,1.3613976164308348]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[-0.1985984350642402,0.056007130065109045,0.71338606911949],"aabb_xy":[[-0.22109843458794753,0.03351118261448825],[-0.17609843554053273,0.0785030775157298]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[0.3855671227537296,-1.026869964022615,0.71338606911949],"aabb_xy":[[0.3155671209449842,-1.0482237327868025],[0.45556712456247506,-1.0055161952584277]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[0.6605780855828565,-1.9886770646240868,0.71338606911949],"aabb_xy":[[0.6029476166955855,-2.0486770635507967],[0.7182085544701272,-1.9286770656973757]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[-0.26746969952615723,-1.86271480987486,0.71338606911949],"aabb_xy":[[-0.3009098747221768,-1.89615843570579],[-0.2340295243301376,-1.8292711840439297]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[-0.5114196226964622,1.4720086876442466,0.71338606911949],"aabb_xy":[[-0.5339196225103646,1.4675340712737657],[-0.48891962288255986,1.4764833040147272]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[0.6232378546879314,1.5306759473181102,0.71338606911949],"aabb_xy":[[0.5432378514239182,1.5171159150091968],[0.7032378579519445,1.5442359796270235]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_26","position":[0.6560634418295299,-2.193625228985616,0.71338606911949],"aabb_xy":[[0.6185634410375345,-2.199993069943806],[0.6935634426215254,-2.1872573880274255]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_27","position":[0.45958096037614915,-2.5634662555471897,0.71338606911949],"aabb_xy":[[0.43458096121051604,-2.5704185012525467],[0.48458095954178226,-2.5565140098418335]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_28","position":[0.40738382601143375,-1.590200670861143,0.71338606911949],"aabb_xy":[[0.3874927861310935,-1.6028564821458402],[0.427274865891774,-1.5775448595764465]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_29","position":[-0.2271722699484966,0.4979006609210135,0.71338606911949],"aabb_xy":[[-0.2871722708093093,0.446474230914527],[-0.16717226908768373,0.5493270909274997]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_30","position":[-0.06678541349087574,0.5117756661138655,0.71338606911949],"aabb_xy":[[-0.07477890328615779,0.50377753417339],[-0.05879192369559373,0.5197737980543412]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_31","position":[-0.21055325806960762,-1.0396076109790844,0.71338606911949],"aabb_xy":[[-0.2330669498930648,-1.109607611580092],[-0.18803956624615042,-0.9696076103780769]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_32","position":[0.4707219117491237,-2.1701121455697105,0.71338606911949],"aabb_xy":[[0.42572932503067323,-2.215112144844159],[0.5157144984675741,-2.1251121462952614]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_33","position":[0.5228893443759846,-1.3030204661732099,0.71338606911949],"aabb_xy":[[0.5059786119396427,-1.3164926717658245],[0.5398000768123262,-1.2895482605805952]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664220984868046,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2902.png","name":"2902"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2902.png","name":"2902"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7124.png","name":"7124"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6179.png","name":"6179"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3906.png","name":"3906"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9280.png","name":"9280"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":524.5140782606004,"rotation_z_degrees":353.87078145843986,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012386518352662763,-0.019495096135450387,-0.0059280933270240335]},{"name":"camera_2","offset_m":[-0.014830201402946504,0.014990289235711395,0.0016200878841993796]},{"name":"camera_3","offset_m":[0.015295753584970952,0.015992945756011918,-0.008075273069839977]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015489536388617112,-0.0001816160028042693,0.0015914682890922653],"end_effector_yaw_offset_degrees":0.6715345542067863},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001957081552091113,0.000354318579973578,0.00029090528347197955],"end_effector_yaw_offset_degrees":-0.43203703637358415},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00028871426114695977,0.0015160739791208822,0.001966602495950775],"end_effector_yaw_offset_degrees":-0.6121345924133728},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010588260239014816,-0.0007150083723097848,5.8432672701366154e-05],"end_effector_yaw_offset_degrees":-0.950880834806598}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003908424230285379,-0.0016343773419615006],"position_m":[0.23409157576971462,0.29196562265803855,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[8.176898578324612e-05,0.0012557494186908828],"position_m":[0.23868176898578325,-0.3585442505813091,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012718544884277516,0.003437410975503677],"position_m":[0.35297185448842777,-0.1279625890244963,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-1.633964363107615e-05,-0.0024270527368455233],"position_m":[0.35928366035636894,0.07197294726315447,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a3161c8af813761d2076ef6619060ba1fcc76358afab5c2a80b5d0b4015abb8a","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2902/tex_ceiling_textures_9280/tex_floor_textures_3906/tex_table_textures_7124/tex_wall_textures_6179","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7423767445211263225,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7423767445211263225,"visual_seed":7423767445211263225,"scene_id":"lab_003","finished_at":"2026-09-04T20:02:35"}
+{"episode_id":"ep_000040","started_at":"2026-09-04T20:02:39","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[0.4032534594135817,-2.5207529884072253,0.71338606911949],"aabb_xy":[[0.36879111201543985,-2.555246870805048],[0.43771580681172345,-2.4862591060094026]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.4475696247844274,1.559741724636782,0.71338606911949],"aabb_xy":[[0.44115581114124247,1.5533319043891136],[0.45398343842761235,1.5661515448844503]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[-0.4056175042650061,1.4500596519892812,0.71338606911949],"aabb_xy":[[-0.4431175045571809,1.446018176588678],[-0.3681175039728313,1.454101127389885]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[0.5559360047442321,0.21149971016161873,0.71338606911949],"aabb_xy":[[0.5059517690360549,0.1614997113481231],[0.6059202404524093,0.2614997089751143]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[-0.5877628132224156,-0.20251282834065165,0.71338606911949],"aabb_xy":[[-0.6252628116458159,-0.21567704230848225],[-0.5502628147990152,-0.189348614372821]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_5","position":[0.369412818228789,1.6980933342266753,0.71338606911949],"aabb_xy":[[0.2994128164200436,1.676739565462488],[0.43941282003753446,1.7194471029908627]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[0.036828564364614236,-1.066832913708727,0.71338606911949],"aabb_xy":[[0.011828564432096351,-1.0737155819296502],[0.061828564297132134,-1.0599502454878036]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[-0.10141213229766333,-2.4517966653845256,0.71338606911949],"aabb_xy":[[-0.10549029020471307,-2.4558776456327895],[-0.09733397439061359,-2.4477156851362625]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_8","position":[-0.29524576707864375,-1.8949817165827172,0.71338606911949],"aabb_xy":[[-0.3025280834553073,-1.984981720192226],[-0.28796345070198,-1.804981712973208]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[-0.4544220758724714,-0.6638475868401501,0.71338606911949],"aabb_xy":[[-0.5184220761329421,-0.708856386193078],[-0.3904220756120006,-0.618838787487222]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.08929251312887643,0.9911362255757203,0.71338606911949],"aabb_xy":[[-0.17929251254724732,0.9577607287315305],[0.0007074862894944633,1.02451172241991]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_11","position":[0.1966888275462495,-1.7770962097964031,0.71338606911949],"aabb_xy":[[0.15450441338541876,-1.8410962100736146],[0.23887324170708024,-1.7130962095191922]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[-0.44855903209007,-1.1543142766108572,0.71338606911949],"aabb_xy":[[-0.49865649607114365,-1.218314277120669],[-0.3984615681089964,-1.0903142761010454]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_13","position":[0.5898876210975823,-0.6627792146215798,0.71338606911949],"aabb_xy":[[0.5707753137396034,-0.6819139934988219],[0.6089999284555612,-0.6436444357443378]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[-0.34382159552171415,1.6876087048603563,0.71338606911949],"aabb_xy":[[-0.38067214345870176,1.6501087040373228],[-0.30697104758472654,1.7251087056833903]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.5693614022446938,-1.348542791833951,0.71338606911949],"aabb_xy":[[0.5468649808108297,-1.3710427916406984],[0.5918578236785579,-1.3260427920272035]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_16","position":[-0.49130575218815636,-0.8661223302113648,0.71338606911949],"aabb_xy":[[-0.5258968350422013,-0.9311223304963957],[-0.45671466933411103,-0.8011223299263336]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[-0.5605633263404494,-1.8344650350648508,0.71338606911949],"aabb_xy":[[-0.6104460232181457,-1.884465034311126],[-0.5106806294627533,-1.7844650358185765]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[0.4742368826443413,-1.9858417464283633,0.71338606911949],"aabb_xy":[[0.4648898750620461,-2.000145368646008],[0.48358389022663656,-1.9715381242107195]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_19","position":[-0.4801340009983498,1.5784927024948714,0.71338606911949],"aabb_xy":[[-0.5301070665308654,1.528492702682339],[-0.4301609354658345,1.6284927023074047]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_20","position":[-0.45721196885570037,-2.5236894566874604,0.71338606911949],"aabb_xy":[[-0.4680635751045759,-2.5345487474151116],[-0.4463603626068247,-2.51283016595981]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[-0.4415065083810193,-2.1347111384520927,0.71338606911949],"aabb_xy":[[-0.44954284308230413,-2.1427492577565093],[-0.43347017367973445,-2.1266730191476753]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[0.07904188531478507,-0.8044631440937655,0.71338606911949],"aabb_xy":[[0.05657711534337995,-0.8269631449726259],[0.10150665528619018,-0.7819631432149049]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_23","position":[-0.5625804807189966,0.557317307398034,0.71338606911949],"aabb_xy":[[-0.5912298130794127,0.528671748120958],[-0.5339311483585802,0.5859628666751096]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.34335693172191983,-1.2179092689185536,0.71338606911949],"aabb_xy":[[0.26335692955915735,-1.2978644525446972],[0.4233569338846823,-1.13795408529241]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_25","position":[-0.06470818270774947,-0.8115113239660503,0.71338606911949],"aabb_xy":[[-0.14470818596559243,-0.8915078317580343],[0.015291820550093482,-0.7315148161740663]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6676258903584286,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2111.png","name":"2111"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2111.png","name":"2111"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3673.png","name":"3673"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3318.png","name":"3318"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7592.png","name":"7592"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9885.png","name":"9885"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":606.3498815775075,"rotation_z_degrees":170.56839446089612,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012829807892032866,-0.00852280074871504,0.006591946282839364]},{"name":"camera_2","offset_m":[-0.014713523839055762,-0.005645515037496204,0.008641669783774009]},{"name":"camera_3","offset_m":[-0.00016326629312219537,0.016274568176790304,-0.0118438600417851]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014470260944683124,9.21775621691278e-05,0.000371004366161731],"end_effector_yaw_offset_degrees":-0.37295078367820933},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012153889688958667,0.0015974698056449989,0.001954641941228393],"end_effector_yaw_offset_degrees":0.33076061762918796},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00045144083309671987,-0.0008299759367072005,-0.0015135189976482732],"end_effector_yaw_offset_degrees":0.7725150397209326},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010670402073993043,0.0016341192357429294,0.0013217804578120195],"end_effector_yaw_offset_degrees":0.6524486816872836}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002029257136225057,0.0002796934944908347],"position_m":[0.24002925713622505,0.29387969349449083,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033262581425462677,0.0041256338023195295],"position_m":[0.24192625814254629,-0.3556743661976805,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004910280296222686,0.0008062595050710971],"position_m":[0.3566102802962227,-0.1305937404949289,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00382698705420952,0.0028452321221050644],"position_m":[0.36312698705420954,0.07724523212210506,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3c332be01389d8bda196707a6ad47f14d7ecfcd29c786fc7ba3858720cce51a0","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2111/tex_ceiling_textures_9885/tex_floor_textures_7592/tex_table_textures_3673/tex_wall_textures_3318","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7989732034846698507,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7989732034846698507,"visual_seed":7989732034846698507,"scene_id":"lab_003","finished_at":"2026-09-04T20:06:25"}
+{"episode_id":"ep_000041","started_at":"2026-09-04T20:19:30","dimensions":{"distractor":{"count":23,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[0.5696744451738105,-1.4860624566538048,0.71338606911949],"aabb_xy":[[0.4796744457554395,-1.5194379534979945],[0.6596744445921813,-1.452686959809615]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[-0.43501695118839667,-0.8319033625559571,0.71338606911949],"aabb_xy":[[-0.460016950460359,-0.8482487261521193],[-0.41001695191643445,-0.8155579989597946]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.5764370708868017,-2.319513765983189,0.71338606911949],"aabb_xy":[[-0.5940153730757486,-2.337088255557294],[-0.5588587686978549,-2.301939276409084]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[-0.3204608585310503,-1.6686688771467586,0.71338606911949],"aabb_xy":[[-0.38046086017397207,-1.7206690264387028],[-0.26046085688812837,-1.6166687278548144]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[-0.6213427118753837,-1.0834405269177554,0.71338606911949],"aabb_xy":[[-0.6913427152669457,-1.118756300621186],[-0.5513427084838217,-1.0481247532143243]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.19866454954240376,-1.790300011059065,0.71338606911949],"aabb_xy":[[0.1286645469058174,-1.8104048760549305],[0.2686645521789901,-1.7701951460631995]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[0.21457229258249588,-0.5827909013948958,0.71338606911949],"aabb_xy":[[0.192399765605845,-0.6049665685510188],[0.2367448195591467,-0.5606152342387725]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[-0.025914383933539842,-2.3978782109784076,0.71338606911949],"aabb_xy":[[-0.03222648346987828,-2.4036451502316267],[-0.019602284397201415,-2.3921112717251893]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_8","position":[-0.34739084519066976,1.6756567878472706,0.71338606911949],"aabb_xy":[[-0.37572055513921004,1.6711960456535535],[-0.3190611352421296,1.6801175300409876]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.4344929274413598,0.5927226799478662,0.71338606911949],"aabb_xy":[[-0.4984929238369329,0.5287593915291325],[-0.37049293104578673,0.6566859683665996]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_10","position":[-0.6514524682015818,-0.26304012583734426,0.71338606911949],"aabb_xy":[[-0.6879482888288605,-0.29952406826410183],[-0.614956647574303,-0.2265561834105867]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_11","position":[0.17038665798819075,0.5919294961400916,0.71338606911949],"aabb_xy":[[0.09038665751797482,0.5836187885257432],[0.25038665845840674,0.60024020375444]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[0.12965606763855597,-2.5005136511921564,0.71338606911949],"aabb_xy":[[0.12166207906085255,-2.508513731287246],[0.13765005621625934,-2.492513571097066]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_13","position":[-0.00831032952818933,0.7268057819064042,0.71338606911949],"aabb_xy":[[-0.02347320250512642,0.7116403246112856],[0.006852543448747753,0.7419712392015231]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[0.5624198215173879,-0.8267744447334509,0.71338606911949],"aabb_xy":[[0.5587165601882489,-0.8304764630421686],[0.5661230828465267,-0.8230724264247329]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[-0.3768810049871452,-1.1421080324595394,0.71338606911949],"aabb_xy":[[-0.4418810028687931,-1.1932316961660805],[-0.3118810071054975,-1.0909843687529988]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[0.35799238437335124,0.43156032931706,0.71338606911949],"aabb_xy":[[0.33299238520771807,0.4246080836117035],[0.3829923835389843,0.43851257502241664]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[0.19522009385777017,1.7521660073641523,0.71338606911949],"aabb_xy":[[0.1896384222236414,1.7396660075463766],[0.20080176549189893,1.7646660071819276]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_18","position":[0.49482986997013145,-0.9623668160518164,0.71338606911949],"aabb_xy":[[0.4856699910262548,-0.9688980340953535],[0.5039897489140079,-0.9558355980082793]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_19","position":[0.6410651811756571,0.019107455785203786,0.71338606911949],"aabb_xy":[[0.6054360252756974,-0.016525210971649162],[0.6766943370756169,0.054740122542056735]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[-0.5735324233855796,-1.896589844105287,0.71338606911949],"aabb_xy":[[-0.6535324205451548,-1.9081374450631041],[-0.49353242622600424,-1.88504224314747]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_21","position":[0.07527255044596026,-0.8771440205736543,0.71338606911949],"aabb_xy":[[-0.009727447971462966,-0.9620183160359391],[0.1602725488633835,-0.7922697251113692]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_22","position":[-0.24756693000208507,1.5071719967642934,0.71338606911949],"aabb_xy":[[-0.3275669314322122,1.427654841751684],[-0.16756692857195782,1.5866891517769028]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6711821119834191,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4892.png","name":"4892"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4892.png","name":"4892"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2705.png","name":"2705"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8188.png","name":"8188"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7153.png","name":"7153"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6390.png","name":"6390"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":572.7276499483636,"rotation_z_degrees":194.1369909905061,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008476373421206827,0.001089790604930644,0.0032731914688389555]},{"name":"camera_2","offset_m":[0.0015570577539007688,-0.0016530162114224874,-0.01361300444343255]},{"name":"camera_3","offset_m":[-0.011486170004246992,0.0074479469486581455,-0.014298889067165189]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008223897134615916,0.0019781015406272282,0.0009847575543142847],"end_effector_yaw_offset_degrees":-0.20503169549015476},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008026011307527329,0.0011563344057172599,-0.0015072508008234955],"end_effector_yaw_offset_degrees":-0.7821390237074752},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001504266631015053,0.00028339782400337195,0.0006797462564754018],"end_effector_yaw_offset_degrees":-0.503866443362611},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012878068368533935,0.001634343069073797,0.0018115717776594092],"end_effector_yaw_offset_degrees":0.8222610463679791}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0017323358456161754,0.003134458744285429],"position_m":[0.23626766415438383,0.29673445874428545,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004308862535988133,-0.0009686001872670734],"position_m":[0.24290886253598815,-0.3607686001872671,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021547930906424483,0.0018459630962609427],"position_m":[0.3495452069093576,-0.12955403690373904,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018518525879052828,-0.004853765719694464],"position_m":[0.35744814741209474,0.06954623428030553,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"51a0f7d8b5a86d88026616dd4cde499344ced3436c21103c13b2be0a5a199100","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4892/tex_ceiling_textures_6390/tex_floor_textures_7153/tex_table_textures_2705/tex_wall_textures_8188","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":3329223914311951287,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":3329223914311951287,"visual_seed":3329223914311951287,"scene_id":"lab_003","finished_at":"2026-09-04T20:23:19"}
+{"episode_id":"ep_000042","started_at":"2026-09-04T20:26:09","dimensions":{"distractor":{"count":22,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[-0.005521560992363894,0.8405936190550838,0.71338606911949],"aabb_xy":[[-0.022531658282414546,0.8244591305568099],[0.011488536297686758,0.8567281075533577]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[0.37452730385624355,-1.3293107132426425,0.71338606911949],"aabb_xy":[[0.32453419174705167,-1.3793107139168383],[0.4245204159654355,-1.279310712568447]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_2","position":[0.3632359184450684,1.2678174432674534,0.71338606911949],"aabb_xy":[[0.35953265711592947,1.2641154249587354],[0.36693917977420726,1.271519461576171]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_3","position":[-0.3627122552727651,0.5149844241218489,0.71338606911949],"aabb_xy":[[-0.42430301449675795,0.4509844260128021],[-0.3011214960487723,0.5789844222308959]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[0.2542969035907181,0.9168309035760496,0.71338606911949],"aabb_xy":[[0.2042969025715829,0.8803646878382219],[0.3042969046098534,0.9532971193138777]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[-0.5699088150953958,1.3047578850303094,0.71338606911949],"aabb_xy":[[-0.6499088153690028,1.2318083372045927],[-0.4899088148217889,1.3777074328560261]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[-0.05390708822200596,-1.61788521458692,0.71338606911949],"aabb_xy":[[-0.07842071231901182,-1.6421498078889567],[-0.02939346412500011,-1.5936206212848838]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[-0.5423872121250453,0.6900489130185723,0.71338606911949],"aabb_xy":[[-0.6223872107819314,0.6755440540943095],[-0.46238721346815936,0.7045537719428351]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[0.5918038005903317,1.604784608505708,0.71338606911949],"aabb_xy":[[0.5543038002421038,1.5929932129246245],[0.6293038009385593,1.6165760040867916]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[-0.5405404187996115,1.5285588018220388,0.71338606911949],"aabb_xy":[[-0.6005404196604243,1.477132371815552],[-0.4805404179387987,1.5799852318285248]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[0.694238876192933,1.7980849776444416,0.71338606911949],"aabb_xy":[[0.6766060405994053,1.7804620316288187],[0.7118717117864605,1.8157079236600646]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_11","position":[-0.386077336622868,-1.463082039759971,0.71338606911949],"aabb_xy":[[-0.4085773368663833,-1.475286674419743],[-0.3635773363793525,-1.4508774051001991]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[-0.4808440522711619,-1.7976946705133718,0.71338606911949],"aabb_xy":[[-0.5183440508467827,-1.8104309661769298],[-0.44334405369554114,-1.784958374849814]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.606049062933019,-1.5901327367328886,0.71338606911949],"aabb_xy":[[-0.6531784419348545,-1.65413273777729],[-0.5589196839311832,-1.5261327356884862]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[-0.5534652053610837,-1.0216399968366758,0.71338606911949],"aabb_xy":[[-0.5759652058731243,-1.0441318552020742],[-0.5309652048490431,-0.9991481384712775]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[0.4652335258186222,0.6768543940257326,0.71338606911949],"aabb_xy":[[0.42773352430299044,0.6656276210095876],[0.5027335273342539,0.6880811670418777]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[0.22366104900359451,-0.7728520761493856,0.71338606911949],"aabb_xy":[[0.20074533611854467,-0.7957563732858092],[0.24657676188864447,-0.7499477790129621]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.3193784851442303,-1.9091577150558028,0.71338606911949],"aabb_xy":[[0.2894109282344046,-1.9391577153536887],[0.34934604205405595,-1.8791577147579173]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[0.6403066940358697,-1.1096571204140893,0.71338606911949],"aabb_xy":[[0.6153066944841312,-1.119799604279224],[0.6653066935876082,-1.0995146365489545]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[0.4305536791290634,0.9909115725136086,0.71338606911949],"aabb_xy":[[0.35055367805594306,0.9811335261762242],[0.5105536802021837,1.000689618850993]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[0.20733201312744043,-2.396098598161673,0.71338606911949],"aabb_xy":[[0.1922297116664223,-2.4112001197927344],[0.2224343145884585,-2.3809970765306105]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[0.6170921883129132,0.6837764373214315,0.71338606911949],"aabb_xy":[[0.5908033639924725,0.6575050036667801],[0.6433810126333538,0.7100478709760826]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6676999112029077,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3073.png","name":"3073"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3073.png","name":"3073"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3714.png","name":"3714"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6427.png","name":"6427"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/106.png","name":"106"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/956.png","name":"956"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":561.687806381448,"rotation_z_degrees":288.72909373566165,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01826332771712274,0.014528839867233277,-8.615056211745686e-05]},{"name":"camera_2","offset_m":[0.005947308932996127,-0.00865336438727293,0.0016659894637067775]},{"name":"camera_3","offset_m":[0.013094185175291793,0.004259558377780078,0.010948049861553417]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018979366735770251,0.0007264824864010228,0.0016576140915743717],"end_effector_yaw_offset_degrees":-0.061622881154008935},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007213113120483165,0.00046011534421817185,-0.001027990911778858],"end_effector_yaw_offset_degrees":0.38851483799226516},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011460712770039734,-0.001966178660363174,-0.001006236488283346],"end_effector_yaw_offset_degrees":0.9637625279732172},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012416430793976492,-0.00043848729994238624,0.001030574981750877],"end_effector_yaw_offset_degrees":0.8245116799653935}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004228508073251844,-0.0005611101827745282],"position_m":[0.24222850807325183,0.2930388898172255,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-7.698540957774662e-05,-0.0013606719546885647],"position_m":[0.23852301459042227,-0.3611606719546886,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000370389300223377,0.004176092885794412],"position_m":[0.3520703893002234,-0.1272239071142056,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007273577170435006,-0.0046539494242267155],"position_m":[0.3585726422829565,0.06974605057577328,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"85abb0207f19bdcad19b44874b93760464ed6661ec1ddec89d92bc886875e322","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0053.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3073/tex_ceiling_textures_956/tex_floor_textures_106/tex_table_textures_3714/tex_wall_textures_6427","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":6461458461378710549,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":6461458461378710549,"visual_seed":6461458461378710549,"scene_id":"lab_003","finished_at":"2026-09-04T20:29:56"}
+{"episode_id":"ep_000043","started_at":"2026-09-04T20:29:59","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[0.12190545735319325,-1.1419057233979861,0.71338606911949],"aabb_xy":[[0.061905455710271395,-1.1939058726899305],[0.1819054589961151,-1.0899055741060422]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[0.48312711088015203,-1.2460288727777855,0.71338606911949],"aabb_xy":[[0.43314287517197475,-1.296028871591281],[0.5331113465883293,-1.19602887396429]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[0.05752122359517642,-2.3184474969866162,0.71338606911949],"aabb_xy":[[0.02320494642055848,-2.3684474969597944],[0.09183750076979436,-2.268447497013439]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[-0.36903525945708443,-1.2925355071079068,0.71338606911949],"aabb_xy":[[-0.3867108900456827,-1.3102157233873093],[-0.35135962886848604,-1.2748552908285038]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[0.064353919588238,-1.6357420141944603,0.71338606911949],"aabb_xy":[[-0.015646077815355427,-1.715734585392643],[0.1443539169918314,-1.5557494429962773]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[0.5148058595981253,0.15971438352684908,0.71338606911949],"aabb_xy":[[0.48483830268829964,0.1297143832289633],[0.544773416507951,0.1897143838247348]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_6","position":[-0.5263365214485574,-0.9627868475574579,0.71338606911949],"aabb_xy":[[-0.5764339854296309,-1.0267868480672697],[-0.47623905746748363,-0.8987868470476461]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.5512843235299623,-0.06324641950142551,0.71338606911949],"aabb_xy":[[-0.5637516816396979,-0.07571174413474901],[-0.5388169654202266,-0.050781094868102006]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.6586331605413938,-0.17968841328718188,0.71338606911949],"aabb_xy":[[0.6373551523979215,-0.2446884156132549],[0.679911168684866,-0.1146884109611088]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_9","position":[-0.6044791169400072,-0.2283572307850057,0.71338606911949],"aabb_xy":[[-0.6684791176434766,-0.2743756132579267],[-0.5404791162365379,-0.1823388483120847]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[-0.1887531849517189,-0.8435016608903529,0.71338606911949],"aabb_xy":[[-0.2387462970609108,-0.8935016615645487],[-0.138760072842527,-0.7935016602161574]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_11","position":[-0.18704182506740652,1.3652251920953873,0.71338606911949],"aabb_xy":[[-0.2520418229490543,1.3141015283888464],[-0.12204182718575873,1.4163488558019282]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[0.2895582185862351,-2.001220183729762,0.71338606911949],"aabb_xy":[[0.22555821667389286,-2.0571313329877725],[0.35355822049857755,-1.9453090344717516]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[0.250059492523353,1.0394681792307638,0.71338606911949],"aabb_xy":[[0.24194583784997592,1.0313623627767348],[0.2581731471967301,1.047573995684793]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_14","position":[0.3868927978797301,-0.6408375427106541,0.71338606911949],"aabb_xy":[[0.3068927964496028,-0.7203546977232634],[0.4668927993098572,-0.5613203876980445]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.38459441023799523,-2.342346180265105,0.71338606911949],"aabb_xy":[[0.37697014214781704,-2.3499794038016493],[0.39221867832817353,-2.334712956728562]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[0.45438806903507856,-1.9701665953761038,0.71338606911949],"aabb_xy":[[0.43680976684613176,-1.9877410849502086],[0.47196637122402546,-1.9525921058019986]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[0.5287303392384219,0.28204154541116333,0.71338606911949],"aabb_xy":[[0.4647303389644436,0.23197544521387536],[0.5927303395124001,0.3321076456084513]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[-0.1570993329439494,0.6459164871709926,0.71338606911949],"aabb_xy":[[-0.19057850020499037,0.6124373737998856],[-0.12362016568290848,0.6793956005420996]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_19","position":[-0.5516814981307355,1.1952956286643444,0.71338606911949],"aabb_xy":[[-0.6216815007673218,1.1751907636684784],[-0.48168149549414907,1.2154004936602094]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[0.24641716052333829,-2.4565331616054467,0.71338606911949],"aabb_xy":[[0.226358748910098,-2.476598248514604],[0.2664755721365786,-2.4364680746962892]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[-0.3752499286229694,1.1767448399498615,0.71338606911949],"aabb_xy":[[-0.4035796385715096,1.1722840977561446],[-0.3469202186744291,1.1812055821435787]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_22","position":[-0.5412088535304946,0.3805177272620126,0.71338606911949],"aabb_xy":[[-0.55055586111279,0.3662141050443686],[-0.5318618459481995,0.39482134947965664]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_23","position":[-0.5638468826055713,-1.8401748008249217,0.71338606911949],"aabb_xy":[[-0.5684819977578045,-1.8440421359020702],[-0.5592117674533378,-1.8363074657477727]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_24","position":[-0.27880171891436023,1.7554375588134143,0.71338606911949],"aabb_xy":[[-0.32593109791619584,1.6914375577690122],[-0.2316723399125245,1.819437559857816]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_25","position":[-0.26366687997965815,0.1362096431491615,0.71338606911949],"aabb_xy":[[-0.31354957685735435,0.08620964390288675],[-0.21378418310196196,0.18620964239543625]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[0.6179879874977028,0.9218296062178144,0.71338606911949],"aabb_xy":[[0.612021448556967,0.9158684615584503],[0.6239545264384385,0.9277907508771783]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_27","position":[0.31131789881014926,-1.2385561078677025,0.71338606911949],"aabb_xy":[[0.27631790054002936,-1.2456302355626905],[0.34631789708026917,-1.2314819801727142]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_28","position":[0.3898278770791035,0.9076868937184783,0.71338606911949],"aabb_xy":[[0.37974617000052996,0.8276868958263635],[0.3999095841576769,0.9876868916105928]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66512509600474,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6869.png","name":"6869"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6869.png","name":"6869"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1309.png","name":"1309"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8472.png","name":"8472"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7034.png","name":"7034"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7463.png","name":"7463"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":592.6344260030179,"rotation_z_degrees":0.18118471227706046,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010860716565485245,-0.007973797351597166,0.006455956730437286]},{"name":"camera_2","offset_m":[-0.017608504694580068,0.0016114779769096643,0.0014665435164170001]},{"name":"camera_3","offset_m":[-0.00018465904440765832,-0.011556391737674497,0.0006125808191340225]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017334702962846457,0.0011038448816618716,-0.0010185856848752796],"end_effector_yaw_offset_degrees":-0.3904742311061826},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012718025151364277,-0.0011212809219199654,0.000852888399393821],"end_effector_yaw_offset_degrees":0.38306928193352885},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013147007918640416,-0.00017196951329475187,0.001803162415133371],"end_effector_yaw_offset_degrees":-0.7069374913274133},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007285784949168646,0.001349553484182486,-0.001677660956067781],"end_effector_yaw_offset_degrees":-0.7055703762975094}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006832601840248299,-0.0027485496131404506],"position_m":[0.23731673981597515,0.29085145038685956,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00011434873743451125,0.003363061867399964],"position_m":[0.2384856512625655,-0.3564369381326,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005103253904769935,0.0035507566801497555],"position_m":[0.35221032539047703,-0.12784924331985023,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001869523309946195,-0.004998336766094786],"position_m":[0.35948695233099465,0.0694016632339052,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1c214d632b1c16420cece8c7e35a4b25a116a0d22954fc1337323125a2ba1bd1","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6869/tex_ceiling_textures_7463/tex_floor_textures_7034/tex_table_textures_1309/tex_wall_textures_8472","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":2277052799118321781,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":2277052799118321781,"visual_seed":2277052799118321781,"scene_id":"lab_003","finished_at":"2026-09-04T20:33:56"}
+{"episode_id":"ep_000044","started_at":"2026-09-04T20:33:59","dimensions":{"distractor":{"count":35,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[-0.3723539241295822,-2.1672484025839154,0.71338606911949],"aabb_xy":[[-0.4082674285545718,-2.2031619108006697],[-0.33644041970459243,-2.13133489436716]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_1","position":[-0.027128666279183755,-2.5813339409282396,0.71338606911949],"aabb_xy":[[-0.03754022495966747,-2.5866796742641376],[-0.01671710759870004,-2.575988207592341]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[0.37968959321023754,-2.1588955048255567,0.71338606911949],"aabb_xy":[[0.37624891697018037,-2.1627569377999216],[0.3831302694502947,-2.1550340718511927]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[0.23228354551198083,1.6935448283159782,0.71338606911949],"aabb_xy":[[0.18229930980380357,1.6435448295024826],[0.28226778122015805,1.7435448271294738]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_4","position":[0.1934563658295272,-2.305526400244197,0.71338606911949],"aabb_xy":[[0.17829349285259014,-2.320691857539316],[0.20861923880646432,-2.2903609429490785]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.22065129155250396,-1.5836672078653815,0.71338606911949],"aabb_xy":[[0.13096421524438848,-1.6736672081198323],[0.3103383678606194,-1.4936672076109312]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.1855114830568093,-0.3355255827343848,0.71338606911949],"aabb_xy":[[-0.22051148136750473,-0.3432405976579304],[-0.15051148474611384,-0.3278105678108391]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[0.09691567546530766,1.232463087553303,0.71338606911949],"aabb_xy":[[0.06191567548881183,1.2229984715056863],[0.1319156754418035,1.2419277036009195]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[-0.3739611731734986,1.799375621213826,0.71338606911949],"aabb_xy":[[-0.3886045787275315,1.7847169015570417],[-0.35931776761946554,1.81403434087061]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_9","position":[-0.2315037030025367,0.3650649995653006,0.71338606911949],"aabb_xy":[[-0.24473464853721796,0.3518375805433011],[-0.21827275746785538,0.37829241858729995]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.42627817523083295,1.4627172848131544,0.71338606911949],"aabb_xy":[[-0.4453904825888118,1.4435825059359124],[-0.4071658678728541,1.4818520636903965]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[0.1414311833903713,0.7204707475122101,0.71338606911949],"aabb_xy":[[0.1039311822055785,0.7160525248161493],[0.17893118457516408,0.7248889702082704]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[0.3830040642785908,-1.0568325817728113,0.71338606911949],"aabb_xy":[[0.34596995485053106,-1.0912097891065204],[0.42003817370665053,-1.0224553744391016]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[0.5329903405641261,0.04738780313495328,0.71338606911949],"aabb_xy":[[0.47299033892120423,-0.00461234615699091],[0.5929903422070479,0.09938795242689746]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[0.289157898707574,-2.269057688666633,0.71338606911949],"aabb_xy":[[0.25538233951688105,-2.283096183879798],[0.322933457898267,-2.2550191934534682]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[0.4377887683386599,1.1872682859523422,0.71338606911949],"aabb_xy":[[0.4114999440182192,1.1609968522976908],[0.46407759265910054,1.2135397196069933]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.41980724904056643,-0.3875192567863217,0.71338606911949],"aabb_xy":[[0.35980724817975357,-0.43894568679280804],[0.4798072499013792,-0.33609282677983526]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_17","position":[0.28207915051781185,-1.394591089086981,0.71338606911949],"aabb_xy":[[0.264500848328865,-1.412165578661086],[0.2996574527067587,-1.377016599512876]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[-0.028928332117091893,1.3464586026408703,0.71338606911949],"aabb_xy":[[-0.053928331389054174,1.330113239044708],[-0.003928332845129614,1.3628039662370326]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.5499420371194386,1.0619636454700507,0.71338606911949],"aabb_xy":[[-0.5744556612164444,1.0376990521680143],[-0.5254284130224327,1.0862282387720872]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_20","position":[0.41135866468507265,0.31305223180473085,0.71338606911949],"aabb_xy":[[0.4069280353302326,0.3076038600700483],[0.41578929403991294,0.3185006035394135]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[-0.3729756723881809,-0.4518542543876012,0.71338606911949],"aabb_xy":[[-0.4190607636429124,-0.5158542516401562],[-0.32689058113344943,-0.387854257135046]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[-0.6646245746190744,1.568816069179991,0.71338606911949],"aabb_xy":[[-0.6710383882622593,1.5624062489323227],[-0.6582107609758894,1.5752258894276594]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[-0.5540907878983027,-1.3305957251033662,0.71338606911949],"aabb_xy":[[-0.5915907880038955,-1.3374178869563471],[-0.5165907877927096,-1.3237735632503849]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[0.305329049353126,1.0720768481722263,0.71338606911949],"aabb_xy":[[0.29711450423744196,1.0634002578745845],[0.3135435944688099,1.0807534384698672]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_25","position":[-0.3455595738108434,-0.22074608180218824,0.71338606911949],"aabb_xy":[[-0.3680559952447075,-0.24324608160893568],[-0.3230631523769793,-0.1982460819954408]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_26","position":[0.006773728476608731,-2.2910639098128582,0.71338606911949],"aabb_xy":[[-0.001269631449346444,-2.3760639109082247],[0.014817088402563903,-2.206063908717492]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[0.5609726807664708,-0.6657729798983749,0.71338606911949],"aabb_xy":[[0.5285109798845432,-0.6959058120132773],[0.5934343816483981,-0.6356401477834721]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_28","position":[0.4266881320813596,-1.740908827307384,0.71338606911949],"aabb_xy":[[0.3891881314167809,-1.756595885307606],[0.4641881327459383,-1.7252217693071616]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_29","position":[-0.6131519217421686,-1.547201459313689,0.71338606911949],"aabb_xy":[[-0.6931519222123845,-1.5555121669280376],[-0.5331519212719527,-1.5388907516993406]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_30","position":[0.5093937431330611,-1.4976678454574164,0.71338606911949],"aabb_xy":[[0.5023534331995242,-1.577667844857088],[0.5164340530665982,-1.417667846057745]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_31","position":[0.04429214458191433,1.3859406225432669,0.71338606911949],"aabb_xy":[[0.036298156004210935,1.3779405424481765],[0.05228613315961772,1.3939407026383572]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_32","position":[0.5472278288862908,-1.2444680089691715,0.71338606911949],"aabb_xy":[[0.5391141742129136,-1.2525738254232006],[0.5553414835596678,-1.2363621925151425]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_33","position":[-0.5542355865174884,0.16882910267939355,0.71338606911949],"aabb_xy":[[-0.6442355832530985,0.11564563936209904],[-0.46423558978187807,0.22201256599668806]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_34","position":[0.12995800361012666,-1.1704705685833978,0.71338606911949],"aabb_xy":[[0.09245800209449495,-1.1816973415995426],[0.16745800512575837,-1.1592437955672525]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6711656235377448,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/588.png","name":"588"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/588.png","name":"588"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4543.png","name":"4543"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3150.png","name":"3150"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5795.png","name":"5795"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6885.png","name":"6885"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":621.4963943181025,"rotation_z_degrees":34.30611000116399,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003394736833187896,-0.010720917067739451,0.018635986647468735]},{"name":"camera_2","offset_m":[-0.008883295193918235,-0.018930336200167472,-0.005575949173769317]},{"name":"camera_3","offset_m":[0.01278392484461158,-0.017678125194386284,0.01358361129189629]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011003166498126321,0.0019423932294286971,0.0015899331347281023],"end_effector_yaw_offset_degrees":0.18021346875086275},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006898359411394816,0.00015521130587162028,-0.0015449465713262308],"end_effector_yaw_offset_degrees":0.5928696672643134},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002326040535897615,-0.0015874728582317475,0.00027017218697235074],"end_effector_yaw_offset_degrees":0.42392127373258703},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006999489237857759,-0.0017071969729680618,0.0002736121712742668],"end_effector_yaw_offset_degrees":0.3667827437281468}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005733943482592475,-0.0002878727250664962],"position_m":[0.23857339434825925,0.29331212727493355,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026682744924865125,-0.0034990183329620607],"position_m":[0.24126827449248653,-0.3632990183329621,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012783137450383076,-0.0012644957161939618],"position_m":[0.35042168625496173,-0.13266449571619396,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00406465777346122,-0.001809493313292907],"position_m":[0.3552353422265388,0.07259050668670709,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"99d250832bbd1ee863d5099602032698da7237afd92783cd140bba0fcaebe2f2","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0055.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_588/tex_ceiling_textures_6885/tex_floor_textures_5795/tex_table_textures_4543/tex_wall_textures_3150","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":3785860264706699458,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":3785860264706699458,"visual_seed":3785860264706699458,"scene_id":"lab_003","finished_at":"2026-09-04T20:37:54"}
+{"episode_id":"ep_000045","started_at":"2026-09-04T20:37:58","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[0.6328603852299379,-2.1972209541162875,0.71338606911949],"aabb_xy":[[0.572860385383371,-2.2540395763093257],[0.6928603850765046,-2.1404023319232484]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[0.25750459743024634,-1.5650630916102495,0.71338606911949],"aabb_xy":[[0.2521720827756334,-1.5703874198554848],[0.2628371120848594,-1.5597387633650137]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_2","position":[-0.5561013700673418,0.4097799018601842,0.71338606911949],"aabb_xy":[[-0.5655188446372046,0.4003637247224651],[-0.5466838954974791,0.4191960789979032]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[-0.5531399720599726,0.11411390730369719,0.71338606911949],"aabb_xy":[[-0.5650727064218006,0.10173175449583782],[-0.5412072376981445,0.12649606011155656]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[-0.0986203205386359,-0.8598160362942671,0.71338606911949],"aabb_xy":[[-0.10796732812093111,-0.8741196585119112],[-0.08927331295634065,-0.8455124140766231]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_5","position":[-0.4035538529888924,0.11509994045193483,0.71338606911949],"aabb_xy":[[-0.4273900706294975,0.025099939643448373],[-0.3797176353482874,0.20509994126042136]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[-0.23157430877145713,-2.1592422922721246,0.71338606911949],"aabb_xy":[[-0.2441770079085336,-2.1718376884969905],[-0.2189716096343807,-2.1466468960472596]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_7","position":[-0.531527961857797,-0.6382397084514282,0.71338606911949],"aabb_xy":[[-0.6115279588208362,-0.7153153500952015],[-0.4515279648947579,-0.5611640668076546]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[-0.5153696748061926,0.2735985157970222,0.71338606911949],"aabb_xy":[[-0.5324717527645607,0.25649171026575246],[-0.4982675968478244,0.29070532132829197]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.3774153891964897,0.4179817123698659,0.71338606911949],"aabb_xy":[[-0.46741538593209986,0.3647982490525714],[-0.28741539246087944,0.47116517568716043]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[-0.41016860267289645,-1.5560869416827738,0.71338606911949],"aabb_xy":[[-0.419462220910047,-1.5935869401709075],[-0.4008749844357458,-1.5185869431946397]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[-0.4236688085822253,-0.22636851845561612,0.71338606911949],"aabb_xy":[[-0.45363636549205094,-0.25636851875350186],[-0.3937012516723996,-0.19636851815773038]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.3764349455638817,1.4308826439283684,0.71338606911949],"aabb_xy":[[-0.3988997155352868,1.4083826430495077],[-0.35397017559247657,1.4533826448072287]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[0.08631306152904572,1.170572585076239,0.71338606911949],"aabb_xy":[[0.06930296423899507,1.154438096577965],[0.10332315881909637,1.1867070735745129]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[-0.09378920461343054,1.7773925871997283,0.71338606911949],"aabb_xy":[[-0.10503426018404836,1.766150789475633],[-0.0825441490428127,1.7886343849238235]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.2962027847928531,0.6868644598715958,0.71338606911949],"aabb_xy":[[0.27370636335898896,0.6643644600648484],[0.31869920622671716,0.7093644596783433]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.38483081442064426,-1.1390689808232488,0.71338606911949],"aabb_xy":[[-0.45483081622938976,-1.1604227495874362],[-0.3148308126118989,-1.1177152120590614]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[0.3716401152170643,-1.9286160533415986,0.71338606911949],"aabb_xy":[[0.3245107362152286,-1.9926160543860003],[0.4187694942188999,-1.8646160522971964]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.11185559421316738,1.2438983343278727,0.71338606911949],"aabb_xy":[[0.107895110443433,1.2362304697423523],[0.11581607798290175,1.2515661989133935]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[-0.28825273480764196,-2.47133560003668,0.71338606911949],"aabb_xy":[[-0.3056834498866484,-2.4886077147005303],[-0.2708220197286354,-2.454063485372829]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[0.053726495429783805,0.9215564582361138,0.71338606911949],"aabb_xy":[[-0.01127350312728903,0.8918039248222311],[0.11872649398685664,0.9513089916499964]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[0.409725034425529,0.34807103097634373,0.71338606911949],"aabb_xy":[[0.37222503376095023,0.3323839729761215],[0.44722503509010764,0.36375808897656586]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[-0.19660792439717317,-1.8913723981962236,0.71338606911949],"aabb_xy":[[-0.23038348358786612,-1.9054108934093883],[-0.16283236520648017,-1.8773339029830585]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[0.35687025413002105,1.3399784924466327,0.71338606911949],"aabb_xy":[[0.3218702558193256,1.332263477523087],[0.3918702524407165,1.3476935073701783]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6685255638583586,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9523.png","name":"9523"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9523.png","name":"9523"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4317.png","name":"4317"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4104.png","name":"4104"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8871.png","name":"8871"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4321.png","name":"4321"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":793.8371441677496,"rotation_z_degrees":125.51757715502109,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[2.681422389617244e-06,0.011884098816511379,-0.016331265809334156]},{"name":"camera_2","offset_m":[-0.0014400552794697659,-0.006120490171062394,-0.017941394941921766]},{"name":"camera_3","offset_m":[0.005409507024352642,0.01387270358055168,0.012513402276328193]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009370920446725361,0.0011739301778619727,0.0005176298179368219],"end_effector_yaw_offset_degrees":0.8523725132489477},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002651551323350327,-0.00029546854360212394,-0.0016187988793302309],"end_effector_yaw_offset_degrees":0.7148408905567005},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00023688820649698356,0.0013974944677644092,0.0001720294942081065],"end_effector_yaw_offset_degrees":-0.8536565540403758},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008783680054115632,0.0017332811316856053,-0.0015695939998305404],"end_effector_yaw_offset_degrees":0.08026225030226697}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021977068178196243,0.004177419255182409],"position_m":[0.2401977068178196,0.2977774192551824,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0006036069203118402,-0.003698917876436947],"position_m":[0.23799639307968817,-0.36349891787643696,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004303449895053583,-0.0019703161565735885],"position_m":[0.3560034498950536,-0.13337031615657358,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004746912103742787,-0.0038476211142742254],"position_m":[0.3545530878962572,0.07055237888572577,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7c4f243a5999e251f30ccf8133478271f9286a51c06375a05684e7fa79c3b8a2","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0056.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9523/tex_ceiling_textures_4321/tex_floor_textures_8871/tex_table_textures_4317/tex_wall_textures_4104","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":4489954060607858242,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":4489954060607858242,"visual_seed":4489954060607858242,"scene_id":"lab_003","finished_at":"2026-09-04T20:41:55"}
+{"episode_id":"ep_000046","started_at":"2026-09-04T20:44:36","dimensions":{"distractor":{"count":33,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[0.5899481518755192,0.8789379196864373,0.71338606911949],"aabb_xy":[[0.49994815328104936,0.8626873333730163],[0.6799481504699892,0.8951885059998583]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.4106053931714717,-0.18504511214011554,0.71338606911949],"aabb_xy":[[0.3856053940058386,-0.19199735784547212],[0.4356053923371048,-0.17809286643475897]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.034140730375255446,1.5152660768132367,0.71338606911949],"aabb_xy":[[-0.04601281338675655,1.4302660771195863],[-0.022268647363754328,1.600266076506887]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_3","position":[0.3150568469588322,1.6800941031974692,0.71338606911949],"aabb_xy":[[0.29259207698742706,1.6575941023186085],[0.3375216169302373,1.7025941040763295]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.6599565348211449,-1.6157266989547998,0.71338606911949],"aabb_xy":[[0.5959565362345726,-1.6627336623543085],[0.7239565334077175,-1.568719735555291]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[0.2328108159224207,-0.7950933385082775,0.71338606911949],"aabb_xy":[[0.19596026798543312,-0.8325933393313111],[0.2696613638594083,-0.7575933376852436]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[0.3898840368349339,-1.5568060427166128,0.71338606911949],"aabb_xy":[[0.33990108664745455,-1.606806042359173],[0.4398669870224132,-1.5068060430740522]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[0.0672648439736665,-2.1602838056245366,0.71338606911949],"aabb_xy":[[0.03226484407764762,-2.1686580411364766],[0.10226484386968536,-2.1519095701125965]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[0.3643240336382556,-2.3691076541824434,0.71338606911949],"aabb_xy":[[0.30432403313040257,-2.4259543878683645],[0.4243240341461084,-2.3122609204965214]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[0.603882284116795,-1.4183822588069959,0.71338606911949],"aabb_xy":[[0.5665510075915524,-1.4530353136018481],[0.6412135606420376,-1.3837292040121436]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[-0.376697076892783,-1.5613362764633856,0.71338606911949],"aabb_xy":[[-0.44069708018249104,-1.604671195467303],[-0.3126970736030748,-1.5180013574594677]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_11","position":[0.4578614083951138,-1.836297876137671,0.71338606911949],"aabb_xy":[[0.42286141012499384,-1.8433720038326589],[0.49286140666523365,-1.8292237484426825]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.25234635695268565,-2.0584403703079555,0.71338606911949],"aabb_xy":[[-0.2567769863075259,-2.063888742042638],[-0.24791572759784553,-2.052991998573273]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[0.5618334954515327,-0.46172653595714186,0.71338606911949],"aabb_xy":[[0.5526736165076561,-0.46825775400067887],[0.5709933743954093,-0.45519531791360485]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_14","position":[0.32164116345925975,-2.113173305738602,0.71338606911949],"aabb_xy":[[0.31148814790511026,-2.149242847311342],[0.331794179013409,-2.0771037641658614]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_15","position":[0.6090818943104046,0.19370574775032168,0.71338606911949],"aabb_xy":[[0.5540818946886588,0.13872205496284898],[0.6640818939321504,0.24868944053779443]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[-0.5807082955535015,-0.07572187652357254,0.71338606911949],"aabb_xy":[[-0.6131699964354287,-0.10585470863847514],[-0.5482465946715738,-0.04558904440866992]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[0.1438408823534525,1.3244742001446448,0.71338606911949],"aabb_xy":[[0.09384160718501633,1.2744741988686978],[0.19384015752188866,1.3744742014205922]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[-0.5304492441808998,-2.0564081809621237,0.71338606911949],"aabb_xy":[[-0.6104492444545068,-2.12935772878784],[-0.45044924390729285,-1.9834586331364068]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[-0.13665052254781107,-2.3511911261218637,0.71338606911949],"aabb_xy":[[-0.20065052459754307,-2.3912856092111716],[-0.07265052049807907,-2.3110966430325557]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[-0.42291340658912285,-0.20609339331928567,0.71338606911949],"aabb_xy":[[-0.4299548575398704,-0.21312014505708024],[-0.4158719556383752,-0.19906664158149115]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[-0.507485510775867,1.7281558055358448,0.71338606911949],"aabb_xy":[[-0.5151887014499441,1.7204464348371067],[-0.49978232010178997,1.735865176234583]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_22","position":[0.4911204795821822,-1.729218932178917,0.71338606911949],"aabb_xy":[[0.47362047932284573,-1.7433104743676902],[0.508620479841519,-1.715127389990145]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_23","position":[-0.08675687496183226,0.01547524317785598,0.71338606911949],"aabb_xy":[[-0.12777481834820315,-0.03452475745310135],[-0.04573893157546137,0.06547524380881331]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[-0.31078652368628207,0.9528507382114899,0.71338606911949],"aabb_xy":[[-0.34828652397845694,0.9488092628108862],[-0.2732865233941073,0.9568922136120934]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[0.5226104832106351,1.7596557485316509,0.71338606911949],"aabb_xy":[[0.4996947703255852,1.7367514513952274],[0.545526196095685,1.7825600456680744]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_26","position":[-0.43988203926766123,-1.1187181168731295,0.71338606911949],"aabb_xy":[[-0.5198820364272365,-1.1302657178309463],[-0.35988204210808594,-1.1071705159153122]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_27","position":[0.5935133859558832,-1.1918486511791226,0.71338606911949],"aabb_xy":[[0.5335133861093164,-1.2486672733721613],[0.65351338580245,-1.135030028986084]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[0.04937683243383317,1.0261940413995476,0.71338606911949],"aabb_xy":[[0.03187683218878378,1.0086942535599805],[0.06687683267888254,1.0436938292391142]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_29","position":[-0.6078633826280111,-2.3339836923457766,0.71338606911949],"aabb_xy":[[-0.6176193721371849,-2.3437462264050106],[-0.5981073931188371,-2.3242211582865417]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_30","position":[0.6091055527245628,1.5440611395079133,0.71338606911949],"aabb_xy":[[0.5591281358593092,1.4940611380186646],[0.6590829695898164,1.5940611409971617]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_31","position":[-0.12835811103921024,-2.0881018352832315,0.71338606911949],"aabb_xy":[[-0.17835811240009747,-2.138079739858647],[-0.07835810967832303,-2.038123930707816]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_32","position":[0.3630242731799591,1.0086053627809273,0.71338606911949],"aabb_xy":[[0.34601417588990835,0.9924708742826531],[0.38003437047000965,1.024739851279201]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6696583209024772,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8822.png","name":"8822"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8822.png","name":"8822"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/972.png","name":"972"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8898.png","name":"8898"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8768.png","name":"8768"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6529.png","name":"6529"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":744.633562420541,"rotation_z_degrees":212.5376939842977,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032642489845562117,-0.018274839417173682,0.015644149517590484]},{"name":"camera_2","offset_m":[-0.011393828632201682,-0.007452673991736143,0.01877950813322368]},{"name":"camera_3","offset_m":[0.006720236134077441,-0.0001923016089134845,-0.0021382625111593286]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012447777205104806,0.0018592123748763889,-1.718155085582559e-05],"end_effector_yaw_offset_degrees":-0.25489121576220053},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011993835646415194,-7.330542523891121e-05,0.00043301851410369437],"end_effector_yaw_offset_degrees":0.925037320188212},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011334835548900335,0.0013689520114749634,-0.0009412138989761871],"end_effector_yaw_offset_degrees":0.7983118281857036},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[3.26303807134231e-05,0.0009654952153952644,-0.00022549782082874705],"end_effector_yaw_offset_degrees":-0.6175579453759499}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009473896321753172,-0.0043185669802256734],"position_m":[0.23705261036782468,0.2892814330197744,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0001346809364412664,-0.004642439720001827],"position_m":[0.23873468093644126,-0.36444243972000184,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00026328020878252367,0.0007492961507021148],"position_m":[0.3514367197912175,-0.13065070384929786,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[2.955058438228273e-05,-0.0024187048280860735],"position_m":[0.3593295505843823,0.07198129517191391,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8a55a8fb48b7e5f0cda6904af8e07f2da3776f8848a641f01667d85a84b7d174","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8822/tex_ceiling_textures_6529/tex_floor_textures_8768/tex_table_textures_972/tex_wall_textures_8898","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":6898185017816657261,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":6898185017816657261,"visual_seed":6898185017816657261,"scene_id":"lab_003","finished_at":"2026-09-04T20:48:28"}
+{"episode_id":"ep_000047","started_at":"2026-09-04T20:48:32","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[0.2858711444222246,-1.9290433947178998,0.71338606911949],"aabb_xy":[[0.23605436495738985,-1.979043393202203],[0.33568792388705937,-1.8790433962335962]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[-0.2248133979208734,-1.3720806196166877,0.71338606911949],"aabb_xy":[[-0.27480840888032554,-1.4220806186522794],[-0.17481838696142143,-1.322080620581096]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[-0.5393586818323556,-1.9888673133461108,0.71338606911949],"aabb_xy":[[-0.5466024478786009,-2.068867311549713],[-0.5321149157861103,-1.9088673151425084]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[0.4989556603443843,-0.25134694753503073,0.71338606911949],"aabb_xy":[[0.4139556619269611,-0.3362212429973157],[0.5839556587618076,-0.16647265207274575]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[0.5100237388284374,-2.456213355353328,0.71338606911949],"aabb_xy":[[0.5023205481543604,-2.4639227260520657],[0.5177269295025144,-2.4485039846545895]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[-0.5591839634074423,-1.3497790190230468,0.71338606911949],"aabb_xy":[[-0.5816839639194827,-1.372270877388445],[-0.5366839628954015,-1.3272871606576484]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[0.6678348730865593,-0.8369326267163817,0.71338606911949],"aabb_xy":[[0.6511577370934638,-0.8536325506903119],[0.6845120090796548,-0.8202327027424513]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[0.026878443961219967,-1.7392793662031998,0.71338606911949],"aabb_xy":[[-0.0036058061658101916,-1.7892793659846957],[0.05736269408825012,-1.6892793664217038]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[-0.029166434691968224,-2.205486467079338,0.71338606911949],"aabb_xy":[[-0.04109916905379629,-2.2178686198871973],[-0.017233700330140152,-2.1931043142714786]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[0.33260150390786913,-2.5712583805167784,0.71338606911949],"aabb_xy":[[0.2976015039313733,-2.5807229965643956],[0.36760150388436497,-2.561793764469162]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.14963810900708308,-1.8504854465533596,0.71338606911949],"aabb_xy":[[-0.17322323247097793,-1.9154854487987916],[-0.12605298554318822,-1.785485444307928]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.014394017016462923,-0.9119302947128078,0.71338606911949],"aabb_xy":[[-0.06439329218489909,-0.9619302959887552],[0.03560525815197324,-0.8619302934368609]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[-0.3545779691365481,0.19905191980799186,0.71338606911949],"aabb_xy":[[-0.4023841367503167,0.1340519171009329],[-0.30677180152277944,0.26405192251505083]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.3656698968077033,-0.9153263107601646,0.71338606911949],"aabb_xy":[[-0.43066989684200596,-0.9620269874404919],[-0.3006698967734005,-0.8686256340798373]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[-0.3513973152587143,0.6812007743156592,0.71338606911949],"aabb_xy":[[-0.41639731621584153,0.6292525623819536],[-0.2863973143015871,0.7331489862493648]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.6183907955549377,-1.727294393982847,0.71338606911949],"aabb_xy":[[-0.6683907965054705,-1.758843540986368],[-0.5683907946044049,-1.6957452469793253]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.3327726638253161,-0.9683294770491881,0.71338606911949],"aabb_xy":[[0.3102726638151678,-0.9824256966887913],[0.3552726638354644,-0.9542332574095848]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[-0.2900356056822328,-1.1883949689507167,0.71338606911949],"aabb_xy":[[-0.37003560894007576,-1.2683914767427007],[-0.21003560242438984,-1.1083984611587328]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[-0.17142982205745383,-0.23245621265494387,0.71338606911949],"aabb_xy":[[-0.2064298211874095,-0.23820143373060798],[-0.13642982292749817,-0.22671099157927976]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[-0.5562375178721619,1.4719850807660015,0.71338606911949],"aabb_xy":[[-0.6112307292092987,1.416985080427208],[-0.5012443065350252,1.5269850811047954]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_20","position":[0.24538774037471234,0.5695042385846762,0.71338606911949],"aabb_xy":[[0.18138773815430528,0.525131154459388],[0.30938774259511936,0.6138773227099645]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[-0.3779721037230487,0.44506816292309237,0.71338606911949],"aabb_xy":[[-0.41547210382864164,0.4382460010701112],[-0.3404721036174557,0.45189032477607344]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_22","position":[-0.3408648734747964,-1.8370255526465353,0.71338606911949],"aabb_xy":[[-0.34889114410542243,-1.8457770476238877],[-0.33283860284417044,-1.8282740576691825]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_23","position":[0.5870305793917003,-1.3730647321591225,0.71338606911949],"aabb_xy":[[0.5823954642394669,-1.3769320672362708],[0.5916656945439336,-1.3691973970819733]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[0.07121022605984495,-2.4192043686403584,0.71338606911949],"aabb_xy":[[0.029905682996108962,-2.4832043682084755],[0.11251476912358094,-2.3552043690722413]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[0.20035576701728963,-0.8721543054346024,0.71338606911949],"aabb_xy":[[0.17785576677377427,-0.8843589400943743],[0.22285576726080505,-0.8599496707748304]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6660487267998811,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8379.png","name":"8379"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8379.png","name":"8379"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6217.png","name":"6217"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5642.png","name":"5642"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9150.png","name":"9150"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2376.png","name":"2376"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":722.9398860125514,"rotation_z_degrees":59.893576619672494,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005808088047512011,-0.001524288350828809,-0.014487232666460442]},{"name":"camera_2","offset_m":[0.012319272293730404,0.015951088271121464,0.013972316061463447]},{"name":"camera_3","offset_m":[0.017117391461222705,-0.0007281875483036056,-0.018087936790969362]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001988163494527741,-0.001826252251310301,-0.0017769442240965821],"end_effector_yaw_offset_degrees":0.5666724707081252},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006894088930974327,-0.0012510999179906014,0.0011688985453630484],"end_effector_yaw_offset_degrees":-0.1507643083648813},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001095836279542079,0.0012453718649440976,0.0010915659420497317],"end_effector_yaw_offset_degrees":0.6612898341309545},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004263057433316205,-5.8834930404859506e-05,-0.0007832246105788281],"end_effector_yaw_offset_degrees":-0.23679456863495174}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003250409653152213,0.0006555857213351272],"position_m":[0.23474959034684778,0.29425558572133514,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000486525391093999,0.0010596744538942928],"position_m":[0.238113474608906,-0.35874032554610574,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0001921619588201532,0.003540100746615445],"position_m":[0.35150783804117985,-0.12785989925338453,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007818043424675783,0.001070492398273168],"position_m":[0.36008180434246756,0.07547049239827316,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9b93845e1b770d6f094f2c9f0913a8a5b78b4fa668b3baab13a3553459040f20","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0059.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8379/tex_ceiling_textures_2376/tex_floor_textures_9150/tex_table_textures_6217/tex_wall_textures_5642","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":967040242222897803,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":967040242222897803,"visual_seed":967040242222897803,"scene_id":"lab_003","finished_at":"2026-09-04T20:52:13"}
+{"episode_id":"ep_000048","started_at":"2026-09-04T20:52:18","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[0.3978844269713624,-0.9319799575042556,0.71338606911949],"aabb_xy":[[0.33388442475095537,-0.9763530416295438],[0.4618844291917694,-0.8876068733789673]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[-0.05358616274903505,1.6256304021913075,0.71338606911949],"aabb_xy":[[-0.07108616202712192,1.6082923021249613],[-0.03608616347094817,1.6429685022576532]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[0.006440892741306881,-1.9266061414023516,0.71338606911949],"aabb_xy":[[-0.02802158527178089,-1.9332698185852741],[0.04090337075439465,-1.9199424642194287]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[-0.1803082451187844,-1.7371277139002284,0.71338606911949],"aabb_xy":[[-0.25030824152874614,-1.7575656495519099],[-0.1103082487088226,-1.7166897782485464]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[-0.44131183541947655,-0.654547249219501,0.71338606911949],"aabb_xy":[[-0.45009306256671283,-0.6633269965080312],[-0.4325306082722404,-0.6457675019309709]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[0.3878605307080547,-2.3308465455809264,0.71338606911949],"aabb_xy":[[0.3679694908277145,-2.3435023568656237],[0.40775157058839506,-2.31819073429623]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_6","position":[-0.5459061516674071,-2.0297344228863663,0.71338606911949],"aabb_xy":[[-0.5496094129965459,-2.0334364411950836],[-0.5422028903382681,-2.026032404577648]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[-0.6108743762636966,1.5841642173507249,0.71338606911949],"aabb_xy":[[-0.6169113892643613,1.578137516281777],[-0.6048373632630318,1.5901909184196732]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[-0.44468806635037117,0.008434037300428354,0.71338606911949],"aabb_xy":[[-0.5086880634624769,-0.04059833249398226],[-0.3806880692382655,0.05746640709483897]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[0.44213669983009796,0.7298793148752756,0.71338606911949],"aabb_xy":[[0.404636699724505,0.7230571530222943],[0.4796366999356909,0.7367014767282566]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[0.5831270426644244,-1.404348050661978,0.71338606911949],"aabb_xy":[[0.5684836371103914,-1.419006770318762],[0.5977704482184574,-1.3896893310051937]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_11","position":[-0.09643408899346728,1.7943758866710051,0.71338606911949],"aabb_xy":[[-0.10559396793734387,1.7878446686274678],[-0.08727421004959067,1.800907104714542]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[-0.1544761943592966,-2.421191510350774,0.71338606911949],"aabb_xy":[[-0.18791636955531618,-2.454635136181703],[-0.12103601916327698,-2.387747884519843]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_13","position":[0.5906502855862636,-1.970588712057776,0.71338606911949],"aabb_xy":[[0.520650283454834,-1.9933506776834715],[0.6606502877176931,-1.9478267464320802]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[-0.587896150431849,0.8896110912595776,0.71338606911949],"aabb_xy":[[-0.5958194306705974,0.8671110910215741],[-0.5799728701931007,0.9121110914975809]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_15","position":[0.26373835612867114,0.9663090259349709,0.71338606911949],"aabb_xy":[[0.2597778723589368,0.9586411613494503],[0.2676988398984055,0.9739768905204915]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[-0.6055874497865941,1.1966791474105998,0.71338606911949],"aabb_xy":[[-0.6855874467496332,1.119603505766826],[-0.5255874528235549,1.273754789054373]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[0.6892296270203815,-2.4467066601200798,0.71338606911949],"aabb_xy":[[0.6667332055865174,-2.469206659926827],[0.7117260484542456,-2.4242066603133323]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[-0.15747643855280258,-2.1279401599208168,0.71338606911949],"aabb_xy":[[-0.2374764372096886,-2.14244501884508],[-0.0774764398959166,-2.1134353009965543]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_19","position":[0.14350431188774782,-1.2034228222363759,0.71338606911949],"aabb_xy":[[0.1370026753797432,-1.2131906442626856],[0.15000594839575243,-1.193655000210066]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[0.11592492926010589,-0.8379784646389243,0.71338606911949],"aabb_xy":[[0.05192492996593767,-0.9019646050077786],[0.1799249285542741,-0.7739923242700703]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_21","position":[0.4566475841978559,0.3349637092538278,0.71338606911949],"aabb_xy":[[0.36664758477948506,0.301588212409638],[0.5466475836162268,0.36833920609801746]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[0.5918011398508545,1.735280974117082,0.71338606911949],"aabb_xy":[[0.5318011393430014,1.6784342404311607],[0.6518011403587073,1.7921277078030033]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.063696562162329,-1.61767598156493,0.71338606911949],"aabb_xy":[[-0.09801283933694693,-1.6676759815381073],[-0.02938028498771106,-1.5676759815917518]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[-0.40584877420522963,-2.5349021576461075,0.71338606911949],"aabb_xy":[[-0.41741775495216626,-2.5599021577630396],[-0.3942797934582931,-2.5099021575291762]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6663677811694946,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8928.png","name":"8928"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8928.png","name":"8928"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2667.png","name":"2667"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9697.png","name":"9697"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7103.png","name":"7103"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3042.png","name":"3042"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":635.0778283374332,"rotation_z_degrees":185.93457732876303,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009674914818198163,-0.0034743758376477897,-0.01022660530544806]},{"name":"camera_2","offset_m":[-0.00443935431060679,0.008216436601250657,-0.004146059948162008]},{"name":"camera_3","offset_m":[-0.0037453574056456433,0.006557269432384515,0.0020247729805907867]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013683703067145594,7.935410153974256e-05,-0.0018123065667656473],"end_effector_yaw_offset_degrees":0.2561689239669338},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006200520102881838,0.0015972485817662076,0.0015766053235099818],"end_effector_yaw_offset_degrees":-0.13534037568429547},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008451569210188312,-0.00035394903304815937,-0.0017412218062306773],"end_effector_yaw_offset_degrees":-0.7846024259761992},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014113103379801318,0.0019208193009348637,0.0017864991515745025],"end_effector_yaw_offset_degrees":0.990350187889758}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00031418588837684586,-0.004310417522992002],"position_m":[0.23768581411162315,0.28928958247700803,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00046445278684068524,0.0005021403290300566],"position_m":[0.23813554721315933,-0.35929785967096994,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004118011440776802,0.00264839555394095],"position_m":[0.3521118011440777,-0.12875160444605904,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026818677725998497,0.0010214900304681184],"position_m":[0.35661813222740013,0.07542149003046811,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3871c80450dd49fe70f449c888d0b352edc30eb691aedfddb17f0b67311bd5b9","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0060.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8928/tex_ceiling_textures_3042/tex_floor_textures_7103/tex_table_textures_2667/tex_wall_textures_9697","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":8620470970712838356,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":8620470970712838356,"visual_seed":8620470970712838356,"scene_id":"lab_003","finished_at":"2026-09-04T20:56:02"}
+{"episode_id":"ep_000049","started_at":"2026-09-04T20:56:06","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[0.5408121570473063,0.6709434543311015,0.71338606911949],"aabb_xy":[[0.5229430492928508,0.6571105463538904],[0.5586812648017618,0.6847763623083123]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.34167075529168933,-2.2644979382518837,0.71338606911949],"aabb_xy":[[0.2964994374435204,-2.3284979353964226],[0.3868420731398584,-2.2004979411073458]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.6549856822713862,-2.4449298947544125,0.71338606911949],"aabb_xy":[[0.6205233348732442,-2.4794237771522343],[0.6894480296695278,-2.410436012356589]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[-0.3846886795459002,-0.9676956441915396,0.71338606911949],"aabb_xy":[[-0.44968868050302735,-1.0196438561252452],[-0.3196886785887729,-0.9157474322578341]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[-0.09311200831464617,0.6309262921649896,0.71338606911949],"aabb_xy":[[-0.150742477201917,0.5709262932382788],[-0.0354815394273753,0.6909262910917]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.15736646255509357,0.9432982997202295,0.71338606911949],"aabb_xy":[[-0.22236646366103685,0.9183329266521011],[-0.09236646144915028,0.9682636727883577]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_6","position":[-0.0939259604295194,0.4261803869492091,0.71338606911949],"aabb_xy":[[-0.13523050349325538,0.362180387381092],[-0.05262141736578341,0.49018038651732615]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[-0.5933854909747149,-1.6651536834736826,0.71338606911949],"aabb_xy":[[-0.6158854909848632,-1.679249903113286],[-0.5708854909645666,-1.6510574638340794]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[0.30983973039587354,-0.6922394426593876,0.71338606911949],"aabb_xy":[[0.2723397288802418,-0.7034662156755326],[0.34733973191150525,-0.6810126696432425]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[0.6804002031410739,1.3780510808591697,0.71338606911949],"aabb_xy":[[0.643366093713014,1.3436738735254603],[0.7174343125691335,1.4124282881928791]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_10","position":[-0.09695196168075415,-2.5196736288640174,0.71338606911949],"aabb_xy":[[-0.12146558577776002,-2.5439382221660543],[-0.0724383375837483,-2.4954090355619813]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_11","position":[-0.37285785805498683,-0.7168202750247692,0.71338606911949],"aabb_xy":[[-0.4428578596572664,-0.7302530682264268],[-0.3028578564527074,-0.7033874818231116]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[-0.2598138967013921,-0.5737619070491076,0.71338606911949],"aabb_xy":[[-0.26785023140267694,-0.5818000263535243],[-0.25177756200010726,-0.5657237877446908]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[0.495099806813293,0.49072839781741573,0.71338606911949],"aabb_xy":[[0.4842482005644174,0.4798691070897647],[0.5059514130621686,0.5015876885450667]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.09848903742414405,1.6627797425791688,0.71338606911949],"aabb_xy":[[-0.12845659433396972,1.632779742281283],[-0.06852148051431839,1.6927797428770546]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[-0.5360652903331733,0.17959685756714228,0.71338606911949],"aabb_xy":[[-0.5858820697980079,0.1295968590828389],[-0.4862485108683384,0.22959685605144564]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[-0.2207036165491137,-2.40106180570297,0.71338606911949],"aabb_xy":[[-0.2706824250594295,-2.451061805708689],[-0.17072480803879778,-2.351061805697251]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[0.5610457596061211,-2.3158691481681903,0.71338606911949],"aabb_xy":[[0.5385809896347159,-2.338369149047051],[0.5835105295775261,-2.29336914728933]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_18","position":[0.5873164316494885,1.2005827608584139,0.71338606911949],"aabb_xy":[[0.583402558454066,1.191833745451857],[0.5912303048449109,1.2093317762649707]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.34368262407675954,-0.2571525395818819,0.71338606911949],"aabb_xy":[[-0.3613582546653578,-0.2748327558612846],[-0.32600699348816115,-0.2394723233024791]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_20","position":[0.49750469532579045,-1.66822167750655,0.71338606911949],"aabb_xy":[[0.4547379884463702,-1.7322216809283524],[0.5402714022052106,-1.6042216740847475]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[0.03304817250784686,-0.9873194695666987,0.71338606911949],"aabb_xy":[[0.008048172575328978,-0.9942021377876221],[0.05804817244036476,-0.9804368013457755]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_22","position":[0.3719472511934212,-2.02305709623908,0.71338606911949],"aabb_xy":[[0.36007516818192004,-2.1080570959327303],[0.38381933420492226,-1.9380570965454296]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[-0.23364935118970065,1.143759895082125,0.71338606911949],"aabb_xy":[[-0.25614935100360303,1.1392852787116443],[-0.21114935137579824,1.1482345114526058]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_24","position":[-0.5866224338473044,-2.384358953741304,0.71338606911949],"aabb_xy":[[-0.6666224324346238,-2.463674555679465],[-0.506622435259985,-2.305043351803143]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[0.17716215130838475,1.6374734689959909,0.71338606911949],"aabb_xy":[[0.15687784858498593,1.6171908438532818],[0.19744645403178346,1.6577560941386995]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_26","position":[0.09106524775196323,-2.253690647411415,0.71338606911949],"aabb_xy":[[0.04158482653800444,-2.3176906453242667],[0.14054566896592202,-2.189690649498563]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_27","position":[-0.41503170164741077,-0.4845625631832555,0.71338606911949],"aabb_xy":[[-0.4790317038678178,-0.5289356473085438],[-0.35103169942700374,-0.44018947905796724]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_28","position":[0.005140175418926085,1.448724740557053,0.71338606911949],"aabb_xy":[[-0.012438126770020763,1.431150250982948],[0.022718477607872933,1.466299230131158]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_29","position":[-0.17426558636417755,1.4012428889984538,0.71338606911949],"aabb_xy":[[-0.26426558309978776,1.3480594256811593],[-0.08426558962856731,1.4544263523157483]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_30","position":[-0.2577240521713943,0.48822930282829224,0.71338606911949],"aabb_xy":[[-0.3217240485669674,0.42426601440955863],[-0.19372405577582125,0.5521925912470258]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_31","position":[0.105245375106921,1.3330395459731244,0.71338606911949],"aabb_xy":[[0.07024537521090211,1.324665310461184],[0.14024537500293985,1.3414137814850642]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_32","position":[-0.6296539261564714,-0.5527120207322698,0.71338606911949],"aabb_xy":[[-0.6936539275644621,-0.6045009722561945],[-0.5656539247484808,-0.5009230692083451]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_33","position":[0.378359016681737,1.5847923869150349,0.71338606911949],"aabb_xy":[[0.31335901404394345,1.5333127882155877],[0.4433590193195304,1.6362719856144816]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6681378855711163,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2197.png","name":"2197"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2197.png","name":"2197"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6887.png","name":"6887"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9915.png","name":"9915"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3539.png","name":"3539"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5985.png","name":"5985"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":761.3513881849217,"rotation_z_degrees":90.46838634279067,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014382503389034792,0.003929211244006848,0.0031244873548384837]},{"name":"camera_2","offset_m":[-0.009244365276179778,-0.01279318318551606,0.01498878792837557]},{"name":"camera_3","offset_m":[-0.0014478713165143944,-0.015881654873448153,0.003471184967110977]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000903395144190513,1.9411546508775728e-05,-0.0003609570157559836],"end_effector_yaw_offset_degrees":0.34452721348177584},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006879556249448334,-0.0018471664366237995,0.0013342606362699416],"end_effector_yaw_offset_degrees":0.21442592639349267},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016636818080583682,-0.0002623231458434602,0.00031727793656712066],"end_effector_yaw_offset_degrees":0.7692077407651428},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000289169742273446,-0.0019939545526576094,0.0012288526906169897],"end_effector_yaw_offset_degrees":-0.04021674982997814}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008336920836101505,-0.00045712770099835473],"position_m":[0.23883369208361013,0.29314287229900166,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033833396607605244,0.0032559753376448742],"position_m":[0.24198333966076052,-0.35654402466235513,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012376048436338882,0.0007929599868373993],"position_m":[0.3529376048436339,-0.1306070400131626,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002265240123884526,0.0004804882101369888],"position_m":[0.3615652401238845,0.07488048821013699,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"08b2a7f41eef2ab5b300a8b4ee517908f23ffe659dbed9daf744f0a462424eaa","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0061.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2197/tex_ceiling_textures_5985/tex_floor_textures_3539/tex_table_textures_6887/tex_wall_textures_9915","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":2377661500730409800,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":2377661500730409800,"visual_seed":2377661500730409800,"scene_id":"lab_003","finished_at":"2026-09-04T20:59:53"}
+{"episode_id":"ep_000050","started_at":"2026-09-04T20:59:57","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.3696318215328593,-2.2362971889318093,0.71338606911949],"aabb_xy":[[-0.3822586088200556,-2.2458432626333824],[-0.3570050342456629,-2.226751115230236]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.009137072294704285,-1.636151353909828,0.71338606911949],"aabb_xy":[[0.004501957142470898,-1.6400186889869766],[0.013772187446937673,-1.632284018832679]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[-0.40612774639425037,0.36405760563077116,0.71338606911949],"aabb_xy":[[-0.4195742730282937,0.35058775397768],[-0.39268121976020703,0.37752745728386244]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[0.5479621697335815,1.3471868096174564,0.71338606911949],"aabb_xy":[[0.5438840118265317,1.3431058293691933],[0.552040327640631,1.35126778986572]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_4","position":[0.003677555464081883,1.0912347929028208,0.71338606911949],"aabb_xy":[[-0.007891425282854692,1.066234792785889],[0.015246536211018458,1.1162347930197525]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[0.3627105729764004,1.7778757283208422,0.71338606911949],"aabb_xy":[[0.3475476999994634,1.7627102710257236],[0.3778734459533376,1.7930411856159612]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[-0.10269328948813827,-1.1409502752589862,0.71338606911949],"aabb_xy":[[-0.1155651929890784,-1.220950275672822],[-0.08982138598719812,-1.0609502748451498]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[0.12872647129213277,-1.4533071281793437,0.71338606911949],"aabb_xy":[[0.1247659875223984,-1.460974992764864],[0.13268695506186715,-1.4456392635938229]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[-0.13101119643547599,-1.5598448082029557,0.71338606911949],"aabb_xy":[[-0.13591048874203948,-1.5875217275055242],[-0.1261119041289125,-1.5321678889003867]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[0.5758651656648579,-0.5287219071359122,0.71338606911949],"aabb_xy":[[0.5508651661131194,-0.5388643910010469],[0.6008651652165964,-0.5185794232707774]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_10","position":[-0.1697980014664746,1.7697505685840906,0.71338606911949],"aabb_xy":[[-0.2597980051433927,1.7083181620069858],[-0.07979799778955639,1.8311829751611945]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[0.09552635641914342,-2.0773494419748415,0.71338606911949],"aabb_xy":[[0.07809564134013691,-2.094621556638692],[0.11295707149814993,-2.06007732731099]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[-0.48240421760117835,0.7831675760451304,0.71338606911949],"aabb_xy":[[-0.5323871677886576,0.7331675764025699],[-0.432421267413699,0.8331675756876907]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[-0.5352641349456422,0.31869751608743613,0.71338606911949],"aabb_xy":[[-0.5504363042272755,0.30352865915923277],[-0.5200919656640088,0.3338663730156395]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.42701884498712295,-1.913805310324627,0.71338606911949],"aabb_xy":[[-0.5170188414879946,-1.9597169527430853],[-0.33701884848625113,-1.8678936679061688]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_15","position":[-0.4651219604469384,-0.22076435736101363,0.71338606911949],"aabb_xy":[[-0.520121958648683,-0.2612863239874511],[-0.4101219622451935,-0.18024239073457599]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[-0.3064916628342457,1.3265594389407274,0.71338606911949],"aabb_xy":[[-0.37649166464299116,1.30520567017654],[-0.2364916610255003,1.3479132077049147]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[0.16348087418077484,-0.9001357512263299,0.71338606911949],"aabb_xy":[[0.12663032624378723,-0.9376357520493637],[0.20033142211776245,-0.8626357504032962]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.22224571866779597,-1.92220028023868,0.71338606911949],"aabb_xy":[[0.17224571738395597,-1.9721791346293016],[0.2722457199516359,-1.8722214258480574]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[0.24278466035549917,1.2129750644313675,0.71338606911949],"aabb_xy":[[0.18278465984764622,1.1561283307454462],[0.30278466086335204,1.2698217981172888]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.6156253947342479,-0.7304642219257931,0.71338606911949],"aabb_xy":[[-0.6531253959190405,-0.7348824446218535],[-0.5781253935494549,-0.7260459992297325]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_21","position":[0.43972871992641194,-0.2048550896253558,0.71338606911949],"aabb_xy":[[0.4222287864924285,-0.22235508954559036],[0.45722865336039525,-0.18735508970512127]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_22","position":[0.3607489701161519,1.5872611669419654,0.71338606911949],"aabb_xy":[[0.35579294993127075,1.5647611667398444],[0.3657049903010331,1.6097611671440877]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[-0.22334706188564513,-1.6318911152608764,0.71338606911949],"aabb_xy":[[-0.2579381447396903,-1.696891115545907],[-0.18875597903159988,-1.5668911149758449]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_24","position":[0.4009706018089516,-2.2337044508568655,0.71338606911949],"aabb_xy":[[0.37768875961082027,-2.3187044521540936],[0.42425244400708295,-2.1487044495596375]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[-0.22022060996536025,1.5440113042026602,0.71338606911949],"aabb_xy":[[-0.28522060812127925,1.517715059652748],[-0.15522061180944116,1.5703075487525724]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[-0.15351001331633685,-1.8245091322778184,0.71338606911949],"aabb_xy":[[-0.18135505009694397,-1.8552936310161299],[-0.12566497653572972,-1.7937246335395065]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_27","position":[-0.5069878124738526,1.095043108442277,0.71338606911949],"aabb_xy":[[-0.5719878103555004,1.0439194447357365],[-0.4419878145922048,1.1461667721488182]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_28","position":[-0.43883237550510196,-1.1200028418064742,0.71338606911949],"aabb_xy":[[-0.47329485351818973,-1.126666518989397],[-0.4043698974920142,-1.1133391646235515]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6658884776887644,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1648.png","name":"1648"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1648.png","name":"1648"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9054.png","name":"9054"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9941.png","name":"9941"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9003.png","name":"9003"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/560.png","name":"560"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":825.2281132650303,"rotation_z_degrees":320.7828978630325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018547465006656598,-0.01828565791976795,0.003030605471222178]},{"name":"camera_2","offset_m":[-0.009361155115050552,-0.0011216899781820028,-0.009062764913650772]},{"name":"camera_3","offset_m":[-0.016077722240015104,-0.0026551135442632566,-0.010709461075025248]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006014046909910494,-0.0011814215733040325,-0.0006911657135463178],"end_effector_yaw_offset_degrees":0.16999086289788257},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008189415333127877,0.00025755193793068187,0.0018950024055414752],"end_effector_yaw_offset_degrees":-0.3218210776937447},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00014800064450990868,-0.000327796457320582,-0.00010725891509770318],"end_effector_yaw_offset_degrees":0.9687267748840953},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001012307626202462,-0.00045868586351006523,0.0017295389481067113],"end_effector_yaw_offset_degrees":0.8673579742711328}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009763082301955271,-0.0031813045749853417],"position_m":[0.23897630823019553,0.2904186954250147,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00024244436542601895,0.002501095635532904],"position_m":[0.23884244436542604,-0.3572989043644671,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004039488035421523,-0.0020521313306879796],"position_m":[0.35573948803542155,-0.13345213133068798,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004442528028840892,0.003750193213791781],"position_m":[0.3637425280288409,0.07815019321379177,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"18936e5e9ccb3834f010b8a35ca608c68ac2de33db9e5c47a16dcedcc8a6143b","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0062.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1648/tex_ceiling_textures_560/tex_floor_textures_9003/tex_table_textures_9054/tex_wall_textures_9941","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":466552332567388027,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":466552332567388027,"visual_seed":466552332567388027,"scene_id":"lab_003","finished_at":"2026-09-04T21:03:40"}
+{"episode_id":"ep_000051","started_at":"2026-09-04T21:06:33","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_0","position":[-0.15005779575063583,1.4073571843249053,0.71338606911949],"aabb_xy":[[-0.15655943225864044,1.3975893622985955],[-0.1435561592426312,1.417125006351215]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[-0.570129013428103,-1.581614355957917,0.71338606911949],"aabb_xy":[[-0.6076290135999749,-1.6143150913408242],[-0.532629013256231,-1.5489136205750098]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[-0.36209925127505316,1.141713861834642,0.71338606911949],"aabb_xy":[[-0.38838807559549376,1.1154424281799906],[-0.33581042695461244,1.167985295489293]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[-0.4479126307345962,0.23970672752219357,0.71338606911949],"aabb_xy":[[-0.5279126321647234,0.16018957250958407],[-0.36791262930446894,0.31922388253480305]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[0.5526028749625891,-0.8745562661195785,0.71338606911949],"aabb_xy":[[0.5465082470744708,-0.8831256606712473],[0.5586975028507074,-0.8659868715679099]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[-0.24294423791914893,0.5801633836834754,0.71338606911949],"aabb_xy":[[-0.30694423932713955,0.5283744321595506],[-0.17894423651115826,0.6319523352074]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[0.4674992793495023,-1.9800411682300023,0.71338606911949],"aabb_xy":[[0.4324992779980205,-2.000400904186823],[0.5024992807009839,-1.9596814322731815]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[-0.48186396650594976,-2.2615996213770266,0.71338606911949],"aabb_xy":[[-0.5021482692293484,-2.2818822465197357],[-0.461579663782551,-2.2413169962343176]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[-0.3215362812483516,-1.6193509363163807,0.71338606911949],"aabb_xy":[[-0.3765362808700975,-1.6743346291038534],[-0.2665362816266058,-1.564367243528908]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_9","position":[0.2609133640243628,-2.314489748782019,0.71338606911949],"aabb_xy":[[0.22341336420732927,-2.319127960093161],[0.2984133638413964,-2.3098515374708772]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[0.5412519395189135,-2.135223744083519,0.71338606911949],"aabb_xy":[[0.5037519395751471,-2.1435168341183557],[0.5787519394626799,-2.1269306540486825]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_11","position":[0.3119645169009757,-0.5000157665312805,0.71338606911949],"aabb_xy":[[0.2993377296137793,-0.5095618402328534],[0.324591304188172,-0.49046969282970765]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[0.3037421246487927,1.7187735104857524,0.71338606911949],"aabb_xy":[[0.2237421276345447,1.698638958812341],[0.38374212166304067,1.7389080621591635]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_13","position":[0.1279578386863358,-1.577401522204862,0.71338606911949],"aabb_xy":[[0.11991447876038064,-1.6624015233002283],[0.13600119861229099,-1.4924015211094954]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[0.14629512946077805,-1.956389880576264,0.71338606911949],"aabb_xy":[[0.06629513230120274,-1.967937481534081],[0.2262951266203533,-1.944842279618447]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[0.6019694772015081,0.3787598727931658,0.71338606911949],"aabb_xy":[[0.5182472517014256,0.2887598692584698],[0.6856917027015905,0.4687598763278617]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_16","position":[-0.3662005715859024,-1.294438735007289,0.71338606911949],"aabb_xy":[[-0.43120056946755025,-1.34556239871383],[-0.3012005737042546,-1.2433150713007484]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[-0.0927157661985466,1.1589154019369032,0.71338606911949],"aabb_xy":[[-0.12320001632557674,1.1089154021554073],[-0.06223151607151643,1.2089154017183992]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[-0.366349542413733,0.4382556794639032,0.71338606911949],"aabb_xy":[[-0.37576701698359577,0.4288395023261842],[-0.35693206784387027,0.44767185660162223]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_19","position":[-0.02474098868127439,1.4374368281554868,0.71338606911949],"aabb_xy":[[-0.032002236251681804,1.4246498178919775],[-0.017479741110866975,1.4502238384189965]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[-0.06690196736427578,-1.1536688265168797,0.71338606911949],"aabb_xy":[[-0.08696037897751607,-1.1737339134260372],[-0.04684355575103549,-1.1336037396077219]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[-0.29930655045498045,-2.4619815999772268,0.71338606911949],"aabb_xy":[[-0.3337688978531222,-2.496475482375049],[-0.2648442030568386,-2.4274877175794036]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[-0.08036706679761385,0.9255672532783703,0.71338606911949],"aabb_xy":[[-0.11076517789675742,0.8951603512767008],[-0.049968955698470256,0.9559741552800398]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[-0.4710621244931681,1.6673129082994067,0.71338606911949],"aabb_xy":[[-0.4845086511272114,1.6538430566463151],[-0.45761559785912476,1.6807827599524978]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_24","position":[-0.23996979238777616,-2.0453280721396556,0.71338606911949],"aabb_xy":[[-0.24393027615751053,-2.052995936725176],[-0.23600930861804179,-2.037660207554135]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_25","position":[0.4948803564543487,-2.3942127509374123,0.71338606911949],"aabb_xy":[[0.4447828924732752,-2.458212751447224],[0.5449778204354224,-2.3302127504276005]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_26","position":[0.34583997466331207,0.7307591466092513,0.71338606911949],"aabb_xy":[[0.3340717878686546,0.6457591467040299],[0.35760816145796964,0.8157591465144731]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_27","position":[-0.4736504437542983,0.6370619593744506,0.71338606911949],"aabb_xy":[[-0.5101462643815771,0.600578016947693],[-0.4371546231270196,0.6735459018012081]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[-0.15170256902920243,-2.028356055737077,0.71338606911949],"aabb_xy":[[-0.16247554295057018,-2.0633560539561158],[-0.14092959510783462,-1.9933560575180378]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_29","position":[-0.6093745798918828,-1.9450126508386063,0.71338606911949],"aabb_xy":[[-0.617368069687165,-1.9530107827790824],[-0.6013810900966009,-1.9370145188981311]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_30","position":[-0.5897025431187215,0.8821152399757843,0.71338606911949],"aabb_xy":[[-0.6497025436265743,0.8252685062898629],[-0.5297025426108685,0.9389619736617055]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_31","position":[-0.18465770847016105,-1.4380054253507417,0.71338606911949],"aabb_xy":[[-0.23464065865764036,-1.488005424993302],[-0.1346747582826817,-1.388005425708181]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_32","position":[0.5560671166260616,-1.5866259167093182,0.71338606911949],"aabb_xy":[[0.5185671182026612,-1.5997901306771485],[0.5935671150494619,-1.5734617027414874]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_33","position":[-0.6616913282018946,-1.1845396644910475,0.71338606911949],"aabb_xy":[[-0.6698190163952078,-1.1934532729017553],[-0.6535636400085814,-1.1756260560803398]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641837761437368,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2961.png","name":"2961"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2961.png","name":"2961"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5247.png","name":"5247"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1529.png","name":"1529"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4808.png","name":"4808"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2846.png","name":"2846"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":643.0120085626886,"rotation_z_degrees":121.10530303554455,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004287110540252038,-0.012322058986671127,-0.007527266478994909]},{"name":"camera_2","offset_m":[-0.014704355762759632,0.016326430548819115,0.007902331378012644]},{"name":"camera_3","offset_m":[0.0031812822936335278,0.008742720825383358,-0.006202177925532437]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[7.630784891130091e-05,0.0015788303275509423,0.0011623885674963302],"end_effector_yaw_offset_degrees":0.8101421526467711},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012786821162055096,0.0018371606965638448,0.0018033557808411474],"end_effector_yaw_offset_degrees":0.877651812776594},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[7.490423015913848e-05,0.0015240286839029826,0.0012931264425812068],"end_effector_yaw_offset_degrees":-0.875834067999512},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003903638412634024,0.0006187137744982489,0.0013479732961513727],"end_effector_yaw_offset_degrees":0.32430015631097886}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019077642992307168,0.003338122577075545],"position_m":[0.23990776429923072,0.2969381225770756,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012885652166679806,0.003270381892401299],"position_m":[0.23731143478333203,-0.3565296181075987,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010528130202605117,-0.004731713641196241],"position_m":[0.3506471869797395,-0.13613171364119622,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004503646414289596,-0.0039046062385277957],"position_m":[0.35479635358571043,0.0704953937614722,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5b46b1dfe635960e735fb821033260803d6b5feeb5bc1f8849fa4b78e61fe150","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0064.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2961/tex_ceiling_textures_2846/tex_floor_textures_4808/tex_table_textures_5247/tex_wall_textures_1529","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":3240468199111339698,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":3240468199111339698,"visual_seed":3240468199111339698,"scene_id":"lab_003","finished_at":"2026-09-04T21:10:23"}
+{"episode_id":"ep_000052","started_at":"2026-09-04T21:13:12","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[0.6506848651785397,1.117161134716953,0.71338606911949],"aabb_xy":[[0.6162225177803977,1.0826672523191299],[0.6851472125766813,1.1516550171147752]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[0.053073765541259976,1.7395189003248102,0.71338606911949],"aabb_xy":[[0.03639662954816447,1.7228189763508797],[0.06975090153435548,1.7562188242987402]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[-0.33664075556151646,-1.8109752670574948,0.71338606911949],"aabb_xy":[[-0.40164075344316436,-1.8620989307640357],[-0.2716407576798687,-1.759851603350954]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_3","position":[-0.18519377977148221,-1.4345363171003536,0.71338606911949],"aabb_xy":[[-0.2076937795853846,-1.4390109334708343],[-0.16269377995757983,-1.4300617007298728]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_4","position":[0.6448378978039819,-1.6348150093370402,0.71338606911949],"aabb_xy":[[0.580837897543511,-1.679823808689968],[0.7088378980644526,-1.589806209984112]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_5","position":[-0.4334728541715343,-1.4589509253685096,0.71338606911949],"aabb_xy":[[-0.5034728575630962,-1.4942666990719404],[-0.3634728507799723,-1.4236351516650787]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[0.2476057930913681,-0.573166863647645,0.71338606911949],"aabb_xy":[[0.21010579229937265,-0.5795347046058351],[0.28510579388336355,-0.5667990226894549]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[-0.5230968660267779,-1.203860789570424,0.71338606911949],"aabb_xy":[[-0.5782220716563685,-1.263860791011711],[-0.467971660397187,-1.1438607881291367]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[-0.15224976648910382,-2.5275978678091873,0.71338606911949],"aabb_xy":[[-0.15995295716318086,-2.535307238507925],[-0.14454657581502678,-2.5198884971104487]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[0.3400864890650661,-1.1025308762885522,0.71338606911949],"aabb_xy":[[0.3057702118904482,-1.1525308762617297],[0.37440276623968405,-1.0525308763153742]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[-0.281282151846056,-2.2729604445269,0.71338606911949],"aabb_xy":[[-0.2926438864993421,-2.2843289109331875],[-0.26992041719276977,-2.2615919781206117]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[0.048547884397633134,-0.6888664751958602,0.71338606911949],"aabb_xy":[[-0.0014521165528996877,-0.7204156221993816],[0.09854788534816593,-0.6573173281923388]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_12","position":[-0.6028171251084066,1.759907355944923,0.71338606911949],"aabb_xy":[[-0.6529145890894803,1.6959073554351112],[-0.5527196611273331,1.8239073564547348]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[0.6596475302380875,-1.353858903760426,0.71338606911949],"aabb_xy":[[0.63714753071438,-1.3763548512110464],[0.6821475297617948,-1.3313629563098048]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[0.4336951774021287,-2.4112189217553843,0.71338606911949],"aabb_xy":[[0.41611687521318186,-2.4287934113294893],[0.45127347959107555,-2.3936444321812793]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_15","position":[-0.1922058915110033,-0.6789136208654478,0.71338606911949],"aabb_xy":[[-0.27720589020307795,-0.7108994842603266],[-0.10720589281892864,-0.6469277574705689]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.2183115330345441,-1.8997737903258582,0.71338606911949],"aabb_xy":[[0.20313936375291075,-1.9149426472540614],[0.23348370231617743,-1.8846049333976547]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.6654509518679623,-0.7604182530646519,0.71338606911949],"aabb_xy":[[-0.6904509518004803,-0.7673009212855753],[-0.6404509519354445,-0.7535355848437286]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[0.4058819441778396,1.779977174599233,0.71338606911949],"aabb_xy":[[0.3753976940508094,1.7299771748177373],[0.4363661943048697,1.8299771743807292]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[0.5486195328155905,0.2244209719283763,0.71338606911949],"aabb_xy":[[0.5136195336856348,0.21867575085271213],[0.5836195319455462,0.23016619300404034]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[-0.2644595055590676,-0.8574226815908152,0.71338606911949],"aabb_xy":[[-0.2752999837855825,-0.8746089628814642],[-0.2536190273325527,-0.8402364003001666]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_21","position":[0.4746846386348196,0.7703154521872895,0.71338606911949],"aabb_xy":[[0.4206690423529196,0.7063154492950323],[0.5287002349167196,0.8343154550795466]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[-0.6527344865799711,-0.15825831520518552,0.71338606911949],"aabb_xy":[[-0.6726255264603114,-0.17091412648988236],[-0.6328434466996309,-0.14560250392048868]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_23","position":[-0.21218933391813333,-0.2382189971567028,0.71338606911949],"aabb_xy":[[-0.23468933392828165,-0.2523152167963061],[-0.18968933390798506,-0.2241227775170995]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[-0.34450367165084783,0.39466225827360724,0.71338606911949],"aabb_xy":[[-0.3509174852940327,0.38825243802593884],[-0.33808985800766284,0.4010720785212755]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_25","position":[0.4528169206899004,-0.35028844746393695,0.71338606911949],"aabb_xy":[[0.44870097057782776,-0.35440400249678244],[0.4569328708019731,-0.34617289243109145]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_26","position":[-0.22840911898474198,-2.4798178474557226,0.71338606911949],"aabb_xy":[[-0.23882067766522566,-2.4851635807916206],[-0.21799756030425824,-2.474472114119824]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_27","position":[-0.06801780567055926,-0.2534258045890314,0.71338606911949],"aabb_xy":[[-0.118017805246894,-0.30340638354113736],[-0.018017806094224556,-0.20344522563692546]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_28","position":[0.06702176581384578,1.4186599497069046,0.71338606911949],"aabb_xy":[[0.012028554476709034,1.363659949368111],[0.12201497715098256,1.4736599500456982]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_29","position":[0.1922297646346408,-2.188582183824242,0.71338606911949],"aabb_xy":[[0.1816622849765418,-2.19912721393725],[0.20279724429273982,-2.178037153711233]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_30","position":[0.35242529829144154,1.6631537943559196,0.71338606911949],"aabb_xy":[[0.3368695288811763,1.6476033611115128],[0.3679810677017068,1.6787042276003272]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_31","position":[-0.375361733799697,-0.4690742903513594,0.71338606911949],"aabb_xy":[[-0.4553617352298242,-0.5485914453639689],[-0.2953617323695698,-0.38955713533874986]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_32","position":[-0.03645639967723713,-1.382682784032886,0.71338606911949],"aabb_xy":[[-0.11645640014745309,-1.3909934916472344],[0.04354360079297882,-1.3743720764185374]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666264912261284,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9302.png","name":"9302"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9302.png","name":"9302"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4092.png","name":"4092"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9866.png","name":"9866"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3247.png","name":"3247"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4814.png","name":"4814"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":752.7901916522843,"rotation_z_degrees":353.49931966025827,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012191027320323188,0.010874193466660645,-0.007135781737921768]},{"name":"camera_2","offset_m":[0.0032916168938365124,-0.01938745777583138,0.018044926682951278]},{"name":"camera_3","offset_m":[0.01062444199575073,-0.01950846903076906,-0.005308080483383009]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015705621700296609,0.0017560135804867293,0.0012009865030243568],"end_effector_yaw_offset_degrees":-0.9539430209571653},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003586755736867575,0.001534684482320661,-0.0007611830733932577],"end_effector_yaw_offset_degrees":-0.6458345282046141},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007543174058346977,0.001368265019772524,-0.00036397592049110554],"end_effector_yaw_offset_degrees":-0.2430214571786684},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003876529758074813,0.00019018640166225008,0.0012170144883611286],"end_effector_yaw_offset_degrees":-0.02573283669452997}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-2.364816101508866e-05,-0.0019268887348826737],"position_m":[0.2379763518389849,0.29167311126511736,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005034684373012377,-3.828615981986937e-05],"position_m":[0.23809653156269878,-0.3598382861598199,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00022589838802389815,-0.0036531065582276903],"position_m":[0.3519258983880239,-0.1350531065582277,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004271097254591326,-0.001171099428121688],"position_m":[0.36357109725459136,0.07322890057187831,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"044bb71d50712002a25b4291cdd4f62c0e3bfb75f7682611ce8eee15642796cb","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0066.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9302/tex_ceiling_textures_4814/tex_floor_textures_3247/tex_table_textures_4092/tex_wall_textures_9866","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":16524473050666459,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":16524473050666459,"visual_seed":16524473050666459,"scene_id":"lab_003","finished_at":"2026-09-04T21:17:04"}
+{"episode_id":"ep_000053","started_at":"2026-09-04T21:17:07","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.3412453620440445,0.8758992684688724,0.71338606911949],"aabb_xy":[[-0.3637453620541928,0.8618030488292692],[-0.3187453620338962,0.8899954881084757]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[-0.5469979755931602,-0.5549477255677786,0.71338606911949],"aabb_xy":[[-0.5668890154735005,-0.5676035368524754],[-0.52710693571282,-0.5422919142830818]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.29106580703036194,-2.135024646123964,0.71338606911949],"aabb_xy":[[-0.31490202467096706,-2.225024646932451],[-0.26722958938975694,-2.045024645315478]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.10774686768709518,-1.7447607156810423,0.71338606911949],"aabb_xy":[[-0.11789988324124452,-1.7808302572537822],[-0.09759385213294576,-1.7086911741083015]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[0.0382473239871014,-2.2826127233981985,0.71338606911949],"aabb_xy":[[-0.025752678062630603,-2.3227072064875065],[0.1022473260368334,-2.2425182403088906]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[0.09045759183105273,-1.6889848544150685,0.71338606911949],"aabb_xy":[[0.010463768252494524,-1.76898485700791],[0.17045141540961095,-1.608984851822227]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[0.5252888823864932,1.239693852447807,0.71338606911949],"aabb_xy":[[0.4902888841163733,1.2326197247528188],[0.5602888806566131,1.246767980142795]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.06601558094612103,1.3395723173620064,0.71338606911949],"aabb_xy":[[-0.07658306060422004,1.329027287248998],[-0.05544810128802202,1.3501173474750152]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[0.5803536188806808,-1.89511092167091,0.71338606911949],"aabb_xy":[[0.5723601290853989,-1.9031090536113862],[0.588347108675963,-1.887112789730435]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[-0.43946318832524484,-1.369444064475571,0.71338606911949],"aabb_xy":[[-0.4763137362622324,-1.4069440652986047],[-0.40261264038825717,-1.3319440636525373]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_10","position":[0.19227882083600578,-2.1994833431017153,0.71338606911949],"aabb_xy":[[0.15477882066413381,-2.232184078484622],[0.2297788210078777,-2.1667826077188077]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[-0.5437004848481654,1.2696895404287063,0.71338606911949],"aabb_xy":[[-0.5889790997293146,1.2056895410805226],[-0.4984218699670161,1.33368953977689]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[0.4190998096115415,-2.4553612467990007,0.71338606911949],"aabb_xy":[[0.41466918025670135,-2.460809618533683],[0.4235304389663817,-2.449912875064318]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_13","position":[-0.6028453086109204,-1.4576281952644783,0.71338606911949],"aabb_xy":[[-0.6828453090811364,-1.4659389028788268],[-0.5228453081407045,-1.4493174876501298]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[-0.1987762570107101,1.3059844203953044,0.71338606911949],"aabb_xy":[[-0.20341137216294347,1.3021170853181554],[-0.1941411418584767,1.309851755472453]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[-0.42590872998722956,-1.2346041717900889,0.71338606911949],"aabb_xy":[[-0.43935525662127295,-1.2480740234431802],[-0.4124622033531863,-1.2211343201369975]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[0.16672290343562512,-1.1326019382995927,0.71338606911949],"aabb_xy":[[0.15083841017029997,-1.1469548785984167],[0.18260739670095028,-1.1182489980007686]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[-0.537637321888806,-0.08256934593109877,0.71338606911949],"aabb_xy":[[-0.5744319550137122,-0.11947522102768104],[-0.5008426887638997,-0.045663470834516495]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[-0.4248515723882375,-1.7489205278763587,0.71338606911949],"aabb_xy":[[-0.47483038089855345,-1.798920527882077],[-0.3748727638779217,-1.6989205278706394]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[0.30529801286454794,1.3115251416769746,0.71338606911949],"aabb_xy":[[0.2878672977855414,1.2942530270131238],[0.3227287279435544,1.3287972563408255]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.37248286828344407,-1.0555814966245036,0.71338606911949],"aabb_xy":[[-0.3902763752183605,-1.0733812422203013],[-0.35468936134852763,-1.037781751028706]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6658059519645266,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5453.png","name":"5453"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5453.png","name":"5453"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2866.png","name":"2866"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7610.png","name":"7610"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9185.png","name":"9185"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1877.png","name":"1877"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":765.5972932804943,"rotation_z_degrees":177.55435392034508,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019853624401699996,-0.009282775864106006,0.01930531064575605]},{"name":"camera_2","offset_m":[-0.016064308241898747,-0.014282239109429433,-0.0032002764443998973]},{"name":"camera_3","offset_m":[-0.011292296657605156,0.0005753388832509879,-0.0052143288786791735]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[4.122136811733797e-05,-0.0014225359636713354,0.001589803777734866],"end_effector_yaw_offset_degrees":-0.24948547760783035},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00027247429385471094,-2.8156485130878713e-05,-0.00026850968983046066],"end_effector_yaw_offset_degrees":-0.007692268594343021},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015923977385933668,0.001277252985855383,0.0007865404375063849],"end_effector_yaw_offset_degrees":-0.40879848373418937},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[8.921477421189577e-05,-0.0003446133294933906,0.0006156208016166319],"end_effector_yaw_offset_degrees":0.6622264438026415}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032533403425975805,-0.002226761074111684],"position_m":[0.2347466596574024,0.29137323892588834,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031802740447341785,-0.0026738754349834894],"position_m":[0.23541972595526584,-0.3624738754349835,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002387161882501542,-0.0007489698908961558],"position_m":[0.34931283811749847,-0.13214896989089614,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028571383578210397,-0.0022125881613138886],"position_m":[0.356442861642179,0.0721874118386861,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"61f174c0ddc9448af624565f3a2f4248835fa5204224a82f3d26b9fbed31fc83","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0067.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5453/tex_ceiling_textures_1877/tex_floor_textures_9185/tex_table_textures_2866/tex_wall_textures_7610","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":787046461791530917,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":787046461791530917,"visual_seed":787046461791530917,"scene_id":"lab_003","finished_at":"2026-09-04T21:21:03"}
+{"episode_id":"ep_000054","started_at":"2026-09-04T21:21:06","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_0","position":[-0.4231244551465807,-1.7768900550965976,0.71338606911949],"aabb_xy":[[-0.43228433409045725,-1.7834212731401344],[-0.41396457620270405,-1.7703588370530603]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_1","position":[0.3561093876855155,0.3703394043563226,0.71338606911949],"aabb_xy":[[0.3336093871734748,0.34784754599092427],[0.378609388197556,0.392831262721721]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[-0.48913552898885726,-0.4567052165145147,0.71338606911949],"aabb_xy":[[-0.4999871352377328,-0.46756450724216575],[-0.4782839227399816,-0.4458459257868637]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.13939081372977835,-1.8513474389554805,0.71338606911949],"aabb_xy":[[0.13168762305570128,-1.8590568096542184],[0.14709400440385537,-1.8436380682567421]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[0.06884915621489673,-1.3823642216999994,0.71338606911949],"aabb_xy":[[0.004849159102791059,-1.43139659149441],[0.13284915332700242,-1.3333318519055888]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_5","position":[-0.27830994178473356,-1.949042625447224,0.71338606911949],"aabb_xy":[[-0.2876569493670288,-1.9633462476648678],[-0.26896293420243833,-1.9347390032295797]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[-0.5511340635199183,-0.2559536231523327,0.71338606911949],"aabb_xy":[[-0.6311340604829574,-0.3330292647961061],[-0.47113406655687906,-0.17887798150855921]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[-0.028394565840147545,0.9199174360232667,0.71338606911949],"aabb_xy":[[-0.050284313429088345,0.8299174387340176],[-0.006504818251206748,1.0099174333125158]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_8","position":[0.10258207160815735,1.1628587146165348,0.71338606911949],"aabb_xy":[[0.05260465474290376,1.112858713127286],[0.15255948847341091,1.212858716105783]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[0.6550643160680176,-1.8315834074500037,0.71338606911949],"aabb_xy":[[0.6206018380549297,-1.8382470846329266],[0.6895267940811053,-1.8249197302670812]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[0.3681281179259275,-1.8605545112682333,0.71338606911949],"aabb_xy":[[0.3583721284167536,-1.8703170453274676],[0.37788410743510137,-1.8507919772089987]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[0.02233390263237378,0.7297087561632041,0.71338606911949],"aabb_xy":[[-0.057666096024512226,0.7152038972389414],[0.10233390128925979,0.744213615087467]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[0.5192369608902738,-0.196207797874969,0.71338606911949],"aabb_xy":[[0.5131423330021556,-0.20477719242663772],[0.5253315887783923,-0.18763840332330028]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.6195005958850892,1.1068241996980341,0.71338606911949],"aabb_xy":[[-0.6445005951570515,1.0904788361018718],[-0.5945005966131269,1.1231695632941965]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[-0.18619320686588225,0.6463139766557142,0.71338606911949],"aabb_xy":[[-0.20810188900523324,0.6244133098356234],[-0.16428452472653116,0.6682146434758048]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[-0.12239485691232588,-2.0453698210157665,0.71338606911949],"aabb_xy":[[-0.20239485549964528,-2.1246854229539274],[-0.04239485832500644,-1.9660542190776058]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_16","position":[0.6003148604169268,0.42278610442582565,0.71338606911949],"aabb_xy":[[0.5804238205365866,0.4101302931411288],[0.6202059002972671,0.4354419157105225]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[-0.6020643199213717,-2.0321499587580765,0.71338606911949],"aabb_xy":[[-0.6370643198978675,-2.041614574805693],[-0.5670643199448758,-2.02268534271046]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.3145599117129172,-1.127236130970696,0.71338606911949],"aabb_xy":[[0.2802630006951765,-1.161533017180637],[0.34885682273065777,-1.0929392447607544]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.4848775723435823,-1.5425131088587385,0.71338606911949],"aabb_xy":[[-0.5301561872247316,-1.6065131082069222],[-0.43959895746243305,-1.4785131095105548]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[-0.30415644982441237,-1.213185293131593,0.71338606911949],"aabb_xy":[[-0.3691564498587151,-1.2598859698119202],[-0.23915644979010964,-1.1664846164512657]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[-0.6055958239664714,-1.7256842174263483,0.71338606911949],"aabb_xy":[[-0.6695958225530438,-1.7726911808258567],[-0.5415958253798989,-1.6786772540268393]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_22","position":[-0.2702544769990486,0.9171147565457858,0.71338606911949],"aabb_xy":[[-0.2821872113608767,0.9047326037379265],[-0.2583217426372206,0.9294969093536453]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[0.17998121801306521,-0.9832003798225946,0.71338606911949],"aabb_xy":[[0.11598121567026363,-1.028141231066727],[0.24398122035586675,-0.9382595285784622]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_24","position":[-0.0425796709408649,-1.5542797898086576,0.71338606911949],"aabb_xy":[[-0.05273268649501426,-1.5903493313813977],[-0.032426655386715506,-1.518210248235917]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_25","position":[0.5230060334719129,1.4640147262630854,0.71338606911949],"aabb_xy":[[0.5149797628412869,1.4552632312857328],[0.5310323041025389,1.472766221240438]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_26","position":[0.6261988982279751,1.057019143051876,0.71338606911949],"aabb_xy":[[0.6036988979844597,1.0448145083921043],[0.6486988984714905,1.0692237777116482]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[0.5160009945660422,-1.9226563753170107,0.71338606911949],"aabb_xy":[[0.46602792903352674,-1.972656375129544],[0.5659740600985577,-1.8726563755044783]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_28","position":[0.45927058566792156,1.6603393419887458,0.71338606911949],"aabb_xy":[[0.44320865820940386,1.5753393401761542],[0.47533251312643915,1.7453393438013378]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[-0.5364532415827084,0.11853211539207686,0.71338606911949],"aabb_xy":[[-0.5451672106326427,0.09603211473288861],[-0.5277392725327738,0.14103211605126503]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664359195101503,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5451.png","name":"5451"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5451.png","name":"5451"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6568.png","name":"6568"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2262.png","name":"2262"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1742.png","name":"1742"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6322.png","name":"6322"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":762.3258891058617,"rotation_z_degrees":279.27280709419034,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016730306894831667,0.0033912524008964592,0.019612436096611518]},{"name":"camera_2","offset_m":[-0.019709920484914534,0.01867362964428258,-0.007992636364733761]},{"name":"camera_3","offset_m":[-0.0196899138914999,0.016186972375988384,0.00747090925939348]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017111670830951612,-0.0007917130594219813,-0.0011023841444149384],"end_effector_yaw_offset_degrees":-0.5496476446232876},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[5.625179037024733e-05,0.00032485488384593206,0.0009663751337417683],"end_effector_yaw_offset_degrees":0.17751427740364134},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001693694292367758,5.6895868564347564e-05,0.0019889496040818265],"end_effector_yaw_offset_degrees":0.9836913359417561},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010767774300849114,0.00010623537393709059,-0.0016650421074535671],"end_effector_yaw_offset_degrees":0.9688574514776163}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004592397471910957,0.0010739619547067347],"position_m":[0.23340760252808904,0.29467396195470674,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008734049356072474,0.0035964608285498243],"position_m":[0.23772659506439275,-0.3562035391714502,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004647116532996597,-0.0008536900782772491],"position_m":[0.3470528834670034,-0.13225369007827723,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028537023231592572,0.000999870249259691],"position_m":[0.3564462976768408,0.07539987024925969,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ac60f6c9f21b061ce1187695b047a28061e9485697d291f3bf6291094e44ad55","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5451/tex_ceiling_textures_6322/tex_floor_textures_1742/tex_table_textures_6568/tex_wall_textures_2262","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":9223037217902689744,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":9223037217902689744,"visual_seed":9223037217902689744,"scene_id":"lab_003","finished_at":"2026-09-04T21:24:58"}
+{"episode_id":"ep_000055","started_at":"2026-09-04T21:25:01","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[0.5267113986678327,-0.8785383315806665,0.71338606911949],"aabb_xy":[[0.5115485256908957,-0.8937037888757855],[0.5418742716447699,-0.863372874285548]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_1","position":[-0.0005961310999531566,1.5343250782798665,0.71338606911949],"aabb_xy":[[-0.023877973298084495,1.4493250769826385],[0.02268571109817818,1.6193250795770946]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.6632001529314633,-2.4795518576567392,0.71338606911949],"aabb_xy":[[0.6218956098677274,-2.5435518572248563],[0.7045046959951994,-2.415551858088622]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[0.3109076165279654,-0.6528315152548194,0.71338606911949],"aabb_xy":[[0.22090761979235513,-0.7060149785721138],[0.40090761326357555,-0.5996480519375248]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.2348724023408293,-1.6950804752186435,0.71338606911949],"aabb_xy":[[-0.28015101722197855,-1.7590804745668271],[-0.18959378745968,-1.6310804758704598]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_5","position":[-0.568656791830648,-2.240903467578376,0.71338606911949],"aabb_xy":[[-0.6386567936393934,-2.262257236342563],[-0.49865679002190255,-2.219549698814188]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.25887825860400726,0.8487256246947394,0.71338606911949],"aabb_xy":[[0.24124542301047971,0.8311026786791165],[0.27651109419753483,0.8663485707103624]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.25946305661975366,-2.054061975038816,0.71338606911949],"aabb_xy":[[0.20948424810943778,-2.1040619750445346],[0.30944186513006955,-2.004061975033097]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_8","position":[-0.136745056251095,1.2623577365682026,0.71338606911949],"aabb_xy":[[-0.18674505661166105,1.2123777493585994],[-0.08674505589052893,1.3123377237778053]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.5197817257405735,1.1808236426603216,0.71338606911949],"aabb_xy":[[0.430094649432458,1.0908236424058713],[0.6094688020486889,1.2708236429147723]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[-0.09970341830967955,1.4505365751624342,0.71338606911949],"aabb_xy":[[-0.12098142645315177,1.385536572836361],[-0.07842541016620727,1.515536577488507]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.5302777734851118,-1.7717416499604184,0.71338606911949],"aabb_xy":[[0.48028294055717025,-1.8217416488556621],[0.5802726064130534,-1.721741651065175]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[-0.4581592247192495,-1.63008804747354,0.71338606911949],"aabb_xy":[[-0.5081434604274266,-1.6800880462870356],[-0.40817498901107224,-1.5800880486600444]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_13","position":[-0.3683931633937352,1.6064083008641572,0.71338606911949],"aabb_xy":[[-0.4133931648599641,1.5614084440026768],[-0.32339316192750633,1.651408157725638]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[-0.31159422096738615,0.514542325404014,0.71338606911949],"aabb_xy":[[-0.31550809416280867,0.5057933099974572],[-0.3076803477719636,0.5232913408105708]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_15","position":[-0.264565168595162,0.06747335780300334,0.71338606911949],"aabb_xy":[[-0.27160661954590964,0.0604466060652088],[-0.25752371764441445,0.07450010954079789]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[0.1743497400237266,1.4163040667943485,0.71338606911949],"aabb_xy":[[0.11434973977232543,1.3620227417578836],[0.23434974027512778,1.470585391830813]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_17","position":[0.4616434491220114,-2.3522085320430617,0.71338606911949],"aabb_xy":[[0.4553313495856729,-2.3579754712962804],[0.46795554865834976,-2.346441592789843]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_18","position":[0.39288430324764856,-0.2452311627276993,0.71338606911949],"aabb_xy":[[0.36996859036259866,-0.2681354598641228],[0.4158000161326985,-0.22232686559127582]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[0.46834699649706724,1.782363810426697,0.71338606911949],"aabb_xy":[[0.4043469992114186,1.740857091473853],[0.5323469937827159,1.823870529379541]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[0.043229900759829354,0.7006826458971012,0.71338606911949],"aabb_xy":[[0.02536079300537386,0.6868497379198901],[0.06109900851428485,0.714515553874312]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[-0.06180954204134781,-0.7845183762460348,0.71338606911949],"aabb_xy":[[-0.07872027447768959,-0.7979905818386493],[-0.04489880960500603,-0.7710461706534203]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[-0.6098669863010413,-0.18380024177165222,0.71338606911949],"aabb_xy":[[-0.6598619972604933,-0.23380024080724396],[-0.5598719753415893,-0.1338002427360605]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_23","position":[0.38096351165288667,1.5042403076149191,0.71338606911949],"aabb_xy":[[0.3459635116763909,1.4947756915673023],[0.41596351162938255,1.5137049236625355]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[0.5972093061361314,-0.06808733804398859,0.71338606911949],"aabb_xy":[[0.5837627795020881,-0.0815571896970798],[0.6106558327701748,-0.05461748639089735]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.667785262859341,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6699.png","name":"6699"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6699.png","name":"6699"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9585.png","name":"9585"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4088.png","name":"4088"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9232.png","name":"9232"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2152.png","name":"2152"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":813.2013320666902,"rotation_z_degrees":252.5876088353339,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014086638892505249,0.011800127499411877,-0.016385596118855414]},{"name":"camera_2","offset_m":[-0.008942433295836274,0.008599183017282443,0.015938840897349708]},{"name":"camera_3","offset_m":[-0.0018271731675207764,-0.004217647118603812,0.01855915747996829]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[4.477307349467054e-05,0.0007291494788250288,0.0004764850959786322],"end_effector_yaw_offset_degrees":0.4477970004506495},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-7.426207357434981e-05,-0.001673183097218314,-9.693281596490576e-05],"end_effector_yaw_offset_degrees":-0.9573157655008455},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016443897106172979,2.25187530367172e-05,-0.0010671333489306722],"end_effector_yaw_offset_degrees":-0.19798405791310936},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002041303902317257,0.00033520841874795865,0.001151871122025043],"end_effector_yaw_offset_degrees":-0.7275971935215872}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028073026091031262,-0.004109138335280566],"position_m":[0.23519269739089688,0.28949086166471943,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037328675282229133,0.004472740113858787],"position_m":[0.24233286752822292,-0.3553272598861412,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001839373723929779,-0.004091764971730465],"position_m":[0.34986062627607023,-0.13549176497173046,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006157706742702896,-0.0024804097267585035],"position_m":[0.3599157706742703,0.07191959027324149,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4be6dc84963e03458d929627fe76a1ad264a3d58983efd2ddf733391a32b7136","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0069.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6699/tex_ceiling_textures_2152/tex_floor_textures_9232/tex_table_textures_9585/tex_wall_textures_4088","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":837381793670825821,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":837381793670825821,"visual_seed":837381793670825821,"scene_id":"lab_003","finished_at":"2026-09-04T21:28:48"}
+{"episode_id":"ep_000056","started_at":"2026-09-04T21:28:52","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[-0.2195394364809996,-1.7436408515508934,0.71338606911949],"aabb_xy":[[-0.22367529281369983,-1.7811408509952507],[-0.21540358014829944,-1.7061408521065367]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.5590097128390203,1.3401007695463423,0.71338606911949],"aabb_xy":[[0.5245473654408783,1.3056068871485194],[0.5934720602371619,1.3745946519441647]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[0.1102270632526523,0.7902071453212738,0.71338606911949],"aabb_xy":[[0.0883373156637115,0.7002071480320247],[0.1321168108415931,0.8802071426105229]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_3","position":[-0.6596686180145519,0.039971099900157014,0.71338606911949],"aabb_xy":[[-0.6645122127757818,0.0351194474211729],[-0.6548250232533218,0.04482275237914113]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[-0.494843362867201,-1.7333875842176276,0.71338606911949],"aabb_xy":[[-0.5409284541219324,-1.797387581470183],[-0.44875827161246945,-1.6693875869650727]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.42308779423615306,-1.7653440116590224,0.71338606911949],"aabb_xy":[[0.3759584152343173,-1.8293440127034242],[0.4702171732379886,-1.7013440106146203]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.44372835502154784,1.2202853964512625,0.71338606911949],"aabb_xy":[[0.43573436644384433,1.2122853163561722],[0.4517223435992511,1.228285476546353]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.15075764633042554,1.7563400444296238,0.71338606911949],"aabb_xy":[[-0.17597848319026516,1.7311162935767368],[-0.12553680947058582,1.7815637952825103]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.421207615858758,-0.45937446094255385,0.71338606911949],"aabb_xy":[[-0.4690137834725266,-0.5243744636496128],[-0.37340144824498933,-0.39437445823549483]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_9","position":[0.4184382024340858,-2.127744136749989,0.71338606911949],"aabb_xy":[[0.38343820245759,-2.137208752797606],[0.4534382024105817,-2.118279520702372]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_10","position":[-0.1148487475453972,1.6270126810512955,0.71338606911949],"aabb_xy":[[-0.13002091682703054,1.6118438241230924],[-0.09967657826376386,1.642181537979499]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[0.6028888553125458,-2.5208067749364154,0.71338606911949],"aabb_xy":[[0.592477296632062,-2.5261525082723137],[0.6133004139930294,-2.515461041600517]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.2980842949181097,-2.402881743956053,0.71338606911949],"aabb_xy":[[-0.3830842936101844,-2.434867607350932],[-0.21308429622603514,-2.370895880561174]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[0.03184665677881093,-1.7356035035438984,0.71338606911949],"aabb_xy":[[0.019379298669075284,-1.748068828177222],[0.04431401488854658,-1.723138178910575]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[0.2968945055522739,1.6501846453088702,0.71338606911949],"aabb_xy":[[0.24692121154901342,1.6001846447543226],[0.3468677995555343,1.7001846458634173]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[-0.24926151632864635,1.1519766854218587,0.71338606911949],"aabb_xy":[[-0.2542175365135275,1.1294766852197373],[-0.24430549614376518,1.1744766856239806]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.2682860419678937,-0.577430225231848,0.71338606911949],"aabb_xy":[[-0.2753274929186413,-0.5844569769696425],[-0.2612445910171461,-0.5704034734940534]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.6487355868092759,-2.5373769480847272,0.71338606911949],"aabb_xy":[[-0.656849241482653,-2.5454827645387565],[-0.6406219321358988,-2.529271131630698]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.11135021756247321,-2.406231656046044,0.71338606911949],"aabb_xy":[[-0.12479674419651654,-2.4197015076991355],[-0.09790369092842988,-2.392761804392953]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[-0.6254796434754901,-2.3188410518972566,0.71338606911949],"aabb_xy":[[-0.6597765544932306,-2.3531379381071975],[-0.5911827324577494,-2.284544165687315]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[-0.15663272108562476,0.6052724531345497,0.71338606911949],"aabb_xy":[[-0.206616956793802,0.5552724543210541],[-0.10664848537744753,0.6552724519480453]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.04282948040379786,1.4404589772960885,0.71338606911949],"aabb_xy":[[-0.07331373053082801,1.3904589775145924],[-0.012345230276767705,1.4904589770775842]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[-0.01782345745735725,-1.8655853363471309,0.71338606911949],"aabb_xy":[[-0.027455093677786868,-1.87522264912684],[-0.008191821236927632,-1.8559480235674222]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[0.374573290997974,1.0192110099348084,0.71338606911949],"aabb_xy":[[0.3689916193638452,1.0067110101170327],[0.38015496263210274,1.0317110097525837]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6711225552060406,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/204.png","name":"204"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/204.png","name":"204"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9280.png","name":"9280"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1541.png","name":"1541"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/200.png","name":"200"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/245.png","name":"245"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":559.4968054486156,"rotation_z_degrees":247.003917874699,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01352729851776983,0.013846080858265653,-0.013103755451461625]},{"name":"camera_2","offset_m":[0.009401142631373247,-0.0005619017906987739,0.0005498674742650637]},{"name":"camera_3","offset_m":[-0.015739123247731097,-0.007948672072495984,0.004961438228035065]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007761980562752014,0.0006572062162478018,-0.0003721287168429925],"end_effector_yaw_offset_degrees":0.08436632690202828},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004707450885349119,0.001918661109547126,-0.0014733459680024144],"end_effector_yaw_offset_degrees":-0.6702208730944401},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014534807562149457,-0.0005540641354941968,-0.0013914251104437572],"end_effector_yaw_offset_degrees":0.7501646930338266},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001234949771583067,-0.0006983805703445237,-0.000533739011236154],"end_effector_yaw_offset_degrees":-0.6218125349224763}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015462655311760994,0.004539584193144825],"position_m":[0.23954626553117608,0.29813958419314485,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004605225618878365,-0.00039230074621610534],"position_m":[0.24320522561887836,-0.3601923007462161,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003444608482734364,0.0040890339043020115],"position_m":[0.34825539151726564,-0.12731096609569797,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004724031632220662,0.004556052137055909],"position_m":[0.3545759683677793,0.07895605213705591,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c578d578e042bcf556a58a936affd3518705ed7ad9ad82ce4184507df8967ebf","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0070.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_204/tex_ceiling_textures_245/tex_floor_textures_200/tex_table_textures_9280/tex_wall_textures_1541","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":9141693140388791631,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":9141693140388791631,"visual_seed":9141693140388791631,"scene_id":"lab_003","finished_at":"2026-09-04T21:33:06"}
+{"episode_id":"ep_000057","started_at":"2026-09-04T21:33:12","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[0.45988877807100237,-1.3702251352631958,0.71338606911949],"aabb_xy":[[0.4373923566371383,-1.3927251350699432],[0.4823851995048665,-1.3477251354564483]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[0.08864244156483492,1.7744713287595109,0.71338606911949],"aabb_xy":[[0.07601565427763857,1.764925255057938],[0.10126922885203127,1.7840174024610838]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[-0.5006415642338695,-0.9232279292834447,0.71338606911949],"aabb_xy":[[-0.5556347755710064,-0.9782279296222384],[-0.4456483528967329,-0.8682279289446512]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[0.5441355638205101,-1.8268684831731448,0.71338606911949],"aabb_xy":[[0.5091355655503901,-1.833942610868133],[0.5791355620906299,-1.8197943554781566]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_4","position":[-0.18370450394317706,-1.9889269707384942,0.71338606911949],"aabb_xy":[[-0.2013373395367046,-2.0065499167541168],[-0.16607166834964945,-1.971304024722871]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.10856124720737181,-1.389442266835007,0.71338606911949],"aabb_xy":[[-0.1310612472175201,-1.4035384864746103],[-0.08606124719722351,-1.3753460471954038]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[0.3980280403520353,-1.7361828146530054,0.71338606911949],"aabb_xy":[[0.38625985355737785,-1.8211828145582274],[0.4097962271466929,-1.6511828147477843]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_7","position":[0.15084245654912454,-1.8007002209339598,0.71338606911949],"aabb_xy":[[0.1133424560517663,-1.804668904482078],[0.18834245704648278,-1.7967315373858415]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[0.6081820984237487,0.5455301990090891,0.71338606911949],"aabb_xy":[[0.5281820962609862,0.4655750153829453],[0.6881821005865112,0.6254853826352326]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[-0.5981855743899418,-0.27895083068946835,0.71338606911949],"aabb_xy":[[-0.6356855729655625,-0.29168712635302624],[-0.5606855758143209,-0.26621453502591036]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[-0.5451956431470493,-1.1814890480543,0.71338606911949],"aabb_xy":[[-0.5676947788732764,-1.2039890488325629],[-0.5226965074208224,-1.158989047276037]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_11","position":[0.33305550496274705,1.128162108897297,0.71338606911949],"aabb_xy":[[0.29555550461451924,1.1163707133162135],[0.37055550531097475,1.1399535044783806]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_12","position":[0.15527995320482035,-1.6301475523906868,0.71338606911949],"aabb_xy":[[0.09127995677749845,-1.6773171762127832],[0.21927994963214226,-1.5829779285685903]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[0.09825083110020938,-2.5654793051233713,0.71338606911949],"aabb_xy":[[0.08849484159103548,-2.5752418391826057],[0.10800682060938326,-2.555716771064137]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[0.37899197778603444,-0.5803327363634478,0.71338606911949],"aabb_xy":[[0.3445296303878925,-0.6148266187612703],[0.41345432518417613,-0.5458388539656249]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[0.210254710788362,-1.1498792565372595,0.71338606911949],"aabb_xy":[[0.17985659968921838,-1.1802861585389288],[0.24065282188750556,-1.1194723545355898]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[-0.27435527714547875,0.4331208050047759,0.71338606911949],"aabb_xy":[[-0.3093552763382969,0.4221537590071132],[-0.23935527795266037,0.44408785100243847]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[-0.4270459223455472,1.110942592218453,0.71338606911949],"aabb_xy":[[-0.4520459222780652,1.1040599239975297],[-0.40204592241302944,1.1178252604393764]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_18","position":[-0.07443181710470936,0.8477741185088434,0.71338606911949],"aabb_xy":[[-0.13843182032334722,0.8010510066098351],[-0.01043181388607152,0.8944972304078518]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[0.5072190847513383,-1.707259743849948,0.71338606911949],"aabb_xy":[[0.4896407825623914,-1.724834233424053],[0.5247973869402851,-1.689685254275843]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[0.4782957099270506,-0.7222078513902828,0.71338606911949],"aabb_xy":[[0.4282964347586145,-0.77220785266623],[0.5282949850954868,-0.6722078501143357]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[-0.09681347624770997,-1.6297910648114846,0.71338606911949],"aabb_xy":[[-0.15180895406836936,-1.6847910662453913],[-0.04181799842705057,-1.5747910633775775]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[0.6327287335524869,-0.8865315455323557,0.71338606911949],"aabb_xy":[[0.6128376936721467,-0.8991873568170528],[0.6526197734328272,-0.8738757342476591]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[-0.592409055556948,-0.17293057986334848,0.71338606911949],"aabb_xy":[[-0.6564090558309262,-0.22299668006063644],[-0.5284090552829698,-0.12286447966606051]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[-0.30727276288312716,0.9639454878856304,0.71338606911949],"aabb_xy":[[-0.32977276269702954,0.9594708715151498],[-0.2847727630692248,0.9684201042561112]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668805824305807,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/367.png","name":"367"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/367.png","name":"367"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5487.png","name":"5487"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6783.png","name":"6783"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3233.png","name":"3233"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9622.png","name":"9622"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":848.843145230056,"rotation_z_degrees":68.95254614744127,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009553220158848874,0.013022990644465365,-0.019449256912382317]},{"name":"camera_2","offset_m":[0.0012068075598329342,0.010069300804843709,-0.005060212087062976]},{"name":"camera_3","offset_m":[0.009703240208905152,-0.0022939304775742124,-0.013743197381284142]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-5.125192458287661e-05,-0.000638847564838164,0.0015837222846332038],"end_effector_yaw_offset_degrees":-0.5689420059684773},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018045373555082142,-0.0010930242281446873,-0.0018605524501707836],"end_effector_yaw_offset_degrees":-0.6910965492058359},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001945827384890183,0.0012578734817081097,-0.0017192052843566096],"end_effector_yaw_offset_degrees":0.14807258637708287},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005941616410704213,-0.0014856273085487493,0.000801463376902472],"end_effector_yaw_offset_degrees":0.9813206687817271}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00150189150789801,0.002851161921294824],"position_m":[0.239501891507898,0.29645116192129484,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002723312786264677,0.004566841450721335],"position_m":[0.24132331278626468,-0.35523315854927867,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002489060393592123,-0.0010604999580064722],"position_m":[0.35418906039359216,-0.13246049995800646,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0004405184877319156,-0.003289896891359353],"position_m":[0.3597405184877319,0.07111010310864065,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5b20e8d2e6ef313cacf1d01a37b78370ceeb72f81d8228030e41c59b6397bd1c","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0071.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_367/tex_ceiling_textures_9622/tex_floor_textures_3233/tex_table_textures_5487/tex_wall_textures_6783","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":3883700751585165547,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":3883700751585165547,"visual_seed":3883700751585165547,"scene_id":"lab_003","finished_at":"2026-09-04T21:36:57"}
+{"episode_id":"ep_000058","started_at":"2026-09-04T21:37:01","dimensions":{"distractor":{"count":20,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[0.5132958881525151,-1.8461270021449447,0.71338606911949],"aabb_xy":[[0.5001446421812259,-1.8711270019016315],[0.5264471341238046,-1.8211270023882584]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[0.41519910718199804,-2.113436764236818,0.71338606911949],"aabb_xy":[[0.4091044792938798,-2.1220061587884866],[0.4212937350701164,-2.104867369685149]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[0.4232966211124767,-0.6360108970415921,0.71338606911949],"aabb_xy":[[0.38644607317548907,-0.6735108978646258],[0.4601471690494643,-0.5985108962185584]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_3","position":[-0.3264483606362922,-1.1197996821345553,0.71338606911949],"aabb_xy":[[-0.3964483640278541,-1.1551154558379861],[-0.25644835724473014,-1.0844839084311244]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[-0.12024747203880348,1.643314507718228,0.71338606911949],"aabb_xy":[[-0.20024746905305146,1.6231799560448166],[-0.04024747502455549,1.6634490593916391]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[0.5425561537734431,-0.5142293147432713,0.71338606911949],"aabb_xy":[[0.5249233181799156,-0.5318522607588942],[0.5601889893669707,-0.49660636872764835]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.29171657141176444,-1.7388777807756504,0.71338606911949],"aabb_xy":[[0.2567165714352686,-1.7483423968232668],[0.32671657138826027,-1.7294131647280335]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_7","position":[-0.49192561805098944,0.006617856009300649,0.71338606911949],"aabb_xy":[[-0.4979626310516542,0.0005911549403524444],[-0.4858886050503248,0.012644557078248856]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_8","position":[-0.2132162286076345,-0.3688896708300584,0.71338606911949],"aabb_xy":[[-0.23079453079658138,-0.3864641604041633],[-0.19563792641868769,-0.3513151812559535]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.056421829546960955,-1.6761000450056505,0.71338606911949],"aabb_xy":[[0.023960128665033494,-1.7062328771205526],[0.0888835304288884,-1.6459672128907474]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[-0.507885058887082,1.3609283770530896,0.71338606911949],"aabb_xy":[[-0.5578680090745612,1.310928377410529],[-0.45790210869960263,1.4109283766956497]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[-0.6029235379416525,1.5156647171889728,0.71338606911949],"aabb_xy":[[-0.6829235412056657,1.5021046848800594],[-0.5229235346776394,1.5292247494978861]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[0.1179255582644061,1.7334760031266474,0.71338606911949],"aabb_xy":[[0.04792555613297654,1.7107140375009513],[0.18792556039583563,1.7562379687523426]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[0.0007269977940123074,-0.7630637441944734,0.71338606911949],"aabb_xy":[[-0.01677300246532432,-0.7771552863832462],[0.018226998053348934,-0.7489722020057008]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[0.31071302144075297,0.4104230202164407,0.71338606911949],"aabb_xy":[[0.30108138522032335,0.40078570743673175],[0.3203446576611826,0.4200603329961496]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[-0.5641951472922307,1.0906723758449313,0.71338606911949],"aabb_xy":[[-0.6016951471092642,1.0860341645337894],[-0.5266951474751971,1.095310587156073]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[-0.40437336799108126,-1.4855962070020914,0.71338606911949],"aabb_xy":[[-0.4543683789505334,-1.535596206037683],[-0.3543783570316293,-1.4355962079664994]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.5992954718882255,-1.3130703862761732,0.71338606911949],"aabb_xy":[[0.5192954747286502,-1.3246179872339903],[0.6792954690478008,-1.3015227853183562]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[0.10431712840896279,1.0762033670316775,0.71338606911949],"aabb_xy":[[0.04431712856239599,1.0193847448386388],[0.16431712825552958,1.1330219892247162]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.21941461256732187,-1.3738736444772683,0.71338606911949],"aabb_xy":[[0.19486839694457114,-1.4041225410263052],[0.2439608281900726,-1.343624747928231]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6685716854058109,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5329.png","name":"5329"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5329.png","name":"5329"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6830.png","name":"6830"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5755.png","name":"5755"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4332.png","name":"4332"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2696.png","name":"2696"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":539.160183228473,"rotation_z_degrees":150.65935601167348,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0076486585599651324,-0.000729931890272071,0.013240055535614598]},{"name":"camera_2","offset_m":[-0.010152969976655043,0.017421674373323526,0.006675223160223346]},{"name":"camera_3","offset_m":[0.0016428549388529633,0.007788317131756092,0.008974355564872031]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00026537529760695946,-0.0005440917332843864,-1.734574066880948e-05],"end_effector_yaw_offset_degrees":-0.5885089262409136},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001816310272439567,0.0003003623253915143,0.000650382210843261],"end_effector_yaw_offset_degrees":-0.8319805850711401},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004274755545265094,0.0013269797031385125,-0.0007550457320203989],"end_effector_yaw_offset_degrees":0.4043461572849436},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014536074594381785,0.0018903125852761868,0.0007768206645599432],"end_effector_yaw_offset_degrees":-0.9527142567137343}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024489591247255638,0.0027896900225467362],"position_m":[0.24044895912472555,0.2963896900225468,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004971920477552826,0.004967982168742551],"position_m":[0.24357192047755283,-0.35483201783125745,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004091338035947591,0.00014270801718115327],"position_m":[0.3557913380359476,-0.13125729198281882,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002616228175754245,-0.0028639394475755086],"position_m":[0.35668377182424577,0.07153606055242448,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a147cd610a008b1ae9245a5739ebf95188fa46c62ba82afca08c43d08db0b1b3","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0072.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5329/tex_ceiling_textures_2696/tex_floor_textures_4332/tex_table_textures_6830/tex_wall_textures_5755","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":625835672933686746,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":625835672933686746,"visual_seed":625835672933686746,"scene_id":"lab_003","finished_at":"2026-09-04T21:41:00"}
+{"episode_id":"ep_000059","started_at":"2026-09-04T21:41:04","dimensions":{"distractor":{"count":26,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.6247448820436854,0.06605770966771507,0.71338606911949],"aabb_xy":[[-0.635650658131248,-0.013942286731114098],[-0.6138391059561226,0.14605770606654422]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[-0.212301440549356,0.9772392772131759,0.71338606911949],"aabb_xy":[[-0.3023014370502277,0.9313276347947176],[-0.12230144404848424,1.023150919631634]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[0.3247569141844575,-1.4858346947408783,0.71338606911949],"aabb_xy":[[0.316762925606754,-1.4938347748359686],[0.3327509027621608,-1.477834614645788]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_3","position":[0.21431395524463437,-1.3102045392710315,0.71338606911949],"aabb_xy":[[0.12431395156771616,-1.3716369458481354],[0.3043139589215525,-1.2487721326939267]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_4","position":[-0.17573311187507423,-1.5678140266526521,0.71338606911949],"aabb_xy":[[-0.217917526035905,-1.6318140269298633],[-0.13354869771424352,-1.503814026375441]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[0.008898292035112942,-1.5638092892195066,0.71338606911949],"aabb_xy":[[-0.00039532620203763975,-1.6013092877076405],[0.018191910272263523,-1.5263092907313727]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_6","position":[0.10842638247305303,-1.0249466125151034,0.71338606911949],"aabb_xy":[[0.04442638013025147,-1.069887463759236],[0.1724263848158546,-0.980005761270971]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[0.21803534892746312,1.2006085192590326,0.71338606911949],"aabb_xy":[[0.18755109880043294,1.1506085194775366],[0.24851959905449325,1.2506085190405285]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[-0.39742781613358763,-1.807402187694687,0.71338606911949],"aabb_xy":[[-0.4349278176492193,-1.8186289607108317],[-0.35992781461795587,-1.7961754146785416]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[-0.5801794209219027,1.4015453648646408,0.71338606911949],"aabb_xy":[[-0.5842953710339752,1.3974298098317948],[-0.5760634708098299,1.4056609198974859]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_10","position":[-0.5088731595757974,-0.23695315747419343,0.71338606911949],"aabb_xy":[[-0.5728731627944352,-0.2836762693732018],[-0.4448731563571595,-0.19023004557518508]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[0.22437729437717258,-2.5586037574824774,0.71338606911949],"aabb_xy":[[0.18937729524721691,-2.5643489785581415],[0.25937729350712824,-2.5528585364068133]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[0.42455741055183815,-1.1962572821038229,0.71338606911949],"aabb_xy":[[0.4158434415019036,-1.2187572827630109],[0.4332713796017726,-1.1737572814446344]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[-0.09625039794454737,-1.0464915111166464,0.71338606911949],"aabb_xy":[[-0.11292753393764288,-1.063191435090577],[-0.07957326195145187,-1.0297915871427163]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[-0.31106063829241454,-0.7760543836411691,0.71338606911949],"aabb_xy":[[-0.3910606352554537,-0.8531300252849425],[-0.23106064132937537,-0.6989787419973956]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[-0.18275384005799844,0.42976494561831124,0.71338606911949],"aabb_xy":[[-0.23272713406125886,0.3797649450637639],[-0.13278054605473796,0.4797649461728586]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_16","position":[0.48032765746685446,-0.09711313658815346,0.71338606911949],"aabb_xy":[[0.4428276588912337,-0.1098494322517114],[0.5178276560424753,-0.08437684092459552]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[0.24036465320381895,0.8606476581615254,0.71338606911949],"aabb_xy":[[0.23232129327786377,0.7756476570661589],[0.24840801312977412,0.9456476592568918]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[0.18153587407108362,1.5442776569654586,0.71338606911949],"aabb_xy":[[0.10153587081324064,1.4642811491734746],[0.2615358773289266,1.6242741647574426]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[0.1774269759149677,-1.7134100517072768,0.71338606911949],"aabb_xy":[[0.11242697327717421,-1.764889650406724],[0.24242697855276119,-1.66193045300783]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_20","position":[-0.44002991879318704,-0.4285519524730521,0.71338606911949],"aabb_xy":[[-0.4453624334478,-0.43387628071828777],[-0.43469740413857405,-0.42322762422781657]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[-0.3694677437744082,-1.5795986326846112,0.71338606911949],"aabb_xy":[[-0.3814004781362363,-1.5919807854924708],[-0.35753500941258015,-1.567216479876752]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_22","position":[0.33653740735565885,-1.8783476867421092,0.71338606911949],"aabb_xy":[[0.3102485830352182,-1.9046191203967602],[0.3628262316760995,-1.8520762530874577]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[0.5601590259598639,-2.1587089675577626,0.71338606911949],"aabb_xy":[[0.5525347578696856,-2.1663421910943064],[0.5677832940500421,-2.151075744021219]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_24","position":[-0.2765647609934365,1.3782686425628388,0.71338606911949],"aabb_xy":[[-0.28598223556329927,1.36885246542512],[-0.26714728642357377,1.387684819700558]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_25","position":[0.20030945271573652,-1.4950297327231419,0.71338606911949],"aabb_xy":[[0.18768266542854015,-1.5045758064247148],[0.21293624000293285,-1.485483659021569]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6631193397714447,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6823.png","name":"6823"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6823.png","name":"6823"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6298.png","name":"6298"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6348.png","name":"6348"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1359.png","name":"1359"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8064.png","name":"8064"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":576.9605377245244,"rotation_z_degrees":127.76812107228066,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0029647773002637982,0.00027237983955717693,0.010669374238936897]},{"name":"camera_2","offset_m":[-0.016291375813650394,0.015015252042134466,-0.011289375589083503]},{"name":"camera_3","offset_m":[0.01605917327804592,0.0006778735136346338,0.012977597535691079]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017537030047195348,0.0005012393433414452,0.00022121747108457858],"end_effector_yaw_offset_degrees":0.9626590706308928},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005924262988145803,-0.0009861023504316945,0.0010278913183457156],"end_effector_yaw_offset_degrees":0.5779242719127728},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001700800077444514,0.0011229368264763602,0.00018236194802242253],"end_effector_yaw_offset_degrees":-0.4377558549695302},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006307136765081674,-0.0005040553894103766,-0.0010022088572484073],"end_effector_yaw_offset_degrees":0.8484527544842408}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005424522796913947,0.0017101227976380872],"position_m":[0.23745754772030858,0.29531012279763813,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001629627175030388,0.004718754381547382],"position_m":[0.2369703728249696,-0.3550812456184526,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013279829788650868,-0.002938947795420488],"position_m":[0.3503720170211349,-0.13433894779542047,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003837834062733682,-0.0003995924679469978],"position_m":[0.3631378340627337,0.074000407532053,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"54af6e7946223a8676396f7bf94eaffed08850725b503d95efce77780c79e4ae","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0073.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6823/tex_ceiling_textures_8064/tex_floor_textures_1359/tex_table_textures_6298/tex_wall_textures_6348","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":4056909114939760010,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":4056909114939760010,"visual_seed":4056909114939760010,"scene_id":"lab_003","finished_at":"2026-09-04T21:44:57"}
+{"episode_id":"ep_000060","started_at":"2026-09-04T21:45:01","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[0.1914452811551567,-2.1021756203970567,0.71338606911949],"aabb_xy":[[0.12744527974716602,-2.1539645719209815],[0.25544528256314736,-2.050386668873132]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_1","position":[0.16919990220920178,-0.8591997685377815,0.71338606911949],"aabb_xy":[[0.14561477874530693,-0.9241997707832132],[0.19278502567309663,-0.7941997662923497]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_2","position":[-0.229426767574811,-1.1231574155080926,0.71338606911949],"aabb_xy":[[-0.2644267674708299,-1.1315316510200322],[-0.19442676767879216,-1.1147831799961525]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_3","position":[-0.4599575140045422,-2.4295270616127804,0.71338606911949],"aabb_xy":[[-0.4701105295586915,-2.4655966031855203],[-0.4498044984503927,-2.3934575200400396]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[0.47778571628342914,0.1387885005102194,0.71338606911949],"aabb_xy":[[0.4418722118584394,0.10287499229346478],[0.5136992207084188,0.17470200872697403]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[-0.27787891322865854,-1.5983798997060004,0.71338606911949],"aabb_xy":[[-0.31537891352083336,-1.6024213751066039],[-0.24037891293648372,-1.5943384243053969]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[-0.07647979716723186,0.7281178510260711,0.71338606911949],"aabb_xy":[[-0.08725277108859965,0.6931178528070321],[-0.06570682324586409,0.7631178492451101]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[-0.6401467402676377,-1.241971768057156,0.71338606911949],"aabb_xy":[[-0.6626467400815401,-1.2464463844276368],[-0.6176467404537354,-1.2374971516866753]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[-0.6325597189715153,-2.2553745939517666,0.71338606911949],"aabb_xy":[[-0.6671508018255604,-2.3203745942367973],[-0.59796863611747,-2.190374593666735]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[0.5265138453238041,1.5506390111202557,0.71338606911949],"aabb_xy":[[0.5192315289471402,1.4606390075107465],[0.5337961617004675,1.6406390147297645]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[-0.5156215334712004,1.234981657728834,0.71338606911949],"aabb_xy":[[-0.553121534986832,1.223754884712689],[-0.4781215319555686,1.246208430744979]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.09278175053110593,0.769042970938961,0.71338606911949],"aabb_xy":[[0.009059525031023474,0.6790429674042652],[0.1765039760311884,0.8590429744736571]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.37275834629380533,1.098663805531702,0.71338606911949],"aabb_xy":[[0.31763314066421455,1.0386638040904146],[0.4278835519233961,1.1586638069729889]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[-0.11222395369802396,0.9586586733339804,0.71338606911949],"aabb_xy":[[-0.12312972978558666,0.8786586769351511],[-0.10131817761046123,1.0386586697328095]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[-0.10991306368814069,1.5105030302223112,0.71338606911949],"aabb_xy":[[-0.11715682973438601,1.4305030320187087],[-0.10266929764189536,1.5905030284259134]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[0.4785356095047404,-0.5192116233738178,0.71338606911949],"aabb_xy":[[0.4420397888774616,-0.5556955658005753],[0.5150314301320191,-0.4827276809470602]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[-0.6173999186393451,-1.0364006547820632,0.71338606911949],"aabb_xy":[[-0.641913542736351,-1.0606652480840997],[-0.5928862945423393,-1.0121360614800268]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.6181566330981205,-2.1998452560360335,0.71338606911949],"aabb_xy":[[0.610895385527713,-2.212632266299543],[0.625417880668528,-2.187058245772524]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[0.6558652175076762,-2.0165623789021745,0.71338606911949],"aabb_xy":[[0.6258976605978507,-2.0465623792000605],[0.685832774417502,-1.9865623786042887]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[-0.1284771452329091,-0.11037080226287399,0.71338606911949],"aabb_xy":[[-0.18347262305356846,-0.16537080369678092],[-0.07348166741224968,-0.05537080082896706]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[-0.44885863947260163,-2.1823569683590325,0.71338606911949],"aabb_xy":[[-0.4558989494061387,-2.2623569677587043],[-0.4418183295390647,-2.1023569689593615]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[0.4897119281678728,-0.8215796706073117,0.71338606911949],"aabb_xy":[[0.4297119273070599,-0.873006100613798],[0.5497119290286855,-0.7701532406008252]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[-0.5148311401647472,1.4094630550564178,0.71338606911949],"aabb_xy":[[-0.569831139786493,1.354479362268945],[-0.45983114054300134,1.4644467478438905]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_23","position":[0.12675658577007176,-2.2802749606846655,0.71338606911949],"aabb_xy":[[0.11120081635980653,-2.2958253939290727],[0.14231235518033705,-2.2647245274402583]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_24","position":[-0.2728508252416339,-0.6222410167538213,0.71338606911949],"aabb_xy":[[-0.36253790154974935,-0.7122410170082718],[-0.18316374893351844,-0.5322410164993707]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_25","position":[-0.319626644030499,0.7722794390898429,0.71338606911949],"aabb_xy":[[-0.3696259191989352,0.7222794378138956],[-0.2696273688620629,0.8222794403657899]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_26","position":[-0.04321306135737202,-1.5871345815956643,0.71338606911949],"aabb_xy":[[-0.09321306000329321,-1.6370541252551267],[0.006786937288549184,-1.537215037936202]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_27","position":[0.33121545285595033,-0.8136139238123625,0.71338606911949],"aabb_xy":[[0.31798450732126904,-0.8268413428343618],[0.3444463983906316,-0.800386504790363]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_28","position":[0.03122698965205417,1.580814302804169,0.71338606911949],"aabb_xy":[[0.013433482717137731,1.5630145572083713],[0.04902049658697061,1.5986140483999667]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_29","position":[-0.44221331207829845,-1.328994168706894,0.71338606911949],"aabb_xy":[[-0.4654951542764298,-1.413994170004122],[-0.4189314698801671,-1.243994167409666]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_30","position":[-0.27024503136897615,1.397967701180277,0.71338606911949],"aabb_xy":[[-0.2803267384475496,1.317967703288162],[-0.2601633242904026,1.4779676990723913]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_31","position":[0.3977889241666539,1.5543384742318458,0.71338606911949],"aabb_xy":[[0.38028899073267053,1.536838474311611],[0.4152888576006373,1.5718384741520801]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_32","position":[-0.27115890206164805,1.592725853857099,0.71338606911949],"aabb_xy":[[-0.3011505647955184,1.5627258545202982],[-0.24116723932777773,1.6227258531938993]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.67150177785795,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5976.png","name":"5976"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5976.png","name":"5976"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7868.png","name":"7868"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2988.png","name":"2988"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2633.png","name":"2633"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/813.png","name":"813"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":520.86635998669,"rotation_z_degrees":306.68232869199994,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.000981388348234663,0.005592345500435789,0.007692651368559206]},{"name":"camera_2","offset_m":[-0.004411830640543105,0.01022724241249539,0.0020641161282723454]},{"name":"camera_3","offset_m":[-0.002537710693150931,-0.013529064910050095,-0.01693739930913054]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011989726971740598,-0.0016118553535549376,-0.001458656203696244],"end_effector_yaw_offset_degrees":-0.4011659206809455},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00015310674243344965,-0.0009184884957448816,-0.0017542863491720468],"end_effector_yaw_offset_degrees":0.6410566788287613},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015406479994713417,0.00024715351132762386,0.0019397105259238928],"end_effector_yaw_offset_degrees":0.7875699033082137},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001892898142584489,0.0008291526057094831,0.001290552954815258],"end_effector_yaw_offset_degrees":0.6003155104188487}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004092365678335071,0.0032246396342150213],"position_m":[0.23759076343216648,0.29682463963421507,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003498658838239411,-0.0028287563927477544],"position_m":[0.24209865883823942,-0.3626287563927478,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0048047317273954655,-0.0002955690814265442],"position_m":[0.3565047317273955,-0.13169556908142654,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001952809066301252,-0.003446320290412306],"position_m":[0.35734719093369877,0.07095367970958769,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"143e23b85c6a9233925543744fbf5564b09e0d136004948ce949da9d3a37f2be","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5976/tex_ceiling_textures_813/tex_floor_textures_2633/tex_table_textures_7868/tex_wall_textures_2988","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":3194940654954101597,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":3194940654954101597,"visual_seed":3194940654954101597,"scene_id":"lab_003","finished_at":"2026-09-04T21:48:53"}
+{"episode_id":"ep_000061","started_at":"2026-09-04T21:48:57","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[0.1889042282149832,0.5986947027088139,0.71338606911949],"aabb_xy":[[0.1808779575843572,0.5899432077314612],[0.1969304988456092,0.6074461976861665]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[-0.06423231520680117,-2.42207364831252,0.71338606911949],"aabb_xy":[[-0.12823231163412308,-2.4692432721346163],[-0.00023231877947926804,-2.3749040244904234]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_2","position":[0.4975188643672379,-0.9045342738648703,0.71338606911949],"aabb_xy":[[0.4910172278592333,-0.9143020958911803],[0.5040205008752425,-0.8947664518385607]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[0.035674292133157315,-0.9451143240121465,0.71338606911949],"aabb_xy":[[0.018127597217038383,-0.9826143255763977],[0.05322098704927625,-0.9076143224478952]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_4","position":[0.3498742075895678,-1.5701135023573374,0.71338606911949],"aabb_xy":[[0.3411762452988525,-1.5822384766648123],[0.35857216988028306,-1.5579885280498629]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[0.11022162866953833,1.63405709260994,0.71338606911949],"aabb_xy":[[0.09272162841020172,1.6199655504211679],[0.12772162892887498,1.648148634798713]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[-0.577697206324692,1.0328802864929378,0.71338606911949],"aabb_xy":[[-0.5857335410259769,1.0248421671885208],[-0.5696608716234072,1.0409184057973544]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_7","position":[-0.23599868864741924,-1.721480094708003,0.71338606911949],"aabb_xy":[[-0.2584986884613216,-1.725954711078484],[-0.2134986888335169,-1.7170054783375226]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[-0.4016773238376313,-0.8111782129614233,0.71338606911949],"aabb_xy":[[-0.4113089600580609,-0.8208155257411324],[-0.39204568761720165,-0.8015409001817145]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.45852947610116046,-2.166341767077789,0.71338606911949],"aabb_xy":[[0.40353626476402377,-2.2213417674165825],[0.5135226874382972,-2.1113417667389953]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.34834272894193985,0.6482181135418914,0.71338606911949],"aabb_xy":[[0.31084272883634695,0.6413959516889103],[0.38584272904753286,0.6550402753948725]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[0.6315138733762053,-2.0708374540797316,0.71338606911949],"aabb_xy":[[0.5665138748191325,-2.1005899874936147],[0.6965138719332782,-2.0410849206658495]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_12","position":[0.5179928684828854,1.6093212248351114,0.71338606911949],"aabb_xy":[[0.4579928676220724,1.5578947948286246],[0.577992869343698,1.6607476548415974]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.09629717941943561,-1.2132083160183813,0.71338606911949],"aabb_xy":[[-0.10333748935297263,-1.293208315418053],[-0.08925686948589863,-1.1332083166187101]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.4078572437358472,1.3653135812123658,0.71338606911949],"aabb_xy":[[0.37356033271810657,1.331016695002424],[0.4421541547535878,1.3996104674223067]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_15","position":[-0.5525369065699568,-1.098627340248132,0.71338606911949],"aabb_xy":[[-0.6325369045507419,-1.1062288812099836],[-0.4725369085891718,-1.0910257992862797]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_16","position":[0.1032024667417819,1.7898855686463837,0.71338606911949],"aabb_xy":[[0.09378499217191916,1.7804693915086647],[0.11261994131164466,1.7993017457841027]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[0.09341127172627828,-1.2587402286140839,0.71338606911949],"aabb_xy":[[0.07907684660011481,-1.2708004441686227],[0.10774569685244172,-1.246680013059545]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[-0.556095016530401,-0.6693270747788846,0.71338606911949],"aabb_xy":[[-0.6200907139254975,-0.7333270730795932],[-0.49209931913530436,-0.6053270764781759]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_19","position":[0.5765694226484093,-2.347533767162943,0.71338606911949],"aabb_xy":[[0.5415694234555909,-2.358500813160605],[0.6115694218412274,-2.33656672116528]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_20","position":[-0.65362130827145,-2.278736606276631,0.71338606911949],"aabb_xy":[[-0.6714148152063665,-2.2965363518724287],[-0.6358278013365336,-2.2609368606808333]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_21","position":[0.42030949620235325,0.3654074386410757,0.71338606911949],"aabb_xy":[[0.33530949778492997,0.2805331431787907],[0.5053094946197765,0.45028173410336064]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[-0.5765028562130243,-2.124148290133841,0.71338606911949],"aabb_xy":[[-0.62650285565322,-2.174116214618157],[-0.5265028567728287,-2.0741803656495246]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_23","position":[0.36404953280067565,-1.0464442815426094,0.71338606911949],"aabb_xy":[[0.3000495325266974,-1.0965103817398973],[0.4280495330746539,-0.9963781813453214]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[-0.2876190644250501,-1.4240119936581233,0.71338606911949],"aabb_xy":[[-0.377619063843421,-1.457387490502313],[-0.1976190650066792,-1.3906364968139335]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[-0.19831335821344315,-0.5058547886757712,0.71338606911949],"aabb_xy":[[-0.26831336085002944,-0.5259596536716366],[-0.12831335557685677,-0.48574992367990555]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_26","position":[-0.1634204750137045,1.185569185455456,0.71338606911949],"aabb_xy":[[-0.20021510813861076,1.1486633103588737],[-0.12662584188879822,1.2224750605520383]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_27","position":[-0.3147118940218729,1.0442453250668775,0.71338606911949],"aabb_xy":[[-0.3574786009012931,0.980245321645075],[-0.2719451871424527,1.10824532848868]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_28","position":[-0.5438184797279371,-2.3835041996037267,0.71338606911949],"aabb_xy":[[-0.5557512140897652,-2.395886352411586],[-0.5318857453661091,-2.3711220467958674]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_29","position":[0.5307093729229779,1.1629643366643991,0.71338606911949],"aabb_xy":[[0.47570937374638833,1.1079746618894413],[0.5857093720995673,1.2179540114393566]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6644976155902675,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5601.png","name":"5601"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5601.png","name":"5601"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9133.png","name":"9133"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4729.png","name":"4729"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6338.png","name":"6338"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7729.png","name":"7729"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":505.8757274499877,"rotation_z_degrees":257.0487097901042,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007032980244383596,0.010900270551920742,-0.01747832876430679]},{"name":"camera_2","offset_m":[0.01762195122415296,-0.016315609429756683,-0.018886363459263998]},{"name":"camera_3","offset_m":[0.001176903768167946,-0.01950984450438394,-0.016244036291642144]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000683647281283085,0.0014679906539600811,-0.001449616969689523],"end_effector_yaw_offset_degrees":0.2768158739728963},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00020205452627018077,-0.0006206169562566698,-0.0014533809056167062],"end_effector_yaw_offset_degrees":0.5334221417410911},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005332903213116507,-0.00011943657785520802,0.0004109632875576724],"end_effector_yaw_offset_degrees":0.7054456703557941},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012638693627774257,0.00029529699630913243,0.0015090278559120253],"end_effector_yaw_offset_degrees":0.6806737363461108}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004933555869885827,-0.0011777483386478738],"position_m":[0.23306644413011415,0.29242225166135216,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004817374223193064,-0.002791689124228415],"position_m":[0.23378262577680695,-0.3625916891242284,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017303363343783408,-0.0007258609627680233],"position_m":[0.34996966366562166,-0.13212586096276802,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014330556718624978,-0.004431863283147041],"position_m":[0.35786694432813754,0.06996813671685295,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c44a128088ebdb68836891cc31f9169b0242297d488065cd634f972677ba7ae7","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0075.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5601/tex_ceiling_textures_7729/tex_floor_textures_6338/tex_table_textures_9133/tex_wall_textures_4729","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":3756658640463232340,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":3756658640463232340,"visual_seed":3756658640463232340,"scene_id":"lab_003","finished_at":"2026-09-04T21:52:55"}
+{"episode_id":"ep_000062","started_at":"2026-09-04T21:52:59","dimensions":{"distractor":{"count":32,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[-0.3147288250187148,-1.2962089421192786,0.71338606911949],"aabb_xy":[[-0.3947288254889308,-1.304519649733627],[-0.23472882454849886,-1.2878982345049306]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[0.42230128372828424,1.3383065281281405,0.71338606911949],"aabb_xy":[[0.3724845042634495,1.2883065296438374],[0.472118063193119,1.3883065266124441]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[0.28707268548549303,0.776827974355927,0.71338606911949],"aabb_xy":[[0.24957268706209268,0.7636637603880964],[0.3245726839088934,0.7899921883237576]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[-0.4800750294737224,-0.09691549819508483,0.71338606911949],"aabb_xy":[[-0.5450750273553702,-0.1480391619016257],[-0.41507503159207465,-0.04579183448854395]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_4","position":[0.6376366559327664,1.3147227413779667,0.71338606911949],"aabb_xy":[[0.6257645729212653,1.2297227416843162],[0.6495087389442675,1.3997227410716169]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_5","position":[0.20722531743430883,-2.4844249118228787,0.71338606911949],"aabb_xy":[[0.19714361035573535,-2.564424909714993],[0.2173070245128823,-2.4044249139307636]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.13048617368163218,1.2116778172422693,0.71338606911949],"aabb_xy":[[-0.17548617514786102,1.1666779603807886],[-0.08548617221540332,1.25667767410375]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[0.14124436184375389,-2.136511622521095,0.71338606911949],"aabb_xy":[[0.1162443626781208,-2.1434638682264517],[0.16624436100938703,-2.1295593768157386]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[0.12539355040604794,-1.4643914112105323,0.71338606911949],"aabb_xy":[[0.11382456965911136,-1.489391411327464],[0.1369625311529845,-1.4393914110936006]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_9","position":[-0.311806377595705,-0.7322125975441001,0.71338606911949],"aabb_xy":[[-0.36178379446095854,-0.7822125990333485],[-0.26182896073045137,-0.6822125960548514]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_10","position":[-0.43980338049777806,-0.2396072895195962,0.71338606911949],"aabb_xy":[[-0.4439193306098506,-0.24372284455244167],[-0.4356874303857053,-0.23549173448675068]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[0.336015803147131,-0.7337466803639232,0.71338606911949],"aabb_xy":[[0.26601580133838554,-0.7551004491281106],[0.4060158049558764,-0.7123929115997358]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[0.35060740750888075,-1.9010741223923389,0.71338606911949],"aabb_xy":[[0.3330291053199339,-1.9186486119664439],[0.3681857096978276,-1.8834996328182338]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.7034298037468418,0.43300278928150426,0.71338606911949],"aabb_xy":[[0.6961685561764345,0.4202157790179949],[0.7106910513172494,0.44578979954501385]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_14","position":[0.11439446385108354,-1.027499675771966,0.71338606911949],"aabb_xy":[[0.05940125251394679,-1.0824996761107597],[0.1693876751882203,-0.9724996754331725]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[0.12238582789928731,1.350816187810382,0.71338606911949],"aabb_xy":[[0.11368786560857203,1.338691213502907],[0.1310837901900026,1.3629411621178564]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_16","position":[0.3003928735278958,0.6436441674826177,0.71338606911949],"aabb_xy":[[0.2363928728244265,0.5976257850096967],[0.3643928742313652,0.6896625499555387]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[-0.15361530125120682,-2.4880670224408172,0.71338606911949],"aabb_xy":[[-0.19111530106824037,-2.4927052337519586],[-0.11611530143417326,-2.483428811129675]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_18","position":[0.5676938788681922,-2.2076061575852846,0.71338606911949],"aabb_xy":[[0.5036938768184602,-2.2477006406745925],[0.6316938809179242,-2.1675116744959766]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[0.12778975591452424,0.7363945278804196,0.71338606911949],"aabb_xy":[[0.11737819723404053,0.731048794544521],[0.13820131459500795,0.741740261216318]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[-0.3650687286124025,-1.4099231952314888,0.71338606911949],"aabb_xy":[[-0.37940315373856603,-1.4219834107860276],[-0.35073430348623913,-1.39786297967695]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[0.6166556587462833,0.06985580963478988,0.71338606911949],"aabb_xy":[[0.5791556601706623,0.057119513971231946],[0.654155657321904,0.08259210529834782]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[0.5442633213949193,-2.4550898144587254,0.71338606911949],"aabb_xy":[[0.4842633205341063,-2.5065162444652116],[0.6042633222557319,-2.4036633844522384]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.18589708087429824,-1.1300706125091957,0.71338606911949],"aabb_xy":[[-0.19904832684558763,-1.1550706122658825],[-0.17274583490300888,-1.1050706127525094]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[-0.06294973232321133,-1.5501232134746703,0.71338606911949],"aabb_xy":[[-0.07582163582415145,-1.6301232138885065],[-0.05007782882227118,-1.4701232130608342]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_25","position":[-0.09191496848876302,1.5331787761847102,0.71338606911949],"aabb_xy":[[-0.1519149687401642,1.4788974511482453],[-0.03191496823736184,1.5874601012211746]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_26","position":[-0.13783218133735986,-1.9745685135539581,0.71338606911949],"aabb_xy":[[-0.1722946593504476,-1.9812321907368808],[-0.10336970332427206,-1.9679048363710354]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[-0.09447324352165731,0.6635527662466565,0.71338606911949],"aabb_xy":[[-0.10250957822294215,0.6555146469422397],[-0.08643690882037247,0.6715908855510733]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_28","position":[-0.607775587359888,-2.3406297768291675,0.71338606911949],"aabb_xy":[[-0.6118537452669377,-2.3447107570774306],[-0.6036974294528383,-2.3365487965809035]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_29","position":[0.26623928690369136,-1.2308901741224239,0.71338606911949],"aabb_xy":[[0.20223928773392144,-1.2776568612413863],[0.3302392860734613,-1.1841234870034614]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_30","position":[-0.6580288875117714,0.22610106149063336,0.71338606911949],"aabb_xy":[[-0.6880205502456417,0.1961010621538328],[-0.628037224777901,0.2561010608274339]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_31","position":[0.3035241952282064,-2.0777706793544164,0.71338606911949],"aabb_xy":[[0.2980662495911863,-2.1577706826620755],[0.30898214086522646,-1.9977706760467573]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6651598231335573,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2129.png","name":"2129"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2129.png","name":"2129"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/121.png","name":"121"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8554.png","name":"8554"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9658.png","name":"9658"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8088.png","name":"8088"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":600.2883010397018,"rotation_z_degrees":229.5098429660071,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017568913432322777,0.01760750180956915,0.010550174701438625]},{"name":"camera_2","offset_m":[-0.014086630058546783,0.01712576962284221,-0.011855369641937013]},{"name":"camera_3","offset_m":[-0.010848685784939973,0.012042209111118331,-0.0071095658613281685]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012836346624486342,0.0019305066249380035,-0.0012273512519860392],"end_effector_yaw_offset_degrees":-0.1641636081385307},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001393726474828902,0.0010760060361095056,8.935783569878099e-06],"end_effector_yaw_offset_degrees":0.6486612856043719},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006104024769133063,-0.0014423712043752364,0.0009136767358760545],"end_effector_yaw_offset_degrees":-0.15232679584941589},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00015415462285171691,-0.0013360119272614176,-0.0007176450863570394],"end_effector_yaw_offset_degrees":0.26103439167274045}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003529803166927338,-0.003039621587316056],"position_m":[0.23447019683307266,0.29056037841268395,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005255360203142963,0.0043081738764602215],"position_m":[0.2391255360203143,-0.3554918261235398,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025443523864362104,-0.0019574186087453894],"position_m":[0.3491556476135638,-0.13335741860874537,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003859931610549815,-0.004594234463422811],"position_m":[0.3631599316105498,0.06980576553657718,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b05d0938ba74eecbee6f6d442f6500d603091411c5207a083586377feaf11312","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_2129/tex_ceiling_textures_8088/tex_floor_textures_9658/tex_table_textures_121/tex_wall_textures_8554","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":2723639761125937492,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":2723639761125937492,"visual_seed":2723639761125937492,"scene_id":"lab_003","finished_at":"2026-09-04T21:56:56"}
+{"episode_id":"ep_000063","started_at":"2026-09-04T21:57:00","dimensions":{"distractor":{"count":32,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.6190686881302494,-0.18038313976260634,0.71338606911949],"aabb_xy":[[0.5290686857962303,-0.257865494347719],[0.7090686904642685,-0.10290078517749365]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[-0.5334318249325951,-1.419869546693869,0.71338606911949],"aabb_xy":[[-0.5874474212144951,-1.4838695495861258],[-0.4794162286506951,-1.3558695438016115]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.6515883617332808,-1.564756301563938,0.71338606911949],"aabb_xy":[[-0.6740883622453214,-1.5872481599293362],[-0.6290883612212402,-1.5422644431985395]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[-0.21571947747808567,-2.077962915298163,0.71338606911949],"aabb_xy":[[-0.22203157701442408,-2.0837298545513816],[-0.2094073779417472,-2.072195976044944]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_4","position":[-0.1001563035735481,1.5374911106388667,0.71338606911949],"aabb_xy":[[-0.14997308303838286,1.487491112154563],[-0.05033952410871333,1.5874911091231698]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[0.6963697620525793,1.5465017114035011,0.71338606911949],"aabb_xy":[[0.6738733406187152,1.5240017115967535],[0.7188661834864434,1.5690017112102483]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[-0.14216332133680987,-0.9286299380174052,0.71338606911949],"aabb_xy":[[-0.17716331960692977,-0.9357040657123933],[-0.10716332306668996,-0.921555810322417]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[-0.06042527630356165,-0.7264905329955369,0.71338606911949],"aabb_xy":[[-0.12442527668109526,-0.7762357998463492],[0.003574724073971962,-0.6767452661447246]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_8","position":[0.33420895327574573,0.9527628652709783,0.71338606911949],"aabb_xy":[[0.2642089514670003,0.931409096506791],[0.4042089550844912,0.9741166340351658]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[-0.4093030147192417,-2.3845303920950087,0.71338606911949],"aabb_xy":[[-0.4693030145658084,-2.441349014288047],[-0.34930301487267484,-2.3277117699019696]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[-0.536786354040522,0.23729419199360757,0.71338606911949],"aabb_xy":[[-0.5867863550596573,0.20082797625577967],[-0.48678635302138673,0.2737604077314355]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[0.44014401897438615,-1.871933521904806,0.71338606911949],"aabb_xy":[[0.3761440157557483,-1.9186566338038147],[0.504144022193024,-1.825210410005798]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[-0.5737120644767341,1.481744449115903,0.71338606911949],"aabb_xy":[[-0.5819266095924179,1.4730678588182613],[-0.56549751936105,1.490421039413544]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[-0.16391050619127456,-1.1215211342679205,0.71338606911949],"aabb_xy":[[-0.24763273169135702,-1.2115211378026165],[-0.0801882806911921,-1.0315211307332246]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[0.5235538739957168,-0.5589063104136058,0.71338606911949],"aabb_xy":[[0.4435538737221099,-0.6318558582393224],[0.6035538742693238,-0.48595676258788906]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[-0.031130787867699627,-1.9230624802068985,0.71338606911949],"aabb_xy":[[-0.045774193421732605,-1.9377211998636827],[-0.016487382313666636,-1.9084037605501143]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[0.3155956717470485,0.8530331476999566,0.71338606911949],"aabb_xy":[[0.2851975606479048,0.822626245698287],[0.345993782846192,0.883440049701626]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[0.5107212174642812,1.4001023960661985,0.71338606911949],"aabb_xy":[[0.5046842044636165,1.3940756949972504],[0.516758230464946,1.4061290971351466]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[-0.5183721561431314,1.5989154842401967,0.71338606911949],"aabb_xy":[[-0.5733653674802681,1.5439154839014033],[-0.4633789448059946,1.6539154845789905]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_19","position":[-0.43068970638697446,-0.6403788023741857,0.71338606911949],"aabb_xy":[[-0.49468970872977597,-0.685319653618318],[-0.36668970404417284,-0.595437951130053]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[-0.4706413611492084,-2.0545540910375486,0.71338606911949],"aabb_xy":[[-0.477682812099956,-2.061580842775343],[-0.4635999101984608,-2.047527339299754]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[-0.6541070537856715,1.197791755356861,0.71338606911949],"aabb_xy":[[-0.6646745334437704,1.1872467252438526],[-0.6435395741275723,1.2083367854698697]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.47792310659803977,1.2071494094715534,0.71338606911949],"aabb_xy":[[-0.4954230400320231,1.1896494095513186],[-0.46042317316405634,1.2246494093917877]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_23","position":[-0.3313096878963383,-1.6896117798413868,0.71338606911949],"aabb_xy":[[-0.3491787956507938,-1.703444687818598],[-0.3134405801418828,-1.675778871864176]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_24","position":[-0.19129535294776845,-0.3622220198132169,0.71338606911949],"aabb_xy":[[-0.21376012291917357,-0.3847220206920774],[-0.16883058297636333,-0.3397220189343564]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[0.21033916895921945,-1.5186521837582319,0.71338606911949],"aabb_xy":[[0.13033916569520634,-1.532212216067145],[0.2903391722232326,-1.5050921514493183]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_26","position":[-0.1507818894743903,0.8500600911428791,0.71338606911949],"aabb_xy":[[-0.23078189273223326,0.770063583350895],[-0.07078188621654735,0.9300565989348629]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_27","position":[-0.10875288850882037,-1.6275982395234263,0.71338606911949],"aabb_xy":[[-0.13989980735240348,-1.697598238210233],[-0.07760596966523724,-1.5575982408366187]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_28","position":[-0.5030838816908006,-2.16086061659691,0.71338606911949],"aabb_xy":[[-0.5670838808605706,-2.207627303715872],[-0.43908388252103075,-2.114093929477947]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_29","position":[-0.5531564738039616,1.021205074006971,0.71338606911949],"aabb_xy":[[-0.6431564735271357,0.998131721471791],[-0.46315647408078736,1.0442784265421505]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_30","position":[-0.0988752230166533,-2.2157333435712236,0.71338606911949],"aabb_xy":[[-0.10765645016388956,-2.2245130908597543],[-0.09009399586941709,-2.206953596282694]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_31","position":[-0.21955472812894788,-2.5378387310699853,0.71338606911949],"aabb_xy":[[-0.2995547251431958,-2.5579732827433963],[-0.13955473111469988,-2.517704179396574]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663007127640101,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3420.png","name":"3420"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3420.png","name":"3420"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6789.png","name":"6789"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8509.png","name":"8509"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1031.png","name":"1031"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7442.png","name":"7442"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":671.1372610295459,"rotation_z_degrees":243.34701735197163,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013927340393643291,0.01674052262495614,0.01522745919583757]},{"name":"camera_2","offset_m":[-0.014195634755278182,-0.007829285657103289,-0.015882744538982637]},{"name":"camera_3","offset_m":[0.007981010843361197,-0.0038536287696780656,0.013229113492084988]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006824776949226892,-0.00011976309246704503,-0.000597297231629101],"end_effector_yaw_offset_degrees":0.3713321831616174},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006364774280603763,-0.0013336749533214834,0.0010285147316031347],"end_effector_yaw_offset_degrees":0.3517338929517817},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006911534545240663,-0.0005989154363773067,0.0002602359205643814],"end_effector_yaw_offset_degrees":0.822606795520527},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-5.547847449898142e-05,-0.0006904191750091698,-0.0008007690427647457],"end_effector_yaw_offset_degrees":-0.5700748372415203}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004387817865690461,-0.0028484223657224716],"position_m":[0.23756121821343093,0.29075157763427756,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020458755655242624,0.004272321089449377],"position_m":[0.23655412443447574,-0.35552767891055065,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008707636397647491,-6.262996671230463e-05],"position_m":[0.35257076363976475,-0.1314626299667123,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036498392358255208,0.004902172577462729],"position_m":[0.3556501607641745,0.07930217257746272,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7e5463eff4047d1ca58ad39a3a9649e97ae6c425252b47480fdab9d6399d73ff","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0077.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3420/tex_ceiling_textures_7442/tex_floor_textures_1031/tex_table_textures_6789/tex_wall_textures_8509","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":6447936856757459426,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":6447936856757459426,"visual_seed":6447936856757459426,"scene_id":"lab_003","finished_at":"2026-09-04T22:00:54"}
+{"episode_id":"ep_000064","started_at":"2026-09-04T22:03:52","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[0.5531182465041538,-0.617441659565714,0.71338606911949],"aabb_xy":[[0.4931182459081376,-0.6722541321109373],[0.6131182471001699,-0.5626291870204904]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[-0.24661598601425566,0.5125772595940594,0.71338606911949],"aabb_xy":[[-0.3116159869713828,0.4606290476603538],[-0.18161598505712845,0.5645254715277649]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.33680796414151765,-0.6364879472712321,0.71338606911949],"aabb_xy":[[-0.40080796272809005,-0.6834949106707408],[-0.27280796555494513,-0.5894809838717233]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[0.06385241350163706,-1.0446203924856523,0.71338606911949],"aabb_xy":[[0.0138524124825018,-1.0810866082234802],[0.11385241452077235,-1.0081541767478244]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_4","position":[-0.6213621760563129,-0.2550442564735147,0.71338606911949],"aabb_xy":[[-0.6763621742580578,-0.29556622309995223],[-0.5663621778545681,-0.21452228984707708]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.5690590432854946,-0.5137558368066477,0.71338606911949],"aabb_xy":[[-0.5837024488395275,-0.5284145564634318],[-0.5544156377314615,-0.4990971171498633]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[0.1964391259610776,-2.273616744477288,0.71338606911949],"aabb_xy":[[0.10675204965296212,-2.3636167447317384],[0.28612620226919305,-2.1836167442228374]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[0.20054864723508448,-1.7422606613745937,0.71338606911949],"aabb_xy":[[0.18304864795699757,-1.7595987614409396],[0.21804864651317132,-1.7249225613082477]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[-0.11292760693807735,-0.020790122130044608,0.71338606911949],"aabb_xy":[[-0.13544129876153455,-0.09079012273105214],[-0.09041391511462016,0.04920987847096292]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.07795211747304587,-2.231740075181034,0.71338606911949],"aabb_xy":[[-0.12795211611896706,-2.281659618840496],[-0.027952118827124672,-2.1818205315215713]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[0.510214562518422,-1.457638771058899,0.71338606911949],"aabb_xy":[[0.4402145607096766,-1.4789925398230863],[0.5802145643271674,-1.4362850022947116]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[0.4662279242236642,1.1847711335855933,0.71338606911949],"aabb_xy":[[0.45067215481339895,1.169220700341186],[0.4817836936339295,1.2003215668300005]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[-0.26941521833524096,0.16207046253688073,0.71338606911949],"aabb_xy":[[-0.30441521746519656,0.15632524146121662],[-0.23441521920528524,0.16781568361254484]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[-0.34949524385130204,0.8380829309808511,0.71338606911949],"aabb_xy":[[-0.36707354604024883,0.8205084414067463],[-0.33191694166235514,0.8556574205549561]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[-0.5926044705177856,-2.314891094328603,0.71338606911949],"aabb_xy":[[-0.60131843956772,-2.3373910949877903],[-0.583890501467851,-2.292391093669414]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[-0.3417036724899741,1.2790521596704751,0.71338606911949],"aabb_xy":[[-0.3498173271633511,1.270946343216446],[-0.3335900178165969,1.2871579761245042]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[-0.503487291943205,-1.1684470058623442,0.71338606911949],"aabb_xy":[[-0.5237715946666036,-1.1887296310050528],[-0.48320298921980614,-1.1481643807196351]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[0.3627625622888613,-1.7003447408309185,0.71338606911949],"aabb_xy":[[0.3277625623928424,-1.708718976342858],[0.39776256218488015,-1.6919705053189784]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_18","position":[0.6361510492888227,-1.7129699467131196,0.71338606911949],"aabb_xy":[[0.5861510479279354,-1.7629478512885353],[0.6861510506497098,-1.662992042137704]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[0.08250663715649587,1.6468063872406495,0.71338606911949],"aabb_xy":[[0.03250663758016116,1.5968258082885438],[0.13250663673283058,1.6967869661927557]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[0.4253650972522447,-0.4097618087906514,0.71338606911949],"aabb_xy":[[0.3703650976304989,-0.46474550157812416],[0.4803650968739906,-0.3547781160031787]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[0.6223840064287245,0.27544097464644013,0.71338606911949],"aabb_xy":[[0.5937346740683082,0.24679541536936428],[0.6510333387891406,0.30408653392351587]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[-0.33195055585251493,1.0924589746726463,0.71338606911949],"aabb_xy":[[-0.421950558186534,1.0149766200875336],[-0.24195055351849587,1.169941329257759]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[0.3379492116818035,1.7295301213174334,0.71338606911949],"aabb_xy":[[0.2729492138001557,1.6784064576108928],[0.4029492095634513,1.7806537850239745]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[0.4327223560185103,-2.276219816512382,0.71338606911949],"aabb_xy":[[0.3727223551576974,-2.3276462465188676],[0.49272235687932303,-2.2247933865058953]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6704400532420012,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5452.png","name":"5452"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5452.png","name":"5452"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1115.png","name":"1115"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6770.png","name":"6770"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1886.png","name":"1886"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8201.png","name":"8201"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":523.365259118439,"rotation_z_degrees":25.58457112845523,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0051742730398177846,-0.003543267666906883,-0.017783956621175545]},{"name":"camera_2","offset_m":[0.0018854687619566553,-0.006904745100996755,0.019382894716173393]},{"name":"camera_3","offset_m":[0.016641094134904725,-0.013319104862599983,-0.0023395862048114294]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018407008688896527,-0.00038966838462129155,-0.0008016324154208473],"end_effector_yaw_offset_degrees":-0.6008995330094884},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001353714280293713,0.0005985028446378925,-0.0002058167791506528],"end_effector_yaw_offset_degrees":-0.29764563137315636},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002050014785070645,0.001601549963986833,0.0007853997343682966],"end_effector_yaw_offset_degrees":-0.2675950786601027},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009523378547175243,0.0005768540869938938,0.0018575414370658383],"end_effector_yaw_offset_degrees":-0.5901067873021277}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016314533595019514,0.004059558354355545],"position_m":[0.23963145335950195,0.2976595583543556,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013499120923408502,-0.004204105089317558],"position_m":[0.23994991209234084,-0.3640041050893176,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015455479620937853,0.0009119510871109541],"position_m":[0.3532455479620938,-0.13048804891288904,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004197689298899837,-0.0017164967413495391],"position_m":[0.36349768929889986,0.07268350325865046,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"37ba6f9f882323f943824bc24b50251bf086339234db3535931bc575a9409ea2","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5452/tex_ceiling_textures_8201/tex_floor_textures_1886/tex_table_textures_1115/tex_wall_textures_6770","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":941929653648833044,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":941929653648833044,"visual_seed":941929653648833044,"scene_id":"lab_003","finished_at":"2026-09-04T22:07:44"}
+{"episode_id":"ep_000065","started_at":"2026-09-04T22:07:48","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[-0.6375408419840087,1.5586355369640459,0.71338606911949],"aabb_xy":[[-0.6925408411605981,1.5036458621890885],[-0.5825408428074191,1.6136252117390038]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[0.21135761012293663,-1.3288789850048448,0.71338606911949],"aabb_xy":[[0.1970231849967732,-1.3409392005593839],[0.22569203524910011,-1.3168187694503062]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[-0.4853227572731565,-2.010990361300065,0.71338606911949],"aabb_xy":[[-0.49065527192776953,-2.016314689545301],[-0.47999024261854356,-2.0056660330548293]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_3","position":[-0.24830697145798958,0.17759263856639995,0.71338606911949],"aabb_xy":[[-0.2858069715635825,0.1707704767134188],[-0.2108069713523966,0.18441480041938105]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[-0.0060325366555082915,1.0134969131470473,0.71338606911949],"aabb_xy":[[-0.012127164543626612,1.0049275185953785],[6.209123261002782e-05,1.022066307698716]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[-0.13503906706079005,-1.6653160541206398,0.71338606911949],"aabb_xy":[[-0.20503906919221954,-1.6880780197463352],[-0.06503906492936046,-1.6425540884949439]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.2855864367529223,-0.7415912315069151,0.71338606911949],"aabb_xy":[[0.2747459585264074,-0.7587775127975638],[0.2964269149794372,-0.7244049502162662]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[0.5816858558471947,0.8437286033423601,0.71338606911949],"aabb_xy":[[0.5166858576912756,0.817432358792448],[0.6466858540031137,0.8700248478922724]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[0.5910899510265115,-0.7488706363563866,0.71338606911949],"aabb_xy":[[0.5567930400087708,-0.7831675225663277],[0.625386862044252,-0.7145737501464451]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[-0.6036046000136557,-2.158817047471274,0.71338606911949],"aabb_xy":[[-0.6196665274721732,-2.2438170492838654],[-0.5875426725551379,-2.0738170456586817]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[0.20167515361768196,-1.8237854747894313,0.71338606911949],"aabb_xy":[[0.13767515432351374,-1.8877716151582853],[0.2656751529118502,-1.759799334420577]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_11","position":[0.3727681557347069,-1.3657622748599083,0.71338606911949],"aabb_xy":[[0.3688542825392844,-1.3745112902664653],[0.3766820289301294,-1.3570132594533517]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_12","position":[-0.14354096534890137,-2.1063132495566936,0.71338606911949],"aabb_xy":[[-0.1718706752974416,-2.1107739917504107],[-0.11521125540036115,-2.1018525073629766]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[0.6396801530000435,0.5329072725613209,0.71338606911949],"aabb_xy":[[0.5846869416629069,0.4779072722225274],[0.6946733643371804,0.5879072729001146]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[0.13788516367292425,0.6146726299688128,0.71338606911949],"aabb_xy":[[0.08788516201142947,0.5646741877131101],[0.18788516533441899,0.6646710722245155]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.28489499671321794,1.5352587586602877,0.71338606911949],"aabb_xy":[[-0.31935734411135963,1.5007648762624648],[-0.25043264931507603,1.5697526410581102]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_16","position":[-0.6421764732303181,-2.514163581262196,0.71338606911949],"aabb_xy":[[-0.6596764723646852,-2.5240432082997835],[-0.6246764740959508,-2.504283954224608]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_17","position":[-0.2952671145622399,-1.8477806510561328,0.71338606911949],"aabb_xy":[[-0.35926711624023727,-1.8962980425354468],[-0.23126711288424256,-1.7992632595768183]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.29794208825419605,-1.052012182669144,0.71338606911949],"aabb_xy":[[-0.3204420877779034,-1.0745081301197643],[-0.2754420887304886,-1.0295162352185228]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[0.44222422236436554,-1.3061404463271202,0.71338606911949],"aabb_xy":[[0.43352626007365025,-1.318265420634595],[0.4509221846550808,-1.2940154720196455]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[-0.6559764269963285,-0.11572548065694921,0.71338606911949],"aabb_xy":[[-0.673845534750784,-0.12955838863416014],[-0.638107319241873,-0.10189257267973827]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[-0.2752998768808977,-0.48534423887341305,0.71338606911949],"aabb_xy":[[-0.3552998771545046,-0.5582937866991298],[-0.19529987660729067,-0.4123946910476963]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_22","position":[0.4623766869932837,1.6484077718818093,0.71338606911949],"aabb_xy":[[0.4448766877151969,1.6310696718154631],[0.47987668627137064,1.665745871948155]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[0.3309740511967514,-0.586919360882352,0.71338606911949],"aabb_xy":[[0.3090843036078106,-0.676919358171601],[0.3528637987856922,-0.4969193635931028]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[0.46940746391096666,-0.3881624630697784,0.71338606911949],"aabb_xy":[[0.42815865288105187,-0.4431624625819958],[0.5106562749408813,-0.3331624635575609]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[-0.6093925339604022,-0.9402451881303362,0.71338606911949],"aabb_xy":[[-0.6468925354760339,-0.9514719611464812],[-0.5718925324447705,-0.9290184151141911]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[0.47386771760450364,-2.1190194699039533,0.71338606911949],"aabb_xy":[[0.43886771933438373,-2.126093597598941],[0.5088677158746235,-2.1119453422089647]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_27","position":[0.19305287963775486,0.795938962851853,0.71338606911949],"aabb_xy":[[0.18674078010141643,0.7901720235986343],[0.1993649791740933,0.8017059021050719]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_28","position":[0.10815416411192513,-2.1061957113351806,0.71338606911949],"aabb_xy":[[0.0859816371352743,-2.128371378491303],[0.13032669108857597,-2.084020044179057]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_29","position":[0.17790284180134563,-0.9843976161624732,0.71338606911949],"aabb_xy":[[0.15290284224960715,-0.9945401000276077],[0.20290284135308412,-0.9742551322973383]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_30","position":[-0.0061837956815744555,-0.7625084647632088,0.71338606911949],"aabb_xy":[[-0.028683795691722747,-0.7766046844028122],[0.016316204328573836,-0.7484122451236056]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_31","position":[0.5866075991466579,-0.3375091384396298,0.71338606911949],"aabb_xy":[[0.5689319685580595,-0.3551893547190325],[0.6042832297352562,-0.319828922160227]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_32","position":[-0.24473785239983648,0.479542708064018,0.71338606911949],"aabb_xy":[[-0.2822378526920113,0.4755012326634144],[-0.20723785210766166,0.4835841834646216]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6656686297592397,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6137.png","name":"6137"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6137.png","name":"6137"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5862.png","name":"5862"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9940.png","name":"9940"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1603.png","name":"1603"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2524.png","name":"2524"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":655.9017370010419,"rotation_z_degrees":215.17344410341673,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00558659132031274,0.0031429230786942583,-0.008271497930174001]},{"name":"camera_2","offset_m":[-0.0038942107873304044,-0.017673842922119203,-0.018935979043621657]},{"name":"camera_3","offset_m":[-0.014983344699709149,-0.016954646676108315,-0.017058820119903177]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009820053773132442,-0.0006758561176599201,-0.0008270485776084994],"end_effector_yaw_offset_degrees":-0.6607673492645076},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00022896267835984083,-0.0016842961026257758,-0.0016080102666218843],"end_effector_yaw_offset_degrees":0.9749158919876415},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006634808360595548,-0.0009475779094161138,-0.0010207968089520892],"end_effector_yaw_offset_degrees":-0.27370638435851613},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019271434811921452,-0.0014120597121861124,-0.0018436494151382369],"end_effector_yaw_offset_degrees":0.8824505615390978}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004943145731354281,-0.0013878681262870264],"position_m":[0.24294314573135428,0.292212131873713,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035658733981925993,-0.0030154043140027654],"position_m":[0.23503412660180742,-0.3628154043140028,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003309676912571017,-0.0008106683570052019],"position_m":[0.355009676912571,-0.13221066835700518,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006450583265186251,-0.004178484804688246],"position_m":[0.3586549416734814,0.07022151519531175,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"60162bf3414ae53528fa70539c35d0d59b353efd128466da438296e668015dff","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_6137/tex_ceiling_textures_2524/tex_floor_textures_1603/tex_table_textures_5862/tex_wall_textures_9940","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":5209402044279688825,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":5209402044279688825,"visual_seed":5209402044279688825,"scene_id":"lab_003","finished_at":"2026-09-04T22:11:52"}
+{"episode_id":"ep_000066","started_at":"2026-09-04T22:11:55","dimensions":{"distractor":{"count":20,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[-0.30698768811651117,0.23731254573705973,0.71338606911949],"aabb_xy":[[-0.3353173980650514,0.23285180354334267],[-0.27865797816797094,0.2417732879307768]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[-0.2932351128134933,-0.6206088812822961,0.71338606911949],"aabb_xy":[[-0.299272125814158,-0.6266355823512443],[-0.28719809981282857,-0.6145821802133479]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[0.6503714634388054,0.29948419848214325,0.71338606911949],"aabb_xy":[[0.6314870796702952,0.28059827370179047],[0.6692558472073156,0.31837012326249603]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_3","position":[-0.15522594269742473,-2.236669014953881,0.71338606911949],"aabb_xy":[[-0.18521760543129503,-2.2666690142906813],[-0.12523427996355438,-2.2066690156170803]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[0.5253879514704229,-2.006330794733889,0.71338606911949],"aabb_xy":[[0.4801093365892737,-2.0703307940820728],[0.5706665663515722,-1.9423307953857054]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_5","position":[-0.5359840397994008,-0.11915223858757207,0.71338606911949],"aabb_xy":[[-0.6159840430572436,-0.19914874637955604],[-0.4559840365415577,-0.039155730795588095]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_6","position":[-0.46940937403548155,-0.8748774368333634,0.71338606911949],"aabb_xy":[[-0.47753706222879483,-0.8837910452440709],[-0.4612816858421684,-0.8659638284226556]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[0.47311329469889896,-2.280059948627757,0.71338606911949],"aabb_xy":[[0.43561329452702696,-2.3127606840106636],[0.5106132948707709,-2.247359213244849]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[0.05869549803798635,-0.8409842875438884,0.71338606911949],"aabb_xy":[[0.05260087014986803,-0.8495536820955573],[0.06479012592610467,-0.8324148929922198]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_9","position":[-0.5607569539107875,-1.442946206618217,0.71338606911949],"aabb_xy":[[-0.6247569511964363,-1.484452925571061],[-0.49675695662513897,-1.401439487665373]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[-0.5697428223885135,-2.4653795114067845,0.71338606911949],"aabb_xy":[[-0.6497428245512759,-2.545334695032928],[-0.4897428202257509,-2.385424327780641]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[0.14723932025070763,-1.519821400072367,0.71338606911949],"aabb_xy":[[0.08323932385513452,-1.5837846884911007],[0.21123931664628068,-1.4558581116536335]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_12","position":[-0.4813214152519196,1.609610041539399,0.71338606911949],"aabb_xy":[[-0.5453214174723267,1.5652369574141107],[-0.41732141303151254,1.6539831256646873]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_13","position":[0.13231439066605755,-0.9051584635505294,0.71338606911949],"aabb_xy":[[0.10731439073353966,-0.9120411317714529],[0.15731439059857544,-0.8982757953296062]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.40730396416245185,1.6095694018904427,0.71338606911949],"aabb_xy":[[0.37300705314471116,1.5752725156805012],[0.4416008751801924,1.6438662881003838]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[0.5283781042591069,1.374521839005499,0.71338606911949],"aabb_xy":[[0.46437810096939874,1.3311869200015813],[0.5923781075488149,1.4178567580094166]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_16","position":[-0.3800754223008259,-1.8917819944593242,0.71338606911949],"aabb_xy":[[-0.4440754255194638,-1.9385051063583327],[-0.31607541908218806,-1.845058882560316]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_17","position":[0.10018177100705916,0.6758436309715496,0.71338606911949],"aabb_xy":[[0.07518177184142605,0.6688913852661932],[0.12518177017269227,0.6827958766769063]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[-0.6569689565885987,-1.9812922983494126,0.71338606911949],"aabb_xy":[[-0.672141125870232,-1.9964611552776157],[-0.6417967873069653,-1.966123441421209]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[0.0810400125066344,-1.3573125271466526,0.71338606911949],"aabb_xy":[[0.07570243684062984,-1.3823125280757924],[0.08637758817263898,-1.3323125262175128]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646431633624649,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1897.png","name":"1897"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1897.png","name":"1897"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6321.png","name":"6321"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/944.png","name":"944"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9506.png","name":"9506"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2221.png","name":"2221"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":837.5785179653656,"rotation_z_degrees":84.18030840359546,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012544550623552215,0.004061173761264029,0.015427686293191422]},{"name":"camera_2","offset_m":[0.0017228934333360958,0.014464003213874106,-0.01620230812190474]},{"name":"camera_3","offset_m":[0.016411953392394343,-0.013667381140366534,-0.0027069142613348057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002909542022892925,-0.0009446843339982842,0.0008903129918337144],"end_effector_yaw_offset_degrees":-0.2645379713728717},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001224354982099711,0.00015208607317022255,-0.0009754509832079932],"end_effector_yaw_offset_degrees":0.79708421781999},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001963597959176363,0.0007359237978747076,-0.0008733388530460298],"end_effector_yaw_offset_degrees":-0.6419732915014527},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00035186165157189515,-0.0009127427589077839,-0.0011806046022462022],"end_effector_yaw_offset_degrees":0.7692834715223069}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037035068925526373,0.0011154751830929777],"position_m":[0.23429649310744735,0.294715475183093,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001033048343854398,0.002816287038656085],"position_m":[0.2375669516561456,-0.3569837129613439,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0028094211206214584,-0.003446111100337804],"position_m":[0.35450942112062145,-0.13484611110033778,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004861842777722235,0.002432429718831777],"position_m":[0.36416184277772223,0.07683242971883177,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"02bea6180ffd282bb7f969ab697d435649c752fd2f7d0e3a8228fcbc49cf4e4c","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1897/tex_ceiling_textures_2221/tex_floor_textures_9506/tex_table_textures_6321/tex_wall_textures_944","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7679028020032692512,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7679028020032692512,"visual_seed":7679028020032692512,"scene_id":"lab_003","finished_at":"2026-09-04T22:16:08"}
+{"episode_id":"ep_000067","started_at":"2026-09-04T22:16:12","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[-0.6051584862255243,-1.935065591049675,0.71338606911949],"aabb_xy":[[-0.6551359030907777,-1.9850655925389233],[-0.5551810693602706,-1.8850655895604262]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[-0.29766618311456694,-0.30572211202013966,0.71338606911949],"aabb_xy":[[-0.3158720067758147,-0.31674751260213135],[-0.2794603594533193,-0.2946967114381481]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.14057372979251648,-2.171307582691997,0.71338606911949],"aabb_xy":[[0.13235918467683247,-2.179984172989638],[0.14878827490820043,-2.162630992394355]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[-0.469237471362964,-2.081287541159924,0.71338606911949],"aabb_xy":[[-0.5342374723200911,-2.1332357530936292],[-0.4042374704058368,-2.029339329226218]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_4","position":[0.17773405879549597,-1.9394876233984522,0.71338606911949],"aabb_xy":[[0.13274147207704554,-1.9844876226729007],[0.22272664551394636,-1.8944876241240032]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[-0.16140036568653748,1.2188361486759223,0.71338606911949],"aabb_xy":[[-0.22540036279864317,1.1698037788815114],[-0.0974003685744318,1.2678685184703327]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_6","position":[-0.37691142886447937,-1.9268792005934468,0.71338606911949],"aabb_xy":[[-0.39155483441851235,-1.9415379202502308],[-0.3622680233104464,-1.9122204809366623]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[-0.06183760873197286,-0.7614326427659737,0.71338606911949],"aabb_xy":[[-0.14183760613556626,-0.8414252139641564],[0.018162388671620556,-0.6814400715677907]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.5783414957701845,0.6954295949394389,0.71338606911949],"aabb_xy":[[-0.5960171263587828,0.677749378660036],[-0.5606658651815861,0.7131098112188415]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.2758314502536503,-0.8425961921305014,0.71338606911949],"aabb_xy":[[0.21083144925314978,-0.8933825572851763],[0.3408314512541508,-0.7918098269758265]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[0.02527559691833836,1.1816181445735694,0.71338606911949],"aabb_xy":[[-0.01749110996108183,1.1176181411517672],[0.06804230379775855,1.245618147995372]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[-0.11452902640412244,-1.8118541226317801,0.71338606911949],"aabb_xy":[[-0.15202902719611788,-1.8182219635899703],[-0.07702902561212698,-1.80548628167359]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_12","position":[0.2550793908943797,-2.1073263296391347,0.71338606911949],"aabb_xy":[[0.23257939038233905,-2.129818188004533],[0.27757939140642024,-2.0848344712737363]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[-0.07315993973229384,1.55245706490934,0.71338606911949],"aabb_xy":[[-0.09102904748674932,1.538624156932129],[-0.05529083197783834,1.5662899728865511]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_14","position":[-0.003885642530215172,-1.4329775501265087,0.71338606911949],"aabb_xy":[[-0.02167914946513161,-1.4507772957223064],[0.013907864404701265,-1.415177804530711]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[-0.6791035671954969,-2.364731479446849,0.71338606911949],"aabb_xy":[[-0.6863473332417421,-2.444731477650451],[-0.6718598011492515,-2.2847314812432464]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_16","position":[-0.39019684590269865,-0.20095380507848537,0.71338606911949],"aabb_xy":[[-0.4801968426383088,-0.2541372683957799],[-0.3001968491670884,-0.14777034176119086]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[0.482621615546833,-0.5520568858405448,0.71338606911949],"aabb_xy":[[0.40262161507661715,-0.5603675934548932],[0.562621616017049,-0.5437461782261964]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.5398269206078076,-1.3063520192785656,0.71338606911949],"aabb_xy":[[-0.6098269170177693,-1.326789954930247],[-0.4698269241978457,-1.2859140836268836]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_19","position":[0.10457321629648497,-1.0690161329768808,0.71338606911949],"aabb_xy":[[0.07113304110046537,-1.1024597588078104],[0.13801339149250458,-1.0355725071459503]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[-0.19829011220942755,1.7299124988869434,0.71338606911949],"aabb_xy":[[-0.2152008446457693,1.7164402932943283],[-0.18137937977308574,1.7433847044795576]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_21","position":[-0.4643533504154759,0.7601222193425623,0.71338606911949],"aabb_xy":[[-0.48198618600900345,0.7424992733269393],[-0.4467205148219483,0.7777451653581853]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_22","position":[0.32818986539262873,1.4101403243979265,0.71338606911949],"aabb_xy":[[0.2641898660984605,1.346154184029072],[0.39218986468679695,1.4741264647667804]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_23","position":[-0.2345280828824145,-1.251518066883434,0.71338606911949],"aabb_xy":[[-0.2755460262687853,-1.3015180675143914],[-0.1935101394960436,-1.2015180662524767]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_24","position":[0.5548039163567999,0.9115653349245565,0.71338606911949],"aabb_xy":[[0.5467605564308446,0.8265653338291901],[0.562847276282755,0.9965653360199229]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_25","position":[0.5773842844369075,1.5412505223393418,0.71338606911949],"aabb_xy":[[0.564781585299831,1.5286551261144763],[0.5899869835739839,1.5538459185642073]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_26","position":[0.24510708631078704,-1.2836701466743328,0.71338606911949],"aabb_xy":[[0.21513952940096137,-1.3136701469722185],[0.2750746432206127,-1.253670146376447]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_27","position":[-0.05262272147955671,0.7716400546761171,0.71338606911949],"aabb_xy":[[-0.059124357987561334,0.7618722326498074],[-0.046121084971552095,0.781407876702427]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_28","position":[-0.4135711510608867,-1.133096252128684,0.71338606911949],"aabb_xy":[[-0.4635711514214528,-1.1830762393382868],[-0.36357115070032064,-1.0831162649190809]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_29","position":[0.09835753572107608,0.7206837657236673,0.71338606911949],"aabb_xy":[[0.060857535428901266,0.7166422903230637],[0.1358575360132509,0.724725241124271]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_30","position":[-0.3787730727725371,1.1381387286432179,0.71338606911949],"aabb_xy":[[-0.4427687701676336,1.0741387303425092],[-0.31477737537744044,1.2021387269439265]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_31","position":[-0.3741243633106465,-1.4603814759898877,0.71338606911949],"aabb_xy":[[-0.40871544616469163,-1.5253814762749183],[-0.3395332804566012,-1.3953814757048562]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6625950154514846,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3417.png","name":"3417"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3417.png","name":"3417"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4962.png","name":"4962"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4369.png","name":"4369"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3219.png","name":"3219"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1049.png","name":"1049"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":795.0051131249081,"rotation_z_degrees":20.164859982306453,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002946742945775096,0.0007273251349826544,-0.009688102838984754]},{"name":"camera_2","offset_m":[-0.004937080205425387,-0.016454147726151357,-0.012200798593908102]},{"name":"camera_3","offset_m":[-0.0022832344143962208,-0.013844196030897775,0.009171166961115192]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003947630785936587,0.0004679282997960871,-0.0016640724611788223],"end_effector_yaw_offset_degrees":-0.0644670801474545},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006155923544207589,-0.0012355937928392384,0.00011959401790842842],"end_effector_yaw_offset_degrees":-0.978946013809916},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011063983083501785,0.0014728021086629914,-0.0019201010690108773],"end_effector_yaw_offset_degrees":0.8253705683658006},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017081515441045307,0.0018639654221368415,0.00018545631898817623],"end_effector_yaw_offset_degrees":0.1455743961877196}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004581277006862256,0.003423938180294181],"position_m":[0.24258127700686224,0.2970239381802942,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021417933901944773,0.004890167898607445],"position_m":[0.23645820660980552,-0.35490983210139254,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004936953688269774,0.00020061199584184633],"position_m":[0.351206304631173,-0.13119938800415815,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004318970412591685,0.004511313430759087],"position_m":[0.35498102958740835,0.07891131343075908,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8e7b1f0d6e7b9105fd2c45a15f9514ca742084c46bd6edb6e6150377c55a18e3","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0082.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3417/tex_ceiling_textures_1049/tex_floor_textures_3219/tex_table_textures_4962/tex_wall_textures_4369","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":8832578310257569252,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":8832578310257569252,"visual_seed":8832578310257569252,"scene_id":"lab_003","finished_at":"2026-09-04T22:20:09"}
+{"episode_id":"ep_000068","started_at":"2026-09-04T22:20:13","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_0","position":[-0.46002180699442097,0.6401709306828471,0.71338606911949],"aabb_xy":[[-0.5050218084606499,0.5951710738213665],[-0.4150218055281922,0.6851707875443278]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[0.6740851333013056,-1.4599472875350061,0.71338606911949],"aabb_xy":[[0.6242024364236094,-1.5099472867812813],[0.7239678301790018,-1.4099472882887316]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_2","position":[-0.5573150917658187,-0.3528927063062377,0.71338606911949],"aabb_xy":[[-0.6072939002761346,-0.40289270631195645],[-0.5073362832555028,-0.30289270630051884]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_3","position":[0.011118310285355704,-0.9472478116045511,0.71338606911949],"aabb_xy":[[-0.01672672649525142,-0.9780323103428628],[0.03896334706596283,-0.9164633128662394]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.3921070181840165,1.39948361582372,0.71338606911949],"aabb_xy":[[0.32210701479245446,1.3641678421202892],[0.4621070215755784,1.434799389527151]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[0.04927480528696082,1.7222182033963356,0.71338606911949],"aabb_xy":[[-0.030725192693824215,1.7146166624344836],[0.12927480326774587,1.7298197443581875]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_6","position":[0.3539896427877902,-1.4556000333098835,0.71338606911949],"aabb_xy":[[0.3039896411262954,-1.505598475565586],[0.4039896444492849,-1.4056015910541806]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.10845051497792046,-0.9715136374473945,0.71338606911949],"aabb_xy":[[0.0893382076199416,-0.9906484163246364],[0.12756282233589933,-0.9523788585701524]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[0.08469365541111784,1.546418359566982,0.71338606911949],"aabb_xy":[[0.034720589878602375,1.4964183597544491],[0.1346667209436333,1.5964183593795152]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.29546089834727174,-2.2173552800028578,0.71338606911949],"aabb_xy":[[0.2725451854622219,-2.2402595771392813],[0.3183766112323217,-2.1944509828664343]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_10","position":[-0.5950443427300011,0.7942834380325254,0.71338606911949],"aabb_xy":[[-0.6169530248693521,0.7723827712124347],[-0.57313566059065,0.8161841048526162]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[-0.34287811618723,1.7286648742711228,0.71338606911949],"aabb_xy":[[-0.4266003416873125,1.6386648707364269],[-0.25915589068714756,1.8186648778058188]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[-0.6011412997187863,-2.435925607990922,0.71338606911949],"aabb_xy":[[-0.6861412984108609,-2.467911471385801],[-0.5161413010267116,-2.4039397445960433]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_13","position":[0.2835010965735246,1.1130870605895886,0.71338606911949],"aabb_xy":[[0.2195010972793564,1.0491009202207342],[0.34750109586769284,1.1770732009584426]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.01018364936165883,-1.1431648010125433,0.71338606911949],"aabb_xy":[[-0.01436256626109189,-1.1734136975615803],[0.034729864984409546,-1.1129159044635062]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.27887229238469413,-2.019719849464404,0.71338606911949],"aabb_xy":[[-0.2876535195319304,-2.0284995967529347],[-0.27009106523745796,-2.010940102175874]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[0.2309047895635351,0.8187464053145481,0.71338606911949],"aabb_xy":[[0.1669047891860015,0.7690011384637357],[0.2949047899410687,0.8684916721653603]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_17","position":[-0.15145666051259,-2.4856599522867344,0.71338606911949],"aabb_xy":[[-0.24145666418950812,-2.5470923588638383],[-0.061456656835671794,-2.4242275457096296]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[0.04547430079080428,-0.6780012221081217,0.71338606911949],"aabb_xy":[[0.039379672902685965,-0.6865706166597906],[0.051568928678922606,-0.6694318275564531]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[0.26911250230868256,1.5158816822000891,0.71338606911949],"aabb_xy":[[0.2635308306745538,1.5033816823823136],[0.2746941739428113,1.5283816820178646]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_20","position":[0.6549402142223859,1.1690469533944565,0.71338606911949],"aabb_xy":[[0.594940213714533,1.112200219708535],[0.7149402147302388,1.2258936870803776]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[-0.1255119727487718,0.6443706299295706,0.71338606911949],"aabb_xy":[[-0.1406841420304051,0.6292017730013673],[-0.11033980346713843,0.659539486857774]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_22","position":[0.48980327798368894,0.26858846200200004,0.71338606911949],"aabb_xy":[[0.41980327638140946,0.25515566880034246],[0.5598032795859684,0.2820212552036576]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_23","position":[0.13247639818086254,1.2150827662015007,0.71338606911949],"aabb_xy":[[0.12170342425949479,1.1800827679824617],[0.14324937210223035,1.2500827644205397]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[0.3320337347950981,-1.3470492578042887,0.71338606911949],"aabb_xy":[[0.3188027892604167,-1.360276676826288],[0.3452646803297793,-1.333821838782289]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_25","position":[-0.5186110830571198,-1.3527231233213837,0.71338606911949],"aabb_xy":[[-0.5687085470381934,-1.4167231238311955],[-0.46851361907604616,-1.2887231228115719]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_26","position":[-0.1451869112772809,-0.7097011565381475,0.71338606911949],"aabb_xy":[[-0.15052448694328546,-0.7347011574672873],[-0.13984933561127633,-0.6847011556090077]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_27","position":[-0.10469993420330459,-1.0811112680840225,0.71338606911949],"aabb_xy":[[-0.15467322820656504,-1.1311112686385696],[-0.05472664020004413,-1.031111267529475]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_28","position":[-0.022059784563835505,1.2513958001774204,0.71338606911949],"aabb_xy":[[-0.07187656402867026,1.201395801693117],[0.027756994900999254,1.3013957986617237]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6695062976770653,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3345.png","name":"3345"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3345.png","name":"3345"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2184.png","name":"2184"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6106.png","name":"6106"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8865.png","name":"8865"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4663.png","name":"4663"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":795.5784803525726,"rotation_z_degrees":310.1086231478154,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005086896748854007,-0.0013734380952369375,0.005394576025603445]},{"name":"camera_2","offset_m":[0.009311054377237494,-0.008369625036200317,-0.009918567276693775]},{"name":"camera_3","offset_m":[0.006397933256164768,-0.019097787723078047,0.002982280375628546]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001741936470568025,-0.00018605142556983806,0.0015656603967685338],"end_effector_yaw_offset_degrees":-0.20061808798452718},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014003107482866814,-0.0012596996687571328,-0.0016691000678502137],"end_effector_yaw_offset_degrees":-0.6478450302398957},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-6.412955614443607e-05,-0.0017752509243458051,0.00015021108116461228],"end_effector_yaw_offset_degrees":-0.12290429443315598},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010853898171538827,0.000976612111832894,0.0004787796649627441],"end_effector_yaw_offset_degrees":-0.018877581036279345}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034445553473044744,-0.0034499169388810882],"position_m":[0.2345554446526955,0.29015008306111895,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00317564846586955,0.00037168627099344684],"position_m":[0.24177564846586955,-0.3594283137290066,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004837600513396014,0.003527925498418588],"position_m":[0.346862399486604,-0.1278720745015814,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009107048563495182,-0.0006668633698081461],"position_m":[0.3583892951436505,0.07373313663019185,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"24ba5ba70a907315bb74188d91f98ace287017b5d63b02ae8bd42fbaf92b8203","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0083.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3345/tex_ceiling_textures_4663/tex_floor_textures_8865/tex_table_textures_2184/tex_wall_textures_6106","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":2144593409326135960,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":2144593409326135960,"visual_seed":2144593409326135960,"scene_id":"lab_003","finished_at":"2026-09-04T22:24:27"}
+{"episode_id":"ep_000069","started_at":"2026-09-04T22:24:31","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[0.4064951439826152,-2.212226496375465,0.71338606911949],"aabb_xy":[[0.4030544677425581,-2.21608792934983],[0.40993582022267244,-2.208365063401101]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[0.5566317456623413,-0.8980034972593414,0.71338606911949],"aabb_xy":[[0.476631744589221,-0.9077815435967259],[0.6366317467354616,-0.888225450921957]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[0.18325814370756688,-0.9996896087994227,0.71338606911949],"aabb_xy":[[0.17409826476369025,-1.0062208268429598],[0.19241802265144345,-0.9931583907558856]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_3","position":[0.5799616813311157,1.3055170609073379,0.71338606911949],"aabb_xy":[[0.5454993339329737,1.2710231785095147],[0.6144240287292573,1.3400109433051601]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[-0.63035547636723,0.25350372520996123,0.71338606911949],"aabb_xy":[[-0.6363924893678948,0.24747702414101302],[-0.6243184633665654,0.25953042627890943]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_5","position":[-0.46163476250741986,-0.35165949853976297,0.71338606911949],"aabb_xy":[[-0.511517459385116,-0.4016594977860378],[-0.4117520656297236,-0.3016594992934883]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[-0.08273305417528054,-2.34317633887255,0.71338606911949],"aabb_xy":[[-0.1280116690564298,-2.4071763382207334],[-0.03745443929413128,-2.279176339524366]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[0.486760233784689,-1.5807863372129325,0.71338606911949],"aabb_xy":[[0.42516947456069626,-1.6447863353219796],[0.5483509930086818,-1.5167863391038858]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[0.5982938363510413,1.6809823357936753,0.71338606911949],"aabb_xy":[[0.5607938364072749,1.672689245758839],[0.6357938362948077,1.689275425828512]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[0.5420113472593009,0.38955791528263495,0.71338606911949],"aabb_xy":[[0.5075488692462131,0.38289423809971207],[0.5764738252723887,0.3962215924655577]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.2305225609508399,1.2773264804435476,0.71338606911949],"aabb_xy":[[0.21309184587183336,1.2600543657796965],[0.24795327602984638,1.2945985951073982]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.36675730789580374,1.7446785252743653,0.71338606911949],"aabb_xy":[[0.3597169979622668,1.6646785258746941],[0.3737976178293408,1.824678524674037]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_12","position":[0.5650423401554818,-1.4174093087820765,0.71338606911949],"aabb_xy":[[0.5350506774216114,-1.447409308118877],[0.595034002889352,-1.387409309445276]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.42033540428014726,1.6760878134341524,0.71338606911949],"aabb_xy":[[-0.4541109634708401,1.6620493182209872],[-0.3865598450894542,1.690126308647317]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[0.33498085925881793,0.7760865140970568,0.71338606911949],"aabb_xy":[[0.32628289696810264,0.7639615397895821],[0.3436788215495332,0.7882114884045316]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[-0.4939497350128286,-1.8872622782893518,0.71338606911949],"aabb_xy":[[-0.538942321731279,-1.9322622775638003],[-0.4489571482943781,-1.8422622790149028]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.16413165713270084,1.6944640524740335,0.71338606911949],"aabb_xy":[[0.14163523569883674,1.6719640526672863],[0.18662807856656494,1.7169640522807812]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.031043936548591833,-2.1224504263824495,0.71338606911949],"aabb_xy":[[-0.03517979288129203,-2.1599504258268065],[-0.02690808021589164,-2.0849504269380925]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_18","position":[-0.1932671526409535,-0.28378718848548745,0.71338606911949],"aabb_xy":[[-0.218267152192692,-0.2939296723506222],[-0.16826715308921503,-0.27364470462035273]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_19","position":[-0.5783813136033583,-0.9591877536867099,0.71338606911949],"aabb_xy":[[-0.5958812470373416,-0.9766877536069446],[-0.5608813801693748,-0.9416877537664755]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6678089016931756,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8249.png","name":"8249"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8249.png","name":"8249"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6826.png","name":"6826"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6252.png","name":"6252"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5745.png","name":"5745"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5807.png","name":"5807"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":752.7427555245372,"rotation_z_degrees":225.7573111490784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018775470741128914,-0.009296969512795239,0.010529363516293265]},{"name":"camera_2","offset_m":[-0.01876602733043597,0.002428367469202334,0.01956129256015632]},{"name":"camera_3","offset_m":[-0.018791804943801723,0.005611790278708017,-0.015336362027190242]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006194519305462842,-0.0019955511088651065,0.0002832143312263848],"end_effector_yaw_offset_degrees":0.3619897938210248},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001318521390497469,0.0010720264276179213,-0.0008238261530408954],"end_effector_yaw_offset_degrees":0.807559081029319},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00159664558001064,-0.0005094245085991149,-0.0010122264705538133],"end_effector_yaw_offset_degrees":-0.2976400662617862},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018882789680101362,0.0015020609366903372,-0.0014859561502421972],"end_effector_yaw_offset_degrees":0.10019060154257886}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004988008386288835,0.0043915614921066],"position_m":[0.23301199161371117,0.29799156149210665,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018383818436687096,0.0014319333313382535],"position_m":[0.24043838184366872,-0.3583680666686618,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005751120879126789,-0.0008540596924253019],"position_m":[0.35112488791208735,-0.1322540596924253,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004750139051387495,0.0015120479872257333],"position_m":[0.3545498609486125,0.07591204798722573,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"916581e8d84195a65ddbc71b94af15c1377b3e44f05a073f3ceba306233ea3a2","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8249/tex_ceiling_textures_5807/tex_floor_textures_5745/tex_table_textures_6826/tex_wall_textures_6252","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":8249700462451999430,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":8249700462451999430,"visual_seed":8249700462451999430,"scene_id":"lab_003","finished_at":"2026-09-04T22:28:28"}
+{"episode_id":"ep_000070","started_at":"2026-09-04T22:31:44","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_0","position":[-0.33868800122549514,-2.4349555246821963,0.71338606911949],"aabb_xy":[[-0.3494609751468629,-2.4699555229012353],[-0.32791502730412736,-2.3999555264631574]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.5793880965274897,-2.5087914629577797,0.71338606911949],"aabb_xy":[[-0.5873815863227718,-2.5167895948982557],[-0.5713946067322078,-2.5007933310173045]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.6500289218330495,-0.46110262280349845,0.71338606911949],"aabb_xy":[[0.6125289217274564,-0.4679247846564795],[0.6875289219386423,-0.4542804609505173]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.21190120910279447,0.3992487727541709,0.71338606911949],"aabb_xy":[[-0.23440120934630987,0.387044138094399],[-0.18940120885927908,0.41145340741394293]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[-0.1458843806009189,1.0399222397922325,0.71338606911949],"aabb_xy":[[-0.20988437699649198,0.975958951373499],[-0.08188438420534583,1.103885528210966]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[-0.6165517089549888,-0.623560003240688,0.71338606911949],"aabb_xy":[[-0.6665517085313235,-0.673540582192794],[-0.5665517093786541,-0.5735794242885821]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[-0.4396958817550409,-1.1007411826201547,0.71338606911949],"aabb_xy":[[-0.4436097549504633,-1.1094901980267116],[-0.43578200855961824,-1.091992167213598]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[-0.3816854257652581,0.9997642012691439,0.71338606911949],"aabb_xy":[[-0.38702300143126267,0.974764200340004],[-0.37634785009925353,1.0247642021982837]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[-0.08620405533641662,1.427619277220781,0.71338606911949],"aabb_xy":[[-0.09324550628716421,1.4205925254829868],[-0.07916260438566902,1.4346460289585756]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[-0.20823831941194382,-2.1348614633387895,0.71338606911949],"aabb_xy":[[-0.26323153074908057,-2.189861463677583],[-0.15324510807480704,-2.079861462999996]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_10","position":[0.606766398097305,0.9623978889056914,0.71338606911949],"aabb_xy":[[0.5367663959658754,0.9396359232799958],[0.6767664002287345,0.9851598545313871]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.5857149227879812,1.4669429474940965,0.71338606911949],"aabb_xy":[[-0.5951323973578438,1.4575267703563775],[-0.5762974482181183,1.4763591246318155]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[0.4365479533391745,0.4076448221202478,0.71338606911949],"aabb_xy":[[0.35655412976061635,0.32764481952740626],[0.5165417769177327,0.4876448247130894]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[-0.6771854815731367,-2.5331474141323493,0.71338606911949],"aabb_xy":[[-0.693069974838462,-2.5475003544311736],[-0.6613009883078117,-2.518794473833525]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[-0.4888190894384694,0.8499138695439248,0.71338606911949],"aabb_xy":[[-0.5225946486291624,0.8358753743307599],[-0.4550435302477765,0.8639523647570899]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[-0.47427151378109966,-0.4981893140696103,0.71338606911949],"aabb_xy":[[-0.5192715152473286,-0.543189170931091],[-0.429271512314871,-0.45318945720812964]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_16","position":[0.45489436616889845,1.7641104694778265,0.71338606911949],"aabb_xy":[[0.3908943647609077,1.7123215179539015],[0.518894367576889,1.815899421001751]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[0.4622122222139762,-1.298303532190362,0.71338606911949],"aabb_xy":[[0.44471228877999275,-1.3158035321105965],[0.4797121556479595,-1.2808035322701274]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.02514223737981547,1.225078142623227,0.71338606911949],"aabb_xy":[[-0.03885776191435275,1.1610920022543725],[0.08914223667398369,1.2890642829920809]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[-0.1275658908819144,-1.6988738516285484,0.71338606911949],"aabb_xy":[[-0.1650658911740892,-1.702915327029152],[-0.09006589058973957,-1.694832376227945]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[0.1264759428658635,-1.5064061022977913,0.71338606911949],"aabb_xy":[[0.061475940228070014,-1.5578857009972382],[0.19147594550365699,-1.4549265035983443]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[-0.6256106489331751,-1.938444471926866,0.71338606911949],"aabb_xy":[[-0.6336540088591303,-2.0234444730222325],[-0.6175672890072199,-1.8534444708314994]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.2722403651565698,1.3270760092597702,0.71338606911949],"aabb_xy":[[0.2673410728500063,1.2993990899572012],[0.2771396574631333,1.3547529285623388]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_23","position":[0.5989931409121387,-1.7355528850620212,0.71338606911949],"aabb_xy":[[0.5089931423176688,-1.7518034713754422],[0.6889931395066087,-1.7193022987486002]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[0.03769576710093481,-2.0705413860927218,0.71338606911949],"aabb_xy":[[0.025927580306277294,-2.1555413859979433],[0.04946395389559234,-1.9855413861875002]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_25","position":[-0.24606004518163,-1.9372672904894594,0.71338606911949],"aabb_xy":[[-0.31106004628757333,-1.9622326635575877],[-0.18106004407568674,-1.9123019174213312]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[0.6462222983487702,1.0831638874255702,0.71338606911949],"aabb_xy":[[0.6233065854637203,1.0602595902891467],[0.6691380112338201,1.1060681845619937]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_27","position":[-0.233460840809753,-1.76871480050983,0.71338606911949],"aabb_xy":[[-0.2584608407422708,-1.7755974687307536],[-0.20846084087723507,-1.761832132288907]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_28","position":[-0.2888307080330716,0.86151271807603,0.71338606911949],"aabb_xy":[[-0.35283070531872024,0.8200059991231861],[-0.22483071074742295,0.903019437028874]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_29","position":[-0.5941483798801972,0.788420990829211,0.71338606911949],"aabb_xy":[[-0.6014306962568606,0.6984209872197018],[-0.5868660635035333,0.8784209944387198]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_30","position":[0.35383446434784016,-1.0938999908034006,0.71338606911949],"aabb_xy":[[0.30383446298695294,-1.1438778953788162],[0.4038344657087274,-1.043922086227985]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_31","position":[-0.15223637541491053,-2.3442767036793777,0.71338606911949],"aabb_xy":[[-0.21623637252701625,-2.3933090734737883],[-0.08823637830280487,-2.295244333884967]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_32","position":[-0.5151402951437699,-1.3568252153564506,0.71338606911949],"aabb_xy":[[-0.5303124644254033,-1.371994072284654],[-0.49996812586213657,-1.3416563584282473]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6702734406363738,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2700.png","name":"2700"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2700.png","name":"2700"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4891.png","name":"4891"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3249.png","name":"3249"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9335.png","name":"9335"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8298.png","name":"8298"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":581.1386244669413,"rotation_z_degrees":223.55873399529233,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019132426085452906,-0.01031492262462013,-0.004746549376284524]},{"name":"camera_2","offset_m":[0.0076871069431599,-0.011866153789416373,0.016270509682507633]},{"name":"camera_3","offset_m":[-0.011193467053616577,0.005637207790775856,-0.013826794582478374]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019135488479784081,-0.001203809720759629,-0.0017430609169646698],"end_effector_yaw_offset_degrees":0.6308086304393798},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016033826566396602,0.00077009889330919,0.0011687641055810414],"end_effector_yaw_offset_degrees":-0.32266480029168254},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019616143304766066,-0.001764694065797821,-0.0008313934191231543],"end_effector_yaw_offset_degrees":0.0048545778251078975},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001289257061347149,-0.0016407089338438575,-0.0015498402365593615],"end_effector_yaw_offset_degrees":0.2413349695405922}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003225123229925286,-0.0008305465880551399],"position_m":[0.2347748767700747,0.2927694534119449,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001465779871115196,-0.0037177196219460007],"position_m":[0.24006577987111521,-0.363517719621946,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026868721493681132,0.0010931412054159175],"position_m":[0.35438687214936815,-0.13030685879458406,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00429036633721698,0.0023606424748701836],"position_m":[0.35500963366278304,0.07676064247487017,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ae436bdaecdde20fbf75b50ae0882d5b01448bce09cf2af9aefbac627b7a7bf","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2700/tex_ceiling_textures_8298/tex_floor_textures_9335/tex_table_textures_4891/tex_wall_textures_3249","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":3937221094655257822,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":3937221094655257822,"visual_seed":3937221094655257822,"scene_id":"lab_003","finished_at":"2026-09-04T22:35:46"}
+{"episode_id":"ep_000071","started_at":"2026-09-04T22:35:49","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_0","position":[-0.2504633371607602,0.5313271091509173,0.71338606911949],"aabb_xy":[[-0.31446333574733265,0.4843201457514086],[-0.18646333857418773,0.578334072550426]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[-0.16265612969216536,0.09542724572361916,0.71338606911949],"aabb_xy":[[-0.1938030485357485,0.025427247036811984],[-0.13150921084858228,0.16542724441042633]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_2","position":[0.6315728869377555,-1.607094033980566,0.71338606911949],"aabb_xy":[[0.5815728865771893,-1.6570740211901689],[0.6815728872983214,-1.557114046770963]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[0.6025303216634263,-2.4275992062783045,0.71338606911949],"aabb_xy":[[0.5650303201477946,-2.4388259792944496],[0.6400303231790581,-2.4163724332621594]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[-0.19066127143244804,-1.0880708722291046,0.71338606911949],"aabb_xy":[[-0.22769538086050772,-1.1224480795628138],[-0.1536271620043883,-1.053693664895395]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_5","position":[-0.32212744038017493,0.38682214017296124,0.71338606911949],"aabb_xy":[[-0.33459479848991064,0.3743568155396378],[-0.30966008227043934,0.3992874648062848]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[-0.6602654091725748,1.812329474180641,0.71338606911949],"aabb_xy":[[-0.6667670456805794,1.8025616521543315],[-0.6537637726645702,1.822097296206951]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.6701079690141136,0.26418485679376724,0.71338606911949],"aabb_xy":[[0.6569567230428244,0.23918485703708076],[0.6832592149854031,0.28918485655045384]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[0.4689657237493772,1.5760465606490182,0.71338606911949],"aabb_xy":[[0.4580599476618144,1.4960465642501892],[0.47987149983693983,1.6560465570478475]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.0647141609015005,-0.8454326973836777,0.71338606911949],"aabb_xy":[[-0.1287098582965971,-0.9094326956843861],[-0.0007184635064039074,-0.7814326990829688]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_10","position":[-0.4520353389459194,-1.4729030321460108,0.71338606911949],"aabb_xy":[[-0.4597385296199964,-1.4806124028447487],[-0.4443321482718423,-1.4651936614472725]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[-0.11467298169169349,1.4593770604896545,0.71338606911949],"aabb_xy":[[-0.16075807294642497,1.3953770632370992],[-0.06858789043696202,1.5233770577422094]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_12","position":[-0.054014322196731857,1.1326148398124398,0.71338606911949],"aabb_xy":[[-0.0752923303402041,1.0676148374863668],[-0.0327363140532596,1.1976148421385129]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[0.6062557192262734,-0.41944771979386086,0.71338606911949],"aabb_xy":[[0.5562557182071383,-0.4559139355316889],[0.6562557202454088,-0.38298150405603304]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[-0.04879163135417275,-1.3470397280895272,0.71338606911949],"aabb_xy":[[-0.0560739477308364,-1.4370397316990358],[-0.041509314977509086,-1.2570397244800178]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[-0.23699848180865035,-0.6072325384166906,0.71338606911949],"aabb_xy":[[-0.286993314736592,-0.6572325373119342],[-0.1870036488807088,-0.5572325395214471]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.44237906857440734,-2.0535286553075194,0.71338606911949],"aabb_xy":[[0.35237906489748905,-2.1149610618846233],[0.5323790722513253,-1.9920962487304146]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_17","position":[0.5801847392402084,-0.13712539884984842,0.71338606911949],"aabb_xy":[[0.5551847396884698,-0.14726788271498314],[0.6051847387919468,-0.1269829149847137]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[0.44041968616536775,-0.7178566417607986,0.71338606911949],"aabb_xy":[[0.4159060620683619,-0.742121235062835],[0.4649333102623736,-0.6935920484587621]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[0.3444080538015917,-1.595093535518712,0.71338606911949],"aabb_xy":[[0.29440805214009685,-1.6450919777744146],[0.3944080554630864,-1.5450950932630092]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[0.33035421651238583,-1.0143824069755216,0.71338606911949],"aabb_xy":[[0.25035421792506635,-1.0936980089136823],[0.4103542150997052,-0.9350668050373606]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[-0.6614744411654534,-0.5534270338406673,0.71338606911949],"aabb_xy":[[-0.6789744402998205,-0.563306660878255],[-0.6439744420310861,-0.5435474068030793]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.4083233754531198,-0.7201303641882462,0.71338606911949],"aabb_xy":[[-0.47232337779592143,-0.7650712154323787],[-0.3443233731103183,-0.6751895129441137]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[-0.5588002549498474,1.1148659384005675,0.71338606911949],"aabb_xy":[[-0.608773320482363,1.0648659385880348],[-0.5088271894173321,1.1648659382131006]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[-0.031188698017533767,0.9661986098077295,0.71338606911949],"aabb_xy":[[-0.04175617767563278,0.955653579694721],[-0.020621218359434756,0.9767436399207381]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_25","position":[0.6340729721021188,0.17775146472251846,0.71338606911949],"aabb_xy":[[0.596572971753891,0.1659600691414349],[0.6715729724503465,0.189542860303602]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_26","position":[0.004784221139082501,1.8036244745590104,0.71338606911949],"aabb_xy":[[-0.020215778026550613,1.7966722288536543],[0.029784220304715614,1.8105767202643674]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[0.6735324705738319,-0.22180852987660415,0.71338606911949],"aabb_xy":[[0.6627594966524641,-0.25680852809564314],[0.6843054444951997,-0.18680853165756517]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_28","position":[-0.2515997263827471,-1.5511265555800104,0.71338606911949],"aabb_xy":[[-0.25964308630870225,-1.6361265566753769],[-0.2435563664567919,-1.466126554484644]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_29","position":[0.38636867411025366,0.9254960769969349,0.71338606911949],"aabb_xy":[[0.3363686754643324,0.8755765333374725],[0.4363686727561748,0.9754156206563973]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_30","position":[0.4797466783248221,-1.775269415107834,0.71338606911949],"aabb_xy":[[0.4297535662156303,-1.8252694157820302],[0.5297397904340141,-1.725269414433639]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_31","position":[-0.18795280464643827,1.1721720047735231,0.71338606911949],"aabb_xy":[[-0.1943666182896232,1.1657621845258546],[-0.18153899100325332,1.1785818250211912]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_32","position":[0.4435718967934459,-2.397167978005417,0.71338606911949],"aabb_xy":[[0.3835718965420447,-2.451449303041881],[0.5035718970448471,-2.3428866529689523]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_33","position":[-0.6351275519502143,1.2975458523548196,0.71338606911949],"aabb_xy":[[-0.6575923219216193,1.2750458514759588],[-0.6126627819788091,1.3200458532336798]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_34","position":[0.534913374523057,-0.7504423716569846,0.71338606911949],"aabb_xy":[[0.5124133740110164,-0.7729342300223828],[0.5574133750350976,-0.7279505132915861]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668031909186612,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3373.png","name":"3373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3373.png","name":"3373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3159.png","name":"3159"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1967.png","name":"1967"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4435.png","name":"4435"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/941.png","name":"941"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":518.3248405883825,"rotation_z_degrees":118.87155172522847,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008528172099306876,-0.012956673783366384,-0.00036613932097761745]},{"name":"camera_2","offset_m":[0.006050629305955388,0.005914491394436068,-0.01265000226236707]},{"name":"camera_3","offset_m":[0.015696534308746613,0.0026962817378459077,0.0018104041991890384]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000759299511138091,0.0005206191210768364,-0.0004919813140274593],"end_effector_yaw_offset_degrees":-0.46513051773966185},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007350277528124509,0.001505829355410652,0.0005198677833628774],"end_effector_yaw_offset_degrees":-0.16160102140362276},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018659336624480593,0.00017815644963566643,0.000738895307117749],"end_effector_yaw_offset_degrees":-0.7457381650781865},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019642976500980937,-0.0017716865956920018,-0.0015510199878366552],"end_effector_yaw_offset_degrees":0.6397191938816709}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032569748093888642,-0.0007450857048240138],"position_m":[0.23474302519061113,0.292854914295176,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023862886770262617,0.004177045134322759],"position_m":[0.24098628867702626,-0.35562295486567724,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002561459559949111,-0.0043673190121443824],"position_m":[0.3491385404400509,-0.13576731901214437,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004732074034974835,0.0041097788771189804],"position_m":[0.3588267925965025,0.07850977887711898,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"08e795542a7db3128e7fbadb64af8ace04f4b92ad5622d40c23a42a2f5a700a4","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3373/tex_ceiling_textures_941/tex_floor_textures_4435/tex_table_textures_3159/tex_wall_textures_1967","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":8003123577268269367,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":8003123577268269367,"visual_seed":8003123577268269367,"scene_id":"lab_003","finished_at":"2026-09-04T22:40:02"}
+{"episode_id":"ep_000072","started_at":"2026-09-04T22:40:06","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_0","position":[0.5745962097749386,-0.058677781496339954,0.71338606911949],"aabb_xy":[[0.5296036230564881,-0.10367778077078871],[0.6195887964933889,-0.013677782221891192]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_1","position":[0.5900286476361776,-1.924659399729093,0.71338606911949],"aabb_xy":[[0.5588817287925945,-1.9946593984159],[0.6211755664797607,-1.8546594010422857]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_2","position":[0.3593437115150464,-0.9557900625565898,0.71338606911949],"aabb_xy":[[0.3093594758068692,-1.0057900613700852],[0.40932794722322363,-0.9057900637430941]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.6516376190092534,-1.402418772976229,0.71338606911949],"aabb_xy":[[-0.6866376189052722,-1.4107930084881686],[-0.6166376191132344,-1.394044537464289]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.2638189572171526,0.36059252462024727,0.71338606911949],"aabb_xy":[[-0.34381895519793765,0.35299098365839526],[-0.18381895923636757,0.36819406558209916]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.26905861953567056,-1.681161143236605,0.71338606911949],"aabb_xy":[[0.25561209290162723,-1.694630994889696],[0.2825051461697139,-1.6676912915835138]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_6","position":[0.3393781932308486,1.159632569702758,0.71338606911949],"aabb_xy":[[0.2971937790700178,1.0956325694255469],[0.3815626073916793,1.2236325699799693]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[-0.01551714787625813,-1.7008408571711764,0.71338606911949],"aabb_xy":[[-0.046001398003288285,-1.7508408569526723],[0.014967102250772024,-1.6508408573896804]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[-0.548815715372512,0.9171839635355514,0.71338606911949],"aabb_xy":[[-0.5966218829862805,0.8521839608284923],[-0.5010095477587432,0.9821839662426103]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[-0.010638397161834345,0.9005719314961724,0.71338606911949],"aabb_xy":[[-0.024972822287997798,0.8885117159416336],[0.0036960279643291055,0.9126321470507113]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_10","position":[0.12350829512689399,1.2574888953377754,0.71338606911949],"aabb_xy":[[0.03350829279287493,1.1800065407526628],[0.21350829746091304,1.334971249922888]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[0.5839975526767445,0.8714339952521781,0.71338606911949],"aabb_xy":[[0.5199975562811714,0.8074707068334447],[0.6479975490723175,0.9353972836709118]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[0.44239934676084536,0.17968109196788706,0.71338606911949],"aabb_xy":[[0.4048993462634871,0.17571240841976865],[0.4798993472582036,0.18364977551600548]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[0.670480396636929,-1.251061252169505,0.71338606911949],"aabb_xy":[[0.6553780951759107,-1.2661627738005665],[0.6855826980979469,-1.235959730538443]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.08720264979427073,0.3279161299918072,0.71338606911949],"aabb_xy":[[-0.09533033798758395,0.31900252158109954],[-0.0790749616009575,0.33682973840251484]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[-0.47036957274899033,-2.2653891192842197,0.71338606911949],"aabb_xy":[[-0.5503695730225971,-2.3383386671099364],[-0.3903695724753833,-2.192439571458503]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[-0.0935409290251965,-2.392196988165782,0.71338606911949],"aabb_xy":[[-0.1575409310749285,-2.4322914712550903],[-0.02954092697546451,-2.3521025050764743]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.35532149745147806,0.21276468885988375,0.71338606911949],"aabb_xy":[[-0.41032149565322285,0.17224272223344614],[-0.30032149924973317,0.2532866554863213]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[0.4611861984346286,-0.3352357507209325,0.71338606911949],"aabb_xy":[[0.4111861967731338,-0.38523419297663514],[0.5111862000961233,-0.2852373084652297]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_19","position":[-0.5115662892168569,0.4358900191225752,0.71338606911949],"aabb_xy":[[-0.5755662924354947,0.38916690722356684],[-0.447566285998219,0.48261313102158354]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.3045313246234429,-1.5328461990709363,0.71338606911949],"aabb_xy":[[0.2345313212318809,-1.5681619727743672],[0.3745313280150048,-1.4975304253675055]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_21","position":[-0.6574906750094891,0.9364482160211502,0.71338606911949],"aabb_xy":[[-0.6609313512495463,0.9325867830467859],[-0.6540499987694319,0.9403096489955148]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_22","position":[0.4029039884287182,-1.723593708621356,0.71338606911949],"aabb_xy":[[0.32290398626595573,-1.8035488922474994],[0.4829039905914807,-1.6436385249952121]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[0.475017580687249,1.2682662541897693,0.71338606911949],"aabb_xy":[[0.4709394227801992,1.2641852739415058],[0.47909573859429866,1.2723472344380324]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[0.5247380880302102,-2.466132952271833,0.71338606911949],"aabb_xy":[[0.47473808859001454,-2.516100876756149],[0.5747380874704058,-2.416165027787516]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[0.10241269404637443,1.528175945440545,0.71338606911949],"aabb_xy":[[0.047287488416783645,1.4681759439992577],[0.15753789967596518,1.588175946881832]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_26","position":[-0.09559484927170891,-0.8071907009476682,0.71338606911949],"aabb_xy":[[-0.14559485055554885,-0.8571695553382902],[-0.04559484798786894,-0.757211846557046]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_27","position":[0.701075687583111,0.025791486174737255,0.71338606911949],"aabb_xy":[[0.6891429532212829,0.013409333366877885],[0.7130084219449391,0.038173638982596625]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_28","position":[0.6277954751709096,1.487963487515246,0.71338606911949],"aabb_xy":[[0.5777954741517743,1.4514972717774184],[0.6777954761900449,1.5244297032530745]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_29","position":[-0.4137498419405123,-1.6576212437448303,0.71338606911949],"aabb_xy":[[-0.4550543850042483,-1.7216212433129474],[-0.3724452988767763,-1.5936212441767132]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_30","position":[0.4818032982034819,1.749382686085608,0.71338606911949],"aabb_xy":[[0.4468032968520001,1.7290229501287873],[0.5168032995549635,1.769742422042429]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_31","position":[0.15833287022429876,-2.0728073107744325,0.71338606911949],"aabb_xy":[[0.1208328704072652,-2.0774455220855743],[0.19583287004133232,-2.0681690994632906]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_32","position":[0.06148063863654618,-2.1176413984780718,0.71338606911949],"aabb_xy":[[0.04991165788960961,-2.1426413985950035],[0.07304961938348276,-2.09264139836114]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_33","position":[-0.3203901309686267,0.9710495224611386,0.71338606911949],"aabb_xy":[[-0.38539012912454573,0.9447532779112264],[-0.2553901328127076,0.9973457670110508]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6658594003472909,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4207.png","name":"4207"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4207.png","name":"4207"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9103.png","name":"9103"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3942.png","name":"3942"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5263.png","name":"5263"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6695.png","name":"6695"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":722.20384909638,"rotation_z_degrees":310.3967130507524,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006964763113976525,0.008218105835255708,-0.008269038844626563]},{"name":"camera_2","offset_m":[-0.00023811436244793038,-0.017230601100968017,-0.005722468769374132]},{"name":"camera_3","offset_m":[-0.0026815259715535743,-0.006034237051652043,-0.009487422688292155]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00041303402470112315,-0.0009550615286519593,0.001893082173574956],"end_effector_yaw_offset_degrees":-0.8345089369211491},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017717956881785888,0.0014080926920469281,-0.0012020329952943422],"end_effector_yaw_offset_degrees":-0.26724696597298947},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009213394896059996,0.0013553575634605085,-0.0014310008125638083],"end_effector_yaw_offset_degrees":0.9108823722582711},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009823346469315293,-0.0010258974594281748,-0.00014200836598074191],"end_effector_yaw_offset_degrees":-0.46723946210605605}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008330068696713322,-0.0037426973489719075],"position_m":[0.23716699313032866,0.2898573026510281,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011965746115515383,0.004060442704355458],"position_m":[0.23979657461155154,-0.35573955729564455,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0037495014421901783,-0.004349190183613827],"position_m":[0.34795049855780985,-0.1357491901836138,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006272065280195204,0.003379631475026329],"position_m":[0.3586727934719805,0.07777963147502633,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"979794433ecbcfc7bd355ca7c21cbe5a8a46fb2ec559e3657692c3d05331beee","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0088.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_4207/tex_ceiling_textures_6695/tex_floor_textures_5263/tex_table_textures_9103/tex_wall_textures_3942","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":6063989829080102669,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":6063989829080102669,"visual_seed":6063989829080102669,"scene_id":"lab_003","finished_at":"2026-09-04T22:44:12"}
+{"episode_id":"ep_000073","started_at":"2026-09-04T22:47:18","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[0.5014524493073995,-0.028477987916715186,0.71338606911949],"aabb_xy":[[0.4592680351465688,-0.09247798819392639],[0.5436368634682303,0.035522012360496014]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[0.4110701139553168,-2.134187271611032,0.71338606911949],"aabb_xy":[[0.3310701117925543,-2.214142455237176],[0.49107011611807927,-2.0542320879848885]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.43949463824119744,1.5809189161439279,0.71338606911949],"aabb_xy":[[-0.5294946368356676,1.5646683298305069],[-0.3494946396467276,1.597169502457349]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[-0.48863581626041874,-0.06850988546952586,0.71338606911949],"aabb_xy":[[-0.5111358165039341,-0.08071452012929782],[-0.4661358160169034,-0.05630525080975392]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[-0.0783050436958751,-2.435859540364077,0.71338606911949],"aabb_xy":[[-0.14230504286564505,-2.4826262274830393],[-0.014305044526105174,-2.3890928532451143]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[-0.49579051783101064,0.8729808944116515,0.71338606911949],"aabb_xy":[[-0.5034937085050877,0.8652715237129135],[-0.4880873271569336,0.8806902651103895]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[-0.234530456660423,-0.13535165790130366,0.71338606911949],"aabb_xy":[[-0.28453045767955826,-0.1718178736391316],[-0.1845304556412877,-0.09888544216347572]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[-0.5923469349205649,0.08564003163582479,0.71338606911949],"aabb_xy":[[-0.6423257434308808,0.03564003163010597],[-0.542368126410249,0.1356400316415436]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.6442226132490692,-1.3649854592076915,0.71338606911949],"aabb_xy":[[0.6273118808127273,-1.3784576648003057],[0.6611333456854108,-1.351513253615077]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[-0.49746673246284745,0.22804041017054377,0.71338606911949],"aabb_xy":[[-0.5149666658968308,0.21054041025030923],[-0.479966799028864,0.24554041009077832]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[-0.13861982879680523,-1.3812006642995316,0.71338606911949],"aabb_xy":[[-0.15989783694027748,-1.4462006666256044],[-0.11734182065333298,-1.3162006619734583]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_11","position":[0.14931130794564318,-1.862054335441756,0.71338606911949],"aabb_xy":[[0.1274026258062921,-1.8839550022618463],[0.1712199900849942,-1.8401536686216649]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[-0.5989684908370724,-0.450440172653916,0.71338606911949],"aabb_xy":[[-0.6488511877147686,-0.5004401719001907],[-0.5490857939593762,-0.4004401734076413]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[0.642519225347745,-2.2833248954509884,0.71338606911949],"aabb_xy":[[0.5775192274660972,-2.3344485591575297],[0.7075192232293928,-2.232201231744448]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[0.13256239847931495,-2.0036619852056696,0.71338606911949],"aabb_xy":[[0.06856239918514673,-2.0676481255745234],[0.19656239777348317,-1.939675844836815]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.5155772395969136,0.44209685259452636,0.71338606911949],"aabb_xy":[[-0.5795772399744471,0.39235158574371404],[-0.45157723921937987,0.49184211944533857]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.21882384270618072,-2.4054450494093347,0.71338606911949],"aabb_xy":[[0.21386782252129954,-2.4279450496114565],[0.22377986289106194,-2.382945049207213]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[-0.4181668057340698,-1.6069543428583883,0.71338606911949],"aabb_xy":[[-0.5081668080680888,-1.684436697443501],[-0.3281668034000507,-1.5294719882732757]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[0.2438168033089344,-0.9855389572183146,0.71338606911949],"aabb_xy":[[0.20631680313706247,-1.0182396926012218],[0.28131680348080634,-0.9528382218354075]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[0.6988879017290122,-1.9259658730753588,0.71338606911949],"aabb_xy":[[0.6873189209820757,-1.9509658731922903],[0.7104568824759488,-1.900965872958427]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[0.16500092747302098,-2.2887662431363287,0.71338606911949],"aabb_xy":[[0.127500927367428,-2.29558840498931],[0.2025009275786139,-2.2819440812833474]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_21","position":[0.46214200123097005,1.032943215215198,0.71338606911949],"aabb_xy":[[0.43349266887055377,1.004297655938122],[0.4907913335913862,1.0615887744922736]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.26495208802078635,0.7091347735308031,0.71338606911949],"aabb_xy":[[-0.2992683651954043,0.6591347735576254],[-0.2306358108461684,0.7591347735039808]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_23","position":[-0.061917852802734874,-0.7349084911975017,0.71338606911949],"aabb_xy":[[-0.06737579843975494,-0.8149084945051608],[-0.0564599071657148,-0.6549084878898426]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_24","position":[-0.07799841603271096,1.7454074414613676,0.71338606911949],"aabb_xy":[[-0.1154984163809387,1.733616045880284],[-0.04049841568448319,1.7571988370424512]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_25","position":[0.600115712931081,1.2795315771945837,0.71338606911949],"aabb_xy":[[0.5361157158189754,1.230499207400173],[0.6641157100431868,1.3285639469889943]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_26","position":[0.36272757132899525,-1.5395449881455412,0.71338606911949],"aabb_xy":[[0.3450947357354676,-1.557167934161164],[0.38036040692252276,-1.521922042129918]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_27","position":[-0.45782288893771167,0.0316793329034355,0.71338606911949],"aabb_xy":[[-0.4641349884740501,0.025912393650216664],[-0.45151078940137324,0.03744627215665433]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_28","position":[-0.184063804894658,0.2641870753913569,0.71338606911949],"aabb_xy":[[-0.21997730931964765,0.22827356717460226],[-0.14815030046966826,0.3001005836081115]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_29","position":[-0.10415592179453093,-0.08091556266104405,0.71338606911949],"aabb_xy":[[-0.12632844877118177,-0.10309122981716722],[-0.08198339481788008,-0.05873989550492087]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_30","position":[-0.6539689240726032,-1.14130543513262,0.71338606911949],"aabb_xy":[[-0.6664362821823389,-1.1537707597659437],[-0.6415015659628676,-1.1288401104992967]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_31","position":[0.3064484079375529,-1.7483428020849772,0.71338606911949],"aabb_xy":[[0.29852512769880457,-1.7708428023229805],[0.31437168817630123,-1.7258428018469738]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_32","position":[0.09881343588195823,1.679067265173288,0.71338606911949],"aabb_xy":[[0.08688070152013017,1.6666851123654287],[0.1107461702437863,1.6914494179811475]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_33","position":[0.43647598036681545,-2.5590306920904573,0.71338606911949],"aabb_xy":[[0.42523092479619756,-2.570272489814553],[0.44772103593743323,-2.5477888943663625]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_34","position":[-0.5893758235656913,0.6457863590804189,0.71338606911949],"aabb_xy":[[-0.6443758227422806,0.5907966843054612],[-0.5343758243891016,0.7007760338553765]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6712497180447481,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9448.png","name":"9448"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9448.png","name":"9448"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4990.png","name":"4990"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3056.png","name":"3056"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6015.png","name":"6015"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1501.png","name":"1501"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":785.2299357986576,"rotation_z_degrees":150.00603536403153,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01896922084689615,0.014360769121301586,-0.009738312736448798]},{"name":"camera_2","offset_m":[-0.016242320235620493,-0.014441980367041411,0.0021274698325046866]},{"name":"camera_3","offset_m":[0.018370931241941165,-0.01983695695652843,0.0016339590708189487]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009540018928560052,0.00162552817542594,0.0002688187954067284],"end_effector_yaw_offset_degrees":-0.8696905643701207},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016091377161298556,-0.0007886898451109601,-0.0017065366335414413],"end_effector_yaw_offset_degrees":0.3077162804093758},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017223497878385572,-0.001613994007069506,0.00045637512432732466],"end_effector_yaw_offset_degrees":0.040755460230682994},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012847978331727815,-0.0008528217916122459,0.0005746743693470558],"end_effector_yaw_offset_degrees":0.2599260118154283}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014772718896150895,-0.0017850374252883152],"position_m":[0.23947727188961507,0.29181496257471173,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004947418977901261,-9.100231042481234e-05],"position_m":[0.24354741897790128,-0.3598910023104248,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004280665410095882,0.001891788617876723],"position_m":[0.34741933458990415,-0.12950821138212326,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027094390451602147,0.000122981646944729],"position_m":[0.3565905609548398,0.07452298164694472,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9d6a6df7fe7445161b63ce4eda9a9ec654185e1856b015c62c95ceb053984321","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0090.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9448/tex_ceiling_textures_1501/tex_floor_textures_6015/tex_table_textures_4990/tex_wall_textures_3056","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":2874793902980856210,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":2874793902980856210,"visual_seed":2874793902980856210,"scene_id":"lab_003","finished_at":"2026-09-04T22:51:23"}
+{"episode_id":"ep_000074","started_at":"2026-09-04T22:54:23","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[0.4450761917731332,0.9677571107670802,0.71338606911949],"aabb_xy":[[0.4205299761503824,0.9375082142180431],[0.46962240739588385,0.9980060073161172]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[-0.532329959885415,-2.1666881736922936,0.71338606911949],"aabb_xy":[[-0.5673299597814339,-2.1750624092042337],[-0.49732995998939616,-2.1583139381803536]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[0.4057462146526505,0.7305333097459621,0.71338606911949],"aabb_xy":[[0.3901904452423853,0.714982876501555],[0.4213019840629158,0.7460837429903694]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[-0.416145597452817,0.8924986759529525,0.71338606911949],"aabb_xy":[[-0.4536455977449918,0.8884572005523489],[-0.37864559716064217,0.8965401513535561]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[0.3525544748756808,-1.4830399769948959,0.71338606911949],"aabb_xy":[[0.33434865121443313,-1.4940653775768873],[0.3707602985369285,-1.472014576412904]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.5710344285714296,-2.415732918937144,0.71338606911949],"aabb_xy":[[-0.5856778341254626,-2.430391638593928],[-0.5563910230173966,-2.4010741992803597]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[0.006360864970867519,-1.5811656619571648,0.71338606911949],"aabb_xy":[[-0.0015624152678808123,-1.6036656621951682],[0.01428414520961585,-1.5586656617191614]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_7","position":[-0.513819837985767,1.0743310504292518,0.71338606911949],"aabb_xy":[[-0.5938198390588874,1.0645530040918674],[-0.4338198369126467,1.0841090967666362]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[-0.036198527894239496,0.8136720905643156,0.71338606911949],"aabb_xy":[[-0.07369852771127305,0.8090338792531737],[0.0013014719227940619,0.8183103018754574]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_9","position":[-0.15956745579918397,-1.6499818805217155,0.71338606911949],"aabb_xy":[[-0.22356745509335219,-1.7139680208905699],[-0.09556745650501575,-1.5859957401528615]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[-0.2911660643002855,1.0253492683749492,0.71338606911949],"aabb_xy":[[-0.371166066463048,0.9453940847488056],[-0.21116606213752304,1.1053044520010928]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_11","position":[0.6261159105628058,0.3718114034819866,0.71338606911949],"aabb_xy":[[0.5621159134507001,0.32277903368757604],[0.6901159076749115,0.42084377327639727]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.6811547483690801,1.3936578078246562,0.71338606911949],"aabb_xy":[[0.6436547499456796,1.3804935938568255],[0.7186547467924803,1.406822021792487]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[-0.675628075466025,-0.09038044813205914,0.71338606911949],"aabb_xy":[[-0.6820418891092098,-0.09679026837972747],[-0.6692142618228399,-0.08397062788439079]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_14","position":[0.5161074645131831,-2.1738008082055713,0.71338606911949],"aabb_xy":[[0.5009352952315498,-2.188969665133775],[0.5312796337948165,-2.1586319512773677]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.3316211687584246,0.4139500998846244,0.71338606911949],"aabb_xy":[[-0.39662116975892514,0.36316373472994945],[-0.2666211677579241,0.46473646503929933]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[0.17425874935742225,1.0784973475529753,0.71338606911949],"aabb_xy":[[0.10925875120150319,1.0522011030030631],[0.2392587475133413,1.1047935921028875]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[-0.12463679945144202,-0.3034016467301597,0.71338606911949],"aabb_xy":[[-0.20463680088156921,-0.38291880174276915],[-0.0446367980213148,-0.2238844917175502]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[-0.10504623633903942,0.33583170972046705,0.71338606911949],"aabb_xy":[[-0.1418408694639457,0.2989258346238847],[-0.06825160321413315,0.3727375848170493]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[-0.19909347608818811,-1.3970450070518274,0.71338606911949],"aabb_xy":[[-0.2365934776038198,-1.4082717800679725],[-0.16159347457255638,-1.3858182340356824]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.6614427914541632,0.7227955540729281,0.71338606911949],"aabb_xy":[[0.6501977358835452,0.7115537563488328],[0.6726878470247809,0.7340373517970233]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_21","position":[-0.527122358447456,-2.0044306665354172,0.71338606911949],"aabb_xy":[[-0.5646223589448143,-2.0083993500835358],[-0.4896223579500978,-2.0004619829872987]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_22","position":[-0.6221378245445796,-1.7238500426131511,0.71338606911949],"aabb_xy":[[-0.6673091423927486,-1.7878500397576897],[-0.5769665066964107,-1.659850045468613]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_23","position":[0.2629080486472013,1.4487892408207128,0.71338606911949],"aabb_xy":[[0.2254080484753293,1.4160885054378056],[0.3004080488190732,1.48148997620362]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[-0.6003464877901951,1.6366396122828504,0.71338606911949],"aabb_xy":[[-0.6425309019510258,1.5726396120056396],[-0.5581620736293643,1.700639612560062]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_25","position":[0.6840338999919984,-2.1864221711949066,0.71338606911949],"aabb_xy":[[0.6465338988072056,-2.190840393890966],[0.7215339011767912,-2.182003948498845]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_26","position":[-0.6471454264787031,-0.5783985665766123,0.71338606911949],"aabb_xy":[[-0.66472372866765,-0.5959730561507172],[-0.6295671242897563,-0.5608240770025074]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_27","position":[-0.5256618137122523,-0.06533482607069274,0.71338606911949],"aabb_xy":[[-0.5568087325558353,-0.13533482475749992],[-0.49451489486866906,0.0046651726161144325]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6658073751815513,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5613.png","name":"5613"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5613.png","name":"5613"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6133.png","name":"6133"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5999.png","name":"5999"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2897.png","name":"2897"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6700.png","name":"6700"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":636.8314754029611,"rotation_z_degrees":109.72195559225355,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006610290605081878,0.013425833486124316,-0.015591187408095921]},{"name":"camera_2","offset_m":[-0.014807880716811913,-0.013516075034920395,0.004874244284529684]},{"name":"camera_3","offset_m":[-0.010886171164349161,-0.005345093429431361,0.007273359667396916]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019783272536229336,-0.0006316284031163085,0.0011899804939237806],"end_effector_yaw_offset_degrees":0.32320960071155613},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011944802706825679,0.0014366211689063528,0.001341925771778719],"end_effector_yaw_offset_degrees":-0.951100111314533},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00149880485176601,-0.0010368035200219003,8.45702039995646e-05],"end_effector_yaw_offset_degrees":-0.4145026439105983},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018516315903629153,0.0002136314947755254,-0.001098187112606961],"end_effector_yaw_offset_degrees":0.1346197085477776}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002142650070394777,-0.001304514646865369],"position_m":[0.24014265007039476,0.29229548535313465,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022008820914636486,-0.001163045349753783],"position_m":[0.23639911790853635,-0.36096304534975376,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030346947285314367,0.0031689764757764664],"position_m":[0.3547346947285315,-0.12823102352422353,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00034961306058158524,0.004558545879091532],"position_m":[0.3596496130605816,0.07895854587909153,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e9bd9eac1b5f6419fc7b3f53514651a9ad7274c5ade9e5f1ba75c06cf19b0b8","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5613/tex_ceiling_textures_6700/tex_floor_textures_2897/tex_table_textures_6133/tex_wall_textures_5999","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":8378928469161237363,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":8378928469161237363,"visual_seed":8378928469161237363,"scene_id":"lab_003","finished_at":"2026-09-04T22:58:22"}
+{"episode_id":"ep_000075","started_at":"2026-09-04T22:58:26","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_0","position":[-0.3741838053322959,-0.16778451425668006,0.71338606911949],"aabb_xy":[[-0.4110343532692835,-0.2052845150797138],[-0.3373332573953083,-0.13028451343364633]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.20132281957136022,-2.2104861012389794,0.71338606911949],"aabb_xy":[[0.191975811989065,-2.2247897234566234],[0.21066982715365545,-2.1961824790213353]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[-0.6217041138175057,-2.1463970353956143,0.71338606911949],"aabb_xy":[[-0.6467041133692442,-2.1565395192607486],[-0.5967041142657672,-2.136254551530479]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[0.25881803545738513,-2.3349522190972944,0.71338606911949],"aabb_xy":[[0.21364671760921616,-2.3989522162418333],[0.3039893533055541,-2.2709522219527565]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.4419260303573597,-2.475900898558983,0.71338606911949],"aabb_xy":[[-0.4794260318729915,-2.4871276715751276],[-0.40442602884172807,-2.4646741255428375]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.47963427946054615,-1.9476008122591355,0.71338606911949],"aabb_xy":[[-0.5296342808214333,-1.9975787168345511],[-0.4296342780996589,-1.8976229076837199]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[0.4159802589847943,0.8786197588665519,0.71338606911949],"aabb_xy":[[0.3359802585145784,0.8703090512522035],[0.49598025945501034,0.8869304664809002]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[0.5541643931256763,0.4772813097587383,0.71338606911949],"aabb_xy":[[0.5305792696617815,0.41228130751330655],[0.5777495165895712,0.5422813120041701]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.24151185291369864,1.671848859101654,0.71338606911949],"aabb_xy":[[-0.3252340784137811,1.581848855566958],[-0.15778962741361618,1.76184886263635]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.23411716210001376,-1.7625585462380355,0.71338606911949],"aabb_xy":[[-0.2697463179999735,-1.7981912129948885],[-0.19848800620005402,-1.7269258794811826]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[0.11964568357830108,-1.8111259294072408,0.71338606911949],"aabb_xy":[[0.05964568332689989,-1.8654072544437053],[0.17964568382970225,-1.756844604370776]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_11","position":[0.34569540151230216,-1.9566178101724803,0.71338606911949],"aabb_xy":[[0.2656954028554162,-1.9711226690967434],[0.4256954001691882,-1.9421129512482176]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[-0.09038257856380161,1.7956678409783051,0.71338606911949],"aabb_xy":[[-0.10739267585385223,1.7795333524800312],[-0.07337248127375093,1.811802329476579]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[0.4971170331625241,1.4130377738402848,0.71338606911949],"aabb_xy":[[0.48900337848914693,1.4049319573862558],[0.5052306878359012,1.421143590294314]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_14","position":[-0.5209428637069701,0.7236769271715686,0.71338606911949],"aabb_xy":[[-0.531715837628338,0.6886769289525297],[-0.5101698897856024,0.7586769253906077]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[0.18578298607580224,-0.8311693239622988,0.71338606911949],"aabb_xy":[[0.1257829852149894,-0.8825957539687851],[0.24578298693661502,-0.7797428939558123]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_16","position":[-0.649678218273669,-2.428356684719905,0.71338606911949],"aabb_xy":[[-0.6721782187857095,-2.450848543085303],[-0.6271782177616283,-2.4058648263545064]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[0.20597881444323352,1.039622207414482,0.71338606911949],"aabb_xy":[[0.15598570233404163,0.9896222067402864],[0.2559719265524254,1.0896222080886777]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.6347852384370202,0.6999726382441862,0.71338606911949],"aabb_xy":[[-0.6560632465804923,0.634972635918113],[-0.6135072302935478,0.7649726405702592]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_19","position":[-0.24867886113920928,-0.3930656783264279,0.71338606911949],"aabb_xy":[[-0.25909041981969294,-0.39841141166232635],[-0.23826730245872552,-0.38771994499052936]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_20","position":[0.33709561437084856,-0.9998138791155327,0.71338606911949],"aabb_xy":[[0.2730956179752755,-1.063777167534266],[0.40109561076642164,-0.935850590696799]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[-0.07078735892330912,-2.2039268646570624,0.71338606911949],"aabb_xy":[[-0.07542247407554249,-2.2077941997342108],[-0.06615224377107572,-2.2000595295799132]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_22","position":[-0.5177737984719828,-0.14131232936092752,0.71338606911949],"aabb_xy":[[-0.5254769891460598,-0.14902170005966553],[-0.5100706077979058,-0.13360295866218952]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[0.4680672274240685,-2.212184670745347,0.71338606911949],"aabb_xy":[[0.45052053250794954,-2.249684672309599],[0.4856139223401874,-2.174684669181096]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[-0.6146341793063834,0.29988806843798477,0.71338606911949],"aabb_xy":[[-0.6746341809493053,0.24788791914604064],[-0.5546341776634616,0.351888217729929]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_25","position":[-0.5964260165903591,-1.739402530268661,0.71338606911949],"aabb_xy":[[-0.6864260202672772,-1.800834936845765],[-0.5064260129134408,-1.6779701236915563]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[-0.4535705514702224,-2.3256203757380076,0.71338606911949],"aabb_xy":[[-0.4736289630834627,-2.345685462647165],[-0.4335121398569821,-2.30555528882885]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[0.3807725941329132,0.4920102133676263,0.71338606911949],"aabb_xy":[[0.36900440733825574,0.4070102134624048],[0.39254078092757083,0.5770102132728478]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6726048764280103,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6708.png","name":"6708"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6708.png","name":"6708"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7853.png","name":"7853"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5554.png","name":"5554"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9704.png","name":"9704"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7376.png","name":"7376"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":542.0553889747789,"rotation_z_degrees":285.40069451757256,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01211095033795281,-0.011677142742773707,-0.01655253061989461]},{"name":"camera_2","offset_m":[0.011482837524009675,0.005344964890133072,-0.00819885683350789]},{"name":"camera_3","offset_m":[0.01827977740454657,0.012365881895895246,-0.0014956216667822084]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003728189349645342,0.00196980234570273,-0.0013561956723296227],"end_effector_yaw_offset_degrees":0.8110338795945915},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012826175513589804,-0.0006744431004746248,-0.0012556721035509595],"end_effector_yaw_offset_degrees":-0.22011862344588717},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00169699843993501,-0.00012609960461333852,0.00079283646194841],"end_effector_yaw_offset_degrees":-0.16462473091228436},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001921140764390358,0.0015207483088156668,-0.0006288094816256583],"end_effector_yaw_offset_degrees":0.9505491455681705}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002134462801696603,0.0004058066310631478],"position_m":[0.2358655371983034,0.2940058066310632,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004613989189195203,-0.003132998233376758],"position_m":[0.2432139891891952,-0.36293299823337677,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003512029473890477,0.0016277810196302358],"position_m":[0.34818797052610956,-0.12977221898036975,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015551714768398065,-0.002104368713163818],"position_m":[0.3608551714768398,0.07229563128683618,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"238f0426644093c5b28291130f30aeb6e0112ec480dd3454fbbdbec399b64a3b","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0093.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6708/tex_ceiling_textures_7376/tex_floor_textures_9704/tex_table_textures_7853/tex_wall_textures_5554","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":163800510823467599,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":163800510823467599,"visual_seed":163800510823467599,"scene_id":"lab_003","finished_at":"2026-09-04T23:02:27"}
+{"episode_id":"ep_000076","started_at":"2026-09-04T23:02:31","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.1834172304403684,0.7432298705311169,0.71338606911949],"aabb_xy":[[-0.18938376938110418,0.7372687258717529],[-0.1774506914996326,0.7491910151904809]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[-0.3768899293282794,-2.028153340847511,0.71338606911949],"aabb_xy":[[-0.4568899262913186,-2.1052289824912847],[-0.29688993236524025,-1.9510776992037377]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[0.5611306297398564,-2.1856955915673337,0.71338606911949],"aabb_xy":[[0.5435523275509095,-2.2032700811414387],[0.5787089319288032,-2.1681211019932287]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_3","position":[-0.005723461365018223,-1.6925423682471459,0.71338606911949],"aabb_xy":[[-0.04072346055783649,-1.7035094142448082],[0.029276537827800042,-1.6815753222494827]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_4","position":[-0.24757891486650135,1.656734103736928,0.71338606911949],"aabb_xy":[[-0.3375789116021115,1.6035506404196331],[-0.15757891813089112,1.7099175670542222]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[-0.49683803889911915,0.46906530886293485,0.71338606911949],"aabb_xy":[[-0.556838040542041,0.4170651595709907],[-0.4368380372561973,0.521065458154879]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[0.25315321062005736,0.5529711492762899,0.71338606911949],"aabb_xy":[[0.20315320960092215,0.516504933538462],[0.3031532116391927,0.5894373650141179]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_7","position":[0.495759172481786,0.9819179059733862,0.71338606911949],"aabb_xy":[[0.41575917201157014,0.9736071983590379],[0.575759172952002,0.9902286135877346]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_8","position":[0.36527263838536816,0.8127302606782925,0.71338606911949],"aabb_xy":[[0.3580113908149608,0.799943250414783],[0.37253388595577563,0.8255172709418019]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_9","position":[0.675622193729893,-2.4633871985586366,0.71338606911949],"aabb_xy":[[0.6506221937973752,-2.4702698667795606],[0.700622193662411,-2.4565045303377135]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[-0.6061625180568093,1.6220186287873513,0.71338606911949],"aabb_xy":[[-0.6701625166433818,1.5750116653878425],[-0.5421625194702369,1.66902559218686]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[0.327583211953556,1.6265369771332616,0.71338606911949],"aabb_xy":[[0.31936866683787196,1.6178603868356198],[0.3357977570692399,1.6352135674309025]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[-0.6200609376038689,-2.4500942137494173,0.71338606911949],"aabb_xy":[[-0.6840609383073384,-2.4961125962223383],[-0.5560609369003997,-2.4040758312764963]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.23526335223343375,0.9480730149976417,0.71338606911949],"aabb_xy":[[0.2244228740069188,0.9308867337069927],[0.2461038304599486,0.9652592962882903]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_14","position":[0.09424395887330705,-0.8863640043455323,0.71338606911949],"aabb_xy":[[0.04427089334079159,-0.9363640041580654],[0.1442170244058225,-0.8363640045329996]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_15","position":[0.00554014301079786,1.1856069495479078,0.71338606911949],"aabb_xy":[[-0.059459859626995626,1.1341273508484606],[0.07054014564859135,1.2370865482473545]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_16","position":[-0.2163398147141905,-0.31303317676969344,0.71338606911949],"aabb_xy":[[-0.3063398141325614,-0.3464086736138831],[-0.1263398152958196,-0.27965767992550367]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[0.18439556835434356,1.4963430734203205,0.71338606911949],"aabb_xy":[[0.15655053157373644,1.4655585746820086],[0.2122406051349507,1.527127572158632]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_18","position":[-0.3065318057468992,1.1768631388925272,0.71338606911949],"aabb_xy":[[-0.3440318062442575,1.1728944553444087],[-0.269031805249541,1.1808318224406458]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[-0.4289156385102038,-1.8578415815461025,0.71338606911949],"aabb_xy":[[-0.5089156355244517,-1.8779761332195135],[-0.34891564149595583,-1.837707029872691]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.38462125508735134,-0.653533202592949,0.71338606911949],"aabb_xy":[[0.3477707071503638,-0.6910332034159827],[0.421471803024339,-0.6160332017699153]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[0.6262957969514791,-0.5032254846589419,0.71338606911949],"aabb_xy":[[0.5462957982945931,-0.5177303435832047],[0.7062957956083651,-0.4887206257346791]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[0.627109428625191,-0.987852367612521,0.71338606911949],"aabb_xy":[[0.537109426291172,-1.0653347221976337],[0.7171094309592101,-0.9103700130274083]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[0.39649809076950415,1.404262306782822,0.71338606911949],"aabb_xy":[[0.3830515641354609,1.3907924551297304],[0.40994461740354754,1.417732158435913]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[-0.3245794076774058,-0.6590452435084633,0.71338606911949],"aabb_xy":[[-0.38457940853821854,-0.7104716735149494],[-0.2645794068165929,-0.6076188135019767]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6635764048426896,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1419.png","name":"1419"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1419.png","name":"1419"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/163.png","name":"163"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2627.png","name":"2627"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3151.png","name":"3151"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6832.png","name":"6832"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":585.0624471651424,"rotation_z_degrees":208.38659888712488,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013968595202069233,0.0014821897969818573,0.0065023607450549505]},{"name":"camera_2","offset_m":[0.018699013587429657,0.005056355751083586,0.01589857690004357]},{"name":"camera_3","offset_m":[0.011452146254163072,-0.004576943664992656,-0.008686410756145154]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016042204633179749,0.0018273815925275534,0.001818191414328819],"end_effector_yaw_offset_degrees":0.2826849270896914},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017876747413776888,2.0439682821454027e-05,0.0015740871436929903],"end_effector_yaw_offset_degrees":0.6800195882546913},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001152965768921761,0.001959852324887176,-0.001112586760982755],"end_effector_yaw_offset_degrees":0.21892493663284518},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00012692415961220544,0.0017078486969658592,-0.0015875810928660168],"end_effector_yaw_offset_degrees":0.6287627387636441}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004048746152515885,-0.001118343724149643],"position_m":[0.2339512538474841,0.2924816562758504,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009335240278709892,0.004963541168027843],"position_m":[0.237666475972129,-0.3548364588319722,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003492884678608599,0.004990124752233183],"position_m":[0.3482071153213914,-0.1264098752477668,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013379853522414043,-0.004455426391092935],"position_m":[0.3579620146477586,0.06994457360890706,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d85f0a58561eeacb473efc3dfcb49ce9af98be271c3a292f1db76245b439b587","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1419/tex_ceiling_textures_6832/tex_floor_textures_3151/tex_table_textures_163/tex_wall_textures_2627","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":607740185203240319,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":607740185203240319,"visual_seed":607740185203240319,"scene_id":"lab_003","finished_at":"2026-09-04T23:06:50"}
+{"episode_id":"ep_000077","started_at":"2026-09-04T23:06:54","dimensions":{"distractor":{"count":22,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.5533581752410275,0.6240178481795287,0.71338606911949],"aabb_xy":[[0.4633581729070084,0.546535493594416],[0.6433581775750465,0.7015002027646413]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[0.47643723049094366,-1.5472466317723217,0.71338606911949],"aabb_xy":[[0.4342528163301129,-1.611246632049533],[0.5186216446517744,-1.4832466314951105]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[0.060944644434274164,1.5232347765836693,0.71338606911949],"aabb_xy":[[-0.009055357697155382,1.5004728109579732],[0.1309446465657037,1.5459967422093646]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_3","position":[-0.5922642963445095,-2.2041783428098105,0.71338606911949],"aabb_xy":[[-0.608941432337605,-2.220878266783741],[-0.575587160351414,-2.1874784188358802]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[0.6169675294649273,-0.1148973834950957,0.71338606911949],"aabb_xy":[[0.5794675293593343,-0.12171954534807682],[0.6544675295705202,-0.10807522164211457]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[-0.32508371772647715,-0.3048355893676975,0.71338606911949],"aabb_xy":[[-0.3800574397628101,-0.3598355889319307],[-0.2701099956901443,-0.24983558980346432]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[0.2278102813113173,-1.804915199030456,0.71338606911949],"aabb_xy":[[0.17281803067580637,-1.8599152007737687],[0.28280253194682825,-1.7499151972871432]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_7","position":[0.09114773343077087,-1.6546467382841517,0.71338606911949],"aabb_xy":[[0.08473391978758592,-1.6610565585318195],[0.0975615470739558,-1.6482369180364829]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_8","position":[0.22258624682680916,1.5976722412537963,0.71338606911949],"aabb_xy":[[0.17758624536058032,1.5526723843923158],[0.267586248293038,1.6426720981152771]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[-0.1405636507493152,-1.676686903812488,0.71338606911949],"aabb_xy":[[-0.17806365226494691,-1.6879136768286331],[-0.1030636492336835,-1.665460130796343]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[-0.41144453957038507,-1.5549221165644371,0.71338606911949],"aabb_xy":[[-0.44192878969741517,-1.604922116345933],[-0.38096028944335486,-1.5049221167829412]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[0.5631793317439011,1.7181684713219991,0.71338606911949],"aabb_xy":[[0.555051643550588,1.7092548629112916],[0.5713070199372144,1.727082079732707]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[-0.0034936502405854553,1.2252334854592446,0.71338606911949],"aabb_xy":[[-0.013905208921069168,1.2198877521233462],[0.006917908439898257,1.230579218795143]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.06549532975707073,-2.5764274473578737,0.71338606911949],"aabb_xy":[[-0.07153234275773546,-2.5824541484268217],[-0.059458316756406004,-2.5704007462889256]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_14","position":[0.44053928294802835,0.2537224735527497,0.71338606911949],"aabb_xy":[[0.3755392843909555,0.22396994013886706],[0.5055392815051012,0.2834750069666323]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_15","position":[-0.4083205308319896,-0.7771987945179457,0.71338606911949],"aabb_xy":[[-0.4308342226554467,-0.8471987951189531],[-0.3858068390085323,-0.7071987939169381]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.2921133734143678,-0.6012602470725785,0.71338606911949],"aabb_xy":[[-0.2976950450484966,-0.6137602468903539],[-0.28653170178023907,-0.5887602472548029]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.20513559896505207,-0.9357680695876998,0.71338606911949],"aabb_xy":[[-0.21393765427402475,-0.9435793957426287],[-0.19633354365607933,-0.9279567434327706]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[0.49530697109140953,-1.8767897466730667,0.71338606911949],"aabb_xy":[[0.47172184762751473,-1.9417897489184985],[0.5188920945553044,-1.811789744427635]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.5939613983405291,-1.2651993962446801,0.71338606911949],"aabb_xy":[[-0.6739613969278485,-1.3445149981828408],[-0.5139613997532096,-1.185883794306519]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[-0.21108527207613087,1.6899824138940942,0.71338606911949],"aabb_xy":[[-0.26108527243669694,1.640002426684491],[-0.16108527171556483,1.739962401103697]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.057330837769297927,-1.5473868560672712,0.71338606911949],"aabb_xy":[[0.007330836485457965,-1.597365710457893],[0.1073308390531379,-1.497408001676649]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670349023452022,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/278.png","name":"278"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/278.png","name":"278"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6802.png","name":"6802"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6720.png","name":"6720"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9623.png","name":"9623"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1152.png","name":"1152"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":746.4711412317806,"rotation_z_degrees":344.6038758629712,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006823837428678901,-0.005261450359429954,0.0013566980661011488]},{"name":"camera_2","offset_m":[-0.017385614916914986,0.007780872100208055,0.004028098818297642]},{"name":"camera_3","offset_m":[-0.011439086138084784,0.01587490263721059,0.016828049549548616]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010477386202111948,0.0006179917077486457,-0.0009141392105900107],"end_effector_yaw_offset_degrees":0.528581440885159},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010628678711956164,0.0005592925567729631,0.001079431512087442],"end_effector_yaw_offset_degrees":0.22541402194602123},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008657994503348085,0.0001822480511175905,0.0006355381703548857],"end_effector_yaw_offset_degrees":0.9867292489956643},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00042325753709826757,0.00026696244411053994,0.001488385618151949],"end_effector_yaw_offset_degrees":0.2462693275061294}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027877824460913548,0.0038510434761669992],"position_m":[0.23521221755390864,0.297451043476167,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002944542055479324,0.00045042207219009225],"position_m":[0.23889445420554795,-0.3593495779278099,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0032268447649651264,-0.0009027380269069161],"position_m":[0.34847315523503486,-0.1323027380269069,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001329838238985203,0.0010829759375001824],"position_m":[0.35943298382389854,0.07548297593750018,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a767bd50a89eca940ae0350ac48c54caeb04bddaa96e43ecee64c1d4811c7221","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0095.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_278/tex_ceiling_textures_1152/tex_floor_textures_9623/tex_table_textures_6802/tex_wall_textures_6720","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":4989939012603720710,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":4989939012603720710,"visual_seed":4989939012603720710,"scene_id":"lab_003","finished_at":"2026-09-04T23:10:54"}
+{"episode_id":"ep_000078","started_at":"2026-09-04T23:10:58","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[-0.198671922959182,1.6387909504773552,0.71338606911949],"aabb_xy":[[-0.26367192084082985,1.5876672867708146],[-0.13367192507753425,1.6899146141838963]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[-0.1969822407008336,-0.36184395460140095,0.71338606911949],"aabb_xy":[[-0.23347806132811233,-0.3983278970281585],[-0.16048642007355485,-0.3253600121746434]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[0.4312974402327572,1.0540111628217992,0.71338606911949],"aabb_xy":[[0.3937974390479643,1.0495929401257382],[0.4687974414175499,1.0584293855178593]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[-0.03086219876299423,-1.1821437784255728,0.71338606911949],"aabb_xy":[[-0.08583592079932711,-1.237143777989806],[0.024111523273338653,-1.1271437788613397]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[0.4116718891317084,-1.598768500281032,0.71338606911949],"aabb_xy":[[0.32167188940853414,-1.6218418528162115],[0.5016718888548825,-1.5756951477458518]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[0.3948834344074075,-2.414776313498835,0.71338606911949],"aabb_xy":[[0.3447859704263339,-2.478776314008647],[0.44498089838848115,-2.3507763129890233]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[0.28959475604277274,-1.0924148567331162,0.71338606911949],"aabb_xy":[[0.2255947557823019,-1.1374236560860442],[0.3535947563032435,-1.0474060573801882]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[0.5340404511909753,0.6676017758804926,0.71338606911949],"aabb_xy":[[0.4700404547636534,0.6204321520583962],[0.5980404476182972,0.7147713997025891]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_8","position":[-0.5516459333710114,-1.811769057013857,0.71338606911949],"aabb_xy":[[-0.563214914117948,-1.8367690571307889],[-0.5400769526240748,-1.7867690568969254]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[0.5015852483018686,-0.8193674689234358,0.71338606911949],"aabb_xy":[[0.4115852488834977,-0.8527429657676254],[0.5915852477202395,-0.785991972079246]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[0.09374268178644951,1.3676940249911018,0.71338606911949],"aabb_xy":[[0.05874268259363123,1.356726978993439],[0.12874268097926778,1.3786610709887641]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.37243302065992956,0.31572848826679945,0.71338606911949],"aabb_xy":[[-0.38258603621407883,0.27965894669405905],[-0.3622800051057801,0.3517980298395397]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_12","position":[-0.17432995753713787,0.04799601440876877,0.71338606911949],"aabb_xy":[[-0.17966753320314244,0.022996013479628985],[-0.1689923818711333,0.07299601533790856]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_13","position":[0.434243687708348,1.4578620132578899,0.71338606911949],"aabb_xy":[[0.3702436904060015,1.413495586290033],[0.4982436850106943,1.5022284402257464]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_14","position":[0.06818937711953665,0.7874185991811533,0.71338606911949],"aabb_xy":[[0.06285686246492368,0.7820942709359178],[0.07352189177414965,0.7927429274263889]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[0.0942324565333853,-1.7686993756323446,0.71338606911949],"aabb_xy":[[0.029232455576258098,-1.8206475875660502],[0.1592324574905125,-1.716751163698639]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.48267667372068235,-1.1216451983465738,0.71338606911949],"aabb_xy":[[-0.5326766732970171,-1.1716257772986798],[-0.43267667414434763,-1.0716646193944679]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[-0.5271569484054612,-0.8561616166735553,0.71338606911949],"aabb_xy":[[-0.5771569500669559,-0.9061600589292579],[-0.4771569467439664,-0.8061631744178525]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[-0.5768945220995647,1.5377906686319052,0.71338606911949],"aabb_xy":[[-0.5843069776409531,1.531939458210277],[-0.5694820665581761,1.543641879053533]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.31269357989685825,-2.0718974109396036,0.71338606911949],"aabb_xy":[[-0.35019358006873014,-2.1045981463225103],[-0.27519357972498626,-2.039196675556696]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[-0.08841515087732266,1.2279130782294088,0.71338606911949],"aabb_xy":[[-0.12591515116949747,1.2238716028288052],[-0.050915150585147825,1.2319545536300123]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[-0.13955587061792918,0.7436661070798021,0.71338606911949],"aabb_xy":[[-0.15698658569693566,0.7263939924159513],[-0.12212515553892266,0.7609382217436529]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.6182801141201735,0.8918357192778861,0.71338606911949],"aabb_xy":[[0.5532801140858707,0.8451350425975588],[0.6832801141544762,0.9385363959582134]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_23","position":[-0.5884059581189851,0.9002465660955372,0.71338606911949],"aabb_xy":[[-0.6344910493737166,0.8362465688429821],[-0.5423208668642536,0.9642465633480923]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_24","position":[0.6231664660568283,-0.9517175921543617,0.71338606911949],"aabb_xy":[[0.5948367561082881,-0.9561783343480788],[0.6514961760053686,-0.9472568499606446]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_25","position":[0.48156805556896076,-2.0890659939681644,0.71338606911949],"aabb_xy":[[0.4315838198607836,-2.13906599278166],[0.531552291277138,-2.039065995154669]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[0.6425757803874192,1.2185872807704934,0.71338606911949],"aabb_xy":[[0.5785757832753137,1.1695549109760828],[0.706575777499525,1.267619650564904]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_27","position":[0.19864305109845082,1.5880400567614754,0.71338606911949],"aabb_xy":[[0.18399964554441783,1.573381337104691],[0.2132864566524838,1.6026987764182594]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_28","position":[-0.3741917520679622,-0.9303561571985124,0.71338606911949],"aabb_xy":[[-0.4053386709115453,-1.0003561558853193],[-0.34304483322437906,-0.8603561585117051]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_29","position":[-0.18428677851270658,0.5651790755840862,0.71338606911949],"aabb_xy":[[-0.24928677961864987,0.5402137025159579],[-0.1192867774067633,0.5901444486522145]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_30","position":[0.6505404444185179,1.710137325690877,0.71338606911949],"aabb_xy":[[0.6253196075586781,1.6849135748379898],[0.6757612812783574,1.7353610765437633]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_31","position":[-0.22964288739742572,-1.534656551271851,0.71338606911949],"aabb_xy":[[-0.2655563918224154,-1.5705700594886054],[-0.193729382972436,-1.4987430430550963]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_32","position":[-0.34649766041039304,0.7350823665885207,0.71338606911949],"aabb_xy":[[-0.3964764689207089,0.6850823665828017],[-0.29651885190007715,0.7850823665942394]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6699681393587206,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/128.png","name":"128"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/128.png","name":"128"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2346.png","name":"2346"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9823.png","name":"9823"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8713.png","name":"8713"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7271.png","name":"7271"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":744.2923637771931,"rotation_z_degrees":19.081867782040447,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019016812614688256,-0.01228945371500512,-0.007012124047999634]},{"name":"camera_2","offset_m":[0.008697897034544023,0.014886179918347755,0.006253426119694889]},{"name":"camera_3","offset_m":[-0.012986642984756673,0.008685905382301441,0.0028145419634786374]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011262462096001684,-0.001389641746266197,0.0017542372838431639],"end_effector_yaw_offset_degrees":-0.6029563542324887},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-2.343007034412512e-05,0.0010109222307396431,0.0003528785827818315],"end_effector_yaw_offset_degrees":0.29679891016093896},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013785118862925704,0.0008540825039738804,-0.0008281550219025036],"end_effector_yaw_offset_degrees":-0.1867799148148679},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006427420710132714,-0.0002698938997907376,0.0008344977123051251],"end_effector_yaw_offset_degrees":0.8509630574782048}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030270526014083516,0.0010834831721791673],"position_m":[0.24102705260140833,0.2946834831721792,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004390139379396154,0.001423252826071527],"position_m":[0.24299013937939615,-0.3583767471739285,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004548954420464351,-0.0017631190821908306],"position_m":[0.3471510455795357,-0.1331631190821908,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006363289942790274,-0.0025877983536757476],"position_m":[0.358663671005721,0.07181220164632425,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5b9de9e8a18fab56c9ccdf15aa555a0c76ac92e9128dd36f5431b4f6cc9a912d","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0096.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_128/tex_ceiling_textures_7271/tex_floor_textures_8713/tex_table_textures_2346/tex_wall_textures_9823","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":8772186459128202390,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":8772186459128202390,"visual_seed":8772186459128202390,"scene_id":"lab_003","finished_at":"2026-09-04T23:15:08"}
+{"episode_id":"ep_000079","started_at":"2026-09-04T23:18:04","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.6109151992545263,-1.225472236244198,0.71338606911949],"aabb_xy":[[-0.6284151985326132,-1.2428103363105443],[-0.5934151999764394,-1.2081341361778524]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[-0.633120375288718,-0.45958080171913673,0.71338606911949],"aabb_xy":[[-0.6830936692919785,-0.5095808022736841],[-0.5831470812854576,-0.40958080116458934]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[-0.3065316508147007,-1.720461516749571,0.71338606911949],"aabb_xy":[[-0.3965316473155724,-1.7663731591680292],[-0.2165316543138289,-1.6745498743311127]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_3","position":[-0.2111090016293663,0.3119391425811662,0.71338606911949],"aabb_xy":[[-0.2150228748247888,0.3031901271746094],[-0.20719512843394375,0.32068815798772293]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.608382104124414,-0.8644066736096669,0.71338606911949],"aabb_xy":[[0.5605759365106452,-0.9294066763167258],[0.6561882717381825,-0.7994066709026079]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.18596305334106933,-0.7685957843177693,0.71338606911949],"aabb_xy":[[0.17724908429113478,-0.7910957849769574],[0.19467702239100376,-0.746095783658581]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[0.04172157490806094,-2.3494710492543773,0.71338606911949],"aabb_xy":[[-0.02827842722336861,-2.3722330148800723],[0.11172157703949047,-2.3267090836286815]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.18690732877937577,-0.9193799036562109,0.71338606911949],"aabb_xy":[[-0.19034800501943297,-0.9232413366305755],[-0.1834666525393186,-0.9155184706818466]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.17453061074815268,0.08668582823934567,0.71338606911949],"aabb_xy":[[-0.20492872184729624,0.056278926237676156],[-0.14413249964900907,0.11709273024101517]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[0.3823914308150509,0.47227691636859515,0.71338606911949],"aabb_xy":[[0.3478003479610056,0.407276916083564],[0.41698251366909606,0.537276916653626]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[0.5096499961771457,1.7710443643942644,0.71338606911949],"aabb_xy":[[0.44464999614284295,1.7243436877139369],[0.5746499962114484,1.8177450410745914]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[-0.026222651113711914,0.9975395005222576,0.71338606911949],"aabb_xy":[[-0.10622264909449695,0.9899379595604056],[0.05377734686707313,1.0051410414841095]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[-0.5295440001851798,-0.23318430938077483,0.71338606911949],"aabb_xy":[[-0.6132662256852622,-0.32318431291547084],[-0.4458217746850973,-0.14318430584607894]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[0.34470837648006136,0.6325755262885839,0.71338606911949],"aabb_xy":[[0.30737709995481877,0.5979224714937317],[0.38203965300530396,0.6672285810834362]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[-0.5260055732462471,-0.802206659062628,0.71338606911949],"aabb_xy":[[-0.5339990630415292,-0.8102047910031037],[-0.5180120834509652,-0.7942085271221525]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[0.3465181604288139,-2.0739532418316062,0.71338606911949],"aabb_xy":[[0.2965181591449738,-2.123932096222228],[0.39651816171265375,-2.0239743874409837]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_16","position":[0.2653154474485375,-1.0493918978723968,0.71338606911949],"aabb_xy":[[0.1953154440569755,-1.0847076715758277],[0.33531545084009945,-1.014076124168966]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.6310577637956265,0.7160521381444069,0.71338606911949],"aabb_xy":[[0.5460577653782033,0.6311778426821221],[0.7160577622130497,0.800926433606692]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[-0.02489667170265253,-0.8389210239101039,0.71338606911949],"aabb_xy":[[-0.04078116496797768,-0.8532739642089281],[-0.009012178437327378,-0.82456808361128]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.08691951267647036,-0.21004178496835113,0.71338606911949],"aabb_xy":[[-0.09176310743770033,-0.2148934374473353],[-0.08207591791524038,-0.20519013248936707]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_20","position":[0.06311170831528778,1.6398547067827987,0.71338606911949],"aabb_xy":[[-0.0018882895663600023,1.5887310430762582],[0.1281117061969356,1.69097837048934]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_21","position":[-0.4701672437133767,1.1302846199151864,0.71338606911949],"aabb_xy":[[-0.515445858594526,1.0662846205670025],[-0.42488862883222744,1.1942846192633698]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.3704937813010856,-1.5014304632695454,0.71338606911949],"aabb_xy":[[-0.40481005847570356,-1.551430463242723],[-0.3361775041264677,-1.4514304632963675]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_23","position":[-0.2768867165273578,-2.00099200329888,0.71338606911949],"aabb_xy":[[-0.2860465954712344,-2.007523221342417],[-0.2677268375834812,-1.9944607852553429]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.5939609169559327,1.1759004163510416,0.71338606911949],"aabb_xy":[[-0.6064282750656684,1.163435091717718],[-0.5814935588461971,1.188365740984365]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_25","position":[0.5904688606884394,-2.3482991100785293,0.71338606911949],"aabb_xy":[[0.5534347512603796,-2.3826763174122383],[0.627502970116499,-2.3139219027448195]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_26","position":[0.5411521481684467,-1.710525832281676,0.71338606911949],"aabb_xy":[[0.5128224382199065,-1.7149865744753934],[0.5694818581169869,-1.7060650900879593]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[0.6611850892479776,-1.9315339524953978,0.71338606911949],"aabb_xy":[[0.6061928386124666,-1.9865339542387108],[0.7161773398834885,-1.8765339507520853]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6678577380645757,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3877.png","name":"3877"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3877.png","name":"3877"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6574.png","name":"6574"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5233.png","name":"5233"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2362.png","name":"2362"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7191.png","name":"7191"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":600.2653744024201,"rotation_z_degrees":201.0986435166067,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012709466012013872,0.015325099580770888,0.013796665404658109]},{"name":"camera_2","offset_m":[0.01988908583606488,-0.015682618022535347,0.004400771333852277]},{"name":"camera_3","offset_m":[-0.008027090560866097,-0.0060367866649700015,0.007351652042933945]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011752272385547958,-0.00026143422078742703,-0.0019253981636513508],"end_effector_yaw_offset_degrees":0.1353941248917585},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001275914265387298,0.0002554951913074435,0.0009422367817579734],"end_effector_yaw_offset_degrees":0.2891364387394919},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017319936189452152,0.0001786368892374374,-0.0015370694939552333],"end_effector_yaw_offset_degrees":0.3442237428106494},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019102364796975066,0.0009062882241795511,-0.0018283048146924851],"end_effector_yaw_offset_degrees":0.2358221996675789}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021371723027908676,-0.0007759139925366454],"position_m":[0.23586282769720912,0.2928240860074634,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018751743315402135,-0.004430994199679487],"position_m":[0.2367248256684598,-0.36423099419967947,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-3.5899775768458847e-06,-0.000707583705841743],"position_m":[0.3516964100224232,-0.13210758370584172,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006822309368715576,0.0030633314885168935],"position_m":[0.35998223093687154,0.07746333148851689,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7df7854f0dec178e99be460cb632e67d5f1926f5eb5c03e974ed1e28d0df1444","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0098.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3877/tex_ceiling_textures_7191/tex_floor_textures_2362/tex_table_textures_6574/tex_wall_textures_5233","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":6306187465137003740,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":6306187465137003740,"visual_seed":6306187465137003740,"scene_id":"lab_003","finished_at":"2026-09-04T23:22:02"}
+{"episode_id":"ep_000080","started_at":"2026-09-04T23:25:10","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.19217385495324568,-0.7484730322559714,0.71338606911949],"aabb_xy":[[0.12817385765089925,-0.792839459223828],[0.2561738522555921,-0.7041066052881145]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[-0.639951946529332,1.652208057198655,0.71338606911949],"aabb_xy":[[-0.6704361966563622,1.6022080574171589],[-0.6094676964023019,1.7022080569801508]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[-0.2169210080939588,-2.0549066219041885,0.71338606911949],"aabb_xy":[[-0.2519210072239145,-2.0606518429798526],[-0.18192100896400315,-2.0491614008285244]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[-0.17511361653936064,0.13848008940479328,0.71338606911949],"aabb_xy":[[-0.18758097464909634,0.12601476477146978],[-0.16264625842962505,0.1509454140381168]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[-0.26262350565792436,1.1163404870638671,0.71338606911949],"aabb_xy":[[-0.3001235060061521,1.1045490914827836],[-0.2251235053096966,1.1281318826449507]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_5","position":[0.11314092991341573,0.829260121437299,0.71338606911949],"aabb_xy":[[0.07564093009638218,0.8246219101261573],[0.1506409297304493,0.8338983327484409]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[-0.07169846498189292,0.8206530917626833,0.71338606911949],"aabb_xy":[[-0.12169846362781411,0.770733548103221],[-0.021698466335971722,0.8705726354221458]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[0.2792822828261744,-2.2049835999493634,0.71338606911949],"aabb_xy":[[0.24496600565155646,-2.2549835999225407],[0.31359856000079234,-2.1549835999761853]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_8","position":[0.5058404512291759,-1.4194008896641226,0.71338606911949],"aabb_xy":[[0.44584045138260897,-1.4762195118571613],[0.5658404510757425,-1.362582267471084]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[-0.5417677600580564,-0.8359453537288601,0.71338606911949],"aabb_xy":[[-0.5593460622470032,-0.853519843302965],[-0.5241894578691095,-0.8183708641547552]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_10","position":[-0.15514080732311775,1.6712939089863732,0.71338606911949],"aabb_xy":[[-0.2448278836312332,1.5812939087319224],[-0.06545373101500229,1.7612939092408235]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.4940321264404035,0.06728429781158374,0.71338606911949],"aabb_xy":[[0.4595697790422616,0.03279041541376102],[0.5284944738385451,0.1017781802094064]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[-0.1981919411520326,-0.9541308805484234,0.71338606911949],"aabb_xy":[[-0.2481761768602098,-1.0041308793619188],[-0.14820770544385534,-0.9041308817349277]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[-0.33055226962819273,-1.1135689346147803,0.71338606911949],"aabb_xy":[[-0.3592016019886089,-1.1422144938918557],[-0.30190293726777645,-1.084923375337704]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_14","position":[0.3271108876016213,1.2512389751797341,0.71338606911949],"aabb_xy":[[0.27211088939987654,1.2107170085532963],[0.3821108858033662,1.2917609418061715]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[0.16938402485256066,1.4624616354508944,0.71338606911949],"aabb_xy":[[0.08938402268979817,1.3825064518247507],[0.24938402701532314,1.542416819077038]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[-0.224970316370809,0.4179082045746556,0.71338606911949],"aabb_xy":[[-0.28997031492788183,0.388155671160773],[-0.15997031781373613,0.4476607379885382]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.4100532968496715,-1.7988096559922397,0.71338606911949],"aabb_xy":[[0.40264084130828304,-1.8046608664138675],[0.41746575239106,-1.7929584455706116]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_18","position":[0.26225456134951586,-1.7642867071356927,0.71338606911949],"aabb_xy":[[0.21225972842157426,-1.814286706030936],[0.31224939427745746,-1.714286708240449]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.42384139998953024,-0.22507208005063317,0.71338606911949],"aabb_xy":[[-0.5038413985768497,-0.30438768198879407],[-0.34384140140221087,-0.14575647811247228]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[-0.10463960953414109,-1.0824042131385425,0.71338606911949],"aabb_xy":[[-0.11335357858407556,-1.1049042137977303],[-0.09592564048420658,-1.0599042124793538]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664045660197996,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1160.png","name":"1160"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1160.png","name":"1160"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/361.png","name":"361"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5574.png","name":"5574"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2369.png","name":"2369"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6267.png","name":"6267"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":518.0293077194582,"rotation_z_degrees":160.41712359253458,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013941305863556725,0.009489185930073349,-0.003972449789009923]},{"name":"camera_2","offset_m":[0.002425108416305579,-0.004323258777775934,0.01117862109037139]},{"name":"camera_3","offset_m":[-0.006906189331454931,-0.008277834767102204,-0.0024548139642095734]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00020148581630942538,-0.0019444849552916446,-0.000329416771986005],"end_effector_yaw_offset_degrees":0.32970499744495485},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010644226819430673,-0.0008873586914470435,9.720442342652956e-05],"end_effector_yaw_offset_degrees":0.7287688977789326},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00016122225818988758,9.725403005701001e-05,-0.0016769544324420056],"end_effector_yaw_offset_degrees":0.41003996208186644},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005544902125090912,-0.0017918121740176213,-0.0010410304651806773],"end_effector_yaw_offset_degrees":-0.17398354689285433}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007976435119434137,0.0006761665311471477],"position_m":[0.23720235648805657,0.2942761665311472,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008766681858415086,0.002536880183892835],"position_m":[0.2394766681858415,-0.3572631198161072,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027400156655161398,0.00488478421483383],"position_m":[0.35444001566551614,-0.12651521578516617,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00365157510251267,-0.0037640822475738965],"position_m":[0.3556484248974873,0.0706359177524261,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8e0b869c3cb42f6b3231255795814d88a451f87f261e6ed33caa85cea412cbdd","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0100.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1160/tex_ceiling_textures_6267/tex_floor_textures_2369/tex_table_textures_361/tex_wall_textures_5574","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":3420529973747193259,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":3420529973747193259,"visual_seed":3420529973747193259,"scene_id":"lab_003","finished_at":"2026-09-04T23:29:14"}
+{"episode_id":"ep_000081","started_at":"2026-09-04T23:29:19","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.5241631375184436,-1.622508270401776,0.71338606911949],"aabb_xy":[[-0.5841631377698446,-1.6767895954382404],[-0.4641631372670423,-1.568226945365311]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.45956708564004334,-0.7925224498162089,0.71338606911949],"aabb_xy":[[0.41456708417381455,-0.8375223066776897],[0.5045670871062722,-0.7475225929547282]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[0.2881684430902466,1.2736982045391962,0.71338606911949],"aabb_xy":[[0.28258677145611777,1.2611982047214207],[0.2937501147243753,1.2861982043569717]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.28676617479507693,-1.9286903010337997,0.71338606911949],"aabb_xy":[[0.22176617691342915,-1.979813964740341],[0.3517661726767247,-1.8775666373272593]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.5027315894651818,0.6185259745848852,0.71338606911949],"aabb_xy":[[0.45492542185141316,0.5535259718778263],[0.5505377570789505,0.6835259772919442]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.5956343058459783,-1.3306188921039896,0.71338606911949],"aabb_xy":[[-0.6507595114755691,-1.3906188935452768],[-0.5405091002163875,-1.2706188906627025]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_6","position":[-0.4741108510653578,-0.8566216889427272,0.71338606911949],"aabb_xy":[[-0.4834044693025083,-0.8941216874308611],[-0.46481723282820714,-0.8191216904545933]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.45611338039730387,1.0959622804387918,0.71338606911949],"aabb_xy":[[0.4506554347602837,1.0159622771311327],[0.4615713260343238,1.175962283746451]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_8","position":[0.4473411854729541,-0.9722665435356259,0.71338606911949],"aabb_xy":[[0.39735823528547465,-1.022266543178186],[0.4973241356604333,-0.9222665438930654]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.47311376983952,1.1360258061661104,0.71338606911949],"aabb_xy":[[-0.48319547691809345,1.0560258082739955],[-0.4630320627609465,1.2160258040582248]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[-0.6231004860192021,1.2392342351573267,0.71338606911949],"aabb_xy":[[-0.6391624134777197,1.1542342333447346],[-0.6070385585606844,1.3242342369699183]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.051741322948267165,-1.461043524631527,0.71338606911949],"aabb_xy":[[-0.09304586601200315,-1.525043524199644],[-0.01043677988453117,-1.39704352506341]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_12","position":[0.42487533287922297,-1.2345725458650179,0.71338606911949],"aabb_xy":[[0.3836265218493082,-1.2895725453772353],[0.46612414390913764,-1.1795725463528004]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_13","position":[0.11769023244769616,-2.0446806031517326,0.71338606911949],"aabb_xy":[[0.10058815448932801,-2.061787408683002],[0.13479231040606432,-2.0275737976204624]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[-0.008323356144028904,1.7232616628718103,0.71338606911949],"aabb_xy":[[-0.04332335604004777,1.7148874273598704],[0.026676643751989963,1.7316358983837505]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[0.1986270220381814,1.4228116096947354,0.71338606911949],"aabb_xy":[[0.19063353224289942,1.4148134777542598],[0.20662051183346347,1.430809741635211]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[0.44202564474364725,1.3931328402205088,0.71338606911949],"aabb_xy":[[0.3925452235296885,1.329132842307657],[0.4915060659576061,1.4571328381333606]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_17","position":[0.6547414094705999,0.4611250882643865,0.71338606911949],"aabb_xy":[[0.6459601823233636,0.4523453409758565],[0.6635226366178362,0.4699048355529168]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[0.1845625684500587,-1.3778752086529096,0.71338606911949],"aabb_xy":[[0.16265388631070765,-1.399775875473],[0.20647125058940974,-1.3559745418328186]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[0.6159068975705364,0.8256090782266337,0.71338606911949],"aabb_xy":[[0.6076923524548522,0.8169324879289923],[0.6241214426862202,0.834285668524275]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[-0.30368949715076093,0.4311163672227658,0.71338606911949],"aabb_xy":[[-0.32060022958710266,0.4176441616301513],[-0.2867787647144191,0.44458857281538033]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_21","position":[-0.5184986664025857,0.6214890183664239,0.71338606911949],"aabb_xy":[[-0.5265249370332117,0.6127375233890714],[-0.5104723957719597,0.6302405133437766]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[-0.5231307849504724,1.2937862943852436,0.71338606911949],"aabb_xy":[[-0.535733484087549,1.2811908981603781],[-0.510528085813396,1.3063816906101091]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[-0.19431684521685533,0.08499323870033848,0.71338606911949],"aabb_xy":[[-0.20373431978671805,0.07557706156261945],[-0.18489937064699255,0.09440941583805751]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[-0.21480251910757547,-2.1331254226197323,0.71338606911949],"aabb_xy":[[-0.2646852159852717,-2.183125421866007],[-0.1649198222298793,-2.0831254233734575]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_25","position":[-0.1728665197418866,1.5716756565348997,0.71338606911949],"aabb_xy":[[-0.25286651714548003,1.491683085336717],[-0.09286652233829319,1.6516682277330825]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_26","position":[-0.1131601111782099,1.0046727169326823,0.71338606911949],"aabb_xy":[[-0.18316011298695534,0.9833189481684947],[-0.04316010936946446,1.0260264856968695]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_27","position":[-0.3700224967288577,-1.127643890439608,0.71338606911949],"aabb_xy":[[-0.3797784862380315,-1.1374064244988422],[-0.36026650721968373,-1.1178813563803733]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6609904740926758,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9620.png","name":"9620"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9620.png","name":"9620"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/175.png","name":"175"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/432.png","name":"432"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3459.png","name":"3459"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9461.png","name":"9461"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":814.773666445217,"rotation_z_degrees":299.82494238355736,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0030998506757375435,0.0021392761062785405,-0.004602433997412425]},{"name":"camera_2","offset_m":[0.002919083944266161,0.01829580536645892,0.013910535859361087]},{"name":"camera_3","offset_m":[-0.0003838975768778348,0.005950271158781325,0.004976778092833985]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002680219836398855,-0.0003890024427258246,8.286813824208948e-05],"end_effector_yaw_offset_degrees":0.7178522074232241},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00022192597423409833,0.001982039578107801,-0.000645236785959498],"end_effector_yaw_offset_degrees":0.6748746858152048},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014854538874123665,-0.0017584065483417573,-0.0015273244277256418],"end_effector_yaw_offset_degrees":0.34766796062805705},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009093976416819634,-0.0012498674834665144,-0.0009674891286241319],"end_effector_yaw_offset_degrees":-0.5649981916308493}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023419864874333262,0.004915447350503764],"position_m":[0.23565801351256666,0.2985154473505038,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0049162225656525175,0.003521689601824001],"position_m":[0.23368377743434748,-0.35627831039817603,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024414585455647376,-0.0006960907837967219],"position_m":[0.3492585414544353,-0.13209609078379672,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003639868334276839,-0.0034983370947312465],"position_m":[0.3556601316657232,0.07090166290526875,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"03884a8f92100c3c273540071946e1212b697b3200bc99702f14dcd418f4db4d","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0101.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9620/tex_ceiling_textures_9461/tex_floor_textures_3459/tex_table_textures_175/tex_wall_textures_432","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7218295476550568630,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7218295476550568630,"visual_seed":7218295476550568630,"scene_id":"lab_003","finished_at":"2026-09-04T23:33:25"}
+{"episode_id":"ep_000082","started_at":"2026-09-04T23:39:33","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_0","position":[-0.5894978832066587,1.3535836712779612,0.71338606911949],"aabb_xy":[[-0.6046607561835958,1.3384182139828424],[-0.5743350102297217,1.36874912857308]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[-0.6662637937831858,0.4272812747753334,0.71338606911949],"aabb_xy":[[-0.6823257212417033,0.3422812729627416],[-0.650201866324668,0.5122812765879252]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[0.31452370810808294,0.6315594800736704,0.71338606911949],"aabb_xy":[[0.24952370995216389,0.6052632355237582],[0.379523706264002,0.6578557246235825]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_3","position":[-0.2794361266522814,-2.1822028206182207,0.71338606911949],"aabb_xy":[[-0.29453842811329944,-2.1973043422492817],[-0.26433382519126325,-2.167101298987158]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.23386759249359312,-2.388872691711912,0.71338606911949],"aabb_xy":[[0.20886759322163082,-2.405218055308074],[0.25886759176555535,-2.3725273281157495]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[0.017094425605982844,0.9772225347414314,0.71338606911949],"aabb_xy":[[-0.03288981010219438,0.9272225359279358],[0.06707866131416007,1.027222533554927]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.610997758805673,-2.4465337422951947,0.71338606911949],"aabb_xy":[[0.5966633336795095,-2.4585939578497333],[0.6253321839318364,-2.434473526740656]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[0.24123717167619307,-1.9414740912445578,0.71338606911949],"aabb_xy":[[0.21601633481635338,-1.9666978420974444],[0.2664580085360327,-1.9162503403916709]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[-0.5866146239578136,1.7314846768601986,0.71338606911949],"aabb_xy":[[-0.6366146256193083,1.6814862346044956],[-0.5366146222963187,1.781483119115901]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[-0.10407104763101882,-0.28507756039169996,0.71338606911949],"aabb_xy":[[-0.14157104812837706,-0.28904624393981837],[-0.06657104713366058,-0.28110887684358155]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_10","position":[-0.37266683309486603,0.03320366607498748,0.71338606911949],"aabb_xy":[[-0.4178381509430351,-0.030796331069550945],[-0.3274955152466971,0.09720366321952592]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[-0.15579635211610499,-0.6592553837666721,0.71338606911949],"aabb_xy":[[-0.20579635306663777,-0.6908045307701934],[-0.10579635116557215,-0.6277062367631506]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.22195908574936396,-1.7544919376123944,0.71338606911949],"aabb_xy":[[-0.22900053670011158,-1.761518689350189],[-0.2149176347986164,-1.7474651858745998]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[0.29012650590169986,0.7851011229814726,0.71338606911949],"aabb_xy":[[0.25158081307649877,0.746555351925284],[0.32867219872690084,0.8236468940376612]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[0.25107485286045483,1.5535913963730539,0.71338606911949],"aabb_xy":[[0.20159443164649604,1.489591398460202],[0.3005552740744136,1.6175913942859057]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[0.5569270844914898,0.5839641866394034,0.71338606911949],"aabb_xy":[[0.5194270860680893,0.5707999726715727],[0.59442708291489,0.5971284006072339]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_16","position":[-0.3295143493812472,0.45510314831407195,0.71338606911949],"aabb_xy":[[-0.35201434890495453,0.43260720086345117],[-0.3070143498575397,0.4775990957646927]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[-0.4265536723236902,-2.0189525263581487,0.71338606911949],"aabb_xy":[[-0.47183228720483944,-2.082952525706332],[-0.3812750574425409,-1.9549525270099646]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.3663733542338273,-0.5612184957958588,0.71338606911949],"aabb_xy":[[-0.40137335412984615,-0.5695927313077986],[-0.3313733543378084,-0.5528442602839188]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.5678339885924397,-1.5861335929293492,0.71338606911949],"aabb_xy":[[0.518017209127605,-1.6361335914136523],[0.6176507680572745,-1.5361335944450456]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[-0.21889623421720644,-0.7911319062661097,0.71338606911949],"aabb_xy":[[-0.22930779289769013,-0.7964776396020081],[-0.2084846755367227,-0.7857861729302111]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[-0.344271745164464,1.2819486224255212,0.71338606911949],"aabb_xy":[[-0.3692717447162025,1.2718061385603863],[-0.31927174561272553,1.2920911062906557]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[0.3217067583003912,0.9579659524151691,0.71338606911949],"aabb_xy":[[0.2577067580264129,0.9078998522178812],[0.38570675857436937,1.008032052612457]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[-0.12512617666334325,-0.4380359140205563,0.71338606911949],"aabb_xy":[[-0.1426261769083926,-0.4555357018601231],[-0.10762617641829385,-0.4205361261809894]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_24","position":[-0.1896945466806198,0.34944254847010336,0.71338606911949],"aabb_xy":[[-0.22648917980552608,0.3125366733735211],[-0.15289991355571353,0.38634842356668564]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_25","position":[0.24648899974062521,-1.7878757360893687,0.71338606911949],"aabb_xy":[[0.22828317607937754,-1.7989011366713605],[0.2646948234018729,-1.7768503355073773]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_26","position":[-0.5700338716918877,-0.3190553417454498,0.71338606911949],"aabb_xy":[[-0.6250338698936324,-0.3595773083718873],[-0.5150338734901427,-0.2785333751190121]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_27","position":[0.3067396876103985,-1.1690268822727627,0.71338606911949],"aabb_xy":[[0.26923968642560564,-1.173445104968823],[0.34423968879519123,-1.164608659576702]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_28","position":[-0.2007734105926649,0.5554084665161181,0.71338606911949],"aabb_xy":[[-0.23577340886278478,0.5483343388211298],[-0.16577341232254497,0.5624825942111061]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_29","position":[-0.03869567181795297,-1.2395559911155352,0.71338606911949],"aabb_xy":[[-0.07315801921609476,-1.2740498735133576],[-0.004233324419811168,-1.2050621087177122]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6659441623143331,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7345.png","name":"7345"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7345.png","name":"7345"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3904.png","name":"3904"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9788.png","name":"9788"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9967.png","name":"9967"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1565.png","name":"1565"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":508.9585712242456,"rotation_z_degrees":54.230020677838,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010429410560632712,-0.0008083426964977554,0.003505022949148836]},{"name":"camera_2","offset_m":[-0.0070619241200131095,0.008897618397064041,0.01187849035194476]},{"name":"camera_3","offset_m":[0.01769994422101229,0.01962984282831801,-0.011302023466954081]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018485351034168832,0.00032825521384788857,0.001783896076044933],"end_effector_yaw_offset_degrees":0.39316104197547497},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006190016350559064,0.0008245681008114763,0.0009235464246253274],"end_effector_yaw_offset_degrees":0.46476585433630113},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00047106357729545826,0.0012874527210749317,0.001060208400084995],"end_effector_yaw_offset_degrees":-0.96571790205414},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016487775479211196,-0.00032361924018581376,0.00018122570471232812],"end_effector_yaw_offset_degrees":0.5102109596323976}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016492437402465003,-0.003433602873305591],"position_m":[0.2396492437402465,0.29016639712669445,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002528444510033311,-0.0019221114476474354],"position_m":[0.2360715554899667,-0.36172211144764743,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003210601831085872,0.0013537648083827647],"position_m":[0.34848939816891417,-0.13004623519161723,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004054819833062217,-0.0005817303014999456],"position_m":[0.3633548198330622,0.07381826969850006,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1f6f99b30931fb1db50ca40062a3db501fc98cb0a0cd63adcd613c2ee6033280","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0104.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7345/tex_ceiling_textures_1565/tex_floor_textures_9967/tex_table_textures_3904/tex_wall_textures_9788","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":847367545262226828,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":847367545262226828,"visual_seed":847367545262226828,"scene_id":"lab_003","finished_at":"2026-09-04T23:43:38"}
+{"episode_id":"ep_000083","started_at":"2026-09-04T23:43:43","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_0","position":[-0.32805896439297383,0.11715943478066349,0.71338606911949],"aabb_xy":[[-0.3980589659952533,0.10372664157900591],[-0.25805896279069435,0.13059222798232106]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.6085220718634872,-0.30748737287834826,0.71338606911949],"aabb_xy":[[-0.6209894299732228,-0.3199526975116718],[-0.5960547137537515,-0.2950220482450248]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[0.24021413867965524,-0.715529860763283,0.71338606911949],"aabb_xy":[[0.150214141944045,-0.7687133240805775],[0.33021413541526545,-0.6623463974459884]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[-0.44814998003669226,-1.1111380445625385,0.71338606911949],"aabb_xy":[[-0.45211046380642667,-1.118805909148059],[-0.444189496266958,-1.103470179977018]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[-0.10930348738532669,-1.9602315692989776,0.71338606911949],"aabb_xy":[[-0.14680348804990537,-1.9759186272991993],[-0.07180348672074797,-1.944544511298755]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_5","position":[0.43357559982022464,-1.1483429201746242,0.71338606911949],"aabb_xy":[[0.40317748872108106,-1.1787498221762935],[0.46397371091936823,-1.1179360181729545]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[-0.08328144297115836,-1.890615299895018,0.71338606911949],"aabb_xy":[[-0.09413304922003396,-1.9014745906226689],[-0.07242983672228276,-1.8797560091673668]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_7","position":[0.03805250012940897,-2.1619728560307103,0.71338606911949],"aabb_xy":[[0.029250444820436258,-2.169784182185639],[0.04685455543838168,-2.154161529875781]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[0.08857234678167192,-1.8716363906194653,0.71338606911949],"aabb_xy":[[0.077731868555157,-1.888822671910114],[0.09941282500818681,-1.8544501093288166]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_9","position":[0.560478459704016,1.2475533791828606,0.71338606911949],"aabb_xy":[[0.5105957628263198,1.1975533799365858],[0.6103611565817122,1.2975533784291353]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[-0.5513943335309401,0.6657794298152169,0.71338606911949],"aabb_xy":[[-0.5584346434644771,0.5857794304155456],[-0.5443540235974031,0.7457794292148884]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_11","position":[0.25748356487775437,1.613275316125932,0.71338606911949],"aabb_xy":[[0.20346796859585436,1.5492753132336745],[0.31149916115965437,1.6772753190181888]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.501939055794183,-0.21625403152791867,0.71338606911949],"aabb_xy":[[0.4938956958682277,-0.3012540326232851],[0.509982415720138,-0.13125403043255227]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_13","position":[-0.13403731578023648,-0.9602123037514496,0.71338606911949],"aabb_xy":[[-0.15071445177333198,-0.97691222772538],[-0.11736017978714097,-0.9435123797775194]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[-0.2960075427095469,-1.1601562028989545,0.71338606911949],"aabb_xy":[[-0.3060892497881203,-1.240156200791069],[-0.28592583563097335,-1.0801562050068396]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[-0.12486146728127012,1.1970473480650616,0.71338606911949],"aabb_xy":[[-0.14240816219738905,1.1595473465008104],[-0.1073147723651512,1.234547349629313]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[0.49061582327350184,-2.0402151752240396,0.71338606911949],"aabb_xy":[[0.4256158223163747,-2.092163387157745],[0.555615824230629,-1.9882669632903343]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.5653629539295847,-2.1568882852344036,0.71338606911949],"aabb_xy":[[-0.5740609162203,-2.1690132595418787],[-0.5566649916388694,-2.1447633109269293]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[0.6231897880727297,0.9422615427802241,0.71338606911949],"aabb_xy":[[0.5731897894268085,0.8923419991207616],[0.6731897867186509,0.9921810864396864]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_19","position":[0.6747297814954485,-0.4729412810726332,0.71338606911949],"aabb_xy":[[0.6295584636472796,-0.5369412782171716],[0.7199010993436176,-0.40894128392809487]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[-0.4750348381291862,-0.5805271048380236,0.71338606911949],"aabb_xy":[[-0.5125348380729526,-0.5888201948728602],[-0.4375348381854197,-0.572234014803187]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.5568020988435465,1.6684871088517963,0.71338606911949],"aabb_xy":[[0.5018021006418015,1.6279651422253587],[0.6118020970452912,1.7090090754782339]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_22","position":[0.017379752373951396,1.5527752343029664,0.71338606911949],"aabb_xy":[[-0.040250716513319455,1.4927752353762558],[0.07501022126122224,1.6127752332296768]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[0.16086803322625853,0.9905555541577811,0.71338606911949],"aabb_xy":[[0.0968680325227892,0.9445371716848602],[0.2248680339297279,1.036573936630702]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_24","position":[0.1508406184858917,-1.413100842660469,0.71338606911949],"aabb_xy":[[0.13263479482464402,-1.4241262432424606],[0.16904644214713938,-1.4020754420784773]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_25","position":[-0.020557690184796362,-0.773271512714834,0.71338606911949],"aabb_xy":[[-0.07055080229398826,-0.8232715133890297],[0.02943542192439553,-0.7232715120406383]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6626005736912959,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9999.png","name":"9999"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9999.png","name":"9999"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7320.png","name":"7320"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5202.png","name":"5202"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2483.png","name":"2483"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9256.png","name":"9256"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":781.1022632272793,"rotation_z_degrees":231.78145945379714,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012675469426681702,-0.002864517395070019,-0.004537261598729976]},{"name":"camera_2","offset_m":[0.008358733829668251,0.00500268850364315,-0.011228016173519428]},{"name":"camera_3","offset_m":[-0.01384595537630625,0.01996728274170125,-0.014371001314126781]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019014159439341332,0.0004969230715025767,0.001607288596181324],"end_effector_yaw_offset_degrees":0.14923677572814276},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006274646949379981,-0.0015027884696004953,-0.00023585541091483047],"end_effector_yaw_offset_degrees":0.13221365045166755},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018612551103160914,-0.001243905564089654,0.0013862327907595783],"end_effector_yaw_offset_degrees":0.816501169660891},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00011124988382149939,0.0008143402681621168,-0.0016573340447596902],"end_effector_yaw_offset_degrees":0.55736850670864}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019040141466571837,-0.0014829417005774803],"position_m":[0.23990401414665719,0.2921170582994225,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002419486099310709,0.0044424036294118665],"position_m":[0.2361805139006893,-0.35535759637058817,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026504143090862377,-0.004100280031368066],"position_m":[0.34904958569091377,-0.13550028003136805,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003439908305913728,-0.00036112779031055933],"position_m":[0.3558600916940863,0.07403887220968944,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"37549631e52e8fd4dfd7d001a2a927e9a9a8795ad6ce4921447e944e1bbd261a","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0105.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9999/tex_ceiling_textures_9256/tex_floor_textures_2483/tex_table_textures_7320/tex_wall_textures_5202","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":8353614329581987562,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":8353614329581987562,"visual_seed":8353614329581987562,"scene_id":"lab_003","finished_at":"2026-09-04T23:47:44"}
+{"episode_id":"ep_000084","started_at":"2026-09-04T23:51:04","dimensions":{"distractor":{"count":30,"items":[{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_0","position":[-0.09241550446289437,-1.055427510059328,0.71338606911949],"aabb_xy":[[-0.10170912270004495,-1.092927508547462],[-0.08312188622574379,-1.017927511571194]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[0.07182276652896724,-0.7515715202245707,0.71338606911949],"aabb_xy":[[-0.008177233941248698,-0.7598822278389191],[0.1518227669991832,-0.7432608126102223]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[-0.33358116471057536,-0.1881601581754464,0.71338606911949],"aabb_xy":[[-0.3660428655925027,-0.218292990290349],[-0.3011194638286478,-0.15802732606054376]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[0.04343875978248957,-1.06548382481147,0.71338606911949],"aabb_xy":[[0.025232936121241896,-1.0765092253934616],[0.06164458344373725,-1.0544584242294783]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_4","position":[-0.2858610630411818,-1.2943576555567975,0.71338606911949],"aabb_xy":[[-0.34986106526158883,-1.3387307396820858],[-0.22186106082077478,-1.2499845714315092]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_5","position":[0.35866043956294247,-0.8628154735436857,0.71338606911949],"aabb_xy":[[0.2886604377541971,-0.884169242307873],[0.42866044137168796,-0.8414617047794982]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[0.1493447494965653,-1.4992859193751178,0.71338606911949],"aabb_xy":[[0.10325965824183382,-1.563285916627673],[0.19542984075129677,-1.4352859221225627]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[-0.6075999364277114,1.214339858810015,0.71338606911949],"aabb_xy":[[-0.6486178798140823,1.1643398581790576],[-0.5665819930413405,1.2643398594409723]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[0.30110936565939583,-2.3276948991425574,0.71338606911949],"aabb_xy":[[0.2786093654158805,-2.3398995338023294],[0.3236093659029113,-2.3154902644827855]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[0.5497123475478767,-0.8407251104280788,0.71338606911949],"aabb_xy":[[0.5345494745709396,-0.8558905677231978],[0.5648752205248138,-0.8255596531329603]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.014941216243412048,-1.8135973834842423,0.71338606911949],"aabb_xy":[[0.010980732473677672,-1.821265248069763],[0.018901700013146422,-1.8059295188987219]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[0.05964922926186256,1.1205258865771857,0.71338606911949],"aabb_xy":[[0.022615119833802842,1.086148679243476],[0.09668333868992227,1.1549030939108949]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.45752352470559354,-1.5723716153196894,0.71338606911949],"aabb_xy":[[0.40754057451811415,-1.6223716149622496],[0.5075064748930728,-1.5223716156771288]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[0.5482566587479272,-0.5248115494718801,0.71338606911949],"aabb_xy":[[0.54014300407455,-0.5329173659259092],[0.5563703134213042,-0.516705733017851]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[-0.09663792962120765,-1.3906891038631817,0.71338606911949],"aabb_xy":[[-0.11913793013324823,-1.4131809622285798],[-0.07413792910916704,-1.368197245497783]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[-0.18935937295864202,0.8764228661609117,0.71338606911949],"aabb_xy":[[-0.24935937321004317,0.822141541124447],[-0.12935937270724082,0.9307041911973764]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[0.5016446649549495,0.6818590366545694,0.71338606911949],"aabb_xy":[[0.4516446645943834,0.6318790494449664],[0.5516446653155155,0.7318390238641723]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.3758773573418601,-1.7132302955419503,0.71338606911949],"aabb_xy":[[-0.39337729077584344,-1.7307302954621846],[-0.3583774239078767,-1.6957302956217155]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[-0.06431677877893482,0.9722374519253747,0.71338606911949],"aabb_xy":[[-0.07035379177959955,0.9662107508564265],[-0.0582797657782701,0.9782641529943229]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[0.4150754043802034,-1.833525739127753,0.71338606911949],"aabb_xy":[[0.39316672224085225,-1.8554264059478436],[0.43698408651955434,-1.8116250723076621]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_20","position":[-0.17782621276513833,0.4296028532963758,0.71338606911949],"aabb_xy":[[-0.2418219101602349,0.36560285499566714],[-0.11383051537004174,0.4936028515970845]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_21","position":[0.6648080089326049,-0.40429269913644905,0.71338606911949],"aabb_xy":[[0.6198080074663761,-0.4492925559979298],[0.7098080103988338,-0.3592928422749684]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[-0.5323917547868623,-1.1779929926369053,0.71338606911949],"aabb_xy":[[-0.53943320573761,-1.1850197443746997],[-0.5253503038361148,-1.1709662408991108]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[0.44671871551077724,0.24670754173476306,0.71338606911949],"aabb_xy":[[0.44176269532589607,0.22420754153264147],[0.4516747356956584,0.2692075419368847]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[-0.4589592751992244,-1.5479302427959216,0.71338606911949],"aabb_xy":[[-0.5089380837095403,-1.5979302428016404],[-0.4089804666889086,-1.4979302427902028]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.45048522124097246,-1.676147880767741,0.71338606911949],"aabb_xy":[[-0.4602412107501463,-1.6859104148269752],[-0.4407292317317985,-1.6663853467085064]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_26","position":[0.18570965215421353,-1.7753787774910863,0.71338606911949],"aabb_xy":[[0.0957096498201945,-1.8528611320761992],[0.2757096544882326,-1.6978964229059739]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[0.023380754538408044,-1.9966989971535318,0.71338606911949],"aabb_xy":[[0.011612567743750522,-2.081698997058753],[0.035148941333065564,-1.9116989972483105]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_28","position":[-0.10963374498197709,1.355497242857243,0.71338606911949],"aabb_xy":[[-0.18963374214155237,1.3439496418994257],[-0.0296337478224018,1.3670448438150598]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_29","position":[-0.24750194062632574,-2.078366050123711,0.71338606911949],"aabb_xy":[[-0.2974750061588412,-2.128366049936244],[-0.19752887509381029,-2.028366050311178]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6653793517329105,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9139.png","name":"9139"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9139.png","name":"9139"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2545.png","name":"2545"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7723.png","name":"7723"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4112.png","name":"4112"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5471.png","name":"5471"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":839.0667865037387,"rotation_z_degrees":227.11888938102283,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0018203788778074943,0.005129980865802644,-0.0020034200831390327]},{"name":"camera_2","offset_m":[0.012800509896719787,-0.009919672378622107,-0.006604745860793458]},{"name":"camera_3","offset_m":[0.0112981335738996,0.01431208462005697,-0.00466627788880635]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007959527191575906,-0.0018932718941745304,-0.0019285262837138734],"end_effector_yaw_offset_degrees":0.21694049320955422},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00125671011583438,0.0009208037211910088,-0.001386545226478063],"end_effector_yaw_offset_degrees":0.5704143800577839},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010633496773253541,-0.001638107835167398,-0.0017690754131742907],"end_effector_yaw_offset_degrees":-0.5867390274231232},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00018001135492104275,0.001953301007650228,-0.00028059481186774394],"end_effector_yaw_offset_degrees":0.6880982376925142}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0031278683374438955,-0.0023644828752787807],"position_m":[0.2348721316625561,0.29123551712472123,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030966091796446704,-0.0017604827417591938],"position_m":[0.23550339082035535,-0.3615604827417592,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002917815760292365,-0.004449086017319351],"position_m":[0.34878218423970764,-0.13584908601731935,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032697174333359584,-0.0006419924372324552],"position_m":[0.362569717433336,0.07375800756276754,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b72737b6c14daeded6cfd9b80d2c6ff8564a02d96ddb6f00dc111ddac4a11da9","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0107.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9139/tex_ceiling_textures_5471/tex_floor_textures_4112/tex_table_textures_2545/tex_wall_textures_7723","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":4539835162332259079,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":4539835162332259079,"visual_seed":4539835162332259079,"scene_id":"lab_003","finished_at":"2026-09-04T23:55:00"}
+{"episode_id":"ep_000085","started_at":"2026-09-04T23:55:04","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[0.16827281019690388,1.573642360143379,0.71338606911949],"aabb_xy":[[0.10427280992292565,1.5235762599460911],[0.2322728104708821,1.623708460340667]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.104261337910313,-0.9238148577022478,0.71338606911949],"aabb_xy":[[0.0813456250252631,-0.9467191548386713],[0.1271770507953629,-0.9009105605658243]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_2","position":[-0.606610535073723,0.17424080092176464,0.71338606911949],"aabb_xy":[[-0.686610532036762,0.09716515927799116],[-0.5266105381106837,0.2513164425655381]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[0.2125229724317924,-1.825812699791141,0.71338606911949],"aabb_xy":[[0.13252297196157645,-1.8341234074054897],[0.29252297290200835,-1.8175019921767932]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_4","position":[0.5826748531836701,-0.6030785698181327,0.71338606911949],"aabb_xy":[[0.5026748560240948,-0.6146261707759496],[0.6626748503432454,-0.5915309688603155]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[0.5647062740796389,-1.24386914034158,0.71338606911949],"aabb_xy":[[0.5472062738345895,-1.2613689281811467],[0.5822062743246883,-1.226369352502013]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[0.4544737807509598,1.7361602644443308,0.71338606911949],"aabb_xy":[[0.3968433118636888,1.6761602655176198],[0.5121042496382305,1.796160263371041]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_7","position":[0.4549629476421633,-2.261838234699307,0.71338606911949],"aabb_xy":[[0.4453313114217336,-2.271475547479016],[0.46459458386259284,-2.252200921919598]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_8","position":[-0.41531569796349893,-2.433281727582222,0.71338606911949],"aabb_xy":[[-0.4233590578894541,-2.5182817286775885],[-0.40727233803754376,-2.3482817264868556]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[0.6505069838801911,-2.0124727606063986,0.71338606911949],"aabb_xy":[[0.631622600111681,-2.0313586853867514],[0.6693913676487014,-1.9935868358260458]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[-0.4333893162990636,1.4229907213653843,0.71338606911949],"aabb_xy":[[-0.49738931851947055,1.3786176372400962],[-0.3693893140786565,1.4673638054906728]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.6547208178132224,-1.714871642203538,0.71338606911949],"aabb_xy":[[-0.6648738333673717,-1.7509411837762778],[-0.644567802259073,-1.6788021006307972]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[0.5347859721378885,0.6517166592075627,0.71338606911949],"aabb_xy":[[0.5201425665838554,0.6370579395507785],[0.5494293776919214,0.666375378864347]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[-0.11723092178797234,1.6533469130992882,0.71338606911949],"aabb_xy":[[-0.1372893334012126,1.6332818261901307],[-0.09717251017473202,1.6734120000084456]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[0.41742779865445634,-0.8180179323804213,0.71338606911949],"aabb_xy":[[0.37242779718822755,-0.863017789241902],[0.4624278001206853,-0.7730180755189406]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_15","position":[0.6511543427517961,-1.5552761455004653,0.71338606911949],"aabb_xy":[[0.6177141675557762,-1.588719771331395],[0.6845945179478155,-1.5218325196695348]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[-0.5153580572848703,-1.7036818447809057,0.71338606911949],"aabb_xy":[[-0.557542471445701,-1.767681845058117],[-0.47317364312403953,-1.6396818445036947]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[-0.3519091106105732,0.20169535843140496,0.71338606911949],"aabb_xy":[[-0.4159048080056697,0.13769536013069625],[-0.28791341321547653,0.26569535673211364]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[-0.2474867057238409,-2.456546852464591,0.71338606911949],"aabb_xy":[[-0.31148670763618325,-2.5124580017226017],[-0.18348670381149856,-2.400635703206581]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[-0.39747225601165603,1.6820502605733112,0.71338606911949],"aabb_xy":[[-0.4524722542134008,1.6415282939468734],[-0.34247225780991114,1.7225722271997486]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_20","position":[-0.5051057828908663,-0.43863005585986903,0.71338606911949],"aabb_xy":[[-0.511072321831602,-0.44459120051923307],[-0.4991392439501305,-0.432668911200505]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6619297452693217,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4773.png","name":"4773"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4773.png","name":"4773"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1874.png","name":"1874"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4075.png","name":"4075"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8180.png","name":"8180"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7583.png","name":"7583"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":845.4676986274569,"rotation_z_degrees":340.3946019448404,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00021879106023670047,-0.016696635309346886,-0.00037907192127492606]},{"name":"camera_2","offset_m":[0.009873745345940349,0.016231800133501572,-0.01982415871039866]},{"name":"camera_3","offset_m":[0.01825768123058907,-0.0027655363122346746,0.01380473913364989]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00030650685193580555,-0.000984972357549651,0.0004893102714872378],"end_effector_yaw_offset_degrees":0.00769727607382098},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014251160631348677,-0.00045328511346183205,0.000358536706274028],"end_effector_yaw_offset_degrees":0.5668460276532499},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008049284369854304,0.0012864516499350104,-0.0011933524886432552],"end_effector_yaw_offset_degrees":0.6692783214579976},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016866260252866936,0.00034077810600610225,-0.0015477826538000498],"end_effector_yaw_offset_degrees":-0.528813108502374}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003862789180813904,-0.002875150405281124],"position_m":[0.2341372108191861,0.2907248495947189,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004762539792968058,0.002021237360293208],"position_m":[0.23383746020703194,-0.3577787626397068,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00405067152856918,-0.0003293616880386055],"position_m":[0.3476493284714308,-0.1317293616880386,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015617899870739,-0.003074830506984403],"position_m":[0.3608617899870739,0.0713251694930156,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"82ebbe91bf38248d2ab3357c2efde8173f4631c60116b71894899ad97f14fe3e","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0108.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4773/tex_ceiling_textures_7583/tex_floor_textures_8180/tex_table_textures_1874/tex_wall_textures_4075","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":2446886434911425388,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":2446886434911425388,"visual_seed":2446886434911425388,"scene_id":"lab_003","finished_at":"2026-09-04T23:59:14"}
+{"episode_id":"ep_000086","started_at":"2026-09-05T00:02:17","dimensions":{"distractor":{"count":30,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[0.6211146925105233,-1.2244325123676076,0.71338606911949],"aabb_xy":[[0.597832850312392,-1.3094325136648355],[0.6443965347086547,-1.1394325110703794]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[0.5153956795623842,-1.6783688255939961,0.71338606911949],"aabb_xy":[[0.4503956816807365,-1.7294924893005372],[0.5803956774440321,-1.6272451618874555]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[-0.10444379818944094,-1.9170789318181456,0.71338606911949],"aabb_xy":[[-0.184443796170226,-1.9246804727799973],[-0.024443800208655896,-1.9094773908562934]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.3718008014243497,-1.1937553658779025,0.71338606911949],"aabb_xy":[[0.36453955385394227,-1.206542376141412],[0.3790620489947571,-1.180968355614393]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[-0.3482665719121274,0.22548494120132867,0.71338606911949],"aabb_xy":[[-0.41326657046920023,0.19573240778744605],[-0.28326657335505456,0.2552374746152113]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_5","position":[-0.1736230607703767,-0.17783172219729693,0.71338606911949],"aabb_xy":[[-0.2285967828067096,-0.2328317217615301],[-0.11864933873404382,-0.12283172263306374]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.6119666902753609,-1.714436748384356,0.71338606911949],"aabb_xy":[[-0.6228724663629235,-1.7944367447831848],[-0.6010609141877981,-1.6344367519855265]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.01815041846199672,-2.469615356435703,0.71338606911949],"aabb_xy":[[-5.540519925095397e-05,-2.480640757017695],[0.0363562421232444,-2.4585899558537117]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[-0.37055832003144823,-2.5021684125052577,0.71338606911949],"aabb_xy":[[-0.37665294791956655,-2.5107378070569264],[-0.3644636921433299,-2.493599017953589]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[-0.12975645316634232,-0.6499498980918326,0.71338606911949],"aabb_xy":[[-0.18738692205361315,-0.709949897018543],[-0.07212598427907145,-0.5899498991651219]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_10","position":[-0.014830329659273223,0.0036094046468679863,0.71338606911949],"aabb_xy":[[-0.022242785200661697,-0.0022418057747599644],[-0.0074178741178847485,0.009460615068495937]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[0.28103577153595805,1.412854153893368,0.71338606911949],"aabb_xy":[[0.2761921767747281,1.4080025014143842],[0.2858793662971881,1.4177058063723524]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[0.6173103980707568,1.328102049968456,0.71338606911949],"aabb_xy":[[0.5533103947810486,1.284767130964538],[0.6813104013604648,1.3714369689723733]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[-0.08239269434379515,1.1579764431118278,0.71338606911949],"aabb_xy":[[-0.13640829062569512,1.0939764402195704],[-0.028377098061895117,1.2219764460040847]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_14","position":[0.12138021405430244,1.818255394356029,0.71338606911949],"aabb_xy":[[0.11541367511356665,1.8122942496966647],[0.12734675299503823,1.824216539015393]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_15","position":[0.4437814992084168,0.07840269266919853,0.71338606911949],"aabb_xy":[[0.44007823787927786,0.07470067436048067],[0.44748476053755565,0.08210471097791638]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_16","position":[0.3958793136104901,-2.178646803891072,0.71338606911949],"aabb_xy":[[0.305879311276471,-2.2561291584761847],[0.4858793159445091,-2.1011644493059594]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_17","position":[0.5559929487064454,-0.5224515274705905,0.71338606911949],"aabb_xy":[[0.5446312140531593,-0.5338199938768785],[0.5673546833597316,-0.5110830610643023]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.036266685962314416,-1.5017481899292315,0.71338606911949],"aabb_xy":[[-0.027733313331853797,-1.565734330298086],[0.10026668525648263,-1.4377620495603776]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[-0.041883829876680156,-2.270837103159043,0.71338606911949],"aabb_xy":[[-0.10688383098262344,-2.295802476227171],[0.02311617122926312,-2.2458717300909146]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_20","position":[0.5851283338617843,-2.538113022145104,0.71338606911949],"aabb_xy":[[0.5476283340447506,-2.542751233456246],[0.6226283336788178,-2.533474810833962]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_21","position":[-0.5540892646413085,-0.6876480703582488,0.71338606911949],"aabb_xy":[[-0.5627872269320238,-0.6997730446657235],[-0.5453913023505932,-0.6755230960507741]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[-0.5753651709191597,1.6872021330633422,0.71338606911949],"aabb_xy":[[-0.6253651725806544,1.6372036908076388],[-0.5253651692576649,1.7372005753190443]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[-0.36077452344618316,0.7192612157157061,0.71338606911949],"aabb_xy":[[-0.36727615995418783,0.7094933936893963],[-0.3542728869381786,0.7290290377420159]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[0.5603668416095338,-0.6745469406076499,0.71338606911949],"aabb_xy":[[0.5181824274487031,-0.7385469408848611],[0.6025512557703646,-0.6105469403304387]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_25","position":[0.36448902893827406,0.9951810108857102,0.71338606911949],"aabb_xy":[[0.3584520159376094,0.9891543098167622],[0.37052604193893884,1.0012077119546585]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_26","position":[-0.4035761213521609,-1.8270153075645266,0.71338606911949],"aabb_xy":[[-0.4137291369063102,-1.8630848491372665],[-0.39342310579801143,-1.7909457659917858]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_27","position":[0.007334078399986899,-1.730363821290764,0.71338606911949],"aabb_xy":[[-0.0007092815259682741,-1.8153638223861301],[0.015377438325942072,-1.6453638201953973]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_28","position":[0.19780405079079888,0.6573115026881262,0.71338606911949],"aabb_xy":[[0.17589536865144784,0.6354108358680355],[0.21971273293014992,0.679212169508217]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_29","position":[-0.18398719244999429,1.036644536714098,0.71338606911949],"aabb_xy":[[-0.22148719279822202,1.0248531411330144],[-0.1464871921017665,1.0484359322951815]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6699104403362061,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4280.png","name":"4280"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4280.png","name":"4280"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2044.png","name":"2044"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1174.png","name":"1174"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5567.png","name":"5567"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5987.png","name":"5987"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":569.7522721512585,"rotation_z_degrees":56.24021821876303,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016446317169691867,0.00907633331273585,-0.001159150742053753]},{"name":"camera_2","offset_m":[-0.017782347014692695,-0.0157481621426269,-0.0003164917581848191]},{"name":"camera_3","offset_m":[0.014799034114478696,-0.005573625437120056,-0.012928138711289812]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018385579129339595,0.0014616629833904987,-0.0005530878179116515],"end_effector_yaw_offset_degrees":-0.3410860926293362},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006158365754706393,0.0018064298842835201,0.0012700891931817265],"end_effector_yaw_offset_degrees":-0.29606807341668584},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016599275531475762,0.0004775693089710989,0.0012117245470438286],"end_effector_yaw_offset_degrees":-0.5981229079956747},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006532542337691148,0.0018668206977655133,0.00035730630395188357],"end_effector_yaw_offset_degrees":-0.525620526086962}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004683057703656047,0.0006384815156413115],"position_m":[0.24268305770365603,0.29423848151564136,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024448953098685023,-0.0015239293426983227],"position_m":[0.2410448953098685,-0.36132392934269836,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008078975119222252,0.0019085359419720692],"position_m":[0.3508921024880778,-0.12949146405802792,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015860837327661666,-0.001801584168622914],"position_m":[0.36088608373276615,0.07259841583137708,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6cf3d0cca0fa3af9b977d1fe5e7f6ee2e48c3fc141c257ad1fff612c330316e4","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0110.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4280/tex_ceiling_textures_5987/tex_floor_textures_5567/tex_table_textures_2044/tex_wall_textures_1174","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":8378603831559734778,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":8378603831559734778,"visual_seed":8378603831559734778,"scene_id":"lab_003","finished_at":"2026-09-05T00:06:23"}
+{"episode_id":"ep_000087","started_at":"2026-09-05T00:06:27","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[-0.34554605346286354,-1.4467799013156413,0.71338606911949],"aabb_xy":[[-0.39267543246469916,-1.510779902360043],[-0.2984166744610278,-1.382779900271239]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.442015539001298,-0.3484106175228687,0.71338606911949],"aabb_xy":[[-0.48700812571974833,-0.39341061679731754],[-0.3970229522828475,-0.30341061824842]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[0.6896369944844338,-0.08020384921389834,0.71338606911949],"aabb_xy":[[0.68235467810777,-0.17020385282340728],[0.6969193108610973,0.009796154395610669]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[0.3919962982464398,-1.5876911046024036,0.71338606911949],"aabb_xy":[[0.3019962988280689,-1.621066601446593],[0.48199629766481067,-1.5543156077582136]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_4","position":[0.0015714129514265984,-1.0074689710675104,0.71338606911949],"aabb_xy":[[-0.03342858694459227,-1.01584320657945],[0.036571412847445466,-0.9990947355555704]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[0.02371304762854376,-1.4764428648101808,0.71338606911949],"aabb_xy":[[-0.026286951811651863,-1.526410789294497],[0.07371304706873938,-1.4264749403258643]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_6","position":[0.11938803928157793,1.37374305480113,0.71338606911949],"aabb_xy":[[0.039388038811362,1.365432347186782],[0.19938803975179392,1.3820537624154785]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[0.2995340395676912,1.6269496189947579,0.71338606911949],"aabb_xy":[[0.26203404099207034,1.6142133233312],[0.33703403814331195,1.6396859146583158]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[0.644976917839313,1.689688187232362,0.71338606911949],"aabb_xy":[[0.5899769186627234,1.634698512457404],[0.6999769170159024,1.7446778620073193]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.5822342206292862,1.4362001338095784,0.71338606911949],"aabb_xy":[[-0.6522342232658724,1.4160952688137125],[-0.5122342179926997,1.4563049988054435]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_10","position":[0.6082465504457473,-2.487229025563406,0.71338606911949],"aabb_xy":[[0.5182465539448753,-2.533140667981864],[0.6982465469466188,-2.4413173831449475]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.3190287499043861,1.695362797593464,0.71338606911949],"aabb_xy":[[-0.3840287480603052,1.6690665530435518],[-0.25402875174846706,1.7216590421433762]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[0.48703404067793854,0.3689679210838279,0.71338606911949],"aabb_xy":[[0.4681496569094284,0.35008199630347514],[0.5059184244464487,0.3878538458641807]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[-0.3730687263830663,0.08373276078020186,0.71338606911949],"aabb_xy":[[-0.40753107378120806,0.04923887838237916],[-0.33860637898492446,0.11822664317802455]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[-0.27014950969358553,0.18099998720856014,0.71338606911949],"aabb_xy":[[-0.3076495081169858,0.1678357732407295],[-0.23264951127018513,0.19416420117639077]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[-0.31914979035794305,-2.2314789298915008,0.71338606911949],"aabb_xy":[[-0.3566497910225217,-2.2471659878917225],[-0.2816497896933643,-2.215791871891278]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_16","position":[0.524272925709313,-0.7921549423617149,0.71338606911949],"aabb_xy":[[0.5096295201552801,-0.806813662018499],[0.538916331263346,-0.7774962227049306]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[0.5679995054203182,1.3438204900178552,0.71338606911949],"aabb_xy":[[0.5229995039540895,1.2988206331563745],[0.6129995068865471,1.3888203468793359]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_18","position":[-0.11575188257017965,-1.5441215391005314,0.71338606911949],"aabb_xy":[[-0.1271136172234658,-1.5554900055068195],[-0.1043901479168935,-1.5327530726942433]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[-0.16970540194027295,-1.4531943695170488,0.71338606911949],"aabb_xy":[[-0.20470540329175468,-1.4735541054738697],[-0.1347054005887912,-1.432834633560228]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[0.4602710584122569,-0.9445168968437614,0.71338606911949],"aabb_xy":[[0.4102710570513696,-0.9944948014191771],[0.510271059773144,-0.8945389922683459]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[0.06360808479043933,-2.204806056914002,0.71338606911949],"aabb_xy":[[-0.0003919154700314647,-2.2498148562669296],[0.12760808505091015,-2.1597972575610735]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[0.3368799058169625,0.9137890236604282,0.71338606911949],"aabb_xy":[[0.2868848948575105,0.8637890246248366],[0.3868749167764146,0.9637890226960201]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[-0.36282122862219074,-1.9721032579692486,0.71338606911949],"aabb_xy":[[-0.4128000371325067,-2.022103257974967],[-0.3128424201118749,-1.9221032579635298]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[-0.6196001458601447,0.42117292232570547,0.71338606911949],"aabb_xy":[[-0.6695932579693367,0.3711729216515098],[-0.5696070337509529,0.4711729229999011]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_25","position":[-0.5941051508399714,-2.23675368481876,0.71338606911949],"aabb_xy":[[-0.635353961869886,-2.291753684330977],[-0.5528563398100566,-2.1817536853065422]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[0.6322615383724064,0.6065142371913241,0.71338606911949],"aabb_xy":[[0.5972615401022865,0.5994401094963359],[0.6672615366425263,0.6135883648863122]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_27","position":[0.3905950615112679,1.713439772406359,0.71338606911949],"aabb_xy":[[0.3856957692047043,1.68576285310379],[0.39549435381783127,1.7411166917089276]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_28","position":[-0.057352684563384715,1.2257552706425399,0.71338606911949],"aabb_xy":[[-0.12735268795494667,1.190439496939109],[0.012647318828177266,1.2610710443459707]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_29","position":[-0.14378879006028422,-1.2275149022807652,0.71338606911949],"aabb_xy":[[-0.20778878923005417,-1.2742815893997277],[-0.07978879089051429,-1.1807482151618027]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_30","position":[0.5390800133911975,-2.2548466655483,0.71338606911949],"aabb_xy":[[0.5145337977684468,-2.2850955620973368],[0.5636262290139482,-2.2245977689992626]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_31","position":[-0.018435402874419582,0.38438049431350185,0.71338606911949],"aabb_xy":[[-0.031038102011496038,0.37178509808863636],[-0.005832703737343126,0.39697589053836735]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666157840273789,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8910.png","name":"8910"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8910.png","name":"8910"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3027.png","name":"3027"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5805.png","name":"5805"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9908.png","name":"9908"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5722.png","name":"5722"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":724.4456324328861,"rotation_z_degrees":305.5572643687354,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004114242558265525,0.005226404705025493,-0.002363376625959243]},{"name":"camera_2","offset_m":[-0.002645716752801716,0.00463800832517575,0.015653153885219182]},{"name":"camera_3","offset_m":[0.015258462737208555,0.005656776531700242,0.003327373093593121]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003270401552981639,-0.0009904778704291216,-0.001500865555773738],"end_effector_yaw_offset_degrees":0.5529757570177793},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00023538598237029694,0.00021734294284139364,4.150187255151866e-05],"end_effector_yaw_offset_degrees":-0.2710040452807203},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001553110607837667,-0.0008290045048169007,-0.001586796127098463],"end_effector_yaw_offset_degrees":0.4647082138929395},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001211240518962872,-0.0017498103046422121,7.832516454535192e-05],"end_effector_yaw_offset_degrees":0.2742307894144851}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003733234189902137,0.004960258553785364],"position_m":[0.23426676581009787,0.2985602585537854,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005793222053010359,0.0016758155328743815],"position_m":[0.23917932220530105,-0.35812418446712563,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010072631318680482,0.00253533198567458],"position_m":[0.35270726313186807,-0.12886466801432542,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001849224145445979,0.004745694586209027],"position_m":[0.35745077585455404,0.07914569458620901,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4fe2211b0cbfbe54c0132998de3f0e0e5e3d76b09115afa4bca55f3df7b6e67c","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0111.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8910/tex_ceiling_textures_5722/tex_floor_textures_9908/tex_table_textures_3027/tex_wall_textures_5805","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":1911177172345598909,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":1911177172345598909,"visual_seed":1911177172345598909,"scene_id":"lab_003","finished_at":"2026-09-05T00:10:25"}
+{"episode_id":"ep_000088","started_at":"2026-09-05T00:10:29","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[-0.2535355529126607,-1.1681147862327403,0.71338606911949],"aabb_xy":[[-0.31512631213665354,-1.2321147843417877],[-0.1919447936886679,-1.104114788123694]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[-0.05258878801937794,1.4672694298113602,0.71338606911949],"aabb_xy":[[-0.1363110135194604,1.3772694262766643],[0.031133437480704525,1.5572694333460562]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_2","position":[0.5851444144896834,1.8181924248234531,0.71338606911949],"aabb_xy":[[0.5770307598163062,1.810086608369424],[0.5932580691630605,1.8262982412774822]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_3","position":[-0.6530134709866782,-0.49909454290568434,0.71338606911949],"aabb_xy":[[-0.6905134717786735,-0.5054623838638744],[-0.6155134701946826,-0.49272670194749424]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[0.44404385387749135,-0.4260418089386966,0.71338606911949],"aabb_xy":[[0.4215447181512643,-0.4485418097169596],[0.46654298960371826,-0.40354180816043367]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.17490366606652452,-1.3661979397496853,0.71338606911949],"aabb_xy":[[0.08521658975840907,-1.4561979400041356],[0.26459074237464,-1.2761979394952345]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[-0.2510940826269628,0.19796631015753308,0.71338606911949],"aabb_xy":[[-0.3210940860185248,0.1626505364541022],[-0.18109407923540086,0.23328208386096394]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[-0.09131572708213953,0.12434254665307165,0.71338606911949],"aabb_xy":[[-0.10188320674023853,0.11379751654006309],[-0.0807482474240405,0.1348875767660802]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_8","position":[-0.006027778683241891,-0.6566555895967232,0.71338606911949],"aabb_xy":[[-0.025918818563582142,-0.6693114008814202],[0.013863261197098357,-0.6439997783120265]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[0.7110536522447077,-0.1686234061213332,0.71338606911949],"aabb_xy":[[0.6991815692332067,-0.25362340581498355],[0.722925735256209,-0.08362340642768287]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[-0.040397614573526974,-2.02692775707997,0.71338606911949],"aabb_xy":[[-0.08987803578748577,-2.090927754992822],[0.00908280664043181,-1.9629277591671181]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[0.12446175402724469,1.5402682639645202,0.71338606911949],"aabb_xy":[[0.1164183941012895,1.4552682628691536],[0.13250511395319986,1.6252682650598864]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_12","position":[-0.12475630647421598,0.05453171982845895,0.71338606911949],"aabb_xy":[[-0.15853186566490896,0.04049322461529392],[-0.090980747283523,0.06857021504162397]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[-0.3467889349082569,0.8973172554220663,0.71338606911949],"aabb_xy":[[-0.3966716317859532,0.8473172561757917],[-0.29690623803056077,0.9473172546683412]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[-0.09415684985962958,-1.3310112257215287,0.71338606911949],"aabb_xy":[[-0.10345046809678014,-1.3685112242096626],[-0.08486323162247898,-1.2935112272333948]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[-0.5016425036292201,1.3451812477829685,0.71338606911949],"aabb_xy":[[-0.5302918359896363,1.3165356885058925],[-0.4729931712688038,1.3738268070600441]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.454895441704062,-1.0896566085993802,0.71338606911949],"aabb_xy":[[-0.4923954420522897,-1.1014480041804635],[-0.4173954413558342,-1.0778652130182964]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[0.5058652859879402,0.3648221726273113,0.71338606911949],"aabb_xy":[[0.5005327713333272,0.3594978443820757],[0.5111978006425533,0.3701465008725469]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[0.33382491008783277,1.2278207634076859,0.71338606911949],"aabb_xy":[[0.26982490817549043,1.1719096141496756],[0.3978249120001751,1.2837319126656965]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[-0.550685449973374,0.326329489621743,0.71338606911949],"aabb_xy":[[-0.6106854498199407,0.2695108674287043],[-0.4906854501268071,0.38314811181478164]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[0.5406799133528986,-1.6932425382738625,0.71338606911949],"aabb_xy":[[0.5181799133427503,-1.7073387579134658],[0.5631799133630468,-1.6791463186342592]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.40302043599411297,0.39288654228139963,0.71338606911949],"aabb_xy":[[0.3480204363723671,0.3379028494939269],[0.4580204356158588,0.44787023506887236]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_22","position":[0.44760215148497795,-0.6707781383147027,0.71338606911949],"aabb_xy":[[0.41027087495973535,-0.7054311931095549],[0.48493342801022055,-0.6361250835198504]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[-0.6141486800166025,-1.563554891008516,0.71338606911949],"aabb_xy":[[-0.6516486784400027,-1.5767191049763463],[-0.576648681593202,-1.5503906770406852]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_24","position":[-0.3100704684259267,-0.2678157580301206,0.71338606911949],"aabb_xy":[[-0.3345840925229326,-0.292080351332157],[-0.28555684432892087,-0.24355116472808408]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[-0.6191138981846321,-0.10330798787501783,0.71338606911949],"aabb_xy":[[-0.6382262055426109,-0.12244276675225983],[-0.6000015908266532,-0.08417320899777579]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6670050023983025,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6655.png","name":"6655"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6655.png","name":"6655"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3263.png","name":"3263"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/191.png","name":"191"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8795.png","name":"8795"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5806.png","name":"5806"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":781.5674454077855,"rotation_z_degrees":314.4956609475156,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015830165973813485,0.012279518111194824,0.002459083758667477]},{"name":"camera_2","offset_m":[0.019351715389266205,-0.007758692719922711,0.015817507946732177]},{"name":"camera_3","offset_m":[-0.006612796524914751,0.00991715839265623,0.019148019955208182]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018225352267607247,-0.000544001506076092,-0.000673638782762577],"end_effector_yaw_offset_degrees":0.20460346980758604},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016623045940320253,-0.0018423116678100567,0.00014299282634552],"end_effector_yaw_offset_degrees":-0.5416248179732364},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014985413352843714,0.0014087334544115623,-0.0008149012741835203],"end_effector_yaw_offset_degrees":-0.9486022226429232},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008741457511561154,-0.0004352167293970152,0.0010373406747623197],"end_effector_yaw_offset_degrees":-0.9082546849288022}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003454866844222565,-0.00019145803241877452],"position_m":[0.23454513315577744,0.29340854196758126,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009341664492694187,0.001508422179337835],"position_m":[0.23953416644926942,-0.3582915778206622,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012850001892938277,-0.003038992350308356],"position_m":[0.35298500018929385,-0.13443899235030835,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004702464195328545,0.004593865739325634],"position_m":[0.35459753580467146,0.07899386573932562,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fbe4c3d037389b0a2745cdf57e90860c048660bf452261958d8818b142b38f8b","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0112.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6655/tex_ceiling_textures_5806/tex_floor_textures_8795/tex_table_textures_3263/tex_wall_textures_191","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":8824842157271689255,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":8824842157271689255,"visual_seed":8824842157271689255,"scene_id":"lab_003","finished_at":"2026-09-05T00:14:38"}
+{"episode_id":"ep_000089","started_at":"2026-09-05T00:14:43","dimensions":{"distractor":{"count":35,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[-0.04017878793761098,0.6778064443756175,0.71338606911949],"aabb_xy":[[-0.13017878443848271,0.6318948019571592],[0.04982120856326077,0.7237180867940757]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[-0.15545601623066552,-0.16984465225220724,0.71338606911949],"aabb_xy":[[-0.1779551519568925,-0.1923446530304702],[-0.13295688050443855,-0.14734465147394424]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.05365133027891722,-2.2783096085216146,0.71338606911949],"aabb_xy":[[-0.06340731978809111,-2.2880721425808486],[-0.04389534076974333,-2.2685470744623797]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[-0.4756423310867296,1.118393266799551,0.71338606911949],"aabb_xy":[[-0.5356423309332963,1.0615746446065122],[-0.41564233124016275,1.1752118889925895]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[-0.5928945322049922,-1.2611548392216465,0.71338606911949],"aabb_xy":[[-0.6578945348427857,-1.3126344379210935],[-0.5278945295671987,-1.2096752405221995]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.641729267473951,1.2221123805241993,0.71338606911949],"aabb_xy":[[-0.6466852876588322,1.199612380322078],[-0.6367732472890698,1.2446123807263212]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_6","position":[0.325399814855468,-2.4962720244914305,0.71338606911949],"aabb_xy":[[0.2801211999743187,-2.560272023839614],[0.37067842973661724,-2.432272025143247]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[-0.41152743340572323,-0.29006415941646724,0.71338606911949],"aabb_xy":[[-0.42237903965459883,-0.3009234501441182],[-0.40067582715684763,-0.27920486868881617]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[0.205752207411379,0.6284317913047217,0.71338606911949],"aabb_xy":[[0.1556547434303054,0.56443179079491],[0.2558496713924526,0.6924317918145336]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[0.4548242743673687,-0.8340187057932664,0.71338606911949],"aabb_xy":[[0.37482427735312074,-0.8541532574666778],[0.5348242713816167,-0.8138841541198553]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_10","position":[0.2889764634894635,1.5822247734638597,0.71338606911949],"aabb_xy":[[0.2089764663298882,1.5706771725060422],[0.3689764606490388,1.5937723744216763]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.5942808142627902,-0.5322400693876563,0.71338606911949],"aabb_xy":[[-0.6003754421509087,-0.5408094639393252],[-0.588186186374672,-0.5236706748359877]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_12","position":[0.5343260584160665,1.184075397965461,0.71338606911949],"aabb_xy":[[0.49932606010537106,1.1763603830419154],[0.569326056726762,1.1917904128890067]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[-0.4059701231645659,-1.9058950967107569,0.71338606911949],"aabb_xy":[[-0.4709701217216387,-1.9356476301246393],[-0.34097012460749304,-1.876142563296874]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[-0.5310302508786195,-1.5054646371453517,0.71338606911949],"aabb_xy":[[-0.5950302522866102,-1.5572535886692762],[-0.46703024947062893,-1.4536756856214268]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[0.039773621139547854,1.3597004374210298,0.71338606911949],"aabb_xy":[[0.017273621325645472,1.355225821050549],[0.06227362095345024,1.3641750537915105]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[0.3709345965750954,1.415733755877501,0.71338606911949],"aabb_xy":[[0.3069346001477735,1.3685641320554047],[0.4349345930024173,1.4629033796995976]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_17","position":[-0.4586704452607693,-1.623967307114675,0.71338606911949],"aabb_xy":[[-0.5286704470695147,-1.6453210758788623],[-0.3886704434520239,-1.6026135383504876]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.06185261860247748,0.9624377228915613,0.71338606911949],"aabb_xy":[[-0.07472452210341761,0.8824377224777251],[-0.048980715101537335,1.0424377233053974]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.1403838047788688,1.6887474286178983,0.71338606911949],"aabb_xy":[[-0.1898642259928276,1.6247474307050465],[-0.09090338356491001,1.75274742653075]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_20","position":[0.29522860729578715,1.0307701995191003,0.71338606911949],"aabb_xy":[[0.20522861056017688,0.9775867362018058],[0.3852286040313973,1.0839536628363948]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[0.4720446543950989,0.7672695042709852,0.71338606911949],"aabb_xy":[[0.4345446537305202,0.751582446270763],[0.5095446550596776,0.7829565622712074]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_22","position":[0.710513735444924,-2.4556015677546923,0.71338606911949],"aabb_xy":[[0.7013538565010473,-2.462132785798229],[0.7196736143888005,-2.4490703497111554]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[0.13056497935771405,-2.174648669001135,0.71338606911949],"aabb_xy":[[0.09465147493272437,-2.2105621772178896],[0.16647848378270375,-2.13873516078438]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_24","position":[-0.1602436692653192,0.5767526974297223,0.71338606911949],"aabb_xy":[[-0.16823715906060122,0.5687545654892467],[-0.15225017947003716,0.584750829370198]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_25","position":[-0.11484918980258607,0.04975298281313467,0.71338606911949],"aabb_xy":[[-0.17484919144550792,-0.0022471664788095147],[-0.05484918815966422,0.10175313210507886]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_26","position":[0.46214966840319804,1.7524989651704366,0.71338606911949],"aabb_xy":[[0.4551082174524505,1.7454722134326421],[0.4691911193539457,1.759525716908231]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_27","position":[-0.009681318088465396,-1.4889053666031957,0.71338606911949],"aabb_xy":[[-0.0636969143703654,-1.552905369495453],[0.044334278193434606,-1.4249053637109388]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_28","position":[-0.2870821848707348,-2.414767005503843,0.71338606911949],"aabb_xy":[[-0.3670821828515198,-2.422368546465695],[-0.2070821868899497,-2.407165464541991]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_29","position":[0.06740779824350551,1.6404138578091847,0.71338606911949],"aabb_xy":[[0.003407799073735562,1.5936471706902224],[0.13140779741327543,1.6871805449281474]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_30","position":[-0.5988409307369135,0.8093678155425876,0.71338606911949],"aabb_xy":[[-0.6564713996241843,0.7493678166158769],[-0.5412104618496426,0.869367814469298]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_31","position":[-0.6331436167827653,1.5571914700820053,0.71338606911949],"aabb_xy":[[-0.6581436160547276,1.5408461064858427],[-0.608143617510803,1.5735368336781674]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_32","position":[0.3527604482623363,-2.3135402167200763,0.71338606911949],"aabb_xy":[[0.3352137533462174,-2.3510402182843277],[0.37030714317845526,-2.2760402151558248]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_33","position":[0.5168272803477512,-1.6580462754174956,0.71338606911949],"aabb_xy":[[0.5092030122575729,-1.6656794989540398],[0.5244515484379294,-1.6504130518809523]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_34","position":[0.032774085970099676,-1.025441106701296,0.71338606911949],"aabb_xy":[[-0.05722591636391938,-1.1029234612864087],[0.12277408830411873,-0.9479587521161834]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.666827432124385,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8586.png","name":"8586"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8586.png","name":"8586"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6218.png","name":"6218"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/836.png","name":"836"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3964.png","name":"3964"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9552.png","name":"9552"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":732.6365641626471,"rotation_z_degrees":273.4859562136922,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01870503418773457,-0.01740960146603321,-0.013876876487653022]},{"name":"camera_2","offset_m":[-0.015827439031396558,-0.003682894306618452,0.012937270393737332]},{"name":"camera_3","offset_m":[-0.0059021412661858855,-0.005583863891713441,-0.00751744840852628]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[3.5855834271915007e-06,-0.00018157402524344546,0.0016946397105897185],"end_effector_yaw_offset_degrees":-0.23824343254104763},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019847250687721665,0.0006881122813624826,0.0002608837040326806],"end_effector_yaw_offset_degrees":-0.43881100309961263},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00030257179083606803,-0.0001850885090677009,-0.001612240442666336],"end_effector_yaw_offset_degrees":0.17454310251639793},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003072305265265185,-0.0019694298076016943,0.0003764132958761876],"end_effector_yaw_offset_degrees":0.12918500080562767}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00017656809438211431,0.004234121534488411],"position_m":[0.2381765680943821,0.29783412153448846,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029169314702302144,0.004974512204138745],"position_m":[0.24151693147023023,-0.35482548779586126,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005053689602921817,-0.0022369925455240323],"position_m":[0.3511946310397078,-0.13363699254552402,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014874936441469679,0.0002483254829331819],"position_m":[0.360787493644147,0.07464832548293318,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9519bf71ff423dfbc6234d112417f3fb606642a8fbd4698f177bc3da7af4a83a","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0113.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8586/tex_ceiling_textures_9552/tex_floor_textures_3964/tex_table_textures_6218/tex_wall_textures_836","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":6655939105864231737,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":6655939105864231737,"visual_seed":6655939105864231737,"scene_id":"lab_003","finished_at":"2026-09-05T00:18:43"}
+{"episode_id":"ep_000090","started_at":"2026-09-05T00:18:48","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_0","position":[0.5766794097331451,0.3315133944593387,0.71338606911949],"aabb_xy":[[0.568464864617461,0.32283680416169735],[0.584893954848829,0.3401899847569799]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[0.44180296805816677,-0.13496423805673707,0.71338606911949],"aabb_xy":[[0.4266400950812298,-0.15012969535185586],[0.45696584103510396,-0.11979878076161835]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.4259568885086795,-0.5733621703403675,0.71338606911949],"aabb_xy":[[0.41717566136144335,-0.5821419176288978],[0.4347381156559158,-0.5645824230518375]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.23202201524337196,1.4901910628902981,0.71338606911949],"aabb_xy":[[-0.24389409825487307,1.4051910631966478],[-0.22014993223187085,1.5751910625839485]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.3964460086344599,-2.4671759315105906,0.71338606911949],"aabb_xy":[[0.3589460100588391,-2.479912227174148],[0.4339460072100807,-2.454439635847032]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[-0.6332725160594548,-2.146954328583784,0.71338606911949],"aabb_xy":[[-0.6832725156357895,-2.1969349075358906],[-0.5832725164831201,-2.0969737496316787]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[0.32710552670833937,1.3829741373945543,0.71338606911949],"aabb_xy":[[0.2621055257078388,1.3321877722398792],[0.39210552770883983,1.433760502549229]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[-0.5869771792806094,-0.5333913458869248,0.71338606911949],"aabb_xy":[[-0.6094763150068365,-0.5558913466651878],[-0.5644780435543826,-0.5108913451086619]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.6422129233006888,0.7490446262537254,0.71338606911949],"aabb_xy":[[0.5922286875925116,0.6990446274402298],[0.692197159008866,0.799044625067221]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[-0.3898777448110481,0.49101996356013444,0.71338606911949],"aabb_xy":[[-0.4267282927480358,0.4535199627371007],[-0.3530271968740606,0.5285199643831682]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.23631404734863337,-2.4023687985396642,0.71338606911949],"aabb_xy":[[0.18633663048337976,-2.4523688000289123],[0.2862914642138869,-2.3523687970504152]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[-0.21996264269824267,-0.28019475846642994,0.71338606911949],"aabb_xy":[[-0.26121145372815735,-0.3351947579786474],[-0.1787138316683279,-0.2251947589542125]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[0.27771021637671334,0.9140267599753531,0.71338606911949],"aabb_xy":[[0.2695965617033362,0.905920943521324],[0.2858238710500904,0.9221325764293822]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_13","position":[-0.5842608275729311,-0.9265043319583306,0.71338606911949],"aabb_xy":[[-0.6642608249765243,-1.0064969031565134],[-0.5042608301693374,-0.8465117607601478]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[-0.3792465471783731,1.2438430151411413,0.71338606911949],"aabb_xy":[[-0.3872899071043282,1.1588430140457748],[-0.37120318725241785,1.3288430162365077]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.008941573800923197,-1.4710190436869603,0.71338606911949],"aabb_xy":[[-0.0069429194644019514,-1.4853719839857844],[0.024826067066248347,-1.4566661033881363]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[-0.15576708723126376,-2.272306759001343,0.71338606911949],"aabb_xy":[[-0.2157670878272799,-2.3271192315465665],[-0.09576708663524755,-2.2174942864561196]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_17","position":[0.6312547854771684,-1.2842539828972344,0.71338606911949],"aabb_xy":[[0.6219611672400178,-1.3217539813853683],[0.640548403714319,-1.2467539844091005]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.3521467158365792,-2.2160775723962702,0.71338606911949],"aabb_xy":[[-0.38714671573259807,-2.2244518079082103],[-0.3171467159405603,-2.20770333688433]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_19","position":[0.5301610917346009,-0.7223405081997873,0.71338606911949],"aabb_xy":[[0.4801610922944053,-0.7723084326841037],[0.5801610911747965,-0.672372583715471]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_20","position":[0.3822646365821465,-1.429911513554462,0.71338606911949],"aabb_xy":[[0.31826463587867715,-1.4759298960273832],[0.4462646372856159,-1.3838931310815412]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[0.046559410455412564,0.7818864430675565,0.71338606911949],"aabb_xy":[[-0.0029210107585462275,0.7178864451547047],[0.09603983166937136,0.8458864409804083]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_22","position":[0.4908652865260561,1.2224600156958565,0.71338606911949],"aabb_xy":[[0.4558652882559361,1.2153858880008683],[0.5258652847961759,1.2295341433908447]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[0.4039742352421749,0.351009296596843,0.71338606911949],"aabb_xy":[[0.4000137514724405,0.3433414320113224],[0.4079347190119092,0.3586771611823636]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641373494034436,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6753.png","name":"6753"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6753.png","name":"6753"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3077.png","name":"3077"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7285.png","name":"7285"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3553.png","name":"3553"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7865.png","name":"7865"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":766.0599435998724,"rotation_z_degrees":43.43947145771699,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00654635874883986,0.012823053499484535,0.011140213931385753]},{"name":"camera_2","offset_m":[-0.009169061268725298,-0.004191640497959805,-0.00986273326708171]},{"name":"camera_3","offset_m":[0.01730746679086374,-0.014099174646883546,0.012143064323228602]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018388038098972452,0.001755939408185761,-0.0017772964655960073],"end_effector_yaw_offset_degrees":-0.8351814649131566},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014999576894215738,-0.000642838940737302,-0.0002793932558554353],"end_effector_yaw_offset_degrees":-0.32636649165137976},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010668466243009976,-0.0017071387474699234,-0.0008304230117299159],"end_effector_yaw_offset_degrees":0.6459678237052839},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013789482479551177,0.001696634030991006,-0.0006301617488134151],"end_effector_yaw_offset_degrees":-0.8233908800574083}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004087370038013579,0.0016258805467080015],"position_m":[0.23391262996198642,0.295225880546708,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018448633128320038,0.0024838244653128073],"position_m":[0.236755136687168,-0.3573161755346872,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004726614741194227,-0.0042586361818649785],"position_m":[0.35642661474119425,-0.13565863618186497,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002127621961402925,0.0012794451495483968],"position_m":[0.36142762196140293,0.07567944514954839,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"568e86c4bfcd0bcd841aa081a237796717b906a6d20ccc8a62f717133b28ef6b","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0114.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6753/tex_ceiling_textures_7865/tex_floor_textures_3553/tex_table_textures_3077/tex_wall_textures_7285","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":7925022865439300618,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":7925022865439300618,"visual_seed":7925022865439300618,"scene_id":"lab_003","finished_at":"2026-09-05T00:22:51"}
+{"episode_id":"ep_000091","started_at":"2026-09-05T00:22:55","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[-0.3963323876380649,-0.23875495517526302,0.71338606911949],"aabb_xy":[[-0.46133238767236756,-0.2854556318555903],[-0.3313323876037621,-0.1920542784949357]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[0.6446157265287067,0.9551728551192182,0.71338606911949],"aabb_xy":[[0.5806157232389985,0.9118379361153005],[0.7086157298184147,0.9985077741231357]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[-0.32448653038852104,1.3918134432919582,0.71338606911949],"aabb_xy":[[-0.4141736066966365,1.3018134430375077],[-0.2347994540804056,1.4818134435464088]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[0.22916449190140598,-0.7484934271895971,0.71338606911949],"aabb_xy":[[0.2252040081316716,-0.7561612917751177],[0.23312497567114035,-0.7408255626040765]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[-0.030353055157141817,1.8069458938025478,0.71338606911949],"aabb_xy":[[-0.03776551069853029,1.80109468338092],[-0.022940599615753343,1.812797104224176]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.13032521695229649,-1.4524180469474126,0.71338606911949],"aabb_xy":[[-0.1532409298373464,-1.4753223440838363],[-0.10740950406724661,-1.4295137498109893]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[-0.11521013969274929,0.8220904827157329,0.71338606911949],"aabb_xy":[[-0.12313341993149762,0.7995904824777296],[-0.10728685945400096,0.8445904829537363]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[0.5086742238643995,-0.94278819840967,0.71338606911949],"aabb_xy":[[0.4586742242880648,-0.992768777361776],[0.5586742234407343,-0.8928076194575641]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_8","position":[-0.3982364515478801,-0.6041337340251671,0.71338606911949],"aabb_xy":[[-0.40799244105705396,-0.6138962680844016],[-0.3884804620387062,-0.5943711999659327]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[0.4150318094972587,-1.7683609901915642,0.71338606911949],"aabb_xy":[[0.3650318078357639,-1.8183594324472665],[0.4650318111587534,-1.718362547935861]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[0.6074029590511298,1.4917398941500504,0.71338606911949],"aabb_xy":[[0.5374029572423844,1.4703861253858632],[0.6774029608598753,1.513093662914238]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_11","position":[0.6677484353527989,-0.4325058882932611,0.71338606911949],"aabb_xy":[[0.6543019087187556,-0.44597573994635226],[0.6811949619868423,-0.4190360366401698]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[0.2130371165371353,-1.5601644696743717,0.71338606911949],"aabb_xy":[[0.13303711437437277,-1.6401196533005151],[0.29303711869989774,-1.4802092860482279]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[-0.4039932913620101,-1.2837344727854674,0.71338606911949],"aabb_xy":[[-0.46799329206547957,-1.3297528552583884],[-0.33999329065854084,-1.2377160903125464]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[0.5976276577406683,-2.016694759877752,0.71338606911949],"aabb_xy":[[0.5879960215202387,-2.026332072657461],[0.6072592939610979,-2.007057447098043]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[0.40888001811984576,0.4631341548820149,0.71338606911949],"aabb_xy":[[0.3588800167589586,0.4131562503065993],[0.45888001948073304,0.5131120594574305]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.1301075574597903,-1.1500309807249451,0.71338606911949],"aabb_xy":[[0.12599160734771764,-1.1541465357577905],[0.13422350757186297,-1.1459154256920994]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_17","position":[-0.5321160459529088,1.8098693279092344,0.71338606911949],"aabb_xy":[[-0.5665785239659965,1.8032056507263117],[-0.49765356793982096,1.816533005092157]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[-0.18953839018499208,-2.372509324638345,0.71338606911949],"aabb_xy":[[-0.26953839344283503,-2.452505832430329],[-0.1095383869271491,-2.292512816846361]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[-0.5641515621753918,0.965519469754708,0.71338606911949],"aabb_xy":[[-0.5810622946117333,0.9520472641620933],[-0.5472408297390498,0.9789916753473223]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[0.02038252054602996,-2.316195462476835,0.71338606911949],"aabb_xy":[[-0.04361748136631238,-2.3721066117348455],[0.0843825224583723,-2.2602843132188246]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[-0.34081081425430765,-0.432223245734332,0.71338606911949],"aabb_xy":[[-0.36581081352627,-0.44856860933049436],[-0.3158108149823454,-0.4158778821381697]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[0.32818377583118696,0.8752754810989614,0.71338606911949],"aabb_xy":[[0.31150663983809146,0.8585755571250311],[0.34486091182428247,0.8919754050728916]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6676322907419221,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6577.png","name":"6577"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6577.png","name":"6577"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3710.png","name":"3710"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1748.png","name":"1748"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6430.png","name":"6430"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1321.png","name":"1321"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":608.0032005765886,"rotation_z_degrees":134.9194517811847,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007233415799987361,-0.005696374978215273,-0.010463978652859364]},{"name":"camera_2","offset_m":[0.015843227834550912,0.016924036052477286,0.0023823907597304537]},{"name":"camera_3","offset_m":[0.009700303614929663,-0.019899504970562937,0.00033118578404850094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016028824554930364,4.067439401122131e-05,0.00016474252193955825],"end_effector_yaw_offset_degrees":0.10876086329311008},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00016321680916499097,0.0008788009279438367,0.0018857901464867165],"end_effector_yaw_offset_degrees":-0.5807383407257176},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008458656955102825,-0.001171538128515684,-0.0008735477746555809],"end_effector_yaw_offset_degrees":0.8367430876810149},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015593506094770436,-0.0006687427000441981,0.0018376750886919886],"end_effector_yaw_offset_degrees":0.288478825271413}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004722440950383049,-0.004559557150596372],"position_m":[0.23327755904961694,0.28904044284940367,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008015048945486354,-0.0023601258841345354],"position_m":[0.23779849510545137,-0.36216012588413454,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000742302107007816,-0.0032642751223975687],"position_m":[0.35244230210700783,-0.13466427512239756,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0033412100408769406,-0.0029906981259775344],"position_m":[0.35595878995912306,0.07140930187402246,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0cf27965c4c963d04ac0dde0c6a094df848ed0af5211a2aabab0a40b9668b509","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0115.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6577/tex_ceiling_textures_1321/tex_floor_textures_6430/tex_table_textures_3710/tex_wall_textures_1748","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":201060564697784077,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":201060564697784077,"visual_seed":201060564697784077,"scene_id":"lab_003","finished_at":"2026-09-05T00:26:59"}
+{"episode_id":"ep_000092","started_at":"2026-09-05T00:27:03","dimensions":{"distractor":{"count":21,"items":[{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_0","position":[-0.6328292463804268,-2.377532906175794,0.71338606911949],"aabb_xy":[[-0.6437350224679895,-2.457532902574623],[-0.6219234702928641,-2.297532909776965]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.012281914238784886,-0.8039955395449734,0.71338606911949],"aabb_xy":[[-0.0005899892621552548,-0.8839955399588094],[0.025153817739725023,-0.7239955391311371]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.6614249164691457,-0.5749246807688189,0.71338606911949],"aabb_xy":[[0.6481939709344643,-0.5881520997908182],[0.6746558620038269,-0.5616972617468193]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[-0.5716487832763946,-1.5265189161007438,0.71338606911949],"aabb_xy":[[-0.5750894595164517,-1.5303803490751082],[-0.5682081070363374,-1.5226574831263793]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[0.43151420155115683,-1.6757171470094439,0.71338606911949],"aabb_xy":[[0.3815312513636773,-1.725717146652004],[0.481497151738636,-1.6257171473668832]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[-0.1727912332593644,-1.454135666908732,0.71338606911949],"aabb_xy":[[-0.18091892145267763,-1.4630492753194395],[-0.1646635450660512,-1.4452220584980244]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_6","position":[-0.28933195830486547,1.144507956616549,0.71338606911949],"aabb_xy":[[-0.3493319589008817,1.0896954840713255],[-0.22933195770884934,1.1993204291617725]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[0.1921075951751393,0.8939422382077229,0.71338606911949],"aabb_xy":[[0.14211276224719774,0.8439422393124792],[0.24210242810308094,0.9439422371029663]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[-0.49289585324138785,1.6121284803058642,0.71338606911949],"aabb_xy":[[-0.5106893601763042,1.5943287347100668],[-0.4751023463064713,1.629928225901662]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[-0.256279606409374,0.7335337053747448,0.71338606911949],"aabb_xy":[[-0.29846402057020477,0.6695337050975336],[-0.2140951922485433,0.797533705651956]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[0.12438074346857386,-1.8362590746775516,0.71338606911949],"aabb_xy":[[0.0693884928330629,-1.8912590764208645],[0.1793729941040848,-1.781259072934239]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[0.44805095262533023,-1.2644108583384377,0.71338606911949],"aabb_xy":[[0.42305095269281234,-1.271293526559361],[0.4730509525578481,-1.2575281901175144]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_12","position":[0.005426871440175618,0.8812177657470821,0.71338606911949],"aabb_xy":[[-0.003990603129687131,0.871801588609363],[0.014844346010038367,0.890633942884801]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_13","position":[-0.4457420365855468,0.1778667668035565,0.71338606911949],"aabb_xy":[[-0.5107420351426196,0.1481142333896739],[-0.38074203802847395,0.20761930021743913]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.34113898337797144,-0.8247363463876138,0.71338606911949],"aabb_xy":[[0.2511389868770996,-0.870647988806072],[0.43113897987884314,-0.7788247039691555]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[0.44525075790198176,-0.5663158009313443,0.71338606911949],"aabb_xy":[[0.40775075760980695,-0.5703572763319479],[0.4827507581941566,-0.5622743255307406]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[-0.3342382423507036,-0.597342808528774,0.71338606911949],"aabb_xy":[[-0.3893634479802944,-0.657342809970061],[-0.2791130367211128,-0.5373428070874867]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[-0.08928414775942528,-1.2115305441490607,0.71338606911949],"aabb_xy":[[-0.10678414801876192,-1.2256220863378333],[-0.07178414750008866,-1.197439001960288]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[-0.5131379406578849,-2.4128784642835246,0.71338606911949],"aabb_xy":[[-0.518093960842766,-2.4353784644856464],[-0.5081819204730037,-2.3903784640814028]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[0.40177568004000674,1.263649677656642,0.71338606911949],"aabb_xy":[[0.3731263476795905,1.235004118379566],[0.43042501240042297,1.2922952369337175]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[-0.14992268937188924,-1.030005381867959,0.71338606911949],"aabb_xy":[[-0.2049226885484787,-1.0849950566429165],[-0.09492269019529972,-0.9750157070930012]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662822031979139,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5247.png","name":"5247"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5247.png","name":"5247"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9614.png","name":"9614"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4528.png","name":"4528"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8477.png","name":"8477"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9337.png","name":"9337"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":785.0812817273659,"rotation_z_degrees":225.84147726735983,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005166986957529592,-0.00456776023328772,0.009418476800683483]},{"name":"camera_2","offset_m":[-0.0017189552702405082,-0.011086355735004317,0.01828176022494742]},{"name":"camera_3","offset_m":[-0.014422826351378319,4.896111598860775e-05,-0.006521105944214902]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008548847298545594,-0.0013006562982225533,0.0004491795128596008],"end_effector_yaw_offset_degrees":0.8370885924755485},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015296854050127016,0.00015043976136276758,0.0019144541040347525],"end_effector_yaw_offset_degrees":-0.4671666853413756},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008380147600157359,0.0003463161550544703,2.2326804885456058e-05],"end_effector_yaw_offset_degrees":-0.8580779904408757},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001833656216442669,-0.0008566717486552275,0.0007596919688754302],"end_effector_yaw_offset_degrees":-0.6684091425475518}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013451032684649099,0.004638536905222164],"position_m":[0.23665489673153509,0.2982385369052222,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002806105092691762,0.003422656207772036],"position_m":[0.23579389490730823,-0.35637734379222796,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002880363582298453,0.004884979688296805],"position_m":[0.3488196364177016,-0.1265150203117032,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004401690141186915,0.0008509031271272437],"position_m":[0.3637016901411869,0.07525090312712723,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b7f5dfacd4754fc901326da600e70611f2f2f21671c0704e8852210169d799e8","episode_index":116,"episode_name":"episode_0116"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0116.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5247/tex_ceiling_textures_9337/tex_floor_textures_8477/tex_table_textures_9614/tex_wall_textures_4528","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":2676807204123396744,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":2676807204123396744,"visual_seed":2676807204123396744,"scene_id":"lab_003","finished_at":"2026-09-05T00:31:05"}
+{"episode_id":"ep_000093","started_at":"2026-09-05T00:31:13","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.5489447835875229,1.5079690890015134,0.71338606911949],"aabb_xy":[[-0.5834071309856645,1.4734752066036902],[-0.5144824361893809,1.5424629713993356]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[0.4641922747805536,1.3495421737583642,0.71338606911949],"aabb_xy":[[0.4141922734196663,1.2995642691829483],[0.5141922761414407,1.3995200783337796]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[-0.5326529363855006,-0.8761854912096143,0.71338606911949],"aabb_xy":[[-0.5422845726059302,-0.8858228039893231],[-0.523021300165071,-0.8665481784299053]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[-0.6400957936075292,0.07967435792961997,0.71338606911949],"aabb_xy":[[-0.6687451259679453,0.05102879865254416],[-0.6114464612471129,0.10831991720669575]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_4","position":[0.019340621100198963,-1.6138061894081028,0.71338606911949],"aabb_xy":[[-0.03064232908728037,-1.663806189050663],[0.06932357128767828,-1.5638061897655422]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[-0.031427837098230604,0.5606614727014851,0.71338606911949],"aabb_xy":[[-0.03746485009889533,0.554634771632537],[-0.02539082409756588,0.5666881737704335]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[-0.3802937609303178,-1.6603604548562636,0.71338606911949],"aabb_xy":[[-0.43529376010690723,-1.715350129631221],[-0.32529376175372826,-1.6053707800813057]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_7","position":[0.6520209642738652,0.4088162715902639,0.71338606911949],"aabb_xy":[[0.6385744376398218,0.39534641993717273],[0.6654674909079085,0.4222861232433552]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_8","position":[-0.5391391919144413,-0.6705636856832273,0.71338606911949],"aabb_xy":[[-0.5435698212692814,-0.6760120574179099],[-0.5347085625596011,-0.6651153139485447]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[0.556881297348014,0.15825279884889287,0.71338606911949],"aabb_xy":[[0.502865701066114,0.09425279595663572],[0.610896893629914,0.22225280174115003]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[-0.15655801515397672,1.2160070629397222,0.71338606911949],"aabb_xy":[[-0.1657178940978533,1.209475844896185],[-0.14739813621010012,1.2225382809832592]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[-0.18188790511971853,-1.8390574044176007,0.71338606911949],"aabb_xy":[[-0.18914915269012594,-1.8518444146811104],[-0.17462665754931112,-1.8262703941540914]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_12","position":[-0.17211335758891488,1.693859124902509,0.71338606911949],"aabb_xy":[[-0.18368233833585149,1.6688591247855773],[-0.16054437684197834,1.7188591250194407]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[-0.27443771874076306,-0.28064403382400727,0.71338606911949],"aabb_xy":[[-0.3360284779647559,-0.34464403193305415],[-0.21284695951677024,-0.21664403571496038]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[0.5673588261090723,-1.447548897166631,0.71338606911949],"aabb_xy":[[0.5572771190304987,-1.5275488950587455],[0.5774405331876457,-1.3675488992745162]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_15","position":[0.6275490874093272,0.7153398884862026,0.71338606911949],"aabb_xy":[[0.5775490857478325,0.6653414462304997],[0.677549089070822,0.7653383307419052]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[0.6661137621338713,0.9376962998420995,0.71338606911949],"aabb_xy":[[0.643613762123723,0.9236000802024962],[0.6886137621440196,0.9517925194817027]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_17","position":[-0.36719132263550175,-2.566711389794739,0.71338606911949],"aabb_xy":[[-0.3751848124307839,-2.5747095217352145],[-0.3591978328402198,-2.5587132578542633]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.3926959407141779,-2.0996298831092024,0.71338606911949],"aabb_xy":[[-0.4035364189406928,-2.116816164399851],[-0.381855462487663,-2.0824436018185537]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[-0.4248162181665694,-0.7394195050288244,0.71338606911949],"aabb_xy":[[-0.4422469332455758,-0.7566916196926751],[-0.4073855030875628,-0.7221473903649734]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[-0.6150738266918792,-2.370189823989672,0.71338606911949],"aabb_xy":[[-0.6519243746288668,-2.4076898248127057],[-0.5782232787548915,-2.332689823166638]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_21","position":[0.24411980463875527,-1.6141820607814943,0.71338606911949],"aabb_xy":[[0.19912721792030486,-1.659182060055943],[0.2891123913572057,-1.5691820615070455]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[-0.29011073222072997,-1.138220230468072,0.71338606911949],"aabb_xy":[[-0.35511073010237776,-1.189343894174613],[-0.22511073433908219,-1.0870965667615313]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_23","position":[-0.46885171263225167,-2.4390296158891527,0.71338606911949],"aabb_xy":[[-0.47418928829825624,-2.4640296168182925],[-0.4635141369662471,-2.414029614960013]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[0.347121594466552,0.37227437384290285,0.71338606911949],"aabb_xy":[[0.33194942518491866,0.35710551691469944],[0.36229376374818534,0.38744323077110615]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_25","position":[0.584199256836845,-0.23033046967299065,0.71338606911949],"aabb_xy":[[0.5341992572605103,-0.2803110486250966],[0.6341992564131798,-0.18034989072088473]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_26","position":[0.0853244490327365,1.5849238498350808,0.71338606911949],"aabb_xy":[[0.07733046045503308,1.5769237697399903],[0.09331843761043987,1.592923929930171]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_27","position":[0.301294369789768,-1.757968470748814,0.71338606911949],"aabb_xy":[[0.2821820624317891,-1.777103249626056],[0.32040667714774684,-1.7388336918715719]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_28","position":[0.19499452937007367,-1.9180639151670373,0.71338606911949],"aabb_xy":[[0.17310478178113287,-2.0080639124562865],[0.21688427695901447,-1.8280639178777882]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6647845444257491,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3112.png","name":"3112"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3112.png","name":"3112"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/904.png","name":"904"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5136.png","name":"5136"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/708.png","name":"708"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3366.png","name":"3366"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":535.3007033523156,"rotation_z_degrees":45.41749227191489,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018688213739306316,0.004011361425571965,0.014607630005192034]},{"name":"camera_2","offset_m":[-0.009900894853493948,-0.012389981265733378,-0.0155479976621583]},{"name":"camera_3","offset_m":[-0.010244975595530543,0.0179456371293051,-0.0023951361984943104]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014249841840619749,0.001674740623390963,0.0019754057894656113],"end_effector_yaw_offset_degrees":0.645474919325739},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016693936185722357,-0.00018800377010923523,-0.0004149464707759547],"end_effector_yaw_offset_degrees":-0.6818586919196838},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015240056879344665,0.0019029112826110363,0.00045935371780244077],"end_effector_yaw_offset_degrees":-0.43078639451951917},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009948360329286854,0.0011025841742143766,-0.001171806328506051],"end_effector_yaw_offset_degrees":-0.409800053620027}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027842905459767964,0.004153466459006231],"position_m":[0.2352157094540232,0.29775346645900624,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004829736131952032,0.003417823549259802],"position_m":[0.2381170263868048,-0.3563821764507402,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001572184522369693,0.0009959971711434364],"position_m":[0.35012781547763033,-0.13040400282885656,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002463250904238613,0.004686089078224413],"position_m":[0.3568367490957614,0.07908608907822441,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c704e7f5a3892ce1c9e3664d911f1e19859095fada01299438131416f43af89e","episode_index":117,"episode_name":"episode_0117"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0117.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3112/tex_ceiling_textures_3366/tex_floor_textures_708/tex_table_textures_904/tex_wall_textures_5136","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":1839425168379114687,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":1839425168379114687,"visual_seed":1839425168379114687,"scene_id":"lab_003","finished_at":"2026-09-05T00:35:09"}
+{"episode_id":"ep_000094","started_at":"2026-09-05T00:35:14","dimensions":{"distractor":{"count":35,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.10484684825829105,-2.4587213501063654,0.71338606911949],"aabb_xy":[[-0.11747363554548738,-2.4682674238079376],[-0.09222006097109468,-2.4491752764047923]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.15464900843874307,-2.5619017330205023,0.71338606911949],"aabb_xy":[[0.1321498727125161,-2.5844017337987655],[0.17714814416497005,-2.539401732242239]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[-0.17524905984163242,-1.1931724426956163,0.71338606911949],"aabb_xy":[[-0.24524905625159416,-1.2136103783472976],[-0.10524906343167058,-1.1727345070439341]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[0.24258087896078573,-1.7837913945695238,0.71338606911949],"aabb_xy":[[0.22008087943707833,-1.8062873420201444],[0.26508087848449313,-1.7612954471189028]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.5098959601426472,1.135937496342077,0.71338606911949],"aabb_xy":[[0.5026521940964017,1.0559374981384746],[0.5171397261888924,1.2159374945456793]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[0.21889006835612934,-2.3798826728364757,0.71338606911949],"aabb_xy":[[0.16889006971020817,-2.429802216495938],[0.26889006700205054,-2.3299631291770133]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.531650041760789,-0.7605521081084623,0.71338606911949],"aabb_xy":[[0.44665004306871436,-0.7925379715033413],[0.6166500404528636,-0.7285662447135836]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.12204685824921668,-0.7202664994872496,0.71338606911949],"aabb_xy":[[0.04204686026843162,-0.7278680404491017],[0.2020468562300017,-0.7126649585253978]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[0.016739071029919117,-1.2386787184771038,0.71338606911949],"aabb_xy":[[-0.047260930882423224,-1.2945898677351144],[0.08073907294226146,-1.1827675692190935]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[-0.21658925334263657,-1.3603491731202177,0.71338606911949],"aabb_xy":[[-0.2965892566004795,-1.4403456809122017],[-0.13658925008479358,-1.2803526653282338]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[0.6033591851358857,-0.9291788725252486,0.71338606911949],"aabb_xy":[[0.5984598928293221,-0.9568557918278171],[0.6082584774424491,-0.9015019532226796]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_11","position":[-0.4473836110256789,-0.5762385449827807,0.71338606911949],"aabb_xy":[[-0.47189723512268483,-0.600503138284817],[-0.4228699869286731,-0.5519739516807441]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[0.6264762295686785,1.056769901956542,0.71338606911949],"aabb_xy":[[0.5714839789331676,1.0017699002132294],[0.6814684802041895,1.111769903699855]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[0.3560926685420722,-0.8516544111555484,0.71338606911949],"aabb_xy":[[0.2760926652780591,-0.8652144434644617],[0.43609267180608535,-0.8380943788466351]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[-0.6478804928603243,-1.3520931480225453,0.71338606911949],"aabb_xy":[[-0.6655133284538519,-1.3697160940381683],[-0.6302476572667968,-1.3344702020069223]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[-0.07989168627587995,1.7243511734551702,0.71338606911949],"aabb_xy":[[-0.09743838119199888,1.686851171890919],[-0.062344991359761015,1.7618511750194215]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[0.24768417848111146,0.7332503242773161,0.71338606911949],"aabb_xy":[[0.21088954535620522,0.6963444491807338],[0.28447881160601773,0.7701561993738983]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_17","position":[-0.46902475212281425,-2.257799988856034,0.71338606911949],"aabb_xy":[[-0.4923065943209456,-2.342799990153262],[-0.4457429099246829,-2.1727999875588058]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[0.16361830346211692,-1.051213516082069,0.71338606911949],"aabb_xy":[[0.08361830605852345,-1.1312060872802516],[0.2436183008657103,-0.9712209448838861]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_19","position":[-0.45234859003375993,0.6200719346077301,0.71338606911949],"aabb_xy":[[-0.5173485911397033,0.5951065615396017],[-0.3873485889278167,0.6450373076758583]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.41458802530368444,-2.408079648833615,0.71338606911949],"aabb_xy":[[0.3308657998036019,-2.498079652368311],[0.49831025080376684,-2.318079645298919]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_21","position":[0.38515458347193454,1.4532665292146096,0.71338606911949],"aabb_xy":[[0.3351545821880945,1.4032876748239875],[0.43515458475577445,1.5032453836052317]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_22","position":[0.20048841616794721,-1.897841604443006,0.71338606911949],"aabb_xy":[[0.12048841751106121,-1.9123464633672689],[0.2804884148248332,-1.883336745518743]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[-0.16754230795904101,-2.3229804552772673,0.71338606911949],"aabb_xy":[[-0.17124556928817986,-2.3266824735859846],[-0.16383904662990212,-2.319278436968549]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_24","position":[0.678328025575065,-1.4503737910458316,0.71338606911949],"aabb_xy":[[0.6605345186401486,-1.4681735366416295],[0.6961215325099814,-1.4325740454500342]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_25","position":[0.16801129061279618,0.8751416214779342,0.71338606911949],"aabb_xy":[[0.13051129011543794,0.8711729379298158],[0.20551129111015443,0.8791103050260526]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_26","position":[-0.4332740396255958,0.9086481408779985,0.71338606911949],"aabb_xy":[[-0.4484462089072292,0.8934792839497951],[-0.4181018703439625,0.9238169978062019]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[0.5189500256529249,1.7019192435749138,0.71338606911949],"aabb_xy":[[0.502039293216583,1.6884470379822991],[0.5358607580892666,1.7153914491675284]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_28","position":[0.39209662355504893,-1.470831609990269,0.71338606911949],"aabb_xy":[[0.386764108900436,-1.4761559382355045],[0.39742913820966197,-1.4655072817450334]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_29","position":[0.5026184503758158,0.19905696000127993,0.71338606911949],"aabb_xy":[[0.43861844896782515,0.1472680084773552],[0.5666184517838064,0.2508459115252046]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_30","position":[-0.5752727955223914,1.2347192868215124,0.71338606911949],"aabb_xy":[[-0.622402174524227,1.1707192857771103],[-0.5281434165205556,1.2987192878659142]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_31","position":[-0.1571692150766465,-2.1105312070489384,0.71338606911949],"aabb_xy":[[-0.16348131461298493,-2.116298146302157],[-0.15085711554030806,-2.1047642677957197]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_32","position":[-0.4267676280233026,-2.5008435151812245,0.71338606911949],"aabb_xy":[[-0.4550973379718428,-2.5053042573749416],[-0.39843791807476236,-2.4963827729875074]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_33","position":[-0.2691121629420976,1.0882242652669767,0.71338606911949],"aabb_xy":[[-0.30614627237015735,1.0538470579332673],[-0.2320780535140379,1.122601472600686]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_34","position":[0.35012381337170373,-0.5858449426215384,0.71338606911949],"aabb_xy":[[0.32013215063783335,-0.6158449419583388],[0.380115476105574,-0.5558449432847378]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6674551583946189,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5375.png","name":"5375"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5375.png","name":"5375"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3626.png","name":"3626"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5116.png","name":"5116"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3317.png","name":"3317"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/731.png","name":"731"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":728.2239400267102,"rotation_z_degrees":225.029392854573,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007727886141105551,-0.014708326803598166,0.004937888293247643]},{"name":"camera_2","offset_m":[-0.01694359680473958,0.01494879440796296,0.0007696139383657971]},{"name":"camera_3","offset_m":[-0.005554973793805807,-0.012551051762143346,-0.0044213287014154765]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008148729550321891,0.00028362099855356237,0.0015238789808350722],"end_effector_yaw_offset_degrees":0.08946980561430129},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00044348114120522386,0.0017771271681736442,0.00013075203905784944],"end_effector_yaw_offset_degrees":0.8364708556701588},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010788144179306625,0.0009999649575340966,-0.001090684865639901],"end_effector_yaw_offset_degrees":0.8016259628891735},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000356178690369994,0.0006042832060892938,0.0017378388539922673],"end_effector_yaw_offset_degrees":0.6006856483397223}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020398056831467206,-0.0008562351000148049],"position_m":[0.23596019431685328,0.2927437648999852,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026840663228963006,0.0034272242791375486],"position_m":[0.2412840663228963,-0.35637277572086246,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004859209077244268,0.0023654960086518587],"position_m":[0.34684079092275577,-0.12903450399134814,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00229224133792271,0.000685093852742377],"position_m":[0.3570077586620773,0.07508509385274237,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3aeb998323730757e64c57e7a15def87a3bd3364cf765da0afbfda1be2446495","episode_index":118,"episode_name":"episode_0118"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0118.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5375/tex_ceiling_textures_731/tex_floor_textures_3317/tex_table_textures_3626/tex_wall_textures_5116","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":4552557870243896290,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":4552557870243896290,"visual_seed":4552557870243896290,"scene_id":"lab_003","finished_at":"2026-09-05T00:39:22"}
+{"episode_id":"ep_000095","started_at":"2026-09-05T00:39:26","dimensions":{"distractor":{"count":24,"items":[{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_0","position":[0.4553243343799005,-2.309279487601629,0.71338606911949],"aabb_xy":[[0.41677864155469946,-2.3478252586578177],[0.49387002720510154,-2.27073371654544]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[0.0020974711321078976,-1.3409376464890617,0.71338606911949],"aabb_xy":[[-0.05289477950340306,-1.3959376482323744],[0.05708972176761885,-1.285937644745749]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_2","position":[-0.23961535028683795,-2.3994597338872388,0.71338606911949],"aabb_xy":[[-0.28971281426791157,-2.4634597343970506],[-0.18951788630576433,-2.335459733377427]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[0.2717400576219239,0.547872844063984,0.71338606911949],"aabb_xy":[[0.26302608857198934,0.5253728434047956],[0.2804540266718583,0.5703728447231721]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[0.03398828451951197,-0.8756825042265008,0.71338606911949],"aabb_xy":[[-0.0010117146733063034,-0.8866495502241633],[0.06898828371233023,-0.864715458228838]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[-0.40252159672211796,-1.8340350231187208,0.71338606911949],"aabb_xy":[[-0.41337320297099356,-1.844894313846372],[-0.39166999047324236,-1.82317573239107]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[-0.33557093991475767,-0.3923838982953378,0.71338606911949],"aabb_xy":[[-0.3730709402069325,-0.39642537369594144],[-0.29807093962258285,-0.3883424228947342]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[-0.20998550680373335,1.204251616445795,0.71338606911949],"aabb_xy":[[-0.2739812041988299,1.1402516181450861],[-0.14598980940863673,1.2682516147465035]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[0.20699917457828665,0.746014538991401,0.71338606911949],"aabb_xy":[[0.13699917118672467,0.71069876528797],[0.27699917796984863,0.7813303126948318]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_9","position":[-0.4265942365906083,-0.879701998125106,0.71338606911949],"aabb_xy":[[-0.45707848671763845,-0.929701997906602],[-0.39610998646357815,-0.8297019983436101]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_10","position":[0.6597990039581445,-0.9248602370853833,0.71338606911949],"aabb_xy":[[0.6516713157648312,-0.933773845496091],[0.6679266921514576,-0.9159466286746757]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[-0.27604819053629936,-1.0704148127237323,0.71338606911949],"aabb_xy":[[-0.31354818895969966,-1.0835790266915628],[-0.23854819211289896,-1.0572505987559013]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[-0.41541592170414027,1.1927620943273376,0.71338606911949],"aabb_xy":[[-0.45291592187601215,1.1600613589444302],[-0.3779159215322683,1.2254628297102446]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_13","position":[0.6885659567939055,-0.6075053219701116,0.71338606911949],"aabb_xy":[[0.6599166244334893,-0.6361508812471873],[0.7172152891543218,-0.5788597626930357]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[0.3519946972653094,-2.1880841210399624,0.71338606911949],"aabb_xy":[[0.344750931219064,-2.268084119243565],[0.3592384633115547,-2.10808412283636]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_15","position":[-0.6115132066980358,0.49843608496540615,0.71338606911949],"aabb_xy":[[-0.6340132065119382,0.49396146859492546],[-0.5890132068841334,0.5029107013358869]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_16","position":[0.17594407336889029,-1.4324791205949532,0.71338606911949],"aabb_xy":[[0.14003056894390054,-1.4683926288117077],[0.21185757779387993,-1.3965656123781987]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_17","position":[-0.5390009525369429,-0.8371532463414157,0.71338606911949],"aabb_xy":[[-0.561465722508348,-0.8596532472202761],[-0.5165361825655378,-0.8146532454625551]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[-0.5304096404380295,-0.1794386106144601,0.71338606911949],"aabb_xy":[[-0.536721739974368,-0.18520554986767895],[-0.524097540901691,-0.1736716713612413]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_19","position":[-0.5271275041490574,-2.258549250248609,0.71338606911949],"aabb_xy":[[-0.5438046401421529,-2.275249174222539],[-0.5104503681559619,-2.2418493262746786]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_20","position":[0.5285690871936699,-0.655626058422073,0.71338606911949],"aabb_xy":[[0.466978327969677,-0.7196260565311199],[0.5901598464176626,-0.5916260603130261]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[-0.4820304308493508,-1.9937263167244021,0.71338606911949],"aabb_xy":[[-0.4996087330382976,-2.0113008062985074],[-0.4644521286604039,-1.9761518271502976]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_22","position":[-0.6614369592221566,1.2234222674192838,0.71338606911949],"aabb_xy":[[-0.6705968381660332,1.2168910493757468],[-0.65227708027828,1.229953485462821]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_23","position":[0.011214646658427974,1.5821810136908359,0.71338606911949],"aabb_xy":[[-0.013331568964322747,1.5519321171417988],[0.03576086228117869,1.612429910239873]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638044360926778,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7998.png","name":"7998"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7998.png","name":"7998"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8518.png","name":"8518"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7175.png","name":"7175"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2388.png","name":"2388"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2231.png","name":"2231"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":553.3101900333462,"rotation_z_degrees":215.83038158354933,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013292853993761521,0.011564741803233563,-0.01618518645836966]},{"name":"camera_2","offset_m":[0.019745204394494228,0.010414583726118858,0.017037169847296713]},{"name":"camera_3","offset_m":[-0.007552492472577473,-0.004948633939070217,-0.005924940075238196]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008186872848785871,0.00041381508762711617,0.0017137216624072984],"end_effector_yaw_offset_degrees":-0.4574122964496401},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007462687887972788,0.00034929286482098323,-0.0016488860260335163],"end_effector_yaw_offset_degrees":-0.029953966813484723},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005636445046817897,3.1209291449902764e-05,0.0017494329627692849],"end_effector_yaw_offset_degrees":-0.6404410315918911},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012462856855778833,-0.0010060036106654504,0.0019479743103125065],"end_effector_yaw_offset_degrees":0.3703987950022063}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037062257377055716,0.004111797651502565],"position_m":[0.24170622573770556,0.2977117976515026,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001435654984629484,0.0037460063537016154],"position_m":[0.2371643450153705,-0.3560539936462984,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003167659674342873,-0.002607662664925021],"position_m":[0.34853234032565716,-0.134007662664925,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004126396247340724,0.0026090417252354605],"position_m":[0.3551736037526593,0.07700904172523546,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5d0b12d0306c57f155a6be1db0a8c96424c5078cd720e8ebabf92d4b6876facb","episode_index":119,"episode_name":"episode_0119"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0119.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7998/tex_ceiling_textures_2231/tex_floor_textures_2388/tex_table_textures_8518/tex_wall_textures_7175","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":4919252579984949774,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":4919252579984949774,"visual_seed":4919252579984949774,"scene_id":"lab_003","finished_at":"2026-09-05T00:43:28"}
+{"episode_id":"ep_000096","started_at":"2026-09-05T00:43:32","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_0","position":[-0.0905143701854626,-2.514345977900909,0.71338606911949],"aabb_xy":[[-0.12048192709528827,-2.5443459781987947],[-0.060546813275636935,-2.4843459776030237]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_1","position":[-0.4798091877245476,-0.1709414595665284,0.71338606911949],"aabb_xy":[[-0.5398091875711144,-0.22776008175956708],[-0.41980918787798077,-0.11412283737348972]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[-0.27788651243591783,-1.9790391879966416,0.71338606911949],"aabb_xy":[[-0.3231651273170671,-2.0430391873448253],[-0.23260789755476857,-1.915039188648458]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[-0.1612183089403425,0.34243852626155524,0.71338606911949],"aabb_xy":[[-0.17178578859844149,0.3318934961485467],[-0.15065082928224346,0.3529835563745638]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[-0.0008278874488119037,1.5880540288026315,0.71338606911949],"aabb_xy":[[-0.004788371218546278,1.580386164217111],[0.0031325963209224705,1.5957218933881523]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.5360876335531162,-0.7261580561130776,0.71338606911949],"aabb_xy":[[0.4720876364410106,-0.7751904259074882],[0.600087630665222,-0.677125686318667]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[-0.1469167236791442,-0.22594251512171315,0.71338606911949],"aabb_xy":[[-0.23691672340231837,-0.249015867656893],[-0.05691672395597002,-0.2028691625865333]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[0.4922664031635664,0.7653241663451249,0.71338606911949],"aabb_xy":[[0.40726640447149165,0.733338302950246],[0.5772664018556409,0.7973100297400038]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[0.592198450556316,0.9207653438144772,0.71338606911949],"aabb_xy":[[0.570289768416965,0.8988646769943862],[0.6141071326956671,0.9426660106345677]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[0.5237935821372917,-0.5921835163766291,0.71338606911949],"aabb_xy":[[0.5176989542491733,-0.6007529109282977],[0.52988821002541,-0.5836141218249603]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[-0.5331517384863522,-1.7356273021719308,0.71338606911949],"aabb_xy":[[-0.5506516719203355,-1.7531273020921654],[-0.5156518050523687,-1.7181273022516963]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_11","position":[-0.35507498669153337,0.1888433087239334,0.71338606911949],"aabb_xy":[[-0.4190749858613033,0.14207662160497092],[-0.2910749875217634,0.23560999584289588]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_12","position":[-0.6579867382137667,0.9340620617776976,0.71338606911949],"aabb_xy":[[-0.666700707263701,0.9115620611185091],[-0.649272769163832,0.9565620624368856]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[-0.4660140855230942,-0.8328656189350376,0.71338606911949],"aabb_xy":[[-0.4884788554944993,-0.8553656198138982],[-0.4435493155516891,-0.8103656180561772]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[0.6272779757852505,-0.3162912648417713,0.71338606911949],"aabb_xy":[[0.547277978381657,-0.3962838360399541],[0.7072779731888439,-0.2362986936435885]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.5810372420932268,0.5821274982491085,0.71338606911949],"aabb_xy":[[-0.5892517872089107,0.5734509079514669],[-0.5728226969775427,0.5908040885467496]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[0.07626030175109622,-2.329963541013596,0.71338606911949],"aabb_xy":[[0.06821694182514103,-2.4149635421089624],[0.08430366167705138,-2.2449635399182295]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_17","position":[0.31026449017680324,1.5620131459647282,0.71338606911949],"aabb_xy":[[0.24626448947333396,1.5159947634918076],[0.37426449088027264,1.6080315284376496]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_18","position":[-0.24187874512687724,1.596707564279931,0.71338606911949],"aabb_xy":[[-0.3018787456347301,1.5398608305940098],[-0.18187874461902429,1.6535542979658524]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[-0.581299848558584,0.37055706182506265,0.71338606911949],"aabb_xy":[[-0.6712998471530539,0.3543064755116416],[-0.491299849964114,0.3868076481384837]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[-0.4759899562704089,1.525984420544828,0.71338606911949],"aabb_xy":[[-0.49309203422877707,1.5088776150135583],[-0.45888787831204075,1.5430912260760978]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[-0.4170538587634586,-2.067908029649319,0.71338606911949],"aabb_xy":[[-0.4670538597139914,-2.0994571766528405],[-0.36705385781292577,-2.0363588826457977]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[0.5932964058928778,-2.526306588460887,0.71338606911949],"aabb_xy":[[0.582884847212394,-2.531652321796785],[0.6037079645733614,-2.5209608551249882]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_23","position":[0.3337211268978062,-1.2522596840024705,0.71338606911949],"aabb_xy":[[0.2992587794996643,-1.286753566400293],[0.3681834742959479,-1.2177658016046475]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[0.14671257131635118,0.9008286070131777,0.71338606911949],"aabb_xy":[[0.07671256792478916,0.8655128333097467],[0.2167125747079131,0.9361443807166084]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_25","position":[0.11513615280675704,1.6765513793096676,0.71338606911949],"aabb_xy":[[0.07763615298972348,1.6719131679985253],[0.1526361526237906,1.681189590620809]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_26","position":[0.10030247718537288,-0.7429003099940803,0.71338606911949],"aabb_xy":[[0.03630247692490208,-0.7879091093470083],[0.1643024774458437,-0.6978915106411523]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.666102130595391,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3914.png","name":"3914"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3914.png","name":"3914"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5889.png","name":"5889"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1121.png","name":"1121"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5829.png","name":"5829"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2352.png","name":"2352"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":752.3873573688913,"rotation_z_degrees":235.87223096467608,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002553585695202608,0.007762666980065561,-0.018724284862776153]},{"name":"camera_2","offset_m":[-0.010697619612962202,0.0022251000218757658,-0.002799402571496225]},{"name":"camera_3","offset_m":[-0.015070310840293888,-0.015678570076739798,-0.0011929905690899953]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016211149446138276,0.0010484809958227295,-0.0005703036090137195],"end_effector_yaw_offset_degrees":0.8409994387357738},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018332335584282707,-0.00038734460037136067,0.0015058127130982766],"end_effector_yaw_offset_degrees":-0.055057113503479416},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-2.5362297254644638e-05,0.0010739908416084686,0.0014646817282363733],"end_effector_yaw_offset_degrees":0.06300812989995341},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007910425183076089,-0.0011977516125567034,0.001567696562452871],"end_effector_yaw_offset_degrees":0.03633815791542916}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002108547554230321,0.003777038020537293],"position_m":[0.2401085475542303,0.29737703802053733,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021057916245330465,-0.0015592299987350856],"position_m":[0.23649420837546695,-0.3613592299987351,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009897270372398537,0.002597348590860753],"position_m":[0.3526897270372399,-0.12880265140913924,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004854123111419444,-0.001435345773106068],"position_m":[0.3544458768885806,0.07296465422689392,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bb73c40f3d0bab8d35e8dbbbcd5281c539b7c7ddf762d4746addf07431801e55","episode_index":120,"episode_name":"episode_0120"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0120.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3914/tex_ceiling_textures_2352/tex_floor_textures_5829/tex_table_textures_5889/tex_wall_textures_1121","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":5863237264028848013,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":5863237264028848013,"visual_seed":5863237264028848013,"scene_id":"lab_003","finished_at":"2026-09-05T00:47:43"}
+{"episode_id":"ep_000097","started_at":"2026-09-05T00:53:46","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[-0.29921304631128876,-2.245192716222232,0.71338606911949],"aabb_xy":[[-0.308560053893584,-2.259496338439876],[-0.2898660387289935,-2.230889094004588]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[0.5422068351506242,-0.838478789925734,0.71338606911949],"aabb_xy":[[0.5290555891793349,-0.8634787896824208],[0.5553580811219136,-0.8134787901690477]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_2","position":[-0.30436646819365126,-2.57226749291285,0.71338606911949],"aabb_xy":[[-0.31078028183683615,-2.5786773131605183],[-0.29795265455046627,-2.565857672665181]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[0.5823856245674182,1.2402924422296384,0.71338606911949],"aabb_xy":[[0.5711405689968003,1.229050644505543],[0.593630680138036,1.2515342399537335]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[0.3240252853078871,1.061479296721549,0.71338606911949],"aabb_xy":[[0.30185275833123626,1.0393036295654257],[0.34619781228453794,1.0836549638776718]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[-0.06817561440509534,-1.4151395298719307,0.71338606911949],"aabb_xy":[[-0.07628926907847244,-1.4232453463259598],[-0.06006195973171824,-1.4070337134179016]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.3389566913783172,-0.302543638761013,0.71338606911949],"aabb_xy":[[-0.37645669187567543,-0.30651232230913145],[-0.30145669088095894,-0.2985749552128946]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_7","position":[0.11967647843657281,-1.4143626641175016,0.71338606911949],"aabb_xy":[[0.03967648103297936,-1.494355235315684],[0.19967647584016618,-1.3343700929193183]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[-0.6117239259720614,-1.4333072800655284,0.71338606911949],"aabb_xy":[[-0.6243507132592576,-1.442853353767101],[-0.5990971386848649,-1.4237612063639553]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[0.10415173575401115,1.1214332351537575,0.71338606911949],"aabb_xy":[[0.08651890016048357,1.1038102891381343],[0.12178457134753871,1.1390561811693802]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[-0.029267120655162016,-1.9292273518000114,0.71338606911949],"aabb_xy":[[-0.03726061045044404,-1.937225483740487],[-0.02127363085987999,-1.9212292198595358]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[-0.5320347272561754,1.323411285829407,0.71338606911949],"aabb_xy":[[-0.6157569527562579,1.233411282294711],[-0.44831250175609294,1.4134112893641029]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_12","position":[0.127174562580173,-1.6090904254211331,0.71338606911949],"aabb_xy":[[0.11016446529012233,-1.6252249139194073],[0.14418465987022364,-1.5929559369228594]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[0.682104401705901,0.3577676855047436,0.71338606911949],"aabb_xy":[[0.6644287711173026,0.34008746922534083],[0.6997800322944993,0.37544790178414633]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_14","position":[0.4984930219858199,1.7513456025422385,0.71338606911949],"aabb_xy":[[0.47599302197567156,1.7372493829026352],[0.5209930219959682,1.7654418221818418]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[-0.4679145921363318,-2.4583131768468967,0.71338606911949],"aabb_xy":[[-0.49313542899617135,-2.4835369276997827],[-0.442693755276492,-2.433089425994009]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.15421701427248247,-2.4266128797772164,0.71338606911949],"aabb_xy":[[0.1426480335255459,-2.451612879894148],[0.16578599501941904,-2.4016128796602847]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_17","position":[-0.23045036554807102,0.8117229754398307,0.71338606911949],"aabb_xy":[[-0.2392524208570437,0.8039116492849014],[-0.22164831023909828,0.8195343015947596]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[0.6669321427909691,0.5488271121820758,0.71338606911949],"aabb_xy":[[0.6561591688696012,0.5138271139630367],[0.6777051167123368,0.5838271104011147]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[-0.3293886534460491,-0.5460300057948442,0.71338606911949],"aabb_xy":[[-0.35978676454519265,-0.5764369077965136],[-0.2989905423469055,-0.5156231037931746]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[-0.4600699025306772,-0.05243226385066846,0.71338606911949],"aabb_xy":[[-0.5240698998330235,-0.09679869081852521],[-0.39606990522833074,-0.008065836882811706]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_21","position":[0.33501499739742346,1.751764113070276,0.71338606911949],"aabb_xy":[[0.2850361888871076,1.7017641130645567],[0.38499380590773935,1.8017641130759943]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646179104286013,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7700.png","name":"7700"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7700.png","name":"7700"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4123.png","name":"4123"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/232.png","name":"232"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/863.png","name":"863"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9585.png","name":"9585"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":551.954516431279,"rotation_z_degrees":249.5211548888804,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019980358499311925,-0.018849055359340682,0.015813095805468993]},{"name":"camera_2","offset_m":[-0.019478485278474022,-0.007192294507669703,0.015223509015048774]},{"name":"camera_3","offset_m":[-0.0019818833385735653,-0.015345437950119436,-0.013926831469795564]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00033808119220288084,0.001999539467926667,0.0016968144307664681],"end_effector_yaw_offset_degrees":0.2667824858559744},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014184840286326113,0.0011467927791611746,0.00029879601621113144],"end_effector_yaw_offset_degrees":0.3010594395498669},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006278125628603778,-0.0008681384912290503,-0.001962573695682794],"end_effector_yaw_offset_degrees":0.8041290106263388},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018531867100109799,5.168409372687064e-05,-0.000634907493972983],"end_effector_yaw_offset_degrees":0.40295563825616654}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017366817490671958,-0.001153662617616933],"position_m":[0.23973668174906718,0.29244633738238307,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003485418688518238,0.0039407006503780736],"position_m":[0.23825145813114817,-0.35585929934962196,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019344056568782976,0.004356735037142813],"position_m":[0.3536344056568783,-0.12704326496285717,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028618130401262014,-0.00023299136159746995],"position_m":[0.36216181304012623,0.07416700863840252,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"da39274966dfdf31aae1b829ad8b688f0c54dfa09e469e3b3004ec89f91b9a0e","episode_index":123,"episode_name":"episode_0123"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0123.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7700/tex_ceiling_textures_9585/tex_floor_textures_863/tex_table_textures_4123/tex_wall_textures_232","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":5399003295839971362,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":5399003295839971362,"visual_seed":5399003295839971362,"scene_id":"lab_003","finished_at":"2026-09-05T00:57:55"}
+{"episode_id":"ep_000098","started_at":"2026-09-05T01:02:14","dimensions":{"distractor":{"count":27,"items":[{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_0","position":[-0.297775583378929,0.8790142904408738,0.71338606911949],"aabb_xy":[[-0.30854855730029684,0.8440142922218348],[-0.2870026094575613,0.9140142886599127]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[-0.13997293392563992,-0.9732217935654748,0.71338606911949],"aabb_xy":[[-0.15513580690257703,-0.9883872508605938],[-0.12481006094870287,-0.9580563362703562]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.39133479449905706,-1.1047203518526183,0.71338606911949],"aabb_xy":[[0.35383479383447836,-1.1204074098528403],[0.42883479516363576,-1.089033293852396]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[-0.2717045763813061,1.4386468986076708,0.71338606911949],"aabb_xy":[[-0.27540783771044497,1.4349448802989528],[-0.2680013150521672,1.4423489169163883]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_4","position":[0.42303473069270336,1.680890919437839,0.71338606911949],"aabb_xy":[[0.41860410133786324,1.675442547703157],[0.4274653600475436,1.686339291172522]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_5","position":[0.05904576822467422,-1.291066116173252,0.71338606911949],"aabb_xy":[[0.02404576909471856,-1.296811337248916],[0.09404576735462988,-1.2853208950975878]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[0.38223808275913473,1.0932575716971882,0.71338606911949],"aabb_xy":[[0.36034833517019393,1.003257574407939],[0.40412783034807553,1.1832575689864373]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[-0.589188668465758,1.3310610924309043,0.71338606911949],"aabb_xy":[[-0.6391716186532372,1.2810610927883437],[-0.5392057182782786,1.3810610920734645]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[0.532096123534544,0.9019350567872575,0.71338606911949],"aabb_xy":[[0.4977798463599261,0.8519350568140798],[0.566412400709162,0.9519350567604352]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[0.4171845021472238,0.5175383346058298,0.71338606911949],"aabb_xy":[[0.3531845057199019,0.4703687107837333],[0.4811844985745457,0.5647079584279262]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[-0.5741996834644111,-0.9610788426582635,0.71338606911949],"aabb_xy":[[-0.6045977945635546,-0.9914857446599329],[-0.5438015723652674,-0.9306719406565939]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[0.24618598705931127,-0.8278084684196514,0.71338606911949],"aabb_xy":[[0.23431390404781013,-0.9128084681133017],[0.2580580700708124,-0.742808468726001]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[-0.5942577820736339,0.5367791675909084,0.71338606911949],"aabb_xy":[[-0.628848864927679,0.47177916730587727],[-0.5596666992195886,0.6017791678759393]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_13","position":[-0.5853991431541112,-0.8604450638368308,0.71338606911949],"aabb_xy":[[-0.6203991414648067,-0.8681600787603765],[-0.5503991448434158,-0.8527300489132852]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[0.5933918678502443,-0.7017905211268047,0.71338606911949],"aabb_xy":[[0.5758918685721575,-0.7191286211931507],[0.6108918671283312,-0.6844524210604588]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[0.6304123595163038,1.6461525211926058,0.71338606911949],"aabb_xy":[[0.5404123630154319,1.6002408787741473],[0.7204123560171755,1.6920641636110638]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_16","position":[0.049711194908662604,1.7155980602982726,0.71338606911949],"aabb_xy":[[-0.01528880619728068,1.6906326872301443],[0.11471119601460589,1.7405634333664008]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.5461119238546897,-1.113660446682322,0.71338606911949],"aabb_xy":[[0.4761119212181033,-1.1337653116781872],[0.616111926491276,-1.0935555816864562]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.41446527509435604,-0.28012768953683054,0.71338606911949],"aabb_xy":[[0.39745517780430545,-0.2962621780351044],[0.43147537238440675,-0.26399320103855656]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_19","position":[0.6345221605459335,-2.2659747578188933,0.71338606911949],"aabb_xy":[[0.5695221595454328,-2.3167611229735683],[0.6995221615464339,-2.2151883926642184]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[-0.174891648415874,1.4411568807914157,0.71338606911949],"aabb_xy":[[-0.18423865599816924,1.4268532585737719],[-0.16554464083357878,1.45546050300906]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[0.6826217392102114,-0.01365337761269192,0.71338606911949],"aabb_xy":[[0.6563329148897707,-0.039924811267343145],[0.7089105635306521,0.012618056041959312]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_22","position":[-0.17340946136624347,-1.3203036548718603,0.71338606911949],"aabb_xy":[[-0.22840493918690288,-1.375303656305767],[-0.1184139835455841,-1.2653036534379531]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[0.5627140520862384,-1.5022287897884106,0.71338606911949],"aabb_xy":[[0.4977140542045907,-1.5533524534949517],[0.6277140499678863,-1.4511051260818697]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_24","position":[0.580127689656172,-0.35362703213101687,0.71338606911949],"aabb_xy":[[0.51612768760644,-0.3937215152203249],[0.644127691705904,-0.31353254904170896]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_25","position":[0.025349841935261463,-1.09525935776537,0.71338606911949],"aabb_xy":[[-0.024650159015271345,-1.1268085047688912],[0.07534984288579427,-1.0637102107618484]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_26","position":[-0.4088026489251866,1.3386070377458696,0.71338606911949],"aabb_xy":[[-0.4586194283900213,1.2886070392615663],[-0.35898586946035177,1.388607036230173]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.665944631650746,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9288.png","name":"9288"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9288.png","name":"9288"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7218.png","name":"7218"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7276.png","name":"7276"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8157.png","name":"8157"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6726.png","name":"6726"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":508.53828269129707,"rotation_z_degrees":21.665042295977326,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01393053204399068,-0.00701679975881131,-0.009662528766565558]},{"name":"camera_2","offset_m":[0.009121371984332861,0.004484093747418698,-0.004150141803893125]},{"name":"camera_3","offset_m":[-0.005445444374020787,-0.006532905493701845,0.004943535496058558]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[4.630457945174315e-05,0.0007352481793343594,-1.1430878634420202e-05],"end_effector_yaw_offset_degrees":0.4509491889744448},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008785095651144327,0.0016295084516922144,-0.0002484395983267688],"end_effector_yaw_offset_degrees":-0.01752968031686941},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019158123298919005,0.0011241618058164906,-0.001112174441036128],"end_effector_yaw_offset_degrees":0.0014239484768499011},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.1423588507066419e-05,-0.00018030691106708514,-0.0006808609431549063],"end_effector_yaw_offset_degrees":-0.2935994349101858}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002399203555481373,0.0004074370690723018],"position_m":[0.23560079644451862,0.29400743706907234,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017430683117566348,0.004766682721927709],"position_m":[0.24034306831175664,-0.3550333172780723,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028218267044050884,-0.003746703553683576],"position_m":[0.34887817329559495,-0.13514670355368358,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012586069479258635,-0.004485098588774871],"position_m":[0.35804139305207416,0.06991490141122512,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c5b4e3a5eff1e527995e6c62985491d32f5312a558b06bc3347b23da27c8abc8","episode_index":125,"episode_name":"episode_0125"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0125.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9288/tex_ceiling_textures_6726/tex_floor_textures_8157/tex_table_textures_7218/tex_wall_textures_7276","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":5369983005457398786,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":5369983005457398786,"visual_seed":5369983005457398786,"scene_id":"lab_003","finished_at":"2026-09-05T01:06:30"}
+{"episode_id":"ep_000099","started_at":"2026-09-05T01:15:41","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[0.47898312072899807,-0.5211338178367755,0.71338606911949],"aabb_xy":[[0.41498312430167617,-0.568303441658872],[0.54298311715632,-0.47396419401467915]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.422155020276721,-1.454097149807648,0.71338606911949],"aabb_xy":[[-0.502155018933607,-1.4686020087319112],[-0.3421550216198351,-1.4395922908833854]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[-0.20215962463303272,0.7205490361193347,0.71338606911949],"aabb_xy":[[-0.23715962376298838,0.7148038150436705],[-0.16715962550307706,0.7262942571949987]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[-0.27483556781037344,-0.539398209891417,0.71338606911949],"aabb_xy":[[-0.3091518449849914,-0.5893982098645947],[-0.2405192906357555,-0.48939820991823924]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_4","position":[0.16413410628527736,1.4477742185275466,0.71338606911949],"aabb_xy":[[0.146634172851294,1.4302742186073119],[0.18163403971926073,1.465274218447781]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.16005212686586878,-0.16495451730810373,0.71338606911949],"aabb_xy":[[-0.21005212722643482,-0.21493450451770665],[-0.1100521265053027,-0.11497453009850077]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.21941555629300719,-1.3251122816910677,0.71338606911949],"aabb_xy":[[-0.27941555680086005,-1.381959015376989],[-0.15941555578515423,-1.2682655480051463]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[0.5009274390176626,1.540968647415721,0.71338606911949],"aabb_xy":[[0.45094320330948534,1.4909686486022253],[0.5509116747258398,1.5909686462292165]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[0.47872850708629455,-1.4847640331993783,0.71338606911949],"aabb_xy":[[0.4442660290732067,-1.4914277103823013],[0.5131909850993823,-1.4781003560164554]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[-0.4398262545353094,0.852686330271136,0.71338606911949],"aabb_xy":[[-0.49481946587244613,0.7976863299323427],[-0.38483304319817263,0.9076863306099299]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[-0.30540372238662544,1.5464914138663626,0.71338606911949],"aabb_xy":[[-0.3100388375388588,1.5426240787892136],[-0.30076860723439197,1.5503587489435111]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_11","position":[-0.0442786580589144,1.7383596936376802,0.71338606911949],"aabb_xy":[[-0.052392312732291495,1.730253877183651],[-0.03616500338553729,1.7464655100917093]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.4041373339752999,1.692278310030749,0.71338606911949],"aabb_xy":[[-0.46813733719393774,1.6455551981317407],[-0.340137330756662,1.7390014219297574]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[0.22211438427415076,-1.8038742234274778,0.71338606911949],"aabb_xy":[[0.2043208773392343,-1.8216739690232753],[0.23990789120906716,-1.78607447783168]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.014406315346007559,-2.0808537773881866,0.71338606911949],"aabb_xy":[[-0.03559368329991364,-2.130773321047649],[0.06440631399192875,-2.030934233728724]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[-0.024078400517371534,-1.7351785206288552,0.71338606911949],"aabb_xy":[[-0.07417586449844515,-1.799178521138667],[0.02601906346370209,-1.6711785201190434]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[0.12330798524274311,-1.1638081059542205,0.71338606911949],"aabb_xy":[[0.11007703970806182,-1.1770355249762197],[0.1365389307774244,-1.1505806869322208]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[-0.5598541024494333,-2.17823568752155,0.71338606911949],"aabb_xy":[[-0.6198541030454495,-2.2330481600667733],[-0.49985410185341717,-2.1234232149763264]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[0.4243766158246953,-1.3203686900279996,0.71338606911949],"aabb_xy":[[0.38687661463990247,-1.32478691272406],[0.46187661700948807,-1.3159504673319389]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[-0.07071999031566323,-0.885222779103102,0.71338606911949],"aabb_xy":[[-0.12071482324360483,-0.9352227779983456],[-0.020725157387721627,-0.8352227802078586]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[0.23357784927476,1.5823137289669442,0.71338606911949],"aabb_xy":[[0.1695778478667693,1.5305247774430195],[0.2975778506827506,1.634102680490869]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6648167131535506,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1632.png","name":"1632"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1632.png","name":"1632"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7176.png","name":"7176"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/759.png","name":"759"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4185.png","name":"4185"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6632.png","name":"6632"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":821.2604570355866,"rotation_z_degrees":158.34177745854558,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012320398366164779,-0.013446404966017626,-0.015276488229024391]},{"name":"camera_2","offset_m":[-0.0022215272353226234,0.007333113214928692,0.005241151182062274]},{"name":"camera_3","offset_m":[-0.0189233062279561,-0.006930421354315635,-0.001983241606758536]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009923209994287595,0.0005347824840689821,0.0005746787155887449],"end_effector_yaw_offset_degrees":0.6765290987152732},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019049984536398047,-0.0007559194050922482,-0.001172078475984078],"end_effector_yaw_offset_degrees":0.10500762702170108},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001997455657064406,0.001454560063363395,0.0012664186811725195],"end_effector_yaw_offset_degrees":-0.163020778089499},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007068850181614211,0.00025123522204372395,-0.0018588652429973017],"end_effector_yaw_offset_degrees":0.30017967644097854}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00005","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0027807436657633733,0.004244941495418123],"position_m":[0.23521925633423663,0.2978449414954181,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004691406280396769,-0.0031829227912313143],"position_m":[0.23390859371960324,-0.36298292279123134,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013813550265351074,0.004405924081394894],"position_m":[0.3530813550265351,-0.1269940759186051,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024429528116175015,0.004864408037803661],"position_m":[0.3568570471883825,0.07926440803780366,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d144d6dcaa621ffffcc93981ea26a96bd1e1a4b2d597630fa57e5871fb7d065b","episode_index":129,"episode_name":"episode_0129"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/dataset/episode_0129.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1632/tex_ceiling_textures_6632/tex_floor_textures_4185/tex_table_textures_7176/tex_wall_textures_759","seeds":{"action_seed":1265260622047408349,"physical_seed":618691700709466932,"visual_seed":1212524964299742465,"layout_id":"layout_00005","physical_randomization_enabled":true},"episode_seed":1212524964299742465,"visual_seed":1212524964299742465,"scene_id":"lab_003","finished_at":"2026-09-05T01:19:19"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9f150e500b0506aa8c800a7440384909df56e46d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_htb_00005
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00005
+  reproducibility:
+    enabled: true
+    layout_id: layout_00005
+    action_seed: 1265260622047408349
+    step_seeds:
+    - 3954225634939434796
+    - 941158965129780711
+    - 4636139028423254317
+    - 4985918550663007568
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.238
+      - 0.238
+      'y':
+      - 0.2936
+      - 0.2936
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.3517
+      - 0.3517
+      'y':
+      - -0.1314
+      - -0.1314
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3593
+      - 0.3593
+      'y':
+      - 0.0744
+      - 0.0744
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2386
+      - 0.2386
+      'y':
+      - -0.3598
+      - -0.3598
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..41846b7861aefa30d1fb4a97c91b354d644be710
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2618654041592291,
+              0.29564376810986615,
+              1.0508509072817587
+            ],
+            "current_z": 1.0508509072817587,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1897441608484135,
+            "gripper_z": 1.0532874383112045,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25648463016491446,
+              0.290598722421699,
+              1.0532874383112045
+            ],
+            "object_minus_gripper": [
+              0.005380773994314636,
+              0.00504504568816716,
+              -0.002436531029445854
+            ],
+            "object_to_gripper_xy": 0.007375989070869529,
+            "object_to_gripper_z": -0.002436531029445854,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2618654041592291,
+              0.2710265395447159,
+              1.0508509072817587
+            ],
+            "finger_b": [
+              0.2496962032029578,
+              0.29564376810986615,
+              1.0508509072817587
+            ],
+            "finger_midpoint": [
+              0.25578080368109346,
+              0.283335153827291,
+              1.0508509072817587
+            ],
+            "object_minus_finger_midpoint": [
+              0.006084600478135638,
+              0.012308614282575125,
+              0.0
+            ],
+            "finger_gap": 0.027460833820970622,
+            "fingertip_max_gap": 0.09165777365862854,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013730416910485304,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508509072817587,
+            "object_top_z": 1.1015880865299275,
+            "finger_top_clearance": 0.050737179248168784,
+            "fingertip_min_top_clearance": 0.015221153774450635,
+            "object_projection_between_fingers": 0.8036202577222549,
+            "object_to_finger_line_xy": 0.010909064282199857,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832888682931427,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6256591630389228,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2616567204623862,
+              0.29457522495281474,
+              1.2416455119653624
+            ],
+            "held_position": [
+              0.2673785271897611,
+              0.2991772804105899,
+              1.239098696727138
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00777201740344954,
+            "max_held_gripper_dist": 0.007786657484695138,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025468152382244202,
+            "max_held_gripper_z_dist": 0.0027042100346754694,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08789093678618248,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2673785271897611,
+              0.2736185666994992,
+              1.239098696727138
+            ],
+            "held_grasp_finger_b": [
+              0.25709048416994895,
+              0.2991772804105899,
+              1.239098696727138
+            ],
+            "held_grasp_midpoint": [
+              0.262234505679855,
+              0.28639792355504456,
+              1.239098696727138
+            ],
+            "held_grasp_object_position": [
+              0.2673785271897611,
+              0.2991772804105899,
+              1.239098696727138
+            ],
+            "held_grasp_finger_gap": 0.02755161838700225,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02470111622833621,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07569224385691878,
+              -0.9969140692063008,
+              0.020809200812133888
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004170712437972969,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03659096689486087,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29993852571531965,
+              -0.35484414326972963,
+              0.8515395754707251
+            ],
+            "target_position": [
+              0.2925411213105741,
+              -0.35727093413242605,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007785300624806725,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18330779988870968,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395754707251,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756649608652066,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08516940674569783,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15130033815777927,
+            "release_required_pad_clearance": 0.052584703372848915,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2340678544524532,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008063316345214844,
+            "max_z_decrease": 0.008063316345214844,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517139281836511,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008063316345214844,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021188452994858133,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008063316345214844,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00806332290357363,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14824104309082026,
+              -0.41353240609169006,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14824104309082026,
+              -0.41353240609169006,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1476399835943524,
+              -0.4152760793284194,
+              0.8038681889729695
+            ],
+            "closest_button": [
+              0.1482358574867248,
+              -0.41352352499961853,
+              0.7687455415725708
+            ],
+            "closest_ee_minus_button": [
+              -0.000595873892372395,
+              -0.0017525543288008927,
+              0.03512264740039872
+            ],
+            "button_min_z_position": [
+              0.1482358574867248,
+              -0.41352352499961853,
+              0.7687455415725708
+            ],
+            "min_active_finger_to_button": 0.1460714882224373,
+            "closest_active_finger": [
+              0.006978824734687805,
+              -0.3989540934562683,
+              0.8110010027885437
+            ],
+            "closest_active_finger_button": [
+              0.14824055135250086,
+              -0.4135333597660064,
+              0.7768037915229797
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14126172661781305,
+              0.014579266309738104,
+              0.034197211265563965
+            ],
+            "min_contact_pad_to_button": 0.021188452994858133,
+            "closest_contact_pad": [
+              0.1482358574867248,
+              -0.4164730458945602,
+              0.7897276974867188
+            ],
+            "closest_contact_pad_button": [
+              0.1482358574867248,
+              -0.41352352499961853,
+              0.7687455415725708
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029495208949416596,
+              0.020982155914147982
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e0b869c3cb42f6b3231255795814d88a451f87f261e6ed33caa85cea412cbdd",
+    "visual_seed": 3420529973747193259,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f689eafa1a27994c81ed68a86f1abe77bd74c47
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2604114418344179,
+              0.30145792856568887,
+              1.051394057742447
+            ],
+            "current_z": 1.051394057742447,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.19028731130910204,
+            "gripper_z": 1.0537835462152703,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25497910367822285,
+              0.29631931949194673,
+              1.0537835462152703
+            ],
+            "object_minus_gripper": [
+              0.005432338156195038,
+              0.00513860907374214,
+              -0.0023894884728232757
+            ],
+            "object_to_gripper_xy": 0.007477673505576286,
+            "object_to_gripper_z": -0.0023894884728232757,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2604114418344179,
+              0.27688597741425747,
+              1.051394057742447
+            ],
+            "finger_b": [
+              0.24800080818660772,
+              0.30145792856568887,
+              1.051394057742447
+            ],
+            "finger_midpoint": [
+              0.2542061250105128,
+              0.28917195298997317,
+              1.051394057742447
+            ],
+            "object_minus_finger_midpoint": [
+              0.0062053168239050716,
+              0.012285975575715702,
+              0.0
+            ],
+            "finger_gap": 0.027528251141844973,
+            "fingertip_max_gap": 0.0913641875691979,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01376412557092248,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051394057742447,
+            "object_top_z": 1.101954124825718,
+            "finger_top_clearance": 0.0505600670832711,
+            "fingertip_min_top_clearance": 0.015168020124981328,
+            "object_projection_between_fingers": 0.7967499467290882,
+            "object_to_finger_line_xy": 0.011077837171019915,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04818209378459895,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5702515795384199,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26028370793720934,
+              0.29980686788684247,
+              1.242047232735791
+            ],
+            "held_position": [
+              0.2661125635163597,
+              0.3044377325179022,
+              1.2395319475016997
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007857933850741539,
+            "max_held_gripper_dist": 0.007871897397754967,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00251528523409128,
+            "max_held_gripper_z_dist": 0.002678360301883842,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08749445762716412,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2661125635163597,
+              0.2787769189930548,
+              1.2395319475016997
+            ],
+            "held_grasp_finger_b": [
+              0.25584761364208697,
+              0.3044377325179022,
+              1.2395319475016997
+            ],
+            "held_grasp_midpoint": [
+              0.26098008857922333,
+              0.2916073257554785,
+              1.2395319475016997
+            ],
+            "held_grasp_object_position": [
+              0.2661125635163597,
+              0.3044377325179022,
+              1.2395319475016997
+            ],
+            "held_grasp_finger_gap": 0.027637773909602825,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02465943335705364,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08745607316567332,
+              -0.9959608466642329,
+              0.020332908751695352
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003999529052755881,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036492801184321876,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2934545384665388,
+              -0.3543583853720771,
+              0.8515395825823203
+            ],
+            "target_position": [
+              0.28674823055908005,
+              -0.3562861247144949,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006977875373059414,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18395009853745967,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395825823203,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563484961057088,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543113676489626,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.151821544384186,
+            "release_required_pad_clearance": 0.05271556838244813,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.48456677159731376,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007868289947509766,
+            "max_z_decrease": 0.007868289947509766,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518602932890129,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007868289947509766,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021185511584072995,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007868289947509766,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007868315340627005,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14244815707206726,
+              -0.41254758834838867,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14244815707206726,
+              -0.41254758834838867,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1437570541647733,
+              -0.4138314153678216,
+              0.8081697439128804
+            ],
+            "closest_button": [
+              0.14243850111961365,
+              -0.4125504195690155,
+              0.7730317711830139
+            ],
+            "closest_ee_minus_button": [
+              0.0013185530451596539,
+              -0.0012809957988060838,
+              0.03513797272986652
+            ],
+            "button_min_z_position": [
+              0.1424282044172287,
+              -0.4125463664531708,
+              0.7689405679702759
+            ],
+            "min_active_finger_to_button": 0.14473838052273716,
+            "closest_active_finger": [
+              0.002730153501033783,
+              -0.39647990465164185,
+              0.8105447292327881
+            ],
+            "closest_active_finger_button": [
+              0.1424475461244583,
+              -0.41254839301109314,
+              0.7763386964797974
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13971739262342453,
+              0.016068488359451294,
+              0.03420603275299072
+            ],
+            "min_contact_pad_to_button": 0.021185511584072995,
+            "closest_contact_pad": [
+              0.1424282044172287,
+              -0.4150040356488037,
+              0.7899830431859849
+            ],
+            "closest_contact_pad_button": [
+              0.1424282044172287,
+              -0.4125463664531708,
+              0.7689405679702759
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00245766919563295,
+              0.02104247521570901
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "03884a8f92100c3c273540071946e1212b697b3200bc99702f14dcd418f4db4d",
+    "visual_seed": 7218295476550568630,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53d3df4f1c952c0101816a76f9c9ec8a2113edca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26438599197013674,
+              0.29378177490443536,
+              1.0529452034203777
+            ],
+            "current_z": 1.0529452034203777,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.19183839738238806,
+            "gripper_z": 1.055417876643396,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25895338683364655,
+              0.28869957272728375,
+              1.055417876643396
+            ],
+            "object_minus_gripper": [
+              0.005432605136490187,
+              0.005082202177151607,
+              -0.0024726732230182513
+            ],
+            "object_to_gripper_xy": 0.007439218879591062,
+            "object_to_gripper_z": -0.0024726732230182513,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26438599197013674,
+              0.2691488253991155,
+              1.0529452034203777
+            ],
+            "finger_b": [
+              0.2521299418851235,
+              0.29378177490443536,
+              1.0529452034203777
+            ],
+            "finger_midpoint": [
+              0.25825796692763014,
+              0.2814653001517754,
+              1.0529452034203777
+            ],
+            "object_minus_finger_midpoint": [
+              0.006128025042506591,
+              0.012316474752659956,
+              0.0
+            ],
+            "finger_gap": 0.027513505138713073,
+            "fingertip_max_gap": 0.0917755378617367,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01375675256935655,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0529452034203777,
+            "object_top_z": 1.1036410368759213,
+            "finger_top_clearance": 0.050695833455543626,
+            "fingertip_min_top_clearance": 0.015208750036663088,
+            "object_projection_between_fingers": 0.8015691418178728,
+            "object_to_finger_line_xy": 0.010972889908309367,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04838776893086835,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6828544494497406,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26427870570720335,
+              0.29227038766124624,
+              1.2454627743687678
+            ],
+            "held_position": [
+              0.27007297883851433,
+              0.296883556229151,
+              1.2428865685440078
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007841668305128986,
+            "max_held_gripper_dist": 0.007854865180324699,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002576205824760036,
+            "max_held_gripper_z_dist": 0.0027347929247005798,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08752635673390094,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27007297883851433,
+              0.2712588578667838,
+              1.2428865685440078
+            ],
+            "held_grasp_finger_b": [
+              0.2597709341557529,
+              0.296883556229151,
+              1.2428865685440078
+            ],
+            "held_grasp_midpoint": [
+              0.2649219564971336,
+              0.2840712070479674,
+              1.2428865685440078
+            ],
+            "held_grasp_object_position": [
+              0.27007297883851433,
+              0.296883556229151,
+              1.2428865685440078
+            ],
+            "held_grasp_finger_gap": 0.02761806095307778,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024672278247584032,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08326008314254209,
+              -0.9963054777613557,
+              0.021051212264708186
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004075614839977656,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03652636184947815,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2958844552304698,
+              -0.36000032150560257,
+              0.8515396113708301
+            ],
+            "target_position": [
+              0.28913600861469924,
+              -0.3617299257639663,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006966567491703148,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18487800453154735,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396113708301,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514256060392056,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08661605588719555,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15410892814957686,
+            "release_required_pad_clearance": 0.05330802794359778,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6341836886998489,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007997572422027588,
+            "max_z_decrease": 0.007997572422027588,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035147429585952815,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007997572422027588,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105694095076337,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007997572422027588,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00799759728392955,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1448359340429306,
+              -0.41799136996269226,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1448359340429306,
+              -0.41799136996269226,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14331746947531082,
+              -0.41827773139213664,
+              0.8070576896759304
+            ],
+            "closest_button": [
+              0.1448232531547546,
+              -0.41798529028892517,
+              0.7719437479972839
+            ],
+            "closest_ee_minus_button": [
+              -0.0015057836794437895,
+              -0.00029244110321147154,
+              0.035113941678646454
+            ],
+            "button_min_z_position": [
+              0.1448162943124771,
+              -0.41798791289329523,
+              0.7688112854957581
+            ],
+            "min_active_finger_to_button": 0.14748029626529302,
+            "closest_active_finger": [
+              0.0021127089858055115,
+              -0.4037209749221802,
+              0.8105875849723816
+            ],
+            "closest_active_finger_button": [
+              0.14483627676963806,
+              -0.41799303889274597,
+              0.7762840986251831
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14272356778383255,
+              0.014272063970565796,
+              0.034303486347198486
+            ],
+            "min_contact_pad_to_button": 0.02105694095076337,
+            "closest_contact_pad": [
+              0.1448162943124771,
+              -0.4192981950182792,
+              0.7898274203201467
+            ],
+            "closest_contact_pad_button": [
+              0.1448162943124771,
+              -0.41798791289329523,
+              0.7688112854957581
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013102821249839636,
+              0.021016134824388688
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f6f99b30931fb1db50ca40062a3db501fc98cb0a0cd63adcd613c2ee6033280",
+    "visual_seed": 847367545262226828,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce416df37a53403f99222610f57218c2e2e89f48
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_105_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26450615801733646,
+              0.29584453270377886,
+              1.0527471902904337
+            ],
+            "current_z": 1.0527471902904337,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.19164068227566766,
+            "gripper_z": 1.0552405099159066,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25917287684798307,
+              0.2908537609397313,
+              1.0552405099159066
+            ],
+            "object_minus_gripper": [
+              0.005333281169353388,
+              0.004990771764047552,
+              -0.002493319625472834
+            ],
+            "object_to_gripper_xy": 0.007304224177295885,
+            "object_to_gripper_z": -0.002493319625472834,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26450615801733646,
+              0.2712167462905981,
+              1.0527471902904337
+            ],
+            "finger_b": [
+              0.25247331440019394,
+              0.29584453270377886,
+              1.0527471902904337
+            ],
+            "finger_midpoint": [
+              0.2584897362087652,
+              0.2835306394971885,
+              1.0527471902904337
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060164218085712595,
+              0.012313893206590376,
+              0.0
+            ],
+            "finger_gap": 0.0274101657989852,
+            "fingertip_max_gap": 0.09213501845755012,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0137050828994926,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0527471902904337,
+            "object_top_z": 1.1037594522350176,
+            "finger_top_clearance": 0.05101226194458386,
+            "fingertip_min_top_clearance": 0.015303678583375124,
+            "object_projection_between_fingers": 0.8072860203256079,
+            "object_to_finger_line_xy": 0.010811401314367938,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856750922877506,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7719032281854622,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2643773982124844,
+              0.29461746775442105,
+              1.2440375579172103
+            ],
+            "held_position": [
+              0.27003088778478856,
+              0.29918410410103424,
+              1.2414277290901201
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007721872724480206,
+            "max_held_gripper_dist": 0.00773731555824402,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002609828827090155,
+            "max_held_gripper_z_dist": 0.0027687655282655488,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08783918252972622,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27003088778478856,
+              0.27365915082900855,
+              1.2414277290901201
+            ],
+            "held_grasp_finger_b": [
+              0.2598234461027437,
+              0.29918410410103424,
+              1.2414277290901201
+            ],
+            "held_grasp_midpoint": [
+              0.26492716694376617,
+              0.2864216274650214,
+              1.2414277290901201
+            ],
+            "held_grasp_object_position": [
+              0.27003088778478856,
+              0.29918410410103424,
+              1.2414277290901201
+            ],
+            "held_grasp_finger_gap": 0.027490272920279307,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02473235287631467,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07070175847318493,
+              -0.9972216866169273,
+              0.02345568352639571
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041996051550694975,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03663238955550467,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29500593094505023,
+              -0.3538331811321348,
+              0.8515395915994388
+            ],
+            "target_position": [
+              0.28924496702542185,
+              -0.355365410686907,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005961244223463546,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851549637739501,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395915994388,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583408531561268,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08564821377532837,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15257598800903738,
+            "release_required_pad_clearance": 0.05282410688766419,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6932302831439466,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007784664630889893,
+            "max_z_decrease": 0.007784664630889893,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513640891089006,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007784664630889893,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021045616330560825,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007784664630889893,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007784691337999447,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14494489133358,
+              -0.4116268754005432,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14494489133358,
+              -0.4116268754005432,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1451287768917135,
+              -0.4108818833233636,
+              0.8082411506622633
+            ],
+            "closest_button": [
+              0.14493633806705472,
+              -0.4116279780864715,
+              0.7731131911277771
+            ],
+            "closest_ee_minus_button": [
+              0.00019243882465877493,
+              0.0007460947631078851,
+              0.03512795953448622
+            ],
+            "button_min_z_position": [
+              0.1449245810508728,
+              -0.41162505745887756,
+              0.7690241932868958
+            ],
+            "min_active_finger_to_button": 0.14566091958358449,
+            "closest_active_finger": [
+              0.018459156155586243,
+              -0.47526443004608154,
+              0.8106219172477722
+            ],
+            "closest_active_finger_button": [
+              0.14494428038597107,
+              -0.41162729263305664,
+              0.7764322757720947
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12648512423038483,
+              -0.0636371374130249,
+              0.03418964147567749
+            ],
+            "min_contact_pad_to_button": 0.021045616330560825,
+            "closest_contact_pad": [
+              0.1449245810508728,
+              -0.4118051971778267,
+              0.7900690386513746
+            ],
+            "closest_contact_pad_button": [
+              0.1449245810508728,
+              -0.41162505745887756,
+              0.7690241932868958
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00018013971894914604,
+              0.021044845364478815
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37549631e52e8fd4dfd7d001a2a927e9a9a8795ad6ce4921447e944e1bbd261a",
+    "visual_seed": 8353614329581987562,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..336c785f4abb60504a43eefe41bac2b325c85700
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_107_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2595364009315385,
+              0.2926332876763963,
+              1.0493394994283063
+            ],
+            "current_z": 1.0493394994283063,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18823299141354033,
+            "gripper_z": 1.0518252696444632,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2541675723900404,
+              0.2876196962710522,
+              1.0518252696444632
+            ],
+            "object_minus_gripper": [
+              0.005368828541498116,
+              0.0050135914053440755,
+              -0.002485770216156924
+            ],
+            "object_to_gripper_xy": 0.007345775567477186,
+            "object_to_gripper_z": -0.002485770216156924,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2595364009315385,
+              0.26800524033278966,
+              1.0493394994283063
+            ],
+            "finger_b": [
+              0.24742989673642157,
+              0.2926332876763963,
+              1.0493394994283063
+            ],
+            "finger_midpoint": [
+              0.25348314883398004,
+              0.28031926400459295,
+              1.0493394994283063
+            ],
+            "object_minus_finger_midpoint": [
+              0.00605325209755847,
+              0.012314023671803342,
+              0.0
+            ],
+            "finger_gap": 0.02744281617810595,
+            "fingertip_max_gap": 0.09114981372303277,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013721408089052999,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493394994283063,
+            "object_top_z": 1.0996900826659666,
+            "finger_top_clearance": 0.050350583237660285,
+            "fingertip_min_top_clearance": 0.015105174971298069,
+            "object_projection_between_fingers": 0.8053832747368378,
+            "object_to_finger_line_xy": 0.01086475806811642,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04807490686151639,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4534520197647825,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 221,
+            "max_stable_success_frames": 221,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2592597236785724,
+              0.29123650277486945,
+              1.2392474089457592
+            ],
+            "held_position": [
+              0.26495262922894747,
+              0.295809157137122,
+              1.2366218460373979
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007759634147811444,
+            "max_held_gripper_dist": 0.007773649396079163,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026255629083613563,
+            "max_held_gripper_z_dist": 0.002777217221007655,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08739973447999771,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26495262922894747,
+              0.27025997540902047,
+              1.2366218460373979
+            ],
+            "held_grasp_finger_b": [
+              0.25477087755452354,
+              0.295809157137122,
+              1.2366218460373979
+            ],
+            "held_grasp_midpoint": [
+              0.2598617533917355,
+              0.2830345662730712,
+              1.2366218460373979
+            ],
+            "held_grasp_object_position": [
+              0.26495262922894747,
+              0.295809157137122,
+              1.2366218460373979
+            ],
+            "held_grasp_finger_gap": 0.027503249883153676,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024677069667929426,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07766158392062629,
+              -0.9968147278094481,
+              0.018140474225207256
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004090179481330756,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036590984274008094,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2955332279752635,
+              -0.35960760873545494,
+              0.8515395672244683
+            ],
+            "target_position": [
+              0.2885678439450879,
+              -0.3615682970580781,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007236081355699096,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18362671229863706,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395672244683,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527126689565543,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594124396175894,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15243424433303138,
+            "release_required_pad_clearance": 0.05297062198087947,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.976377219306037,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00802391767501831,
+            "max_z_decrease": 0.00802391767501831,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517330825004233,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00802391767501831,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104901974581941,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00802391767501831,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008023950480551817,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14426776766777039,
+              -0.4178297519683838,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14426776766777039,
+              -0.4178297519683838,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14433951624902358,
+              -0.41595383585325296,
+              0.8080957009884948
+            ],
+            "closest_button": [
+              0.14425987005233765,
+              -0.41782939434051514,
+              0.7729725241661072
+            ],
+            "closest_ee_minus_button": [
+              7.964619668593409e-05,
+              0.0018755584872621744,
+              0.035123176822387636
+            ],
+            "button_min_z_position": [
+              0.14424487948417664,
+              -0.4178281426429749,
+              0.7687849402427673
+            ],
+            "min_active_finger_to_button": 0.14527626003031227,
+            "closest_active_finger": [
+              0.017818130552768707,
+              -0.4806382358074188,
+              0.8104969263076782
+            ],
+            "closest_active_finger_button": [
+              0.14426732063293454,
+              -0.41782972216606146,
+              0.7762787342071533
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12644919008016584,
+              -0.06280851364135737,
+              0.0342181921005249
+            ],
+            "min_contact_pad_to_button": 0.02104901974581941,
+            "closest_contact_pad": [
+              0.14424487948417664,
+              -0.4178281426429749,
+              0.7898339599885867
+            ],
+            "closest_contact_pad_button": [
+              0.14424487948417664,
+              -0.4178281426429749,
+              0.7687849402427673
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02104901974581941
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b72737b6c14daeded6cfd9b80d2c6ff8564a02d96ddb6f00dc111ddac4a11da9",
+    "visual_seed": 4539835162332259079,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbad84b5c41af33671f540cc0b81f47a145261bc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_108_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2588728413854222,
+              0.29304343162130064,
+              1.0515089272381153
+            ],
+            "current_z": 1.0515089272381153,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.19040235961870444,
+            "gripper_z": 1.0541437644229357,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25341877595123696,
+              0.2880095440776128,
+              1.0541437644229357
+            ],
+            "object_minus_gripper": [
+              0.005454065434185251,
+              0.005033887543687832,
+              -0.002634837184820382
+            ],
+            "object_to_gripper_xy": 0.007422051843181228,
+            "object_to_gripper_z": -0.002634837184820382,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2588728413854222,
+              0.2683206769113296,
+              1.0515089272381153
+            ],
+            "finger_b": [
+              0.24678585496388739,
+              0.29304343162130064,
+              1.0515089272381153
+            ],
+            "finger_midpoint": [
+              0.2528293481746548,
+              0.2806820542663151,
+              1.0515089272381153
+            ],
+            "object_minus_finger_midpoint": [
+              0.006043493210767414,
+              0.012361377354985548,
+              0.0
+            ],
+            "finger_gap": 0.02751926309339991,
+            "fingertip_max_gap": 0.09071757128103788,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013759631546699982,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0515089272381153,
+            "object_top_z": 1.101581411399755,
+            "finger_top_clearance": 0.050072484161639785,
+            "fingertip_min_top_clearance": 0.015021745248491902,
+            "object_projection_between_fingers": 0.8070865677354128,
+            "object_to_finger_line_xy": 0.010858706480190026,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047858785640518944,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.30534276169320945,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25854963647933993,
+              0.29202556810537983,
+              1.243189839938883
+            ],
+            "held_position": [
+              0.2643172664508815,
+              0.29664762204814693,
+              1.2404487188052302
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007883063059993324,
+            "max_held_gripper_dist": 0.007898757796040073,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027411211336527685,
+            "max_held_gripper_z_dist": 0.0028946428698599647,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08790190315146229,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2643172664508815,
+              0.271077423598747,
+              1.2404487188052302
+            ],
+            "held_grasp_finger_b": [
+              0.2539658168490072,
+              0.29664762204814693,
+              1.2404487188052302
+            ],
+            "held_grasp_midpoint": [
+              0.25914154164994435,
+              0.28386252282344693,
+              1.2404487188052302
+            ],
+            "held_grasp_object_position": [
+              0.2643172664508815,
+              0.29664762204814693,
+              1.2404487188052302
+            ],
+            "held_grasp_finger_gap": 0.027586002929055144,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024749795725033386,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0725259566236392,
+              -0.9972759718823818,
+              0.013439550657552313
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004238430073717046,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03659460342276105,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.293829495038487,
+              -0.3556501917467244,
+              0.8515395805175792
+            ],
+            "target_position": [
+              0.2869019133317645,
+              -0.35778657695602567,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007249519298949211,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1825168534083785,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395805175792,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577019724240734,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08534043527525552,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1502573819307464,
+            "release_required_pad_clearance": 0.05267021763762776,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.397620329883454,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007699012756347656,
+            "max_z_decrease": 0.007699012756347656,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515000374972365,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007699012756347656,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021040340600164954,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007699012756347656,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007699034977481293,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14260183274745938,
+              -0.41404804587364197,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14260183274745938,
+              -0.41404804587364197,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14130182473167818,
+              -0.4137655569037439,
+              0.808262613870028
+            ],
+            "closest_button": [
+              0.1425920873880386,
+              -0.41404992341995234,
+              0.7731374502182007
+            ],
+            "closest_ee_minus_button": [
+              -0.0012902626563604247,
+              0.0002843665162084452,
+              0.035125163651827274
+            ],
+            "button_min_z_position": [
+              0.14258348941802973,
+              -0.41404566168785095,
+              0.769109845161438
+            ],
+            "min_active_finger_to_button": 0.1471456646510326,
+            "closest_active_finger": [
+              0.013437628746032715,
+              -0.47572165727615356,
+              0.8105900287628174
+            ],
+            "closest_active_finger_button": [
+              0.14260061085224146,
+              -0.41404929757118225,
+              0.7764536738395691
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12916298210620875,
+              -0.061672359704971313,
+              0.03413635492324829
+            ],
+            "min_contact_pad_to_button": 0.021040340600164954,
+            "closest_contact_pad": [
+              0.14258348941802973,
+              -0.4150003597274959,
+              0.790128515058081
+            ],
+            "closest_contact_pad_button": [
+              0.14258348941802973,
+              -0.41404566168785095,
+              0.769109845161438
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00095469803964493,
+              0.021018669896643027
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "82ebbe91bf38248d2ab3357c2efde8173f4631c60116b71894899ad97f14fe3e",
+    "visual_seed": 2446886434911425388,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..17b1db4b085febeb9addbd35e8c855603085ab3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.259803133387737,
+              0.2953400032678962,
+              1.0501597820996897
+            ],
+            "current_z": 1.0501597820996897,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18905309527098968,
+            "gripper_z": 1.0525810348974243,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2544710385606376,
+              0.2903600505344536,
+              1.0525810348974243
+            ],
+            "object_minus_gripper": [
+              0.005332094827099398,
+              0.00497995273344265,
+              -0.00242125279773453
+            ],
+            "object_to_gripper_xy": 0.0072959690564381565,
+            "object_to_gripper_z": -0.00242125279773453,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.259803133387737,
+              0.2707020855371614,
+              1.0501597820996897
+            ],
+            "finger_b": [
+              0.24779706802652432,
+              0.2953400032678962,
+              1.0501597820996897
+            ],
+            "finger_midpoint": [
+              0.25380010070713066,
+              0.28302104440252884,
+              1.0501597820996897
+            ],
+            "object_minus_finger_midpoint": [
+              0.006003032680606313,
+              0.01231895886536738,
+              0.0
+            ],
+            "finger_gap": 0.027407528081973522,
+            "fingertip_max_gap": 0.09080624316748637,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013703764040986732,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0501597820996897,
+            "object_top_z": 1.1002861686039336,
+            "finger_top_clearance": 0.050126386504243836,
+            "fingertip_min_top_clearance": 0.015037915951273116,
+            "object_projection_between_fingers": 0.8081058783175524,
+            "object_to_finger_line_xy": 0.01079281757021855,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047903121583743186,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.34261013356699876,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2595884990982378,
+              0.29410735695200046,
+              1.2401900124129335
+            ],
+            "held_position": [
+              0.26523643207831094,
+              0.29866727411085453,
+              1.237642412790105
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007693000408244242,
+            "max_held_gripper_dist": 0.007707318904240192,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002547599622828578,
+            "max_held_gripper_z_dist": 0.0027009148418595252,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791552741336311,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26523643207831094,
+              0.27314220830921027,
+              1.237642412790105
+            ],
+            "held_grasp_finger_b": [
+              0.255067058349296,
+              0.29866727411085453,
+              1.237642412790105
+            ],
+            "held_grasp_midpoint": [
+              0.26015174521380346,
+              0.2859047412100324,
+              1.237642412790105
+            ],
+            "held_grasp_object_position": [
+              0.26523643207831094,
+              0.29866727411085453,
+              1.237642412790105
+            ],
+            "held_grasp_finger_gap": 0.02747626514318583,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024685395181088636,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07518270424962505,
+              -0.997057417846956,
+              0.014968850926976862
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004115344255008674,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036612991462078304,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30171063635158246,
+              -0.3543841029956174,
+              0.8515395768256647
+            ],
+            "target_position": [
+              0.2935415015605887,
+              -0.3572965369125733,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008672775481589463,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18558465413099992,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395768256647,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575307987163286,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496535311691854,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.153419160724109,
+            "release_required_pad_clearance": 0.05248267655845927,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956467553688751,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00812828540802002,
+            "max_z_decrease": 0.00812828540802002,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509679144545531,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00812828540802002,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02108176208866875,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00812828540802002,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008128327487382911,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14924143254756922,
+              -0.4135580062866211,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14924143254756922,
+              -0.4135580062866211,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15012657874671304,
+              -0.41501661129342404,
+              0.8037353797900871
+            ],
+            "closest_button": [
+              0.1492570489645004,
+              -0.41353702545166016,
+              0.7686805725097656
+            ],
+            "closest_ee_minus_button": [
+              0.0008695297822126358,
+              -0.0014795858417638863,
+              0.03505480728032151
+            ],
+            "button_min_z_position": [
+              0.1492570489645004,
+              -0.41353702545166016,
+              0.7686805725097656
+            ],
+            "min_active_finger_to_button": 0.14466745773575823,
+            "closest_active_finger": [
+              0.009435221552848816,
+              -0.39895087480545044,
+              0.8108721375465393
+            ],
+            "closest_active_finger_button": [
+              0.14924286305904383,
+              -0.413557767868042,
+              0.776679515838623
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.139807641506195,
+              0.014606893062591553,
+              0.03419262170791626
+            ],
+            "min_contact_pad_to_button": 0.02108176208866875,
+            "closest_contact_pad": [
+              0.1492570489645004,
+              -0.4161919472380671,
+              0.7895944933060031
+            ],
+            "closest_contact_pad_button": [
+              0.1492570489645004,
+              -0.41353702545166016,
+              0.7686805725097656
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026549217864069163,
+              0.02091392079623744
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "94714ab311c62231fd4db0547129a704583aadec2b074455ca935f3aff077e77",
+    "visual_seed": 748739952655824354,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a579ac5bc4bc82915be061f0df695c2379a09c5b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_110_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2672949124720749,
+              0.2988291658401809,
+              1.0511007661220741
+            ],
+            "current_z": 1.0511007661220741,
+            "required_z": 0.8611068656426348,
+            "initial_z": 0.7611068656426349,
+            "lift_margin": 0.18999390047943931,
+            "gripper_z": 1.0532139711849338,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2619399946132268,
+              0.293897625220433,
+              1.0532139711849338
+            ],
+            "object_minus_gripper": [
+              0.005354917858848063,
+              0.004931540619747876,
+              -0.0021132050628596133
+            ],
+            "object_to_gripper_xy": 0.007279782837367691,
+            "object_to_gripper_z": -0.0021132050628596133,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2672949124720749,
+              0.2740817019180501,
+              1.0511007661220741
+            ],
+            "finger_b": [
+              0.2554774161912812,
+              0.2988291658401809,
+              1.0511007661220741
+            ],
+            "finger_midpoint": [
+              0.26138616433167805,
+              0.2864554338791155,
+              1.0511007661220741
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059087481403968245,
+              0.012373731961065393,
+              0.0
+            ],
+            "finger_gap": 0.027424262778126533,
+            "fingertip_max_gap": 0.09229976005750673,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013712131389063267,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0511007661220741,
+            "object_top_z": 1.1020659131470896,
+            "finger_top_clearance": 0.05096514702501542,
+            "fingertip_min_top_clearance": 0.015289544107504592,
+            "object_projection_between_fingers": 0.8143132028534774,
+            "object_to_finger_line_xy": 0.010664026421600456,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864988002875337,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.80369187615695,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2672217606901429,
+              0.2977158335175495,
+              1.2429589114608235
+            ],
+            "held_position": [
+              0.27287218345186254,
+              0.3022661637439721,
+              1.240754312849004
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007582416342755845,
+            "max_held_gripper_dist": 0.0075953784438097865,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022045986118195415,
+            "max_held_gripper_z_dist": 0.00236747019592376,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788244759762884,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27287218345186254,
+              0.2767144198967695,
+              1.240754312849004
+            ],
+            "held_grasp_finger_b": [
+              0.26268219116821684,
+              0.3022661637439721,
+              1.240754312849004
+            ],
+            "held_grasp_midpoint": [
+              0.2677771873100397,
+              0.2894902918203708,
+              1.240754312849004
+            ],
+            "held_grasp_object_position": [
+              0.27287218345186254,
+              0.3022661637439721,
+              1.240754312849004
+            ],
+            "held_grasp_finger_gap": 0.027508681472833533,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024769479914895042,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06999539020906828,
+              -0.9972991492635858,
+              0.02224976915854615
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004198152336644193,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036622257626526364,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30032609476868644,
+              -0.3599511553331798,
+              0.8515394978382259
+            ],
+            "target_position": [
+              0.29410934843460107,
+              -0.3613317436590172,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006368199047438956,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18541336433143812,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394978382259,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527157713622147,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857691108429988,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15416018655500827,
+            "release_required_pad_clearance": 0.052884555421499405,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8098705244018346,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008124947547912598,
+            "max_z_decrease": 0.008124947547912598,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512631087451876,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008124947547912598,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02092286980922975,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008124947547912598,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008124986267730255,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14980927109718317,
+              -0.41759321093559265,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14980927109718317,
+              -0.41759321093559265,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14916015852070874,
+              -0.4156232760862896,
+              0.8037495072414581
+            ],
+            "closest_button": [
+              0.1498280763626098,
+              -0.41757661104202265,
+              0.768683910369873
+            ],
+            "closest_ee_minus_button": [
+              -0.0006679178419010667,
+              0.001953334955733077,
+              0.03506559687158506
+            ],
+            "button_min_z_position": [
+              0.1498280763626098,
+              -0.41757661104202265,
+              0.768683910369873
+            ],
+            "min_active_finger_to_button": 0.14547948220807125,
+            "closest_active_finger": [
+              0.021769031882286072,
+              -0.47764450311660767,
+              0.8107777237892151
+            ],
+            "closest_active_finger_button": [
+              0.14981056749820704,
+              -0.4175938665866851,
+              0.7766666412353516
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12804153561592096,
+              -0.06005063652992254,
+              0.034111082553863525
+            ],
+            "min_contact_pad_to_button": 0.02092286980922975,
+            "closest_contact_pad": [
+              0.1498280763626098,
+              -0.41757661104202265,
+              0.7896067801791028
+            ],
+            "closest_contact_pad_button": [
+              0.1498280763626098,
+              -0.41757661104202265,
+              0.768683910369873
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02092286980922975
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6cf3d0cca0fa3af9b977d1fe5e7f6ee2e48c3fc141c257ad1fff612c330316e4",
+    "visual_seed": 8378603831559734778,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39d131887102005041e10d3404bbd81456bd5d48
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_111_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.259063712117395,
+              0.30099912551147867,
+              1.0496536371827005
+            ],
+            "current_z": 1.0496536371827005,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18854706956328982,
+            "gripper_z": 1.0521058824828877,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25354146068342365,
+              0.29583227394600786,
+              1.0521058824828877
+            ],
+            "object_minus_gripper": [
+              0.005522251433971337,
+              0.005166851565470809,
+              -0.0024522453001871725
+            ],
+            "object_to_gripper_xy": 0.007562513867729873,
+            "object_to_gripper_z": -0.0024522453001871725,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.259063712117395,
+              0.2763420433188166,
+              1.0496536371827005
+            ],
+            "finger_b": [
+              0.24664525551426433,
+              0.30099912551147867,
+              1.0496536371827005
+            ],
+            "finger_midpoint": [
+              0.25285448381582964,
+              0.28867058441514765,
+              1.0496536371827005
+            ],
+            "object_minus_finger_midpoint": [
+              0.006209228301565339,
+              0.012328541096331025,
+              0.0
+            ],
+            "finger_gap": 0.027607784530083744,
+            "fingertip_max_gap": 0.09083255756521111,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013803892265041877,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496536371827005,
+            "object_top_z": 1.099804516773475,
+            "finger_top_clearance": 0.050150879590774355,
+            "fingertip_min_top_clearance": 0.015045263877232273,
+            "object_projection_between_fingers": 0.797664477863912,
+            "object_to_finger_line_xy": 0.011091179911076702,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047916278782605556,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2831870820228149,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25863073795425984,
+              0.2997751145829207,
+              1.2403634074909362
+            ],
+            "held_position": [
+              0.26451284027125965,
+              0.30447359139961205,
+              1.2377994370292282
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007952908687590441,
+            "max_held_gripper_dist": 0.007966791857758714,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002563970461707976,
+            "max_held_gripper_z_dist": 0.002727034039399223,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666812537145852,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26451284027125965,
+              0.2788437627316357,
+              1.2377994370292282
+            ],
+            "held_grasp_finger_b": [
+              0.25401740073184775,
+              0.30447359139961205,
+              1.2377994370292282
+            ],
+            "held_grasp_midpoint": [
+              0.2592651205015537,
+              0.2916586770656239,
+              1.2377994370292282
+            ],
+            "held_grasp_object_position": [
+              0.26451284027125965,
+              0.30447359139961205,
+              1.2377994370292282
+            ],
+            "held_grasp_finger_gap": 0.027695529759787476,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02470900966357375,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0797192346314494,
+              -0.9967174732890367,
+              0.014111061976136208
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004213432460649824,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03652905683110562,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29932540402271246,
+              -0.35589580303307194,
+              0.8515395804438155
+            ],
+            "target_position": [
+              0.2922437753300336,
+              -0.3581319987834445,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0074263070482546555,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18187167373977375,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395804438155,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568702196690506,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08514354426094088,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14987428446467044,
+            "release_required_pad_clearance": 0.05257177213047044,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.20935664463207068,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008056163787841797,
+            "max_z_decrease": 0.008056163787841797,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351720192553847,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008056163787841797,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02117936339808018,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008056163787841797,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008056170417400524,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14794370532035822,
+              -0.41439345479011536,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14794370532035822,
+              -0.41439345479011536,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1470874344747994,
+              -0.4161925228688162,
+              0.8080310109612961
+            ],
+            "closest_button": [
+              0.14793342351913447,
+              -0.41439536213874817,
+              0.7729151248931885
+            ],
+            "closest_ee_minus_button": [
+              -0.0008459890443350548,
+              -0.001797160730068026,
+              0.03511588606810767
+            ],
+            "button_min_z_position": [
+              0.1479400992393493,
+              -0.4143837690353393,
+              0.7687526941299438
+            ],
+            "min_active_finger_to_button": 0.1467942343358826,
+            "closest_active_finger": [
+              0.005833625793457031,
+              -0.4009261727333069,
+              0.8110403418540955
+            ],
+            "closest_active_finger_button": [
+              0.14794290065765375,
+              -0.41439452767372126,
+              0.7768043279647827
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14210927486419672,
+              0.013468354940414373,
+              0.034236013889312744
+            ],
+            "min_contact_pad_to_button": 0.02117936339808018,
+            "closest_contact_pad": [
+              0.1479400992393493,
+              -0.41726662026013134,
+              0.7897349390709327
+            ],
+            "closest_contact_pad_button": [
+              0.1479400992393493,
+              -0.4143837690353393,
+              0.7687526941299438
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002882851224792038,
+              0.02098224494098888
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4fe2211b0cbfbe54c0132998de3f0e0e5e3d76b09115afa4bca55f3df7b6e67c",
+    "visual_seed": 1911177172345598909,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b846bb3dd98fd58d3cf43471ea077b0c53f39d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_112_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2590626447158024,
+              0.2960633647199346,
+              1.050642774459034
+            ],
+            "current_z": 1.050642774459034,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1895360876303338,
+            "gripper_z": 1.0529552002804685,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25382528026378615,
+              0.29111823354893135,
+              1.0529552002804685
+            ],
+            "object_minus_gripper": [
+              0.00523736445201628,
+              0.004945131171003259,
+              -0.0023124258214344273
+            ],
+            "object_to_gripper_xy": 0.007203076335960341,
+            "object_to_gripper_z": -0.0023124258214344273,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2590626447158024,
+              0.271500758831887,
+              1.050642774459034
+            ],
+            "finger_b": [
+              0.24709794465792417,
+              0.2960633647199346,
+              1.050642774459034
+            ],
+            "finger_midpoint": [
+              0.2530802946868633,
+              0.2837820617759108,
+              1.050642774459034
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059823500289390985,
+              0.012281302944023798,
+              0.0
+            ],
+            "finger_gap": 0.02732170667228792,
+            "fingertip_max_gap": 0.0909472565565238,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013660853336143948,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050642774459034,
+            "object_top_z": 1.1008787494262378,
+            "finger_top_clearance": 0.05023597496720367,
+            "fingertip_min_top_clearance": 0.015070792490161133,
+            "object_projection_between_fingers": 0.8082267701259647,
+            "object_to_finger_line_xy": 0.010756436836665384,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047973628278261904,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3352621482883053,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2589142686774383,
+              0.29483148699730843,
+              1.241661346130801
+            ],
+            "held_position": [
+              0.26447853140004196,
+              0.2993543378546832,
+              1.239241533023392
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007567872554357764,
+            "max_held_gripper_dist": 0.007581976282689777,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00241981310740913,
+            "max_held_gripper_z_dist": 0.0025728396828599287,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08784575472225409,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26447853140004196,
+              0.2738667418299782,
+              1.239241533023392
+            ],
+            "held_grasp_finger_b": [
+              0.25435600666518715,
+              0.2993543378546832,
+              1.239241533023392
+            ],
+            "held_grasp_midpoint": [
+              0.25941726903261453,
+              0.2866105398423307,
+              1.239241533023392
+            ],
+            "held_grasp_object_position": [
+              0.26447853140004196,
+              0.2993543378546832,
+              1.239241533023392
+            ],
+            "held_grasp_finger_gap": 0.02742413276890089,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024647963364828634,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07547636205525707,
+              -0.9970330148829324,
+              0.015115753515919202
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00408964584403857,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036632257045879545,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29986479523850856,
+              -0.35630597612908693,
+              0.8515395891950366
+            ],
+            "target_position": [
+              0.29259861957400196,
+              -0.35829939213698103,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007534654349603332,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18257981530688575,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395891950366,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514824646255247,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08634202476869528,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15191212345258379,
+            "release_required_pad_clearance": 0.05317101238434764,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.365992694399952,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00812077522277832,
+            "max_z_decrease": 0.00812077522277832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035085640191128954,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00812077522277832,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021006457378758295,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00812077522277832,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008120803440920133,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14829854667186737,
+              -0.41456085443496704,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14829854667186737,
+              -0.41456085443496704,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1492138103089542,
+              -0.41488225543915797,
+              0.8037604498774397
+            ],
+            "closest_button": [
+              0.14831040799617767,
+              -0.4145430326461792,
+              0.7686880826950073
+            ],
+            "closest_ee_minus_button": [
+              0.0009034023127765245,
+              -0.0003392227929787661,
+              0.03507236718243234
+            ],
+            "button_min_z_position": [
+              0.14831040799617767,
+              -0.4145430326461792,
+              0.7686880826950073
+            ],
+            "min_active_finger_to_button": 0.14474564853585953,
+            "closest_active_finger": [
+              0.008785896003246307,
+              -0.3967146873474121,
+              0.8108329176902771
+            ],
+            "closest_active_finger_button": [
+              0.1482991874217987,
+              -0.414562463760376,
+              0.7766451835632324
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395132914185524,
+              0.017847776412963867,
+              0.03418773412704468
+            ],
+            "min_contact_pad_to_button": 0.021006457378758295,
+            "closest_contact_pad": [
+              0.14831040799617767,
+              -0.41624364106040757,
+              0.7896255892950551
+            ],
+            "closest_contact_pad_button": [
+              0.14831040799617767,
+              -0.4145430326461792,
+              0.7686880826950073
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017006084142283662,
+              0.020937506600047784
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbe4c3d037389b0a2745cdf57e90860c048660bf452261958d8818b142b38f8b",
+    "visual_seed": 8824842157271689255,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_113_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b711bff5d72d6154b58dedc6f1daecbc49bb550
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_113_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26265236486027693,
+              0.3006586090207107,
+              1.0530310966318945
+            ],
+            "current_z": 1.0530310966318945,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.19192435019854948,
+            "gripper_z": 1.0554351359456697,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2574788513569485,
+              0.29581885700861654,
+              1.0554351359456697
+            ],
+            "object_minus_gripper": [
+              0.005173513503328453,
+              0.004839752012094134,
+              -0.002404039313775197
+            ],
+            "object_to_gripper_xy": 0.007084380107510541,
+            "object_to_gripper_z": -0.002404039313775197,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26265236486027693,
+              0.2760367879091653,
+              1.0530310966318945
+            ],
+            "finger_b": [
+              0.2509631327517352,
+              0.3006586090207107,
+              1.0530310966318945
+            ],
+            "finger_midpoint": [
+              0.2568077488060061,
+              0.288347698464938,
+              1.0530310966318945
+            ],
+            "object_minus_finger_midpoint": [
+              0.005844616054270835,
+              0.012310910555772658,
+              0.0
+            ],
+            "finger_gap": 0.027255682382510703,
+            "fingertip_max_gap": 0.09392914395143426,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013627841191255314,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0530310966318945,
+            "object_top_z": 1.105097512841127,
+            "finger_top_clearance": 0.05206641620923236,
+            "fingertip_min_top_clearance": 0.015619924862769707,
+            "object_projection_between_fingers": 0.8160677661436476,
+            "object_to_finger_line_xy": 0.010559639559511714,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04946457197571713,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.477310755369169,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26288481520354806,
+              0.29938599563164947,
+              1.2442362078231357
+            ],
+            "held_position": [
+              0.2683629237364113,
+              0.30382658290470754,
+              1.2417230824713132
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007486273269220614,
+            "max_held_gripper_dist": 0.0075010900776398695,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002513125351822465,
+            "max_held_gripper_z_dist": 0.002670548557798469,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08801509117292694,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2683629237364113,
+              0.27832845706270926,
+              1.2417230824713132
+            ],
+            "held_grasp_finger_b": [
+              0.25846336291724076,
+              0.30382658290470754,
+              1.2417230824713132
+            ],
+            "held_grasp_midpoint": [
+              0.263413143326826,
+              0.2910775199837084,
+              1.2417230824713132
+            ],
+            "held_grasp_object_position": [
+              0.2683629237364113,
+              0.30382658290470754,
+              1.2417230824713132
+            ],
+            "held_grasp_finger_gap": 0.027352435464997216,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02470164576302186,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07211127600344484,
+              -0.9967601494735638,
+              0.03562538834305962
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004043851178914328,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03665555722604004,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29973856330619386,
+              -0.35393222249500805,
+              0.851539587255633
+            ],
+            "target_position": [
+              0.2945813845949628,
+              -0.3548333021121801,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005235306747083479,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18121340958563292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539587255633,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556405682952498,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08502564222441027,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14919305153419624,
+            "release_required_pad_clearance": 0.052512821112205135,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.09691327245498456,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00813138484954834,
+            "max_z_decrease": 0.00813138484954834,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035099159682736095,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00813138484954834,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02112332670097694,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00813138484954834,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008131428620062343,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15028131008148193,
+              -0.4110947549343109,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15028131008148193,
+              -0.4110947549343109,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15053308752911157,
+              -0.4129698360879301,
+              0.8037248339931489
+            ],
+            "closest_button": [
+              0.15030185878276825,
+              -0.4110777378082275,
+              0.7686774730682373
+            ],
+            "closest_ee_minus_button": [
+              0.00023122874634332047,
+              -0.0018920982797026031,
+              0.035047360924911564
+            ],
+            "button_min_z_position": [
+              0.15030185878276825,
+              -0.4110777378082275,
+              0.7686774730682373
+            ],
+            "min_active_finger_to_button": 0.1452371216079978,
+            "closest_active_finger": [
+              0.009792953729629517,
+              -0.3974169194698334,
+              0.8108248710632324
+            ],
+            "closest_active_finger_button": [
+              0.15028154850006104,
+              -0.41109576821327204,
+              0.7766245007514954
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14048859477043152,
+              0.013678848743438665,
+              0.03420037031173706
+            ],
+            "min_contact_pad_to_button": 0.02112332670097694,
+            "closest_contact_pad": [
+              0.15030185878276825,
+              -0.4140988468297168,
+              0.789583640368737
+            ],
+            "closest_contact_pad_button": [
+              0.15030185878276825,
+              -0.4110777378082275,
+              0.7686774730682373
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003021109021489332,
+              0.020906167300499656
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9519bf71ff423dfbc6234d112417f3fb606642a8fbd4698f177bc3da7af4a83a",
+    "visual_seed": 6655939105864231737,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_114_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c053c13b71d6478a89da25c6ecd0dcdcd63e159e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_114_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25919197166842856,
+              0.2998171378179335,
+              1.020063315396338
+            ],
+            "current_z": 1.020063315396338,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.15895680738157214,
+            "gripper_z": 1.051882839745367,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25360177279679547,
+              0.2942402042734857,
+              1.051882839745367
+            ],
+            "object_minus_gripper": [
+              0.00559019887163309,
+              0.005576933544447826,
+              -0.031819524349028905
+            ],
+            "object_to_gripper_xy": 0.007896360629023682,
+            "object_to_gripper_z": -0.031819524349028905,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25919197166842856,
+              0.2742060344160617,
+              1.0383402960055366
+            ],
+            "finger_b": [
+              0.24736810884669833,
+              0.2998171378179335,
+              1.0383902028270893
+            ],
+            "finger_midpoint": [
+              0.25328004025756345,
+              0.2870115861169976,
+              1.038365249416313
+            ],
+            "object_minus_finger_midpoint": [
+              0.005911931410865101,
+              0.012805551700935891,
+              -0.01830193401997482
+            ],
+            "finger_gap": 0.028208772397594742,
+            "fingertip_max_gap": 0.09843462459069582,
+            "finger_z_skew": 4.990682155270321e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.014104364125054185,
+            "object_to_finger_midpoint_z": 0.01830193401997482,
+            "finger_midpoint_minus_object_z": 0.01830193401997482,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.020063315396338,
+            "object_top_z": 1.0731436073301563,
+            "finger_top_clearance": 0.03477835791384343,
+            "fingertip_min_top_clearance": 0.015924087580145456,
+            "object_projection_between_fingers": 0.8243080954080013,
+            "object_to_finger_line_xy": 0.010735052309056744,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051717312295347914,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2118478289567256,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 196,
+            "max_stable_success_frames": 196,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2597363327630645,
+              0.2944253480641157,
+              1.2112269768459305
+            ],
+            "held_position": [
+              0.2654989043066873,
+              0.29891073294771725,
+              1.1792261286841677
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.032823470130710033,
+            "max_held_gripper_dist": 0.03286093044049987,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.03200084816176285,
+            "max_held_gripper_z_dist": 0.03213453620884921,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08764501188629215,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2654989043066873,
+              0.27243292153383236,
+              1.1977593916702995
+            ],
+            "held_grasp_finger_b": [
+              0.25686105971911427,
+              0.30087748154291416,
+              1.1971553426377803
+            ],
+            "held_grasp_midpoint": [
+              0.2611799820129008,
+              0.28665520153837326,
+              1.19745736715404
+            ],
+            "held_grasp_object_position": [
+              0.2654989043066873,
+              0.29891073294771725,
+              1.1792261286841677
+            ],
+            "held_grasp_finger_gap": 0.029733318490592468,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.027649113994360913,
+            "held_grasp_world_z_skew": 0.0006040490325192049,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08140278442470548,
+              -0.9959375027501233,
+              0.038497757126268795
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.018039495827825686,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03646107263224492,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2969202321466348,
+              -0.3559196722893094,
+              0.8515395744860265
+            ],
+            "target_position": [
+              0.28981958981190054,
+              -0.35732398985100605,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007238178595469338,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18277795972537525,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395744860265,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576524517486824,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08718296080419911,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15037932913246263,
+            "release_required_pad_clearance": 0.05359148040209956,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.193644466039664,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007817268371582031,
+            "max_z_decrease": 0.007817268371582031,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518989917252518,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007817268371582031,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021039172575295195,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007817268371582031,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007817291239227402,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14551950991153714,
+              -0.41358545422554016,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14551950991153714,
+              -0.41358545422554016,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14462950826607,
+              -0.411915694293832,
+              0.808185489683903
+            ],
+            "closest_button": [
+              0.1455072462558746,
+              -0.4135893583297729,
+              0.7730463743209839
+            ],
+            "closest_ee_minus_button": [
+              -0.0008777379898046167,
+              0.0016736640359408805,
+              0.03513911536291914
+            ],
+            "button_min_z_position": [
+              0.14550064504146573,
+              -0.41358417272567743,
+              0.7689915895462036
+            ],
+            "min_active_finger_to_button": 0.14620492270271016,
+            "closest_active_finger": [
+              0.016444064676761627,
+              -0.4731868505477905,
+              0.8104552626609802
+            ],
+            "closest_active_finger_button": [
+              0.14551894366741178,
+              -0.41358616948127747,
+              0.7763478755950928
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12907487899065015,
+              -0.05960068106651306,
+              0.03410738706588745
+            ],
+            "min_contact_pad_to_button": 0.021039172575295195,
+            "closest_contact_pad": [
+              0.14550064504146573,
+              -0.41358417272567743,
+              0.7900307621214988
+            ],
+            "closest_contact_pad_button": [
+              0.14550064504146573,
+              -0.41358417272567743,
+              0.7689915895462036
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021039172575295195
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "568e86c4bfcd0bcd841aa081a237796717b906a6d20ccc8a62f717133b28ef6b",
+    "visual_seed": 7925022865439300618,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_115_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9711749a30718acf838b3ddd7f7c50b71d2073c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_115_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25788431889381147,
+              0.2923054300033403,
+              1.0512666966675321
+            ],
+            "current_z": 1.0512666966675321,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.19015983102489753,
+            "gripper_z": 1.0538858193363296,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2525721056015824,
+              0.2873345575246783,
+              1.0538858193363296
+            ],
+            "object_minus_gripper": [
+              0.005312213292229084,
+              0.004970872478662014,
+              -0.002619122668797491
+            ],
+            "object_to_gripper_xy": 0.007275244549927844,
+            "object_to_gripper_z": -0.002619122668797491,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25788431889381147,
+              0.26768188436276336,
+              1.0512666966675321
+            ],
+            "finger_b": [
+              0.24589090463628582,
+              0.2923054300033403,
+              1.0512666966675321
+            ],
+            "finger_midpoint": [
+              0.25188761176504865,
+              0.2799936571830518,
+              1.0512666966675321
+            ],
+            "object_minus_finger_midpoint": [
+              0.005996707128762824,
+              0.012311772820288502,
+              0.0
+            ],
+            "finger_gap": 0.02738906689659572,
+            "fingertip_max_gap": 0.09075016588567508,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013694533448297885,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512666966675321,
+            "object_top_z": 1.1014261100490415,
+            "finger_top_clearance": 0.05015941338150931,
+            "fingertip_min_top_clearance": 0.015047824014452793,
+            "object_projection_between_fingers": 0.8082518441515226,
+            "object_to_finger_line_xy": 0.010782418564001358,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047875082942837544,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3018061255430078,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25772856343189154,
+              0.29124338744441625,
+              1.2445727193989462
+            ],
+            "held_position": [
+              0.2633692699483326,
+              0.2957929662798064,
+              1.2418715972907095
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007733841104370812,
+            "max_held_gripper_dist": 0.007748921815916686,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027011221082366976,
+            "max_held_gripper_z_dist": 0.0028509824324221,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791686513907357,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2633692699483326,
+              0.2702700632192859,
+              1.2418715972907095
+            ],
+            "held_grasp_finger_b": [
+              0.2531353619391243,
+              0.2957929662798064,
+              1.2418715972907095
+            ],
+            "held_grasp_midpoint": [
+              0.25825231594372844,
+              0.28303151474954613,
+              1.2418715972907095
+            ],
+            "held_grasp_object_position": [
+              0.2633692699483326,
+              0.2957929662798064,
+              1.2418715972907095
+            ],
+            "held_grasp_finger_gap": 0.027498208192128865,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02469856375386602,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07354261434537071,
+              -0.9971903291519311,
+              0.014245396488393847
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00416867027367999,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03661833984319485,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2974860489713361,
+              -0.3602675408073765,
+              0.851539503517924
+            ],
+            "target_position": [
+              0.29086294823018394,
+              -0.3621679402004534,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006890354220260212,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18258126104067268,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539503517924,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584755712901398,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08560959359422714,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1501333120697095,
+            "release_required_pad_clearance": 0.05280479679711357,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6561069194215462,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008144855499267578,
+            "max_z_decrease": 0.008144855499267578,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507513327560476,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008144855499267578,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02098527153029715,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008144855499267578,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008144914322045447,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1465628743171692,
+              -0.4184294044971466,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1465628743171692,
+              -0.4184294044971466,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1480253216457431,
+              -0.4190933696840913,
+              0.8037027188297217
+            ],
+            "closest_button": [
+              0.14658290147781372,
+              -0.41840580105781555,
+              0.7686640024185181
+            ],
+            "closest_ee_minus_button": [
+              0.0014424201679293924,
+              -0.0006875686262757252,
+              0.035038716411203596
+            ],
+            "button_min_z_position": [
+              0.14658290147781372,
+              -0.41840580105781555,
+              0.7686640024185181
+            ],
+            "min_active_finger_to_button": 0.14422081180694396,
+            "closest_active_finger": [
+              0.007215827703475952,
+              -0.40391504764556885,
+              0.8108494281768799
+            ],
+            "closest_active_finger_button": [
+              0.1465627551078796,
+              -0.4184292256832123,
+              0.7766234874725342
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13934692740440366,
+              0.014514178037643433,
+              0.0342259407043457
+            ],
+            "min_contact_pad_to_button": 0.02098527153029715,
+            "closest_contact_pad": [
+              0.14658290147781372,
+              -0.4201917351640169,
+              0.7895731406257376
+            ],
+            "closest_contact_pad_button": [
+              0.14658290147781372,
+              -0.41840580105781555,
+              0.7686640024185181
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00178593410620137,
+              0.020909138207219513
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0cf27965c4c963d04ac0dde0c6a094df848ed0af5211a2aabab0a40b9668b509",
+    "visual_seed": 201060564697784077,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_116_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..89c74679209a04ef0d96f5c1d7227284bd64ad99
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_116_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2614324774047607,
+              0.3002765688862205,
+              1.051748903560898
+            ],
+            "current_z": 1.051748903560898,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.19064215712755284,
+            "gripper_z": 1.0540703488060705,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25599283758171676,
+              0.29511414016439386,
+              1.0540703488060705
+            ],
+            "object_minus_gripper": [
+              0.005439639823043962,
+              0.005162428721826651,
+              -0.0023214452451725265
+            ],
+            "object_to_gripper_xy": 0.00749935675324134,
+            "object_to_gripper_z": -0.0023214452451725265,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2614324774047607,
+              0.2757233428727774,
+              1.051748903560898
+            ],
+            "finger_b": [
+              0.24895633985768567,
+              0.3002765688862205,
+              1.051748903560898
+            ],
+            "finger_midpoint": [
+              0.2551944086312232,
+              0.28799995587949895,
+              1.051748903560898
+            ],
+            "object_minus_finger_midpoint": [
+              0.006238068773537497,
+              0.01227661300672156,
+              0.0
+            ],
+            "finger_gap": 0.027541149499626112,
+            "fingertip_max_gap": 0.09151852932086504,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013770574749813044,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051748903560898,
+            "object_top_z": 1.102362284504455,
+            "finger_top_clearance": 0.05061338094355694,
+            "fingertip_min_top_clearance": 0.015184014283067114,
+            "object_projection_between_fingers": 0.7947911044868222,
+            "object_to_finger_line_xy": 0.011122608552424284,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048259264660432524,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6351244994915858,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26141691311868265,
+              0.2986917754382634,
+              1.2447595018203192
+            ],
+            "held_position": [
+              0.267282622040211,
+              0.3033250137772557,
+              1.2423513972786209
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007853178091814404,
+            "max_held_gripper_dist": 0.007866399272224385,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002408104541698375,
+            "max_held_gripper_z_dist": 0.0025707644751544745,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08813028961867075,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.267282622040211,
+              0.27762073478657484,
+              1.2423513972786209
+            ],
+            "held_grasp_finger_b": [
+              0.2569645289935103,
+              0.3033250137772557,
+              1.2423513972786209
+            ],
+            "held_grasp_midpoint": [
+              0.26212357551686066,
+              0.29047287428191526,
+              1.2423513972786209
+            ],
+            "held_grasp_object_position": [
+              0.267282622040211,
+              0.3033250137772557,
+              1.2423513972786209
+            ],
+            "held_grasp_finger_gap": 0.027697888052180628,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024634123337009955,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09252484674312184,
+              -0.9955075310268188,
+              0.020097472578646025
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003956529326416419,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03644850842376283,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2965698833976943,
+              -0.3541308249042524,
+              0.8515395551895041
+            ],
+            "target_position": [
+              0.2888583480320408,
+              -0.3563851581085468,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00803428876078704,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18377294709097444,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395551895041,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517485689493683,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08712503512249718,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15302922377471373,
+            "release_required_pad_clearance": 0.05356251756124859,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1361573792801667,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0080527663230896,
+            "max_z_decrease": 0.0080527663230896,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351519019549136,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0080527663230896,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02110188469173013,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0080527663230896,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008052773277175058,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14455828070640564,
+              -0.41264662146568293,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14455828070640564,
+              -0.41264662146568293,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14313948816337896,
+              -0.4135286440116435,
+              0.8078062937755998
+            ],
+            "closest_button": [
+              0.14454598724842072,
+              -0.41265073418617243,
+              0.7726935148239136
+            ],
+            "closest_ee_minus_button": [
+              -0.001406499085041757,
+              -0.0008779098254710904,
+              0.035112778951686185
+            ],
+            "button_min_z_position": [
+              0.14455100893974304,
+              -0.4126389324665069,
+              0.768756091594696
+            ],
+            "min_active_finger_to_button": 0.14739278946818618,
+            "closest_active_finger": [
+              0.0021618902683258057,
+              -0.39592280983924866,
+              0.8107012510299683
+            ],
+            "closest_active_finger_button": [
+              0.14455704391002655,
+              -0.4126482009887695,
+              0.7765176892280579
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14239515364170074,
+              0.01672539114952082,
+              0.0341835618019104
+            ],
+            "min_contact_pad_to_button": 0.02110188469173013,
+            "closest_contact_pad": [
+              0.14455100893974304,
+              -0.41485320315597074,
+              0.7897414803892087
+            ],
+            "closest_contact_pad_button": [
+              0.14455100893974304,
+              -0.4126389324665069,
+              0.768756091594696
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022142706894638375,
+              0.020985388794512616
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b7f5dfacd4754fc901326da600e70611f2f2f21671c0704e8852210169d799e8",
+    "visual_seed": 2676807204123396744,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_117_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab2673baf1c481645cf939749ec420db4af08531
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_117_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25993167503348663,
+              0.3027298028030538,
+              1.053172494077705
+            ],
+            "current_z": 1.053172494077705,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.19206592645829412,
+            "gripper_z": 1.055752776125161,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25452935553810346,
+              0.29762049394784496,
+              1.055752776125161
+            ],
+            "object_minus_gripper": [
+              0.005402319495383168,
+              0.005109308855208827,
+              -0.002580282047456084
+            ],
+            "object_to_gripper_xy": 0.007435730825420752,
+            "object_to_gripper_z": -0.002580282047456084,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25993167503348663,
+              0.27816153017133033,
+              1.053172494077705
+            ],
+            "finger_b": [
+              0.24758710940509118,
+              0.3027298028030538,
+              1.053172494077705
+            ],
+            "finger_midpoint": [
+              0.2537593922192889,
+              0.29044566648719206,
+              1.053172494077705
+            ],
+            "object_minus_finger_midpoint": [
+              0.006172282814197738,
+              0.012284136315861727,
+              0.0
+            ],
+            "finger_gap": 0.027495241782178492,
+            "fingertip_max_gap": 0.09105508605657522,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013747620891089253,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.053172494077705,
+            "object_top_z": 1.1035354413753353,
+            "finger_top_clearance": 0.050362947297630356,
+            "fingertip_min_top_clearance": 0.01510888418928914,
+            "object_projection_between_fingers": 0.798425059767284,
+            "object_to_finger_line_xy": 0.01103044142260284,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048027543028287614,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4271938319876911,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2598705395709592,
+              0.30131671760725187,
+              1.244073914142542
+            ],
+            "held_position": [
+              0.26565213985427655,
+              0.30593406680416757,
+              1.2413738333896984
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007876372992322694,
+            "max_held_gripper_dist": 0.007891311827870309,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00270008075284367,
+            "max_held_gripper_z_dist": 0.0028638505686806592,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791547880389455,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26565213985427655,
+              0.2803125919983404,
+              1.2413738333896984
+            ],
+            "held_grasp_finger_b": [
+              0.2553866502768096,
+              0.30593406680416757,
+              1.2413738333896984
+            ],
+            "held_grasp_midpoint": [
+              0.2605193950655431,
+              0.29312332940125396,
+              1.2413738333896984
+            ],
+            "held_grasp_object_position": [
+              0.26565213985427655,
+              0.30593406680416757,
+              1.2413738333896984
+            ],
+            "held_grasp_finger_gap": 0.027601453720605334,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02465926743083066,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08443984833644272,
+              -0.9962769125236239,
+              0.017384636473451898
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004039030412384733,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036523799971659096,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29862546451601896,
+              -0.3542059643670649,
+              0.851539662728094
+            ],
+            "target_position": [
+              0.29118147951153733,
+              -0.3563899907670591,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0077577628258937315,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18588858047199225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539662728094,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533356601841908,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08623771201022289,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15459394755085806,
+            "release_required_pad_clearance": 0.053118856005111445,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.264220272721329,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007863759994506836,
+            "max_z_decrease": 0.007863759994506836,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515933347781481,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007863759994506836,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021040244982039862,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007863759994506836,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007863784026576701,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14688140153884888,
+              -0.4126514494419098,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14688140153884888,
+              -0.4126514494419098,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14632073504303775,
+              -0.41156595910531274,
+              0.8081700915748985
+            ],
+            "closest_button": [
+              0.14687120914459229,
+              -0.41265532374382013,
+              0.7730319499969482
+            ],
+            "closest_ee_minus_button": [
+              -0.0005504741015545378,
+              0.0010893646385073952,
+              0.035138141577950255
+            ],
+            "button_min_z_position": [
+              0.14686201512813565,
+              -0.4126499891281128,
+              0.7689450979232788
+            ],
+            "min_active_finger_to_button": 0.14615631504038093,
+            "closest_active_finger": [
+              0.018576793372631073,
+              -0.4737682044506073,
+              0.8104615211486816
+            ],
+            "closest_active_finger_button": [
+              0.14688137173652646,
+              -0.41265252232551575,
+              0.7763370871543884
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1283045783638954,
+              -0.06111568212509155,
+              0.03412443399429321
+            ],
+            "min_contact_pad_to_button": 0.021040244982039862,
+            "closest_contact_pad": [
+              0.14686201512813565,
+              -0.4127507610900562,
+              0.7899851015809767
+            ],
+            "closest_contact_pad_button": [
+              0.14686201512813565,
+              -0.4126499891281128,
+              0.7689450979232788
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00010077196194341331,
+              0.02104000365769787
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 117,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c704e7f5a3892ce1c9e3664d911f1e19859095fada01299438131416f43af89e",
+    "visual_seed": 1839425168379114687,
+    "episode_index": 117,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_118_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_118_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8350b8958f41f774cfd43e1414eb3fb4fb3a69c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_118_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 118,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26057944130334115,
+              0.2962421165020268,
+              1.0530878387151206
+            ],
+            "current_z": 1.0530878387151206,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.19198103267713096,
+            "gripper_z": 1.055423607415241,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25525893718724113,
+              0.2912738737220534,
+              1.055423607415241
+            ],
+            "object_minus_gripper": [
+              0.005320504116100022,
+              0.004968242779973431,
+              -0.002335768700120422
+            ],
+            "object_to_gripper_xy": 0.007279505503136556,
+            "object_to_gripper_z": -0.002335768700120422,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26057944130334115,
+              0.2716125392103044,
+              1.0530878387151206
+            ],
+            "finger_b": [
+              0.2485834940729175,
+              0.2962421165020268,
+              1.0530878387151206
+            ],
+            "finger_midpoint": [
+              0.25458146768812934,
+              0.2839273278561656,
+              1.0530878387151206
+            ],
+            "object_minus_finger_midpoint": [
+              0.005997973615211816,
+              0.012314788645861219,
+              0.0
+            ],
+            "finger_gap": 0.027395598688914172,
+            "fingertip_max_gap": 0.09121853394700685,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013697799344457105,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0530878387151206,
+            "object_top_z": 1.1033941557429734,
+            "finger_top_clearance": 0.05030631702785282,
+            "fingertip_min_top_clearance": 0.015091895108355846,
+            "object_projection_between_fingers": 0.8082623051178546,
+            "object_to_finger_line_xy": 0.010784765569613238,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04810926697350343,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5130882351679964,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2605333555119314,
+              0.29497355199509073,
+              1.2447812856041724
+            ],
+            "held_position": [
+              0.2661780275713003,
+              0.29951399140105145,
+              1.2423320551038097
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076470022035388515,
+            "max_held_gripper_dist": 0.007660035030730801,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00244923050036272,
+            "max_held_gripper_z_dist": 0.0026052905997147047,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879500312053696,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2661780275713003,
+              0.2739705386513767,
+              1.2423320551038097
+            ],
+            "held_grasp_finger_b": [
+              0.25603426668983525,
+              0.29951399140105145,
+              1.2423320551038097
+            ],
+            "held_grasp_midpoint": [
+              0.2611061471305678,
+              0.2867422650262141,
+              1.2423320551038097
+            ],
+            "held_grasp_object_position": [
+              0.2661780275713003,
+              0.29951399140105145,
+              1.2423320551038097
+            ],
+            "held_grasp_finger_gap": 0.027483883699273775,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024660072628578635,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07887286004205715,
+              -0.9967383936068208,
+              0.017077665498547386
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004054792399433132,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036590146323501854,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30125732908628294,
+              -0.35429048805214314,
+              0.8515395757885768
+            ],
+            "target_position": [
+              0.29434851944762885,
+              -0.3563805900371813,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007218045229216852,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1825241079141966,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395757885768,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758326472083478,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530159747598746,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1501543061800015,
+            "release_required_pad_clearance": 0.052650798737993734,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.36045155419743574,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008051872253417969,
+            "max_z_decrease": 0.008051872253417969,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513566776559982,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008051872253417969,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021017630488949047,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008051872253417969,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008051879216341797,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15004844963550568,
+              -0.41264206171035767,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15004844963550568,
+              -0.41264206171035767,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15006353513346546,
+              -0.4120897282416479,
+              0.8080588118200847
+            ],
+            "closest_button": [
+              0.15003733336925507,
+              -0.4126437902450561,
+              0.7729275226593018
+            ],
+            "closest_ee_minus_button": [
+              2.6201764210392886e-05,
+              0.0005540620034081845,
+              0.0351312891607829
+            ],
+            "button_min_z_position": [
+              0.15003982186317444,
+              -0.4126359224319458,
+              0.7687569856643677
+            ],
+            "min_active_finger_to_button": 0.14587237863493605,
+            "closest_active_finger": [
+              0.023451723158359528,
+              -0.4765511155128479,
+              0.8109865784645081
+            ],
+            "closest_active_finger_button": [
+              0.1500471532344818,
+              -0.4126432836055755,
+              0.7768085598945618
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12659543007612228,
+              -0.0639078319072724,
+              0.03417801856994629
+            ],
+            "min_contact_pad_to_button": 0.021017630488949047,
+            "closest_contact_pad": [
+              0.15003982186317444,
+              -0.4130136146861518,
+              0.7897712222655653
+            ],
+            "closest_contact_pad_button": [
+              0.15003982186317444,
+              -0.4126359224319458,
+              0.7687569856643677
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00037769225420597463,
+              0.02101423660119761
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 118,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3aeb998323730757e64c57e7a15def87a3bd3364cf765da0afbfda1be2446495",
+    "visual_seed": 4552557870243896290,
+    "episode_index": 118,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_119_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..13f13d82225a3a2ff5b43ab9f8d11b5122322e70
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_119_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2660789643598505,
+              0.30110061399491245,
+              1.0531973507991195
+            ],
+            "current_z": 1.0531973507991195,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1920906639704193,
+            "gripper_z": 1.055433957504801,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26096933886547985,
+              0.29632901916756643,
+              1.055433957504801
+            ],
+            "object_minus_gripper": [
+              0.005109625494370662,
+              0.004771594827346015,
+              -0.0022366067056815986
+            ],
+            "object_to_gripper_xy": 0.006991165131011989,
+            "object_to_gripper_z": -0.0022366067056815986,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2660789643598505,
+              0.2764703342862039,
+              1.0531973507991195
+            ],
+            "finger_b": [
+              0.2545597758074064,
+              0.30110061399491245,
+              1.0531973507991195
+            ],
+            "finger_midpoint": [
+              0.2603193700836285,
+              0.28878547414055816,
+              1.0531973507991195
+            ],
+            "object_minus_finger_midpoint": [
+              0.005759594276222024,
+              0.012315139854354284,
+              0.0
+            ],
+            "finger_gap": 0.027190851098043627,
+            "fingertip_max_gap": 0.09552528674613661,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013595425549021802,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0531973507991195,
+            "object_top_z": 1.106210877853548,
+            "finger_top_clearance": 0.05301352705442852,
+            "fingertip_min_top_clearance": 0.015904058116328557,
+            "object_projection_between_fingers": 0.8205273931543124,
+            "object_to_finger_line_xy": 0.010434422778493541,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05026264337306831,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.039982410059505,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.266274732714081,
+              0.30008427664838155,
+              1.2421318439577602
+            ],
+            "held_position": [
+              0.2716475667986605,
+              0.30449816353072295,
+              1.2397597158185376
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007346886103609914,
+            "max_held_gripper_dist": 0.007362185179049415,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002372128139222607,
+            "max_held_gripper_z_dist": 0.0025308607742806633,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879626129970037,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2716475667986605,
+              0.27908767580710914,
+              1.2397597158185376
+            ],
+            "held_grasp_finger_b": [
+              0.26181604716661544,
+              0.30449816353072295,
+              1.2397597158185376
+            ],
+            "held_grasp_midpoint": [
+              0.266731806982638,
+              0.2917929196689161,
+              1.2397597158185376
+            ],
+            "held_grasp_object_position": [
+              0.2716475667986605,
+              0.30449816353072295,
+              1.2397597158185376
+            ],
+            "held_grasp_finger_gap": 0.027246131186412788,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024729921129386313,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06155992202864908,
+              -0.9970351213611037,
+              0.046166468050694125
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004166789603149536,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036750061923430076,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29476428091900003,
+              -0.35566264330900804,
+              0.8515395637303984
+            ],
+            "target_position": [
+              0.29022879814010305,
+              -0.35606180796261727,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004553013997162986,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18338732389456244,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395637303984,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525684195152457,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08542432096546203,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15211240832851688,
+            "release_required_pad_clearance": 0.052712160482731016,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4780622162573181,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007842719554901123,
+            "max_z_decrease": 0.007842719554901123,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514200238028089,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007842719554901123,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021120461489701613,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007842719554901123,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007842742907727358,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14592872560024261,
+              -0.4123232662677765,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14592872560024261,
+              -0.4123232662677765,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14499104418547018,
+              -0.4133757778767515,
+              0.8081867965681424
+            ],
+            "closest_button": [
+              0.1459183245897293,
+              -0.41232597827911377,
+              0.7730727195739746
+            ],
+            "closest_ee_minus_button": [
+              -0.0009272804042591287,
+              -0.001049799597637735,
+              0.0351140769941678
+            ],
+            "button_min_z_position": [
+              0.145909771323204,
+              -0.412320613861084,
+              0.7689661383628845
+            ],
+            "min_active_finger_to_button": 0.1469610861434366,
+            "closest_active_finger": [
+              0.0036969780921936035,
+              -0.39835724234580994,
+              0.8106297850608826
+            ],
+            "closest_active_finger_button": [
+              0.14592818915843958,
+              -0.4123246967792511,
+              0.7763842940330505
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14223121106624598,
+              0.013967454433441162,
+              0.03424549102783203
+            ],
+            "min_contact_pad_to_button": 0.021120461489701613,
+            "closest_contact_pad": [
+              0.145909771323204,
+              -0.4144126362596824,
+              0.7899827350384105
+            ],
+            "closest_contact_pad_button": [
+              0.145909771323204,
+              -0.412320613861084,
+              0.7689661383628845
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020920223985984032,
+              0.021016596675526023
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 119,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5d0b12d0306c57f155a6be1db0a8c96424c5078cd720e8ebabf92d4b6876facb",
+    "visual_seed": 4919252579984949774,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0720113f1ebdb4de21e137f85e5d9d2bed69443a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2663069526192252,
+              0.2955756215141796,
+              1.0511462648794394
+            ],
+            "current_z": 1.0511462648794394,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19003975686467345,
+            "gripper_z": 1.0532610911149822,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26091227492317026,
+              0.29050025381546035,
+              1.0532610911149822
+            ],
+            "object_minus_gripper": [
+              0.00539467769605495,
+              0.005075367698719246,
+              -0.0021148262355428216
+            ],
+            "object_to_gripper_xy": 0.007406882253790419,
+            "object_to_gripper_z": -0.0021148262355428216,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2663069526192252,
+              0.2709672877194106,
+              1.0511462648794394
+            ],
+            "finger_b": [
+              0.2540675104819918,
+              0.2955756215141796,
+              1.0511462648794394
+            ],
+            "finger_midpoint": [
+              0.2601872315506085,
+              0.2832714546167951,
+              1.0511462648794394
+            ],
+            "object_minus_finger_midpoint": [
+              0.00611972106861669,
+              0.012304166897384505,
+              0.0
+            ],
+            "finger_gap": 0.027484068766932164,
+            "fingertip_max_gap": 0.09043999229856597,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013742034383466068,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0511462648794394,
+            "object_top_z": 1.1010065205655697,
+            "finger_top_clearance": 0.049860255686130284,
+            "fingertip_min_top_clearance": 0.014958076705839051,
+            "object_projection_between_fingers": 0.8016824292414921,
+            "object_to_finger_line_xy": 0.01095879507975854,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04771999614928299,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3497275874074179,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2662652828641301,
+              0.2940356021516593,
+              1.2421040441832414
+            ],
+            "held_position": [
+              0.2720340798770581,
+              0.29863135394978546,
+              1.2398716493867092
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007706071638255801,
+            "max_held_gripper_dist": 0.007718068134643743,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022323947965321445,
+            "max_held_gripper_z_dist": 0.0023914885160933874,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08811178425053945,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2720340798770581,
+              0.2729962714023506,
+              1.2398716493867092
+            ],
+            "held_grasp_finger_b": [
+              0.2618315435422215,
+              0.29863135394978546,
+              1.2398716493867092
+            ],
+            "held_grasp_midpoint": [
+              0.2669328117096398,
+              0.28581381267606804,
+              1.2398716493867092
+            ],
+            "held_grasp_object_position": [
+              0.2720340798770581,
+              0.29863135394978546,
+              1.2398716493867092
+            ],
+            "held_grasp_finger_gap": 0.02759074491342087,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024650023085179534,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08685610604320865,
+              -0.9961417372359131,
+              0.012556121201550474
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039720830559383915,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03650908594969704,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.304206148364613,
+              -0.362098779349866,
+              0.8515396040987352
+            ],
+            "target_position": [
+              0.29597689541706534,
+              -0.3645667837170871,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008591370649165622,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18648296667682454,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396040987352,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526087751342916,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08659401385178854,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15546739417767036,
+            "release_required_pad_clearance": 0.05329700692589427,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.612486459793033,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008102118968963623,
+            "max_z_decrease": 0.008102118968963623,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519265477280516,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008102118968963623,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020966033726568467,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008102118968963623,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008102135009543888,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1516768187284469,
+              -0.420828253030777,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1516768187284469,
+              -0.420828253030777,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15283470490215564,
+              -0.41877016007030626,
+              0.8038211568545732
+            ],
+            "closest_button": [
+              0.15168425440788263,
+              -0.4208139479160309,
+              0.768706738948822
+            ],
+            "closest_ee_minus_button": [
+              0.0011504504942730087,
+              0.0020437878457246206,
+              0.035114417905751205
+            ],
+            "button_min_z_position": [
+              0.15168425440788263,
+              -0.4208139479160309,
+              0.768706738948822
+            ],
+            "min_active_finger_to_button": 0.1438617222301301,
+            "closest_active_finger": [
+              0.02594880759716034,
+              -0.4818616509437561,
+              0.8104701042175293
+            ],
+            "closest_active_finger_button": [
+              0.1516759246587753,
+              -0.4208297729492188,
+              0.7763527035713196
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12572711706161496,
+              -0.0610318779945373,
+              0.03411740064620972
+            ],
+            "min_contact_pad_to_button": 0.020966033726568467,
+            "closest_contact_pad": [
+              0.15168425440788263,
+              -0.4208139479160309,
+              0.7896727726753905
+            ],
+            "closest_contact_pad_button": [
+              0.15168425440788263,
+              -0.4208139479160309,
+              0.768706738948822
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020966033726568467
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db6ee1557594b151b721b40f33917a7e22dfbca4d66582c84721f68c2f22768a",
+    "visual_seed": 7086879203238203569,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_120_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_120_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b374032a2ba9f057ea7411b0d574851b9055d5a2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_120_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 120,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26477888281457773,
+              0.30167917051313303,
+              1.0511601557777905
+            ],
+            "current_z": 1.0511601557777905,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.19005346894909003,
+            "gripper_z": 1.0532660857123082,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2594447355037993,
+              0.2965799439130464,
+              1.0532660857123082
+            ],
+            "object_minus_gripper": [
+              0.005334147310778414,
+              0.005099226600086659,
+              -0.0021059299345176363
+            ],
+            "object_to_gripper_xy": 0.0073793793405757336,
+            "object_to_gripper_z": -0.0021059299345176363,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26477888281457773,
+              0.27718997682419066,
+              1.0511601557777905
+            ],
+            "finger_b": [
+              0.2524068136625919,
+              0.30167917051313303,
+              1.0511601557777905
+            ],
+            "finger_midpoint": [
+              0.2585928482385848,
+              0.2894345736686619,
+              1.0511601557777905
+            ],
+            "object_minus_finger_midpoint": [
+              0.006186034575992927,
+              0.012244596844471156,
+              0.0
+            ],
+            "finger_gap": 0.02743699514589844,
+            "fingertip_max_gap": 0.09150763083578464,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013718497572949196,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0511601557777905,
+            "object_top_z": 1.1018642021160998,
+            "finger_top_clearance": 0.05070404633830927,
+            "fingertip_min_top_clearance": 0.015211213901492814,
+            "object_projection_between_fingers": 0.7966652600317745,
+            "object_to_finger_line_xy": 0.011042827255129065,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04825381541789232,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6635004640251951,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2649076518099577,
+              0.2999990109487058,
+              1.2431547399408243
+            ],
+            "held_position": [
+              0.27066863030967236,
+              0.30457394579317326,
+              1.2409576743729729
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076776297914613965,
+            "max_held_gripper_dist": 0.007689889830970715,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002197065567851375,
+            "max_held_gripper_z_dist": 0.0023609061965537137,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08811828696354584,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27066863030967236,
+              0.2789065499995914,
+              1.2409576743729729
+            ],
+            "held_grasp_finger_b": [
+              0.2605005055471347,
+              0.30457394579317326,
+              1.2409576743729729
+            ],
+            "held_grasp_midpoint": [
+              0.26558456792840357,
+              0.2917402478963823,
+              1.2409576743729729
+            ],
+            "held_grasp_object_position": [
+              0.27066863030967236,
+              0.30457394579317326,
+              1.2409576743729729
+            ],
+            "held_grasp_finger_gap": 0.027608077948508374,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024626951637034378,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0912302803774261,
+              -0.9956051917204347,
+              0.021150370246705852
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039018355634727994,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036479133378578915,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29671065671712615,
+              -0.35923946917218336,
+              0.851539501847616
+            ],
+            "target_position": [
+              0.2895586615001995,
+              -0.36136704431505395,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00746174319924659,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1850893135254361,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539501847616,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755242074497559,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08594704505788935,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15342494150793165,
+            "release_required_pad_clearance": 0.052973522528944675,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9819725839717663,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008063971996307373,
+            "max_z_decrease": 0.008063971996307373,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035148066535319794,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008063971996307373,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021113487886528264,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008063971996307373,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008063979540793884,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1452585905790329,
+              -0.41762849688529974,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1452585905790329,
+              -0.41762849688529974,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14434582943005764,
+              -0.41881082819579657,
+              0.8038610023741215
+            ],
+            "closest_button": [
+              0.14525347948074338,
+              -0.4176187217235565,
+              0.7687448859214783
+            ],
+            "closest_ee_minus_button": [
+              -0.0009076500506857432,
+              -0.001192106472240051,
+              0.03511611645264323
+            ],
+            "button_min_z_position": [
+              0.14525347948074338,
+              -0.4176187217235565,
+              0.7687448859214783
+            ],
+            "min_active_finger_to_button": 0.14645773378779517,
+            "closest_active_finger": [
+              0.003611952066421509,
+              -0.40302324295043945,
+              0.8110569715499878
+            ],
+            "closest_active_finger_button": [
+              0.1452576220035553,
+              -0.41762956976890564,
+              0.7768074870109558
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1416456699371338,
+              0.014606326818466187,
+              0.03424948453903198
+            ],
+            "min_contact_pad_to_button": 0.021113487886528264,
+            "closest_contact_pad": [
+              0.14525347948074338,
+              -0.41995991126556154,
+              0.7897281697984834
+            ],
+            "closest_contact_pad_button": [
+              0.14525347948074338,
+              -0.4176187217235565,
+              0.7687448859214783
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023411895420050177,
+              0.0209832838770051
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 120,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bb73c40f3d0bab8d35e8dbbbcd5281c539b7c7ddf762d4746addf07431801e55",
+    "visual_seed": 5863237264028848013,
+    "episode_index": 120,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_123_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e956299afe5600143f7dd920509f9252ff666a74
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_123_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26445951731029105,
+              0.2977420762672697,
+              1.0532437352814412
+            ],
+            "current_z": 1.0532437352814412,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1921371080573857,
+            "gripper_z": 1.055577618561053,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.259024398912968,
+              0.2926721744897774,
+              1.055577618561053
+            ],
+            "object_minus_gripper": [
+              0.005435118397323024,
+              0.0050699017774922805,
+              -0.0023338832796118147
+            ],
+            "object_to_gripper_xy": 0.007432658745451629,
+            "object_to_gripper_z": -0.0023338832796118147,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26445951731029105,
+              0.27307647035160976,
+              1.0532437352814412
+            ],
+            "finger_b": [
+              0.252266621507152,
+              0.2977420762672697,
+              1.0532437352814412
+            ],
+            "finger_midpoint": [
+              0.25836306940872156,
+              0.2854092733094397,
+              1.0532437352814412
+            ],
+            "object_minus_finger_midpoint": [
+              0.006096447901569491,
+              0.012332802957829958,
+              0.0
+            ],
+            "finger_gap": 0.027514701947374296,
+            "fingertip_max_gap": 0.09131994042766198,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013757350973687138,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0532437352814412,
+            "object_top_z": 1.1036433247924684,
+            "finger_top_clearance": 0.05039958951102719,
+            "fingertip_min_top_clearance": 0.015119876853308123,
+            "object_projection_between_fingers": 0.8036259488695587,
+            "object_to_finger_line_xy": 0.010930344200207913,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815997021383099,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.504221982596234,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2643454732965421,
+              0.29655467927006707,
+              1.2446267421460346
+            ],
+            "held_position": [
+              0.27012797451080006,
+              0.3011778346471544,
+              1.2421841002253777
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007795985215874688,
+            "max_held_gripper_dist": 0.0078087972221877085,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024426419206569072,
+            "max_held_gripper_z_dist": 0.002606170449166445,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08789469012054571,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27012797451080006,
+              0.27557131021455217,
+              1.2421841002253777
+            ],
+            "held_grasp_finger_b": [
+              0.25981271088603297,
+              0.3011778346471544,
+              1.2421841002253777
+            ],
+            "held_grasp_midpoint": [
+              0.2649703426984165,
+              0.2883745724308533,
+              1.2421841002253777
+            ],
+            "held_grasp_object_position": [
+              0.27012797451080006,
+              0.3011778346471544,
+              1.2421841002253777
+            ],
+            "held_grasp_finger_gap": 0.02760613622305554,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02469777430388401,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07980205073428313,
+              -0.9966582369340166,
+              0.017435350589552256
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004125694795475926,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03654818372703189,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29832430115051356,
+              -0.3536211580573321,
+              0.8515395066738781
+            ],
+            "target_position": [
+              0.29131591125588074,
+              -0.3558671136659408,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00735947318162329,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18225554612629744,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395066738781,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582864468867487,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08510001374940633,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14985988404498507,
+            "release_required_pad_clearance": 0.05255000687470317,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1678587438393645,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077599287033081055,
+            "max_z_decrease": 0.0077599287033081055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035160457181023466,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077599287033081055,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021040732199270322,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0077599287033081055,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007759951216072593,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14701583981513977,
+              -0.4121285676956176,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14701583981513977,
+              -0.4121285676956176,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14536601211319328,
+              -0.41206272441301756,
+              0.8072268242152681
+            ],
+            "closest_button": [
+              0.14700330793857574,
+              -0.4121232330799102,
+              0.7721045613288879
+            ],
+            "closest_ee_minus_button": [
+              -0.0016372958253824677,
+              6.0508666892666874e-05,
+              0.03512226288638021
+            ],
+            "button_min_z_position": [
+              0.1469973772764206,
+              -0.4121256470680237,
+              0.7690489292144775
+            ],
+            "min_active_finger_to_button": 0.14747101398968557,
+            "closest_active_finger": [
+              0.018659599125385284,
+              -0.47618842124938965,
+              0.8106192350387573
+            ],
+            "closest_active_finger_button": [
+              0.14701594412326813,
+              -0.41212961077690125,
+              0.7764312624931335
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12835634499788284,
+              -0.0640588104724884,
+              0.03418797254562378
+            ],
+            "min_contact_pad_to_button": 0.021040732199270322,
+            "closest_contact_pad": [
+              0.1469973772764206,
+              -0.4131229932222605,
+              0.7900660106514906
+            ],
+            "closest_contact_pad_button": [
+              0.1469973772764206,
+              -0.4121256470680237,
+              0.7690489292144775
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009973461542368,
+              0.021017081437013085
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "da39274966dfdf31aae1b829ad8b688f0c54dfa09e469e3b3004ec89f91b9a0e",
+    "visual_seed": 5399003295839971362,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_125_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_125_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ca12a9e7b41b4d6ca25ac9580de95b7951d2f99
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_125_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 125,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26023837291289764,
+              0.29798735559818845,
+              1.0514452833974506
+            ],
+            "current_z": 1.0514452833974506,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.19033877538268473,
+            "gripper_z": 1.0536978431129853,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2549015620559518,
+              0.29295561481457905,
+              1.0536978431129853
+            ],
+            "object_minus_gripper": [
+              0.005336810856945817,
+              0.005031740783609406,
+              -0.00225255971553473
+            ],
+            "object_to_gripper_xy": 0.007334845972224158,
+            "object_to_gripper_z": -0.00225255971553473,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26023837291289764,
+              0.2734258651093055,
+              1.0514452833974506
+            ],
+            "finger_b": [
+              0.2480501517493113,
+              0.29798735559818845,
+              1.0514452833974506
+            ],
+            "finger_midpoint": [
+              0.2541442623311045,
+              0.285706610353747,
+              1.0514452833974506
+            ],
+            "object_minus_finger_midpoint": [
+              0.006094110581793155,
+              0.012280745244441449,
+              0.0
+            ],
+            "finger_gap": 0.027419328040051996,
+            "fingertip_max_gap": 0.09053969394126277,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013709664020025967,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0514452833974506,
+            "object_top_z": 1.1014391960824037,
+            "finger_top_clearance": 0.04999391268495312,
+            "fingertip_min_top_clearance": 0.01499817380548597,
+            "object_projection_between_fingers": 0.8024090553387415,
+            "object_to_finger_line_xy": 0.010917877992799264,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047769846970631386,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2017620985472096,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.260138625949514,
+              0.2966726692175458,
+              1.242660332347531
+            ],
+            "held_position": [
+              0.26583033235661147,
+              0.3012407093651261,
+              1.2402884278996913
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076738805909514415,
+            "max_held_gripper_dist": 0.007686229750678848,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023719044478396345,
+            "max_held_gripper_z_dist": 0.0025300867572637387,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879724339355279,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26583033235661147,
+              0.27567386921262366,
+              1.2402884278996913
+            ],
+            "held_grasp_finger_b": [
+              0.25564212196605474,
+              0.3012407093651261,
+              1.2402884278996913
+            ],
+            "held_grasp_midpoint": [
+              0.2607362271613331,
+              0.2884572892888749,
+              1.2402884278996913
+            ],
+            "held_grasp_object_position": [
+              0.26583033235661147,
+              0.3012407093651261,
+              1.2402884278996913
+            ],
+            "held_grasp_finger_gap": 0.027522044734101043,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02465204727634455,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08138403668139707,
+              -0.9966505368866774,
+              0.008021589427226195
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004038185342234095,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036565068743779926,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30153920272071844,
+              -0.35235291896491777,
+              0.8515395052244336
+            ],
+            "target_position": [
+              0.2934075214364892,
+              -0.35504113159439116,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00856450393481984,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856891773429816,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395052244336,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07549492396391447,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08573431504974792,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15399591751132724,
+            "release_required_pad_clearance": 0.05286715752487396,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7763166006104469,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008063435554504395,
+            "max_z_decrease": 0.008063435554504395,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351415310166519,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008063435554504395,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021044640621000726,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008063435554504395,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008063441437622934,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1491074413061142,
+              -0.41130259633064264,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1491074413061142,
+              -0.41130259633064264,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14957199791712586,
+              -0.41147724969783817,
+              0.8079848925645678
+            ],
+            "closest_button": [
+              0.14909613132476807,
+              -0.41130685806274414,
+              0.7728469967842102
+            ],
+            "closest_ee_minus_button": [
+              0.00047586659235779316,
+              -0.00017039163509402488,
+              0.03513789578035764
+            ],
+            "button_min_z_position": [
+              0.1491025686264038,
+              -0.4112941622734069,
+              0.7687454223632812
+            ],
+            "min_active_finger_to_button": 0.14567093959946079,
+            "closest_active_finger": [
+              0.008476212620735168,
+              -0.3947741389274597,
+              0.8109245896339417
+            ],
+            "closest_active_finger_button": [
+              0.14911159873008728,
+              -0.41130176186561584,
+              0.776740550994873
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1406353861093521,
+              0.016527622938156128,
+              0.034184038639068604
+            ],
+            "min_contact_pad_to_button": 0.021044640621000726,
+            "closest_contact_pad": [
+              0.1491025686264038,
+              -0.41260447940956313,
+              0.7897492307767516
+            ],
+            "closest_contact_pad_button": [
+              0.1491025686264038,
+              -0.4112941622734069,
+              0.7687454223632812
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013103171361562027,
+              0.021003808413470382
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 125,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c5b4e3a5eff1e527995e6c62985491d32f5312a558b06bc3347b23da27c8abc8",
+    "visual_seed": 5369983005457398786,
+    "episode_index": 125,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_129_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_129_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..df9fd06536c7de419b5332daeeed2b0c6782959c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_129_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 129,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2600291853889566,
+              0.30184305490162255,
+              1.0517014021926632
+            ],
+            "current_z": 1.0517014021926632,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.19059477496860766,
+            "gripper_z": 1.0542133343027456,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25448857087092036,
+              0.29664682898093725,
+              1.0542133343027456
+            ],
+            "object_minus_gripper": [
+              0.005540614518036224,
+              0.0051962259206853045,
+              -0.002511932110082382
+            ],
+            "object_to_gripper_xy": 0.0075959971732666946,
+            "object_to_gripper_z": -0.002511932110082382,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2600291853889566,
+              0.27720278601492376,
+              1.0517014021926632
+            ],
+            "finger_b": [
+              0.24753232809421274,
+              0.30184305490162255,
+              1.0517014021926632
+            ],
+            "finger_midpoint": [
+              0.2537807567415847,
+              0.28952292045827316,
+              1.0517014021926632
+            ],
+            "object_minus_finger_midpoint": [
+              0.006248428647371906,
+              0.012320134443349395,
+              0.0
+            ],
+            "finger_gap": 0.027628143134383984,
+            "fingertip_max_gap": 0.09033019473249551,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013814071567191985,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0517014021926632,
+            "object_top_z": 1.1016160864764033,
+            "finger_top_clearance": 0.04991468428374013,
+            "fingertip_min_top_clearance": 0.014974405285122071,
+            "object_projection_between_fingers": 0.7954034875721339,
+            "object_to_finger_line_xy": 0.011145371677113155,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04766509736624776,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2481083288854707,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2596307626773359,
+              0.3007954117861481,
+              1.24205405295394
+            ],
+            "held_position": [
+              0.26553014543839726,
+              0.30551831881180025,
+              1.2394103464962232
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00800610714199074,
+            "max_held_gripper_dist": 0.0080203901674231,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026437064577167213,
+            "max_held_gripper_z_dist": 0.0028094852716848973,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668362229014503,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26553014543839726,
+              0.2798955752657731,
+              1.2394103464962232
+            ],
+            "held_grasp_finger_b": [
+              0.25500942775985946,
+              0.30551831881180025,
+              1.2394103464962232
+            ],
+            "held_grasp_midpoint": [
+              0.26026978659912836,
+              0.29270694703878664,
+              1.2394103464962232
+            ],
+            "held_grasp_object_position": [
+              0.26553014543839726,
+              0.30551831881180025,
+              1.2394103464962232
+            ],
+            "held_grasp_finger_gap": 0.027698564715468107,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02468757903986737,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08085356444420043,
+              -0.9967010956033234,
+              0.007044653277660129
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042082914329799725,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03652582302534048,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2952291325396533,
+              -0.36009171069618,
+              0.8515396112898869
+            ],
+            "target_position": [
+              0.2869730468443358,
+              -0.3629907371075502,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008750274575248995,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18723592505918155,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396112898869,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543016756017148,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08615621575291864,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15578745274838482,
+            "release_required_pad_clearance": 0.05307810787645932,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1849658491278976,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007990598678588867,
+            "max_z_decrease": 0.007990598678588867,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512640667219216,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007990598678588867,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105011825375997,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007990598678588867,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007990624179210665,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14267297089099884,
+              -0.4192521870136261,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14267297089099884,
+              -0.4192521870136261,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14222950955372313,
+              -0.41907553555316845,
+              0.8081261678004308
+            ],
+            "closest_button": [
+              0.14266607165336606,
+              -0.41925302147865295,
+              0.7730029225349426
+            ],
+            "closest_ee_minus_button": [
+              -0.00043656209964293424,
+              0.0001774859254844996,
+              0.03512324526548816
+            ],
+            "button_min_z_position": [
+              0.14265301823616028,
+              -0.41924911737442017,
+              0.7688182592391968
+            ],
+            "min_active_finger_to_button": 0.14646479863542444,
+            "closest_active_finger": [
+              0.01527290791273117,
+              -0.4829001724720001,
+              0.8105245232582092
+            ],
+            "closest_active_finger_button": [
+              0.14267288148403168,
+              -0.4192521870136261,
+              0.7763175368309021
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1273999735713005,
+              -0.06364798545837402,
+              0.03420698642730713
+            ],
+            "min_contact_pad_to_button": 0.02105011825375997,
+            "closest_contact_pad": [
+              0.14265301823616028,
+              -0.4201087434470144,
+              0.7898508178451438
+            ],
+            "closest_contact_pad_button": [
+              0.14265301823616028,
+              -0.41924911737442017,
+              0.7688182592391968
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008596260725942106,
+              0.021032558605946994
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 129,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d144d6dcaa621ffffcc93981ea26a96bd1e1a4b2d597630fa57e5871fb7d065b",
+    "visual_seed": 1212524964299742465,
+    "episode_index": 129,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9111fe0a6e76580bab3c8447aaf08f1d1514e977
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2596318378694545,
+              0.29889370776909197,
+              1.050005407064694
+            ],
+            "current_z": 1.050005407064694,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18889883944528318,
+            "gripper_z": 1.0523359963758088,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25436918845149614,
+              0.29383132593553796,
+              1.0523359963758088
+            ],
+            "object_minus_gripper": [
+              0.005262649417958343,
+              0.005062381833554008,
+              -0.002330589311114739
+            ],
+            "object_to_gripper_xy": 0.007302272846520796,
+            "object_to_gripper_z": -0.002330589311114739,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2596318378694545,
+              0.27446203101106187,
+              1.050005407064694
+            ],
+            "finger_b": [
+              0.24730360860350262,
+              0.29889370776909197,
+              1.050005407064694
+            ],
+            "finger_midpoint": [
+              0.25346772323647854,
+              0.2866778693900769,
+              1.050005407064694
+            ],
+            "object_minus_finger_midpoint": [
+              0.006164114632975948,
+              0.012215838379015076,
+              0.0
+            ],
+            "finger_gap": 0.02736589238528026,
+            "fingertip_max_gap": 0.09165938611357688,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013682946192640162,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050005407064694,
+            "object_top_z": 1.1007898266536786,
+            "finger_top_clearance": 0.05078441958898461,
+            "fingertip_min_top_clearance": 0.01523532587669535,
+            "object_projection_between_fingers": 0.7970532153759016,
+            "object_to_finger_line_xy": 0.011006376411340208,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04832969305678844,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6985507852607266,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2596859820423848,
+              0.2973809308771649,
+              1.2417913817511748
+            ],
+            "held_position": [
+              0.265361800522016,
+              0.30193007671126204,
+              1.2393515345055146
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007672189897008692,
+            "max_held_gripper_dist": 0.007686523903574876,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002439847245660154,
+            "max_held_gripper_z_dist": 0.002596865133527082,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08807873952730383,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.265361800522016,
+              0.276333370318436,
+              1.2393515345055146
+            ],
+            "held_grasp_finger_b": [
+              0.2552500405493381,
+              0.30193007671126204,
+              1.2393515345055146
+            ],
+            "held_grasp_midpoint": [
+              0.260305920535677,
+              0.28913172351484906,
+              1.2393515345055146
+            ],
+            "held_grasp_object_position": [
+              0.265361800522016,
+              0.30193007671126204,
+              1.2393515345055146
+            ],
+            "held_grasp_finger_gap": 0.027521610924972982,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02459647170989705,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08837877852286811,
+              -0.995836585918838,
+              0.02233127072781038
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039158037411037355,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03652834922004483,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2941425241503837,
+              -0.359562639236436,
+              0.8515395703656409
+            ],
+            "target_position": [
+              0.28728982107745654,
+              -0.361513324658438,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007124936001208482,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466928694978038,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395703656409,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544022378535421,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588677752827954,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15300591643479738,
+            "release_required_pad_clearance": 0.05294338876413977,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9236492985047963,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007980108261108398,
+            "max_z_decrease": 0.007980108261108398,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512728146139331,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007980108261108398,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021042572379791867,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007980108261108398,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007980131552514027,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14298973977565765,
+              -0.4177747964859009,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14298973977565765,
+              -0.4177747964859009,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14239382907644618,
+              -0.41707757548383334,
+              0.8081180190734506
+            ],
+            "closest_button": [
+              0.14298446476459503,
+              -0.4177747964859008,
+              0.7730026245117188
+            ],
+            "closest_ee_minus_button": [
+              -0.0005906356881488495,
+              0.0006972210020674829,
+              0.03511539456173185
+            ],
+            "button_min_z_position": [
+              0.1429707556962967,
+              -0.417771428823471,
+              0.7688287496566772
+            ],
+            "min_active_finger_to_button": 0.14637959401462067,
+            "closest_active_finger": [
+              0.01612085849046707,
+              -0.48225653171539307,
+              0.8105691075325012
+            ],
+            "closest_active_finger_button": [
+              0.14298985898494718,
+              -0.4177745878696441,
+              0.7763153314590454
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1268690004944801,
+              -0.06448194384574896,
+              0.03425377607345581
+            ],
+            "min_contact_pad_to_button": 0.021042572379791867,
+            "closest_contact_pad": [
+              0.1429707556962967,
+              -0.41797606900626094,
+              0.78987032694438
+            ],
+            "closest_contact_pad_button": [
+              0.1429707556962967,
+              -0.417771428823471,
+              0.7688287496566772
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00020464018278992802,
+              0.02104157728770273
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "410c65775a5ba74eb71fcbfdeec032d5e9338022283277f13c8999e5108225b7",
+    "visual_seed": 2532070642059949150,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..552491d3496fc52e8f4b951a828bbb273cc7d590
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2598993524238731,
+              0.29167280224579983,
+              1.0526318425577235
+            ],
+            "current_z": 1.0526318425577235,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.19152527493831262,
+            "gripper_z": 1.0552222978461798,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25452177384320845,
+              0.2866721343150613,
+              1.0552222978461798
+            ],
+            "object_minus_gripper": [
+              0.0053775785806646215,
+              0.005000667930738556,
+              -0.0025904552884563614
+            ],
+            "object_to_gripper_xy": 0.007343366472180178,
+            "object_to_gripper_z": -0.0025904552884563614,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2598993524238731,
+              0.2670031947537038,
+              1.0526318425577235
+            ],
+            "finger_b": [
+              0.24786139917155642,
+              0.29167280224579983,
+              1.0526318425577235
+            ],
+            "finger_midpoint": [
+              0.2538803757977147,
+              0.2793379984997518,
+              1.0526318425577235
+            ],
+            "object_minus_finger_midpoint": [
+              0.006018976626158357,
+              0.012334803746048006,
+              0.0
+            ],
+            "finger_gap": 0.027449988202530088,
+            "fingertip_max_gap": 0.09071534316724861,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013724994101265054,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0526318425577235,
+            "object_top_z": 1.102677369835086,
+            "finger_top_clearance": 0.050045527277362556,
+            "fingertip_min_top_clearance": 0.015013658183208732,
+            "object_projection_between_fingers": 0.8076815364700607,
+            "object_to_finger_line_xy": 0.010818641507302369,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047857671583624306,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.35332399753103566,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2596937010583137,
+              0.29034284395983945,
+              1.2428374703540475
+            ],
+            "held_position": [
+              0.2653850775957638,
+              0.2949189097942339,
+              1.2401133654055032
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007794414229589876,
+            "max_held_gripper_dist": 0.0078090249995654915,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002724104948544248,
+            "max_held_gripper_z_dist": 0.0028754455984425498,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0873761114113934,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2653850775957638,
+              0.26937022749525563,
+              1.2401133654055032
+            ],
+            "held_grasp_finger_b": [
+              0.2551951825462747,
+              0.2949189097942339,
+              1.2401133654055032
+            ],
+            "held_grasp_midpoint": [
+              0.26029013007101925,
+              0.2821445686447448,
+              1.2401133654055032
+            ],
+            "held_grasp_object_position": [
+              0.2653850775957638,
+              0.2949189097942339,
+              1.2401133654055032
+            ],
+            "held_grasp_finger_gap": 0.027505801721341046,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02469599266043126,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07613905537371116,
+              -0.9969923828468942,
+              0.014457966387810828
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041118081505653395,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03659640475645408,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2952414557506524,
+              -0.35694709452249707,
+              0.8515395502060281
+            ],
+            "target_position": [
+              0.2879799502031764,
+              -0.3593199659435335,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007639370497416414,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18370331660557981,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395502060281,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582560353611546,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525582945927888,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1513640528369818,
+            "release_required_pad_clearance": 0.052627914729639444,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3165175355435244,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007887542247772217,
+            "max_z_decrease": 0.007887542247772217,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517963883932841,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007887542247772217,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02123988642378506,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007887542247772217,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007887562100342875,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14367987215518951,
+              -0.41558143496513367,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14367987215518951,
+              -0.41558143496513367,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14263108444943517,
+              -0.41761827643488786,
+              0.8081803110758015
+            ],
+            "closest_button": [
+              0.14367049932479858,
+              -0.41558292508125305,
+              0.7730749845504761
+            ],
+            "closest_ee_minus_button": [
+              -0.0010394148753634092,
+              -0.0020353513536348067,
+              0.03510532652532539
+            ],
+            "button_min_z_position": [
+              0.14366257190704346,
+              -0.4155777096748352,
+              0.7689213156700134
+            ],
+            "min_active_finger_to_button": 0.1469753072685886,
+            "closest_active_finger": [
+              0.0013643577694892883,
+              -0.4023500680923462,
+              0.8106462359428406
+            ],
+            "closest_active_finger_button": [
+              0.14367887377738953,
+              -0.41558200120925903,
+              0.776393711566925
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14231451600790024,
+              0.013231933116912842,
+              0.03425252437591553
+            ],
+            "min_contact_pad_to_button": 0.02123988642378506,
+            "closest_contact_pad": [
+              0.14366257190704346,
+              -0.4187054422509071,
+              0.7899296488791918
+            ],
+            "closest_contact_pad_button": [
+              0.14366257190704346,
+              -0.4155777096748352,
+              0.7689213156700134
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031277325760719066,
+              0.021008333209178387
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ffa3878f2c46e44c523c9ff1f9910bf03dd6d19bd07886631ca5a7f0a81415c5",
+    "visual_seed": 1076945475504167326,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..29f9c635e1d8947a18656794d4c12ef9a860b01c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25931860632900827,
+              0.2924402260750547,
+              1.0515127908654873
+            ],
+            "current_z": 1.0515127908654873,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.1904059848274975,
+            "gripper_z": 1.0541837977774344,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25385749287172044,
+              0.28739507363155625,
+              1.0541837977774344
+            ],
+            "object_minus_gripper": [
+              0.005461113457287836,
+              0.005045152443498457,
+              -0.0026710069119471047
+            ],
+            "object_to_gripper_xy": 0.00743487211534326,
+            "object_to_gripper_z": -0.0026710069119471047,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25931860632900827,
+              0.2677158062206901,
+              1.0515127908654873
+            ],
+            "finger_b": [
+              0.2472121610483862,
+              0.2924402260750547,
+              1.0515127908654873
+            ],
+            "finger_midpoint": [
+              0.2532653836886972,
+              0.2800780161478724,
+              1.0515127908654873
+            ],
+            "object_minus_finger_midpoint": [
+              0.006053222640311051,
+              0.012362209927182288,
+              0.0
+            ],
+            "finger_gap": 0.02752931082442124,
+            "fingertip_max_gap": 0.09066492035580628,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013764655412210601,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0515127908654873,
+            "object_top_z": 1.101584788567748,
+            "finger_top_clearance": 0.050071997702260784,
+            "fingertip_min_top_clearance": 0.015021599310678235,
+            "object_projection_between_fingers": 0.8066061727008942,
+            "object_to_finger_line_xy": 0.01087295057878675,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047832460177903144,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.28502830681289476,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2589828599456596,
+              0.29120712295104484,
+              1.2421986527246585
+            ],
+            "held_position": [
+              0.2647525358933206,
+              0.2958291891527441,
+              1.2394004563697707
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007904591030180833,
+            "max_held_gripper_dist": 0.007919756937070227,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002798196354887761,
+            "max_held_gripper_z_dist": 0.002951237173940635,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08793739474357556,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2647525358933206,
+              0.2702549247243448,
+              1.2394004563697707
+            ],
+            "held_grasp_finger_b": [
+              0.25443957176909027,
+              0.2958291891527441,
+              1.2394004563697707
+            ],
+            "held_grasp_midpoint": [
+              0.25959605383120543,
+              0.28304205693854445,
+              1.2394004563697707
+            ],
+            "held_grasp_object_position": [
+              0.2647525358933206,
+              0.2958291891527441,
+              1.2394004563697707
+            ],
+            "held_grasp_finger_gap": 0.0275753554842245,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02475573457798875,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07257190863252962,
+              -0.9972590273142525,
+              0.014413553262913159
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004219044664477996,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03659395129094649,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3036989528043713,
+              -0.3587179897256487,
+              0.8515395613454675
+            ],
+            "target_position": [
+              0.2960926954251761,
+              -0.3611705742739843,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007991891033122037,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1856213825837551,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395613454675,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568466589885332,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0850484610019877,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15350480872244507,
+            "release_required_pad_clearance": 0.05252423050099385,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11869404891874423,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008157789707183838,
+            "max_z_decrease": 0.008157789707183838,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035061501143645826,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008157789707183838,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0208690212434246,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008157789707183838,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008157872591743241,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15179261565208435,
+              -0.41743203997611994,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15179261565208435,
+              -0.41743203997611994,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15053608806372518,
+              -0.4161460995498223,
+              0.8036658639979088
+            ],
+            "closest_button": [
+              0.15182533860206604,
+              -0.41741526126861567,
+              0.7686510682106018
+            ],
+            "closest_ee_minus_button": [
+              -0.0012892505383408637,
+              0.0012691617187933768,
+              0.03501479578730704
+            ],
+            "button_min_z_position": [
+              0.15182533860206604,
+              -0.41741526126861567,
+              0.7686510682106018
+            ],
+            "min_active_finger_to_button": 0.1462854062903996,
+            "closest_active_finger": [
+              0.02363956719636917,
+              -0.47917723655700684,
+              0.8107417225837708
+            ],
+            "closest_active_finger_button": [
+              0.15179283916950226,
+              -0.4174324870109558,
+              0.7766280174255371
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1281532719731331,
+              -0.061744749546051025,
+              0.03411370515823364
+            ],
+            "min_contact_pad_to_button": 0.0208690212434246,
+            "closest_contact_pad": [
+              0.15182533860206604,
+              -0.41741526126861567,
+              0.7895200894540264
+            ],
+            "closest_contact_pad_button": [
+              0.15182533860206604,
+              -0.41741526126861567,
+              0.7686510682106018
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0208690212434246
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6a2581ef684cc0d2f8e89064f716b295c60be21bbfd1f8085720f7b301b0b26a",
+    "visual_seed": 148096153214940044,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d4f070b39e1bc9d8ff6826944e68cd4fafbc11be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2623266164454158,
+              0.29800135873760486,
+              1.0527733527996412
+            ],
+            "current_z": 1.0527733527996412,
+            "required_z": 0.8611063292008317,
+            "initial_z": 0.7611063292008318,
+            "lift_margin": 0.1916670235988095,
+            "gripper_z": 1.0552108213716536,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25678468185648873,
+              0.29285852718898975,
+              1.0552108213716536
+            ],
+            "object_minus_gripper": [
+              0.005541934588927044,
+              0.005142831548615112,
+              -0.0024374685720123246
+            ],
+            "object_to_gripper_xy": 0.007560539354131878,
+            "object_to_gripper_z": -0.0024374685720123246,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2623266164454158,
+              0.2733069151206703,
+              1.0527733527996412
+            ],
+            "finger_b": [
+              0.24996588580603613,
+              0.29800135873760486,
+              1.0527733527996412
+            ],
+            "finger_midpoint": [
+              0.256146251125726,
+              0.28565413692913755,
+              1.0527733527996412
+            ],
+            "object_minus_finger_midpoint": [
+              0.006180365319689796,
+              0.012347221808467312,
+              0.0
+            ],
+            "finger_gap": 0.02761527127314268,
+            "fingertip_max_gap": 0.09010255252124477,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013807635636571352,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0527733527996412,
+            "object_top_z": 1.1025499433687305,
+            "finger_top_clearance": 0.04977659056908923,
+            "fingertip_min_top_clearance": 0.0149329771707268,
+            "object_projection_between_fingers": 0.7996498566504512,
+            "object_to_finger_line_xy": 0.011053353878697526,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04755127626062239,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.11729912810619016,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26209217015593045,
+              0.29672466735187675,
+              1.2451564088860112
+            ],
+            "held_position": [
+              0.2679975842452418,
+              0.3013961573790611,
+              1.2426187576010324
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007945842226251072,
+            "max_held_gripper_dist": 0.007958932661789866,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002537651284978848,
+            "max_held_gripper_z_dist": 0.002700566654050496,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08793891792211697,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2679975842452418,
+              0.27573017516992515,
+              1.2426187576010324
+            ],
+            "held_grasp_finger_b": [
+              0.25755162699061573,
+              0.3013961573790611,
+              1.2426187576010324
+            ],
+            "held_grasp_midpoint": [
+              0.26277460561792876,
+              0.28856316627449313,
+              1.2426187576010324
+            ],
+            "held_grasp_object_position": [
+              0.2679975842452418,
+              0.3013961573790611,
+              1.2426187576010324
+            ],
+            "held_grasp_finger_gap": 0.027710298910786912,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02475498123670293,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07933093022613509,
+              -0.996792896307245,
+              0.010513105196372939
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004190707073541898,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036514071945631665,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2994790808265271,
+              -0.3598983207950471,
+              0.8515396041707859
+            ],
+            "target_position": [
+              0.2915408521132958,
+              -0.36235271391826435,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008309002389388635,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18462661851076267,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396041707859,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523157419043726,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635954496696684,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15362725081149475,
+            "release_required_pad_clearance": 0.05317977248348342,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3830755898627287,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00810384750366211,
+            "max_z_decrease": 0.00810384750366211,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515752795394505,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00810384750366211,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02095441058750047,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00810384750366211,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008103866290449735,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1472407728433609,
+              -0.4186141788959503,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1472407728433609,
+              -0.4186141788959503,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14692316265068553,
+              -0.4165685615748903,
+              0.8038022488868737
+            ],
+            "closest_button": [
+              0.14725133776664734,
+              -0.41860029101371765,
+              0.7687050104141235
+            ],
+            "closest_ee_minus_button": [
+              -0.0003281751159618096,
+              0.0020317294388273455,
+              0.03509723847275015
+            ],
+            "button_min_z_position": [
+              0.14725133776664734,
+              -0.41860029101371765,
+              0.7687050104141235
+            ],
+            "min_active_finger_to_button": 0.1451697581139057,
+            "closest_active_finger": [
+              0.019348472356796265,
+              -0.47822412848472595,
+              0.8108248710632324
+            ],
+            "closest_active_finger_button": [
+              0.14724351465702057,
+              -0.4186137914657593,
+              0.7767114639282227
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1278950423002243,
+              -0.059610337018966675,
+              0.034113407135009766
+            ],
+            "min_contact_pad_to_button": 0.02095441058750047,
+            "closest_contact_pad": [
+              0.14725133776664734,
+              -0.41860029101371765,
+              0.789659421001624
+            ],
+            "closest_contact_pad_button": [
+              0.14725133776664734,
+              -0.41860029101371765,
+              0.7687050104141235
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02095441058750047
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b92af609a5c323d949fc84315d6992159db5bfe092169c495268ae082fe9bc90",
+    "visual_seed": 3642453011061909989,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_16_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a781d6ecf7da278771cc8d60a9ccc6016bc24c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_16_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 16,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2665379707868435,
+              0.29342353579603053,
+              1.0529775514113902
+            ],
+            "current_z": 1.0529775514113902,
+            "required_z": 0.8611065676194105,
+            "initial_z": 0.7611065676194105,
+            "lift_margin": 0.19187098379197964,
+            "gripper_z": 1.0553957638522646,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2612614826210413,
+              0.2885353513740968,
+              1.0553957638522646
+            ],
+            "object_minus_gripper": [
+              0.005276488165802173,
+              0.004888184421933728,
+              -0.0024182124408744787
+            ],
+            "object_to_gripper_xy": 0.007192751511534787,
+            "object_to_gripper_z": -0.0024182124408744787,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2665379707868435,
+              0.2687344209471994,
+              1.0529775514113902
+            ],
+            "finger_b": [
+              0.2547703910657426,
+              0.29342353579603053,
+              1.0529775514113902
+            ],
+            "finger_midpoint": [
+              0.26065418092629306,
+              0.281078978371615,
+              1.0529775514113902
+            ],
+            "object_minus_finger_midpoint": [
+              0.005883789860550437,
+              0.012344557424415536,
+              0.0
+            ],
+            "finger_gap": 0.02735010648080256,
+            "fingertip_max_gap": 0.09281969813344249,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013675053240401256,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0529775514113902,
+            "object_top_z": 1.1043641632506467,
+            "finger_top_clearance": 0.051386611839256524,
+            "fingertip_min_top_clearance": 0.015415983551776924,
+            "object_projection_between_fingers": 0.8148787579896193,
+            "object_to_finger_line_xy": 0.010622668962220092,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048909849066721245,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0739588094988708,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2666858308134923,
+              0.2918996056411557,
+              1.245298480411664
+            ],
+            "held_position": [
+              0.2722695356330358,
+              0.2963787507820003,
+              1.2427763971729147
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007589558917863802,
+            "max_held_gripper_dist": 0.007603813528270021,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002522083238749362,
+            "max_held_gripper_z_dist": 0.0026769674109765607,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0871108206494868,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2722695356330358,
+              0.2708235386333204,
+              1.2427763971729147
+            ],
+            "held_grasp_finger_b": [
+              0.2622756443798052,
+              0.2963787507820003,
+              1.2427763971729147
+            ],
+            "held_grasp_midpoint": [
+              0.2672725900064205,
+              0.2836011447076604,
+              1.2427763971729147
+            ],
+            "held_grasp_object_position": [
+              0.2722695356330358,
+              0.2963787507820003,
+              1.2427763971729147
+            ],
+            "held_grasp_finger_gap": 0.027439874823793113,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024746142108098043,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07303985717544646,
+              -0.9969040503221557,
+              0.02911174531132188
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004067856833428859,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03661722662628314,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29607037324566454,
+              -0.3550093118382985,
+              0.8515395691376599
+            ],
+            "target_position": [
+              0.29004606234726854,
+              -0.356423896971184,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006188163935992124,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1853088372638204,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376599,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755465926649147,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15335381024660164,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008054971694946289,
+            "max_z_decrease": 0.008054971694946289,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515710602448211,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008054971694946289,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021004285150119307,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008054971694946289,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008054978840145843,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14574599266052246,
+              -0.412685364484787,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14574599266052246,
+              -0.412685364484787,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14424720789145618,
+              -0.41206475532942427,
+              0.8070329604985813
+            ],
+            "closest_button": [
+              0.14573267102241516,
+              -0.4126797318458557,
+              0.7719126343727112
+            ],
+            "closest_ee_minus_button": [
+              -0.001485463130958986,
+              0.0006149765164314425,
+              0.03512032612587013
+            ],
+            "button_min_z_position": [
+              0.14573857188224792,
+              -0.4126776158809662,
+              0.7687538862228394
+            ],
+            "min_active_finger_to_button": 0.14711547505325068,
+            "closest_active_finger": [
+              0.01749100536108017,
+              -0.47612160444259644,
+              0.8107315897941589
+            ],
+            "closest_active_finger_button": [
+              0.1457463800907135,
+              -0.4126867651939392,
+              0.7765330076217651
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12825537472963333,
+              -0.06343483924865723,
+              0.0341985821723938
+            ],
+            "min_contact_pad_to_button": 0.021004285150119307,
+            "closest_contact_pad": [
+              0.14573857188224792,
+              -0.41311400938695997,
+              0.78975363753983
+            ],
+            "closest_contact_pad_button": [
+              0.14573857188224792,
+              -0.4126776158809662,
+              0.7687538862228394
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004363935059937818,
+              0.02099975131699061
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 16,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c2420a62dff2370711d2a0ddaca14bcf683e80b8f04db3383721f32ed32a224",
+    "visual_seed": 7105442163053565202,
+    "episode_index": 16,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f3006185a83470736158e61432be061765b830a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2675686176756579,
+              0.2975349751632722,
+              1.0519433088762442
+            ],
+            "current_z": 1.0519433088762442,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19083674125683348,
+            "gripper_z": 1.0540895086734188,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26212654583088835,
+              0.2924095521924276,
+              1.0540895086734188
+            ],
+            "object_minus_gripper": [
+              0.00544207184476958,
+              0.0051254229708446175,
+              -0.002146199797174564
+            ],
+            "object_to_gripper_xy": 0.007475701077069324,
+            "object_to_gripper_z": -0.002146199797174564,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2675686176756579,
+              0.2729306491372011,
+              1.0519433088762442
+            ],
+            "finger_b": [
+              0.2552121227953602,
+              0.2975349751632722,
+              1.0519433088762442
+            ],
+            "finger_midpoint": [
+              0.26139037023550904,
+              0.28523281215023666,
+              1.0519433088762442
+            ],
+            "object_minus_finger_midpoint": [
+              0.006178247440148887,
+              0.01230216301303555,
+              0.0
+            ],
+            "finger_gap": 0.027532813603480907,
+            "fingertip_max_gap": 0.09128234860280068,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013766406801740468,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0519433088762442,
+            "object_top_z": 1.1023691811801504,
+            "finger_top_clearance": 0.05042587230390616,
+            "fingertip_min_top_clearance": 0.015127761691171814,
+            "object_projection_between_fingers": 0.798586118981242,
+            "object_to_finger_line_xy": 0.011042214317532982,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048141174301400344,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.48249238074056494,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.267458504961362,
+              0.29603960124779666,
+              1.2427804390048607
+            ],
+            "held_position": [
+              0.27328381296569054,
+              0.30067833707256986,
+              1.2405191928125778
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077823722436955204,
+            "max_held_gripper_dist": 0.007795340702429144,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002261246192282851,
+            "max_held_gripper_z_dist": 0.002424287589271712,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08798513905870065,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27328381296569054,
+              0.2750300025173637,
+              1.2405191928125778
+            ],
+            "held_grasp_finger_b": [
+              0.26297283086931256,
+              0.30067833707256986,
+              1.2405191928125778
+            ],
+            "held_grasp_midpoint": [
+              0.2681283219175016,
+              0.2878541697949668,
+              1.2405191928125778
+            ],
+            "held_grasp_object_position": [
+              0.27328381296569054,
+              0.30067833707256986,
+              1.2405191928125778
+            ],
+            "held_grasp_finger_gap": 0.027643325003472528,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024669376666578622,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08544476439918125,
+              -0.9961814888031996,
+              0.017934146274897866
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004047644064142922,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036504542300856556,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29790681485614523,
+              -0.35481590653490225,
+              0.8515396083601274
+            ],
+            "target_position": [
+              0.2899810826615991,
+              -0.35746329619980854,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008356189493873241,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18542473274262736,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396083601274,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565597091234806,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08555280707909933,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533948416804207,
+            "release_required_pad_clearance": 0.05277640353954967,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6013317835644433,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007820188999176025,
+            "max_z_decrease": 0.007820188999176025,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520739739600966,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007820188999176025,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021028822525283375,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007820188999176025,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007820213164574779,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1456810086965561,
+              -0.4137247502803802,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1456810086965561,
+              -0.4137247502803802,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14458263256288226,
+              -0.4118334315058131,
+              0.8081613090501435
+            ],
+            "closest_button": [
+              0.14566916227340695,
+              -0.4137287437915802,
+              0.7730217576026917
+            ],
+            "closest_ee_minus_button": [
+              -0.0010865297105246974,
+              0.0018953122857671145,
+              0.035139551447451844
+            ],
+            "button_min_z_position": [
+              0.1456615924835205,
+              -0.41372376680374146,
+              0.7689886689186096
+            ],
+            "min_active_finger_to_button": 0.14630722521358003,
+            "closest_active_finger": [
+              0.016220159828662872,
+              -0.47273993492126465,
+              0.8104230165481567
+            ],
+            "closest_active_finger_button": [
+              0.14568087458610535,
+              -0.4137260615825653,
+              0.7763189077377319
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12946071475744247,
+              -0.05901387333869934,
+              0.034104108810424805
+            ],
+            "min_contact_pad_to_button": 0.021028822525283375,
+            "closest_contact_pad": [
+              0.1456615924835205,
+              -0.41372376680374146,
+              0.790017491443893
+            ],
+            "closest_contact_pad_button": [
+              0.1456615924835205,
+              -0.41372376680374146,
+              0.7689886689186096
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021028822525283375
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c2f4908c8c092ec8cac188e3176f66496d049680619bea699b1307e0a5d8eb39",
+    "visual_seed": 7793446681791871559,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c257d649dcd1eb30646ab37207b4e3e8c550a595
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.258999218007386,
+              0.30317735511348864,
+              1.0520926790271756
+            ],
+            "current_z": 1.0520926790271756,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.19098587298918568,
+            "gripper_z": 1.0546276613135204,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25354911114701073,
+              0.2980296815254156,
+              1.0546276613135204
+            ],
+            "object_minus_gripper": [
+              0.005450106860375281,
+              0.005147673588073054,
+              -0.0025349822863447447
+            ],
+            "object_to_gripper_xy": 0.007496813200210781,
+            "object_to_gripper_z": -0.0025349822863447447,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.258999218007386,
+              0.2786049698249989,
+              1.0520926790271756
+            ],
+            "finger_b": [
+              0.24655605121631624,
+              0.30317735511348864,
+              1.0520926790271756
+            ],
+            "finger_midpoint": [
+              0.2527776346118511,
+              0.29089116246924374,
+              1.0520926790271756
+            ],
+            "object_minus_finger_midpoint": [
+              0.006221583395534913,
+              0.012286192644244909,
+              0.0
+            ],
+            "finger_gap": 0.027543320761236646,
+            "fingertip_max_gap": 0.09105923014785686,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01377166038061836,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0520926790271756,
+            "object_top_z": 1.102565571613619,
+            "finger_top_clearance": 0.050472892586443274,
+            "fingertip_min_top_clearance": 0.015141867775932981,
+            "object_projection_between_fingers": 0.7959064661531389,
+            "object_to_finger_line_xy": 0.011100995818536847,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04802961507392843,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5426172466571438,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25893343748436926,
+              0.3015005490066873,
+              1.241461614012864
+            ],
+            "held_position": [
+              0.2647827831986893,
+              0.30612336022027664,
+              1.2387764529890697
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007924349722584548,
+            "max_held_gripper_dist": 0.007939763332292111,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002685161023794347,
+            "max_held_gripper_z_dist": 0.002849625188652727,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08807891470907492,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2647827831986893,
+              0.2804453306652939,
+              1.2387764529890697
+            ],
+            "held_grasp_finger_b": [
+              0.2545797791708696,
+              0.30612336022027664,
+              1.2387764529890697
+            ],
+            "held_grasp_midpoint": [
+              0.25968128118477946,
+              0.29328434544278525,
+              1.2387764529890697
+            ],
+            "held_grasp_object_position": [
+              0.2647827831986893,
+              0.30612336022027664,
+              1.2387764529890697
+            ],
+            "held_grasp_finger_gap": 0.027630825051349284,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024685668000863654,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08713809558031443,
+              -0.9959774478132987,
+              0.02087763746078397
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003972698173206701,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03648834572948075,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30444536194174976,
+              -0.3609053969765696,
+              0.8515395777624233
+            ],
+            "target_position": [
+              0.2966576725501397,
+              -0.36319415965231966,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008117052460474956,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18661038226022594,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395777624233,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528700272260262,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08654566201839674,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1554416364485386,
+            "release_required_pad_clearance": 0.05327283100919837,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5651941817695905,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 152,
+            "max_placed_release_frames": 152
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008071303367614746,
+            "max_z_decrease": 0.008071303367614746,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035145784877183374,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008071303367614746,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020990852174895963,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008071303367614746,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008071310546059494,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15235759317874903,
+              -0.41945561766624456,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15235759317874903,
+              -0.41945561766624456,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.152513302768814,
+              -0.4185799446652093,
+              0.8082013088450102
+            ],
+            "closest_button": [
+              0.15234850347042078,
+              -0.41945791244506836,
+              0.7730668783187866
+            ],
+            "closest_ee_minus_button": [
+              0.00016479929839322005,
+              0.0008779677798590457,
+              0.03513443052622356
+            ],
+            "button_min_z_position": [
+              0.15235616266727442,
+              -0.4194449484348297,
+              0.7687375545501709
+            ],
+            "min_active_finger_to_button": 0.14561546082079527,
+            "closest_active_finger": [
+              0.02607746422290802,
+              -0.4834144115447998,
+              0.8105802536010742
+            ],
+            "closest_active_finger_button": [
+              0.1523572355508804,
+              -0.4194563031196594,
+              0.7764241099357605
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12627977132797238,
+              -0.06395810842514038,
+              0.03415614366531372
+            ],
+            "min_contact_pad_to_button": 0.020990852174895963,
+            "closest_contact_pad": [
+              0.15235616266727442,
+              -0.41946062469168754,
+              0.789728400871444
+            ],
+            "closest_contact_pad_button": [
+              0.15235616266727442,
+              -0.4194449484348297,
+              0.7687375545501709
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -1.5676256857832804e-05,
+              0.020990846321273127
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7743c47183b500d6f51f54e3066ffd4ca2a102baf6b27970319dd686d4f7e167",
+    "visual_seed": 8696967870267870341,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1993fd7aee138d2012de91973018071fa63d296a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26068069757466283,
+              0.2937765656581455,
+              1.0514882809346733
+            ],
+            "current_z": 1.0514882809346733,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.19038165371061777,
+            "gripper_z": 1.0539675902688301,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2552745019856084,
+              0.28886999778159184,
+              1.0539675902688301
+            ],
+            "object_minus_gripper": [
+              0.005406195589054419,
+              0.004906567876553691,
+              -0.002479309334156854
+            ],
+            "object_to_gripper_xy": 0.007300777977335022,
+            "object_to_gripper_z": -0.002479309334156854,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26068069757466283,
+              0.2689341977648225,
+              1.0514882809346733
+            ],
+            "finger_b": [
+              0.24897564743057815,
+              0.2937765656581455,
+              1.0514882809346733
+            ],
+            "finger_midpoint": [
+              0.25482817250262046,
+              0.281355381711484,
+              1.0514882809346733
+            ],
+            "object_minus_finger_midpoint": [
+              0.005852525072042369,
+              0.01242118394666153,
+              0.0
+            ],
+            "finger_gap": 0.02746181788270293,
+            "fingertip_max_gap": 0.09234298190227008,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013730908941351502,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0514882809346733,
+            "object_top_z": 1.1024154426136312,
+            "finger_top_clearance": 0.050927161678957944,
+            "fingertip_min_top_clearance": 0.015278148503687349,
+            "object_projection_between_fingers": 0.8183280023743448,
+            "object_to_finger_line_xy": 0.010588562022046479,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048671490951135044,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8060236605059041,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26031866862513175,
+              0.2928089738536066,
+              1.2428923348957754
+            ],
+            "held_position": [
+              0.26596739481249243,
+              0.2973825642344849,
+              1.2403074045799998
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007714123491962829,
+            "max_held_gripper_dist": 0.007727863890717265,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025849303157756687,
+            "max_held_gripper_z_dist": 0.0027385329413367465,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867429505507043,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26596739481249243,
+              0.2718836444693369,
+              1.2403074045799998
+            ],
+            "held_grasp_finger_b": [
+              0.2556924112329343,
+              0.2973825642344849,
+              1.2403074045799998
+            ],
+            "held_grasp_midpoint": [
+              0.26082990302271336,
+              0.2846331043519109,
+              1.2403074045799998
+            ],
+            "held_grasp_object_position": [
+              0.26596739481249243,
+              0.2973825642344849,
+              1.2403074045799998
+            ],
+            "held_grasp_finger_gap": 0.02749127492041148,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024808692313061827,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.061821573935434374,
+              -0.9978425833116137,
+              0.022096875936455485
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004348836269306895,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03668068825651512,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29864032303850685,
+              -0.3548945775018067,
+              0.8515395946770824
+            ],
+            "target_position": [
+              0.29271396906790886,
+              -0.35618537848106474,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006065297894817372,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1847514764155131,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395946770824,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529253356115916,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551216572207819,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15343782071349021,
+            "release_required_pad_clearance": 0.0527560828610391,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5623203426514919,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008044600486755371,
+            "max_z_decrease": 0.008044600486755371,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513161374316926,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008044600486755371,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021077235425745314,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008044600486755371,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008044614237756004,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14841389656066897,
+              -0.4124468266963959,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14841389656066897,
+              -0.4124468266963959,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14825756238837054,
+              -0.41306093997827203,
+              0.8080420012003565
+            ],
+            "closest_button": [
+              0.14840573072433477,
+              -0.4124496281147003,
+              0.7729160189628601
+            ],
+            "closest_ee_minus_button": [
+              -0.00014816833596423273,
+              -0.0006113118635717174,
+              0.03512598223749641
+            ],
+            "button_min_z_position": [
+              0.14840056002140048,
+              -0.4124402403831482,
+              0.7687642574310303
+            ],
+            "min_active_finger_to_button": 0.1462505807955119,
+            "closest_active_finger": [
+              0.006888724863529205,
+              -0.3988024592399597,
+              0.8110710382461548
+            ],
+            "closest_active_finger_button": [
+              0.148412898182869,
+              -0.4124482274055481,
+              0.7768083214759827
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1415241733193398,
+              0.013645768165588379,
+              0.03426271677017212
+            ],
+            "min_contact_pad_to_button": 0.021077235425745314,
+            "closest_contact_pad": [
+              0.14840056002140048,
+              -0.41402854682918755,
+              0.7897815630581977
+            ],
+            "closest_contact_pad_button": [
+              0.14840056002140048,
+              -0.4124402403831482,
+              0.7687642574310303
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015883064460393559,
+              0.021017305627167415
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b8b8debef5f0d757c1d052a1efe0ebc9effeb5230d6b0eb965b407b9fd570eb1",
+    "visual_seed": 5315615205521909986,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_1_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a04aa2562c307e5abdadab3bb05c99015460fea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_1_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 1,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26364594808092723,
+              0.2988046960238387,
+              1.05125177867497
+            ],
+            "current_z": 1.05125177867497,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.1901450918462696,
+            "gripper_z": 1.053767233742052,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25827775687096644,
+              0.29381611064292734,
+              1.053767233742052
+            ],
+            "object_minus_gripper": [
+              0.005368191209960793,
+              0.004988585380911348,
+              -0.002515455067082062
+            ],
+            "object_to_gripper_xy": 0.007328264526430712,
+            "object_to_gripper_z": -0.002515455067082062,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26364594808092723,
+              0.27412568127390396,
+              1.05125177867497
+            ],
+            "finger_b": [
+              0.25164493193263393,
+              0.2988046960238387,
+              1.05125177867497
+            ],
+            "finger_midpoint": [
+              0.2576454400067806,
+              0.2864651886488713,
+              1.05125177867497
+            ],
+            "object_minus_finger_midpoint": [
+              0.006000508074146649,
+              0.012339507374967362,
+              0.0
+            ],
+            "finger_gap": 0.027442269542060332,
+            "fingertip_max_gap": 0.091071591987538,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013721134771030166,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.05125177867497,
+            "object_top_z": 1.1015311278608757,
+            "finger_top_clearance": 0.05027934918590571,
+            "fingertip_min_top_clearance": 0.015083804755771745,
+            "object_projection_between_fingers": 0.8087524022115588,
+            "object_to_finger_line_xy": 0.010792593305156334,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048035795993769004,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.45771758287825415,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26358538915235363,
+              0.2974761372483706,
+              1.2439379514507365
+            ],
+            "held_position": [
+              0.269284318279154,
+              0.30203807523170745,
+              1.2413331344201426
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007750751132566269,
+            "max_held_gripper_dist": 0.007765785171581646,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002604817030593898,
+            "max_held_gripper_z_dist": 0.002764888592353687,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08728477861628964,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.269284318279154,
+              0.2764575998567303,
+              1.2413331344201426
+            ],
+            "held_grasp_finger_b": [
+              0.2590690549269451,
+              0.30203807523170745,
+              1.2413331344201426
+            ],
+            "held_grasp_midpoint": [
+              0.26417668660304955,
+              0.2892478375442189,
+              1.2413331344201426
+            ],
+            "held_grasp_object_position": [
+              0.269284318279154,
+              0.30203807523170745,
+              1.2413331344201426
+            ],
+            "held_grasp_finger_gap": 0.027544733176503904,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02471913782618456,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07663843661735317,
+              -0.9969329836645059,
+              0.015848536671699054
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004117532070889848,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036577799344054945,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2997411242857023,
+              -0.35824801069819845,
+              0.8515395642285671
+            ],
+            "target_position": [
+              0.29228938332921583,
+              -0.36046259840368383,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007773856313816531,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18568113011268061,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395642285671,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547240133926532,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08542261182159987,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15402390496773322,
+            "release_required_pad_clearance": 0.052711305910799935,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.47642220118467415,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008139252662658691,
+            "max_z_decrease": 0.008139252662658691,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508700772421084,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008139252662658691,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020932881185770944,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008139252662658691,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008139301128021756,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14798930287361145,
+              -0.41672405600547785,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14798930287361145,
+              -0.41672405600547785,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14932601594626208,
+              -0.41629168794187094,
+              0.8037294538310954
+            ],
+            "closest_button": [
+              0.14800868928432465,
+              -0.41670373082160944,
+              0.768669605255127
+            ],
+            "closest_ee_minus_button": [
+              0.001317326661937429,
+              0.0004120428797385056,
+              0.035059848575968444
+            ],
+            "button_min_z_position": [
+              0.14800868928432465,
+              -0.41670373082160944,
+              0.768669605255127
+            ],
+            "min_active_finger_to_button": 0.1443916697880277,
+            "closest_active_finger": [
+              0.0222381129860878,
+              -0.4789420962333679,
+              0.8107998371124268
+            ],
+            "closest_active_finger_button": [
+              0.1479906439781189,
+              -0.41672429442405695,
+              0.7766794562339783
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1257525309920311,
+              -0.06221780180931097,
+              0.034120380878448486
+            ],
+            "min_contact_pad_to_button": 0.020932881185770944,
+            "closest_contact_pad": [
+              0.14800868928432465,
+              -0.41750477971004357,
+              0.789587153759097
+            ],
+            "closest_contact_pad_button": [
+              0.14800868928432465,
+              -0.41670373082160944,
+              0.768669605255127
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008010488884341305,
+              0.020917548503970096
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 1,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "623556ae608241000ea2338a261d39b74fe6bd61d0b06400afdbe92959e30138",
+    "visual_seed": 156454733150218704,
+    "episode_index": 1,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2becc5ce96e0ad9083db5cf608b18583096925a9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26010741880089183,
+              0.299743553951304,
+              1.0523908070915593
+            ],
+            "current_z": 1.0523908070915593,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.19128406065821424,
+            "gripper_z": 1.0547716714402668,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2548093850334456,
+              0.2948123539524621,
+              1.0547716714402668
+            ],
+            "object_minus_gripper": [
+              0.005298033767446253,
+              0.004931199998841895,
+              -0.0023808643487075454
+            ],
+            "object_to_gripper_xy": 0.007237810112843459,
+            "object_to_gripper_z": -0.0023808643487075454,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26010741880089183,
+              0.2750858127716075,
+              1.0523908070915593
+            ],
+            "finger_b": [
+              0.24822823832076946,
+              0.299743553951304,
+              1.0523908070915593
+            ],
+            "finger_midpoint": [
+              0.25416782856083064,
+              0.2874146833614557,
+              1.0523908070915593
+            ],
+            "object_minus_finger_midpoint": [
+              0.005939590240061188,
+              0.012328870589848273,
+              0.0
+            ],
+            "finger_gap": 0.027370040719082254,
+            "fingertip_max_gap": 0.09185105615248204,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013685020359541151,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0523908070915593,
+            "object_top_z": 1.1032441720601889,
+            "finger_top_clearance": 0.05085336496862958,
+            "fingertip_min_top_clearance": 0.015256009490588873,
+            "object_projection_between_fingers": 0.811625516659233,
+            "object_to_finger_line_xy": 0.010701984725274524,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842552807624102,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6593666630258761,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2599635222082892,
+              0.2987520371635572,
+              1.243315906566705
+            ],
+            "held_position": [
+              0.26555234773231984,
+              0.30329588049676065,
+              1.2408178196563509
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007623773421766696,
+            "max_held_gripper_dist": 0.007638220568426039,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002498086910354136,
+            "max_held_gripper_z_dist": 0.002656492318361181,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665920526901838,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26555234773231984,
+              0.2778151500368324,
+              1.2408178196563509
+            ],
+            "held_grasp_finger_b": [
+              0.2553800994470531,
+              0.30329588049676065,
+              1.2408178196563509
+            ],
+            "held_grasp_midpoint": [
+              0.26046622358968646,
+              0.2905555152667965,
+              1.2408178196563509
+            ],
+            "held_grasp_object_position": [
+              0.26555234773231984,
+              0.30329588049676065,
+              1.2408178196563509
+            ],
+            "held_grasp_finger_gap": 0.027436148781281762,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024744261370178752,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06631884902814796,
+              -0.9975723893967894,
+              0.021240013577261904
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004238876685996632,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03667350758669824,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.297627613079133,
+              -0.35843443379617723,
+              0.8515395974876903
+            ],
+            "target_position": [
+              0.29049766460489296,
+              -0.36061230703972413,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007455152386790982,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18282856746369688,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395974876903,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752863632863074,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569256560754933,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15175912639343808,
+            "release_required_pad_clearance": 0.052846282803774666,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7359468845328743,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007954001426696777,
+            "max_z_decrease": 0.007954001426696777,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519262135585521,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007954001426696777,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021033571231862336,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007954001426696777,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007954028059996081,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14619758725166315,
+              -0.4168737530708313,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14619758725166315,
+              -0.4168737530708313,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14536160279171745,
+              -0.4150266433390803,
+              0.8081380141463931
+            ],
+            "closest_button": [
+              0.14618614315986628,
+              -0.4168761074542999,
+              0.7730036973953247
+            ],
+            "closest_ee_minus_button": [
+              -0.0008245403681488295,
+              0.0018494641152196345,
+              0.03513431675106837
+            ],
+            "button_min_z_position": [
+              0.14617705345153806,
+              -0.4168723225593567,
+              0.7688548564910889
+            ],
+            "min_active_finger_to_button": 0.1460795766459792,
+            "closest_active_finger": [
+              0.01768229901790619,
+              -0.4773562550544739,
+              0.8104426860809326
+            ],
+            "closest_active_finger_button": [
+              0.14619694650173182,
+              -0.4168739914894104,
+              0.7763087749481201
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12851464748382563,
+              -0.06048226356506348,
+              0.0341339111328125
+            ],
+            "min_contact_pad_to_button": 0.021033571231862336,
+            "closest_contact_pad": [
+              0.14617705345153806,
+              -0.4168723225593567,
+              0.7898884277229512
+            ],
+            "closest_contact_pad_button": [
+              0.14617705345153806,
+              -0.4168723225593567,
+              0.7688548564910889
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021033571231862336
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "22b84092d28c3e9bdd1db882f1c37b0490b38c7480606d598f6c8a36668e9e62",
+    "visual_seed": 4422868379502135060,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d543e0c5d8696a376c73114a0a50dd8119adbec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2643116026805489,
+              0.29867804990671276,
+              1.0524512345278856
+            ],
+            "current_z": 1.0524512345278856,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.19134460730383018,
+            "gripper_z": 1.054591194121163,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2588494831851644,
+              0.2935513799963656,
+              1.054591194121163
+            ],
+            "object_minus_gripper": [
+              0.005462119495384499,
+              0.005126669910347159,
+              -0.0021399595932773963
+            ],
+            "object_to_gripper_xy": 0.0074911610416222105,
+            "object_to_gripper_z": -0.0021399595932773963,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2643116026805489,
+              0.274049545152682,
+              1.0524512345278856
+            ],
+            "finger_b": [
+              0.2519655931129864,
+              0.29867804990671276,
+              1.0524512345278856
+            ],
+            "finger_midpoint": [
+              0.25813859789676763,
+              0.2863637975296974,
+              1.0524512345278856
+            ],
+            "object_minus_finger_midpoint": [
+              0.006173004783781244,
+              0.012314252377015389,
+              0.0
+            ],
+            "finger_gap": 0.027549722297360114,
+            "fingertip_max_gap": 0.09030569500082322,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013774861148680057,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0524512345278856,
+            "object_top_z": 1.1022588730196408,
+            "finger_top_clearance": 0.04980763849175518,
+            "fingertip_min_top_clearance": 0.014942291547526554,
+            "object_projection_between_fingers": 0.799174541400544,
+            "object_to_finger_line_xy": 0.011036908178096558,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04765284750041161,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.24928101617320697,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26417323020241323,
+              0.29734682858336603,
+              1.2437737604350654
+            ],
+            "held_position": [
+              0.2700118363113778,
+              0.30199545285237617,
+              1.2415261167797236
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007794288350546626,
+            "max_held_gripper_dist": 0.007806785120418969,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002247643655341802,
+            "max_held_gripper_z_dist": 0.002411350255750788,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792734378358114,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2700118363113778,
+              0.27634896205646964,
+              1.2415261167797236
+            ],
+            "held_grasp_finger_b": [
+              0.2596568258834396,
+              0.30199545285237617,
+              1.2415261167797236
+            ],
+            "held_grasp_midpoint": [
+              0.2648343310974087,
+              0.2891722074544229,
+              1.2415261167797236
+            ],
+            "held_grasp_object_position": [
+              0.2700118363113778,
+              0.30199545285237617,
+              1.2415261167797236
+            ],
+            "held_grasp_finger_gap": 0.027658068101500292,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024679149157821333,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08442442113745623,
+              -0.996368864747412,
+              0.011027351339238267
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004078961586366933,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03650645972993339,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3023065688383689,
+              -0.3548756045639477,
+              0.8515396087798371
+            ],
+            "target_position": [
+              0.2933907717781636,
+              -0.3579254187229256,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009422993347289835,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18649995145389098,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396087798371,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539368440077346,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866116653563249,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1552341614032337,
+            "release_required_pad_clearance": 0.053305832678162454,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6298673489162256,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008169889450073242,
+            "max_z_decrease": 0.008169889450073242,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508889832170314,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008169889450073242,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021040653770186313,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008169889450073242,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008169970082052082,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1490906924009323,
+              -0.4141868650913238,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1490906924009323,
+              -0.4141868650913238,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1509381742106588,
+              -0.41571332497851426,
+              0.803646004110338
+            ],
+            "closest_button": [
+              0.14911481738090515,
+              -0.414159744977951,
+              0.7686389684677124
+            ],
+            "closest_ee_minus_button": [
+              0.0018233568297536529,
+              -0.0015535800005632705,
+              0.03500703564262564
+            ],
+            "button_min_z_position": [
+              0.14911481738090515,
+              -0.414159744977951,
+              0.7686389684677124
+            ],
+            "min_active_finger_to_button": 0.1437804275600247,
+            "closest_active_finger": [
+              0.010027974843978882,
+              -0.40143442153930664,
+              0.8107632994651794
+            ],
+            "closest_active_finger_button": [
+              0.1490902602672577,
+              -0.4141876399517059,
+              0.7765310406684875
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1390622854232788,
+              0.012753218412399236,
+              0.034232258796691895
+            ],
+            "min_contact_pad_to_button": 0.021040653770186313,
+            "closest_contact_pad": [
+              0.14911481738090515,
+              -0.4167323517155653,
+              0.7895217557733006
+            ],
+            "closest_contact_pad_button": [
+              0.14911481738090515,
+              -0.414159744977951,
+              0.7686389684677124
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025726067376142803,
+              0.020882787305588235
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f983fa63ee6750aac79542d71a4ffb3bb6d50726e55453c2f61677d538982715",
+    "visual_seed": 70214553492676470,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b7c1fdbfa4712313d9ebb7bfcb2174a4e330df0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2588149477545998,
+              0.2973524280849889,
+              1.0518562929099242
+            ],
+            "current_z": 1.0518562929099242,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.19074954647657938,
+            "gripper_z": 1.0544788655506887,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2534261608196523,
+              0.29238000697431005,
+              1.0544788655506887
+            ],
+            "object_minus_gripper": [
+              0.005388786934947487,
+              0.00497242111067886,
+              -0.0026225726407644867
+            ],
+            "object_to_gripper_xy": 0.0073323936291081315,
+            "object_to_gripper_z": -0.0026225726407644867,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2588149477545998,
+              0.2726377437974235,
+              1.0518562929099242
+            ],
+            "finger_b": [
+              0.24686281804264085,
+              0.2973524280849889,
+              1.0518562929099242
+            ],
+            "finger_midpoint": [
+              0.25283888289862033,
+              0.2849950859412062,
+              1.0518562929099242
+            ],
+            "object_minus_finger_midpoint": [
+              0.005976064855979457,
+              0.012357342143782701,
+              0.0
+            ],
+            "finger_gap": 0.027453033058034298,
+            "fingertip_max_gap": 0.09079121873695001,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013726516529017142,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0518562929099242,
+            "object_top_z": 1.102014754311146,
+            "finger_top_clearance": 0.05015846140122182,
+            "fingertip_min_top_clearance": 0.01504753842036658,
+            "object_projection_between_fingers": 0.8104560488938428,
+            "object_to_finger_line_xy": 0.010759944512165541,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047895609368475006,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3141050183243123,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2585320056402375,
+              0.2962944067709907,
+              1.2431978580712149
+            ],
+            "held_position": [
+              0.2642122608425508,
+              0.300875586906494,
+              1.2404693353042466
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007790850215939286,
+            "max_held_gripper_dist": 0.007805281836530742,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002728522766968222,
+            "max_held_gripper_z_dist": 0.002885263854022879,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08674343326562722,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2642122608425508,
+              0.2753548572144743,
+              1.2404693353042466
+            ],
+            "held_grasp_finger_b": [
+              0.2539245793355191,
+              0.300875586906494,
+              1.2404693353042466
+            ],
+            "held_grasp_midpoint": [
+              0.25906842008903497,
+              0.2881152220604841,
+              1.2404693353042466
+            ],
+            "held_grasp_object_position": [
+              0.2642122608425508,
+              0.300875586906494,
+              1.2404693353042466
+            ],
+            "held_grasp_finger_gap": 0.027516250376882018,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02475774975911692,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06814092462033614,
+              -0.9975718639881397,
+              0.014394115850383523
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004266446356826617,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03664036306044793,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29732505171625034,
+              -0.35807964520964525,
+              0.8515396057603445
+            ],
+            "target_position": [
+              0.2894816459167323,
+              -0.3608168148460296,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008307292709075422,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1837632218015062,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396057603445,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756377537930023,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515879628446009,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519513635339013,
+            "release_required_pad_clearance": 0.05257939814223005,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2238116515816744,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008092105388641357,
+            "max_z_decrease": 0.008092105388641357,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513399896927571,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008092105388641357,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021017628539844752,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008092105388641357,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008092117862700301,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1451815664768219,
+              -0.41707828640937805,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1451815664768219,
+              -0.41707828640937805,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14619651184789206,
+              -0.4171073228453147,
+              0.8038361310924657
+            ],
+            "closest_button": [
+              0.1451839506626129,
+              -0.41706427931785583,
+              0.7687167525291443
+            ],
+            "closest_ee_minus_button": [
+              0.001012561185279176,
+              -4.304352745887474e-05,
+              0.03511937856332137
+            ],
+            "button_min_z_position": [
+              0.1451839506626129,
+              -0.41706427931785583,
+              0.7687167525291443
+            ],
+            "min_active_finger_to_button": 0.14468836158914145,
+            "closest_active_finger": [
+              0.005670227110385895,
+              -0.3996953070163727,
+              0.8109438419342041
+            ],
+            "closest_active_finger_button": [
+              0.14518477022647855,
+              -0.41707709431648254,
+              0.7767636179924011
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13951454311609265,
+              0.017381787300109863,
+              0.03418022394180298
+            ],
+            "min_contact_pad_to_button": 0.021017628539844752,
+            "closest_contact_pad": [
+              0.1451839506626129,
+              -0.4184021899139691,
+              0.7896917544284459
+            ],
+            "closest_contact_pad_button": [
+              0.1451839506626129,
+              -0.41706427931785583,
+              0.7687167525291443
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013379105961132676,
+              0.02097500189930157
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d7609a8e9959b60bc9753651d7b75d379bc89fc700bd744ad0fa2bc65bfce19f",
+    "visual_seed": 5371763988548838990,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f16d894d977dded032f58a40219dad1924b56ed
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26592279702490174,
+              0.29701091161925863,
+              1.0531561338896092
+            ],
+            "current_z": 1.0531561338896092,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.192049387456264,
+            "gripper_z": 1.0553330261677172,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26060471535267193,
+              0.29192222218033853,
+              1.0553330261677172
+            ],
+            "object_minus_gripper": [
+              0.005318081672229802,
+              0.005088689438920102,
+              -0.0021768922781080224
+            ],
+            "object_to_gripper_xy": 0.0073604859131910245,
+            "object_to_gripper_z": -0.0021768922781080224,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26592279702490174,
+              0.27252677008947157,
+              1.0531561338896092
+            ],
+            "finger_b": [
+              0.2535797804980564,
+              0.29701091161925863,
+              1.0531561338896092
+            ],
+            "finger_midpoint": [
+              0.25975128876147907,
+              0.2847688408543651,
+              1.0531561338896092
+            ],
+            "object_minus_finger_midpoint": [
+              0.006171508263422665,
+              0.012242070764893531,
+              0.0
+            ],
+            "finger_gap": 0.027419395387802054,
+            "fingertip_max_gap": 0.09131907799239014,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013709697693901027,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0531561338896092,
+            "object_top_z": 1.103713784275281,
+            "finger_top_clearance": 0.05055765038567195,
+            "fingertip_min_top_clearance": 0.01516729511570155,
+            "object_projection_between_fingers": 0.7973592086799711,
+            "object_to_finger_line_xy": 0.011021693194672859,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815953899619507,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5142927834552992,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26598837703641265,
+              0.29569271701304534,
+              1.2426685699034723
+            ],
+            "held_position": [
+              0.27169671241824667,
+              0.3002804523126671,
+              1.2403529645002522
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076807835794478405,
+            "max_held_gripper_dist": 0.007693975531770837,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002315605403220067,
+            "max_held_gripper_z_dist": 0.0024757611905785737,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08802260418966193,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27169671241824667,
+              0.2746940779724148,
+              1.2403529645002522
+            ],
+            "held_grasp_finger_b": [
+              0.26153493936056377,
+              0.3002804523126671,
+              1.2403529645002522
+            ],
+            "held_grasp_midpoint": [
+              0.26661582588940524,
+              0.28748726514254097,
+              1.2403529645002522
+            ],
+            "held_grasp_object_position": [
+              0.27169671241824667,
+              0.3002804523126671,
+              1.2403529645002522
+            ],
+            "held_grasp_finger_gap": 0.0275304228728033,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024612910144094256,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08596793997128425,
+              -0.996096457489242,
+              0.020033987982331577
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003970836797886922,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03654020830182324,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3019141290981576,
+              -0.3556905962402662,
+              0.8515395053010597
+            ],
+            "target_position": [
+              0.29483880418038655,
+              -0.3577026392363903,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007355850712887271,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18276409926760662,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395053010597,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558966247748425,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08557000764208399,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15099108792318144,
+            "release_required_pad_clearance": 0.052785003821041995,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6180208362648885,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008091747760772705,
+            "max_z_decrease": 0.008091747760772705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516628575923944,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008091747760772705,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020983178263266233,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008091747760772705,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008091758715449046,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15053872764110565,
+              -0.4139640927314758,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15053872764110565,
+              -0.4139640927314758,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15073493210345001,
+              -0.4122652434830039,
+              0.803842388403395
+            ],
+            "closest_button": [
+              0.15054506063461304,
+              -0.41395238041877747,
+              0.7687171101570129
+            ],
+            "closest_ee_minus_button": [
+              0.00018987146883697736,
+              0.0016871369357735477,
+              0.03512527824638201
+            ],
+            "button_min_z_position": [
+              0.15054506063461304,
+              -0.41395238041877747,
+              0.7687171101570129
+            ],
+            "min_active_finger_to_button": 0.1448375364900523,
+            "closest_active_finger": [
+              0.023323670029640198,
+              -0.4742184281349182,
+              0.8108274936676025
+            ],
+            "closest_active_finger_button": [
+              0.15054208040237427,
+              -0.41396367549896235,
+              0.7767283320426941
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12721841037273407,
+              -0.060254752635955866,
+              0.03409916162490845
+            ],
+            "min_contact_pad_to_button": 0.020983178263266233,
+            "closest_contact_pad": [
+              0.15054506063461304,
+              -0.41395238041877747,
+              0.7897002884202792
+            ],
+            "closest_contact_pad_button": [
+              0.15054506063461304,
+              -0.41395238041877747,
+              0.7687171101570129
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020983178263266233
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c4780aadccc3d8c3c7ad99eea9258c742f41995d0902bed5ef34d32f8ac4fb07",
+    "visual_seed": 8993264709577879462,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84a453b11e8d137f7b73c0b589840be00f56605b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26635944781791676,
+              0.29712716611413464,
+              1.0523494141760832
+            ],
+            "current_z": 1.0523494141760832,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.19124284655667234,
+            "gripper_z": 1.0544798252588856,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26115215427483846,
+              0.29208869256219505,
+              1.0544798252588856
+            ],
+            "object_minus_gripper": [
+              0.005207293543078306,
+              0.005038473551939593,
+              -0.0021304110828024303
+            ],
+            "object_to_gripper_xy": 0.007245834788164839,
+            "object_to_gripper_z": -0.0021304110828024303,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26635944781791676,
+              0.27273025584355587,
+              1.0523494141760832
+            ],
+            "finger_b": [
+              0.2540797854479194,
+              0.29712716611413464,
+              1.0523494141760832
+            ],
+            "finger_midpoint": [
+              0.2602196166329181,
+              0.28492871097884526,
+              1.0523494141760832
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061398311849986675,
+              0.012198455135289388,
+              0.0
+            ],
+            "finger_gap": 0.0273129884610198,
+            "fingertip_max_gap": 0.09290008199533056,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.0136564942305099,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0523494141760832,
+            "object_top_z": 1.1038033410798405,
+            "finger_top_clearance": 0.051453926903757274,
+            "fingertip_min_top_clearance": 0.015436178071127215,
+            "object_projection_between_fingers": 0.7978683088518553,
+            "object_to_finger_line_xy": 0.010968621080091128,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048950040997665284,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9961687972565746,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26637316312210013,
+              0.295950428678823,
+              1.2429720130342965
+            ],
+            "held_position": [
+              0.2719648867958627,
+              0.3005101352910803,
+              1.2407267752954425
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007556413867540219,
+            "max_held_gripper_dist": 0.007569744349941565,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002245237738853989,
+            "max_held_gripper_z_dist": 0.0024056347560137414,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08779637132817825,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2719648867958627,
+              0.27500609274894877,
+              1.2407267752954425
+            ],
+            "held_grasp_finger_b": [
+              0.2617959439797691,
+              0.3005101352910803,
+              1.2407267752954425
+            ],
+            "held_grasp_midpoint": [
+              0.26688041538781593,
+              0.2877581140200145,
+              1.2407267752954425
+            ],
+            "held_grasp_object_position": [
+              0.2719648867958627,
+              0.3005101352910803,
+              1.2407267752954425
+            ],
+            "held_grasp_finger_gap": 0.027456576334055866,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02455110006265127,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08391774095698264,
+              -0.9960952162674442,
+              0.027425041144736866
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004012200931555129,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03659134532972211,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3010703652940391,
+              -0.35766236628307124,
+              0.8515395950382825
+            ],
+            "target_position": [
+              0.29523401367410435,
+              -0.3590579035632684,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006000876980236707,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1817831186528203,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395950382825,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544112874967333,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588775933445324,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1502354095039798,
+            "release_required_pad_clearance": 0.05294387966722662,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9244962967005683,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007979214191436768,
+            "max_z_decrease": 0.007979214191436768,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520360400661173,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007979214191436768,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021133552889441617,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007979214191436768,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007979239901308147,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15093393623828888,
+              -0.41531935334205616,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15093393623828888,
+              -0.41531935334205616,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15280021386829057,
+              -0.4160930408591029,
+              0.8082573730412117
+            ],
+            "closest_button": [
+              0.15092350542545316,
+              -0.41532418131828297,
+              0.7731122374534607
+            ],
+            "closest_ee_minus_button": [
+              0.0018767084428374103,
+              -0.000768859540819955,
+              0.03514513558775101
+            ],
+            "button_min_z_position": [
+              0.15091368556022638,
+              -0.4153189063072204,
+              0.7688296437263489
+            ],
+            "min_active_finger_to_button": 0.14425311065448507,
+            "closest_active_finger": [
+              0.011771433055400848,
+              -0.39876699447631836,
+              0.8106657266616821
+            ],
+            "closest_active_finger_button": [
+              0.15093356370925898,
+              -0.4153211414813995,
+              0.7764776945114136
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13916213065385813,
+              0.01655414700508112,
+              0.034188032150268555
+            ],
+            "min_contact_pad_to_button": 0.021133552889441617,
+            "closest_contact_pad": [
+              0.15091368556022638,
+              -0.4172681444108117,
+              0.7898731113243075
+            ],
+            "closest_contact_pad_button": [
+              0.15091368556022638,
+              -0.4153189063072204,
+              0.7688296437263489
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001949238103591322,
+              0.02104346759795861
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "512d696013c7e9e14eb7082aa0cbc86ed917d850a5cd3e3c235be7f6e1bce162",
+    "visual_seed": 4305452803186125965,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ca82cde30e24b207b5dc1fcca7f0281343e11c79
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25940487146619895,
+              0.2928115114791936,
+              1.051275170866186
+            ],
+            "current_z": 1.051275170866186,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19016860324677531,
+            "gripper_z": 1.0538821665539368,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25396726006397685,
+              0.28765031867426294,
+              1.0538821665539368
+            ],
+            "object_minus_gripper": [
+              0.005437611402222098,
+              0.005161192804930659,
+              -0.0026069956877508016
+            ],
+            "object_to_gripper_xy": 0.007497034675873106,
+            "object_to_gripper_z": -0.0026069956877508016,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25940487146619895,
+              0.26826143425427534,
+              1.051275170866186
+            ],
+            "finger_b": [
+              0.24693206722559657,
+              0.2928115114791936,
+              1.051275170866186
+            ],
+            "finger_midpoint": [
+              0.25316846934589776,
+              0.28053647286673444,
+              1.051275170866186
+            ],
+            "object_minus_finger_midpoint": [
+              0.006236402120301188,
+              0.012275038612459155,
+              0.0
+            ],
+            "finger_gap": 0.027536832377269515,
+            "fingertip_max_gap": 0.09063477692965599,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013768416188634782,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051275170866186,
+            "object_top_z": 1.1012055148899358,
+            "finger_top_clearance": 0.04993034402374974,
+            "fingertip_min_top_clearance": 0.014979103207124887,
+            "object_projection_between_fingers": 0.7948364285870714,
+            "object_to_finger_line_xy": 0.011119953926539425,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047817388464828,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.35869082083716247,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2591966974019787,
+              0.2913391315036665,
+              1.2443143457452825
+            ],
+            "held_position": [
+              0.26504076473271,
+              0.2959929300178759,
+              1.241621236943753
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007941271849889943,
+            "max_held_gripper_dist": 0.007955139430770954,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00269310880152962,
+            "max_held_gripper_z_dist": 0.0028464883941059504,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08734812772810038,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26504076473271,
+              0.2703437474932126,
+              1.241621236943753
+            ],
+            "held_grasp_finger_b": [
+              0.2546405964102254,
+              0.2959929300178759,
+              1.241621236943753
+            ],
+            "held_grasp_midpoint": [
+              0.2598406805714677,
+              0.28316833875554426,
+              1.241621236943753
+            ],
+            "held_grasp_object_position": [
+              0.26504076473271,
+              0.2959929300178759,
+              1.241621236943753
+            ],
+            "held_grasp_finger_gap": 0.027677501067103316,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0245916201089504,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09123612025603604,
+              -0.9957623831537253,
+              0.011543251562692425
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004011164405721135,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036475569007866644,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30258246420330315,
+              -0.3627389462280349,
+              0.8515395244851702
+            ],
+            "target_position": [
+              0.29539608230504627,
+              -0.36470115133709674,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007449451904511003,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18473002258752866,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395244851702,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529042100277676,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08654722023671922,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15350365564851143,
+            "release_required_pad_clearance": 0.05327361011835961,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.566693672614856,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00815504789352417,
+            "max_z_decrease": 0.00815504789352417,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504780688982107,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00815504789352417,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020929025929263063,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00815504789352417,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008155127262658787,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15109600126743317,
+              -0.4209626019001007,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15109600126743317,
+              -0.4209626019001007,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1521040606147687,
+              -0.4209155279155403,
+              0.8036878901797362
+            ],
+            "closest_button": [
+              0.1511235386133194,
+              -0.42093944549560547,
+              0.7686538100242615
+            ],
+            "closest_ee_minus_button": [
+              0.0009805220014492966,
+              2.3917580065146993e-05,
+              0.03503408015547471
+            ],
+            "button_min_z_position": [
+              0.1511235386133194,
+              -0.42093944549560547,
+              0.7686538100242615
+            ],
+            "min_active_finger_to_button": 0.14472067857777893,
+            "closest_active_finger": [
+              0.011514581739902496,
+              -0.40391048789024353,
+              0.8110219240188599
+            ],
+            "closest_active_finger_button": [
+              0.15109503269195557,
+              -0.42096447944641113,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13958045095205307,
+              0.017053991556167603,
+              0.03421306610107422
+            ],
+            "min_contact_pad_to_button": 0.020929025929263063,
+            "closest_contact_pad": [
+              0.1511235386133194,
+              -0.4221728604574543,
+              0.7895464597815243
+            ],
+            "closest_contact_pad_button": [
+              0.1511235386133194,
+              -0.42093944549560547,
+              0.7686538100242615
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001233414961848811,
+              0.020892649757262793
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37ce629b8b9e43fcb624b5e2a65d8a68cf0b8db0baf321fdfe4a28b01e12663d",
+    "visual_seed": 6098546359242115717,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfdfd0a7a188d0c40d3690c44661ccffd520fb37
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2658607493748818,
+              0.2977380336794298,
+              1.0534908787714614
+            ],
+            "current_z": 1.0534908787714614,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.1923840727334717,
+            "gripper_z": 1.0554942822041025,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.260739720473133,
+              0.2928021917218473,
+              1.0554942822041025
+            ],
+            "object_minus_gripper": [
+              0.005121028901748814,
+              0.00493584195758251,
+              -0.002003403432641049
+            ],
+            "object_to_gripper_xy": 0.007112487106686283,
+            "object_to_gripper_z": -0.002003403432641049,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2658607493748818,
+              0.27333275583936434,
+              1.0534908787714614
+            ],
+            "finger_b": [
+              0.25380558170054124,
+              0.2977380336794298,
+              1.0534908787714614
+            ],
+            "finger_midpoint": [
+              0.2598331655377115,
+              0.28553539475939704,
+              1.0534908787714614
+            ],
+            "object_minus_finger_midpoint": [
+              0.006027583837170281,
+              0.01220263892003276,
+              0.0
+            ],
+            "finger_gap": 0.0272202985675627,
+            "fingertip_max_gap": 0.0925653041286359,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013610149283781375,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0534908787714614,
+            "object_top_z": 1.1048208959317054,
+            "finger_top_clearance": 0.05133001716024399,
+            "fingertip_min_top_clearance": 0.01539900514807323,
+            "object_projection_between_fingers": 0.8038624520051821,
+            "object_to_finger_line_xy": 0.010808467650367899,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04878265206431795,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0290163503645986,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26621517578252823,
+              0.2963270769718495,
+              1.2451572129168182
+            ],
+            "held_position": [
+              0.2717198403475308,
+              0.3007868343088774,
+              1.2430550956141238
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073898352236472144,
+            "max_held_gripper_dist": 0.007401981112435105,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002102117302694495,
+            "max_held_gripper_z_dist": 0.0022593268901487384,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08805236928385904,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2717198403475308,
+              0.27526634490420276,
+              1.2430550956141238
+            ],
+            "held_grasp_finger_b": [
+              0.2617734060800885,
+              0.3007868343088774,
+              1.2430550956141238
+            ],
+            "held_grasp_midpoint": [
+              0.26674662321380965,
+              0.2880265896065401,
+              1.2430550956141238
+            ],
+            "held_grasp_object_position": [
+              0.2717198403475308,
+              0.3007868343088774,
+              1.2430550956141238
+            ],
+            "held_grasp_finger_gap": 0.027390270792576388,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024566799363824755,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0854617897579815,
+              -0.9959385588183438,
+              0.028331423370576585
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038819445765082513,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03658681031397694,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30230335934745356,
+              -0.36125879344684364,
+              0.8515395599600659
+            ],
+            "target_position": [
+              0.29611407039601306,
+              -0.36269571790228644,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006353900346643233,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18327534688365582,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395599600659,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534624970352391,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08623950917250232,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15203473069688922,
+            "release_required_pad_clearance": 0.053119754586251164,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2660762590054895,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008118689060211182,
+            "max_z_decrease": 0.008118689060211182,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035105100775352976,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008118689060211182,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021053998541242062,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008118689060211182,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00811872365901486,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15181399881839752,
+              -0.4189571738243103,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15181399881839752,
+              -0.4189571738243103,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15275835734517032,
+              -0.42008728060504597,
+              0.8037640929791267
+            ],
+            "closest_button": [
+              0.15182752907276154,
+              -0.4189377129077911,
+              0.7686901688575745
+            ],
+            "closest_ee_minus_button": [
+              0.0009308282724087846,
+              -0.001149567697254883,
+              0.03507392412155219
+            ],
+            "button_min_z_position": [
+              0.15182752907276154,
+              -0.4189377129077911,
+              0.7686901688575745
+            ],
+            "min_active_finger_to_button": 0.14465474463229266,
+            "closest_active_finger": [
+              0.012034721672534943,
+              -0.40420612692832947,
+              0.810511589050293
+            ],
+            "closest_active_finger_button": [
+              0.15181337296962738,
+              -0.41895839571952814,
+              0.7763166427612305
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13977865129709244,
+              0.014752268791198675,
+              0.0341949462890625
+            ],
+            "min_contact_pad_to_button": 0.021053998541242062,
+            "closest_contact_pad": [
+              0.15182752907276154,
+              -0.4212445016540783,
+              0.7896174137850518
+            ],
+            "closest_contact_pad_button": [
+              0.15182752907276154,
+              -0.4189377129077911,
+              0.7686901688575745
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023067887462872028,
+              0.02092724492747733
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f9db0b8a315258a4b1e8c88cd26c18d957fad8e9dbde6447095659f8b463f270",
+    "visual_seed": 7565506281446290986,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e714a9f9055493993035082f5b2393c48be9f57b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26124965249862053,
+              0.2973713908795073,
+              1.0494956277075693
+            ],
+            "current_z": 1.0494956277075693,
+            "required_z": 0.8611069252472792,
+            "initial_z": 0.7611069252472792,
+            "lift_margin": 0.18838870246029016,
+            "gripper_z": 1.0520197779918472,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25573831587004403,
+              0.29215571435337967,
+              1.0520197779918472
+            ],
+            "object_minus_gripper": [
+              0.005511336628576502,
+              0.005215676526127644,
+              -0.002524150284277882
+            ],
+            "object_to_gripper_xy": 0.007588024318535618,
+            "object_to_gripper_z": -0.002524150284277882,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26124965249862053,
+              0.2727956672083205,
+              1.0494956277075693
+            ],
+            "finger_b": [
+              0.24865979783823053,
+              0.2973713908795073,
+              1.0494956277075693
+            ],
+            "finger_midpoint": [
+              0.25495472516842554,
+              0.2850835290439139,
+              1.0494956277075693
+            ],
+            "object_minus_finger_midpoint": [
+              0.006294927330194988,
+              0.012287861835593439,
+              0.0
+            ],
+            "finger_gap": 0.02761287080932144,
+            "fingertip_max_gap": 0.09113006176388999,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01380643540466074,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494956277075693,
+            "object_top_z": 1.0999548259421084,
+            "finger_top_clearance": 0.05045919823453904,
+            "fingertip_min_top_clearance": 0.01513775947036171,
+            "object_projection_between_fingers": 0.7921173180544164,
+            "object_to_finger_line_xy": 0.011205093136846173,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048065030881945,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5464770518324689,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26107471230167595,
+              0.2956146599607463,
+              1.2425979780963912
+            ],
+            "held_position": [
+              0.26701865323330465,
+              0.3002839449675854,
+              1.2399774048472194
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008000003776752742,
+            "max_held_gripper_dist": 0.008017287853124892,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026205732491717537,
+            "max_held_gripper_z_dist": 0.0027814276646120906,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08816761518249705,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26701865323330465,
+              0.2745493312159022,
+              1.2399774048472194
+            ],
+            "held_grasp_finger_b": [
+              0.25663196222370016,
+              0.3002839449675854,
+              1.2399774048472194
+            ],
+            "held_grasp_midpoint": [
+              0.26182530772850243,
+              0.2874166380917438,
+              1.2399774048472194
+            ],
+            "held_grasp_object_position": [
+              0.26701865323330465,
+              0.3002839449675854,
+              1.2399774048472194
+            ],
+            "held_grasp_finger_gap": 0.02775164310590136,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024660918626809615,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09232532911373853,
+              -0.9955413957203197,
+              0.019322603636100832
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003991227863318962,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03643083609082581,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29680348930022116,
+              -0.3624954533076891,
+              0.8515396090486574
+            ],
+            "target_position": [
+              0.2899142756422195,
+              -0.36457008612766456,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007194815227878743,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18387069897996866,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396090486574,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570235728259025,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08549157945522627,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15174454564919287,
+            "release_required_pad_clearance": 0.05274578972761314,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5424840819808697,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00814121961593628,
+            "max_z_decrease": 0.00814121961593628,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507073821322982,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00814121961593628,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02092560104461258,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00814121961593628,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008141272894610852,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14561420679092407,
+              -0.4208315312862396,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14561420679092407,
+              -0.4208315312862396,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1464032794189618,
+              -0.4200944011234303,
+              0.8037226439797234
+            ],
+            "closest_button": [
+              0.1456356644630432,
+              -0.42081135511398315,
+              0.7686676383018494
+            ],
+            "closest_ee_minus_button": [
+              0.0007676149559185941,
+              0.0007169539905528266,
+              0.03505500567787401
+            ],
+            "button_min_z_position": [
+              0.1456356644630432,
+              -0.42081135511398315,
+              0.7686676383018494
+            ],
+            "min_active_finger_to_button": 0.14473853765393543,
+            "closest_active_finger": [
+              0.01866544783115387,
+              -0.48141151666641235,
+              0.8107020854949951
+            ],
+            "closest_active_finger_button": [
+              0.14561398327350616,
+              -0.4208323359489441,
+              0.7765923142433167
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1269485354423523,
+              -0.06057918071746826,
+              0.03410977125167847
+            ],
+            "min_contact_pad_to_button": 0.02092560104461258,
+            "closest_contact_pad": [
+              0.1456356644630432,
+              -0.4214399648662798,
+              0.7895837954263694
+            ],
+            "closest_contact_pad_button": [
+              0.1456356644630432,
+              -0.42081135511398315,
+              0.7686676383018494
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006286097522966716,
+              0.020916157124519996
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c80562f7e6bc21d08db45af6aa3375b952c9c94f3d421fd9140669b81b538ca",
+    "visual_seed": 1853873127374963252,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..68ad6319e37615b81a5240fc8d825d3bb179d38b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2577424827215173,
+              0.30078313325454903,
+              1.0521954185518894
+            ],
+            "current_z": 1.0521954185518894,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.19108885093247852,
+            "gripper_z": 1.05452672346444,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25268152027735846,
+              0.2959532447548949,
+              1.05452672346444
+            ],
+            "object_minus_gripper": [
+              0.005060962444158823,
+              0.004829888499654156,
+              -0.0023313049125506247
+            ],
+            "object_to_gripper_xy": 0.006995796150566247,
+            "object_to_gripper_z": -0.0023313049125506247,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2577424827215173,
+              0.2763052238935083,
+              1.0521954185518894
+            ],
+            "finger_b": [
+              0.24599690443760872,
+              0.30078313325454903,
+              1.0521954185518894
+            ],
+            "finger_midpoint": [
+              0.251869693579563,
+              0.2885441785740287,
+              1.0521954185518894
+            ],
+            "object_minus_finger_midpoint": [
+              0.005872789141954271,
+              0.01223895468052033,
+              0.0
+            ],
+            "finger_gap": 0.027150076536001686,
+            "fingertip_max_gap": 0.09319622289194346,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013575038268000814,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0521954185518894,
+            "object_top_z": 1.103793289942868,
+            "finger_top_clearance": 0.0515978713909786,
+            "fingertip_min_top_clearance": 0.015479361417293613,
+            "object_projection_between_fingers": 0.8128427345325462,
+            "object_to_finger_line_xy": 0.010589553964803013,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04909811144597173,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.124177614413371,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25782946814877195,
+              0.29993239981154407,
+              1.2436873744607277
+            ],
+            "held_position": [
+              0.26319321117628663,
+              0.30437118517434264,
+              1.2412501574310562
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007376488433660591,
+            "max_held_gripper_dist": 0.00739281825416261,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00243721702967159,
+            "max_held_gripper_z_dist": 0.0025915850033355614,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655213915272392,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26319321117628663,
+              0.2789972713243947,
+              1.2412501574310562
+            ],
+            "held_grasp_finger_b": [
+              0.2532256692776948,
+              0.30437118517434264,
+              1.2412501574310562
+            ],
+            "held_grasp_midpoint": [
+              0.2582094402269907,
+              0.2916842282493687,
+              1.2412501574310562
+            ],
+            "held_grasp_object_position": [
+              0.26319321117628663,
+              0.30437118517434264,
+              1.2412501574310562
+            ],
+            "held_grasp_finger_gap": 0.02726146356241283,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024630053722231923,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06770930154387957,
+              -0.9972820579410485,
+              0.02905077268003497
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004130226523775915,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03673032790891609,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2987263574402267,
+              -0.3581047913686241,
+              0.8515395922668935
+            ],
+            "target_position": [
+              0.2923816770898097,
+              -0.35976643662828517,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006558660969887162,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18468658184954215,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395922668935,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556704145267734,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085104923840554,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.152796507201129,
+            "release_required_pad_clearance": 0.052552461920277,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.17245845461513706,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008104383945465088,
+            "max_z_decrease": 0.008104383945465088,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035098181501071295,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008104383945465088,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105562273730741,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008104383945465088,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008104403075237932,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14808160066604614,
+              -0.41602790355682373,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14808160066604614,
+              -0.41602790355682373,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14746480733420353,
+              -0.4169113378529096,
+              0.8037855755753502
+            ],
+            "closest_button": [
+              0.14809386432170868,
+              -0.4160152673721314,
+              0.7687044739723206
+            ],
+            "closest_ee_minus_button": [
+              -0.0006290569875051499,
+              -0.0008960704807782216,
+              0.035081101603029685
+            ],
+            "button_min_z_position": [
+              0.14809386432170868,
+              -0.4160152673721314,
+              0.7687044739723206
+            ],
+            "min_active_finger_to_button": 0.1461540985894489,
+            "closest_active_finger": [
+              0.00700678676366806,
+              -0.3989964425563812,
+              0.8108810782432556
+            ],
+            "closest_active_finger_button": [
+              0.14808450639247894,
+              -0.416028380393982,
+              0.7767049074172974
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14107771962881088,
+              0.017031937837600764,
+              0.03417617082595825
+            ],
+            "min_contact_pad_to_button": 0.02105562273730741,
+            "closest_contact_pad": [
+              0.14809386432170868,
+              -0.41824931862235526,
+              0.7896412422011373
+            ],
+            "closest_contact_pad_button": [
+              0.14809386432170868,
+              -0.4160152673721314,
+              0.7687044739723206
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022340512502238563,
+              0.020936768228816738
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e3dc479cbc83b0aac64042d79a7d173140db11dd78a5607881dfe6205815206",
+    "visual_seed": 2335219081376025811,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ac1f9e5c315d7c8ab9466e8941a6b4e0cbc8403
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2595028707355621,
+              0.3013517663153798,
+              1.0500936669059242
+            ],
+            "current_z": 1.0500936669059242,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.18898692047257937,
+            "gripper_z": 1.052637473198121,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25408011245909085,
+              0.29621284686679555,
+              1.052637473198121
+            ],
+            "object_minus_gripper": [
+              0.005422758276471262,
+              0.005138919448584245,
+              -0.0025438062921967486
+            ],
+            "object_to_gripper_xy": 0.007470930358668522,
+            "object_to_gripper_z": -0.0025438062921967486,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2595028707355621,
+              0.2767943462653044,
+              1.0500936669059242
+            ],
+            "finger_b": [
+              0.24708254254646925,
+              0.3013517663153798,
+              1.0500936669059242
+            ],
+            "finger_midpoint": [
+              0.25329270664101566,
+              0.2890730562903421,
+              1.0500936669059242
+            ],
+            "object_minus_finger_midpoint": [
+              0.006210164094546444,
+              0.01227871002503772,
+              0.0
+            ],
+            "finger_gap": 0.027519655372853405,
+            "fingertip_max_gap": 0.09138132523914069,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013759827686426734,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500936669059242,
+            "object_top_z": 1.1006920208822475,
+            "finger_top_clearance": 0.050598353976323285,
+            "fingertip_min_top_clearance": 0.015179506192897001,
+            "object_projection_between_fingers": 0.7963050972942586,
+            "object_to_finger_line_xy": 0.01108339520851057,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04819066261957035,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5812285398062502,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25937361171960754,
+              0.2998296330182011,
+              1.2431028983930315
+            ],
+            "held_position": [
+              0.2652039106517382,
+              0.30446045004135897,
+              1.240470427497176
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007897262497694903,
+            "max_held_gripper_dist": 0.007911699827270528,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026324708958553877,
+            "max_held_gripper_z_dist": 0.002793862152743909,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08730122048601446,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2652039106517382,
+              0.2787991794069323,
+              1.240470427497176
+            ],
+            "held_grasp_finger_b": [
+              0.25486887612468345,
+              0.30446045004135897,
+              1.240470427497176
+            ],
+            "held_grasp_midpoint": [
+              0.26003639338821083,
+              0.2916298147241456,
+              1.240470427497176
+            ],
+            "held_grasp_object_position": [
+              0.2652039106517382,
+              0.30446045004135897,
+              1.240470427497176
+            ],
+            "held_grasp_finger_gap": 0.02766430460446645,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024661717869866807,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.086857809693958,
+              -0.9960300367086342,
+              0.01949068673405785
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004041563515105718,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03649171267303025,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30288028987965177,
+              -0.35615476142278424,
+              0.851539616675835
+            ],
+            "target_position": [
+              0.29544983970749233,
+              -0.35844006026772635,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007773942408561942,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18357250444030054,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539616675835,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538591914172245,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08637962597429737,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15225381923907222,
+            "release_required_pad_clearance": 0.053189812987148685,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4027427354664153,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00812298059463501,
+            "max_z_decrease": 0.00812298059463501,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512272675255356,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00812298059463501,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020934463077772136,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00812298059463501,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008123012148614366,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15114976465702057,
+              -0.4147015213966369,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15114976465702057,
+              -0.4147015213966369,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15135377051731486,
+              -0.41281332300594736,
+              0.8037582622962239
+            ],
+            "closest_button": [
+              0.15116345882415771,
+              -0.41468349099159235,
+              0.7686858773231506
+            ],
+            "closest_ee_minus_button": [
+              0.00019031169315714136,
+              0.0018701679856449882,
+              0.0350723849730733
+            ],
+            "button_min_z_position": [
+              0.15116345882415771,
+              -0.41468349099159235,
+              0.7686858773231506
+            ],
+            "min_active_finger_to_button": 0.14476082030909002,
+            "closest_active_finger": [
+              0.025391779839992523,
+              -0.4777376055717468,
+              0.8108679056167603
+            ],
+            "closest_active_finger_button": [
+              0.1511525809764862,
+              -0.4147006273269653,
+              0.7767174243927002
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12576080113649368,
+              -0.06303697824478155,
+              0.03415048122406006
+            ],
+            "min_contact_pad_to_button": 0.020934463077772136,
+            "closest_contact_pad": [
+              0.15116345882415771,
+              -0.41468349099159235,
+              0.7896203404009228
+            ],
+            "closest_contact_pad_button": [
+              0.15116345882415771,
+              -0.41468349099159235,
+              0.7686858773231506
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020934463077772136
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7bb8ccf8a7a2934790aa559f92413b73dab63a1ce9f7dba90e0ecdf1add535b4",
+    "visual_seed": 8607354453131807000,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..371c293997924292f641357cfe948109aa8949e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2672611803047561,
+              0.29932707444002454,
+              1.0524437782905314
+            ],
+            "current_z": 1.0524437782905314,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1913370318571862,
+            "gripper_z": 1.0544062617014556,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2621092197170706,
+              0.2943303199668042,
+              1.0544062617014556
+            ],
+            "object_minus_gripper": [
+              0.005151960587685522,
+              0.004996754473220344,
+              -0.0019624834109241984
+            ],
+            "object_to_gripper_xy": 0.007177064383347307,
+            "object_to_gripper_z": -0.0019624834109241984,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2672611803047561,
+              0.27494455634759224,
+              1.0524437782905314
+            ],
+            "finger_b": [
+              0.255062780895609,
+              0.29932707444002454,
+              1.0524437782905314
+            ],
+            "finger_midpoint": [
+              0.2611619806001826,
+              0.2871358153938084,
+              1.0524437782905314
+            ],
+            "object_minus_finger_midpoint": [
+              0.00609919970457351,
+              0.012191259046216152,
+              0.0
+            ],
+            "finger_gap": 0.027263677974053106,
+            "fingertip_max_gap": 0.09202165555234923,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013631838987026539,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0524437782905314,
+            "object_top_z": 1.1033212426045187,
+            "finger_top_clearance": 0.05087746431398732,
+            "fingertip_min_top_clearance": 0.015263239294196195,
+            "object_projection_between_fingers": 0.7998125665472604,
+            "object_to_finger_line_xy": 0.010909301913531497,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851082777617462,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7792567588938127,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2676312818870987,
+              0.2977635960046181,
+              1.244970530674096
+            ],
+            "held_position": [
+              0.2731981952206972,
+              0.3022504541853625,
+              1.2429104386360477
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007440860138662692,
+            "max_held_gripper_dist": 0.0074526499990965915,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0020600920380482446,
+            "max_held_gripper_z_dist": 0.002220693974174237,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08825482002703544,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2731981952206972,
+              0.2766710661393935,
+              1.2429104386360477
+            ],
+            "held_grasp_finger_b": [
+              0.2632334884598952,
+              0.3022504541853625,
+              1.2429104386360477
+            ],
+            "held_grasp_midpoint": [
+              0.26821584184029623,
+              0.289460760162378,
+              1.2429104386360477
+            ],
+            "held_grasp_object_position": [
+              0.2731981952206972,
+              0.3022504541853625,
+              1.2429104386360477
+            ],
+            "held_grasp_finger_gap": 0.02745178452551008,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024516333732671005,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09448994174313866,
+              -0.995250482467993,
+              0.023412134815209425
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00376393526068626,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03652051864244392,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29357363614610965,
+              -0.35668599104603377,
+              0.8515396339896592
+            ],
+            "target_position": [
+              0.28761875550486826,
+              -0.3580320670137519,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006105122763900801,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1848650366753645,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396339896592,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581560724860846,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525307969373751,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15235642552342454,
+            "release_required_pad_clearance": 0.052626539846868756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.31403502460698945,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007876813411712646,
+            "max_z_decrease": 0.007876813411712646,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514911978640618,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007876813411712646,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0211675182679933,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007876813411712646,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007876834391901412,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14331868290901184,
+              -0.4142935276031494,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14331868290901184,
+              -0.4142935276031494,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14246574954942035,
+              -0.415781284637741,
+              0.8081662528806868
+            ],
+            "closest_button": [
+              0.14331106841564173,
+              -0.41429439187049866,
+              0.7730587720870972
+            ],
+            "closest_ee_minus_button": [
+              -0.000845318866221384,
+              -0.0014868927672423427,
+              0.03510748079358961
+            ],
+            "button_min_z_position": [
+              0.14330084621906275,
+              -0.41429001092910767,
+              0.768932044506073
+            ],
+            "min_active_finger_to_button": 0.14686018111898563,
+            "closest_active_finger": [
+              0.0010994970798492432,
+              -0.4014109969139099,
+              0.8106603622436523
+            ],
+            "closest_active_finger_button": [
+              0.14331834018230433,
+              -0.41429439187049866,
+              0.776371419429779
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14221884310245508,
+              0.012883394956588745,
+              0.03428894281387329
+            ],
+            "min_contact_pad_to_button": 0.0211675182679933,
+            "closest_contact_pad": [
+              0.14330084621906275,
+              -0.4167749943184139,
+              0.7899531930755661
+            ],
+            "closest_contact_pad_button": [
+              0.14330084621906275,
+              -0.41429001092910767,
+              0.768932044506073
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00248498338930625,
+              0.02102114856949311
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b3f7d8eac88a787fbc0159482f4af904145b494d985dab1713c936efd2ddc35",
+    "visual_seed": 5839675477230947165,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..10cc273adab930c68bf526279aa16fe26c8ab955
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2598917343950471,
+              0.29801514887862574,
+              1.049562520177449
+            ],
+            "current_z": 1.049562520177449,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18845601216268293,
+            "gripper_z": 1.0521472651858472,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2542757417961483,
+              0.29290251114508836,
+              1.0521472651858472
+            ],
+            "object_minus_gripper": [
+              0.005615992598898778,
+              0.005112637733537373,
+              -0.002584745008398226
+            ],
+            "object_to_gripper_xy": 0.007594632148121199,
+            "object_to_gripper_z": -0.002584745008398226,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2598917343950471,
+              0.2731320069600157,
+              1.049562520177449
+            ],
+            "finger_b": [
+              0.24774913871719148,
+              0.29801514887862574,
+              1.049562520177449
+            ],
+            "finger_midpoint": [
+              0.2538204365561193,
+              0.2855735779193207,
+              1.049562520177449
+            ],
+            "object_minus_finger_midpoint": [
+              0.006071297838927792,
+              0.012441570959305037,
+              0.0
+            ],
+            "finger_gap": 0.027687783976648707,
+            "fingertip_max_gap": 0.09131771212482181,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013843891988324373,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049562520177449,
+            "object_top_z": 1.10003238923503,
+            "finger_top_clearance": 0.05046986905758111,
+            "fingertip_min_top_clearance": 0.015140960717274365,
+            "object_projection_between_fingers": 0.8076701589787564,
+            "object_to_finger_line_xy": 0.010912607948949798,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04815885606241091,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.40216880466987365,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2594425510764955,
+              0.2963714066941579,
+              1.2402860939428086
+            ],
+            "held_position": [
+              0.2653856035134726,
+              0.30105821591079446,
+              1.2375845321176981
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008036447548307865,
+            "max_held_gripper_dist": 0.008050659977049422,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002701561825110499,
+            "max_held_gripper_z_dist": 0.002866847080608137,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0875581626571102,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2653856035134726,
+              0.27534797507594905,
+              1.2375845321176981
+            ],
+            "held_grasp_finger_b": [
+              0.2549831798895482,
+              0.30105821591079446,
+              1.2375845321176981
+            ],
+            "held_grasp_midpoint": [
+              0.2601843917015104,
+              0.28820309549337175,
+              1.2375845321176981
+            ],
+            "held_grasp_object_position": [
+              0.2653856035134726,
+              0.30105821591079446,
+              1.2375845321176981
+            ],
+            "held_grasp_finger_gap": 0.027734940076324897,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02494949986401105,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06717983802790896,
+              -0.9975920942522826,
+              0.017230288676885915
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004331678018777051,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0365466670039366,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2981968660864549,
+              -0.35573212654748515,
+              0.8515396093333047
+            ],
+            "target_position": [
+              0.29079275695049367,
+              -0.3579551100209746,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007730620131699121,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18348005479607116,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396093333047,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755910548501592,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527336322978905,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15169766806285423,
+            "release_required_pad_clearance": 0.05263668161489453,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3333780483537083,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007998526096343994,
+            "max_z_decrease": 0.007998526096343994,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517423441678934,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007998526096343994,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02120626625572836,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007998526096343994,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007998551543084655,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14649268984794617,
+              -0.4142165780067444,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14649268984794617,
+              -0.4142165780067444,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14611548642195687,
+              -0.4161193887591126,
+              0.8080984141996469
+            ],
+            "closest_button": [
+              0.14648301899433136,
+              -0.414218008518219,
+              0.7729775309562683
+            ],
+            "closest_ee_minus_button": [
+              -0.0003675325723744849,
+              -0.001901380240893591,
+              0.03512088324337859
+            ],
+            "button_min_z_position": [
+              0.1464727818965912,
+              -0.41421329975128174,
+              0.7688103318214417
+            ],
+            "min_active_finger_to_button": 0.1463409278038707,
+            "closest_active_finger": [
+              0.004802778363227844,
+              -0.4012964367866516,
+              0.8105319738388062
+            ],
+            "closest_active_finger_button": [
+              0.14649198949337006,
+              -0.4142172038555145,
+              0.7762845158576965
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1416892111301422,
+              0.012920767068862915,
+              0.03424745798110962
+            ],
+            "min_contact_pad_to_button": 0.02120626625572836,
+            "closest_contact_pad": [
+              0.1464727818965912,
+              -0.4171517164488425,
+              0.7898120326054339
+            ],
+            "closest_contact_pad_button": [
+              0.1464727818965912,
+              -0.41421329975128174,
+              0.7688103318214417
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002938416697560786,
+              0.021001700783992217
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a25fff912042dd69014dbda19fc96bed2a3b55f6292c0214894293e99d159b65",
+    "visual_seed": 4874948762335130375,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0b2737b01b1c5fb0f338e8155952c4a87a6cef7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26713517944295595,
+              0.29371756797872045,
+              1.0500652916142665
+            ],
+            "current_z": 1.0500652916142665,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.1889584855762768,
+            "gripper_z": 1.0520759257939993,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2619119651884188,
+              0.28872321868381223,
+              1.0520759257939993
+            ],
+            "object_minus_gripper": [
+              0.005223214254537145,
+              0.004994349294908218,
+              -0.0020106341797327953
+            ],
+            "object_to_gripper_xy": 0.007226720696716474,
+            "object_to_gripper_z": -0.0020106341797327953,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26713517944295595,
+              0.2692362038771483,
+              1.0500652916142665
+            ],
+            "finger_b": [
+              0.2550076072296332,
+              0.29371756797872045,
+              1.0500652916142665
+            ],
+            "finger_midpoint": [
+              0.2610713933362946,
+              0.2814768859279344,
+              1.0500652916142665
+            ],
+            "object_minus_finger_midpoint": [
+              0.006063786106661362,
+              0.012240682050786045,
+              0.0
+            ],
+            "finger_gap": 0.027320600214180923,
+            "fingertip_max_gap": 0.09152760016665953,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013660300107090437,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500652916142665,
+            "object_top_z": 1.100687812788749,
+            "finger_top_clearance": 0.050622521174482404,
+            "fingertip_min_top_clearance": 0.015186756352344753,
+            "object_projection_between_fingers": 0.8029541620198696,
+            "object_to_finger_line_xy": 0.010867239690742795,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04826380008332977,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5773934043339147,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2672231880279747,
+              0.2923365966907576,
+              1.2414785569467093
+            ],
+            "held_position": [
+              0.2728253152050223,
+              0.2968615932108846,
+              1.2393619815658514
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075059518888566336,
+            "max_held_gripper_dist": 0.007518223839624991,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021165753808578547,
+            "max_held_gripper_z_dist": 0.002271327999131323,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08808021624768009,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2728253152050223,
+              0.2713130362995039,
+              1.2393619815658514
+            ],
+            "held_grasp_finger_b": [
+              0.26275346379527,
+              0.2968615932108846,
+              1.2393619815658514
+            ],
+            "held_grasp_midpoint": [
+              0.26778938950014614,
+              0.2840873147551942,
+              1.2393619815658514
+            ],
+            "held_grasp_object_position": [
+              0.2728253152050223,
+              0.2968615932108846,
+              1.2393619815658514
+            ],
+            "held_grasp_finger_gap": 0.027462173094534793,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024598664792136696,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.084689667961246,
+              -0.9962068163797559,
+              0.01999097644251213
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003944536769806584,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03656793592237978,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29496838307707796,
+              -0.3575098121187206,
+              0.8515395225305622
+            ],
+            "target_position": [
+              0.2881757262038382,
+              -0.35945009110477516,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0070643378982956535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18291681519530917,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395225305622,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550953369805154,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569249634541769,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15128304337171578,
+            "release_required_pad_clearance": 0.052846248172708846,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7359468880015773,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008044004440307617,
+            "max_z_decrease": 0.008044004440307617,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035164245121499384,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008044004440307617,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021040717887098687,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008044004440307617,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008044017352940245,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14387565851211542,
+              -0.4157115519046784,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14387565851211542,
+              -0.4157115519046784,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14511116826848505,
+              -0.4153094791778952,
+              0.8080285024857657
+            ],
+            "closest_button": [
+              0.1438641399145126,
+              -0.415715366601944,
+              0.772888720035553
+            ],
+            "closest_ee_minus_button": [
+              0.0012470283539724458,
+              0.00040588742404884526,
+              0.035139782450212764
+            ],
+            "button_min_z_position": [
+              0.14386188983917236,
+              -0.41570729017257696,
+              0.768764853477478
+            ],
+            "min_active_finger_to_button": 0.1448627390402497,
+            "closest_active_finger": [
+              0.01709064096212387,
+              -0.4769214391708374,
+              0.8109059929847717
+            ],
+            "closest_active_finger_button": [
+              0.1438773870468139,
+              -0.41571155190467834,
+              0.7767931818962097
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12678674608469004,
+              -0.06120988726615906,
+              0.03411281108856201
+            ],
+            "min_contact_pad_to_button": 0.021040717887098687,
+            "closest_contact_pad": [
+              0.14386188983917236,
+              -0.41649675459513624,
+              0.7897907554826237
+            ],
+            "closest_contact_pad_button": [
+              0.14386188983917236,
+              -0.41570729017257696,
+              0.768764853477478
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007894644225592828,
+              0.021025902005145647
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "33bb93a5a91bf091da7698f2c9efe21eb24937932d013dd55f19713364f182dd",
+    "visual_seed": 245893712720623203,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0977eeb921c203136a7d5eb66e9952eeb196589
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2665037560707977,
+              0.298018854629438,
+              1.0506419080909666
+            ],
+            "current_z": 1.0506419080909666,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1895354596808455,
+            "gripper_z": 1.0526411611287683,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26139341837564833,
+              0.2930526907718705,
+              1.0526411611287683
+            ],
+            "object_minus_gripper": [
+              0.005110337695149347,
+              0.004966163857567485,
+              -0.001999253037801685
+            ],
+            "object_to_gripper_xy": 0.007125891861281218,
+            "object_to_gripper_z": -0.001999253037801685,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2665037560707977,
+              0.2736591650323257,
+              1.0506419080909666
+            ],
+            "finger_b": [
+              0.25436257265673273,
+              0.298018854629438,
+              1.0506419080909666
+            ],
+            "finger_midpoint": [
+              0.2604331643637652,
+              0.28583900983088184,
+              1.0506419080909666
+            ],
+            "object_minus_finger_midpoint": [
+              0.006070591707032502,
+              0.012179844798556161,
+              0.0
+            ],
+            "finger_gap": 0.027217692994844882,
+            "fingertip_max_gap": 0.09299770436801258,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013608846497422451,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506419080909666,
+            "object_top_z": 1.1021989378352464,
+            "finger_top_clearance": 0.05155702974427978,
+            "fingertip_min_top_clearance": 0.015467108923283917,
+            "object_projection_between_fingers": 0.8010154223043078,
+            "object_to_finger_line_xy": 0.010866294191952557,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04899885218400629,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1380065094248264,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26675805534770713,
+              0.2965146888830649,
+              1.2397315081010818
+            ],
+            "held_position": [
+              0.2722602266651991,
+              0.30098854243872436,
+              1.237592980795839
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007406926074950857,
+            "max_held_gripper_dist": 0.007419675134366976,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021385273052427767,
+            "max_held_gripper_z_dist": 0.0022949354475330086,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08803759107876497,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2722602266651991,
+              0.27547359785168796,
+              1.237592980795839
+            ],
+            "held_grasp_finger_b": [
+              0.26237438379964284,
+              0.30098854243872436,
+              1.237592980795839
+            ],
+            "held_grasp_midpoint": [
+              0.267317305232421,
+              0.28823107014520616,
+              1.237592980795839
+            ],
+            "held_grasp_object_position": [
+              0.2722602266651991,
+              0.30098854243872436,
+              1.237592980795839
+            ],
+            "held_grasp_finger_gap": 0.02736315563749927,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024526260557353876,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08860982515445516,
+              -0.9955829329169529,
+              0.031030993709112997
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003814351702545432,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03658113698359677,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30092463130737623,
+              -0.3553050656417789,
+              0.8515395374067852
+            ],
+            "target_position": [
+              0.2941622801789776,
+              -0.3572533190174535,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007037406056181615,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18342470077724285,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395374067852,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754771819921891,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08623258927336457,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15183034334474813,
+            "release_required_pad_clearance": 0.053116294636682285,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2592576127919566,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008056282997131348,
+            "max_z_decrease": 0.008056282997131348,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351839303607775,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008056282997131348,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021016404376586917,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008056282997131348,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0080562881192454,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14986220002174372,
+              -0.41351476311683655,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14986220002174372,
+              -0.41351476311683655,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1506441330489362,
+              -0.41193319063908135,
+              0.8080567332902866
+            ],
+            "closest_button": [
+              0.14985051751136774,
+              -0.41351744532585144,
+              0.7729174494743347
+            ],
+            "closest_ee_minus_button": [
+              0.0007936155375684595,
+              0.0015842546867700924,
+              0.03513928381595188
+            ],
+            "button_min_z_position": [
+              0.14985564351081843,
+              -0.41350847482681274,
+              0.7687525749206543
+            ],
+            "min_active_finger_to_button": 0.14475633126279008,
+            "closest_active_finger": [
+              0.02352236956357956,
+              -0.47537797689437866,
+              0.8109551072120667
+            ],
+            "closest_active_finger_button": [
+              0.14986111223697657,
+              -0.41351601481437683,
+              0.7768081426620483
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.126338742673397,
+              -0.06186196208000183,
+              0.03414696455001831
+            ],
+            "min_contact_pad_to_button": 0.021016404376586917,
+            "closest_contact_pad": [
+              0.14985564351081843,
+              -0.41350847482681274,
+              0.7897689792972412
+            ],
+            "closest_contact_pad_button": [
+              0.14985564351081843,
+              -0.41350847482681274,
+              0.7687525749206543
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021016404376586917
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c2b535d14528902dbfd9394987acaca70302e2be7a8e0d13ac87efb6619dcbf1",
+    "visual_seed": 7272805257236336218,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2b45dd594f067e596f2f0414e355e106e6e8cb7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26214399874791094,
+              0.2941685246330154,
+              1.0497176190007007
+            ],
+            "current_z": 1.0497176190007007,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1886109917766451,
+            "gripper_z": 1.0522124075069266,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25660961750188016,
+              0.28901464664945786,
+              1.0522124075069266
+            ],
+            "object_minus_gripper": [
+              0.005534381246030784,
+              0.005153877983557542,
+              -0.0024947885062258646
+            ],
+            "object_to_gripper_xy": 0.0075625282839680286,
+            "object_to_gripper_z": -0.0024947885062258646,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26214399874791094,
+              0.269476335366658,
+              1.0497176190007007
+            ],
+            "finger_b": [
+              0.24977666880662278,
+              0.2941685246330154,
+              1.0497176190007007
+            ],
+            "finger_midpoint": [
+              0.25596033377726685,
+              0.2818224299998367,
+              1.0497176190007007
+            ],
+            "object_minus_finger_midpoint": [
+              0.006183664970644098,
+              0.012346094633178706,
+              0.0
+            ],
+            "finger_gap": 0.027616210106426606,
+            "fingertip_max_gap": 0.09038805513068299,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013808105053213308,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497176190007007,
+            "object_top_z": 1.0995232970280044,
+            "finger_top_clearance": 0.049805678027303735,
+            "fingertip_min_top_clearance": 0.014941703408191103,
+            "object_projection_between_fingers": 0.7994495050647544,
+            "object_to_finger_line_xy": 0.011057869651661997,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047694027565341496,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2881915173467259,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26170110322220475,
+              0.2928655694741279,
+              1.2389020777188122
+            ],
+            "held_position": [
+              0.2675781634987979,
+              0.29755770014979444,
+              1.2362621398808442
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007970269729474384,
+            "max_held_gripper_dist": 0.007985181948480836,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026399378379680094,
+            "max_held_gripper_z_dist": 0.0027984962231679678,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879173734082116,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2675781634987979,
+              0.2719286415019717,
+              1.2362621398808442
+            ],
+            "held_grasp_finger_b": [
+              0.2571662373782694,
+              0.29755770014979444,
+              1.2362621398808442
+            ],
+            "held_grasp_midpoint": [
+              0.26237220043853365,
+              0.2847431708258831,
+              1.2362621398808442
+            ],
+            "held_grasp_object_position": [
+              0.2675781634987979,
+              0.29755770014979444,
+              1.2362621398808442
+            ],
+            "held_grasp_finger_gap": 0.027663276246910475,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024704378127930093,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08062991811562804,
+              -0.9966769060643716,
+              0.011574161853843854
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004158511322074505,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03652854825560583,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30143041407858817,
+              -0.3591600737330502,
+              0.8515395185526403
+            ],
+            "target_position": [
+              0.2936851061155135,
+              -0.36169978921516505,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008151070492454442,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18432195897841835,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395185526403,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559241564762896,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553202999842734,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15263392368375633,
+            "release_required_pad_clearance": 0.05276601499921367,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5814803176120485,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008120536804199219,
+            "max_z_decrease": 0.008120536804199219,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508461955653069,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008120536804199219,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021010618395096294,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008120536804199219,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008120574022728054,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14938503503799438,
+              -0.41796123981475836,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14938503503799438,
+              -0.41796123981475836,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14747489332670566,
+              -0.4192601393308286,
+              0.8036951920725404
+            ],
+            "closest_button": [
+              0.14940404891967773,
+              -0.4179456532001496,
+              0.7686883211135864
+            ],
+            "closest_ee_minus_button": [
+              -0.001929155592972076,
+              -0.0013144861306790268,
+              0.03500687095895394
+            ],
+            "button_min_z_position": [
+              0.14940404891967773,
+              -0.4179456532001496,
+              0.7686883211135864
+            ],
+            "min_active_finger_to_button": 0.14742377790637975,
+            "closest_active_finger": [
+              0.006558731198310852,
+              -0.4053375720977783,
+              0.8108965754508972
+            ],
+            "closest_active_finger_button": [
+              0.14938572049140927,
+              -0.41796234250068665,
+              0.7766206860542297
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14282698929309842,
+              0.012624770402908325,
+              0.03427588939666748
+            ],
+            "min_contact_pad_to_button": 0.021010618395096294,
+            "closest_contact_pad": [
+              0.14940404891967773,
+              -0.4202476826896546,
+              0.789572447754981
+            ],
+            "closest_contact_pad_button": [
+              0.14940404891967773,
+              -0.4179456532001496,
+              0.7686883211135864
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002302029489505031,
+              0.020884126641394607
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d797d83499134f69c1673c798e36d614a2c3c4c26109cc99881663ea45d5da45",
+    "visual_seed": 2080755892378165762,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ccb2bb6d08d759d0c8c93c62eb0b4c96d9ebcccc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26406861237636503,
+              0.29565066206100943,
+              1.050755761428316
+            ],
+            "current_z": 1.050755761428316,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18964907459961589,
+            "gripper_z": 1.0532114209948364,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.258541090179617,
+              0.29059931511026293,
+              1.0532114209948364
+            ],
+            "object_minus_gripper": [
+              0.005527522196748014,
+              0.005051346950746494,
+              -0.002455659566520385
+            ],
+            "object_to_gripper_xy": 0.007487964186102781,
+            "object_to_gripper_z": -0.002455659566520385,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26406861237636503,
+              0.2708470766368284,
+              1.050755761428316
+            ],
+            "finger_b": [
+              0.25199448261548685,
+              0.29565066206100943,
+              1.050755761428316
+            ],
+            "finger_midpoint": [
+              0.25803154749592594,
+              0.2832488693489189,
+              1.050755761428316
+            ],
+            "object_minus_finger_midpoint": [
+              0.006037064880439091,
+              0.01240179271209052,
+              0.0
+            ],
+            "finger_gap": 0.027586273024407817,
+            "fingertip_max_gap": 0.0922763432261387,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013793136512203909,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050755761428316,
+            "object_top_z": 1.1017872352571894,
+            "finger_top_clearance": 0.0510314738288733,
+            "fingertip_min_top_clearance": 0.015309442148661971,
+            "object_projection_between_fingers": 0.8084308300372127,
+            "object_to_finger_line_xy": 0.010856185925572935,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863817161306935,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8092794318491627,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26363069940551287,
+              0.29464388324018076,
+              1.2429578087910984
+            ],
+            "held_position": [
+              0.26945516289427707,
+              0.2993073050613487,
+              1.240417599709445
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007881912216753415,
+            "max_held_gripper_dist": 0.007895615155231522,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025402090816533107,
+            "max_held_gripper_z_dist": 0.002700754620185819,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08676493010165287,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26945516289427707,
+              0.27372138223852216,
+              1.240417599709445
+            ],
+            "held_grasp_finger_b": [
+              0.25895854925851247,
+              0.2993073050613487,
+              1.240417599709445
+            ],
+            "held_grasp_midpoint": [
+              0.26420685607639477,
+              0.28651434364993544,
+              1.240417599709445
+            ],
+            "held_grasp_object_position": [
+              0.26945516289427707,
+              0.2993073050613487,
+              1.240417599709445
+            ],
+            "held_grasp_finger_gap": 0.027655349292933486,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02482295905350458,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06663389943480254,
+              -0.9975168582993696,
+              0.02280440428224084
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004394158589671538,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03660934024593125,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2981591069456023,
+              -0.3610210819154735,
+              0.851539564656787
+            ],
+            "target_position": [
+              0.2906098967787029,
+              -0.3633149229374948,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007890011456159307,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18286384532375288,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539564656787,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519750895928215,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08595277222279184,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520791779838993,
+            "release_required_pad_clearance": 0.05297638611139592,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9875362470136414,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008023202419281006,
+            "max_z_decrease": 0.008023202419281006,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03524716118763125,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008023202419281006,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021227174481288035,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008023202419281006,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008023235664398288,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14630982279777524,
+              -0.41957637667655945,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14630982279777524,
+              -0.41957637667655945,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1485177653065068,
+              -0.42109241850059326,
+              0.8082428391505452
+            ],
+            "closest_button": [
+              0.14630030095577237,
+              -0.4195808172225952,
+              0.7730979919433594
+            ],
+            "closest_ee_minus_button": [
+              0.002217464350734416,
+              -0.0015116012779980426,
+              0.0351448472071858
+            ],
+            "button_min_z_position": [
+              0.14628672599792478,
+              -0.4195764362812042,
+              0.7687856554985046
+            ],
+            "min_active_finger_to_button": 0.14383462654911244,
+            "closest_active_finger": [
+              0.007603973150253296,
+              -0.40283888578414917,
+              0.8106551170349121
+            ],
+            "closest_active_finger_button": [
+              0.14630922675132751,
+              -0.4195778965950012,
+              0.7764636278152466
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13870525360107422,
+              0.01673901081085205,
+              0.03419148921966553
+            ],
+            "min_contact_pad_to_button": 0.021227174481288035,
+            "closest_contact_pad": [
+              0.14628672599792478,
+              -0.4223517327757019,
+              0.7898306232064075
+            ],
+            "closest_contact_pad_button": [
+              0.14628672599792478,
+              -0.4195764362812042,
+              0.7687856554985046
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002775296494497703,
+              0.021044967707902873
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "615cf11acd41bbce9ba68a6b1407021f282b75c3d98661b51584f03189f2717b",
+    "visual_seed": 251689228113457022,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b37b280c7147d15ebf53f5c306a1d9311c88719
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2643495764907847,
+              0.30199435946583214,
+              1.0525656691997072
+            ],
+            "current_z": 1.0525656691997072,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.1914589823710071,
+            "gripper_z": 1.0545785987756513,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25901354209859917,
+              0.296934351961297,
+              1.0545785987756513
+            ],
+            "object_minus_gripper": [
+              0.005336034392185551,
+              0.005060007504535113,
+              -0.0020129295759441224
+            ],
+            "object_to_gripper_xy": 0.00735370239950861,
+            "object_to_gripper_z": -0.0020129295759441224,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2643495764907847,
+              0.27745370883989406,
+              1.0525656691997072
+            ],
+            "finger_b": [
+              0.25210085105222557,
+              0.30199435946583214,
+              1.0525656691997072
+            ],
+            "finger_midpoint": [
+              0.25822521377150515,
+              0.2897240341528631,
+              1.0525656691997072
+            ],
+            "object_minus_finger_midpoint": [
+              0.006124362719279575,
+              0.012270325312969066,
+              0.0
+            ],
+            "finger_gap": 0.027427628552493578,
+            "fingertip_max_gap": 0.09078343319487106,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013713814276246813,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0525656691997072,
+            "object_top_z": 1.1028033459732267,
+            "finger_top_clearance": 0.050237676773519535,
+            "fingertip_min_top_clearance": 0.015071303032055826,
+            "object_projection_between_fingers": 0.8005632073930867,
+            "object_to_finger_line_xy": 0.0109594488282288,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04789171659743553,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3323557602850643,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2643785857186283,
+              0.3005943503694579,
+              1.2437136369204258
+            ],
+            "held_position": [
+              0.2700978765409694,
+              0.3051769804704804,
+              1.24160051024253
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007627325252678496,
+            "max_held_gripper_dist": 0.007639141591920756,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0021131266778957603,
+            "max_held_gripper_z_dist": 0.002277162586392656,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08793880657954661,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2700978765409694,
+              0.27957456135962433,
+              1.24160051024253
+            ],
+            "held_grasp_finger_b": [
+              0.2598834701470488,
+              0.3051769804704804,
+              1.24160051024253
+            ],
+            "held_grasp_midpoint": [
+              0.2649906733440091,
+              0.2923757709150524,
+              1.24160051024253
+            ],
+            "held_grasp_object_position": [
+              0.2700978765409694,
+              0.3051769804704804,
+              1.24160051024253
+            ],
+            "held_grasp_finger_gap": 0.02756479570590166,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024666118916884392,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08276843295750827,
+              -0.9964507344887106,
+              0.015340151324802377
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004035083065177699,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03654176020083691,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29849674383876357,
+              -0.3566169920513469,
+              0.8515395761861805
+            ],
+            "target_position": [
+              0.29115445872298884,
+              -0.358875488820058,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007681793955555275,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18497757906904175,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395761861805,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550881704312726,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562309397336264,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15324764478311284,
+            "release_required_pad_clearance": 0.05281154698668132,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6691004335173469,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008078455924987793,
+            "max_z_decrease": 0.008078455924987793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035178633351104174,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008078455924987793,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02099703659925911,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008078455924987793,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008078462119358679,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14685438573360443,
+              -0.41513693332672114,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14685438573360443,
+              -0.41513693332672114,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1473049400389461,
+              -0.4135507622899001,
+              0.8038708353632475
+            ],
+            "closest_button": [
+              0.14685621857643127,
+              -0.4151270985603332,
+              0.7687304019927979
+            ],
+            "closest_ee_minus_button": [
+              0.00044872146251481726,
+              0.0015763362704330763,
+              0.0351404333704497
+            ],
+            "button_min_z_position": [
+              0.14685621857643127,
+              -0.4151270985603332,
+              0.7687304019927979
+            ],
+            "min_active_finger_to_button": 0.14468143752711415,
+            "closest_active_finger": [
+              0.01997385174036026,
+              -0.47571301460266113,
+              0.8108395934104919
+            ],
+            "closest_active_finger_button": [
+              0.14685779809951782,
+              -0.41513669490814203,
+              0.7767266631126404
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12688394635915756,
+              -0.0605763196945191,
+              0.03411293029785156
+            ],
+            "min_contact_pad_to_button": 0.02099703659925911,
+            "closest_contact_pad": [
+              0.14685621857643127,
+              -0.4151270985603332,
+              0.789727438592057
+            ],
+            "closest_contact_pad_button": [
+              0.14685621857643127,
+              -0.4151270985603332,
+              0.7687304019927979
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02099703659925911
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43c422817459c3510843604ac46efd714eae90779772ad764bbd40b8fafef4b2",
+    "visual_seed": 6279874438854478592,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..781b162d413c0d49cff47626ef08a180ce584db4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2580094749835515,
+              0.293883304195152,
+              1.0521642683579215
+            ],
+            "current_z": 1.0521642683579215,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.19105764113386614,
+            "gripper_z": 1.0549009211579248,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25274951143304947,
+              0.28888836335995777,
+              1.0549009211579248
+            ],
+            "object_minus_gripper": [
+              0.0052599635505020115,
+              0.00499494083519425,
+              -0.0027366528000032364
+            ],
+            "object_to_gripper_xy": 0.007253733555880086,
+            "object_to_gripper_z": -0.0027366528000032364,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2580094749835515,
+              0.26935942054963413,
+              1.0521642683579215
+            ],
+            "finger_b": [
+              0.24589967008684818,
+              0.293883304195152,
+              1.0521642683579215
+            ],
+            "finger_midpoint": [
+              0.2519545725351998,
+              0.2816213623723931,
+              1.0521642683579215
+            ],
+            "object_minus_finger_midpoint": [
+              0.006054902448351662,
+              0.012261941822758915,
+              0.0
+            ],
+            "finger_gap": 0.027350836252208428,
+            "fingertip_max_gap": 0.0929049531379531,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013675418126104195,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0521642683579215,
+            "object_top_z": 1.1035526502444017,
+            "finger_top_clearance": 0.051388381886480206,
+            "fingertip_min_top_clearance": 0.015416514565944062,
+            "object_projection_between_fingers": 0.8039652453206041,
+            "object_to_finger_line_xy": 0.010858148669318828,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048952476568976555,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.060056453263424,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25797853169082074,
+              0.2925771598130745,
+              1.244217886103944
+            ],
+            "held_position": [
+              0.26359712459289203,
+              0.29711647385974005,
+              1.2413808510288904
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007760330291330684,
+            "max_held_gripper_dist": 0.007776583396875219,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028370350750535067,
+            "max_held_gripper_z_dist": 0.0029870190369054583,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0873178550503037,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26359712459289203,
+              0.27158365415970714,
+              1.2413808510288904
+            ],
+            "held_grasp_finger_b": [
+              0.2534535040747101,
+              0.29711647385974005,
+              1.2413808510288904
+            ],
+            "held_grasp_midpoint": [
+              0.2585253143338011,
+              0.2843500640097236,
+              1.2413808510288904
+            ],
+            "held_grasp_object_position": [
+              0.26359712459289203,
+              0.29711647385974005,
+              1.2413808510288904
+            ],
+            "held_grasp_finger_gap": 0.027473949826176604,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024597282825944134,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08264565517327215,
+              -0.9961927154275696,
+              0.027744718596984567
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040155401450010664,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036583282493568806,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2965055474994468,
+              -0.3578146251519361,
+              0.8515395784400973
+            ],
+            "target_position": [
+              0.29001666239044427,
+              -0.35957406407282916,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006723187880327903,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.182610745849904,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395784400973,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552960630382359,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562673749169002,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1508968147913215,
+            "release_required_pad_clearance": 0.05281336874584501,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6726005566586045,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008066058158874512,
+            "max_z_decrease": 0.008066058158874512,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515449480715571,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008066058158874512,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104438186468183,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008066058158874512,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008066065788605463,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14571659266948697,
+              -0.4158355295658111,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14571659266948697,
+              -0.4158355295658111,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1464553999073178,
+              -0.4158788505405082,
+              0.8038893578177618
+            ],
+            "closest_button": [
+              0.14571027457714075,
+              -0.41582641005516047,
+              0.7687427997589111
+            ],
+            "closest_ee_minus_button": [
+              0.0007451253301770377,
+              -5.244048534774892e-05,
+              0.035146558058850697
+            ],
+            "button_min_z_position": [
+              0.14571027457714075,
+              -0.41582641005516047,
+              0.7687427997589111
+            ],
+            "min_active_finger_to_button": 0.14494178055911067,
+            "closest_active_finger": [
+              0.005930408835411072,
+              -0.3985346555709839,
+              0.8109815716743469
+            ],
+            "closest_active_finger_button": [
+              0.14571714401245112,
+              -0.41583591699600214,
+              0.7767989039421082
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13978673517704004,
+              0.017301261425018255,
+              0.03418266773223877
+            ],
+            "min_contact_pad_to_button": 0.02104438186468183,
+            "closest_contact_pad": [
+              0.14571027457714075,
+              -0.41716731802680274,
+              0.7897444181222215
+            ],
+            "closest_contact_pad_button": [
+              0.14571027457714075,
+              -0.41582641005516047,
+              0.7687427997589111
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001340907971642269,
+              0.02100161836331038
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "09d674492013dddeebca6e2df4a2f9c250ad081732f395ff1d1c8c987f6f6338",
+    "visual_seed": 7752298084866566790,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1461f244d057cb0dda944557e84004cd2f91333
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26529304105297635,
+              0.29439690422567383,
+              1.0504658682964298
+            ],
+            "current_z": 1.0504658682964298,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.1893591218630849,
+            "gripper_z": 1.0526945804729964,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2599152017241646,
+              0.2894000077001157,
+              1.0526945804729964
+            ],
+            "object_minus_gripper": [
+              0.005377839328811751,
+              0.0049968965255581255,
+              -0.0022287121765665052
+            ],
+            "object_to_gripper_xy": 0.00734098976525981,
+            "object_to_gripper_z": -0.0022287121765665052,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26529304105297635,
+              0.2697179393540853,
+              1.0504658682964298
+            ],
+            "finger_b": [
+              0.25327419521804356,
+              0.29439690422567383,
+              1.0504658682964298
+            ],
+            "finger_midpoint": [
+              0.25928361813550993,
+              0.2820574217898796,
+              1.0504658682964298
+            ],
+            "object_minus_finger_midpoint": [
+              0.006009422917466423,
+              0.012339482435794247,
+              0.0
+            ],
+            "finger_gap": 0.027450026636361993,
+            "fingertip_max_gap": 0.09032914619277027,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013725013318180983,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0504658682964298,
+            "object_top_z": 1.1003297104977092,
+            "finger_top_clearance": 0.049863842201279374,
+            "fingertip_min_top_clearance": 0.014959152660383812,
+            "object_projection_between_fingers": 0.8082921093661363,
+            "object_to_finger_line_xy": 0.010805551414818404,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04766457309638514,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.2045126278278465,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26508673248438863,
+              0.2930752937431611,
+              1.240101173806677
+            ],
+            "held_position": [
+              0.27077384428968476,
+              0.2976520471463031,
+              1.23772928438866
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007675661001530173,
+            "max_held_gripper_dist": 0.007689300049508251,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023718894180169148,
+            "max_held_gripper_z_dist": 0.0025293961299435175,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08736704751035346,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27077384428968476,
+              0.272104587246208,
+              1.23772928438866
+            ],
+            "held_grasp_finger_b": [
+              0.26060181355659484,
+              0.2976520471463031,
+              1.23772928438866
+            ],
+            "held_grasp_midpoint": [
+              0.2656878289231398,
+              0.28487831719625556,
+              1.23772928438866
+            ],
+            "held_grasp_object_position": [
+              0.27077384428968476,
+              0.2976520471463031,
+              1.23772928438866
+            ],
+            "held_grasp_finger_gap": 0.02749805295983505,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02472681725714063,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07365296977991496,
+              -0.9972035430900287,
+              0.01266229407699404
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004134636255018728,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03660764116934011,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30248522466888583,
+              -0.3548623928392177,
+              0.8515395910204966
+            ],
+            "target_position": [
+              0.2948630321206445,
+              -0.3572497108372523,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007987309087934769,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18401869013529112,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395910204966,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539347124629407,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08552645778660693,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1526113964728118,
+            "release_required_pad_clearance": 0.05276322889330347,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5760710667919758,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008134782314300537,
+            "max_z_decrease": 0.008134782314300537,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506073624586952,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008134782314300537,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02102280098638982,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008134782314300537,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008134835557016084,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15056295692920682,
+              -0.41351115703582764,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15056295692920682,
+              -0.41351115703582764,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15105597179528338,
+              -0.4146642924307547,
+              0.8037118774364396
+            ],
+            "closest_button": [
+              0.1505816429853439,
+              -0.4134884178638458,
+              0.7686740756034851
+            ],
+            "closest_ee_minus_button": [
+              0.0004743288099394727,
+              -0.0011758745669088744,
+              0.03503780183295446
+            ],
+            "button_min_z_position": [
+              0.1505816429853439,
+              -0.4134884178638458,
+              0.7686740756034851
+            ],
+            "min_active_finger_to_button": 0.14510753728357403,
+            "closest_active_finger": [
+              0.010168500244617462,
+              -0.400316447019577,
+              0.8108275532722473
+            ],
+            "closest_active_finger_button": [
+              0.15056273341178894,
+              -0.41351187229156494,
+              0.7765998244285583
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14039423316717148,
+              0.013195425271987915,
+              0.034227728843688965
+            ],
+            "min_contact_pad_to_button": 0.02102280098638982,
+            "closest_contact_pad": [
+              0.1505816429853439,
+              -0.4156890322451643,
+              0.7895813819258712
+            ],
+            "closest_contact_pad_button": [
+              0.1505816429853439,
+              -0.4134884178638458,
+              0.7686740756034851
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022006143813184664,
+              0.020907306322386132
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3c28b288fb24d2a1b195394b41a29827cd6876594af56cc5f4232378e16ecdb",
+    "visual_seed": 6717991755771377987,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86105d054d74b91b65b7b60940c94ff004b9722d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2596155656783512,
+              0.29419058224387173,
+              1.0503157678996415
+            ],
+            "current_z": 1.0503157678996415,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18920925988487536,
+            "gripper_z": 1.0529685510354057,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25427443184132636,
+              0.2891978012154957,
+              1.0529685510354057
+            ],
+            "object_minus_gripper": [
+              0.005341133837024836,
+              0.0049927810283760254,
+              -0.002652783135764114
+            ],
+            "object_to_gripper_xy": 0.00731133182548318,
+            "object_to_gripper_z": -0.002652783135764114,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2596155656783512,
+              0.2695587190133123,
+              1.0503157678996415
+            ],
+            "finger_b": [
+              0.24757605294670304,
+              0.29419058224387173,
+              1.0503157678996415
+            ],
+            "finger_midpoint": [
+              0.2535958093125271,
+              0.281874650628592,
+              1.0503157678996415
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060197563658240805,
+              0.012315931615279718,
+              0.0
+            ],
+            "finger_gap": 0.027416756792598647,
+            "fingertip_max_gap": 0.09139410488874339,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013708378396299323,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0503157678996415,
+            "object_top_z": 1.100853840705614,
+            "finger_top_clearance": 0.050538072805972556,
+            "fingertip_min_top_clearance": 0.015161421841791783,
+            "object_projection_between_fingers": 0.8071650890765898,
+            "object_to_finger_line_xy": 0.010816583201722615,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048197052444371696,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5165314452319373,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2594132332189528,
+              0.29320056265128597,
+              1.242728764679905
+            ],
+            "held_position": [
+              0.2650795955491726,
+              0.29776995106055115,
+              1.2399826175095199
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0077799933659017315,
+            "max_held_gripper_dist": 0.00779534303751504,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002746147170385127,
+            "max_held_gripper_z_dist": 0.0028988899273856283,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08789269672929284,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2650795955491726,
+              0.2722421272366118,
+              1.2399826175095199
+            ],
+            "held_grasp_finger_b": [
+              0.25481590814591504,
+              0.29776995106055115,
+              1.2399826175095199
+            ],
+            "held_grasp_midpoint": [
+              0.2599477518475438,
+              0.28500603914858147,
+              1.2399826175095199
+            ],
+            "held_grasp_object_position": [
+              0.2650795955491726,
+              0.29776995106055115,
+              1.2399826175095199
+            ],
+            "held_grasp_finger_gap": 0.027513870471052852,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024700014104542103,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07350794926681978,
+              -0.9971267779433934,
+              0.018296723827322836
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004186423517552445,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036615780404894854,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2999521690665603,
+              -0.3609274153491575,
+              0.8515395595956853
+            ],
+            "target_position": [
+              0.2929188434629296,
+              -0.3629228618092875,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0073109148279768815,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1849343686293556,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395595956853,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537650692700007,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08567008725334217,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15353049715688943,
+            "release_required_pad_clearance": 0.05283504362667109,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7143600860627765,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008227050304412842,
+            "max_z_decrease": 0.008227050304412842,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03502344702220809,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008227050304412842,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020985103184580266,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008227050304412842,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00822716773813766,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1486187726259231,
+              -0.4191843271255493,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1486187726259231,
+              -0.4191843271255493,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1495913864631671,
+              -0.4202763768783612,
+              0.8035746900890016
+            ],
+            "closest_button": [
+              0.1486517041921615,
+              -0.41915521025657654,
+              0.7685818076133728
+            ],
+            "closest_ee_minus_button": [
+              0.0009396822710056041,
+              -0.001121166621784686,
+              0.03499288247562882
+            ],
+            "button_min_z_position": [
+              0.1486517041921615,
+              -0.41915521025657654,
+              0.7685818076133728
+            ],
+            "min_active_finger_to_button": 0.14463831693120216,
+            "closest_active_finger": [
+              0.00885523110628128,
+              -0.4044818878173828,
+              0.810722291469574
+            ],
+            "closest_active_finger_button": [
+              0.14861814677715296,
+              -0.4191851913928985,
+              0.7765114307403564
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13976291567087168,
+              0.014703303575515692,
+              0.03421086072921753
+            ],
+            "min_contact_pad_to_button": 0.020985103184580266,
+            "closest_contact_pad": [
+              0.1486517041921615,
+              -0.42142997975254803,
+              0.7894432548164716
+            ],
+            "closest_contact_pad_button": [
+              0.1486517041921615,
+              -0.41915521025657654,
+              0.7685818076133728
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002274769495971496,
+              0.020861447203098793
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d920f49d82f7d3b1f66281c9452d254d9407cea3161a182c5f84b2df0ca400c",
+    "visual_seed": 7628804669834986822,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a60fa1102c48821db6061a64c40ca316c594a35
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26413942271921087,
+              0.29784293666380074,
+              1.0531962631570821
+            ],
+            "current_z": 1.0531962631570821,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1920896955376714,
+            "gripper_z": 1.055331467477311,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25879045302748893,
+              0.29276198270928167,
+              1.055331467477311
+            ],
+            "object_minus_gripper": [
+              0.005348969691721939,
+              0.005080953954519074,
+              -0.002135204320228956
+            ],
+            "object_to_gripper_xy": 0.007377504310463187,
+            "object_to_gripper_z": -0.002135204320228956,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26413942271921087,
+              0.27330455041569607,
+              1.0531962631570821
+            ],
+            "finger_b": [
+              0.2518502231407459,
+              0.29784293666380074,
+              1.0531962631570821
+            ],
+            "finger_midpoint": [
+              0.2579948229299784,
+              0.2855737435397484,
+              1.0531962631570821
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061445997892324855,
+              0.012269193124052336,
+              0.0
+            ],
+            "finger_gap": 0.027443702846746392,
+            "fingertip_max_gap": 0.09123633740937434,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013721851423373196,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0531962631570821,
+            "object_top_z": 1.1036062612008388,
+            "finger_top_clearance": 0.050409998043756676,
+            "fingertip_min_top_clearance": 0.015122999413127003,
+            "object_projection_between_fingers": 0.7994781152109329,
+            "object_to_finger_line_xy": 0.01098820839230047,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04811816870468717,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.41097578424017084,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26407903949123757,
+              0.29647933316956376,
+              1.2460858973710958
+            ],
+            "held_position": [
+              0.269812451242924,
+              0.301086243762436,
+              1.2438686223181925
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007681923208762356,
+            "max_held_gripper_dist": 0.007694326708128679,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002217275052903256,
+            "max_held_gripper_z_dist": 0.0023777198495029683,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08786172759025146,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.269812451242924,
+              0.2754938140075218,
+              1.2438686223181925
+            ],
+            "held_grasp_finger_b": [
+              0.25949616803690023,
+              0.301086243762436,
+              1.2438686223181925
+            ],
+            "held_grasp_midpoint": [
+              0.2646543096399121,
+              0.2882900288849789,
+              1.2438686223181925
+            ],
+            "held_grasp_object_position": [
+              0.269812451242924,
+              0.301086243762436,
+              1.2438686223181925
+            ],
+            "held_grasp_finger_gap": 0.027593444147969354,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024639092201852654,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08343578135417383,
+              -0.9963821175252736,
+              0.016160020596227228
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004077917336983482,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0365399568192032,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30407792583717924,
+              -0.35621960567474426,
+              0.8515396437594073
+            ],
+            "target_position": [
+              0.29644307214051735,
+              -0.3585840240416445,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007992588140469086,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18457455526169503,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396437594073,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754143113428928,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08619430956271766,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1530800470349795,
+            "release_required_pad_clearance": 0.05309715478135883,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2220357832395825,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008131206035614014,
+            "max_z_decrease": 0.008131206035614014,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035072508454460756,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008131206035614014,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020892373793832325,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008131206035614014,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008131259286413516,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15214300155639643,
+              -0.4148454964160919,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15214300155639643,
+              -0.4148454964160919,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15075162097759792,
+              -0.4139325173504014,
+              0.8037100706817234
+            ],
+            "closest_button": [
+              0.1521678119897842,
+              -0.41482967138290405,
+              0.7686776518821716
+            ],
+            "closest_ee_minus_button": [
+              -0.0014161910121862908,
+              0.0008971540325026783,
+              0.03503241879955177
+            ],
+            "button_min_z_position": [
+              0.1521678119897842,
+              -0.41482967138290405,
+              0.7686776518821716
+            ],
+            "min_active_finger_to_button": 0.14657928703776812,
+            "closest_active_finger": [
+              0.024803385138511658,
+              -0.47890132665634155,
+              0.8108310103416443
+            ],
+            "closest_active_finger_button": [
+              0.1521442979574203,
+              -0.41484597325325007,
+              0.7766741514205933
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12734091281890864,
+              -0.06405535340309149,
+              0.034156858921051025
+            ],
+            "min_contact_pad_to_button": 0.020892373793832325,
+            "closest_contact_pad": [
+              0.1521678119897842,
+              -0.4149155564785627,
+              0.7895698491455414
+            ],
+            "closest_contact_pad_button": [
+              0.1521678119897842,
+              -0.41482967138290405,
+              0.7686776518821716
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -8.588509565865543e-05,
+              0.02089219726336977
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4abd96b09e9fa8327530d3fd0b45ac0937388dcb8a50af7890a17593bf7a23c7",
+    "visual_seed": 7711475605305074623,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_43_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4667509a8f6a2ffc72a5854facd62c318bb3cff2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_43_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 43,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26036917421042033,
+              0.29690728714507914,
+              1.0502141098029931
+            ],
+            "current_z": 1.0502141098029931,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1891075421835824,
+            "gripper_z": 1.0525982481936758,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2551855331023781,
+              0.2918852299242548,
+              1.0525982481936758
+            ],
+            "object_minus_gripper": [
+              0.005183641108042203,
+              0.0050220572208243275,
+              -0.002384138390682633
+            ],
+            "object_to_gripper_xy": 0.007217422938017334,
+            "object_to_gripper_z": -0.002384138390682633,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26036917421042033,
+              0.2725226227392215,
+              1.0502141098029931
+            ],
+            "finger_b": [
+              0.24811676510538375,
+              0.29690728714507914,
+              1.0502141098029931
+            ],
+            "finger_midpoint": [
+              0.25424296965790205,
+              0.2847149549421503,
+              1.0502141098029931
+            ],
+            "object_minus_finger_midpoint": [
+              0.006126204552518277,
+              0.012192332202928813,
+              0.0
+            ],
+            "finger_gap": 0.027289803719768364,
+            "fingertip_max_gap": 0.09251969838684723,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013644901859884175,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0502141098029931,
+            "object_top_z": 1.1014730902741117,
+            "finger_top_clearance": 0.05125898047111854,
+            "fingertip_min_top_clearance": 0.015377694141335562,
+            "object_projection_between_fingers": 0.7984224536124005,
+            "object_to_finger_line_xy": 0.010948077430588687,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04875984919342362,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9187321147985065,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26038565957112253,
+              0.2955473330856177,
+              1.2411499572986848
+            ],
+            "held_position": [
+              0.2659622778244367,
+              0.3000779518588821,
+              1.2386569515569525
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007605278117213248,
+            "max_held_gripper_dist": 0.007620035832403764,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024930057417322793,
+            "max_held_gripper_z_dist": 0.002646915878390832,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792642752455088,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2659622778244367,
+              0.2745578078561465,
+              1.2386569515569525
+            ],
+            "held_grasp_finger_b": [
+              0.25586318302054456,
+              0.3000779518588821,
+              1.2386569515569525
+            ],
+            "held_grasp_midpoint": [
+              0.26091273042249064,
+              0.2873178798575143,
+              1.2386569515569525
+            ],
+            "held_grasp_object_position": [
+              0.2659622778244367,
+              0.3000779518588821,
+              1.2386569515569525
+            ],
+            "held_grasp_finger_gap": 0.027445754968270848,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024541723773355898,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.086527414086427,
+              -0.995902387095698,
+              0.02629528453176822
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039413137112276515,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036575539625422655,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2936356688849278,
+              -0.35958719199573064,
+              0.8515395560116709
+            ],
+            "target_position": [
+              0.2874326482523186,
+              -0.3612095690289667,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064116746803426685,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1822060213202255,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395560116709,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515488543994601,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08696547659989161,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15147151866919426,
+            "release_required_pad_clearance": 0.053482738299945806,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.978258658615684,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008024632930755615,
+            "max_z_decrease": 0.008024632930755615,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035140853360514535,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008024632930755615,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021071883008625353,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008024632930755615,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008024655777598578,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14313256740570068,
+              -0.4174710214138031,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14313256740570068,
+              -0.4174710214138031,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1423989592070909,
+              -0.4180247819989537,
+              0.8080344805706292
+            ],
+            "closest_button": [
+              0.14312119781970975,
+              -0.41747513413429255,
+              0.7729053497314453
+            ],
+            "closest_ee_minus_button": [
+              -0.0007222386126188585,
+              -0.0005496478646611624,
+              0.0351291308391839
+            ],
+            "button_min_z_position": [
+              0.14311343431472778,
+              -0.417470246553421,
+              0.76878422498703
+            ],
+            "min_active_finger_to_button": 0.14677676229363365,
+            "closest_active_finger": [
+              0.0014490783214569092,
+              -0.4001597762107849,
+              0.8110033273696899
+            ],
+            "closest_active_finger_button": [
+              0.1431317776441574,
+              -0.41747221350669855,
+              0.7768023014068604
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1416826993227005,
+              0.01731243729591364,
+              0.03420102596282959
+            ],
+            "min_contact_pad_to_button": 0.021071883008625353,
+            "closest_contact_pad": [
+              0.14311343431472778,
+              -0.4192242781485186,
+              0.7897829779664951
+            ],
+            "closest_contact_pad_button": [
+              0.14311343431472778,
+              -0.417470246553421,
+              0.76878422498703
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017540315950975716,
+              0.020998752979465074
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 43,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "536a269986b07e91b895477af8ab2076905774c13fa3f6192777df9521d02ab4",
+    "visual_seed": 4017186216819943078,
+    "episode_index": 43,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7eeafe18a402724dceb26c91ea75d3fbee8786c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2576687865709053,
+              0.29991000406942736,
+              1.0037712177876803
+            ],
+            "current_z": 1.0037712177876803,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.14266465016826968,
+            "gripper_z": 1.0537742393889897,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2549203294663712,
+              0.29355642114929464,
+              1.0537742393889897
+            ],
+            "object_minus_gripper": [
+              0.0027484571045340855,
+              0.0063535829201327165,
+              -0.05000302160130943
+            ],
+            "object_to_gripper_xy": 0.0069225741150576395,
+            "object_to_gripper_z": -0.05000302160130943,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2576687865709053,
+              0.27355271201956705,
+              1.0402270688862245
+            ],
+            "finger_b": [
+              0.24851710305055338,
+              0.29991000406942736,
+              1.0402781644449515
+            ],
+            "finger_midpoint": [
+              0.25309294481072936,
+              0.28673135804449723,
+              1.040252616665588
+            ],
+            "object_minus_finger_midpoint": [
+              0.004575841760175947,
+              0.01317864602493013,
+              -0.0364813988779078
+            ],
+            "finger_gap": 0.027900945615058147,
+            "fingertip_max_gap": 0.10742442578035336,
+            "finger_z_skew": 5.109555872695459e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013950449414430233,
+            "object_to_finger_midpoint_z": 0.0364813988779078,
+            "finger_midpoint_minus_object_z": 0.0364813988779078,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0037712177876803,
+            "object_top_z": 1.0597627697576038,
+            "finger_top_clearance": 0.019510153092015647,
+            "fingertip_min_top_clearance": 0.01679746559097702,
+            "object_projection_between_fingers": 0.8924115631745184,
+            "object_to_finger_line_xy": 0.008645370056834849,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05621221289017668,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.187291743375375,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 185,
+            "max_stable_success_frames": 185,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2630890783877881,
+              0.287749574882075,
+              1.1971987483479385
+            ],
+            "held_position": [
+              0.2660693197791318,
+              0.2922218871221368,
+              1.146951141751741
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.05053420014375916,
+            "max_held_gripper_dist": 0.05058623837231539,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.050247606596197425,
+            "max_held_gripper_z_dist": 0.050326696852324604,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0884832291910419,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2660693197791318,
+              0.26383126994310413,
+              1.1838264975763646
+            ],
+            "held_grasp_finger_b": [
+              0.2637126093285491,
+              0.30078121440393385,
+              1.1826577488993317
+            ],
+            "held_grasp_midpoint": [
+              0.2648909645538404,
+              0.28230624217351896,
+              1.1832421232378483
+            ],
+            "held_grasp_object_position": [
+              0.2660693197791318,
+              0.2922218871221368,
+              1.146951141751741
+            ],
+            "held_grasp_finger_gap": 0.037043467079585744,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.03591099793023307,
+            "held_grasp_world_z_skew": 0.0011687486770328714,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1824455427596423,
+              -0.9819269565731064,
+              0.05032967198598147
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.035749462252846184,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03794231215035223,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30028405496364724,
+              -0.3606611372398785,
+              0.8515395730899297
+            ],
+            "target_position": [
+              0.29470873243061857,
+              -0.3597963008794175,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005641999935986592,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18196305408815477,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395730899297,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519471604417076,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08790265749293101,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15058789939984976,
+            "release_required_pad_clearance": 0.05395132874646551,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9131247047072675,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008100509643554688,
+            "max_z_decrease": 0.008100509643554688,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035116886955179186,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008100509643554688,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020947779087084943,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008100509643554688,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008100529593284198,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15040865540504456,
+              -0.41605776548385615,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15040865540504456,
+              -0.41605776548385615,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14845770363563113,
+              -0.41575087560112056,
+              0.8037692311745525
+            ],
+            "closest_button": [
+              0.15041857957839966,
+              -0.41604277491569513,
+              0.768708348274231
+            ],
+            "closest_ee_minus_button": [
+              -0.0019608759427685307,
+              0.00029189931457457297,
+              0.0350608829003215
+            ],
+            "button_min_z_position": [
+              0.15041857957839966,
+              -0.41604277491569513,
+              0.768708348274231
+            ],
+            "min_active_finger_to_button": 0.14733243099416268,
+            "closest_active_finger": [
+              0.022653020918369293,
+              -0.480985552072525,
+              0.8109383583068848
+            ],
+            "closest_active_finger_button": [
+              0.15041287243366241,
+              -0.4160603880882263,
+              0.7767478823661804
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12775985151529312,
+              -0.0649251639842987,
+              0.034190475940704346
+            ],
+            "min_contact_pad_to_button": 0.020947779087084943,
+            "closest_contact_pad": [
+              0.15041857957839966,
+              -0.41670885673891456,
+              0.7896455348972252
+            ],
+            "closest_contact_pad_button": [
+              0.15041857957839966,
+              -0.41604277491569513,
+              0.768708348274231
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006660818232194221,
+              0.020937186622994264
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5caa1f0c7ee123149c320008941557cb63aaabbe6bb627e33be71cec326e5b6b",
+    "visual_seed": 1810202253966384109,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..839f7efff04be5a338015261ede52cdc7c279617
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.258693180911515,
+              0.2950120140943736,
+              1.0526777608414704
+            ],
+            "current_z": 1.0526777608414704,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1915712528267044,
+            "gripper_z": 1.0552325394309217,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2534282389118603,
+              0.2899824338991476,
+              1.0552325394309217
+            ],
+            "object_minus_gripper": [
+              0.005264941999654715,
+              0.0050295801952260355,
+              -0.002554778589451301
+            ],
+            "object_to_gripper_xy": 0.007281228687518211,
+            "object_to_gripper_z": -0.002554778589451301,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.258693180911515,
+              0.27053230679106277,
+              1.0526777608414704
+            ],
+            "finger_b": [
+              0.24647188253818775,
+              0.2950120140943736,
+              1.0526777608414704
+            ],
+            "finger_midpoint": [
+              0.25258253172485134,
+              0.2827721604427182,
+              1.0526777608414704
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061106491866636525,
+              0.012239853651655419,
+              0.0
+            ],
+            "finger_gap": 0.027360851660459352,
+            "fingertip_max_gap": 0.09148719416616408,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013680425830229688,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0526777608414704,
+            "object_top_z": 1.103366512053719,
+            "finger_top_clearance": 0.050688751212248695,
+            "fingertip_min_top_clearance": 0.015206625363674607,
+            "object_projection_between_fingers": 0.8004850373068361,
+            "object_to_finger_line_xy": 0.010934374805219691,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04824359708308204,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6296618475541662,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25874260617664535,
+              0.2936499823106362,
+              1.2439330356037617
+            ],
+            "held_position": [
+              0.26439199788642165,
+              0.29819231554588604,
+              1.2412680299457324
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007723384819356892,
+            "max_held_gripper_dist": 0.00773798851654925,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002665005658029296,
+            "max_held_gripper_z_dist": 0.002817077587665251,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0880721532568618,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26439199788642165,
+              0.2726280821180051,
+              1.2412680299457324
+            ],
+            "held_grasp_finger_b": [
+              0.25427479862575625,
+              0.29819231554588604,
+              1.2412680299457324
+            ],
+            "held_grasp_midpoint": [
+              0.2593333982560889,
+              0.28541019883194557,
+              1.2412680299457324
+            ],
+            "held_grasp_object_position": [
+              0.26439199788642165,
+              0.29819231554588604,
+              1.2412680299457324
+            ],
+            "held_grasp_finger_gap": 0.027493412877181943,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024611104713081155,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08458563147718443,
+              -0.996191592177776,
+              0.02115614856049064
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003968820976344106,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0365589280253106,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2990135436942639,
+              -0.3565400703664051,
+              0.8515395737652462
+            ],
+            "target_position": [
+              0.2917462221105158,
+              -0.358552064897628,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007540695259409551,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18543498971369168,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395737652462,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526227264133938,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864399859042058,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15438703122556774,
+            "release_required_pad_clearance": 0.053219992952102904,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4617629438310669,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008092939853668213,
+            "max_z_decrease": 0.008092939853668213,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513881315381188,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008092939853668213,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021070763769653215,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008092939853668213,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008092952266971721,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14744615554809565,
+              -0.4148135185241699,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14744615554809565,
+              -0.4148135185241699,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14854796690116592,
+              -0.41541103821254016,
+              0.8038322292086896
+            ],
+            "closest_button": [
+              0.14744926989078516,
+              -0.414799690246582,
+              0.7687159180641174
+            ],
+            "closest_ee_minus_button": [
+              0.0010986970103807614,
+              -0.0006113479659581866,
+              0.03511631114457214
+            ],
+            "button_min_z_position": [
+              0.14744926989078516,
+              -0.414799690246582,
+              0.7687159180641174
+            ],
+            "min_active_finger_to_button": 0.14453211093258467,
+            "closest_active_finger": [
+              0.008131936192512512,
+              -0.39715176820755005,
+              0.8109203577041626
+            ],
+            "closest_active_finger_button": [
+              0.14745005965232846,
+              -0.41481325030326843,
+              0.7767434120178223
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13931812345981595,
+              0.017661482095718384,
+              0.03417694568634033
+            ],
+            "min_contact_pad_to_button": 0.021070763769653215,
+            "closest_contact_pad": [
+              0.14744926989078516,
+              -0.4167801260281208,
+              0.7896934050430606
+            ],
+            "closest_contact_pad_button": [
+              0.14744926989078516,
+              -0.414799690246582,
+              0.7687159180641174
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019804357815388363,
+              0.020977486978943194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a3161c8af813761d2076ef6619060ba1fcc76358afab5c2a80b5d0b4015abb8a",
+    "visual_seed": 7423767445211263225,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..64d92246b2ed60d0dd3d602be55e30ad95852d59
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26466333836140044,
+              0.2971504735952729,
+              1.0519814997410757
+            ],
+            "current_z": 1.0519814997410757,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1908748129123754,
+            "gripper_z": 1.0542143107267496,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2592921442494496,
+              0.29221454868193103,
+              1.0542143107267496
+            ],
+            "object_minus_gripper": [
+              0.005371194111950861,
+              0.0049359249133418825,
+              -0.002232810985673961
+            ],
+            "object_to_gripper_xy": 0.007294729668630954,
+            "object_to_gripper_z": -0.002232810985673961,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26466333836140044,
+              0.2723873256718854,
+              1.0519814997410757
+            ],
+            "finger_b": [
+              0.2528449497639934,
+              0.2971504735952729,
+              1.0519814997410757
+            ],
+            "finger_midpoint": [
+              0.2587541440626969,
+              0.28476889963357915,
+              1.0519814997410757
+            ],
+            "object_minus_finger_midpoint": [
+              0.005909194298703513,
+              0.01238157396169376,
+              0.0
+            ],
+            "finger_gap": 0.027438801069195645,
+            "fingertip_max_gap": 0.09232794510483397,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013719400534597822,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0519814997410757,
+            "object_top_z": 1.1029497186060109,
+            "finger_top_clearance": 0.05096821886493519,
+            "fingertip_min_top_clearance": 0.01529046565948059,
+            "object_projection_between_fingers": 0.8144819078275229,
+            "object_to_finger_line_xy": 0.010665936325556983,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04866397255241699,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8120685755931409,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2645629019880899,
+              0.29611139132458786,
+              1.2449694191886207
+            ],
+            "held_position": [
+              0.2702270765502025,
+              0.3006711246240412,
+              1.2426566008748603
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007630410852941852,
+            "max_held_gripper_dist": 0.007643592796183497,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002312818313760401,
+            "max_held_gripper_z_dist": 0.0024728416953225807,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788519612343748,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2702270765502025,
+              0.2751189957814235,
+              1.2426566008748603
+            ],
+            "held_grasp_finger_b": [
+              0.2599895517740141,
+              0.3006711246240412,
+              1.2426566008748603
+            ],
+            "held_grasp_midpoint": [
+              0.26510831416210834,
+              0.28789506020273237,
+              1.2426566008748603
+            ],
+            "held_grasp_object_position": [
+              0.2702270765502025,
+              0.3006711246240412,
+              1.2426566008748603
+            ],
+            "held_grasp_finger_gap": 0.027526681636783006,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024775610381242385,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06925175038471844,
+              -0.9973563082969163,
+              0.02201339067474506
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004231326210023651,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036623478369115905,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3009447113167739,
+              -0.35418739798002574,
+              0.8515395771974335
+            ],
+            "target_position": [
+              0.2949907112672788,
+              -0.35568218051399936,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006138769535766928,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18192674348247917,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395771974335,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758193028934242,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551785531012167,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14944311649914194,
+            "release_required_pad_clearance": 0.052758927655060836,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5678605935760035,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007980167865753174,
+            "max_z_decrease": 0.007980167865753174,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035172797174338064,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007980167865753174,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021037072946136992,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007980167865753174,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007980189421474947,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15069063007831573,
+              -0.4119436442852019,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15069063007831573,
+              -0.4119436442852019,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14999485616556116,
+              -0.4103662569582094,
+              0.8081219634376257
+            ],
+            "closest_button": [
+              0.1506795436143875,
+              -0.41194528341293324,
+              0.7729912996292114
+            ],
+            "closest_ee_minus_button": [
+              -0.0006846874488263544,
+              0.001579026454723853,
+              0.03513066380841423
+            ],
+            "button_min_z_position": [
+              0.15067210793495178,
+              -0.4119426608085632,
+              0.7688286900520325
+            ],
+            "min_active_finger_to_button": 0.14604498406406916,
+            "closest_active_finger": [
+              0.023436203598976135,
+              -0.47494620084762573,
+              0.8104466795921326
+            ],
+            "closest_active_finger_button": [
+              0.15068987011909485,
+              -0.4119439423084258,
+              0.7762947082519531
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1272536665201187,
+              -0.06300225853919994,
+              0.03415197134017944
+            ],
+            "min_contact_pad_to_button": 0.021037072946136992,
+            "closest_contact_pad": [
+              0.15067210793495178,
+              -0.4119426608085632,
+              0.7898657629981695
+            ],
+            "closest_contact_pad_button": [
+              0.15067210793495178,
+              -0.4119426608085632,
+              0.7688286900520325
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021037072946136992
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3c332be01389d8bda196707a6ad47f14d7ecfcd29c786fc7ba3858720cce51a0",
+    "visual_seed": 7989732034846698507,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4628b007efb66240f025a91745e1d65984ee40d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26556475835188864,
+              0.2940783605004995,
+              1.0534161054415112
+            ],
+            "current_z": 1.0534161054415112,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1923094782174557,
+            "gripper_z": 1.055698853306444,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26014146397583904,
+              0.2890847629066625,
+              1.055698853306444
+            ],
+            "object_minus_gripper": [
+              0.005423294376049603,
+              0.004993597593836996,
+              -0.002282747864932766
+            ],
+            "object_to_gripper_xy": 0.007372119018197271,
+            "object_to_gripper_z": -0.002282747864932766,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26556475835188864,
+              0.26933857203213474,
+              1.0534161054415112
+            ],
+            "finger_b": [
+              0.25358444017675763,
+              0.2940783605004995,
+              1.0534161054415112
+            ],
+            "finger_midpoint": [
+              0.25957459926432314,
+              0.2817084662663171,
+              1.0534161054415112
+            ],
+            "object_minus_finger_midpoint": [
+              0.005990159087565505,
+              0.012369894234182388,
+              0.0
+            ],
+            "finger_gap": 0.027487909288209045,
+            "fingertip_max_gap": 0.09075973562752399,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013743954644104522,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0534161054415112,
+            "object_top_z": 1.1034243376659805,
+            "finger_top_clearance": 0.05000823222446926,
+            "fingertip_min_top_clearance": 0.015002469667340777,
+            "object_projection_between_fingers": 0.8100438815655794,
+            "object_to_finger_line_xy": 0.010782578417616647,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047879867813761995,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4076485587860542,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2653960424321574,
+              0.2927724221189777,
+              1.242764598111706
+            ],
+            "held_position": [
+              0.27111626196114563,
+              0.2973652799377008,
+              1.240334536677028
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007727900942632031,
+            "max_held_gripper_dist": 0.007741492582619162,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024300614346779437,
+            "max_held_gripper_z_dist": 0.0025888781642871006,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08737218513791781,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27111626196114563,
+              0.27180095004674615,
+              1.240334536677028
+            ],
+            "held_grasp_finger_b": [
+              0.26092081469287715,
+              0.2973652799377008,
+              1.240334536677028
+            ],
+            "held_grasp_midpoint": [
+              0.2660185383270114,
+              0.28458311499222344,
+              1.240334536677028
+            ],
+            "held_grasp_object_position": [
+              0.27111626196114563,
+              0.2973652799377008,
+              1.240334536677028
+            ],
+            "held_grasp_finger_gap": 0.027522392842440138,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02473643977399081,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0740630130260314,
+              -0.9971528855464505,
+              0.014170142832494292
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004141117793530409,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03659692463926367,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.296403949310365,
+              -0.35595902972842575,
+              0.8515395626348814
+            ],
+            "target_position": [
+              0.28925966293920735,
+              -0.3582320271981408,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007497155810735167,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18523377036944152,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395626348814,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559914048785452,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08503374435341964,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15324995871999791,
+            "release_required_pad_clearance": 0.05251687217670982,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.10467830989920561,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008066534996032715,
+            "max_z_decrease": 0.008066534996032715,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523263206957657,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008066534996032715,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021250227066761405,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008066534996032715,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008066543774218383,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14495958387851715,
+              -0.41449347138404846,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14495958387851715,
+              -0.41449347138404846,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14660735923239254,
+              -0.41636209333081825,
+              0.8038859187168806
+            ],
+            "closest_button": [
+              0.1449526697397232,
+              -0.4144837856292724,
+              0.7687423229217529
+            ],
+            "closest_ee_minus_button": [
+              0.0016546894926693367,
+              -0.001878307701545845,
+              0.03514359579512771
+            ],
+            "button_min_z_position": [
+              0.1449526697397232,
+              -0.4144837856292724,
+              0.7687423229217529
+            ],
+            "min_active_finger_to_button": 0.1438666509724075,
+            "closest_active_finger": [
+              0.006160072982311249,
+              -0.398246705532074,
+              0.810366690158844
+            ],
+            "closest_active_finger_button": [
+              0.14495877921581268,
+              -0.4144946634769439,
+              0.7761828303337097
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13879870623350143,
+              0.01624795794486994,
+              0.03418385982513428
+            ],
+            "min_contact_pad_to_button": 0.021250227066761405,
+            "closest_contact_pad": [
+              0.1449526697397232,
+              -0.4177190335327314,
+              0.7897448304242414
+            ],
+            "closest_contact_pad_button": [
+              0.1449526697397232,
+              -0.4144837856292724,
+              0.7687423229217529
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003235247903458971,
+              0.021002507502488443
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "78e3beeb498762e64f7913fdd46a501652c9808df142ae7c78b58d80cdb05234",
+    "visual_seed": 4128734328886977065,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfa9caeb7eb56c404ebb324650f3caa642ccfbf8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2608640042418243,
+              0.3019203024322894,
+              1.052174834253396
+            ],
+            "current_z": 1.052174834253396,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19106826663398535,
+            "gripper_z": 1.0546761257327282,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25550083927426004,
+              0.2969676694073061,
+              1.0546761257327282
+            ],
+            "object_minus_gripper": [
+              0.005363164967564282,
+              0.004952633024983277,
+              -0.0025012914793320906
+            ],
+            "object_to_gripper_xy": 0.007300144680036403,
+            "object_to_gripper_z": -0.0025012914793320906,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2608640042418243,
+              0.27720355889743475,
+              1.052174834253396
+            ],
+            "finger_b": [
+              0.2489709230877767,
+              0.3019203024322894,
+              1.052174834253396
+            ],
+            "finger_midpoint": [
+              0.2549174636648005,
+              0.2895619306648621,
+              1.052174834253396
+            ],
+            "object_minus_finger_midpoint": [
+              0.005946540577023818,
+              0.012358371767427323,
+              0.0
+            ],
+            "finger_gap": 0.027429232404581456,
+            "fingertip_max_gap": 0.09190531655031772,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013714616202290733,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052174834253396,
+            "object_top_z": 1.1029721532622856,
+            "finger_top_clearance": 0.05079731900888951,
+            "fingertip_min_top_clearance": 0.015239195702666852,
+            "object_projection_between_fingers": 0.8119984385730876,
+            "object_to_finger_line_xy": 0.010716969122136598,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048452658275158864,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6511000664914929,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26060965657526336,
+              0.30117711159396143,
+              1.2420419355672099
+            ],
+            "held_position": [
+              0.2662407986151104,
+              0.30575723440200764,
+              1.2394085079187995
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00772154303161809,
+            "max_held_gripper_dist": 0.007736639611302075,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002633427648410347,
+            "max_held_gripper_z_dist": 0.0027955408393398606,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08667571828248893,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2662407986151104,
+              0.2802806019258687,
+              1.2394085079187995
+            ],
+            "held_grasp_finger_b": [
+              0.25599169410674016,
+              0.30575723440200764,
+              1.2394085079187995
+            ],
+            "held_grasp_midpoint": [
+              0.2611162463609253,
+              0.29301891816393816,
+              1.2394085079187995
+            ],
+            "held_grasp_object_position": [
+              0.2662407986151104,
+              0.30575723440200764,
+              1.2394085079187995
+            ],
+            "held_grasp_finger_gap": 0.02746093489937576,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024749809785767525,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06509223596669167,
+              -0.9976572429138263,
+              0.02104819418475401
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00429311964468596,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03667820804810518,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3017803387011711,
+              -0.35928932195979324,
+              0.8515395562216096
+            ],
+            "target_position": [
+              0.2959733156607207,
+              -0.36077641450358594,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00599441079891306,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1847174318857566,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395562216096,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530666641243616,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855278291117758,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15341816637199085,
+            "release_required_pad_clearance": 0.0527639145558879,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5774281315380829,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00814908742904663,
+            "max_z_decrease": 0.00814908742904663,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035093228339189854,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00814908742904663,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020886646415243515,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00814908742904663,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00814917385753575,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1516732424497604,
+              -0.41703787446022034,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1516732424497604,
+              -0.41703787446022034,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15024442624847914,
+              -0.4153356398125522,
+              0.8036819886578535
+            ],
+            "closest_button": [
+              0.15170677006244657,
+              -0.4170210063457489,
+              0.768659770488739
+            ],
+            "closest_ee_minus_button": [
+              -0.001462343813967426,
+              0.001685366533196675,
+              0.03502221816911444
+            ],
+            "button_min_z_position": [
+              0.15170677006244657,
+              -0.4170210063457489,
+              0.768659770488739
+            ],
+            "min_active_finger_to_button": 0.1462701041571994,
+            "closest_active_finger": [
+              0.024349547922611237,
+              -0.4804098606109619,
+              0.8108296990394592
+            ],
+            "closest_active_finger_button": [
+              0.15167441964149475,
+              -0.41703805327415466,
+              0.7766634225845337
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12732487171888351,
+              -0.06337180733680725,
+              0.03416627645492554
+            ],
+            "min_contact_pad_to_button": 0.020886646415243515,
+            "closest_contact_pad": [
+              0.15170677006244657,
+              -0.4170210063457489,
+              0.7895464169039825
+            ],
+            "closest_contact_pad_button": [
+              0.15170677006244657,
+              -0.4170210063457489,
+              0.768659770488739
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020886646415243515
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51a0f7d8b5a86d88026616dd4cde499344ced3436c21103c13b2be0a5a199100",
+    "visual_seed": 3329223914311951287,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea10e297ac911859602c7e054a1b77f0d679badc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26674586302617165,
+              0.2970720993435275,
+              1.052930455112465
+            ],
+            "current_z": 1.052930455112465,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1918237086791199,
+            "gripper_z": 1.0553260801036024,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2614260756490303,
+              0.29212282984698584,
+              1.0553260801036024
+            ],
+            "object_minus_gripper": [
+              0.005319787377141338,
+              0.004949269496541675,
+              -0.002395624991137435
+            ],
+            "object_to_gripper_xy": 0.007266044748512784,
+            "object_to_gripper_z": -0.002395624991137435,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26674586302617165,
+              0.2724142278877321,
+              1.052930455112465
+            ],
+            "finger_b": [
+              0.2548252796072451,
+              0.2970720993435275,
+              1.052930455112465
+            ],
+            "finger_midpoint": [
+              0.2607855713167084,
+              0.2847431636156298,
+              1.052930455112465
+            ],
+            "object_minus_finger_midpoint": [
+              0.005960291709463272,
+              0.012328935727897727,
+              0.0
+            ],
+            "finger_gap": 0.027388153164792182,
+            "fingertip_max_gap": 0.09344499827490052,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013694076582396115,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052930455112465,
+            "object_top_z": 1.1045697063460542,
+            "finger_top_clearance": 0.051639251233589256,
+            "fingertip_min_top_clearance": 0.015491775370076743,
+            "object_projection_between_fingers": 0.8105609415238574,
+            "object_to_finger_line_xy": 0.010732239295340125,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04922249913745026,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0989647240060894,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26644307370139486,
+              0.2966046773762345,
+              1.2431639225093623
+            ],
+            "held_position": [
+              0.2720277607327351,
+              0.3011983402814002,
+              1.2406482151248492
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007656321033551833,
+            "max_held_gripper_dist": 0.007670652814993219,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025157073845130107,
+            "max_held_gripper_z_dist": 0.002677287591139832,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08777039134075643,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2720277607327351,
+              0.27578613891807824,
+              1.2406482151248492
+            ],
+            "held_grasp_finger_b": [
+              0.2616902126145281,
+              0.3011983402814002,
+              1.2406482151248492
+            ],
+            "held_grasp_midpoint": [
+              0.2668589866736316,
+              0.28849223959973924,
+              1.2406482151248492
+            ],
+            "held_grasp_object_position": [
+              0.2720277607327351,
+              0.3011983402814002,
+              1.2406482151248492
+            ],
+            "held_grasp_finger_gap": 0.027434374044732052,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02469039370394591,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06382325715064502,
+              -0.997558980954319,
+              0.02833145538202142
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004362556720301936,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036715277226266614,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2972417910869158,
+              -0.35949388343081157,
+              0.8515395721260355
+            ],
+            "target_position": [
+              0.2915874677151548,
+              -0.36116848627100745,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005897089745360374,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1833192902183759,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395721260355,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590362481968242,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856711939923843,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15062199072813595,
+            "release_required_pad_clearance": 0.052835596996192155,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7154548953938997,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0081673264503479,
+            "max_z_decrease": 0.0081673264503479,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035019869555012996,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0081673264503479,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02092607434212224,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.0081673264503479,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008167425574902335,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1472873985767364,
+              -0.41742995381355286,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1472873985767364,
+              -0.41742995381355286,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14835723050763233,
+              -0.417867033646958,
+              0.8036428797667642
+            ],
+            "closest_button": [
+              0.14731726050376887,
+              -0.417402982711792,
+              0.7686415314674377
+            ],
+            "closest_ee_minus_button": [
+              0.0010399700038634663,
+              -0.00046405093516599383,
+              0.03500134829932644
+            ],
+            "button_min_z_position": [
+              0.14731726050376887,
+              -0.417402982711792,
+              0.7686415314674377
+            ],
+            "min_active_finger_to_button": 0.14463039818650353,
+            "closest_active_finger": [
+              0.007413089275360107,
+              -0.40403929352760315,
+              0.8108996748924255
+            ],
+            "closest_active_finger_button": [
+              0.14728757739067072,
+              -0.41742947697639465,
+              0.7766391634941101
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1398744881153106,
+              0.013390183448791504,
+              0.03426051139831543
+            ],
+            "min_contact_pad_to_button": 0.02092607434212224,
+            "closest_contact_pad": [
+              0.14731726050376887,
+              -0.4188451855452955,
+              0.7895178491110995
+            ],
+            "closest_contact_pad_button": [
+              0.14731726050376887,
+              -0.417402982711792,
+              0.7686415314674377
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001442202833503492,
+              0.020876317643661713
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "85abb0207f19bdcad19b44874b93760464ed6661ec1ddec89d92bc886875e322",
+    "visual_seed": 6461458461378710549,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..29a8b76130d8a8f6e54a0260af40a67dc924c0d4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2619208450356655,
+              0.2950879325474652,
+              1.0501196758476246
+            ],
+            "current_z": 1.0501196758476246,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.18901304862356916,
+            "gripper_z": 1.0526270088809697,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25657227956390455,
+              0.2901678414158008,
+              1.0526270088809697
+            ],
+            "object_minus_gripper": [
+              0.0053485654717609354,
+              0.004920091131664361,
+              -0.0025073330333451604
+            ],
+            "object_to_gripper_xy": 0.007267355044966193,
+            "object_to_gripper_z": -0.0025073330333451604,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2619208450356655,
+              0.27033500938118904,
+              1.0501196758476246
+            ],
+            "finger_b": [
+              0.25013310560548274,
+              0.2950879325474652,
+              1.0501196758476246
+            ],
+            "finger_midpoint": [
+              0.2560269753205741,
+              0.28271147096432714,
+              1.0501196758476246
+            ],
+            "object_minus_finger_midpoint": [
+              0.005893869715091371,
+              0.012376461583138043,
+              0.0
+            ],
+            "finger_gap": 0.027416382076223243,
+            "fingertip_max_gap": 0.09231788398645624,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013708191038111597,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0501196758476246,
+            "object_top_z": 1.1010823389474726,
+            "finger_top_clearance": 0.05096266309984809,
+            "fingertip_min_top_clearance": 0.015288798929954427,
+            "object_projection_between_fingers": 0.8151409288039209,
+            "object_to_finger_line_xy": 0.010642578864278471,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04865894199322812,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7965204070658161,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2617055985935716,
+              0.2940987664075262,
+              1.2417698114758353
+            ],
+            "held_position": [
+              0.26733370970625825,
+              0.29864709738921935,
+              1.2391637989311066
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00769118006544249,
+            "max_held_gripper_dist": 0.007706030712840262,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026060125447286975,
+            "max_held_gripper_z_dist": 0.0027609789083002934,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788702025597869,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26733370970625825,
+              0.2731289039606266,
+              1.2391637989311066
+            ],
+            "held_grasp_finger_b": [
+              0.25713484138451853,
+              0.29864709738921935,
+              1.2391637989311066
+            ],
+            "held_grasp_midpoint": [
+              0.26223427554538836,
+              0.285888000674923,
+              1.2391637989311066
+            ],
+            "held_grasp_object_position": [
+              0.26733370970625825,
+              0.29864709738921935,
+              1.2391637989311066
+            ],
+            "held_grasp_finger_gap": 0.027480813505121344,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02476130974197838,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06782230920910029,
+              -0.997446022740724,
+              0.022395671283893078
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042322610347460664,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03664788439820594,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2989791222636051,
+              -0.3543247331526474,
+              0.8515395357018632
+            ],
+            "target_position": [
+              0.29155010438729806,
+              -0.3564447524489189,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007725593079049229,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18656884720785605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395357018632,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523360905999298,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857611264588286,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15557105292536716,
+            "release_required_pad_clearance": 0.0528805632294143,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8021017681881393,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00796496868133545,
+            "max_z_decrease": 0.00796496868133545,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519420813428094,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00796496868133545,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021046960756104238,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00796496868133545,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007964991985413348,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14725002646446225,
+              -0.412706196308136,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14725002646446225,
+              -0.412706196308136,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1484747312457546,
+              -0.4113392834243432,
+              0.8080971354272932
+            ],
+            "closest_button": [
+              0.14723975956439972,
+              -0.4127111136913299,
+              0.7729513645172119
+            ],
+            "closest_ee_minus_button": [
+              0.0012349716813548905,
+              0.0013718302669866733,
+              0.03514577091008131
+            ],
+            "button_min_z_position": [
+              0.1472307592630386,
+              -0.4127061069011688,
+              0.7688438892364502
+            ],
+            "min_active_finger_to_button": 0.1444707952462187,
+            "closest_active_finger": [
+              0.020403027534484863,
+              -0.4728597104549408,
+              0.8103631734848022
+            ],
+            "closest_active_finger_button": [
+              0.14724977314472198,
+              -0.4127079248428344,
+              0.7762534022331238
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12684674561023712,
+              -0.06015178561210638,
+              0.03410977125167847
+            ],
+            "min_contact_pad_to_button": 0.021046960756104238,
+            "closest_contact_pad": [
+              0.1472307592630386,
+              -0.4127061069011688,
+              0.7898908499925544
+            ],
+            "closest_contact_pad_button": [
+              0.1472307592630386,
+              -0.4127061069011688,
+              0.7688438892364502
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021046960756104238
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1c214d632b1c16420cece8c7e35a4b25a116a0d22954fc1337323125a2ba1bd1",
+    "visual_seed": 2277052799118321781,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_55_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f65930628c2804901d11be796b0689153a66bc85
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_55_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 55,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2633604297949649,
+              0.298532046332999,
+              1.0529997272926273
+            ],
+            "current_z": 1.0529997272926273,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1918931596732164,
+            "gripper_z": 1.055464979604455,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25787299816805404,
+              0.29344959264183446,
+              1.055464979604455
+            ],
+            "object_minus_gripper": [
+              0.005487431626910844,
+              0.005082453691164557,
+              -0.0024652523118278147
+            ],
+            "object_to_gripper_xy": 0.007479521467504029,
+            "object_to_gripper_z": -0.0024652523118278147,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2633604297949649,
+              0.27382104704550875,
+              1.0529997272926273
+            ],
+            "finger_b": [
+              0.2511566185597459,
+              0.298532046332999,
+              1.0529997272926273
+            ],
+            "finger_midpoint": [
+              0.2572585241773554,
+              0.28617654668925385,
+              1.0529997272926273
+            ],
+            "object_minus_finger_midpoint": [
+              0.006101905617609482,
+              0.01235549964374516,
+              0.0
+            ],
+            "finger_gap": 0.027560233933172647,
+            "fingertip_max_gap": 0.0906847306997505,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013780116966586348,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0529997272926273,
+            "object_top_z": 1.1031826245501013,
+            "finger_top_clearance": 0.050182897257474046,
+            "fingertip_min_top_clearance": 0.015054869177242247,
+            "object_projection_between_fingers": 0.8039236725779181,
+            "object_to_finger_line_xy": 0.010942155696841907,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784236534987525,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.3372666274696366,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2632172685936798,
+              0.29722180763560274,
+              1.2426682193854497
+            ],
+            "held_position": [
+              0.26904130859742303,
+              0.30184991067429445,
+              1.240061416403543
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007882525070586616,
+            "max_held_gripper_dist": 0.007897265448750631,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026068029819066307,
+            "max_held_gripper_z_dist": 0.002769821184572585,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0880453069584965,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26904130859742303,
+              0.2762172332898059,
+              1.240061416403543
+            ],
+            "held_grasp_finger_b": [
+              0.25877744654634294,
+              0.30184991067429445,
+              1.240061416403543
+            ],
+            "held_grasp_midpoint": [
+              0.263909377571883,
+              0.28903357198205015,
+              1.240061416403543
+            ],
+            "held_grasp_object_position": [
+              0.26904130859742303,
+              0.30184991067429445,
+              1.240061416403543
+            ],
+            "held_grasp_finger_gap": 0.027611247963481706,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024772363391057203,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07620860729665055,
+              -0.996952352660559,
+              0.01668096815179887
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004145976171099743,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0365518737421687,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.302080418076353,
+              -0.36079903296555826,
+              0.8515396473917793
+            ],
+            "target_position": [
+              0.29433272761721907,
+              -0.36330683264928093,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00814344931243723,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851354102521316,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396473917793,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567101202334943,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0849826225640034,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1531295348706877,
+            "release_required_pad_clearance": 0.0524913112820017,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05595288513899844,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008098423480987549,
+            "max_z_decrease": 0.008098423480987549,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513670445142337,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008098423480987549,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021122874470505867,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008098423480987549,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008098445341543001,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1500326544046402,
+              -0.4195683002471923,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1500326544046402,
+              -0.4195683002471923,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15064417000158772,
+              -0.42119308772408154,
+              0.8038035489181465
+            ],
+            "closest_button": [
+              0.15004009008407593,
+              -0.4195510149002074,
+              0.7687104344367981
+            ],
+            "closest_ee_minus_button": [
+              0.0006040799175117961,
+              -0.00164207282387413,
+              0.03509311448134844
+            ],
+            "button_min_z_position": [
+              0.15004009008407593,
+              -0.4195510149002074,
+              0.7687104344367981
+            ],
+            "min_active_finger_to_button": 0.14494273969006993,
+            "closest_active_finger": [
+              0.009817443788051605,
+              -0.4062499701976776,
+              0.8105841279029846
+            ],
+            "closest_active_finger_button": [
+              0.15003181993961334,
+              -0.41956901550292963,
+              0.7763652801513672
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14021437615156174,
+              0.01331904530525202,
+              0.03421884775161743
+            ],
+            "min_contact_pad_to_button": 0.021122874470505867,
+            "closest_contact_pad": [
+              0.15004009008407593,
+              -0.42226764341651535,
+              0.7896578866780882
+            ],
+            "closest_contact_pad_button": [
+              0.15004009008407593,
+              -0.4195510149002074,
+              0.7687104344367981
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0027166285163079396,
+              0.020947452241290132
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 55,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "99d250832bbd1ee863d5099602032698da7237afd92783cd140bba0fcaebe2f2",
+    "visual_seed": 3785860264706699458,
+    "episode_index": 55,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..330f374bd863ba6324a64f40a51c2d029345616c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_56_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26487980789101007,
+              0.3021980858616222,
+              1.0522669595038319
+            ],
+            "current_z": 1.0522669595038319,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.19116027267513158,
+            "gripper_z": 1.0543362691165972,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25954189918319637,
+              0.2970965061948455,
+              1.0543362691165972
+            ],
+            "object_minus_gripper": [
+              0.005337908707813699,
+              0.005101579666776712,
+              -0.002069309612765302
+            ],
+            "object_to_gripper_xy": 0.007383724295328402,
+            "object_to_gripper_z": -0.002069309612765302,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26487980789101007,
+              0.2777104079077043,
+              1.0522669595038319
+            ],
+            "finger_b": [
+              0.2524981709923405,
+              0.3021980858616222,
+              1.0522669595038319
+            ],
+            "finger_midpoint": [
+              0.2586889894416753,
+              0.28995424688466326,
+              1.0522669595038319
+            ],
+            "object_minus_finger_midpoint": [
+              0.006190818449334778,
+              0.012243838976958965,
+              0.0
+            ],
+            "finger_gap": 0.02743995816077885,
+            "fingertip_max_gap": 0.09141686993692308,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013719979080389424,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0522669595038319,
+            "object_top_z": 1.1029481428237444,
+            "finger_top_clearance": 0.05068118331991256,
+            "fingertip_min_top_clearance": 0.0152043549959738,
+            "object_projection_between_fingers": 0.7963946253848012,
+            "object_to_finger_line_xy": 0.01104948976745675,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04820843496846154,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.655174884953869,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.265021850264197,
+              0.3004329911635906,
+              1.242067152842084
+            ],
+            "held_position": [
+              0.27077468128943516,
+              0.3050068926435946,
+              1.2398539989906407
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007675525358168192,
+            "max_held_gripper_dist": 0.007687955552285677,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022131538514431615,
+            "max_held_gripper_z_dist": 0.0023787601624034593,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08724189171610763,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27077468128943516,
+              0.27935327225320133,
+              1.2398539989906407
+            ],
+            "held_grasp_finger_b": [
+              0.26069708960042515,
+              0.3050068926435946,
+              1.2398539989906407
+            ],
+            "held_grasp_midpoint": [
+              0.26573588544493015,
+              0.292180082448398,
+              1.2398539989906407
+            ],
+            "held_grasp_object_position": [
+              0.27077468128943516,
+              0.3050068926435946,
+              1.2398539989906407
+            ],
+            "held_grasp_finger_gap": 0.02756204080587656,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024626901626794245,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0907268391739093,
+              -0.9956181341479593,
+              0.022653291355730684
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038656072034315824,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0364924912162688,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2981741834520367,
+              -0.36165954807508216,
+              0.8515395607240772
+            ],
+            "target_position": [
+              0.29106084620442074,
+              -0.3635067321927558,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007349262273378647,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18387519289996299,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395607240772,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517573710861075,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0866617420786042,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15302039874963932,
+            "release_required_pad_clearance": 0.053330871039302105,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6790685202822515,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008116304874420166,
+            "max_z_decrease": 0.008116304874420166,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512997042321995,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008116304874420166,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02093149463063937,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008116304874420166,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008116345397373511,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14676077663898465,
+              -0.41976818442344666,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14676077663898465,
+              -0.41976818442344666,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1457629913870007,
+              -0.4179593302084994,
+              0.8037620678928863
+            ],
+            "closest_button": [
+              0.1467798054218292,
+              -0.41975098848342896,
+              0.7686925530433655
+            ],
+            "closest_ee_minus_button": [
+              -0.001016814034828506,
+              0.0017916582749295529,
+              0.03506951484952081
+            ],
+            "button_min_z_position": [
+              0.1467798054218292,
+              -0.41975098848342896,
+              0.7686925530433655
+            ],
+            "min_active_finger_to_button": 0.14586581568414506,
+            "closest_active_finger": [
+              0.019041098654270172,
+              -0.48139113187789917,
+              0.8108664155006409
+            ],
+            "closest_active_finger_button": [
+              0.14676326513290402,
+              -0.4197670519351959,
+              0.7767144441604614
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12772216647863385,
+              -0.06162407994270325,
+              0.03415197134017944
+            ],
+            "min_contact_pad_to_button": 0.02093149463063937,
+            "closest_contact_pad": [
+              0.1467798054218292,
+              -0.41975098848342896,
+              0.7896240476740048
+            ],
+            "closest_contact_pad_button": [
+              0.1467798054218292,
+              -0.41975098848342896,
+              0.7686925530433655
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02093149463063937
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c4f243a5999e251f30ccf8133478271f9286a51c06375a05684e7fa79c3b8a2",
+    "visual_seed": 4489954060607858242,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..86fcd56d7ed04d8bf051fd84903d7f50b895eef9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26168339228657234,
+              0.29450046534657615,
+              1.0508111946899965
+            ],
+            "current_z": 1.0508111946899965,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18970468667523055,
+            "gripper_z": 1.0537667261040253,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2562579448219931,
+              0.28948979138499903,
+              1.0537667261040253
+            ],
+            "object_minus_gripper": [
+              0.005425447464579236,
+              0.005010673961577117,
+              -0.0029555314140288225
+            ],
+            "object_to_gripper_xy": 0.007385278176218969,
+            "object_to_gripper_z": -0.0029555314140288225,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26168339228657234,
+              0.26971067067861787,
+              1.0508111946899965
+            ],
+            "finger_b": [
+              0.24975039749305533,
+              0.29450046534657615,
+              1.0508111946899965
+            ],
+            "finger_midpoint": [
+              0.25571689488981386,
+              0.282105568012597,
+              1.0508111946899965
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059664973967584745,
+              0.012394897333979138,
+              0.0
+            ],
+            "finger_gap": 0.027512366027327356,
+            "fingertip_max_gap": 0.10229098281417087,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013756183013663666,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508111946899965,
+            "object_top_z": 1.1075859834282862,
+            "finger_top_clearance": 0.05677478873828967,
+            "fingertip_min_top_clearance": 0.0170324366214869,
+            "object_projection_between_fingers": 0.8118765127082903,
+            "object_to_finger_line_xy": 0.010752128348804124,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05364549140708544,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.718780803352603,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26117839825952605,
+              0.2938291908942353,
+              1.2427609699359266
+            ],
+            "held_position": [
+              0.26686548756559436,
+              0.29848968112220103,
+              1.2397085094588194
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007961197705399726,
+            "max_held_gripper_dist": 0.00798029017330567,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003052460477107166,
+            "max_held_gripper_z_dist": 0.003209449511345497,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08776237749808907,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26686548756559436,
+              0.2729888434603343,
+              1.2397085094588194
+            ],
+            "held_grasp_finger_b": [
+              0.2564135160723206,
+              0.29848968112220103,
+              1.2397085094588194
+            ],
+            "held_grasp_midpoint": [
+              0.26163950181895745,
+              0.28573926229126767,
+              1.2397085094588194
+            ],
+            "held_grasp_object_position": [
+              0.26686548756559436,
+              0.29848968112220103,
+              1.2397085094588194
+            ],
+            "held_grasp_finger_gap": 0.027559688487954426,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024678720170699397,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06357777525197729,
+              -0.9938196384480509,
+              0.09099666328494958
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004558880313150596,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03671637689020593,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2919662613754521,
+              -0.36607230588360734,
+              0.8515395659222758
+            ],
+            "target_position": [
+              0.2917991340611738,
+              -0.3644502540363207,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0016306390570766706,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1769771384977959,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395659222758,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758304897867904,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496533371048985,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14409766050916975,
+            "release_required_pad_clearance": 0.05248266685524493,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956468040996778,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007970690727233887,
+            "max_z_decrease": 0.007970690727233887,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351602259194753,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007970690727233887,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021038408396044855,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007970690727233887,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007970711816216832,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14749905467033386,
+              -0.4207117259502411,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14749905467033386,
+              -0.4207117259502411,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14801405940818396,
+              -0.4197582658943487,
+              0.8082693999581354
+            ],
+            "closest_button": [
+              0.14748752117156982,
+              -0.4207145571708679,
+              0.7731261253356934
+            ],
+            "closest_ee_minus_button": [
+              0.000526538236614138,
+              0.0009562912765191944,
+              0.035143274622442044
+            ],
+            "button_min_z_position": [
+              0.14748072624206543,
+              -0.4207112193107605,
+              0.7688381671905518
+            ],
+            "min_active_finger_to_button": 0.14526514402206592,
+            "closest_active_finger": [
+              0.020043425261974335,
+              -0.4814879298210144,
+              0.8105945587158203
+            ],
+            "closest_active_finger_button": [
+              0.14749859273433683,
+              -0.42071256041526794,
+              0.776484489440918
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1274551674723625,
+              -0.06077536940574646,
+              0.034110069274902344
+            ],
+            "min_contact_pad_to_button": 0.021038408396044855,
+            "closest_contact_pad": [
+              0.14748072624206543,
+              -0.4209204604441719,
+              0.7898755350389034
+            ],
+            "closest_contact_pad_button": [
+              0.14748072624206543,
+              -0.4207112193107605,
+              0.7688381671905518
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002092411334114197,
+              0.02103736784835164
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8a55a8fb48b7e5f0cda6904af8e07f2da3776f8848a641f01667d85a84b7d174",
+    "visual_seed": 6898185017816657261,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..218a721457b1e6d3e9cd17d2076e25acb7173646
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2593461393304009,
+              0.2956967698277457,
+              1.0495010196614531
+            ],
+            "current_z": 1.0495010196614531,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.1883944520420422,
+            "gripper_z": 1.0519024447736613,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2540619984992864,
+              0.2906696359600095,
+              1.0519024447736613
+            ],
+            "object_minus_gripper": [
+              0.005284140831114503,
+              0.005027133867736178,
+              -0.0024014251122081998
+            ],
+            "object_to_gripper_xy": 0.007293436724013692,
+            "object_to_gripper_z": -0.0024014251122081998,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2593461393304009,
+              0.2711818904329484,
+              1.0495010196614531
+            ],
+            "finger_b": [
+              0.24715759427684175,
+              0.2956967698277457,
+              1.0495010196614531
+            ],
+            "finger_midpoint": [
+              0.25325186680362133,
+              0.28343933013034706,
+              1.0495010196614531
+            ],
+            "object_minus_finger_midpoint": [
+              0.006094272526779576,
+              0.01225743969739862,
+              0.0
+            ],
+            "finger_gap": 0.027377727120126285,
+            "fingertip_max_gap": 0.09226018462168742,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013688863560063118,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495010196614531,
+            "object_top_z": 1.1005643530687406,
+            "finger_top_clearance": 0.051063333407287415,
+            "fingertip_min_top_clearance": 0.015319000022186224,
+            "object_projection_between_fingers": 0.8017975798942862,
+            "object_to_finger_line_xy": 0.01091400723935178,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04863009231084371,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8593281278876311,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25925269505391546,
+              0.29428617034512394,
+              1.2415457998005395
+            ],
+            "held_position": [
+              0.26491258202322787,
+              0.2988428747520631,
+              1.239050201416649
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007682830653560479,
+            "max_held_gripper_dist": 0.0076966637423678255,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024955983838905738,
+            "max_held_gripper_z_dist": 0.002648115325603273,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08730161683975549,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26491258202322787,
+              0.27327891172124835,
+              1.239050201416649
+            ],
+            "held_grasp_finger_b": [
+              0.2547303227018096,
+              0.2988428747520631,
+              1.239050201416649
+            ],
+            "held_grasp_midpoint": [
+              0.25982145236251875,
+              0.28606089323665573,
+              1.239050201416649
+            ],
+            "held_grasp_object_position": [
+              0.26491258202322787,
+              0.2988428747520631,
+              1.239050201416649
+            ],
+            "held_grasp_finger_gap": 0.027517169380760674,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024612982610740835,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08380568068309496,
+              -0.9961801991877012,
+              0.024527915353637963
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040146886568745545,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0365604275914014,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2978181914097706,
+              -0.3569135358422328,
+              0.8515395616267545
+            ],
+            "target_position": [
+              0.29117792773363854,
+              -0.3587481398624246,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006889040107261896,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18527007142315843,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395616267545,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577162971485502,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507359808489344,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15290744377609908,
+            "release_required_pad_clearance": 0.05253679904244672,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14265249679735714,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00807100534439087,
+            "max_z_decrease": 0.00807100534439087,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513396735061118,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00807100534439087,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021021481277380866,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00807100534439087,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008071012445257262,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14687785506248474,
+              -0.41500958800315857,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14687785506248474,
+              -0.41500958800315857,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14686422864733423,
+              -0.41509276532057787,
+              0.8080011393110405
+            ],
+            "closest_button": [
+              0.14686559140682218,
+              -0.4150130748748779,
+              0.7728672623634338
+            ],
+            "closest_ee_minus_button": [
+              -1.3627594879495053e-06,
+              -7.969044569999806e-05,
+              0.03513387694760661
+            ],
+            "button_min_z_position": [
+              0.14687557518482205,
+              -0.41499912738800043,
+              0.7687378525733948
+            ],
+            "min_active_finger_to_button": 0.1461419477296895,
+            "closest_active_finger": [
+              0.005752377212047577,
+              -0.39854878187179565,
+              0.8109585642814636
+            ],
+            "closest_active_finger_button": [
+              0.1468818485736847,
+              -0.4150091707706451,
+              0.7767679691314697
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14112947136163712,
+              0.016460388898849432,
+              0.034190595149993896
+            ],
+            "min_contact_pad_to_button": 0.021021481277380866,
+            "closest_contact_pad": [
+              0.14687557518482205,
+              -0.41618582485895395,
+              0.7897258116025073
+            ],
+            "closest_contact_pad_button": [
+              0.14687557518482205,
+              -0.41499912738800043,
+              0.7687378525733948
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011866974709535127,
+              0.020987959029112546
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9b93845e1b770d6f094f2c9f0913a8a5b78b4fa668b3baab13a3553459040f20",
+    "visual_seed": 967040242222897803,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2021318cd34594b2aa549e4ed2d13469c7cb7173
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25884273491917476,
+              0.293157836403906,
+              1.052596125736589
+            ],
+            "current_z": 1.052596125736589,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1914894985125335,
+            "gripper_z": 1.0552893424278618,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25327725134786366,
+              0.2879426538423354,
+              1.0552893424278618
+            ],
+            "object_minus_gripper": [
+              0.005565483571311092,
+              0.005215182561570608,
+              -0.0026932166912727595
+            ],
+            "object_to_gripper_xy": 0.007627105383633022,
+            "object_to_gripper_z": -0.0026932166912727595,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25884273491917476,
+              0.26851308275638563,
+              1.052596125736589
+            ],
+            "finger_b": [
+              0.24630138156755746,
+              0.293157836403906,
+              1.052596125736589
+            ],
+            "finger_midpoint": [
+              0.2525720582433661,
+              0.28083545958014583,
+              1.052596125736589
+            ],
+            "object_minus_finger_midpoint": [
+              0.006270676675808662,
+              0.012322376823760195,
+              0.0
+            ],
+            "finger_gap": 0.02765229513507137,
+            "fingertip_max_gap": 0.0903987055229277,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013826147567535692,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052596125736589,
+            "object_top_z": 1.1024865821437912,
+            "finger_top_clearance": 0.049890456407202244,
+            "fingertip_min_top_clearance": 0.014967136922160673,
+            "object_projection_between_fingers": 0.7943037181573017,
+            "object_to_finger_line_xy": 0.011177320444736192,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04769935276146385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.14881756555214026,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25830612929819624,
+              0.2919494281276393,
+              1.245370697369296
+            ],
+            "held_position": [
+              0.2642457453862971,
+              0.29669621404923496,
+              1.2425951569006053
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008094111486310571,
+            "max_held_gripper_dist": 0.008109626443133207,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0027755404686906626,
+            "max_held_gripper_z_dist": 0.002934020060320286,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08777127505485294,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2642457453862971,
+              0.2710664705553058,
+              1.2425951569006053
+            ],
+            "held_grasp_finger_b": [
+              0.2535767263410728,
+              0.29669621404923496,
+              1.2425951569006053
+            ],
+            "held_grasp_midpoint": [
+              0.2589112358636849,
+              0.28388134230227036,
+              1.2425951569006053
+            ],
+            "held_grasp_object_position": [
+              0.2642457453862971,
+              0.29669621404923496,
+              1.2425951569006053
+            ],
+            "held_grasp_finger_gap": 0.027761695174321796,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024696866386291323,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07968463687642323,
+              -0.9967724921160023,
+              0.00974461937310389
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004298272800573294,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03652165996850306,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30410033172100825,
+              -0.35333312311720355,
+              0.8515395908907751
+            ],
+            "target_position": [
+              0.29643662980409957,
+              -0.35579444544682864,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008049250566452813,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185714286233671,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395908907751,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531146455158043,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08624589513131274,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15453915282864486,
+            "release_required_pad_clearance": 0.05312294756565637,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.272243314458816,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008116722106933594,
+            "max_z_decrease": 0.008116722106933594,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035077502147436004,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008116722106933594,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02101821149702876,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008116722106933594,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008116751845036978,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15213654935359952,
+              -0.4120559096336364,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15213654935359952,
+              -0.4120559096336364,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15157941130425645,
+              -0.41251656015632365,
+              0.8037617283418245
+            ],
+            "closest_button": [
+              0.15215304493904108,
+              -0.4120413959026336,
+              0.768692135810852
+            ],
+            "closest_ee_minus_button": [
+              -0.0005736336347846316,
+              -0.00047516425369004134,
+              0.035069592530972415
+            ],
+            "button_min_z_position": [
+              0.15215304493904108,
+              -0.4120413959026336,
+              0.768692135810852
+            ],
+            "min_active_finger_to_button": 0.14617086196133464,
+            "closest_active_finger": [
+              0.011049240827560425,
+              -0.3949836194515228,
+              0.8107443451881409
+            ],
+            "closest_active_finger_button": [
+              0.15213696658611292,
+              -0.41205769777297974,
+              0.7765588164329529
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1410877257585525,
+              0.01707407832145691,
+              0.03418552875518799
+            ],
+            "min_contact_pad_to_button": 0.02101821149702876,
+            "closest_contact_pad": [
+              0.15215304493904108,
+              -0.4138202601983135,
+              0.7896349354410683
+            ],
+            "closest_contact_pad_button": [
+              0.15215304493904108,
+              -0.4120413959026336,
+              0.768692135810852
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001778864295679916,
+              0.02094279963021628
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b75e6ded1b59285c702d961f8c827a3e109bf82b4212bedbdcc53add8c39644",
+    "visual_seed": 5444980828572114707,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..37103199bb1089adf97e1f1c4a66023c7a48a91a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26220187182549204,
+              0.2925207233689058,
+              1.049500320481735
+            ],
+            "current_z": 1.049500320481735,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18839363365303485,
+            "gripper_z": 1.051853020851092,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2569788230083908,
+              0.28758580609330775,
+              1.051853020851092
+            ],
+            "object_minus_gripper": [
+              0.005223048817101228,
+              0.0049349172755980275,
+              -0.0023527003693568638
+            ],
+            "object_to_gripper_xy": 0.0071856556738281304,
+            "object_to_gripper_z": -0.0023527003693568638,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26220187182549204,
+              0.26798534492659143,
+              1.049500320481735
+            ],
+            "finger_b": [
+              0.2502222125747785,
+              0.2925207233689058,
+              1.049500320481735
+            ],
+            "finger_midpoint": [
+              0.25621204220013527,
+              0.2802530341477486,
+              1.049500320481735
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059898296253567684,
+              0.012267689221157174,
+              0.0
+            ],
+            "finger_gap": 0.027303791514564236,
+            "fingertip_max_gap": 0.09107184500675916,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013651895757282118,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049500320481735,
+            "object_top_z": 1.0998365476583336,
+            "finger_top_clearance": 0.05033622717659858,
+            "fingertip_min_top_clearance": 0.01510086815297954,
+            "object_projection_between_fingers": 0.807494557614705,
+            "object_to_finger_line_xy": 0.010765005774727096,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04803592250337958,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.41812755708198046,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2621528588146014,
+              0.2911508006373129,
+              1.2419501008573681
+            ],
+            "held_position": [
+              0.2677184364009329,
+              0.2956474231098047,
+              1.239505525780044
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007561164912780835,
+            "max_held_gripper_dist": 0.007573862703500822,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002444575077324096,
+            "max_held_gripper_z_dist": 0.002594800451560575,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08753418557514225,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2677184364009329,
+              0.2701381780831957,
+              1.239505525780044
+            ],
+            "held_grasp_finger_b": [
+              0.2576259070939008,
+              0.2956474231098047,
+              1.239505525780044
+            ],
+            "held_grasp_midpoint": [
+              0.26267217174741686,
+              0.2828928005965002,
+              1.239505525780044
+            ],
+            "held_grasp_object_position": [
+              0.2677184364009329,
+              0.2956474231098047,
+              1.239505525780044
+            ],
+            "held_grasp_finger_gap": 0.027433204873672304,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024632391328183335,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07868020209311408,
+              -0.9967552370589028,
+              0.01698302665125906
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040330875942983764,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036609972160495434,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2985130484139825,
+              -0.35720397998093245,
+              0.8515396070120014
+            ],
+            "target_position": [
+              0.2912000003378919,
+              -0.3593056739872888,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007609059722433972,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18408421401217467,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396070120014,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520556118826884,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08622109558400635,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1531164161325971,
+            "release_required_pad_clearance": 0.05311054779200318,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2480194771547266,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00791841745376587,
+            "max_z_decrease": 0.00791841745376587,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518667836177155,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00791841745376587,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021038644234548598,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00791841745376587,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00791844370789283,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14689992368221283,
+              -0.4155671298503875,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14689992368221283,
+              -0.4155671298503875,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14573588977415983,
+              -0.4137228289960857,
+              0.8081679175347782
+            ],
+            "closest_button": [
+              0.14689283072948453,
+              -0.4155679047107696,
+              0.7730486989021301
+            ],
+            "closest_ee_minus_button": [
+              -0.0011569409553247034,
+              0.001845075714683897,
+              0.03511921863264811
+            ],
+            "button_min_z_position": [
+              0.14687974750995636,
+              -0.41556417942047114,
+              0.7688904404640198
+            ],
+            "min_active_finger_to_button": 0.14635742313648753,
+            "closest_active_finger": [
+              0.019559189677238464,
+              -0.47907760739326477,
+              0.8105909824371338
+            ],
+            "closest_active_finger_button": [
+              0.14689970016479492,
+              -0.41556712985038746,
+              0.7763665914535522
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12734051048755646,
+              -0.06351047754287731,
+              0.03422439098358154
+            ],
+            "min_contact_pad_to_button": 0.021038644234548598,
+            "closest_contact_pad": [
+              0.14687974750995636,
+              -0.41556417942047114,
+              0.7899290846985684
+            ],
+            "closest_contact_pad_button": [
+              0.14687974750995636,
+              -0.41556417942047114,
+              0.7688904404640198
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021038644234548598
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3871c80450dd49fe70f449c888d0b352edc30eb691aedfddb17f0b67311bd5b9",
+    "visual_seed": 8620470970712838356,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_61_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fafc246c5c1d729ebf661159d9bc9df4177ef547
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_61_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 61,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2635916976725028,
+              0.29651925924957023,
+              1.0512833377580204
+            ],
+            "current_z": 1.0512833377580204,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19017677013860967,
+            "gripper_z": 1.0535145540984365,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25811977438890266,
+              0.29142101301900947,
+              1.0535145540984365
+            ],
+            "object_minus_gripper": [
+              0.005471923283600133,
+              0.005098246230560766,
+              -0.00223121634041612
+            ],
+            "object_to_gripper_xy": 0.007478907610676329,
+            "object_to_gripper_z": -0.00223121634041612,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2635916976725028,
+              0.2718534051746115,
+              1.0512833377580204
+            ],
+            "finger_b": [
+              0.25132355750705615,
+              0.29651925924957023,
+              1.0512833377580204
+            ],
+            "finger_midpoint": [
+              0.25745762758977947,
+              0.2841863322120909,
+              1.0512833377580204
+            ],
+            "object_minus_finger_midpoint": [
+              0.00613407008272332,
+              0.012332927037479346,
+              0.0
+            ],
+            "finger_gap": 0.0275483505924802,
+            "fingertip_max_gap": 0.0901433499032275,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013774175296240075,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512833377580204,
+            "object_top_z": 1.1010068997971452,
+            "finger_top_clearance": 0.04972356203912476,
+            "fingertip_min_top_clearance": 0.014917068611737394,
+            "object_projection_between_fingers": 0.8016801178424181,
+            "object_to_finger_line_xy": 0.01098447451785548,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047571674951613754,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.20167898234662884,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2633745836763805,
+              0.2952899069807406,
+              1.2438588762767686
+            ],
+            "held_position": [
+              0.26920463662277794,
+              0.29993041085169336,
+              1.2415345168099865
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007805539088682132,
+            "max_held_gripper_dist": 0.007817947408674999,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002324359466782111,
+            "max_held_gripper_z_dist": 0.002485126200248544,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08792816027430489,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26920463662277794,
+              0.2743021578593603,
+              1.2415345168099865
+            ],
+            "held_grasp_finger_b": [
+              0.25881510089391113,
+              0.29993041085169336,
+              1.2415345168099865
+            ],
+            "held_grasp_midpoint": [
+              0.26400986875834453,
+              0.28711628435552683,
+              1.2415345168099865
+            ],
+            "held_grasp_object_position": [
+              0.26920463662277794,
+              0.29993041085169336,
+              1.2415345168099865
+            ],
+            "held_grasp_finger_gap": 0.027654110076088666,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024715648134290454,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07984971467949663,
+              -0.9967612542897484,
+              0.009540702926438717
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004156832796263461,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036532824539347385,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30250262599546673,
+              -0.35412058129050206,
+              0.8515396518691605
+            ],
+            "target_position": [
+              0.2950477927854931,
+              -0.356551838978674,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00784127235433262,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1858517178164826,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396518691605,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581327117425432,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08505532293070965,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15341902193541182,
+            "release_required_pad_clearance": 0.05252766146535483,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.12511447579461582,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008131265640258789,
+            "max_z_decrease": 0.008131265640258789,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510229573707459,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008131265640258789,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021132335574707593,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008131265640258789,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008131307956409876,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15074771642684934,
+              -0.4128133058547973,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15074771642684934,
+              -0.4128133058547973,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15100948756907936,
+              -0.41472272420733824,
+              0.8037261375226683
+            ],
+            "closest_button": [
+              0.1507674753665924,
+              -0.41279605031013483,
+              0.7686775922775269
+            ],
+            "closest_ee_minus_button": [
+              0.00024201220248695754,
+              -0.0019266738972034125,
+              0.03504854524514145
+            ],
+            "button_min_z_position": [
+              0.1507674753665924,
+              -0.41279605031013483,
+              0.7686775922775269
+            ],
+            "min_active_finger_to_button": 0.14521971660761931,
+            "closest_active_finger": [
+              0.010315537452697754,
+              -0.39873528480529785,
+              0.810870885848999
+            ],
+            "closest_active_finger_button": [
+              0.15074937045574188,
+              -0.41281369328498835,
+              0.776681661605835
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14043383300304413,
+              0.014078408479690496,
+              0.03418922424316406
+            ],
+            "min_contact_pad_to_button": 0.021132335574707593,
+            "closest_contact_pad": [
+              0.1507674753665924,
+              -0.41588989927138564,
+              0.7895822258654905
+            ],
+            "closest_contact_pad_button": [
+              0.1507674753665924,
+              -0.41279605031013483,
+              0.7686775922775269
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030938489612508113,
+              0.020904633587963684
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 61,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "08b2a7f41eef2ab5b300a8b4ee517908f23ffe659dbed9daf744f0a462424eaa",
+    "visual_seed": 2377661500730409800,
+    "episode_index": 61,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7256d18d58dab83e6c03a1272cec589ce94591d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26361379458522105,
+              0.2925442486797283,
+              1.0505314779094004
+            ],
+            "current_z": 1.0505314779094004,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18942485068534476,
+            "gripper_z": 1.0530555176602343,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25824404955569513,
+              0.2875300945559718,
+              1.0530555176602343
+            ],
+            "object_minus_gripper": [
+              0.005369745029525919,
+              0.005014154123756498,
+              -0.0025240397508339285
+            ],
+            "object_to_gripper_xy": 0.007346829469839531,
+            "object_to_gripper_z": -0.0025240397508339285,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26361379458522105,
+              0.2679008775585977,
+              1.0505314779094004
+            ],
+            "finger_b": [
+              0.25153443835684075,
+              0.2925442486797283,
+              1.0505314779094004
+            ],
+            "finger_midpoint": [
+              0.2575741164710309,
+              0.280222563119163,
+              1.0505314779094004
+            ],
+            "object_minus_finger_midpoint": [
+              0.00603967811419015,
+              0.012321685560565288,
+              0.0
+            ],
+            "finger_gap": 0.027444609436205906,
+            "fingertip_max_gap": 0.09174369381611058,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013722304718102953,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0505314779094004,
+            "object_top_z": 1.1013262718918482,
+            "finger_top_clearance": 0.050794793982447795,
+            "fingertip_min_top_clearance": 0.015238438194734338,
+            "object_projection_between_fingers": 0.8062804423249177,
+            "object_to_finger_line_xy": 0.010846430849462586,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048371846908055294,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6390455490791582,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26335745982205616,
+              0.29129335388668687,
+              1.2433996432687455
+            ],
+            "held_position": [
+              0.2690606423825498,
+              0.2958822106695247,
+              1.2407945363674227
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007769844262212428,
+            "max_held_gripper_dist": 0.007784697881300582,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026051069013228734,
+            "max_held_gripper_z_dist": 0.0027601041256291037,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08788681301177464,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2690606423825498,
+              0.27033388828098964,
+              1.2407945363674227
+            ],
+            "held_grasp_finger_b": [
+              0.2587396220066851,
+              0.2958822106695247,
+              1.2407945363674227
+            ],
+            "held_grasp_midpoint": [
+              0.26390013219461744,
+              0.28310804947525714,
+              1.2407945363674227
+            ],
+            "held_grasp_object_position": [
+              0.2690606423825498,
+              0.2958822106695247,
+              1.2407945363674227
+            ],
+            "held_grasp_finger_gap": 0.027554314334919228,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024731926856230442,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07213721933689504,
+              -0.997187062986862,
+              0.020351486382497508
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004233796083384887,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03660975693134553,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2993717842352429,
+              -0.3546953656134635,
+              0.8515396473416698
+            ],
+            "target_position": [
+              0.2919068974901586,
+              -0.35730671868078595,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007908457432341037,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18437154238678674,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396473416698,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590625192373647,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561088334122045,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15189680487117949,
+            "release_required_pad_clearance": 0.05280544167061023,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.657298759979381,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008060634136199951,
+            "max_z_decrease": 0.008060634136199951,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515424600940204,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008060634136199951,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021057083467695307,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008060634136199951,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008060645563592496,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14760681986808774,
+              -0.4135681688785553,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14760681986808774,
+              -0.4135681688785553,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1484632197733442,
+              -0.414007292494005,
+              0.8038889350574175
+            ],
+            "closest_button": [
+              0.147597074508667,
+              -0.41355872154235834,
+              0.7687482237815857
+            ],
+            "closest_ee_minus_button": [
+              0.0008661452646772094,
+              -0.00044857095164663185,
+              0.03514071127583185
+            ],
+            "button_min_z_position": [
+              0.147597074508667,
+              -0.41355872154235834,
+              0.7687482237815857
+            ],
+            "min_active_finger_to_button": 0.14483607439399454,
+            "closest_active_finger": [
+              0.007505662739276886,
+              -0.4003038704395294,
+              0.8104979991912842
+            ],
+            "closest_active_finger_button": [
+              0.14760589599609372,
+              -0.41356813907623285,
+              0.7762420177459717
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14010023325681684,
+              0.013264268636703436,
+              0.0342559814453125
+            ],
+            "min_contact_pad_to_button": 0.021057083467695307,
+            "closest_contact_pad": [
+              0.147597074508667,
+              -0.4149721837455411,
+              0.789757814181345
+            ],
+            "closest_contact_pad_button": [
+              0.147597074508667,
+              -0.41355872154235834,
+              0.7687482237815857
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014134622031827804,
+              0.02100959039975936
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "18936e5e9ccb3834f010b8a35ca608c68ac2de33db9e5c47a16dcedcc8a6143b",
+    "visual_seed": 466552332567388027,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3af7b8d3927c7eef53571dbdfa0fb068ab58c49f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26452545984876497,
+              0.30174260646740003,
+              1.0526955157994364
+            ],
+            "current_z": 1.0526955157994364,
+            "required_z": 0.86110680603799,
+            "initial_z": 0.76110680603799,
+            "lift_margin": 0.19158870976144649,
+            "gripper_z": 1.0548322076685948,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25923398429841504,
+              0.2966666926649324,
+              1.0548322076685948
+            ],
+            "object_minus_gripper": [
+              0.005291475550349922,
+              0.005075913802467635,
+              -0.0021366918691583248
+            ],
+            "object_to_gripper_xy": 0.007332435777422975,
+            "object_to_gripper_z": -0.0021366918691583248,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26452545984876497,
+              0.2772670661240769,
+              1.0526955157994364
+            ],
+            "finger_b": [
+              0.252211348021553,
+              0.30174260646740003,
+              1.0526955157994364
+            ],
+            "finger_midpoint": [
+              0.258368403935159,
+              0.2895048362957385,
+              1.0526955157994364
+            ],
+            "object_minus_finger_midpoint": [
+              0.006157055913605991,
+              0.012237770171661555,
+              0.0
+            ],
+            "finger_gap": 0.027398712108249162,
+            "fingertip_max_gap": 0.09171293016791993,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013699356054124581,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0526955157994364,
+            "object_top_z": 1.1033702949484323,
+            "finger_top_clearance": 0.050674779148995874,
+            "fingertip_min_top_clearance": 0.015202433744698795,
+            "object_projection_between_fingers": 0.7980025493837786,
+            "object_to_finger_line_xy": 0.01100031781159434,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048356465083959965,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6419308407797476,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26467285680305613,
+              0.3001644364531812,
+              1.2450607700217284
+            ],
+            "held_position": [
+              0.27038518878514717,
+              0.3047338927543997,
+              1.2428413697205039
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076443708216858185,
+            "max_held_gripper_dist": 0.007656304926521897,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0022194003012245833,
+            "max_held_gripper_z_dist": 0.0023839594467895964,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08801912499482123,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27038518878514717,
+              0.27909921519717573,
+              1.2428413697205039
+            ],
+            "held_grasp_finger_b": [
+              0.2602122844867212,
+              0.3047338927543997,
+              1.2428413697205039
+            ],
+            "held_grasp_midpoint": [
+              0.2652987366359342,
+              0.29191655397578775,
+              1.2428413697205039
+            ],
+            "held_grasp_object_position": [
+              0.27038518878514717,
+              0.3047338927543997,
+              1.2428413697205039
+            ],
+            "held_grasp_finger_gap": 0.027579424854912712,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024579995504704442,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.09239668071026821,
+              -0.995524052841873,
+              0.01986740061046066
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038890676723706647,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03649030972738506,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2973833707571868,
+              -0.35466277122407674,
+              0.8515395762966159
+            ],
+            "target_position": [
+              0.29037588790806457,
+              -0.35653743242391756,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007253907257122243,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18490089531067586,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395762966159,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517400038147928,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0868928036835208,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15409630606090471,
+            "release_required_pad_clearance": 0.0534464018417604,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9065306638404407,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00788736343383789,
+            "max_z_decrease": 0.00788736343383789,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513332799336489,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00788736343383789,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021043438251642704,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00788736343383789,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007887387360531987,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14607581496238708,
+              -0.41279888153076166,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14607581496238708,
+              -0.41279888153076166,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14601682028240692,
+              -0.41222496434022343,
+              0.8081785840235209
+            ],
+            "closest_button": [
+              0.14606575667858124,
+              -0.4128008484840393,
+              0.7730500102043152
+            ],
+            "closest_ee_minus_button": [
+              -4.8936396174315e-05,
+              0.0005758841438158746,
+              0.035128573819205755
+            ],
+            "button_min_z_position": [
+              0.1460564136505127,
+              -0.4127978682518004,
+              0.7689214944839478
+            ],
+            "min_active_finger_to_button": 0.14594006195054376,
+            "closest_active_finger": [
+              0.019086912274360657,
+              -0.4760831892490387,
+              0.8105303049087524
+            ],
+            "closest_active_finger_button": [
+              0.1460753232240677,
+              -0.41279962658882136,
+              0.7763596177101135
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12698841094970703,
+              -0.06328356266021734,
+              0.034170687198638916
+            ],
+            "min_contact_pad_to_button": 0.021043438251642704,
+            "closest_contact_pad": [
+              0.1460564136505127,
+              -0.4131701608472425,
+              0.7899616392475676
+            ],
+            "closest_contact_pad_button": [
+              0.1460564136505127,
+              -0.4127978682518004,
+              0.7689214944839478
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003722925954420808,
+              0.021040144763619817
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b46b1dfe635960e735fb821033260803d6b5feeb5bc1f8849fa4b78e61fe150",
+    "visual_seed": 3240468199111339698,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_66_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab4f202e33b31f7b480af8cce917344e128206cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_66_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 66,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2630306173829521,
+              0.2969257163207656,
+              1.0511368699373298
+            ],
+            "current_z": 1.0511368699373298,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.19003018310862974,
+            "gripper_z": 1.0548968626284856,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.257149357687907,
+              0.29177013464501617,
+              1.0548968626284856
+            ],
+            "object_minus_gripper": [
+              0.005881259695045105,
+              0.005155581675749421,
+              -0.003759992691155789
+            ],
+            "object_to_gripper_xy": 0.007821076525382248,
+            "object_to_gripper_z": -0.003759992691155789,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2630306173829521,
+              0.27174134469490874,
+              1.0511368699373298
+            ],
+            "finger_b": [
+              0.2509838978816726,
+              0.2969257163207656,
+              1.0511368699373298
+            ],
+            "finger_midpoint": [
+              0.25700725763231236,
+              0.28433353050783716,
+              1.0511368699373298
+            ],
+            "object_minus_finger_midpoint": [
+              0.006023359750639723,
+              0.012592185812928425,
+              0.0
+            ],
+            "finger_gap": 0.027917306906859254,
+            "fingertip_max_gap": 0.09256918148848783,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013958653453429615,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0511368699373298,
+            "object_top_z": 1.1017232950797413,
+            "finger_top_clearance": 0.05058642514241152,
+            "fingertip_min_top_clearance": 0.01517592754272342,
+            "object_projection_between_fingers": 0.8137953361405846,
+            "object_to_finger_line_xy": 0.010867418616160916,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04878459074424392,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.971911152526906,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2620055154386983,
+              0.2960310872378035,
+              1.24147369560974
+            ],
+            "held_position": [
+              0.2680757862766966,
+              0.30088119890960585,
+              1.2375925536556087
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008685334429008706,
+            "max_held_gripper_dist": 0.008705127776252574,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003881141954131362,
+            "max_held_gripper_z_dist": 0.004049462781319679,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0875409015654974,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2680757862766966,
+              0.2752106895024036,
+              1.2375925536556087
+            ],
+            "held_grasp_finger_b": [
+              0.2572435727393271,
+              0.30088119890960585,
+              1.2375925536556087
+            ],
+            "held_grasp_midpoint": [
+              0.26265967950801183,
+              0.2880459442060047,
+              1.2375925536556087
+            ],
+            "held_grasp_object_position": [
+              0.2680757862766966,
+              0.30088119890960585,
+              1.2375925536556087
+            ],
+            "held_grasp_finger_gap": 0.0278623743307068,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025339242462624784,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029300528976182003,
+              -0.9994594046526533,
+              0.014912325542314031
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005041381343521787,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036733239252154784,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2987758589139369,
+              -0.3573089693881235,
+              0.8515395138219074
+            ],
+            "target_position": [
+              0.29116098468743135,
+              -0.35984610047613874,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008026415366978684,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18358917728571808,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395138219074,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539957451033419,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0864449036813517,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15229648963609457,
+            "release_required_pad_clearance": 0.05322245184067585,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.466574090790951,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008095502853393555,
+            "max_z_decrease": 0.008095502853393555,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035112956580312125,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008095502853393555,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020990636261758743,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008095502853393555,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008095519172957255,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1468609124422073,
+              -0.41610756516456604,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1468609124422073,
+              -0.41610756516456604,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14717219098655665,
+              -0.4158542142543544,
+              0.8038241752973764
+            ],
+            "closest_button": [
+              0.14686675369739527,
+              -0.4160923957824707,
+              0.7687133550643921
+            ],
+            "closest_ee_minus_button": [
+              0.000305437289161381,
+              0.0002381815281162769,
+              0.035110820232984286
+            ],
+            "button_min_z_position": [
+              0.14686675369739527,
+              -0.4160923957824707,
+              0.7687133550643921
+            ],
+            "min_active_finger_to_button": 0.14537576353559942,
+            "closest_active_finger": [
+              0.020325474441051483,
+              -0.47901231050491333,
+              0.8108915090560913
+            ],
+            "closest_active_finger_button": [
+              0.14686429500579834,
+              -0.416106253862381,
+              0.7767613530158997
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12653882056474686,
+              -0.06290605664253235,
+              0.03413015604019165
+            ],
+            "min_contact_pad_to_button": 0.020990636261758743,
+            "closest_contact_pad": [
+              0.14686675369739527,
+              -0.41701683538566975,
+              0.7896836250219653
+            ],
+            "closest_contact_pad_button": [
+              0.14686675369739527,
+              -0.4160923957824707,
+              0.7687133550643921
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009244396031990454,
+              0.02097026995757323
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 66,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "044bb71d50712002a25b4291cdd4f62c0e3bfb75f7682611ce8eee15642796cb",
+    "visual_seed": 16524473050666459,
+    "episode_index": 66,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..da38bd6ecbb3267c270717a098988d1bbc41f267
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25951135018653015,
+              0.29324807684514453,
+              1.0525300064698686
+            ],
+            "current_z": 1.0525300064698686,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.19142337924581299,
+            "gripper_z": 1.055241763218791,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25401927654636647,
+              0.2882278056970161,
+              1.055241763218791
+            ],
+            "object_minus_gripper": [
+              0.005492073640163686,
+              0.005020271148128419,
+              -0.0027117567489223227
+            ],
+            "object_to_gripper_xy": 0.007440832968808764,
+            "object_to_gripper_z": -0.0027117567489223227,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25951135018653015,
+              0.26844616890785655,
+              1.0525300064698686
+            ],
+            "finger_b": [
+              0.24751113984306375,
+              0.29324807684514453,
+              1.0525300064698686
+            ],
+            "finger_midpoint": [
+              0.25351124501479694,
+              0.28084712287650054,
+              1.0525300064698686
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060001051717332166,
+              0.01240095396864399,
+              0.0
+            ],
+            "finger_gap": 0.027552489644624614,
+            "fingertip_max_gap": 0.09232609624665716,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013776244822312314,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0525300064698686,
+            "object_top_z": 1.1035374788383288,
+            "finger_top_clearance": 0.05100747236846015,
+            "fingertip_min_top_clearance": 0.015302241710538012,
+            "object_projection_between_fingers": 0.8103049399000022,
+            "object_to_finger_line_xy": 0.010802222086119568,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048663048123328584,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8192241004651274,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2591654999632065,
+              0.2922455462818475,
+              1.2435651423468657
+            ],
+            "held_position": [
+              0.2649405634285552,
+              0.29687455651784755,
+              1.2407334229334568
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007924501790653815,
+            "max_held_gripper_dist": 0.007939809794309294,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002831719413408873,
+            "max_held_gripper_z_dist": 0.0029864894961662003,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08789214762327235,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2649405634285552,
+              0.27130436875132585,
+              1.2407334229334568
+            ],
+            "held_grasp_finger_b": [
+              0.25458921952938124,
+              0.29687455651784755,
+              1.2407334229334568
+            ],
+            "held_grasp_midpoint": [
+              0.2597648914789682,
+              0.2840894626345867,
+              1.2407334229334568
+            ],
+            "held_grasp_object_position": [
+              0.2649405634285552,
+              0.29687455651784755,
+              1.2407334229334568
+            ],
+            "held_grasp_finger_gap": 0.027585953362792126,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02479750458558003,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06820036281707341,
+              -0.9973907985352748,
+              0.023670773303524073
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004302624742531125,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03661553236773708,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29522666447739354,
+              -0.36057616547359755,
+              0.8515395845144065
+            ],
+            "target_position": [
+              0.2884841790799984,
+              -0.36248168975130235,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007006577774278185,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18552958373553138,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395845144065,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534066825154206,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561210705998033,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15418413775783793,
+            "release_required_pad_clearance": 0.05280605352999017,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6584884459703378,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008091747760772705,
+            "max_z_decrease": 0.008091747760772705,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03510116493835021,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008091747760772705,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021027795085862378,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008091747760772705,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008091765726455525,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14418411254882807,
+              -0.4187431335449218,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14418411254882807,
+              -0.4187431335449218,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14406871328283027,
+              -0.4191063180116889,
+              0.8038160175550125
+            ],
+            "closest_button": [
+              0.14419031143188474,
+              -0.4187272489070892,
+              0.7687171101570129
+            ],
+            "closest_ee_minus_button": [
+              -0.00012159814905446376,
+              -0.0003790691045997274,
+              0.03509890739799959
+            ],
+            "button_min_z_position": [
+              0.14419031143188474,
+              -0.4187272489070892,
+              0.7687171101570129
+            ],
+            "min_active_finger_to_button": 0.1458060314234051,
+            "closest_active_finger": [
+              0.003147415816783905,
+              -0.4048711359500885,
+              0.8110983371734619
+            ],
+            "closest_active_finger_button": [
+              0.14418284595012665,
+              -0.4187442064285278,
+              0.7768062949180603
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14103543013334274,
+              0.013873070478439276,
+              0.03429204225540161
+            ],
+            "min_contact_pad_to_button": 0.021027795085862378,
+            "closest_contact_pad": [
+              0.14419031143188474,
+              -0.4201191397661681,
+              0.7896987880215077
+            ],
+            "closest_contact_pad_button": [
+              0.14419031143188474,
+              -0.4187272489070892,
+              0.7687171101570129
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013918908590789258,
+              0.020981677864494785
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "61f174c0ddc9448af624565f3a2f4248835fa5204224a82f3d26b9fbed31fc83",
+    "visual_seed": 787046461791530917,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e87c5f83930e90fb03af3858b4994550f487a5e5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2579197451954789,
+              0.29698217127388893,
+              1.049981002236947
+            ],
+            "current_z": 1.049981002236947,
+            "required_z": 0.8611067464333453,
+            "initial_z": 0.7611067464333453,
+            "lift_margin": 0.18887425580360162,
+            "gripper_z": 1.0525756318510866,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.252655046210427,
+              0.2921493442900677,
+              1.0525756318510866
+            ],
+            "object_minus_gripper": [
+              0.0052646989850518855,
+              0.0048328269838212035,
+              -0.0025946296141396985
+            ],
+            "object_to_gripper_xy": 0.007146556657492943,
+            "object_to_gripper_z": -0.0025946296141396985,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2579197451954789,
+              0.2722597741021906,
+              1.049981002236947
+            ],
+            "finger_b": [
+              0.24629249674838757,
+              0.29698217127388893,
+              1.049981002236947
+            ],
+            "finger_midpoint": [
+              0.25210612097193325,
+              0.28462097268803976,
+              1.049981002236947
+            ],
+            "object_minus_finger_midpoint": [
+              0.005813624223545644,
+              0.012361198585849165,
+              0.0
+            ],
+            "finger_gap": 0.027320135950715637,
+            "fingertip_max_gap": 0.09248940636489408,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013660067975357812,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049981002236947,
+            "object_top_z": 1.101042857222959,
+            "finger_top_clearance": 0.05106185498601201,
+            "fingertip_min_top_clearance": 0.01531855649580362,
+            "object_projection_between_fingers": 0.8188709152877558,
+            "object_to_finger_line_xy": 0.010521669974174279,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048744703182447044,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8997760300481693,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2576932890119971,
+              0.29604073157329447,
+              1.2420784663058038
+            ],
+            "held_position": [
+              0.26321207081419506,
+              0.30053266569312614,
+              1.239390819807901
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007606435986378165,
+            "max_held_gripper_dist": 0.007622662571981082,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026876464979028736,
+            "max_held_gripper_z_dist": 0.002839608334777921,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08672006462741039,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26321207081419506,
+              0.2750985253141053,
+              1.239390819807901
+            ],
+            "held_grasp_finger_b": [
+              0.2530695537759148,
+              0.30053266569312614,
+              1.239390819807901
+            ],
+            "held_grasp_midpoint": [
+              0.2581408122950549,
+              0.2878155955036157,
+              1.239390819807901
+            ],
+            "held_grasp_object_position": [
+              0.26321207081419506,
+              0.30053266569312614,
+              1.239390819807901
+            ],
+            "held_grasp_finger_gap": 0.027381858021170616,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02472257133585904,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06426923051206448,
+              -0.997652081935299,
+              0.02365986938997188
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004254384951013639,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03670711263665976,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29695991628399593,
+              -0.3543500917134803,
+              0.8515395993285283
+            ],
+            "target_position": [
+              0.2907910481891253,
+              -0.35621135348776906,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006443541647598856,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18281292261529963,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395993285283,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590776130143184,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0861764707719219,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15038478847054007,
+            "release_required_pad_clearance": 0.053088235385960955,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2046185420245772,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008027970790863037,
+            "max_z_decrease": 0.008027970790863037,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515269019521602,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008027970790863037,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021062365597155214,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008027970790863037,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008027991879520975,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14649097621440887,
+              -0.4124728143215179,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14649097621440887,
+              -0.4124728143215179,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14785928742097598,
+              -0.4124359350537702,
+              0.8080904012737625
+            ],
+            "closest_button": [
+              0.14648064970970154,
+              -0.41247341036796564,
+              0.7729647755622864
+            ],
+            "closest_ee_minus_button": [
+              0.0013786377112744441,
+              3.7475314195456466e-05,
+              0.03512562571147615
+            ],
+            "button_min_z_position": [
+              0.14647260308265686,
+              -0.41247180104255665,
+              0.7687808871269226
+            ],
+            "min_active_finger_to_button": 0.14484233527799523,
+            "closest_active_finger": [
+              0.006415948271751404,
+              -0.3989010453224182,
+              0.8105354905128479
+            ],
+            "closest_active_finger_button": [
+              0.14649006724357605,
+              -0.4124729633331298,
+              0.7762667536735535
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14007411897182465,
+              0.013571918010711614,
+              0.034268736839294434
+            ],
+            "min_contact_pad_to_button": 0.021062365597155214,
+            "closest_contact_pad": [
+              0.14647260308265686,
+              -0.41325628474123843,
+              0.7898286383102374
+            ],
+            "closest_contact_pad_button": [
+              0.14647260308265686,
+              -0.41247180104255665,
+              0.7687808871269226
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007844836986817816,
+              0.02104775118331481
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac60f6c9f21b061ce1187695b047a28061e9485697d291f3bf6291094e44ad55",
+    "visual_seed": 9223037217902689744,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..2df00f211cb70d10b0c109806afda31070b649e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2598485101796304,
+              0.29345188776545367,
+              1.0514893717740579
+            ],
+            "current_z": 1.0514893717740579,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19038280415464715,
+            "gripper_z": 1.054107474894505,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25451035367127933,
+              0.2884101636372741,
+              1.054107474894505
+            ],
+            "object_minus_gripper": [
+              0.005338156508351066,
+              0.005041724128179548,
+              -0.0026181031204470795
+            ],
+            "object_to_gripper_xy": 0.007342676425685574,
+            "object_to_gripper_z": -0.0026181031204470795,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2598485101796304,
+              0.26887916409226204,
+              1.0514893717740579
+            ],
+            "finger_b": [
+              0.24766269548069214,
+              0.29345188776545367,
+              1.0514893717740579
+            ],
+            "finger_midpoint": [
+              0.2537556028301613,
+              0.28116552592885785,
+              1.0514893717740579
+            ],
+            "object_minus_finger_midpoint": [
+              0.006092907349469101,
+              0.012286361836595816,
+              0.0
+            ],
+            "finger_gap": 0.02742832165109437,
+            "fingertip_max_gap": 0.09160862199974512,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013714160825547172,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0514893717740579,
+            "object_top_z": 1.1020906098499776,
+            "finger_top_clearance": 0.05060123807591976,
+            "fingertip_min_top_clearance": 0.015180371422775896,
+            "object_projection_between_fingers": 0.8026165788585483,
+            "object_to_finger_line_xy": 0.010917133798370048,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830431099987256,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6278059176746903,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25976447473953435,
+              0.29211801911389407,
+              1.2425086311034808
+            ],
+            "held_position": [
+              0.26546607018031454,
+              0.29669193209065825,
+              1.2397739625717863
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00780431178692761,
+            "max_held_gripper_dist": 0.007819013033467938,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002734668531694462,
+            "max_held_gripper_z_dist": 0.002887093016272768,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08807846322926205,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26546607018031454,
+              0.2711118911886856,
+              1.2397739625717863
+            ],
+            "held_grasp_finger_b": [
+              0.25528634983892673,
+              0.29669193209065825,
+              1.2397739625717863
+            ],
+            "held_grasp_midpoint": [
+              0.26037621000962063,
+              0.28390191163967193,
+              1.2397739625717863
+            ],
+            "held_grasp_object_position": [
+              0.26546607018031454,
+              0.29669193209065825,
+              1.2397739625717863
+            ],
+            "held_grasp_finger_gap": 0.02753116776991956,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024626187750901134,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08424527372799429,
+              -0.9962369167115198,
+              0.020365157392463366
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004003036137570233,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03654956286800985,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30305997754463343,
+              -0.3530079599535644,
+              0.8515395868538826
+            ],
+            "target_position": [
+              0.2953973206529555,
+              -0.3553350742024601,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008008231475612634,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.182691940230234,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395868538826,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542242408277863,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08608408696272295,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15135044735957137,
+            "release_required_pad_clearance": 0.053042043481361476,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1148582230516184,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00806647539138794,
+            "max_z_decrease": 0.00806647539138794,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514306493019307,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00806647539138794,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021024106035883762,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00806647539138794,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008066479890607948,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15109725296497345,
+              -0.41159653663635254,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15109725296497345,
+              -0.41159653663635254,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15144324425483183,
+              -0.4112208595278452,
+              0.8079874764638892
+            ],
+            "closest_button": [
+              0.1510845124721527,
+              -0.41160187125205994,
+              0.7728483080863953
+            ],
+            "closest_ee_minus_button": [
+              0.000358731782679117,
+              0.0003810117242147304,
+              0.03513916837749398
+            ],
+            "button_min_z_position": [
+              0.15109428763389587,
+              -0.41158854961395264,
+              0.7687423825263977
+            ],
+            "min_active_finger_to_button": 0.145650155614882,
+            "closest_active_finger": [
+              0.023351460695266724,
+              -0.47267696261405945,
+              0.8108547925949097
+            ],
+            "closest_active_finger_button": [
+              0.15110154449939728,
+              -0.41159594058990473,
+              0.7767521142959595
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12775008380413055,
+              -0.06108102202415472,
+              0.034102678298950195
+            ],
+            "min_contact_pad_to_button": 0.021024106035883762,
+            "closest_contact_pad": [
+              0.15109428763389587,
+              -0.41246900543192416,
+              0.7897480444336237
+            ],
+            "closest_contact_pad_button": [
+              0.15109428763389587,
+              -0.41158854961395264,
+              0.7687423825263977
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008804558179715261,
+              0.02100566190722597
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4be6dc84963e03458d929627fe76a1ad264a3d58983efd2ddf733391a32b7136",
+    "visual_seed": 837381793670825821,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e9c4c828473ca1a63d41c01281ff0ef8e812870b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2618237070763344,
+              0.29686536558346915,
+              1.050531018555878
+            ],
+            "current_z": 1.050531018555878,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18942451054111187,
+            "gripper_z": 1.0528411294150068,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2563372501168215,
+              0.29180548022995856,
+              1.0528411294150068
+            ],
+            "object_minus_gripper": [
+              0.0054864569595128865,
+              0.005059885353510596,
+              -0.0023101108591288
+            ],
+            "object_to_gripper_xy": 0.007463487774442887,
+            "object_to_gripper_z": -0.0023101108591288,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2618237070763344,
+              0.2721169374467995,
+              1.050531018555878
+            ],
+            "finger_b": [
+              0.24970920618325365,
+              0.29686536558346915,
+              1.050531018555878
+            ],
+            "finger_midpoint": [
+              0.255766456629794,
+              0.2844911515151343,
+              1.050531018555878
+            ],
+            "object_minus_finger_midpoint": [
+              0.006057250446540374,
+              0.012374214068334832,
+              0.0
+            ],
+            "finger_gap": 0.02755441574638005,
+            "fingertip_max_gap": 0.09059673184832484,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013777207873190025,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050531018555878,
+            "object_top_z": 1.1004538368116514,
+            "finger_top_clearance": 0.04992281825577338,
+            "fingertip_min_top_clearance": 0.014976845476732047,
+            "object_projection_between_fingers": 0.8067014310183147,
+            "object_to_finger_line_xy": 0.01088082786888407,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04779836592416242,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.40890130045668427,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2613090654431959,
+              0.295885497185273,
+              1.242111919909563
+            ],
+            "held_position": [
+              0.2670984258829747,
+              0.3005535393261025,
+              1.2397101791924787
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007815092462814277,
+            "max_held_gripper_dist": 0.00782855810285286,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002401740717084211,
+            "max_held_gripper_z_dist": 0.0025623743295042356,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08774036336255661,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2670984258829747,
+              0.2749974513255832,
+              1.2397101791924787
+            ],
+            "held_grasp_finger_b": [
+              0.25660332198851865,
+              0.3005535393261025,
+              1.2397101791924787
+            ],
+            "held_grasp_midpoint": [
+              0.2618508739357467,
+              0.28777549532584284,
+              1.2397101791924787
+            ],
+            "held_grasp_object_position": [
+              0.2670984258829747,
+              0.3005535393261025,
+              1.2397101791924787
+            ],
+            "held_grasp_finger_gap": 0.027627175745010845,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024737049300465455,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07172110835322575,
+              -0.9974049934223153,
+              0.0062738913615112395
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00431834876422607,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036599004936269684,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2946838601353944,
+              -0.3597006565760352,
+              0.8515395666231882
+            ],
+            "target_position": [
+              0.28713706126166455,
+              -0.36233476011383603,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007993289353475487,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18279503256754218,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395666231882,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559974696104123,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08523703848456164,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15103408522252015,
+            "release_required_pad_clearance": 0.05261851924228082,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2987068820289933,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007923126220703125,
+            "max_z_decrease": 0.007923126220703125,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517806867948043,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007923126220703125,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021040333784194787,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007923126220703125,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007923153265892362,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14283698797225952,
+              -0.4185962080955504,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14283698797225952,
+              -0.4185962080955504,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14243806447103796,
+              -0.416746355426687,
+              0.8081618426308513
+            ],
+            "closest_button": [
+              0.14282651245594022,
+              -0.4185969531536101,
+              0.7730346322059631
+            ],
+            "closest_ee_minus_button": [
+              -0.00038844798490225707,
+              0.0018505977269231422,
+              0.0351272104248882
+            ],
+            "button_min_z_position": [
+              0.1428163945674896,
+              -0.41859409213066096,
+              0.7688857316970825
+            ],
+            "min_active_finger_to_button": 0.14570028239672544,
+            "closest_active_finger": [
+              0.015129290521144867,
+              -0.479845255613327,
+              0.8105201125144958
+            ],
+            "closest_active_finger_button": [
+              0.14283637702465057,
+              -0.41859617829322804,
+              0.7763437628746033
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1277070865035057,
+              -0.06124907732009899,
+              0.03417634963989258
+            ],
+            "min_contact_pad_to_button": 0.021040333784194787,
+            "closest_contact_pad": [
+              0.1428163945674896,
+              -0.41859409213066096,
+              0.7899260654812773
+            ],
+            "closest_contact_pad_button": [
+              0.1428163945674896,
+              -0.41859409213066096,
+              0.7688857316970825
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021040333784194787
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0f467e5af0ce620bd1f57d4f695377329cc3001c58fb78a0e9ca95e507ac58d",
+    "visual_seed": 2988722362069461614,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eec143818646810a012e2e54023e0e45d272c02
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2640249212126868,
+              0.3018583029439848,
+              1.051221790114687
+            ],
+            "current_z": 1.051221790114687,
+            "required_z": 0.8611068060379901,
+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.1901149840766969,
+            "gripper_z": 1.0533446168759943,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25883646876266003,
+              0.2969690849288436,
+              1.0533446168759943
+            ],
+            "object_minus_gripper": [
+              0.005188452450026748,
+              0.004889218015141195,
+              -0.0021228267613073726
+            ],
+            "object_to_gripper_xy": 0.007129129794425808,
+            "object_to_gripper_z": -0.0021228267613073726,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2640249212126868,
+              0.2773048784145565,
+              1.051221790114687
+            ],
+            "finger_b": [
+              0.252164063124495,
+              0.3018583029439848,
+              1.051221790114687
+            ],
+            "finger_midpoint": [
+              0.2580944921685909,
+              0.28958159067927064,
+              1.051221790114687
+            ],
+            "object_minus_finger_midpoint": [
+              0.005930429044095853,
+              0.012276712264714162,
+              0.0
+            ],
+            "finger_gap": 0.0272681244443133,
+            "fingertip_max_gap": 0.09157362557549228,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013634062222156637,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051221790114687,
+            "object_top_z": 1.1018343293164259,
+            "finger_top_clearance": 0.050612539201738915,
+            "fingertip_min_top_clearance": 0.015183761760521641,
+            "object_projection_between_fingers": 0.8107997592069941,
+            "object_to_finger_line_xy": 0.01068004088500521,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048286812787746144,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6063876453355791,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26416385860931557,
+              0.3006904713199634,
+              1.240339004715959
+            ],
+            "held_position": [
+              0.2696697320709979,
+              0.30515735795877347,
+              1.2380791423899482
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007441417644008497,
+            "max_held_gripper_dist": 0.00745425093978699,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002259862326010831,
+            "max_held_gripper_z_dist": 0.002420115609848228,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08797045137141696,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2696697320709979,
+              0.2796719207791412,
+              1.2380791423899482
+            ],
+            "held_grasp_finger_b": [
+              0.259735769644329,
+              0.30515735795877347,
+              1.2380791423899482
+            ],
+            "held_grasp_midpoint": [
+              0.2647027508576635,
+              0.29241463936895734,
+              1.2380791423899482
+            ],
+            "held_grasp_object_position": [
+              0.2696697320709979,
+              0.30515735795877347,
+              1.2380791423899482
+            ],
+            "held_grasp_finger_gap": 0.0273530824173703,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024635571863145706,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07729884425666586,
+              -0.9967832020522915,
+              0.021169241435733403
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003976559660101274,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036634580324051556,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30317075473648214,
+              -0.35821985499283787,
+              0.8515395165580742
+            ],
+            "target_position": [
+              0.29626967874361093,
+              -0.36020011506253496,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007179573789788644,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18208051816540174,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395165580742,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580995583505912,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528773220968337,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14974557487751022,
+            "release_required_pad_clearance": 0.05264386610484169,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34717880659070627,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008079588413238525,
+            "max_z_decrease": 0.008079588413238525,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516332949426676,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008079588413238525,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107846035914279,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008079588413238525,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008079595927629222,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15196961164474487,
+              -0.4164615869522095,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15196961164474487,
+              -0.4164615869522095,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1532772453250125,
+              -0.4170281139919597,
+              0.8038635814458572
+            ],
+            "closest_button": [
+              0.15197095274925232,
+              -0.4164506494998932,
+              0.7687292695045471
+            ],
+            "closest_ee_minus_button": [
+              0.0013062925757601762,
+              -0.0005774644920665262,
+              0.035134311941310115
+            ],
+            "button_min_z_position": [
+              0.15197095274925232,
+              -0.4164506494998932,
+              0.7687292695045471
+            ],
+            "min_active_finger_to_button": 0.14434851555093112,
+            "closest_active_finger": [
+              0.012747906148433685,
+              -0.3995790481567383,
+              0.81052565574646
+            ],
+            "closest_active_finger_button": [
+              0.15196925401687622,
+              -0.4164632558822632,
+              0.7763374447822571
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13922134786844254,
+              0.016884207725524902,
+              0.03418821096420288
+            ],
+            "min_contact_pad_to_button": 0.02107846035914279,
+            "closest_contact_pad": [
+              0.15197095274925232,
+              -0.41832393785237654,
+              0.7897243232520469
+            ],
+            "closest_contact_pad_button": [
+              0.15197095274925232,
+              -0.4164506494998932,
+              0.7687292695045471
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018732883524833488,
+              0.02099505374749977
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c578d578e042bcf556a58a936affd3518705ed7ad9ad82ce4184507df8967ebf",
+    "visual_seed": 9141693140388791631,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2953588e3d80b9a1347d354560f3a7353114add
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26453154968466874,
+              0.2994201717508562,
+              1.0525483172080914
+            ],
+            "current_z": 1.0525483172080914,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.19144157077474633,
+            "gripper_z": 1.0552328973265739,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2586627934810908,
+              0.29422878417537524,
+              1.0552328973265739
+            ],
+            "object_minus_gripper": [
+              0.005868756203577963,
+              0.005191387575480988,
+              -0.0026845801184824936
+            ],
+            "object_to_gripper_xy": 0.007835356043977401,
+            "object_to_gripper_z": -0.0026845801184824936,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26453154968466874,
+              0.2743399385390899,
+              1.0525483172080914
+            ],
+            "finger_b": [
+              0.25231484611050037,
+              0.2994201717508562,
+              1.0525483172080914
+            ],
+            "finger_midpoint": [
+              0.25842319789758456,
+              0.28688005514497306,
+              1.0525483172080914
+            ],
+            "object_minus_finger_midpoint": [
+              0.0061083517870841875,
+              0.012540116605883167,
+              0.0
+            ],
+            "finger_gap": 0.027897418234949366,
+            "fingertip_max_gap": 0.09476316089337036,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013948709117474683,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0525483172080914,
+            "object_top_z": 1.1041707470619082,
+            "finger_top_clearance": 0.05162242985381682,
+            "fingertip_min_top_clearance": 0.015486728956145045,
+            "object_projection_between_fingers": 0.8082302748359663,
+            "object_to_finger_line_xy": 0.0109830154223846,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049881580446685184,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5998120405477503,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2635143687381286,
+              0.29887405473552786,
+              1.2414004357627033
+            ],
+            "held_position": [
+              0.2695993683058008,
+              0.30374545142014214,
+              1.2385773302370344
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008290214123079313,
+            "max_held_gripper_dist": 0.008306113449488464,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0028231055256688897,
+            "max_held_gripper_z_dist": 0.0029961300386283085,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08779113629436974,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2695993683058008,
+              0.2781151987496706,
+              1.2385773302370344
+            ],
+            "held_grasp_finger_b": [
+              0.2586961576083058,
+              0.30374545142014214,
+              1.2385773302370344
+            ],
+            "held_grasp_midpoint": [
+              0.2641477629570533,
+              0.29093032508490635,
+              1.2385773302370344
+            ],
+            "held_grasp_object_position": [
+              0.2695993683058008,
+              0.30374545142014214,
+              1.2385773302370344
+            ],
+            "held_grasp_finger_gap": 0.027853004424409633,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025330948343818722,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.025914254219914022,
+              -0.9993462509698962,
+              0.025209563674112645
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005127979216261425,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03677222732435753,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3017360722156619,
+              -0.35281503176523893,
+              0.8515395710689563
+            ],
+            "target_position": [
+              0.29438776591099725,
+              -0.3552409728655975,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007738397493640616,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18179878157753074,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395710689563,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07555840158664504,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08677283183059468,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15016277187885135,
+            "release_required_pad_clearance": 0.053386415915297344,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7883242612569599,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008104920387268066,
+            "max_z_decrease": 0.008104920387268066,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511531096850432,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008104920387268066,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021086850421559163,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008104920387268066,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008104941769756334,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15008769929409027,
+              -0.4115024209022522,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15008769929409027,
+              -0.4115024209022522,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15053531687916422,
+              -0.4129380839030292,
+              0.803786514520732
+            ],
+            "closest_button": [
+              0.15009774267673492,
+              -0.41148674488067627,
+              0.7687039375305176
+            ],
+            "closest_ee_minus_button": [
+              0.0004375742024292917,
+              -0.0014513390223529488,
+              0.03508257699021444
+            ],
+            "button_min_z_position": [
+              0.15009774267673492,
+              -0.41148674488067627,
+              0.7687039375305176
+            ],
+            "min_active_finger_to_button": 0.1451324021040013,
+            "closest_active_finger": [
+              0.00956636667251587,
+              -0.39951592683792114,
+              0.8109952211380005
+            ],
+            "closest_active_finger_button": [
+              0.15009154379367828,
+              -0.4115011394023895,
+              0.7767542600631714
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14052517712116241,
+              0.011985212564468384,
+              0.0342409610748291
+            ],
+            "min_contact_pad_to_button": 0.021086850421559163,
+            "closest_contact_pad": [
+              0.15009774267673492,
+              -0.41387821185197654,
+              0.7896547405324645
+            ],
+            "closest_contact_pad_button": [
+              0.15009774267673492,
+              -0.41148674488067627,
+              0.7687039375305176
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002391466971300271,
+              0.02095080300194696
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b20e8d2e6ef313cacf1d01a37b78370ceeb72f81d8228030e41c59b6397bd1c",
+    "visual_seed": 3883700751585165547,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..48c12314fa568b3e9aede9e240a0a173554de9c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26533581431363484,
+              0.299077128818802,
+              1.05140913620626
+            ],
+            "current_z": 1.05140913620626,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.19030274740078368,
+            "gripper_z": 1.0535814740474148,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2597156085987864,
+              0.2940246797992287,
+              1.0535814740474148
+            ],
+            "object_minus_gripper": [
+              0.0056202057148484474,
+              0.005052449019573302,
+              -0.00217233784115467
+            ],
+            "object_to_gripper_xy": 0.007557377413666884,
+            "object_to_gripper_z": -0.00217233784115467,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26533581431363484,
+              0.27411834406971913,
+              1.05140913620626
+            ],
+            "finger_b": [
+              0.25337254219754757,
+              0.299077128818802,
+              1.05140913620626
+            ],
+            "finger_midpoint": [
+              0.2593541782555912,
+              0.28659773644426056,
+              1.05140913620626
+            ],
+            "object_minus_finger_midpoint": [
+              0.005981636058043638,
+              0.012479392374541431,
+              0.0
+            ],
+            "finger_gap": 0.027677803667823835,
+            "fingertip_max_gap": 0.09362866632098396,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013838901833911918,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.05140913620626,
+            "object_top_z": 1.1029382169736621,
+            "finger_top_clearance": 0.051529080767402036,
+            "fingertip_min_top_clearance": 0.015458724230220577,
+            "object_projection_between_fingers": 0.8131742588084824,
+            "object_to_finger_line_xy": 0.010788021232596744,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931433316049198,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1970957455637548,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2650065597753566,
+              0.29751222898008695,
+              1.2429014946668582
+            ],
+            "held_position": [
+              0.2709158003582953,
+              0.3021791520813821,
+              1.2406228026263473
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007867129903334505,
+            "max_held_gripper_dist": 0.007880327436986957,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002278692040510899,
+            "max_held_gripper_z_dist": 0.0024476820568002378,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08756985572568843,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2709158003582953,
+              0.27647717699429525,
+              1.2406228026263473
+            ],
+            "held_grasp_finger_b": [
+              0.26053807532565065,
+              0.3021791520813821,
+              1.2406228026263473
+            ],
+            "held_grasp_midpoint": [
+              0.265726937841973,
+              0.28932816453783866,
+              1.2406228026263473
+            ],
+            "held_grasp_object_position": [
+              0.2709158003582953,
+              0.3021791520813821,
+              1.2406228026263473
+            ],
+            "held_grasp_finger_gap": 0.027718021217800013,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025115852008657086,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05215673177674206,
+              -0.9982548089282117,
+              0.027694977560354328
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004525846407605428,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03662105584478609,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3029305327335087,
+              -0.35325796682733007,
+              0.8515395757297948
+            ],
+            "target_position": [
+              0.2966363736022854,
+              -0.3548398321475763,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006489894996111961,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1824019341787381,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395757297948,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07565825668054936,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08658943025594322,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1502967355623984,
+            "release_required_pad_clearance": 0.05329471512797161,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6081118903112301,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008119940757751465,
+            "max_z_decrease": 0.008119940757751465,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517928546210411,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008119940757751465,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020972866744162544,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008119940757751465,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008119967223047862,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15233629941940308,
+              -0.4111012816429138,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15233629941940308,
+              -0.4111012816429138,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15390197455203738,
+              -0.4091076890209027,
+              0.8037782277756875
+            ],
+            "closest_button": [
+              0.1523515284061432,
+              -0.41108721494674677,
+              0.7686889171600342
+            ],
+            "closest_ee_minus_button": [
+              0.0015504461458941965,
+              0.00197952592584405,
+              0.035089310615653346
+            ],
+            "button_min_z_position": [
+              0.1523515284061432,
+              -0.41108721494674677,
+              0.7686889171600342
+            ],
+            "min_active_finger_to_button": 0.14350319265789854,
+            "closest_active_finger": [
+              0.026038341224193573,
+              -0.470065176486969,
+              0.8107491135597229
+            ],
+            "closest_active_finger_button": [
+              0.1523379236459732,
+              -0.41110312938690186,
+              0.7766161561012268
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12629958242177963,
+              -0.05896204710006714,
+              0.034132957458496094
+            ],
+            "min_contact_pad_to_button": 0.020972866744162544,
+            "closest_contact_pad": [
+              0.1523515284061432,
+              -0.41108721494674677,
+              0.7896617839041967
+            ],
+            "closest_contact_pad_button": [
+              0.1523515284061432,
+              -0.41108721494674677,
+              0.7686889171600342
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020972866744162544
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a147cd610a008b1ae9245a5739ebf95188fa46c62ba82afca08c43d08db0b1b3",
+    "visual_seed": 625835672933686746,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f7d70ea362a83b28f3536b5156aa4c2fa75a82f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26202440921026837,
+              0.29908820686745946,
+              1.0515611466557107
+            ],
+            "current_z": 1.0515611466557107,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.19045434061772104,
+            "gripper_z": 1.0539486300632857,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25677664099971864,
+              0.29402138383480597,
+              1.0539486300632857
+            ],
+            "object_minus_gripper": [
+              0.00524776821054973,
+              0.005066823032653489,
+              -0.0023874834075749973
+            ],
+            "object_to_gripper_xy": 0.007294639596024208,
+            "object_to_gripper_z": -0.0023874834075749973,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26202440921026837,
+              0.27467870650743886,
+              1.0515611466557107
+            ],
+            "finger_b": [
+              0.24968025407372765,
+              0.29908820686745946,
+              1.0515611466557107
+            ],
+            "finger_midpoint": [
+              0.255852331641998,
+              0.2868834566874492,
+              1.0515611466557107
+            ],
+            "object_minus_finger_midpoint": [
+              0.006172077568270373,
+              0.012204750180010271,
+              0.0
+            ],
+            "finger_gap": 0.027353279033067137,
+            "fingertip_max_gap": 0.09258205619801751,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013676639516533551,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0515611466557107,
+            "object_top_z": 1.1028581670969813,
+            "finger_top_clearance": 0.0512970204412706,
+            "fingertip_min_top_clearance": 0.01538910613238118,
+            "object_projection_between_fingers": 0.7963408388050526,
+            "object_to_finger_line_xy": 0.011015668684009852,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04879102809900876,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9638271199293547,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2621069050559614,
+              0.2977431848828423,
+              1.243865357635993
+            ],
+            "held_position": [
+              0.26776736420376346,
+              0.3023041390860981,
+              1.2413829545240813
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007681498956464278,
+            "max_held_gripper_dist": 0.007696003430905298,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002482403111911724,
+            "max_held_gripper_z_dist": 0.0026406727794578977,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08791086743574819,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26776736420376346,
+              0.2767292631099861,
+              1.2413829545240813
+            ],
+            "held_grasp_finger_b": [
+              0.2575961295321896,
+              0.3023041390860981,
+              1.2413829545240813
+            ],
+            "held_grasp_midpoint": [
+              0.2626817468679765,
+              0.28951670109804206,
+              1.2413829545240813
+            ],
+            "held_grasp_object_position": [
+              0.26776736420376346,
+              0.3023041390860981,
+              1.2413829545240813
+            ],
+            "held_grasp_finger_gap": 0.027523231931183854,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024576202820447344,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08764406779299018,
+              -0.9958074176128558,
+              0.026193594787908836
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003959992586182116,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03654070027877756,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2969357945147185,
+              -0.35322113586962184,
+              0.8515395610405542
+            ],
+            "target_position": [
+              0.29003482594970215,
+              -0.35508905993477147,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007149301186025755,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827037783472578,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395610405542,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533189175859352,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635366670550952,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1515601981974468,
+            "release_required_pad_clearance": 0.05317683335275476,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.37740483236268,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007847428321838379,
+            "max_z_decrease": 0.007847428321838379,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514068401689417,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007847428321838379,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021095182692891654,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007847428321838379,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007847455300139602,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1457347571849823,
+              -0.41135051846504217,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1457347571849823,
+              -0.41135051846504217,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14664747667727995,
+              -0.4119191375487089,
+              0.8082315328656898
+            ],
+            "closest_button": [
+              0.14572541415691376,
+              -0.41135185956954956,
+              0.7731075286865234
+            ],
+            "closest_ee_minus_button": [
+              0.0009220625203661958,
+              -0.0005672779791593419,
+              0.03512400417916639
+            ],
+            "button_min_z_position": [
+              0.14571428298950195,
+              -0.41134846210479736,
+              0.7689614295959473
+            ],
+            "min_active_finger_to_button": 0.14523097127665766,
+            "closest_active_finger": [
+              0.005230285227298737,
+              -0.39808523654937744,
+              0.8107084631919861
+            ],
+            "closest_active_finger_button": [
+              0.14573387801647186,
+              -0.411350816488266,
+              0.7764331102371216
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14050359278917313,
+              0.01326557993888855,
+              0.0342753529548645
+            ],
+            "min_contact_pad_to_button": 0.021095182692891654,
+            "closest_contact_pad": [
+              0.14571428298950195,
+              -0.41278286515608237,
+              0.7900077884433332
+            ],
+            "closest_contact_pad_button": [
+              0.14571428298950195,
+              -0.41134846210479736,
+              0.7689614295959473
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014344030512850048,
+              0.021046358847385926
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "54af6e7946223a8676396f7bf94eaffed08850725b503d95efce77780c79e4ae",
+    "visual_seed": 4056909114939760010,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_74_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b31c4e5950b2edb71a57ff2412ee7cadd0b61edf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_74_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 74,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2621266813943684,
+              0.29846393554060313,
+              1.0500298597040778
+            ],
+            "current_z": 1.0500298597040778,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18892311327073275,
+            "gripper_z": 1.0523939900531094,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.256808835966414,
+              0.2935647398304204,
+              1.0523939900531094
+            ],
+            "object_minus_gripper": [
+              0.005317845427954382,
+              0.004899195710182713,
+              -0.0023641303490316012
+            ],
+            "object_to_gripper_xy": 0.007230601538066388,
+            "object_to_gripper_z": -0.0023641303490316012,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2621266813943684,
+              0.27373069253229754,
+              1.0500298597040778
+            ],
+            "finger_b": [
+              0.25037508812668485,
+              0.29846393554060313,
+              1.0500298597040778
+            ],
+            "finger_midpoint": [
+              0.2562508847605266,
+              0.28609731403645033,
+              1.0500298597040778
+            ],
+            "object_minus_finger_midpoint": [
+              0.005875796633841801,
+              0.012366621504152797,
+              0.0
+            ],
+            "finger_gap": 0.02738308335518414,
+            "fingertip_max_gap": 0.0933863600227165,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013691541677592083,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500298597040778,
+            "object_top_z": 1.101762993571973,
+            "finger_top_clearance": 0.05173313386789524,
+            "fingertip_min_top_clearance": 0.015519940160368572,
+            "object_projection_between_fingers": 0.8158257938207452,
+            "object_to_finger_line_xy": 0.010614400440385707,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04919318001135825,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1779228980898337,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2618779499506805,
+              0.2975562605636337,
+              1.2397354830584049
+            ],
+            "held_position": [
+              0.26746143728749217,
+              0.30208888146709045,
+              1.2372337865104721
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007614359376384078,
+            "max_held_gripper_dist": 0.007629788345236495,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025016965479327524,
+            "max_held_gripper_z_dist": 0.0026597102441598963,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08782949299986959,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26746143728749217,
+              0.276607921942187,
+              1.2372337865104721
+            ],
+            "held_grasp_finger_b": [
+              0.25735261900770284,
+              0.30208888146709045,
+              1.2372337865104721
+            ],
+            "held_grasp_midpoint": [
+              0.26240702814759753,
+              0.2893484017046387,
+              1.2372337865104721
+            ],
+            "held_grasp_object_position": [
+              0.26746143728749217,
+              0.30208888146709045,
+              1.2372337865104721
+            ],
+            "held_grasp_finger_gap": 0.027412907640809867,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02480236777205501,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06119171562801817,
+              -0.9976446797744161,
+              0.03099462624879734
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042840087035851135,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03670049025055538,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3016585613031558,
+              -0.3609188443110455,
+              0.8515395061850168
+            ],
+            "target_position": [
+              0.29516311196297196,
+              -0.36263657070906663,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006718738431383807,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18330557640186648,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395061850168,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582063082063481,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08607822523844137,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1509843644251083,
+            "release_required_pad_clearance": 0.05303911261922069,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1092275470064767,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008053421974182129,
+            "max_z_decrease": 0.008053421974182129,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522667568199768,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008053421974182129,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021019589272101537,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008053421974182129,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008053432140104014,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1508630365133285,
+              -0.4188980162143707,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1508630365133285,
+              -0.4188980162143707,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15315935206100714,
+              -0.41810434700635557,
+              0.8082493851033864
+            ],
+            "closest_button": [
+              0.15085138380527494,
+              -0.4189002811908722,
+              0.7731074094772339
+            ],
+            "closest_ee_minus_button": [
+              0.0023079682557322068,
+              0.0007959341845166223,
+              0.03514197562615251
+            ],
+            "button_min_z_position": [
+              0.15085230767726895,
+              -0.418891042470932,
+              0.7687554359436035
+            ],
+            "min_active_finger_to_button": 0.14378682334008394,
+            "closest_active_finger": [
+              0.026535838842391968,
+              -0.4825584888458252,
+              0.8106104135513306
+            ],
+            "closest_active_finger_button": [
+              0.1508618295192718,
+              -0.41889849305152893,
+              0.7764768004417419
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12432599067687983,
+              -0.06365999579429626,
+              0.03413361310958862
+            ],
+            "min_contact_pad_to_button": 0.021019589272101537,
+            "closest_contact_pad": [
+              0.15085230767726895,
+              -0.4190416544632945,
+              0.7897744856175446
+            ],
+            "closest_contact_pad_button": [
+              0.15085230767726895,
+              -0.418891042470932,
+              0.7687554359436035
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00015061199236249267,
+              0.02101904967394108
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 74,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "143e23b85c6a9233925543744fbf5564b09e0d136004948ce949da9d3a37f2be",
+    "visual_seed": 3194940654954101597,
+    "episode_index": 74,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..77d080712ec5997d21e6471dcca0490058fb2233
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25779021496926036,
+              0.29720218141313043,
+              1.0498513829666978
+            ],
+            "current_z": 1.0498513829666978,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18874475574264216,
+            "gripper_z": 1.0523977777156301,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2523498478281172,
+              0.29213497078901635,
+              1.0523977777156301
+            ],
+            "object_minus_gripper": [
+              0.005440367141143154,
+              0.005067210624114082,
+              -0.002546394748932368
+            ],
+            "object_to_gripper_xy": 0.007434663283536435,
+            "object_to_gripper_z": -0.002546394748932368,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25779021496926036,
+              0.2725430167007456,
+              1.0498513829666978
+            ],
+            "finger_b": [
+              0.24558564797230945,
+              0.29720218141313043,
+              1.0498513829666978
+            ],
+            "finger_midpoint": [
+              0.2516879314707849,
+              0.284872599056938,
+              1.0498513829666978
+            ],
+            "object_minus_finger_midpoint": [
+              0.006102283498475469,
+              0.012329582356192414,
+              0.0
+            ],
+            "finger_gap": 0.027514102927327807,
+            "fingertip_max_gap": 0.0902212881252378,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013757051463663909,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498513829666978,
+            "object_top_z": 1.099602597346002,
+            "finger_top_clearance": 0.04975121437930419,
+            "fingertip_min_top_clearance": 0.014925364313791288,
+            "object_projection_between_fingers": 0.8032412583585886,
+            "object_to_finger_line_xy": 0.010938187903710714,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047610644062618904,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.22763957494698076,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25744272298760673,
+              0.29596788471907626,
+              1.2394969342034157
+            ],
+            "held_position": [
+              0.26321184450103063,
+              0.30058984154730656,
+              1.2368138786407998
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007864097857399726,
+            "max_held_gripper_dist": 0.007878190745916513,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026830555626158326,
+            "max_held_gripper_z_dist": 0.002839329646009192,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08790130757511486,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26321184450103063,
+              0.2750135060090759,
+              1.2368138786407998
+            ],
+            "held_grasp_finger_b": [
+              0.25291919755691333,
+              0.30058984154730656,
+              1.2368138786407998
+            ],
+            "held_grasp_midpoint": [
+              0.25806552102897196,
+              0.2878016737781912,
+              1.2368138786407998
+            ],
+            "held_grasp_object_position": [
+              0.26321184450103063,
+              0.30058984154730656,
+              1.2368138786407998
+            ],
+            "held_grasp_finger_gap": 0.027569684812859332,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02469556822554413,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07787738884577657,
+              -0.9969032763020803,
+              0.01090733719758785
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004137210662155319,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036570901489003674,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.294835642831372,
+              -0.35978742733250996,
+              0.851539570844002
+            ],
+            "target_position": [
+              0.2868470789015395,
+              -0.36259950344054726,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008469056954491152,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1844707791491912,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539570844002,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578535092438327,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506158064199575,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15230251982218923,
+            "release_required_pad_clearance": 0.052530790320997875,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.13122121113751314,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00803375244140625,
+            "max_z_decrease": 0.00803375244140625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512497081754953,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00803375244140625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021001028519971827,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00803375244140625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00803376535990352,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14254701137542722,
+              -0.4188609719276428,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14254701137542722,
+              -0.4188609719276428,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14150908048903196,
+              -0.4186534112987309,
+              0.8080373078580471
+            ],
+            "closest_button": [
+              0.14253930747509003,
+              -0.41886043548583984,
+              0.7729280591011047
+            ],
+            "closest_ee_minus_button": [
+              -0.0010302269860580637,
+              0.00020702418710893955,
+              0.035109248756942324
+            ],
+            "button_min_z_position": [
+              0.14253288507461548,
+              -0.418858140707016,
+              0.7687751054763794
+            ],
+            "min_active_finger_to_button": 0.1469701263144132,
+            "closest_active_finger": [
+              0.014990881085395813,
+              -0.4833306074142456,
+              0.8110670447349548
+            ],
+            "closest_active_finger_button": [
+              0.1425458490848541,
+              -0.41886186599731445,
+              0.7768073081970215
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12755496799945829,
+              -0.06446874141693115,
+              0.03425973653793335
+            ],
+            "min_contact_pad_to_button": 0.021001028519971827,
+            "closest_contact_pad": [
+              0.14253288507461548,
+              -0.4195172276718973,
+              0.7897657892020086
+            ],
+            "closest_contact_pad_button": [
+              0.14253288507461548,
+              -0.418858140707016,
+              0.7687751054763794
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006590869648813169,
+              0.020990683725629178
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c44a128088ebdb68836891cc31f9169b0242297d488065cd634f972677ba7ae7",
+    "visual_seed": 3756658640463232340,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08a0f78234fb2a5767ad9cd581d2c5fcda522967
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25908387309253056,
+              0.2956747572706525,
+              1.0496586155115035
+            ],
+            "current_z": 1.0496586155115035,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.18855186907815835,
+            "gripper_z": 1.0525372189973494,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25373110068084326,
+              0.2907241494242432,
+              1.0525372189973494
+            ],
+            "object_minus_gripper": [
+              0.005352772411687301,
+              0.004950607846409327,
+              -0.0028786034858458986
+            ],
+            "object_to_gripper_xy": 0.007291137808343104,
+            "object_to_gripper_z": -0.0028786034858458986,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25908387309253056,
+              0.2709725919072619,
+              1.0496586155115035
+            ],
+            "finger_b": [
+              0.247177924474317,
+              0.2956747572706525,
+              1.0496586155115035
+            ],
+            "finger_midpoint": [
+              0.25313089878342376,
+              0.28332367458895724,
+              1.0496586155115035
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059529743091067955,
+              0.012351082681695269,
+              0.0
+            ],
+            "finger_gap": 0.02742168095029616,
+            "fingertip_max_gap": 0.09318244273125345,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013710840475148062,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496586155115035,
+            "object_top_z": 1.1012311575147722,
+            "finger_top_clearance": 0.05157254200326866,
+            "fingertip_min_top_clearance": 0.015471762600980564,
+            "object_projection_between_fingers": 0.8114876267974248,
+            "object_to_finger_line_xy": 0.010725189024999098,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04909122136562673,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1697143993484385,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2588164280794272,
+              0.2947424829618035,
+              1.2410593538385861
+            ],
+            "held_position": [
+              0.264456339956159,
+              0.2992989535405072,
+              1.2380675512045256
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007843526828733655,
+            "max_held_gripper_dist": 0.007859895942440742,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002991802634060514,
+            "max_held_gripper_z_dist": 0.003144928174329431,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08784338618550458,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.264456339956159,
+              0.2737885837490176,
+              1.2380675512045256
+            ],
+            "held_grasp_finger_b": [
+              0.25424344319908126,
+              0.2992989535405072,
+              1.2380675512045256
+            ],
+            "held_grasp_midpoint": [
+              0.2593498915776201,
+              0.2865437686447624,
+              1.2380675512045256
+            ],
+            "held_grasp_object_position": [
+              0.264456339956159,
+              0.2992989535405072,
+              1.2380675512045256
+            ],
+            "held_grasp_finger_gap": 0.027478759562055803,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02473039602238853,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06923750049145622,
+              -0.9971439722176044,
+              0.03016731999686295
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042290870989209394,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03664793661466344,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29861643003032756,
+              -0.3538543822176868,
+              0.8515395864675172
+            ],
+            "target_position": [
+              0.29218998914504685,
+              -0.35549964043985866,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006633703118894585,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18358271529081305,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395864675172,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543988139983772,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0854700421927652,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520826626407565,
+            "release_required_pad_clearance": 0.0527350210963826,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5218944465573455,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008043229579925537,
+            "max_z_decrease": 0.008043229579925537,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516229805047383,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008043229579925537,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021160270898253987,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008043229579925537,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008043243316485257,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1478899121284485,
+              -0.41176110506057734,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1478899121284485,
+              -0.41176110506057734,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14841709706269618,
+              -0.4131223086419724,
+              0.8080494743598445
+            ],
+            "closest_button": [
+              0.14787989854812622,
+              -0.41176450252532953,
+              0.7729175090789795
+            ],
+            "closest_ee_minus_button": [
+              0.0005371985145699587,
+              -0.001357806116642879,
+              0.03513196528086504
+            ],
+            "button_min_z_position": [
+              0.1478763073682785,
+              -0.41175511479377747,
+              0.7687656283378601
+            ],
+            "min_active_finger_to_button": 0.14549950523365493,
+            "closest_active_finger": [
+              0.007163889706134796,
+              -0.39781254529953003,
+              0.8110421895980835
+            ],
+            "closest_active_finger_button": [
+              0.14788900315761566,
+              -0.41176241636276245,
+              0.7768084406852722
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14072511345148087,
+              0.013949871063232422,
+              0.03423374891281128
+            ],
+            "min_contact_pad_to_button": 0.021160270898253987,
+            "closest_contact_pad": [
+              0.1478763073682785,
+              -0.41416701519553,
+              0.7897879926420843
+            ],
+            "closest_contact_pad_button": [
+              0.1478763073682785,
+              -0.41175511479377747,
+              0.7687656283378601
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024119004017525425,
+              0.021022364304224217
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b05d0938ba74eecbee6f6d442f6500d603091411c5207a083586377feaf11312",
+    "visual_seed": 2723639761125937492,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeae6308bd160c9f571830c0ef5cf51cec2b77dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26219270794119953,
+              0.2938754639721668,
+              1.0508067395210485
+            ],
+            "current_z": 1.0508067395210485,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18970005269234846,
+            "gripper_z": 1.0530228397746566,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.256856638035183,
+              0.2888552259505096,
+              1.0530228397746566
+            ],
+            "object_minus_gripper": [
+              0.005336069906016538,
+              0.005020238021657186,
+              -0.0022161002536080776
+            ],
+            "object_to_gripper_xy": 0.007326420124179872,
+            "object_to_gripper_z": -0.0022161002536080776,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26219270794119953,
+              0.269297015087663,
+              1.0508067395210485
+            ],
+            "finger_b": [
+              0.2500441313203306,
+              0.2938754639721668,
+              1.0508067395210485
+            ],
+            "finger_midpoint": [
+              0.2561184196307651,
+              0.2815862395299149,
+              1.0508067395210485
+            ],
+            "object_minus_finger_midpoint": [
+              0.006074288310434439,
+              0.01228922444225189,
+              0.0
+            ],
+            "finger_gap": 0.027416930234460755,
+            "fingertip_max_gap": 0.0906945880344894,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013708465117230366,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508067395210485,
+            "object_top_z": 1.1008501175854444,
+            "finger_top_clearance": 0.05004337806439585,
+            "fingertip_min_top_clearance": 0.015013013419318787,
+            "object_projection_between_fingers": 0.8036580317244892,
+            "object_to_finger_line_xy": 0.010890831575308822,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047847294017244704,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.28742366090614213,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26207606910312153,
+              0.29256779717424053,
+              1.2434469689423917
+            ],
+            "held_position": [
+              0.26776665934017885,
+              0.2971330216512921,
+              1.2411312748273362
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007654183888989421,
+            "max_held_gripper_dist": 0.007665989081873071,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023156941150555,
+            "max_held_gripper_z_dist": 0.00247076576488392,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08797939235535845,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26776665934017885,
+              0.2715655707222009,
+              1.2411312748273362
+            ],
+            "held_grasp_finger_b": [
+              0.257549477018096,
+              0.2971330216512921,
+              1.2411312748273362
+            ],
+            "held_grasp_midpoint": [
+              0.2626580681791374,
+              0.2843492961867465,
+              1.2411312748273362
+            ],
+            "held_grasp_object_position": [
+              0.26776665934017885,
+              0.2971330216512921,
+              1.2411312748273362
+            ],
+            "held_grasp_finger_gap": 0.027533349988952814,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024649283037319614,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08148360190142616,
+              -0.9966506213262252,
+              0.006925433648459321
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004050938645249195,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03656307573454837,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2973977588428681,
+              -0.3528469350817902,
+              0.8515395561410987
+            ],
+            "target_position": [
+              0.2896185775592083,
+              -0.3555354932268695,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008230674719821928,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18539266228519305,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395561410987,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584118544786904,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08504848377087502,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15302014383098003,
+            "release_required_pad_clearance": 0.052524241885437514,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.11869404515722787,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007795453071594238,
+            "max_z_decrease": 0.007795453071594238,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515054266334292,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007795453071594238,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02113078008905799,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007795453071594238,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007795477654552067,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14531850814819336,
+              -0.4117969572544098,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14531850814819336,
+              -0.4117969572544098,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14571706326164802,
+              -0.41251062500550467,
+              0.8082475015772927
+            ],
+            "closest_button": [
+              0.1453081965446472,
+              -0.4118002951145172,
+              0.7731065154075623
+            ],
+            "closest_ee_minus_button": [
+              0.00040886671700082755,
+              -0.00071032989098746,
+              0.03514098616973049
+            ],
+            "button_min_z_position": [
+              0.14529898762702942,
+              -0.4117954671382904,
+              0.7690134048461914
+            ],
+            "min_active_finger_to_button": 0.14567219619291552,
+            "closest_active_finger": [
+              0.004698082804679871,
+              -0.3951398432254791,
+              0.8106170892715454
+            ],
+            "closest_active_finger_button": [
+              0.1453183889389038,
+              -0.4117974638938904,
+              0.776428759098053
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14062030613422394,
+              0.016657620668411255,
+              0.03418833017349243
+            ],
+            "min_contact_pad_to_button": 0.02113078008905799,
+            "closest_contact_pad": [
+              0.14529898762702942,
+              -0.41373675100760804,
+              0.7900548231470298
+            ],
+            "closest_contact_pad_button": [
+              0.14529898762702942,
+              -0.4117954671382904,
+              0.7690134048461914
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019412838693176337,
+              0.021041418300838388
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7e5463eff4047d1ca58ad39a3a9649e97ae6c425252b47480fdab9d6399d73ff",
+    "visual_seed": 6447936856757459426,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5158182c7bf7c4e6ff6e038b1d58d0bb1b04c917
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26528826958287244,
+              0.298208234678196,
+              1.0195104911595552
+            ],
+            "current_z": 1.0195104911595552,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.15840380433085477,
+            "gripper_z": 1.0526822131679894,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2600981125552415,
+              0.2929741990415541,
+              1.0526822131679894
+            ],
+            "object_minus_gripper": [
+              0.005190157027630926,
+              0.005234035636641932,
+              -0.03317172200843421
+            ],
+            "object_to_gripper_xy": 0.007371082621779815,
+            "object_to_gripper_z": -0.03317172200843421,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26528826958287244,
+              0.2729613708968067,
+              1.0391354173999396
+            ],
+            "finger_b": [
+              0.2537362436198991,
+              0.298208234678196,
+              1.039187028559746
+            ],
+            "finger_midpoint": [
+              0.25951225660138577,
+              0.28558480278750137,
+              1.0391612229798428
+            ],
+            "object_minus_finger_midpoint": [
+              0.005776012981486667,
+              0.012623431890694647,
+              -0.019650731820287648
+            ],
+            "finger_gap": 0.027764295387368524,
+            "fingertip_max_gap": 0.09878651066053126,
+            "finger_z_skew": 5.161115980634179e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013882123708615664,
+            "object_to_finger_midpoint_z": 0.019650731820287648,
+            "finger_midpoint_minus_object_z": 0.019650731820287648,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0195104911595552,
+            "object_top_z": 1.0731789483659773,
+            "finger_top_clearance": 0.034017725386134456,
+            "fingertip_min_top_clearance": 0.016100537161926613,
+            "object_projection_between_fingers": 0.8268810932773151,
+            "object_to_finger_line_xy": 0.010504604050792734,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051893255330265634,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.403668211892163,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 199,
+            "max_stable_success_frames": 199,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26813253009359156,
+              0.2882719064222875,
+              1.2121654302175215
+            ],
+            "held_position": [
+              0.27358238621721076,
+              0.2916559496672415,
+              1.1787423874987635
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.03403310836570464,
+            "max_held_gripper_dist": 0.03407042379625413,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.03342304271875807,
+            "max_held_gripper_z_dist": 0.03354704026133959,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08877771701464532,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27358238621721076,
+              0.2647447211826268,
+              1.198770205172543
+            ],
+            "held_grasp_finger_b": [
+              0.2680079925385149,
+              0.2999038926345925,
+              1.1977148015822494
+            ],
+            "held_grasp_midpoint": [
+              0.27079518937786284,
+              0.28232430690860966,
+              1.1982425033773962
+            ],
+            "held_grasp_object_position": [
+              0.27358238621721076,
+              0.2916559496672415,
+              1.1787423874987635
+            ],
+            "held_grasp_finger_gap": 0.03561397308378001,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.033575998703239796,
+            "held_grasp_world_z_skew": 0.0010554035902936576,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.1805786424212347,
+              -0.9818725256857388,
+              0.0575994549003056
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.01893938441286534,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03893126215936793,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3024623313144874,
+              -0.36242690736113503,
+              0.8515396118397521
+            ],
+            "target_position": [
+              0.2930143652170734,
+              -0.36401191940563643,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009579996166966809,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18607361541402867,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396118397521,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538980979231272,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08548086521721436,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15446138063799236,
+            "release_required_pad_clearance": 0.05274043260860718,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5322888318375498,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008048713207244873,
+            "max_z_decrease": 0.008048713207244873,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035180709711900945,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008048713207244873,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021029219101058785,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008048713207244873,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008048722893090377,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14871428906917572,
+              -0.4202733635902404,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14871428906917572,
+              -0.4202733635902404,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15015556009483322,
+              -0.4196790541641918,
+              0.8082039370783142
+            ],
+            "closest_button": [
+              0.14870363473892212,
+              -0.42027747631072987,
+              0.773058295249939
+            ],
+            "closest_ee_minus_button": [
+              0.001451925355911099,
+              0.0005984221465380468,
+              0.03514564182837521
+            ],
+            "button_min_z_position": [
+              0.14870288968086243,
+              -0.4202682673931121,
+              0.7687601447105408
+            ],
+            "min_active_finger_to_button": 0.14460689504130958,
+            "closest_active_finger": [
+              0.022207796573638916,
+              -0.4814612865447998,
+              0.8105262517929077
+            ],
+            "closest_active_finger_button": [
+              0.14871369302272797,
+              -0.42027497291564936,
+              0.7764139771461487
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12650589644908905,
+              -0.061186313629150446,
+              0.03411227464675903
+            ],
+            "min_contact_pad_to_button": 0.021029219101058785,
+            "closest_contact_pad": [
+              0.14870288968086243,
+              -0.4208496945103878,
+              0.7897813244706692
+            ],
+            "closest_contact_pad_button": [
+              0.14870288968086243,
+              -0.4202682673931121,
+              0.7687601447105408
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005814271172756569,
+              0.021021179760128406
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37ba6f9f882323f943824bc24b50251bf086339234db3535931bc575a9409ea2",
+    "visual_seed": 941929653648833044,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4c93f3e09854fc24073df3df2b00a483da926edc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26440397316371583,
+              0.2902083260775528,
+              1.005650125310812
+            ],
+            "current_z": 1.005650125310812,
+            "required_z": 0.8611069252472793,
+            "initial_z": 0.7611069252472793,
+            "lift_margin": 0.14454320006353283,
+            "gripper_z": 1.0558073140281434,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2626944315719751,
+              0.28492896284888214,
+              1.0558073140281434
+            ],
+            "object_minus_gripper": [
+              0.0017095415917407486,
+              0.005279363228670675,
+              -0.050157188717331325
+            ],
+            "object_to_gripper_xy": 0.005549252972619967,
+            "object_to_gripper_z": -0.050157188717331325,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26440397316371583,
+              0.2643413195717674,
+              1.042216304656673
+            ],
+            "finger_b": [
+              0.256675786061742,
+              0.2902083260775528,
+              1.0422852679448003
+            ],
+            "finger_midpoint": [
+              0.26053987961272895,
+              0.2772748228246601,
+              1.0422507863007366
+            ],
+            "object_minus_finger_midpoint": [
+              0.00386409355098688,
+              0.01293350325289272,
+              -0.03660066098992454
+            ],
+            "finger_gap": 0.026996882364239208,
+            "fingertip_max_gap": 0.10410722203858269,
+            "finger_z_skew": 6.896328812722174e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013498397140526166,
+            "object_to_finger_midpoint_z": 0.03660066098992454,
+            "finger_midpoint_minus_object_z": 0.03660066098992454,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.005650125310812,
+            "object_top_z": 1.061084759075205,
+            "finger_top_clearance": 0.01883397277446841,
+            "fingertip_min_top_clearance": 0.016630390129317902,
+            "object_projection_between_fingers": 0.9180534146530427,
+            "object_to_finger_line_xy": 0.00740477050584437,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05455361101929135,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.264644190212737,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 290,
+            "max_stable_success_frames": 290,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.27299044309324194,
+              0.26045276896631686,
+              1.2050166653823005
+            ],
+            "held_position": [
+              0.28195535222097756,
+              0.2613592626751518,
+              1.154390546976733
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 6,
+            "effective_shake_count": 6,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.051421738509381865,
+            "max_held_gripper_dist": 0.051528530849091425,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.05062611840556741,
+            "max_held_gripper_z_dist": 0.051046627077267814,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.09275738277631757,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27493437367102325,
+              0.24498512315651158,
+              1.1916597833269043
+            ],
+            "held_grasp_finger_b": [
+              0.28195535222097756,
+              0.2860497199727066,
+              1.1906993195571454
+            ],
+            "held_grasp_midpoint": [
+              0.2784448629460004,
+              0.2655174215646091,
+              1.191179551442025
+            ],
+            "held_grasp_object_position": [
+              0.28195535222097756,
+              0.2613592626751518,
+              1.154390546976733
+            ],
+            "held_grasp_finger_gap": 0.041671545953187214,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.03604343496616597,
+            "held_grasp_world_z_skew": 0.0009604637697588903,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.6404174254371434,
+              -0.7678845307048362,
+              0.014794211728731632
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.03718715147872965,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.05012079313266776,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3051402349724899,
+              -0.35905943493820824,
+              0.8515395875392383
+            ],
+            "target_position": [
+              0.29650500822382725,
+              -0.36194958323371096,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.009106047340686067,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1872526894568085,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395875392383,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538221888541385,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08804570026621399,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15599691449062955,
+            "release_required_pad_clearance": 0.054022850133106995,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.057342508948517,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 155,
+            "max_placed_release_frames": 155
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008091151714324951,
+            "max_z_decrease": 0.008091151714324951,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035137674413032394,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008091151714324951,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021038618649367968,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008091151714324951,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008091167747599338,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15220493078231812,
+              -0.4182110428810119,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15220493078231812,
+              -0.4182110428810119,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15317643729049124,
+              -0.41887590949101056,
+              0.8038354954109737
+            ],
+            "closest_button": [
+              0.1522098183631897,
+              -0.41819569468498224,
+              0.7687177062034607
+            ],
+            "closest_ee_minus_button": [
+              0.0009666189273015435,
+              -0.000680214806028312,
+              0.03511778920751296
+            ],
+            "button_min_z_position": [
+              0.1522098183631897,
+              -0.41819569468498224,
+              0.7687177062034607
+            ],
+            "min_active_finger_to_button": 0.1446927982064481,
+            "closest_active_finger": [
+              0.012256510555744171,
+              -0.40481260418891907,
+              0.8106331825256348
+            ],
+            "closest_active_finger_button": [
+              0.15220412611961365,
+              -0.4182119071483611,
+              0.7764114141464233
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13994761556386948,
+              0.013399302959442028,
+              0.034221768379211426
+            ],
+            "min_contact_pad_to_button": 0.021038618649367968,
+            "closest_contact_pad": [
+              0.1522098183631897,
+              -0.41987164570942503,
+              0.7896894649002701
+            ],
+            "closest_contact_pad_button": [
+              0.1522098183631897,
+              -0.41819569468498224,
+              0.7687177062034607
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00167595102444279,
+              0.02097175869680945
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f32761d4a44f1e0e2181c0d13a8a8baf7ae3a4aa4fb7d650c96da422161cf27",
+    "visual_seed": 6147985914445857175,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ea6c874df128784e6603083b5870b0ac4ceddc60
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2674715761067372,
+              0.29460965783377097,
+              1.0505406193887863
+            ],
+            "current_z": 1.0505406193887863,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.1894336941415069,
+            "gripper_z": 1.0527713900694158,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26217891218970507,
+              0.2897664602870468,
+              1.0527713900694158
+            ],
+            "object_minus_gripper": [
+              0.005292663917032148,
+              0.004843197546724187,
+              -0.0022307706806294902
+            ],
+            "object_to_gripper_xy": 0.007174179661483902,
+            "object_to_gripper_z": -0.0022307706806294902,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2674715761067372,
+              0.26983682883797055,
+              1.0505406193887863
+            ],
+            "finger_b": [
+              0.2558719243021145,
+              0.29460965783377097,
+              1.0505406193887863
+            ],
+            "finger_midpoint": [
+              0.26167175020442585,
+              0.2822232433358708,
+              1.0505406193887863
+            ],
+            "object_minus_finger_midpoint": [
+              0.005799825902311373,
+              0.012386414497900178,
+              0.0
+            ],
+            "finger_gap": 0.02735406694522146,
+            "fingertip_max_gap": 0.09293589483131484,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013677033472610706,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0505406193887863,
+            "object_top_z": 1.1020120089039227,
+            "finger_top_clearance": 0.05147138951513641,
+            "fingertip_min_top_clearance": 0.015441416854540957,
+            "object_projection_between_fingers": 0.82017664553078,
+            "object_to_finger_line_xy": 0.010505062780689954,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04896794741565742,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.011669216871153,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2673335430289077,
+              0.29353373970788665,
+              1.240037528045829
+            ],
+            "held_position": [
+              0.27286970403316796,
+              0.2980363703702151,
+              1.2376680226614014
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0075191300901941245,
+            "max_held_gripper_dist": 0.007533278822936806,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002369505384427484,
+            "max_held_gripper_z_dist": 0.002525375981478728,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08789207885025263,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.27286970403316796,
+              0.272574141006154,
+              1.2376680226614014
+            ],
+            "held_grasp_finger_b": [
+              0.26282584221174,
+              0.2980363703702151,
+              1.2376680226614014
+            ],
+            "held_grasp_midpoint": [
+              0.267847773122454,
+              0.28530525568818454,
+              1.2376680226614014
+            ],
+            "held_grasp_object_position": [
+              0.27286970403316796,
+              0.2980363703702151,
+              1.2376680226614014
+            ],
+            "held_grasp_finger_gap": 0.02737159630850915,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02483384455230216,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.057378598682639316,
+              -0.9979545351532801,
+              0.028185850709483432
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042985085093299675,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03672702507726838,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29412993198503556,
+              -0.361371042637779,
+              0.8515396179488476
+            ],
+            "target_position": [
+              0.28809857972653996,
+              -0.36282321863032163,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006203710597648565,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18216982520661568,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396179488476,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07539300793013091,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0851437063498706,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15071395061945492,
+            "release_required_pad_clearance": 0.052571853174935304,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.20935660420178814,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008069217205047607,
+            "max_z_decrease": 0.008069217205047607,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516115051031839,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008069217205047607,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021107314240791687,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008069217205047607,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008069228349678456,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14379850029945368,
+              -0.41908466815948486,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14379850029945368,
+              -0.41908466815948486,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14207563351399657,
+              -0.42057974062906095,
+              0.8080171669821238
+            ],
+            "closest_button": [
+              0.1437921822071075,
+              -0.4190844893455505,
+              0.7729297876358032
+            ],
+            "closest_ee_minus_button": [
+              -0.0017165486931109142,
+              -0.001495251283510468,
+              0.03508737934632056
+            ],
+            "button_min_z_position": [
+              0.14379760622978205,
+              -0.41907128691673273,
+              0.768739640712738
+            ],
+            "min_active_finger_to_button": 0.14771533036468892,
+            "closest_active_finger": [
+              0.0006439611315727234,
+              -0.40685537457466125,
+              0.810539960861206
+            ],
+            "closest_active_finger_button": [
+              0.14379833638668055,
+              -0.41908445954322815,
+              0.7762311697006226
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14315437525510782,
+              0.012229084968566895,
+              0.034308791160583496
+            ],
+            "min_contact_pad_to_button": 0.021107314240791687,
+            "closest_contact_pad": [
+              0.14379760622978205,
+              -0.4215212839377266,
+              0.7897042830673466
+            ],
+            "closest_contact_pad_button": [
+              0.14379760622978205,
+              -0.41907128691673273,
+              0.768739640712738
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002449997020993855,
+              0.020964642354608598
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "60162bf3414ae53528fa70539c35d0d59b353efd128466da438296e668015dff",
+    "visual_seed": 5209402044279688825,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e98575eaa197e8309804b056acef285f8137b284
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2588982799002968,
+              0.2970711025410754,
+              1.0522038071554016
+            ],
+            "current_z": 1.0522038071554016,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.19109688190812224,
+            "gripper_z": 1.0546892126845522,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2535294256286631,
+              0.2921234374118845,
+              1.0546892126845522
+            ],
+            "object_minus_gripper": [
+              0.005368854271633694,
+              0.00494766512919087,
+              -0.002485405529150553
+            ],
+            "object_to_gripper_xy": 0.007300957911168278,
+            "object_to_gripper_z": -0.002485405529150553,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2588982799002968,
+              0.2723389439695972,
+              1.0522038071554016
+            ],
+            "finger_b": [
+              0.24702881999048226,
+              0.2970711025410754,
+              1.0522038071554016
+            ],
+            "finger_midpoint": [
+              0.2529635499453895,
+              0.2847050232553363,
+              1.0522038071554016
+            ],
+            "object_minus_finger_midpoint": [
+              0.005934729954907292,
+              0.012366079285739073,
+              0.0
+            ],
+            "finger_gap": 0.027432895329429538,
+            "fingertip_max_gap": 0.09229325191978266,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013716447664714757,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0522038071554016,
+            "object_top_z": 1.1032784040660673,
+            "finger_top_clearance": 0.051074596910665626,
+            "fingertip_min_top_clearance": 0.015322379073199653,
+            "object_projection_between_fingers": 0.8127944918016345,
+            "object_to_finger_line_xy": 0.010700925335154581,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864662595989133,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7772952925239822,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2584960057360647,
+              0.2961768275528825,
+              1.2422725133517807
+            ],
+            "held_position": [
+              0.264128150639653,
+              0.300763114209207,
+              1.2396647390874147
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007717225416099072,
+            "max_held_gripper_dist": 0.007732108353824261,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0026077742643659807,
+            "max_held_gripper_z_dist": 0.0027653769861279986,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08775415990979935,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.264128150639653,
+              0.2752932804050125,
+              1.2396647390874147
+            ],
+            "held_grasp_finger_b": [
+              0.25384326529255363,
+              0.300763114209207,
+              1.2396647390874147
+            ],
+            "held_grasp_midpoint": [
+              0.2589857079661033,
+              0.2880281973071097,
+              1.2396647390874147
+            ],
+            "held_grasp_object_position": [
+              0.264128150639653,
+              0.300763114209207,
+              1.2396647390874147
+            ],
+            "held_grasp_finger_gap": 0.027468005035245414,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02480469846350716,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05959344338808783,
+              -0.9979495897616188,
+              0.023350327615847873
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043847242993852375,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036704989105656144,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29660512218277224,
+              -0.3555893925133452,
+              0.8515396059154299
+            ],
+            "target_position": [
+              0.2906314047808782,
+              -0.35699152727766276,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006136064006755454,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18099596493027048,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396059154299,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525534931353794,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08553074547983662,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14998270571508768,
+            "release_required_pad_clearance": 0.05276537273991831,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5801327257556547,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00800776481628418,
+            "max_z_decrease": 0.00800776481628418,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351433284500657,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00800776481628418,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021135532065530278,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00800776481628418,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008007791123531867,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14633132517337794,
+              -0.41325297951698303,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14633132517337794,
+              -0.41325297951698303,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1469711438035418,
+              -0.414224199907957,
+              0.8081174558113
+            ],
+            "closest_button": [
+              0.146322026848793,
+              -0.4132545292377472,
+              0.7729935050010681
+            ],
+            "closest_ee_minus_button": [
+              0.0006491169547487852,
+              -0.0009696706702098101,
+              0.035123950810231896
+            ],
+            "button_min_z_position": [
+              0.14631085097789762,
+              -0.41325151920318604,
+              0.7688010931015015
+            ],
+            "min_active_finger_to_button": 0.14545471009124145,
+            "closest_active_finger": [
+              0.0055753812193870544,
+              -0.40019693970680237,
+              0.8105746507644653
+            ],
+            "closest_active_finger_button": [
+              0.1463308334350586,
+              -0.41325318813323975,
+              0.7763035297393799
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14075545221567154,
+              0.013056248426437378,
+              0.03427112102508545
+            ],
+            "min_contact_pad_to_button": 0.021135532065530278,
+            "closest_contact_pad": [
+              0.14631085097789762,
+              -0.41515142523271514,
+              0.789851059200572
+            ],
+            "closest_contact_pad_button": [
+              0.14631085097789762,
+              -0.41325151920318604,
+              0.7688010931015015
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018999060295291081,
+              0.021049966099070505
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "02bea6180ffd282bb7f969ab697d435649c752fd2f7d0e3a8228fcbc49cf4e4c",
+    "visual_seed": 7679028020032692512,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..144b7f65894e8882679e8cbc4dd207722bc8386f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26709945179785355,
+              0.3006985908984231,
+              1.0495719701197483
+            ],
+            "current_z": 1.0495719701197483,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.1884651640817585,
+            "gripper_z": 1.0519459758976692,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26179506005328634,
+              0.2957617500778744,
+              1.0519459758976692
+            ],
+            "object_minus_gripper": [
+              0.005304391744567205,
+              0.0049368408205486825,
+              -0.0023740057779209067
+            ],
+            "object_to_gripper_xy": 0.007246307271104953,
+            "object_to_gripper_z": -0.0023740057779209067,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26709945179785355,
+              0.2760487982545641,
+              1.0495719701197483
+            ],
+            "finger_b": [
+              0.25519668270356544,
+              0.3006985908984231,
+              1.0495719701197483
+            ],
+            "finger_midpoint": [
+              0.2611480672507095,
+              0.2883736945764936,
+              1.0495719701197483
+            ],
+            "object_minus_finger_midpoint": [
+              0.005951384547144056,
+              0.012324896321929513,
+              0.0
+            ],
+            "finger_gap": 0.027373128967971252,
+            "fingertip_max_gap": 0.09457283851498671,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013686564483985626,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495719701197483,
+            "object_top_z": 1.1019368642982177,
+            "finger_top_clearance": 0.052364894178469346,
+            "fingertip_min_top_clearance": 0.015709468253540835,
+            "object_projection_between_fingers": 0.8109193310426892,
+            "object_to_finger_line_xy": 0.010718569674852962,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04978641925749336,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.583779939382769,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2668501808420889,
+              0.29970358252002277,
+              1.2407031003484819
+            ],
+            "held_position": [
+              0.2724461310585133,
+              0.30426030977054697,
+              1.2382262358530132
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0076297627610092435,
+            "max_held_gripper_dist": 0.007644797316275455,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002476864495468689,
+            "max_held_gripper_z_dist": 0.002641382052559038,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08768308039473066,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2724461310585133,
+              0.27878953122504735,
+              1.2382262358530132
+            ],
+            "held_grasp_finger_b": [
+              0.2622032075764083,
+              0.30426030977054697,
+              1.2382262358530132
+            ],
+            "held_grasp_midpoint": [
+              0.2673246693174608,
+              0.29152492049779716,
+              1.2382262358530132
+            ],
+            "held_grasp_object_position": [
+              0.2724461310585133,
+              0.30426030977054697,
+              1.2382262358530132
+            ],
+            "held_grasp_finger_gap": 0.027453197285091244,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02476389151111676,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06247665031399378,
+              -0.997371753451556,
+              0.03669132843754297
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004341648217461364,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03669836076595222,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29503726112862505,
+              -0.35348321177501263,
+              0.85153957169084
+            ],
+            "target_position": [
+              0.28952265973453806,
+              -0.3549176464177114,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0056981076928959975,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1825775401765825,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153957169084,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584181262245372,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08577405946645687,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14994697201591933,
+            "release_required_pad_clearance": 0.05288702973322844,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8146883779352426,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007771968841552734,
+            "max_z_decrease": 0.007771968841552734,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03525004792235664,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007771968841552734,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105047397203741,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007771968841552734,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007771995612330895,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14522258937358853,
+              -0.411179095506668,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14522258937358853,
+              -0.411179095506668,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14731193790538732,
+              -0.40936542554000516,
+              0.8082645817743818
+            ],
+            "closest_button": [
+              0.14521189033985132,
+              -0.4111814498901366,
+              0.7731240391731262
+            ],
+            "closest_ee_minus_button": [
+              0.0021000475655360007,
+              0.001816024350131451,
+              0.03514054260125554
+            ],
+            "button_min_z_position": [
+              0.14520223438739777,
+              -0.41117775440216053,
+              0.7690368890762329
+            ],
+            "min_active_finger_to_button": 0.143529580129481,
+            "closest_active_finger": [
+              0.020178571343421936,
+              -0.4728171229362488,
+              0.8105946779251099
+            ],
+            "closest_active_finger_button": [
+              0.14522156119346616,
+              -0.41117987036705006,
+              0.7764502763748169
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12504298985004422,
+              -0.06163725256919872,
+              0.03414440155029297
+            ],
+            "min_contact_pad_to_button": 0.02105047397203741,
+            "closest_contact_pad": [
+              0.14520223438739777,
+              -0.41117775440216053,
+              0.7900873630482703
+            ],
+            "closest_contact_pad_button": [
+              0.14520223438739777,
+              -0.41117775440216053,
+              0.7690368890762329
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105047397203741
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8e7b1f0d6e7b9105fd2c45a15f9514ca742084c46bd6edb6e6150377c55a18e3",
+    "visual_seed": 8832578310257569252,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d7c59c3b115e1c4c6671b891af02e669a2fb588
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25920626211833914,
+              0.29314951100687286,
+              1.0523903706251185
+            ],
+            "current_z": 1.0523903706251185,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1912837434010629,
+            "gripper_z": 1.0552074595788095,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2538428275973725,
+              0.28819099150796273,
+              1.0552074595788095
+            ],
+            "object_minus_gripper": [
+              0.005363434520966659,
+              0.00495851949891013,
+              -0.002817088953690927
+            ],
+            "object_to_gripper_xy": 0.007304337443038131,
+            "object_to_gripper_z": -0.002817088953690927,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25920626211833914,
+              0.2684259069862988,
+              1.0523903706251185
+            ],
+            "finger_b": [
+              0.2473116061233041,
+              0.29314951100687286,
+              1.0523903706251185
+            ],
+            "finger_midpoint": [
+              0.2532589341208216,
+              0.28078770899658584,
+              1.0523903706251185
+            ],
+            "object_minus_finger_midpoint": [
+              0.005947327997517515,
+              0.012361802010287026,
+              0.0
+            ],
+            "finger_gap": 0.027436097335560832,
+            "fingertip_max_gap": 0.09122064201015437,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013718048667780416,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0523903706251185,
+            "object_top_z": 1.102809472520097,
+            "finger_top_clearance": 0.050419101894978446,
+            "fingertip_min_top_clearance": 0.015125730568493567,
+            "object_projection_between_fingers": 0.8120427411072049,
+            "object_to_finger_line_xy": 0.010718680619383443,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048110321005077186,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.46630520082088983,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2589994531945292,
+              0.2918552223843705,
+              1.2421876373544065
+            ],
+            "held_position": [
+              0.2646459397020023,
+              0.2964104721227914,
+              1.2392274580507623
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007835545390601913,
+            "max_held_gripper_dist": 0.00785172411504358,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002960179303644228,
+            "max_held_gripper_z_dist": 0.0031123445063891975,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08736854413423345,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2646459397020023,
+              0.2708811204553747,
+              1.2392274580507623
+            ],
+            "held_grasp_finger_b": [
+              0.25451929386674127,
+              0.2964104721227914,
+              1.2392274580507623
+            ],
+            "held_grasp_midpoint": [
+              0.2595826167843718,
+              0.28364579628908304,
+              1.2392274580507623
+            ],
+            "held_grasp_object_position": [
+              0.2646459397020023,
+              0.2964104721227914,
+              1.2392274580507623
+            ],
+            "held_grasp_finger_gap": 0.027464463446997135,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024759636700048136,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06948170263646693,
+              -0.9974108871388805,
+              0.01854225486743966
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004171081173611247,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03663681512544057,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30252800302270916,
+              -0.3571106170031247,
+              0.851539574811127
+            ],
+            "target_position": [
+              0.2948401015906021,
+              -0.35943612804532543,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008031925674282072,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18443952139140346,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539574811127,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544578054071212,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525825281435383,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15294517139669123,
+            "release_required_pad_clearance": 0.052629126407176915,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.318980765495392,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008159816265106201,
+            "max_z_decrease": 0.008159816265106201,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035063468423300194,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008159816265106201,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02089281522791052,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008159816265106201,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008159888588736593,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15054002404212952,
+              -0.41569757461547857,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15054002404212952,
+              -0.41569757461547857,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15160756390065833,
+              -0.41465874604940073,
+              0.8036822973394593
+            ],
+            "closest_button": [
+              0.1505660116672516,
+              -0.4156751036643982,
+              0.7686490416526794
+            ],
+            "closest_ee_minus_button": [
+              0.0010415522334067395,
+              0.0010163576149974651,
+              0.03503325568677984
+            ],
+            "button_min_z_position": [
+              0.1505660116672516,
+              -0.4156751036643982,
+              0.7686490416526794
+            ],
+            "min_active_finger_to_button": 0.14435236470264207,
+            "closest_active_finger": [
+              0.024767756462097168,
+              -0.47778600454330444,
+              0.8107499480247498
+            ],
+            "closest_active_finger_button": [
+              0.15054021775722504,
+              -0.41569826006889343,
+              0.7766324281692505
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12577246129512787,
+              -0.06208774447441101,
+              0.03411751985549927
+            ],
+            "min_contact_pad_to_button": 0.02089281522791052,
+            "closest_contact_pad": [
+              0.1505660116672516,
+              -0.41582429389618014,
+              0.7895413242092205
+            ],
+            "closest_contact_pad_button": [
+              0.1505660116672516,
+              -0.4156751036643982,
+              0.7686490416526794
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00014919023178194823,
+              0.020892282556541075
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "24ba5ba70a907315bb74188d91f98ace287017b5d63b02ae8bd42fbaf92b8203",
+    "visual_seed": 2144593409326135960,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..46a375bc30543d70b9d50b5e50e6789704a55b32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25747638036322196,
+              0.2992093329670418,
+              1.0516238156566238
+            ],
+            "current_z": 1.0516238156566238,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19051724803721304,
+            "gripper_z": 1.0539470686400036,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25230078482296836,
+              0.29427624491869186,
+              1.0539470686400036
+            ],
+            "object_minus_gripper": [
+              0.005175595540253597,
+              0.0049330880483499095,
+              -0.0023232529833798754
+            ],
+            "object_to_gripper_xy": 0.007149975306885027,
+            "object_to_gripper_z": -0.0023232529833798754,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25747638036322196,
+              0.27471572208925604,
+              1.0516238156566238
+            ],
+            "finger_b": [
+              0.24549727253376974,
+              0.2992093329670418,
+              1.0516238156566238
+            ],
+            "finger_midpoint": [
+              0.25148682644849585,
+              0.2869625275281489,
+              1.0516238156566238
+            ],
+            "object_minus_finger_midpoint": [
+              0.005989553914726109,
+              0.012246805438892894,
+              0.0
+            ],
+            "finger_gap": 0.027266022779679967,
+            "fingertip_max_gap": 0.09185460010474289,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01363301138984001,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0516238156566238,
+            "object_top_z": 1.1024676828289877,
+            "finger_top_clearance": 0.05084386717236389,
+            "fingertip_min_top_clearance": 0.015253160151709166,
+            "object_projection_between_fingers": 0.8069786441161981,
+            "object_to_finger_line_xy": 0.010761070956645134,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04842730005237145,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6681068562701337,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25741492945396705,
+              0.29803109910328374,
+              1.2415329831496993
+            ],
+            "held_position": [
+              0.262922712200671,
+              0.30253401811521946,
+              1.2390886820901157
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007522403743672847,
+            "max_held_gripper_dist": 0.007536562755205709,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002444301059583598,
+            "max_held_gripper_z_dist": 0.002598500118452085,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08778796507360542,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.262922712200671,
+              0.2770773139990521,
+              1.2390886820901157
+            ],
+            "held_grasp_finger_b": [
+              0.2528672720982254,
+              0.30253401811521946,
+              1.2390886820901157
+            ],
+            "held_grasp_midpoint": [
+              0.2578949921494482,
+              0.28980566605713576,
+              1.2390886820901157
+            ],
+            "held_grasp_object_position": [
+              0.262922712200671,
+              0.30253401811521946,
+              1.2390886820901157
+            ],
+            "held_grasp_finger_gap": 0.027370708067420587,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024614319078804545,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07587410194842997,
+              -0.9968795037436496,
+              0.021780166880313256
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004057242577676783,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036650143043223504,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3011934462863941,
+              -0.35594268520552313,
+              0.851539618734102
+            ],
+            "target_position": [
+              0.2935028349684013,
+              -0.35837588098498063,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008066346393851986,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851093322299802,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539618734102,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537887445672384,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08590588690570704,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15369371911107377,
+            "release_required_pad_clearance": 0.05295294345285352,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9421074330797227,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007965445518493652,
+            "max_z_decrease": 0.007965445518493652,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520104211108683,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007965445518493652,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021025728140864786,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007965445518493652,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007965464586547545,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14920276403427124,
+              -0.4146373271942138,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14920276403427124,
+              -0.4146373271942138,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1476229978952051,
+              -0.4131495352132372,
+              0.8074364353461958
+            ],
+            "closest_button": [
+              0.1491919755935669,
+              -0.41463425755500793,
+              0.7723017334938049
+            ],
+            "closest_ee_minus_button": [
+              -0.0015689776983617842,
+              0.0014847223417707167,
+              0.03513470185239087
+            ],
+            "button_min_z_position": [
+              0.14918561279773712,
+              -0.4146342277526855,
+              0.768843412399292
+            ],
+            "min_active_finger_to_button": 0.14681691522030266,
+            "closest_active_finger": [
+              0.02052254229784012,
+              -0.4765264093875885,
+              0.810418426990509
+            ],
+            "closest_active_finger_button": [
+              0.14920325577259064,
+              -0.41463917493820185,
+              0.7762650847434998
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12868071347475052,
+              -0.06188723444938665,
+              0.03415334224700928
+            ],
+            "min_contact_pad_to_button": 0.021025728140864786,
+            "closest_contact_pad": [
+              0.14918561279773712,
+              -0.4146342277526855,
+              0.7898691405401568
+            ],
+            "closest_contact_pad_button": [
+              0.14918561279773712,
+              -0.4146342277526855,
+              0.768843412399292
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021025728140864786
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "916581e8d84195a65ddbc71b94af15c1377b3e44f05a073f3ceba306233ea3a2",
+    "visual_seed": 8249700462451999430,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7cb577bd3bea544164ad56952dcb67076f65baa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2593239054982993,
+              0.294843454557374,
+              1.0495278364345184
+            ],
+            "current_z": 1.0495278364345184,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.18842126881510746,
+            "gripper_z": 1.0519666504207545,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2540761850663118,
+              0.2898318349247081,
+              1.0519666504207545
+            ],
+            "object_minus_gripper": [
+              0.005247720431987513,
+              0.005011619632665887,
+              -0.0024388139862361324
+            ],
+            "object_to_gripper_xy": 0.007256369689784373,
+            "object_to_gripper_z": -0.0024388139862361324,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2593239054982993,
+              0.27036907446071445,
+              1.0495278364345184
+            ],
+            "finger_b": [
+              0.24714137183599522,
+              0.294843454557374,
+              1.0495278364345184
+            ],
+            "finger_midpoint": [
+              0.2532326386671473,
+              0.28260626450904425,
+              1.0495278364345184
+            ],
+            "object_minus_finger_midpoint": [
+              0.00609126683115202,
+              0.012237190048329738,
+              0.0
+            ],
+            "finger_gap": 0.02733878943093378,
+            "fingertip_max_gap": 0.09183525416009686,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013669394715466854,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495278364345184,
+            "object_top_z": 1.100306826887208,
+            "finger_top_clearance": 0.05077899045268963,
+            "fingertip_min_top_clearance": 0.015233697135806872,
+            "object_projection_between_fingers": 0.8014286080237022,
+            "object_to_finger_line_xy": 0.010906114191516186,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841762708004843,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6753735502306408,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2592226350312838,
+              0.2937189394112912,
+              1.2417001488623995
+            ],
+            "held_position": [
+              0.2648435301332431,
+              0.29826513234530727,
+              1.2391694155702297
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007659434896689464,
+            "max_held_gripper_dist": 0.0076734194166906715,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025307332921697956,
+            "max_held_gripper_z_dist": 0.0026820272309941995,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08790334977381001,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2648435301332431,
+              0.2727447250626357,
+              1.2391694155702297
+            ],
+            "held_grasp_finger_b": [
+              0.25464958995291254,
+              0.29826513234530727,
+              1.2391694155702297
+            ],
+            "held_grasp_midpoint": [
+              0.25974656004307783,
+              0.2855049287039715,
+              1.2391694155702297
+            ],
+            "held_grasp_object_position": [
+              0.2648435301332431,
+              0.29826513234530727,
+              1.2391694155702297
+            ],
+            "held_grasp_finger_gap": 0.027481040814961756,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024645581195896427,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07769841030022064,
+              -0.9967565901613128,
+              0.0209584590753068
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004099119401482223,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03660540652543962,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29943965328947997,
+              -0.3618228185247871,
+              0.8515395783947176
+            ],
+            "target_position": [
+              0.2931302329958478,
+              -0.36352553393826487,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00653513765891679,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18460943629148052,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395783947176,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550022750992752,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855306275275937,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15277082339601716,
+            "release_required_pad_clearance": 0.05276531376379685,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5801327340360479,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00818556547164917,
+            "max_z_decrease": 0.00818556547164917,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03504993785599658,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00818556547164917,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021051832928733884,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00818556547164917,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008185621240707767,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14883016049861908,
+              -0.4197869896888732,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14883016049861908,
+              -0.4197869896888732,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1474380800801242,
+              -0.42149452394179227,
+              0.8036020079656115
+            ],
+            "closest_button": [
+              0.1488490253686905,
+              -0.4197633862495422,
+              0.7686232924461365
+            ],
+            "closest_ee_minus_button": [
+              -0.0014109452885662788,
+              -0.0017311376922500843,
+              0.03497871551947507
+            ],
+            "button_min_z_position": [
+              0.1488490253686905,
+              -0.4197633862495422,
+              0.7686232924461365
+            ],
+            "min_active_finger_to_button": 0.1468987148703161,
+            "closest_active_finger": [
+              0.006626598536968231,
+              -0.40612339973449707,
+              0.810778021812439
+            ],
+            "closest_active_finger_button": [
+              0.14882902801036835,
+              -0.41978850960731495,
+              0.7765586376190186
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14220242947340012,
+              0.013665109872817882,
+              0.03421938419342041
+            ],
+            "min_contact_pad_to_button": 0.021051832928733884,
+            "closest_contact_pad": [
+              0.1488490253686905,
+              -0.42260746677419503,
+              0.7894821245234273
+            ],
+            "closest_contact_pad_button": [
+              0.1488490253686905,
+              -0.4197633862495422,
+              0.7686232924461365
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028440805246528478,
+              0.02085883207729078
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ae436bdaecdde20fbf75b50ae0882d5b01448bce09cf2af9aefbac627b7a7bf",
+    "visual_seed": 3937221094655257822,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8320573b7e00822d2fa7a38fc55cbbb21deb6a76
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.25941301062916455,
+              0.2965557199962245,
+              1.0507872065670414
+            ],
+            "current_z": 1.0507872065670414,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18968063894763065,
+            "gripper_z": 1.0532826598396456,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25400291361042937,
+              0.29161576559123276,
+              1.0532826598396456
+            ],
+            "object_minus_gripper": [
+              0.005410097018735183,
+              0.004939954404991731,
+              -0.0024954532726042533
+            ],
+            "object_to_gripper_xy": 0.007326138087391236,
+            "object_to_gripper_z": -0.0024954532726042533,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.25941301062916455,
+              0.2717556665167317,
+              1.0507872065670414
+            ],
+            "finger_b": [
+              0.24759961654434343,
+              0.2965557199962245,
+              1.0507872065670414
+            ],
+            "finger_midpoint": [
+              0.253506313586754,
+              0.2841556932564781,
+              1.0507872065670414
+            ],
+            "object_minus_finger_midpoint": [
+              0.005906697042410536,
+              0.012400026739746384,
+              0.0
+            ],
+            "finger_gap": 0.027469964186161367,
+            "fingertip_max_gap": 0.09213457281265378,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013734982093080671,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507872065670414,
+            "object_top_z": 1.1017480931360943,
+            "finger_top_clearance": 0.050960886569052954,
+            "fingertip_min_top_clearance": 0.015288265970715902,
+            "object_projection_between_fingers": 0.8150590017912364,
+            "object_to_finger_line_xy": 0.010665205207128724,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856728640632689,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7500235952370723,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25912957186294655,
+              0.29559419377001794,
+              1.2421585834752287
+            ],
+            "held_position": [
+              0.264811724465407,
+              0.3001678754802693,
+              1.2395590204260585
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007743587710547808,
+            "max_held_gripper_dist": 0.007757678406444634,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002599563049170195,
+            "max_held_gripper_z_dist": 0.0027553222923177856,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.087877404168348,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.264811724465407,
+              0.27462872233124014,
+              1.2395590204260585
+            ],
+            "held_grasp_finger_b": [
+              0.25456003713797515,
+              0.3001678754802693,
+              1.2395590204260585
+            ],
+            "held_grasp_midpoint": [
+              0.2596858808016911,
+              0.28739829890575475,
+              1.2395590204260585
+            ],
+            "held_grasp_object_position": [
+              0.264811724465407,
+              0.3001678754802693,
+              1.2395590204260585
+            ],
+            "held_grasp_finger_gap": 0.02751990982232669,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024831611148445575,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06338190010145035,
+              -0.9977379602922665,
+              0.022398601102696203
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043159074261957,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03665467307381368,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30107418146556897,
+              -0.3537108144784626,
+              0.8515394967661872
+            ],
+            "target_position": [
+              0.29405074180175883,
+              -0.3556307691819961,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0072811352668936125,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18605225575770012,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394967661872,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07521954117117324,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568138269843449,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.155012085902352,
+            "release_required_pad_clearance": 0.05284069134921725,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7252338074578578,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008118510246276855,
+            "max_z_decrease": 0.008118510246276855,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516325105664714,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008118510246276855,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021114223854477296,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008118510246276855,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008118543583202395,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14975066483020782,
+              -0.4118922352790832,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14975066483020782,
+              -0.4118922352790832,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1515933992440863,
+              -0.41358242956280217,
+              0.8037641357047998
+            ],
+            "closest_button": [
+              0.14976131916046143,
+              -0.4118715524673462,
+              0.7686903476715088
+            ],
+            "closest_ee_minus_button": [
+              0.0018320800836248707,
+              -0.001710877095455976,
+              0.035073788033290976
+            ],
+            "button_min_z_position": [
+              0.14976131916046143,
+              -0.4118715524673462,
+              0.7686903476715088
+            ],
+            "min_active_finger_to_button": 0.1437472409168286,
+            "closest_active_finger": [
+              0.010705947875976562,
+              -0.3992997407913208,
+              0.8109704852104187
+            ],
+            "closest_active_finger_button": [
+              0.1497516632080078,
+              -0.4118922650814056,
+              0.7767508029937744
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13904571533203125,
+              0.012592524290084783,
+              0.03421968221664429
+            ],
+            "min_contact_pad_to_button": 0.021114223854477296,
+            "closest_contact_pad": [
+              0.14976131916046143,
+              -0.4145997797423774,
+              0.7896275687123431
+            ],
+            "closest_contact_pad_button": [
+              0.14976131916046143,
+              -0.4118715524673462,
+              0.7686903476715088
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002728227275031192,
+              0.020937221040834286
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "08e795542a7db3128e7fbadb64af8ace04f4b92ad5622d40c23a42a2f5a700a4",
+    "visual_seed": 8003123577268269367,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..03cf48737d1d12130db0779dc82e81a26d229f20
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26219918618624205,
+              0.29236874580541594,
+              1.0524157536287526
+            ],
+            "current_z": 1.0524157536287526,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.19130906680005255,
+            "gripper_z": 1.055730194337315,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2564003587881494,
+              0.2872324100204015,
+              1.055730194337315
+            ],
+            "object_minus_gripper": [
+              0.005798827398092676,
+              0.005136335785014434,
+              -0.0033144407085623495
+            ],
+            "object_to_gripper_xy": 0.007746505308156067,
+            "object_to_gripper_z": -0.0033144407085623495,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26219918618624205,
+              0.26724237629569314,
+              1.0524157536287526
+            ],
+            "finger_b": [
+              0.25017707717649046,
+              0.29236874580541594,
+              1.0524157536287526
+            ],
+            "finger_midpoint": [
+              0.2561881316813662,
+              0.27980556105055454,
+              1.0524157536287526
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060110545048758235,
+              0.0125631847548614,
+              0.0
+            ],
+            "finger_gap": 0.02785436320904641,
+            "fingertip_max_gap": 0.09186077416340052,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013927181604523215,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0524157536287526,
+            "object_top_z": 1.1026517292289069,
+            "finger_top_clearance": 0.05023597560015425,
+            "fingertip_min_top_clearance": 0.015070792680046241,
+            "object_projection_between_fingers": 0.8137163003524805,
+            "object_to_finger_line_xy": 0.010844690686272118,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04843038708170026,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8259406633573632,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26143194531986746,
+              0.29117841670154876,
+              1.2421026241689987
+            ],
+            "held_position": [
+              0.2674502980291257,
+              0.2959703475242127,
+              1.2386476382112255
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008433273285660962,
+            "max_held_gripper_dist": 0.00845045970823882,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003454985957773271,
+            "max_held_gripper_z_dist": 0.003615057829807977,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0879027296683424,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2674502980291257,
+              0.2702685229253609,
+              1.2386476382112255
+            ],
+            "held_grasp_finger_b": [
+              0.256832903889659,
+              0.2959703475242127,
+              1.2386476382112255
+            ],
+            "held_grasp_midpoint": [
+              0.2621416009593923,
+              0.2831194352247868,
+              1.2386476382112255
+            ],
+            "held_grasp_object_position": [
+              0.2674502980291257,
+              0.2959703475242127,
+              1.2386476382112255
+            ],
+            "held_grasp_finger_gap": 0.027808503124456804,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025277218671565033,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03803922513838932,
+              -0.9991935015682315,
+              0.012859384693202358
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00481889510690426,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03667776328825836,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3006575557922162,
+              -0.3526762031499311,
+              0.8515395933480905
+            ],
+            "target_position": [
+              0.2928610277362841,
+              -0.3557473716119634,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008379613681376878,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18441462639237738,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395933480905,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758755510917892,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08748152139600905,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15199430956311738,
+            "release_required_pad_clearance": 0.05374076069800453,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.4907392418406626,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008083701133728027,
+            "max_z_decrease": 0.008083701133728027,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515580482958051,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008083701133728027,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021102064107162605,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008083701133728027,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008083711071835158,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14856095612049103,
+              -0.41200882196426386,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14856095612049103,
+              -0.41200882196426386,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1495523943083929,
+              -0.41293415659493,
+              0.8038545488443121
+            ],
+            "closest_button": [
+              0.14856386184692383,
+              -0.41199648380279535,
+              0.7687251567840576
+            ],
+            "closest_ee_minus_button": [
+              0.0009885324614690716,
+              -0.0009376727921346362,
+              0.03512939206025445
+            ],
+            "button_min_z_position": [
+              0.14856386184692383,
+              -0.41199648380279535,
+              0.7687251567840576
+            ],
+            "min_active_finger_to_button": 0.1446017186316145,
+            "closest_active_finger": [
+              0.00898750126361847,
+              -0.3958882689476013,
+              0.8109192848205566
+            ],
+            "closest_active_finger_button": [
+              0.14856474101543427,
+              -0.41200783848762507,
+              0.7767431139945984
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1395772397518158,
+              0.016119569540023748,
+              0.03417617082595825
+            ],
+            "min_contact_pad_to_button": 0.021102064107162605,
+            "closest_contact_pad": [
+              0.14856386184692383,
+              -0.41419545823190557,
+              0.7897123343228054
+            ],
+            "closest_contact_pad_button": [
+              0.14856386184692383,
+              -0.41199648380279535,
+              0.7687251567840576
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002198974429110212,
+              0.020987177538747792
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "979794433ecbcfc7bd355ca7c21cbe5a8a46fb2ec559e3657692c3d05331beee",
+    "visual_seed": 6063989829080102669,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e22eb05537bd409b34507782fc46a2601b85860b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26458103615744466,
+              0.29686853174708594,
+              1.0505741699071645
+            ],
+            "current_z": 1.0505741699071645,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1894676022877536,
+            "gripper_z": 1.054138571785161,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25870865924446734,
+              0.29168721905087486,
+              1.054138571785161
+            ],
+            "object_minus_gripper": [
+              0.005872376912977317,
+              0.005181312696211082,
+              -0.003564401877996559
+            ],
+            "object_to_gripper_xy": 0.007831399100032329,
+            "object_to_gripper_z": -0.003564401877996559,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26458103615744466,
+              0.27168255490292986,
+              1.0505741699071645
+            ],
+            "finger_b": [
+              0.2525000682945596,
+              0.29686853174708594,
+              1.0505741699071645
+            ],
+            "finger_midpoint": [
+              0.25854055222600214,
+              0.28427554332500793,
+              1.0505741699071645
+            ],
+            "object_minus_finger_midpoint": [
+              0.00604048393144252,
+              0.01259298842207801,
+              0.0
+            ],
+            "finger_gap": 0.027933549973077666,
+            "fingertip_max_gap": 0.09115384452675834,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013966774986538807,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0505741699071645,
+            "object_top_z": 1.100544286334872,
+            "finger_top_clearance": 0.049970116427707545,
+            "fingertip_min_top_clearance": 0.01499103492831223,
+            "object_projection_between_fingers": 0.8129528075614214,
+            "object_to_finger_line_xy": 0.010892671255278054,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048076922263379174,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6157238431508857,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26383414839023206,
+              0.29557749647892534,
+              1.2403804900148896
+            ],
+            "held_position": [
+              0.26993116676137885,
+              0.30039782090712674,
+              1.2366678019913582
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008613548221917044,
+            "max_held_gripper_dist": 0.008632063942478476,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037126880235314186,
+            "max_held_gripper_z_dist": 0.00388619186164485,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08794830936745021,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26993116676137885,
+              0.274629095196694,
+              1.2366678019913582
+            ],
+            "held_grasp_finger_b": [
+              0.25930808927538684,
+              0.30039782090712674,
+              1.2366678019913582
+            ],
+            "held_grasp_midpoint": [
+              0.26461962801838285,
+              0.28751345805191036,
+              1.2366678019913582
+            ],
+            "held_grasp_object_position": [
+              0.26993116676137885,
+              0.30039782090712674,
+              1.2366678019913582
+            ],
+            "held_grasp_finger_gap": 0.027872513342232137,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02528684653997444,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.043003910631147155,
+              -0.999028073956609,
+              0.009673216475235114
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004754210001961668,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03661999292527249,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3031468785651069,
+              -0.35804362066454826,
+              0.8515395112608264
+            ],
+            "target_position": [
+              0.29661187210263384,
+              -0.35989881662674367,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006793236454202882,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1854233353480636,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395112608264,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551530133754777,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08759515614803857,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15361997828243026,
+            "release_required_pad_clearance": 0.05379757807401929,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.604422087779601,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008054792881011963,
+            "max_z_decrease": 0.008054792881011963,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519000735580501,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008054792881011963,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021092390667901518,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008054792881011963,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008054801678403545,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1523118019104004,
+              -0.41616028547286993,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1523118019104004,
+              -0.41616028547286993,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15356230622105146,
+              -0.4169087920581646,
+              0.8039133882132741
+            ],
+            "closest_button": [
+              0.15230239927768707,
+              -0.41615298390388494,
+              0.7687540650367737
+            ],
+            "closest_ee_minus_button": [
+              0.0012599069433643917,
+              -0.0007558081542796691,
+              0.03515932317650039
+            ],
+            "button_min_z_position": [
+              0.15230239927768707,
+              -0.41615298390388494,
+              0.7687540650367737
+            ],
+            "min_active_finger_to_button": 0.14440246986931607,
+            "closest_active_finger": [
+              0.012766815721988678,
+              -0.4016762971878052,
+              0.810644268989563
+            ],
+            "closest_active_finger_button": [
+              0.1523112952709198,
+              -0.41616144776344305,
+              0.7764449715614319
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13954447954893112,
+              0.014485150575637873,
+              0.034199297428131104
+            ],
+            "min_contact_pad_to_button": 0.021092390667901518,
+            "closest_contact_pad": [
+              0.15230239927768707,
+              -0.4180070852286747,
+              0.7897648063936319
+            ],
+            "closest_contact_pad_button": [
+              0.15230239927768707,
+              -0.41615298390388494,
+              0.7687540650367737
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018541013247897475,
+              0.02101074135685821
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9d6a6df7fe7445161b63ce4eda9a9ec654185e1856b015c62c95ceb053984321",
+    "visual_seed": 2874793902980856210,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..073ff5416af31d9cf41ea940b24798f192cc6b91
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26458056200108077,
+              0.2947509514534554,
+              1.0526208171535272
+            ],
+            "current_z": 1.0526208171535272,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.1915141303248269,
+            "gripper_z": 1.0549013591885588,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25946110244494935,
+              0.28985507127827054,
+              1.0549013591885588
+            ],
+            "object_minus_gripper": [
+              0.005119459556131412,
+              0.004895880175184886,
+              -0.0022805420350315853
+            ],
+            "object_to_gripper_xy": 0.007083679046698376,
+            "object_to_gripper_z": -0.0022805420350315853,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26458056200108077,
+              0.27027705659265655,
+              1.0526208171535272
+            ],
+            "finger_b": [
+              0.2526717285542629,
+              0.2947509514534554,
+              1.0526208171535272
+            ],
+            "finger_midpoint": [
+              0.2586261452776718,
+              0.282514004023056,
+              1.0526208171535272
+            ],
+            "object_minus_finger_midpoint": [
+              0.005954416723408962,
+              0.012236947430399436,
+              0.0
+            ],
+            "finger_gap": 0.027217491503103028,
+            "fingertip_max_gap": 0.0935184163018574,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013608745751551526,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0526208171535272,
+            "object_top_z": 1.1042655094295617,
+            "finger_top_clearance": 0.05164469227603452,
+            "fingertip_min_top_clearance": 0.015493407682810356,
+            "object_projection_between_fingers": 0.8085557835631787,
+            "object_to_finger_line_xy": 0.010708390876468446,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0492592081509287,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2939703992666394,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 225,
+            "max_stable_success_frames": 225,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2648702785458522,
+              0.2933693473357163,
+              1.245128822129317
+            ],
+            "held_position": [
+              0.2703438398304409,
+              0.2978168853607078,
+              1.2427516321051169
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007442546609262889,
+            "max_held_gripper_dist": 0.007456156661390153,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023771900242002264,
+            "max_held_gripper_z_dist": 0.0025302596341811867,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08806748276209359,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2703438398304409,
+              0.2723146978791137,
+              1.2427516321051169
+            ],
+            "held_grasp_finger_b": [
+              0.26041723768633107,
+              0.2978168853607078,
+              1.2427516321051169
+            ],
+            "held_grasp_midpoint": [
+              0.26538053875838596,
+              0.28506579161991075,
+              1.2427516321051169
+            ],
+            "held_grasp_object_position": [
+              0.2703438398304409,
+              0.2978168853607078,
+              1.2427516321051169
+            ],
+            "held_grasp_finger_gap": 0.02736601901033138,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024531777864270365,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08676957740544655,
+              -0.9957226200973541,
+              0.03174120765410027
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003860174746034315,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03659303406484347,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2949174355203879,
+              -0.3599539788610746,
+              0.8515395793808453
+            ],
+            "target_position": [
+              0.2894635710332689,
+              -0.3609708596660726,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005547854036961593,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18152642835112856,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395793808453,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07533932530418176,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08619888550200859,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15021459734480463,
+            "release_required_pad_clearance": 0.0530994427510043,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.226510991963089,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00794309377670288,
+            "max_z_decrease": 0.00794309377670288,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516049223790575,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00794309377670288,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021036653712262963,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00794309377670288,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00794311366591463,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14516349136829376,
+              -0.4172323048114777,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14516349136829376,
+              -0.4172323048114777,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1434929009306732,
+              -0.4170073586475434,
+              0.8069442458562921
+            ],
+            "closest_button": [
+              0.14515158534049988,
+              -0.4172268211841584,
+              0.7718235850334167
+            ],
+            "closest_ee_minus_button": [
+              -0.0016586844098266662,
+              0.00021946253661497828,
+              0.03512066082287535
+            ],
+            "button_min_z_position": [
+              0.1451459676027298,
+              -0.41722932457923895,
+              0.7688657641410828
+            ],
+            "min_active_finger_to_button": 0.14740813531096023,
+            "closest_active_finger": [
+              0.016501225531101227,
+              -0.4805268943309784,
+              0.810494065284729
+            ],
+            "closest_active_finger_button": [
+              0.14516374468803403,
+              -0.4172337353229523,
+              0.7763020992279053
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1286625191569328,
+              -0.06329315900802607,
+              0.03419196605682373
+            ],
+            "min_contact_pad_to_button": 0.021036653712262963,
+            "closest_contact_pad": [
+              0.1451459676027298,
+              -0.4181358542204067,
+              0.7898828762980693
+            ],
+            "closest_contact_pad_button": [
+              0.1451459676027298,
+              -0.41722932457923895,
+              0.7688657641410828
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009065296411677748,
+              0.02101711215698654
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5e9bd9eac1b5f6419fc7b3f53514651a9ad7274c5ade9e5f1ba75c06cf19b0b8",
+    "visual_seed": 8378928469161237363,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6efaab5cea9c0d6da2b74664f0ed93eb747085e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26043954310979744,
+              0.29919259988132396,
+              1.0501358273327417
+            ],
+            "current_z": 1.0501358273327417,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18902931931797573,
+            "gripper_z": 1.0524047198684043,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2551890981957093,
+              0.2941444856329043,
+              1.0524047198684043
+            ],
+            "object_minus_gripper": [
+              0.005250444914088159,
+              0.005048114248419666,
+              -0.0022688925356626477
+            ],
+            "object_to_gripper_xy": 0.007283586291173591,
+            "object_to_gripper_z": -0.0022688925356626477,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26043954310979744,
+              0.2747453331225022,
+              1.0501358273327417
+            ],
+            "finger_b": [
+              0.24816617182916823,
+              0.29919259988132396,
+              1.0501358273327417
+            ],
+            "finger_midpoint": [
+              0.25430285746948283,
+              0.28696896650191306,
+              1.0501358273327417
+            ],
+            "object_minus_finger_midpoint": [
+              0.00613668564031461,
+              0.012223633379410903,
+              0.0
+            ],
+            "finger_gap": 0.02735515480799122,
+            "fingertip_max_gap": 0.0914885187545352,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013677577403995634,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0501358273327417,
+            "object_top_z": 1.1007776538704632,
+            "finger_top_clearance": 0.050641826537721535,
+            "fingertip_min_top_clearance": 0.015192547961316444,
+            "object_projection_between_fingers": 0.7986973970016013,
+            "object_to_finger_line_xy": 0.010968696168370831,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048244259377267604,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5913964365809538,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2604715036022437,
+              0.2977748913446977,
+              1.240201982889683
+            ],
+            "held_position": [
+              0.26611599289830645,
+              0.30232254889574955,
+              1.2377997150228648
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007636251666816236,
+            "max_held_gripper_dist": 0.007649474801821832,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0024022678668182973,
+            "max_held_gripper_z_dist": 0.002559201800723887,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0880341742286623,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26611599289830645,
+              0.2767521935423263,
+              1.2377997150228648
+            ],
+            "held_grasp_finger_b": [
+              0.2560491151464519,
+              0.30232254889574955,
+              1.2377997150228648
+            ],
+            "held_grasp_midpoint": [
+              0.2610825540223792,
+              0.2895373712190379,
+              1.2377997150228648
+            ],
+            "held_grasp_object_position": [
+              0.26611599289830645,
+              0.30232254889574955,
+              1.2377997150228648
+            ],
+            "held_grasp_finger_gap": 0.02748063137140642,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024577604337438663,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08815361571903986,
+              -0.9958811936048054,
+              0.021203496408090713
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038965544902717195,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03654401622854819,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30349590927714276,
+              -0.36091002585512183,
+              0.8515395664983653
+            ],
+            "target_position": [
+              0.29627844231392775,
+              -0.3629408125496956,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007497727920107404,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1832449075351419,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395664983653,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543378384155881,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08614249161019814,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15186600957150034,
+            "release_required_pad_clearance": 0.053071245805099074,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1716809433547193,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008160531520843506,
+            "max_z_decrease": 0.008160531520843506,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507447586324729,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008160531520843506,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020860066751567263,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008160531520843506,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008160631180165013,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1519783735275268,
+              -0.4192022681236266,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1519783735275268,
+              -0.4192022681236266,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1499284790307853,
+              -0.4177014980953167,
+              0.80362931222736
+            ],
+            "closest_button": [
+              0.15201441943645472,
+              -0.41918417811393727,
+              0.7686483263969421
+            ],
+            "closest_ee_minus_button": [
+              -0.002085940405669423,
+              0.0014826800186205635,
+              0.034980985830417866
+            ],
+            "button_min_z_position": [
+              0.15201441943645472,
+              -0.41918417811393727,
+              0.7686483263969421
+            ],
+            "min_active_finger_to_button": 0.14687180040901676,
+            "closest_active_finger": [
+              0.024167455732822418,
+              -0.48298898339271545,
+              0.8107426762580872
+            ],
+            "closest_active_finger_button": [
+              0.15197744965553278,
+              -0.4192038774490356,
+              0.7765755653381348
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12780999392271036,
+              -0.06378510594367987,
+              0.03416711091995239
+            ],
+            "min_contact_pad_to_button": 0.020860066751567263,
+            "closest_contact_pad": [
+              0.15201441943645472,
+              -0.41918417811393727,
+              0.7895083931485094
+            ],
+            "closest_contact_pad_button": [
+              0.15201441943645472,
+              -0.41918417811393727,
+              0.7686483263969421
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020860066751567263
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "238f0426644093c5b28291130f30aeb6e0112ec480dd3454fbbdbec399b64a3b",
+    "visual_seed": 163800510823467599,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ef4f9698b886e441f6b8c7203fa16beb43be739
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2585042009624435,
+              0.2974944126668003,
+              1.0531212736121094
+            ],
+            "current_z": 1.0531212736121094,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.19201440796947478,
+            "gripper_z": 1.0556203131939097,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25325188731351284,
+              0.2925287329051475,
+              1.0556203131939097
+            ],
+            "object_minus_gripper": [
+              0.00525231364893064,
+              0.004965679761652797,
+              -0.002499039581800311
+            ],
+            "object_to_gripper_xy": 0.00722805465959073,
+            "object_to_gripper_z": -0.002499039581800311,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2585042009624435,
+              0.27293851110619954,
+              1.0531212736121094
+            ],
+            "finger_b": [
+              0.24648594400806623,
+              0.2974944126668003,
+              1.0531212736121094
+            ],
+            "finger_midpoint": [
+              0.2524950724852548,
+              0.28521646188649996,
+              1.0531212736121094
+            ],
+            "object_minus_finger_midpoint": [
+              0.006009128477188652,
+              0.012277950780300362,
+              0.0
+            ],
+            "finger_gap": 0.02733918070600055,
+            "fingertip_max_gap": 0.09182003673475062,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013669590353000263,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0531212736121094,
+            "object_top_z": 1.1038835150455657,
+            "finger_top_clearance": 0.05076224143345631,
+            "fingertip_min_top_clearance": 0.015228672430036894,
+            "object_projection_between_fingers": 0.8067533477377695,
+            "object_to_finger_line_xy": 0.010794732215106899,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04841001836737531,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6708215657687083,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2585192246338416,
+              0.2964417227720001,
+              1.2454364875445214
+            ],
+            "held_position": [
+              0.26411726099334176,
+              0.30097210409725,
+              1.242853191189039
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007650868322923072,
+            "max_held_gripper_dist": 0.0076654721583041124,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0025832963554823785,
+            "max_held_gripper_z_dist": 0.00273795088784734,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0878804507131985,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26411726099334176,
+              0.2754531775355917,
+              1.242853191189039
+            ],
+            "held_grasp_finger_b": [
+              0.2539527363879814,
+              0.30097210409725,
+              1.242853191189039
+            ],
+            "held_grasp_midpoint": [
+              0.2590349986906616,
+              0.28821264081642084,
+              1.242853191189039
+            ],
+            "held_grasp_object_position": [
+              0.26411726099334176,
+              0.30097210409725,
+              1.242853191189039
+            ],
+            "held_grasp_finger_gap": 0.027468767233210293,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024638238142254378,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07839403847678691,
+              -0.9967141922607723,
+              0.020376301854274192
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004074918397623551,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036604292865957004,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.296906248281122,
+              -0.3532504593788886,
+              0.8515396139772138
+            ],
+            "target_position": [
+              0.29073092909686155,
+              -0.35484427314829103,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0063776805626365425,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18374725590475768,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396139772138,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07558739178757055,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525571665036889,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15172652159531913,
+            "release_required_pad_clearance": 0.05262785832518445,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3165175529390736,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00809168815612793,
+            "max_z_decrease": 0.00809168815612793,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515572881278069,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00809168815612793,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020991308724880642,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00809168815612793,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008091703608400879,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1464308500289917,
+              -0.4111057221889496,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1464308500289917,
+              -0.4111057221889496,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14640345711705086,
+              -0.40936620099074345,
+              0.8038304872379336
+            ],
+            "closest_button": [
+              0.1464389860630035,
+              -0.4110921621322632,
+              0.7687171697616577
+            ],
+            "closest_ee_minus_button": [
+              -3.552894595265643e-05,
+              0.0017259611415197385,
+              0.035113317476275885
+            ],
+            "button_min_z_position": [
+              0.1464389860630035,
+              -0.4110921621322632,
+              0.7687171697616577
+            ],
+            "min_active_finger_to_button": 0.1450427104454895,
+            "closest_active_finger": [
+              0.020282573997974396,
+              -0.47400060296058655,
+              0.8106780648231506
+            ],
+            "closest_active_finger_button": [
+              0.14643067121505735,
+              -0.4111060798168182,
+              0.7764973044395447
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12614809721708295,
+              -0.06289452314376837,
+              0.03418076038360596
+            ],
+            "min_contact_pad_to_button": 0.020991308724880642,
+            "closest_contact_pad": [
+              0.1464389860630035,
+              -0.4110921621322632,
+              0.7897084784865384
+            ],
+            "closest_contact_pad_button": [
+              0.1464389860630035,
+              -0.4110921621322632,
+              0.7687171697616577
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020991308724880642
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d85f0a58561eeacb473efc3dfcb49ce9af98be271c3a292f1db76245b439b587",
+    "visual_seed": 607740185203240319,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..64666336526b673467b3508c896d7a0662905a81
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.259881714789531,
+              0.30137364572886194,
+              1.050422661888017
+            ],
+            "current_z": 1.050422661888017,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1893160942686064,
+            "gripper_z": 1.052761038704496,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2544962386400032,
+              0.2962923761616691,
+              1.052761038704496
+            ],
+            "object_minus_gripper": [
+              0.005385476149527779,
+              0.005081269567192848,
+              -0.002338376816479082
+            ],
+            "object_to_gripper_xy": 0.007404232152736214,
+            "object_to_gripper_z": -0.002338376816479082,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.259881714789531,
+              0.27679225474821584,
+              1.050422661888017
+            ],
+            "finger_b": [
+              0.2476111601618937,
+              0.30137364572886194,
+              1.050422661888017
+            ],
+            "finger_midpoint": [
+              0.25374643747571235,
+              0.2890829502385389,
+              1.050422661888017
+            ],
+            "object_minus_finger_midpoint": [
+              0.006135277313818632,
+              0.012290695490323023,
+              0.0
+            ],
+            "finger_gap": 0.027473829245542394,
+            "fingertip_max_gap": 0.09117544517491852,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013736914622771164,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050422661888017,
+            "object_top_z": 1.1008204030647675,
+            "finger_top_clearance": 0.050397741176750444,
+            "fingertip_min_top_clearance": 0.0151193223530251,
+            "object_projection_between_fingers": 0.8005243003334297,
+            "object_to_finger_line_xy": 0.010978713529722739,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04808772258745926,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.41922613323650815,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 223,
+            "max_stable_success_frames": 223,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2596721462549435,
+              0.30005516870066573,
+              1.2429115477590853
+            ],
+            "held_position": [
+              0.26542834200517207,
+              0.3046713857079759,
+              1.2404817060158368
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00776835760445938,
+            "max_held_gripper_dist": 0.007781540290309191,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002429841743248451,
+            "max_held_gripper_z_dist": 0.0025922233353525836,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08785229917730447,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26542834200517207,
+              0.27907366050464216,
+              1.2404817060158368
+            ],
+            "held_grasp_finger_b": [
+              0.2551021982811963,
+              0.3046713857079759,
+              1.2404817060158368
+            ],
+            "held_grasp_midpoint": [
+              0.2602652701431842,
+              0.29187252310630907,
+              1.2404817060158368
+            ],
+            "held_grasp_object_position": [
+              0.26542834200517207,
+              0.3046713857079759,
+              1.2404817060158368
+            ],
+            "held_grasp_finger_gap": 0.027602043036586848,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024672113879797845,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08113665869892875,
+              -0.9965706904097803,
+              0.016238892552983605
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004113019509632163,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036546364331187825,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29837972254847417,
+              -0.35747853226807447,
+              0.851539574425012
+            ],
+            "target_position": [
+              0.2919589073302805,
+              -0.35935739224412877,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006690065984413457,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18474022224798978,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539574425012,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591409498933238,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530833709385614,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15208529035191065,
+            "release_required_pad_clearance": 0.05265416854692807,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.36690792190135724,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00805652141571045,
+            "max_z_decrease": 0.00805652141571045,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351336868672154,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00805652141571045,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021029565116413063,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00805652141571045,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00805652886926417,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1476588398218155,
+              -0.4156188368797302,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1476588398218155,
+              -0.4156188368797302,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14760202200473704,
+              -0.4154039492987101,
+              0.8080588412892314
+            ],
+            "closest_button": [
+              0.1476486772298813,
+              -0.4156206548213959,
+              0.772925853729248
+            ],
+            "closest_ee_minus_button": [
+              -4.665522514424314e-05,
+              0.00021670552268576726,
+              0.0351329875599834
+            ],
+            "button_min_z_position": [
+              0.147651806473732,
+              -0.4156104326248169,
+              0.7687523365020752
+            ],
+            "min_active_finger_to_button": 0.1460881111117656,
+            "closest_active_finger": [
+              0.02059197425842285,
+              -0.47908490896224976,
+              0.8109868168830872
+            ],
+            "closest_active_finger_button": [
+              0.14765797555446625,
+              -0.4156199097633362,
+              0.7768084406852722
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1270660012960434,
+              -0.06346499919891357,
+              0.03417837619781494
+            ],
+            "min_contact_pad_to_button": 0.021029565116413063,
+            "closest_contact_pad": [
+              0.147651806473732,
+              -0.41645700251078877,
+              0.7897648548759785
+            ],
+            "closest_contact_pad_button": [
+              0.147651806473732,
+              -0.4156104326248169,
+              0.7687523365020752
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008465698859718707,
+              0.021012518373903277
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a767bd50a89eca940ae0350ac48c54caeb04bddaa96e43ecee64c1d4811c7221",
+    "visual_seed": 4989939012603720710,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0becef93aebd355ca8bd445c80e3f1207f797f4b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2654614503776779,
+              0.29644732463705453,
+              1.0533540369786132
+            ],
+            "current_z": 1.0533540369786132,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.19224723094062346,
+            "gripper_z": 1.0556084703202449,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2602486425771571,
+              0.2916405187927679,
+              1.0556084703202449
+            ],
+            "object_minus_gripper": [
+              0.005212807800520802,
+              0.00480680584428661,
+              -0.0022544333416316675
+            ],
+            "object_to_gripper_xy": 0.007090750848100533,
+            "object_to_gripper_z": -0.0022544333416316675,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2654614503776779,
+              0.27173377811658017,
+              1.0533540369786132
+            ],
+            "finger_b": [
+              0.2539119588352886,
+              0.29644732463705453,
+              1.0533540369786132
+            ],
+            "finger_midpoint": [
+              0.25968670460648324,
+              0.2840905513768174,
+              1.0533540369786132
+            ],
+            "object_minus_finger_midpoint": [
+              0.005774745771194634,
+              0.012356773260237153,
+              0.0
+            ],
+            "finger_gap": 0.027279115390851143,
+            "fingertip_max_gap": 0.0935434588333624,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013639557695425545,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0533540369786132,
+            "object_top_z": 1.10508148647662,
+            "finger_top_clearance": 0.051727449498006894,
+            "fingertip_min_top_clearance": 0.015518234849402068,
+            "object_projection_between_fingers": 0.820747523458393,
+            "object_to_finger_line_xy": 0.010463275382323759,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049271729416681204,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1658703712227085,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 226,
+            "max_stable_success_frames": 226,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2653522936219095,
+              0.29560642306047763,
+              1.244901187360765
+            ],
+            "held_position": [
+              0.2708059883771813,
+              0.30009296612713593,
+              1.2425468843275902
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007444098195528762,
+            "max_held_gripper_dist": 0.007457991036378271,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023543030331747428,
+            "max_held_gripper_z_dist": 0.002511711857876353,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08768156005674516,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2708059883771813,
+              0.2746983078928651,
+              1.2425468843275902
+            ],
+            "held_grasp_finger_b": [
+              0.26069446187835743,
+              0.30009296612713593,
+              1.2425468843275902
+            ],
+            "held_grasp_midpoint": [
+              0.26575022512776936,
+              0.2873956370100005,
+              1.2425468843275902
+            ],
+            "held_grasp_object_position": [
+              0.2708059883771813,
+              0.30009296612713593,
+              1.2425468843275902
+            ],
+            "held_grasp_finger_gap": 0.027333708767231655,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02481595115914734,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05266520087885632,
+              -0.9981814482224951,
+              0.029328706770537564
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004396173180253981,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03677974891626896,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3019680140406471,
+              -0.3569994904501523,
+              0.8515396124828424
+            ],
+            "target_position": [
+              0.2960545925041287,
+              -0.35838456149024733,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006073464913430374,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18386632913469422,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396124828424,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542633770096448,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522593479950046,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1521966788448569,
+            "release_required_pad_clearance": 0.05261296739975023,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2880353039455788,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008127033710479736,
+            "max_z_decrease": 0.008127033710479736,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505118961982537,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008127033710479736,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02094564372563857,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008127033710479736,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008127071288328782,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15175451338291168,
+              -0.414646029472351,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15175451338291168,
+              -0.414646029472351,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1509825670368202,
+              -0.41485338951504097,
+              0.8037233820891106
+            ],
+            "closest_button": [
+              0.15177324414253235,
+              -0.4146299064159393,
+              0.7686818242073059
+            ],
+            "closest_ee_minus_button": [
+              -0.0007906771057121509,
+              -0.00022348309910169561,
+              0.03504155788180474
+            ],
+            "button_min_z_position": [
+              0.15177324414253235,
+              -0.4146299064159393,
+              0.7686818242073059
+            ],
+            "min_active_finger_to_button": 0.1464268506149003,
+            "closest_active_finger": [
+              0.010032325983047485,
+              -0.4011104702949524,
+              0.8108691573143005
+            ],
+            "closest_active_finger_button": [
+              0.15175496041774747,
+              -0.41464653611183167,
+              0.7766304016113281
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14172263443469998,
+              0.013536065816879272,
+              0.03423875570297241
+            ],
+            "min_contact_pad_to_button": 0.02094564372563857,
+            "closest_contact_pad": [
+              0.15177324414253235,
+              -0.4158228457268205,
+              0.7895934689748018
+            ],
+            "closest_contact_pad_button": [
+              0.15177324414253235,
+              -0.4146299064159393,
+              0.7686818242073059
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011929393108812136,
+              0.02091164476749585
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5b9de9e8a18fab56c9ccdf15aa555a0c76ac92e9128dd36f5431b4f6cc9a912d",
+    "visual_seed": 8772186459128202390,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_98_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..807098126a122a9035329049f306a763d68edfc3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_98_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 98,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.26042659828566495,
+              0.2957657168059259,
+              1.0494510749129469
+            ],
+            "current_z": 1.0494510749129469,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18834450729353613,
+            "gripper_z": 1.0517354270423567,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.25513771924076484,
+              0.2908051316205954,
+              1.0517354270423567
+            ],
+            "object_minus_gripper": [
+              0.005288879044900108,
+              0.0049605851853304905,
+              -0.0022843521294098057
+            ],
+            "object_to_gripper_xy": 0.0072511824506423656,
+            "object_to_gripper_z": -0.0022843521294098057,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.26042659828566495,
+              0.2711621607383504,
+              1.0494510749129469
+            ],
+            "finger_b": [
+              0.24844426666551686,
+              0.2957657168059259,
+              1.0494510749129469
+            ],
+            "finger_midpoint": [
+              0.2544354324755909,
+              0.28346393877213816,
+              1.0494510749129469
+            ],
+            "object_minus_finger_midpoint": [
+              0.005991165810074028,
+              0.012301778033787736,
+              0.0
+            ],
+            "finger_gap": 0.027366242749517707,
+            "fingertip_max_gap": 0.09043080060128567,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013683121374758847,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494510749129469,
+            "object_top_z": 1.0994093755575824,
+            "finger_top_clearance": 0.04995830064463558,
+            "fingertip_min_top_clearance": 0.014987490193390672,
+            "object_projection_between_fingers": 0.8082866660827033,
+            "object_to_finger_line_xy": 0.010772687012059443,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047715400300642835,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.18765516675315366,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 222,
+            "max_stable_success_frames": 222,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2602632985947971,
+              0.29475071646622353,
+              1.2410879663194425
+            ],
+            "held_position": [
+              0.26587701827358934,
+              0.2992936523783471,
+              1.2387070091662915
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007604016852878645,
+            "max_held_gripper_dist": 0.007617516430168928,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0023809571531510088,
+            "max_held_gripper_z_dist": 0.002534933656122451,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08787365201241362,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.26587701827358934,
+              0.2737854276450937,
+              1.2387070091662915
+            ],
+            "held_grasp_finger_b": [
+              0.2556822991258635,
+              0.2992936523783471,
+              1.2387070091662915
+            ],
+            "held_grasp_midpoint": [
+              0.2607796586997264,
+              0.28653954001172044,
+              1.2387070091662915
+            ],
+            "held_grasp_object_position": [
+              0.26587701827358934,
+              0.2992936523783471,
+              1.2387070091662915
+            ],
+            "held_grasp_finger_gap": 0.027470016882833674,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024686798621795836,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07360135240003512,
+              -0.9972134087891379,
+              0.012176134691835091
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041478083071505205,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03662650564258599,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29803824830148806,
+              -0.36127153689500574,
+              0.8515395711433278
+            ],
+            "target_position": [
+              0.28978927879319233,
+              -0.3642388085159983,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008766424517529408,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18276372398612728,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395711433278,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563722844071188,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08503372485566717,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15100530561510606,
+            "release_required_pad_clearance": 0.052516862427833585,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1046783122285041,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008179187774658203,
+            "max_z_decrease": 0.008179187774658203,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035072660082399225,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008179187774658203,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020889874372523376,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008179187774658203,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008179299843451986,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14548920094966886,
+              -0.4205002784729004,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14548920094966886,
+              -0.4205002784729004,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14729004358349496,
+              -0.41956812499433815,
+              0.8036460753782547
+            ],
+            "closest_button": [
+              0.14552316069602964,
+              -0.42047420144081116,
+              0.7686296701431274
+            ],
+            "closest_ee_minus_button": [
+              0.0017668828874653209,
+              0.0009060764464730031,
+              0.03501640523512728
+            ],
+            "button_min_z_position": [
+              0.14552316069602964,
+              -0.42047420144081116,
+              0.7686296701431274
+            ],
+            "min_active_finger_to_button": 0.14379364153377533,
+            "closest_active_finger": [
+              0.020724445581436157,
+              -0.48330071568489075,
+              0.8106973767280579
+            ],
+            "closest_active_finger_button": [
+              0.1454886198043823,
+              -0.42050060629844666,
+              0.776540994644165
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12476417422294614,
+              -0.06280010938644409,
+              0.03415638208389282
+            ],
+            "min_contact_pad_to_button": 0.020889874372523376,
+            "closest_contact_pad": [
+              0.14552316069602964,
+              -0.42067698569027945,
+              0.7895185602488266
+            ],
+            "closest_contact_pad_button": [
+              0.14552316069602964,
+              -0.42047420144081116,
+              0.7686296701431274
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00020278424946829077,
+              0.020888890105699165
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 98,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7df7854f0dec178e99be460cb632e67d5f1926f5eb5c03e974ed1e28d0df1444",
+    "visual_seed": 6306187465137003740,
+    "episode_index": 98,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cd8048d58997e9550c7c961d17b7d07ec39781c2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.2615863571080921,
+              0.29323424626117056,
+              1.0513829640393526
+            ],
+            "current_z": 1.0513829640393526,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.1902763368152972,
+            "gripper_z": 1.053783820325985,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.2562981832484209,
+              0.28816739333291047,
+              1.053783820325985
+            ],
+            "object_minus_gripper": [
+              0.005288173859671175,
+              0.0050668529282600905,
+              -0.0024008562866324468
+            ],
+            "object_to_gripper_xy": 0.007323781903274249,
+            "object_to_gripper_z": -0.0024008562866324468,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.2615863571080921,
+              0.26878211284433645,
+              1.0513829640393526
+            ],
+            "finger_b": [
+              0.24926059078206214,
+              0.29323424626117056,
+              1.0513829640393526
+            ],
+            "finger_midpoint": [
+              0.25542347394507714,
+              0.2810081795527535,
+              1.0513829640393526
+            ],
+            "object_minus_finger_midpoint": [
+              0.006162883163014943,
+              0.012226066708417083,
+              0.0
+            ],
+            "finger_gap": 0.02738304848183542,
+            "fingertip_max_gap": 0.09170618127712879,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013691524240917722,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0513829640393526,
+            "object_top_z": 1.1019620480692573,
+            "finger_top_clearance": 0.05057908402990474,
+            "fingertip_min_top_clearance": 0.015173725208971423,
+            "object_projection_between_fingers": 0.7973884171321469,
+            "object_to_finger_line_xy": 0.011006491219147279,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0483530906385644,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6490418645599123,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 224,
+            "max_stable_success_frames": 224,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.26149758487738495,
+              0.2918629681145419,
+              1.241819262795098
+            ],
+            "held_position": [
+              0.2671714778010119,
+              0.29643524301776497,
+              1.2392964319335893
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007711253740813373,
+            "max_held_gripper_dist": 0.0077257391048227205,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.002522830861508618,
+            "max_held_gripper_z_dist": 0.0026761591033230836,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08739234012947061,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2671714778010119,
+              0.2708875475207572,
+              1.2392964319335893
+            ],
+            "held_grasp_finger_b": [
+              0.25698058830910575,
+              0.29643524301776497,
+              1.2392964319335893
+            ],
+            "held_grasp_midpoint": [
+              0.26207603305505883,
+              0.2836613952692611,
+              1.2392964319335893
+            ],
+            "held_grasp_object_position": [
+              0.2671714778010119,
+              0.29643524301776497,
+              1.2392964319335893
+            ],
+            "held_grasp_finger_gap": 0.027505253568074473,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024666932213267566,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07824888395976083,
+              -0.9967379619640827,
+              0.01976227058661539
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004088327659820635,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036589358234162365,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3025645860256724,
+              -0.35380792094982205,
+              0.8515396299929333
+            ],
+            "target_position": [
+              0.2947100490818793,
+              -0.35632047216079354,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008246615317156756,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1834286073233826,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396299929333,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543712028369542,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08590670714591246,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1520268795081393,
+            "release_required_pad_clearance": 0.05295335357295623,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9429378547235343,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008135437965393066,
+            "max_z_decrease": 0.008135437965393066,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507587826934896,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008135437965393066,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210292653923263,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008135437965393066,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00813548719366307,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15040998160839084,
+              -0.4125819206237792,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15040998160839084,
+              -0.4125819206237792,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15137866451094492,
+              -0.413474738449546,
+              0.8037245413971752
+            ],
+            "closest_button": [
+              0.15042920410633087,
+              -0.41256114840507496,
+              0.7686734199523926
+            ],
+            "closest_ee_minus_button": [
+              0.0009494604046140498,
+              -0.0009135900444710576,
+              0.03505112144478262
+            ],
+            "button_min_z_position": [
+              0.15042920410633087,
+              -0.41256114840507496,
+              0.7686734199523926
+            ],
+            "min_active_finger_to_button": 0.144637672693167,
+            "closest_active_finger": [
+              0.0107831209897995,
+              -0.39659106731414795,
+              0.8107220530509949
+            ],
+            "closest_active_finger_button": [
+              0.15040971338748932,
+              -0.4125836789608001,
+              0.77653568983078
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13962659239768982,
+              0.015992611646652166,
+              0.034186363220214844
+            ],
+            "min_contact_pad_to_button": 0.0210292653923263,
+            "closest_contact_pad": [
+              0.15042920410633087,
+              -0.41472342615631075,
+              0.7895912247575676
+            ],
+            "closest_contact_pad_button": [
+              0.15042920410633087,
+              -0.41256114840507496,
+              0.7686734199523926
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002162277751235786,
+              0.020917804805175022
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 1265260622047408349,
+    "physical_seed": 618691700709466932,
+    "layout_id": "layout_00005",
+    "step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "workflow_spec_digest": "1310a9ed2f693a4876f20b68d35d349f93001141a45829ed4db63a833c985443",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "40657673e0084ec5d2890ffb18476cfe63ac612a67a3e5494d094dfec01ae01f",
+    "visual_seed": 3877004396452070648,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      3954225634939434796,
+      941158965129780711,
+      4636139028423254317,
+      4985918550663007568
+    ],
+    "runtime_workflow_digest": "6f471edc9a8b696444b7b560fbce1d61a0167bb6c8dda8786f20e3d703d80019"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..90862d00efcb1234141e7bf50982d20e89877c03
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00005/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s04_pslr_htb_00005",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ee74a8e4d5d7098c76fcec2ea4d4953aa7be7d91
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b48e7fcc4f64ce788c094e68e27715ecaf3a53cdcea04d83c6e03cf0fd65fedc
+size 7577856
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d89c6e3e8a78ca656b401e481e4fcdc61281a107
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:743d018b8db5302e43deaa86efc76b2108603d0ae36ab513db57a46d12878da6
+size 7060149
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..59272e24b9a497bebd0d03cceb9b9c96642b6703
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cd48ea5e49e08b71e12a55ab76421b1b943a458f6873f635907d2e946172b49
+size 6128147
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0008.h5
new file mode 100644
index 0000000000000000000000000000000000000000..979acfb293981a2611972819123b20bd9adc9f54
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0008.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba4047a45ad459ca82c93f0cf1cc9a0c92e8f0438435299545539b4b2340a3f4
+size 7635162
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..26a2bdb3ca260c13fbdeb00356a1bd7d435dc44e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:318855eed1d60503bd5e8fd9757f1dd0ff73816555e42e65d793bbc549e6b674
+size 6981023
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a6ac236b63a368101eb521c92c0e4aae8974df96
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b95b894bd69438cdac06109f3e4400f5b93f9ddf71cdf67cc485bbe767012130
+size 6065963
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..67820b39eda1d79bbf0d450f927b65aa86e95efe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:328ee8cf6e2c96c81cdca24c35026e8f486ac610fe6f33c7ce4f5d2e1c0f3458
+size 6186829
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5880c187b14814c3c425fd34cbba0a1dbc1c1719
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:091e1e7d5c7e68077ec4297db21d96efb2d469bf897f7231b0ec8646c2bedcdb
+size 5535969
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d126079f821573a3aa23ef79451234a2176ccc4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:406651b0f8f76719a6b9df70892513dd350003e8508cbd8528bc4098c6151994
+size 6802237
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d5bc10fd9644fa333df8d58373d7ddc1d210dcdd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46ecd4f7d9b26687e528819d180fa5bc4cc6e7043d94cef3f69f1f46361525a5
+size 7724059
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..96fd33f7b87e3cf1962571ffc847b25b08976f69
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c3249760e50467c650b32b81c7bc7b91f77da8d31edbf5a237b3064c4600c44
+size 6265328
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..11cec0f5e9def430c3e49e8088a104b8083753a2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3361a1b8698dc427f3eeb732be3756ddeee2768aa9b91dfd3e0aef7cb2b419e
+size 6279061
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..97862cb4c09d28ede01009fbe1ab2abfae763518
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6317e1c62b99003183755871fa619d366bf3910f0e334d9c8f5fb359f6f0f60
+size 6132536
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6d20bcfcde17c768446887852cea6141f0e78e61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c384d3acb5d738e1d388c8dd01f1aa5f0e38939a6240c04123fcded9162702ad
+size 4590509
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..21444fc98689afd70a103e0d52572519142cc66c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5ccdd4f54af2554fd228bfef89255c2fcdd37d1a87e1a0a5fd68d5b202eb620
+size 5797366
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5dab821d6a27dfd31199df198796d648d25b2b2d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1fdfbe110f2c433f2684c7ff63b7a07553e97ddf3db7d843760279d91dc4fed
+size 8194898
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2742ae3380a2c867b556cfdbead5f3db5352d626
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d94b6940b3e72a91e0bbb16371ae4495b1906553a8fa4b1fb377f6f1c8cb9c
+size 7757881
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..34a8e9fbeac5158bd1a66fe7b9836f13d31a14b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f8cd090bf8877d7d000889ae0df6dd69d754ebde18b9ebee7845e98ed21655a
+size 6158384
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ebae0cc8cec4337b70fbfed5cfb44ab7ce21f677
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7634128b4a00f977cfac9a061289a0b540d86e7594f9941716d148cf2c8617c
+size 6483213
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f465e255a07f58c90ec04c2058fd3a0d0ada5543
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e23261068ebfccdcb4a31f0c9f4a5d848563fed873fb7fcf5a748d4c73d0f78
+size 6219739
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0033.h5
new file mode 100644
index 0000000000000000000000000000000000000000..21ac4a343fc30e23df3682eb1463865a05f61b01
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0033.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:828bb7f4f69986718455993a0e5afd5f31ec0dd1e1d94759420cec3a50103130
+size 6459642
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b5f6410bcf43410e869954b812ca2be605fd47dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a138b139a712e43812f91785ff63bb26bfedc6addc7c45878c1e51d2ae25d04b
+size 6563786
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b81cce533425da79955c0d0d24f19d5884d0235a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b95f039458762281f90fd47e9dfb943b8207088f047e63e955f0617f66223d9b
+size 5893640
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9c52f300d74c9518f9bc712148f4a65676175bd6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18e870e1dd40ca59e4f3759e6ae01541a8bfb8ca588f1f11832ec0fc507db5a3
+size 6803710
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0037.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d1ef5c1c20e089593a28535c9704637c7df936bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0037.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:016b4337de8678bb77d4528109563f8544998336ee4a0e559b69d8f3e31421b5
+size 5375657
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..20eae940a1db780de5c83caf30217f90e30dfd1e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43e1925e65730afbe14a13cfdb48bea64d713fec697a86c03d9c3a19e94dfdd2
+size 8298694
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1ed500259e07757b8ad4fb97c0921da4b27298cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac185e5c7a0dd723870886f2b8cdc8d04d4ff4ccf02fcebbaa7f372d56bbb490
+size 6207051
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8a4a4a2f6647191958668d40708c2ede5ea7330b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40cb8685fa02a86ea4cb07967ec5d4b71df3fceacbf400258415609a54a3d4e9
+size 7295886
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..07b37213b693b4b95e3cc8af12d21acf2e5d76a7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fd82044b689e68b6cd39cf6b44c9a1712afb2111722301999c2f5ef06df893c
+size 6035392
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f6b8a7bc03bb9f0302fd1b16547cb3c9719363d3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5edfac288ce61e31d15ac1b41e1075f1e8a3f51a077792054b34e0f28a59de1
+size 5098299
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..48232c9f4b0c1c0e5acbae436ff5a478c5b61a94
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84fa0ff52768cfc147241386e28b24f22eaba008e4eb212731922fd842562fe4
+size 6878093
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6063929414871b0a7681d84edae88ab2ae26a715
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7415119d6eef3355e05eff93fe943dc21cc9ea9c66bf79f57373e8b59446631
+size 6997490
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2260f7e97b6b80343dcfad7e9fbc794d97bc3308
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a3663347e18c26c021704e49e09db149f38db5f65f12c58c05e3a26ed44a52a
+size 6244441
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..95287387dff2e5d4db4546a5a43258dfd19c1c8a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1959faab6ed8ca9c1723b16bda24f7f03ae39dde71790f5241be37a325c9794
+size 7262617
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..00a101de6ee8996b40bc8bdafac7111592ba62b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9bbbb114f9774ae22ef1359cf19432c278aa97a4c8c2a6c19c20d08bca3cc99
+size 6399382
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bd936305a91ec66e3d43d994c35929b8e10f402b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f89568097e1da0ce2d83df1b62a2e8aceb303a3313431df732e96d559a7e0e6c
+size 6483212
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..19e92817ba7c953e37a564e852fa5a0415368779
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703ff0ceb3339abf5f62433c3e69f80dddb8d203ea14296018671d047e0d524b
+size 5931829
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e425b04759635f8f5b183eb249e3eb638712d1fc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e69e98bf8a6485fab0e1cc7ff6befc07bfa9be082640e4dc9847b76d90a22ea9
+size 6041387
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a5b898f1b04ed1d6c7de562424804b713a5a8dbc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c980a4e643fc8fed121d04ae42f28282fab4d363568b7dd84aab4070e98cc14f
+size 5877146
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d52de7bf4da7af223db22b66e09851ee7884b0ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8c9407f6fb0b65bf1fb9d33d60bb25094b9c21a82466841cc1597f8100d2af0
+size 4781365
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6fe8c6f8085dda12206d795041c0cfe74c4e5af5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39961a9b9693cca3c336d9ab947d5736b0fe020e175a843222961bc8701ac2a5
+size 7360510
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..066e6652f3ff2718c14da2d06ea60d738e2b2558
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14f15be2fe1fdc58459fa1839cfdfb8ea9d0a6159bd6f6e1f3e575b85b658c2b
+size 7075210
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a58a62dc24c22bc1f67f0f4db82096d66607c357
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0e52d796f9f98041aaf2e776139fb0ab6698e1163bf62568d1833a008f78fcf
+size 6123751
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9e83a74960d963cd78ead6d0a289587a22f61df8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea68cd680c2b965b13f1490cc4373ec9618c8f610d7a9c4b429178db9266c9d4
+size 6460681
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0975e45c13dab292ade50a4aa47402d1dc667ea1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:16e27676a07faf14690c2c8c88aa66e3562ed8639da7669e2aa19af507102e04
+size 8470638
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b0f28b5592b7d1525bd7be31060b2c59c2946b22
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bbcb597d7e4ca0f5ef95adaaf6e78e5302530db93390ca58cc5d7bd76be13c4d
+size 7251551
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5125c7b1bdba13a501f4377e55e99f288b4452c5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e591e6b6550edc42015c93b1eabe5a26fb500f898d63cfb4b50f5ce482b4cd42
+size 5615305
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8848d7e3b7ee29c6d30204db5076424506f7992c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ed11d98e7bc43eebf0f8ff07dd3c6802ae78bdd690ebd9f2302536695d2fe82
+size 6736816
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1b5196969866d8d5abbcfcfc9843d4117726e0a2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc535acbeb495833db16f2103fed79ff82818a2c0fbbc9d775d0dbfaaf665d6b
+size 6771969
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bbb403afd7eeb8a23b78764b2451e31518117494
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77d62572a9bccfd6e675b2f38feabc07919e431a3e0fd7ed46d30a8f77820a76
+size 6462352
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..795776d543afaa967d35f4722664adbaf3cec989
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d7fa738fed1b370f2ca1148d4e7e43c5e85022917933f4dabdc65f72576197c
+size 7986957
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..22c04f5dc06639556f9cec9651f37f5da1a1d935
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:520aadbed67618b9aa50f0194d3b5462d10a2e77ef7e0ccb89b8ca6b9cff6ae9
+size 6471453
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1b5e4c0ff88f65a38d079cfe9ca780ebc4387af6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:556977646b751e2173893e207d1d4c65ff65644a8c4621f1a3e5bb43b16c1a80
+size 6746478
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f11b7cd84fca90762fab2ae601451a20ea0c235d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cab66a7d4ab4cadbb4a2bef841ea02c71d2923d11fa4ad646ee22b122cbb9d0d
+size 6264713
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..667ccedbdab5191c769da69ec93008343e3bca23
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3465cad0a414761d320980d57b0af17903758f840ec699b31ee415d45cfb373
+size 7095807
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4f2f5c2483cd1722f7d7b5f1316b4afa7ed43fe4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae0cedfbc3d8c08750024700169b4983fab5af427d164798c3ed03e24cb1580c
+size 6378312
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a1beef9035f1ddd2cd8abd18cb7e90073c8ed395
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f602817fa775add5295849451efc1c5f6107b978318cbefc6cbbb94761f2879
+size 7704497
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..952428ce6b19761d13852b0c71cf27ccc02362a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90f33ab5f52cb867cd1ba03a3e6c9462e99e83d48661d0b5ba395bddddae8bbe
+size 7874070
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0090.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6fcfa54d8e345204c4009e3c6b40885f1454498a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0090.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d740e92eec82b51751ca55f8f88431189fd7eea0f0b9faee9364c19967dd4bb
+size 6197528
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0091.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fa1380007fd079d8e7f638a58248b2302beaccdd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0091.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a00f1998276b29980776b32d364670e6ed04778130da55e408738e5852c8147
+size 5751036
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0093.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5eb0db77162dfd95a359b234ea60be67f6a69f16
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0093.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2467476aec85aa9c07a85d4fc03c46ef1d3d7156046b46cbafa5d288a80a643
+size 6338039
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0094.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6e666e144ff710b6ba2aad8d646d6e8a555f5ced
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0094.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04de8ca3f13839e3e7b63879056326f0fbf10f8cc692f8b835295198fe671eb4
+size 6812444
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ec351b95ab85a277991dfef825d702fca27c15e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e20e6059c5da417df552141247cfc44e39027a707e2f9e4783ed35c5f9fd592
+size 5715823
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0096.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e09552682c99a951496914f4d7455c3f19c1de06
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0096.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:765f1efca40f2c993c682be1b4a97a9afdf186615f4c3fe104f4d1ba2bfa9b3e
+size 6401960
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4f68a16de05cdd67f7516b332af876938c3f1898
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebfaabf1ed44084f7b0aba019cc9461a7027f74c0827485ce7af99074c436731
+size 6757275
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0099.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c9be145738d133063e2785ef382807633494e4b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0099.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ca48313afef835708d9a74f45384dc2180aa616efa585012e1736b61d32db8c
+size 5788896
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0100.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4d68280bf6bb66993ff114a8311849d6dc140a21
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0100.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec64514ae2528d51c1840ea105a1fc5c6040a8e0eef7a09dc6fe8894a71ab128
+size 9132052
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0101.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0101.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3ca7dc8e493981dc94bc94e8607a89a06f9fd538
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0101.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:865cbaf8c5bc9ca3e32fa32cc404c2b0f8da4e65c67bd34c17d3258d90f7053c
+size 6440646
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0103.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0103.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bf529cb49f88fe3c8f29f2d9f9edd5aba030af9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0103.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a35c077b2d7d5c1a737eccc9a46ea9e823d74778dc7575d27e11f91ed9214856
+size 7889157
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0104.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0104.h5
new file mode 100644
index 0000000000000000000000000000000000000000..17e9e91d8982e9a90f649f34ebf57a06d01660a6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0104.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36d1696a62a4262a7ea2a36092e0103f01bc85072a62603953c334f84cfdf525
+size 5988866
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0105.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0105.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3c591682fa932ecb2182c60d05b9661a7cc4870c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0105.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b606686bb62527cde71293f85a0be82212d3d7a6d36d2492fc8036be0072675e
+size 6036339
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0106.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0106.h5
new file mode 100644
index 0000000000000000000000000000000000000000..263270c84e2d809a6d5ebd393a1489b4d938f86c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0106.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d1e49cd71069bcea66560487387c7ccb919d7ca01a3b38a1b15790e91b2863d
+size 6578091
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0107.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0107.h5
new file mode 100644
index 0000000000000000000000000000000000000000..46d4b1af8b648db9c3026a17831d1f1bd2a554bd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0107.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6553798a118ac37a206befc897db584ba873e1a713cd9f9322f86a8140ef51fb
+size 6332976
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0108.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0108.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6646372df5fb00d39d20d999bfd61eb8607062ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0108.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfae7873960c88258dc64b6361a9f364a7e3b657580269a17668af7e616d3743
+size 7666711
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0109.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0109.h5
new file mode 100644
index 0000000000000000000000000000000000000000..933b5996c7d2bbd5a538821edb191c834c0df111
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0109.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0dafcba5f469d80d1342649e33e436a74ee13c962876f887e99c31c469fd8cd5
+size 5447893
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0110.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0110.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6ec9848a2c90832951ac178cbcfdb23488d2b8b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0110.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb73998226e0ee5d15561e5a444088d42183f599577e2683a1a54775c0ac2a7e
+size 6790461
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0112.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0112.h5
new file mode 100644
index 0000000000000000000000000000000000000000..601af939ddf9d10b5a4fcf79ac7e7a0b9e36341c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0112.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4771b69bf5e9321f1e0d2e569e81348af828bb66d8ce203b471deb477b8d2cb7
+size 7375277
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0114.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0114.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d733c60208700c06ea7307952b33c394e685f030
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0114.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66333072f31f1dc9ad38ab0ab37bd1ed31d9b0756a195dca776287122da74a0d
+size 5929743
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0115.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0115.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8fdbfe7c0dc34d8624d74ad95e464483ef244068
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0115.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad048c801633db2c5c52a9042a0ba18b805d73f5e9af5f4a782dd4d95d58a7cd
+size 6463704
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0119.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0119.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e0aa807fbb513655b4d261267bf42c26d196c304
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0119.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdf89266d4ad93f46501f88f08f38e5fdcdac34a42ca2fa1ee87c3ad7402f446
+size 7723062
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0121.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0121.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0fbcc5009cbfacaee524bc1e156942b5a200cdd3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0121.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffb36e03140c6a82c7ab76b71e6044f01a86c03041905a08bda1cea549cda441
+size 5519734
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0122.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0122.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8f45e9c18b299d47832fcf7d5f4995366eaf0861
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0122.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9e38336c682e7b74a16a053bcc0c9e48c3f4189363785a24e779a03c9faf6bb
+size 5854239
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0123.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0123.h5
new file mode 100644
index 0000000000000000000000000000000000000000..19020c93d1be591044438fc327d85e63398209b7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0123.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0abea9b7f0c62fa281daba892cf8a94f3f2c0af667094e9e2ec0ecb6bb9253f
+size 8582141
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0124.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0124.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2008ab9f4c38b2315b7cb1034d1449fad2b8c92d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0124.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49365b3093e011597a6568b7bb3da553ee0591c332dc1e49a28bf17bc6ee595d
+size 5962472
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0125.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0125.h5
new file mode 100644
index 0000000000000000000000000000000000000000..91ba82cddee145c82290a3cb3dfad3d805732b32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0125.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6292e0574f61bb3fa211e307c3fe4415e92d6f33ddc495b5473df5cb7b61ad18
+size 5630002
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0126.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0126.h5
new file mode 100644
index 0000000000000000000000000000000000000000..45cf149943afb6475d674d0bb6592ae4e1bec2c7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0126.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7b967f835378d2ee9d4840d071802f0ba5909890a0e9f393e50ea65462318d8
+size 5769562
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0127.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0127.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1ec650f45d0c8df4f338e4081e2879770fd8fc27
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0127.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc6be64a8017524803da4e73b8f1d3b8bfb54d7d0417bc49ad24985d80cb9791
+size 5360005
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0128.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0128.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f384d07a7e31b10cee4b62e24b9730388cbb385e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0128.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9b1280859efad4d2ce28e4a5eb5c75f73704f30ad593d1d408c58605954ff0e
+size 6798698
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0129.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0129.h5
new file mode 100644
index 0000000000000000000000000000000000000000..80f494903de5c3e796b1e577345d879adc611e17
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0129.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eaf1c3e85b9aa6442318820f85a6cf5affd9cd96f1d4182b0c542b0b494bd177
+size 8378896
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0130.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0130.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c79c70b2432d08c1851f17ec55629842c12b4c37
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0130.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad53ea4bdff10bc528f45c254b3fe17a83c985d93874d7c02ba8efaf336ce968
+size 5364911
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0131.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0131.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9109569b44cd74a75ec7ab685470cef5fcc7c928
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0131.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f2f91cc40c4206b42be139b66b88330506882e668d5a608df1432121326f2d5
+size 6985557
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0132.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0132.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b276b4c2e4c6a22b33825bc135c359143f9e31d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0132.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13606d35b4903520b0fcd230f388ebecab07f59d3a01d3fbeadb0036b1fd3b02
+size 7485458
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0133.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0133.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a335a1f5ba8a820f828dafc20f80d23f6def3245
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0133.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b971efe86543c055e88469dd7004eef4c37af3544ee616665e46976c3f6e72d2
+size 5385207
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0134.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0134.h5
new file mode 100644
index 0000000000000000000000000000000000000000..65d33d92b09a54840cdf93cec3d3b95729b7c26f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0134.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2cfda1e703e4bdaee831b1d302987592d24b433e4a26e8df98021dc9ca63821
+size 8106493
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0135.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0135.h5
new file mode 100644
index 0000000000000000000000000000000000000000..65cc1d068ebad7afcb92a44fa3fa6f0cba48bc88
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0135.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8b622c00fb14de1f7e56d6e5f3c76339c17a007b35f807fb3b1515c3a8a2c26
+size 7126577
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0137.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0137.h5
new file mode 100644
index 0000000000000000000000000000000000000000..64835ea89a98c37f3fcec391c7dd66c265f65a65
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0137.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:966e2d49755d1526887dea0353d734218a4f3f78cdd8888517230ff9e533b0ea
+size 8126471
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0138.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0138.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2fc8c352dbd91a2ce076b59e666c0e0a85811338
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0138.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba66b35fe090a88974ec0286b9da77ec0882bb274f3b971c492bdf205ced4666
+size 7315533
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0139.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0139.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7693c99ae1a2f36bfbc226f7c57902af1bc18290
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0139.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2153084ef9c04b8dd4ef832ef4694c2c4dfb2e0ad035faa5622ab0af47d27905
+size 5888140
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0142.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0142.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6dc43be305d2ae88c9506284e0c4ef2dd8753ab7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0142.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381d9dacaaae0bdb0f7653f72aa2bace6d8c3c50df9c4a4b923b6753e3cc668c
+size 5332456
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0143.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0143.h5
new file mode 100644
index 0000000000000000000000000000000000000000..84d055bebf25aa8a38502b6cd69195b8e9e2e62a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0143.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70d8e0daef936c2a67efa8aeb58c3b08520166a275b8a6b3cb385dc1b2ebb199
+size 7047790
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..4aa58d19274fe099cc81aa2afcffbb984d847fde
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":2,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1230,"success":true,"robot_type":"ur5e"}
+{"episode_index":7,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":8,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":11,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1185,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1239,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1231,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":21,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":27,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":31,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":33,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1226,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":37,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1231,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":49,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":56,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":58,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":62,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":64,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":67,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":71,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":72,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":73,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":76,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1230,"success":true,"robot_type":"ur5e"}
+{"episode_index":90,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":91,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":93,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1241,"success":true,"robot_type":"ur5e"}
+{"episode_index":94,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1192,"success":true,"robot_type":"ur5e"}
+{"episode_index":96,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":99,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":100,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":101,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1229,"success":true,"robot_type":"ur5e"}
+{"episode_index":103,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":104,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":105,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":106,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":107,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1238,"success":true,"robot_type":"ur5e"}
+{"episode_index":108,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":109,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":110,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":112,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":114,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":115,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":119,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":121,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":122,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1231,"success":true,"robot_type":"ur5e"}
+{"episode_index":123,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":124,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":125,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":126,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":127,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1233,"success":true,"robot_type":"ur5e"}
+{"episode_index":128,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":129,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
+{"episode_index":130,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":131,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":132,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":133,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1237,"success":true,"robot_type":"ur5e"}
+{"episode_index":134,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1236,"success":true,"robot_type":"ur5e"}
+{"episode_index":135,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":137,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":138,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1232,"success":true,"robot_type":"ur5e"}
+{"episode_index":139,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":142,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1234,"success":true,"robot_type":"ur5e"}
+{"episode_index":143,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1235,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..922fa27b3a8222860185d9cf06ea6fc0a3d5ff94
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-04T17:26:19","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[0.19576508787220281,1.4318327824533887,0.71338606911949],"aabb_xy":[[0.11576508644207562,1.3523156274407793],[0.27576508930233,1.5113499374659982]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[0.05010876577985146,-1.05991725699644,0.71338606911949],"aabb_xy":[[0.012608764595058662,-1.0643354796925],[0.08760876696464424,-1.055499034300379]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_2","position":[0.33930502373259275,-0.8033856424342789,0.71338606911949],"aabb_xy":[[0.27530502051395483,-0.8501087543332873],[0.40330502695123055,-0.7566625305352705]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[0.25810585823612775,-1.910477411279094,0.71338606911949],"aabb_xy":[[0.1781058560733652,-1.9904325949052377],[0.3381058603988902,-1.8305222276529505]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[-0.5465183265057318,-1.4405080109334714,0.71338606911949],"aabb_xy":[[-0.5668026292291305,-1.46079063607618],[-0.526234023782333,-1.4202253857907623]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_5","position":[0.07360750316444487,-1.5303899046233862,0.71338606911949],"aabb_xy":[[0.06385151365527098,-1.5401524386826206],[0.08336349267361876,-1.5206273705641518]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[-0.21556349048821571,1.6214713598209065,0.71338606911949],"aabb_xy":[[-0.2316254179467333,1.5364713580083145],[-0.19950156302969801,1.706471361633498]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.00020460933631560874,1.5152776752947124,0.71338606911949],"aabb_xy":[[-0.02312032222136551,1.4923733781582886],[0.022711103548734294,1.5381819724311359]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[-0.3080693448508659,-2.2970700672573283,0.71338606911949],"aabb_xy":[[-0.37206934676320824,-2.352981216515339],[-0.24406934293852356,-2.2411589179993183]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_9","position":[0.5457672242638896,-1.4966554077432972,0.71338606911949],"aabb_xy":[[0.523267223751849,-1.5191472661086953],[0.5682672247759302,-1.4741635493778986]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_10","position":[0.6314920178939543,-0.721883279769514,0.71338606911949],"aabb_xy":[[0.6139137157050074,-0.739457769343619],[0.6490703200829011,-0.7043087901954092]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.5048748755304266,-0.9768070645111577,0.71338606911949],"aabb_xy":[[-0.5748748719403883,-0.9972450001628392],[-0.4348748791204648,-0.9563691288594758]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[0.2645732139942426,0.5805593290520217,0.71338606911949],"aabb_xy":[[0.22894405809428287,0.5449266622951687],[0.30020236989420235,0.6161919958088746]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[-0.26185587673601823,-1.8621693017096959,0.71338606911949],"aabb_xy":[[-0.3258558738481239,-1.9112016715041065],[-0.19785587962391255,-1.8131369319152852]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[0.5631040807245433,1.1945007008641135,0.71338606911949],"aabb_xy":[[0.4831040804509364,1.1215511530383966],[0.6431040809981503,1.26745024868983]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-0.35454539629363835,0.02423099649227023,0.71338606911949],"aabb_xy":[[-0.36334745160261106,0.016419670337341152],[-0.34574334098466564,0.032042322647199306]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.4080186828714283,-1.9644794354595887,0.71338606911949],"aabb_xy":[[-0.4417942420621212,-1.9785179306727534],[-0.37424312368073526,-1.9504409402464236]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.6713078214979687,1.2003900469857474,0.71338606911949],"aabb_xy":[[-0.6841797249989088,1.1203900465719112],[-0.6584359179970285,1.2803900473995835]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_18","position":[-0.5012364454946941,-0.4657556035894381,0.71338606911949],"aabb_xy":[[-0.5225144536381664,-0.5307556059155111],[-0.4799584373512219,-0.40075560126336496]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.5665405989440959,-2.354804194532929,0.71338606911949],"aabb_xy":[[0.5237738920646757,-2.4188041979547314],[0.6093073058235161,-2.2908041911111265]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_20","position":[-0.22496318786583258,0.27824902115986827,0.71338606911949],"aabb_xy":[[-0.27495629997502447,0.2282490204856727],[-0.1749700757566407,0.32824902183406396]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[0.6143980798247888,0.6623658387410951,0.71338606911949],"aabb_xy":[[0.5593980816230439,0.6218438721146574],[0.6693980780265336,0.7028878053675326]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6705404297851674,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9268.png","name":"9268"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9268.png","name":"9268"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7237.png","name":"7237"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6813.png","name":"6813"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7536.png","name":"7536"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5892.png","name":"5892"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":840.2951798062502,"rotation_z_degrees":208.22933700766694,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01669944672534338,-0.01542947710673407,-0.005360426334391115]},{"name":"camera_2","offset_m":[0.012169727594836508,0.008948688500700394,-0.014060879855808936]},{"name":"camera_3","offset_m":[-0.018801393026948825,0.004246685990522324,-0.007491196535398724]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011195034853814217,-0.00035295321908879185,0.0014130780421370277],"end_effector_yaw_offset_degrees":0.9088220535293878},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013354191446322905,0.0008738298755611392,0.0019493187141267814],"end_effector_yaw_offset_degrees":-0.4767386499007187},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001979240440258807,0.0017595831775383017,0.0015720133048487675],"end_effector_yaw_offset_degrees":-0.31580600564254},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011560364596999513,-0.0014188478278273496,-0.0006278593873796589],"end_effector_yaw_offset_degrees":0.006125296373573397}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008694468781951601,-0.0036236956813892208],"position_m":[0.16843055312180485,0.22647630431861077,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002662214866811732,-0.004406194138762202],"position_m":[0.23746221486681174,-0.3680061941387622,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0043395024021907055,0.004722322782199005],"position_m":[0.2079395024021907,-0.04107767721780099,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00224344700004959,0.001366775645347023],"position_m":[0.3315565529999504,0.11906677564534703,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1ad5b1c2761413a5eff260afcb89e6113882a3e9fe7f69cf6ac527b9b55909d8","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9268/tex_ceiling_textures_5892/tex_floor_textures_7536/tex_table_textures_7237/tex_wall_textures_6813","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1576899629572149078,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1576899629572149078,"visual_seed":1576899629572149078,"scene_id":"lab_003","finished_at":"2026-09-04T17:30:13"}
+{"episode_id":"ep_000001","started_at":"2026-09-04T17:40:27","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[0.23794412385075625,1.684194746321317,0.71338606911949],"aabb_xy":[[0.23380826751805608,1.64669474687696],[0.24207998018345647,1.721694745765674]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_1","position":[0.04317578549871104,-1.2165665173067672,0.71338606911949],"aabb_xy":[[-0.016824214752690143,-1.270847842343232],[0.10317578575011221,-1.1622851922703026]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[-0.5586001722457998,0.7214835305393401,0.71338606911949],"aabb_xy":[[-0.5625140454412223,0.7127345151327832],[-0.5546862990503774,0.7302325459458968]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[-0.23285554794113578,0.6826298146043284,0.71338606911949],"aabb_xy":[[-0.2828555489602711,0.6461635988665005],[-0.1828555469220005,0.7190960303421564]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.35610703297536306,0.34963371220877715,0.71338606911949],"aabb_xy":[[0.3186070321833676,0.34326587125058705],[0.3936070337673585,0.35600155316696724]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_5","position":[0.4399052437855846,1.0252006136044516,0.71338606911949],"aabb_xy":[[0.3759052421075872,0.9766832221251371],[0.503905245463582,1.0737180050837656]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[-0.015156446933273782,1.4862660889602473,0.71338606911949],"aabb_xy":[[-0.028387392467955075,1.4730386699382476],[-0.0019255013985924867,1.4994935079822465]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[-0.4638017107312725,0.18023326537621553,0.71338606911949],"aabb_xy":[[-0.5278017110052508,0.13016716517892754],[-0.3998017104572943,0.23029936557350347]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[0.6202946403562386,0.6416407813852549,0.71338606911949],"aabb_xy":[[0.5708142191422798,0.5776407834724032],[0.6697750615701974,0.7056407792981069]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[-0.30993941709236045,-1.9100939360260671,0.71338606911949],"aabb_xy":[[-0.32694951438241104,-1.9262284245243408],[-0.29292931980230974,-1.893959447527793]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_10","position":[0.6209974908746569,-0.32460438667321245,0.71338606911949],"aabb_xy":[[0.5710200740094032,-0.374604388162461],[0.6709749077399104,-0.2746043851839639]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_11","position":[-0.6378253662605334,-1.8342004009820903,0.71338606911949],"aabb_xy":[[-0.6682234773596769,-1.8646073029837598],[-0.6074272551613897,-1.8037934989804207]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_12","position":[-0.20161111672680354,-1.110202838772605,0.71338606911949],"aabb_xy":[[-0.21981694038805122,-1.1212282393545967],[-0.18340529306555586,-1.0991774381906134]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.3358953919035721,-2.402683228695082,0.71338606911949],"aabb_xy":[[0.27089539186926936,-2.4493839053754094],[0.4008953919378748,-2.355982552014755]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_14","position":[0.4074180787311248,-1.4758803068729325,0.71338606911949],"aabb_xy":[[0.3575353818534286,-1.5258803061192074],[0.45730077560882104,-1.4258803076266577]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[0.445294537667418,0.7406613226518739,0.71338606911949],"aabb_xy":[[0.39529970473947645,0.6906613237566304],[0.49528937059535966,0.7906613215471174]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[0.584173772869794,-2.55807048516512,0.71338606911949],"aabb_xy":[[0.5788361972037894,-2.5830704860942597],[0.5895113485357986,-2.53307048423598]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[0.05459216772988551,-2.372788813087202,0.71338606911949],"aabb_xy":[[0.026747130949278386,-2.4035733118255136],[0.08243720451049263,-2.3420043143488902]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[-0.43311413540505606,1.7290960132092912,0.71338606911949],"aabb_xy":[[-0.47588084228447625,1.6650960097874887],[-0.39034742852563586,1.7930960166310936]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[-0.15542342151814692,-1.7689082102618927,0.71338606911949],"aabb_xy":[[-0.1624637314516839,-1.8489082096615643],[-0.14838311158460993,-1.6889082108622215]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_20","position":[0.08778903487085044,-2.1431016116945942,0.71338606911949],"aabb_xy":[[0.05075492544279072,-2.177478819028303],[0.12482314429891014,-2.1087244043608844]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[0.13945720986191323,1.4651484087841387,0.71338606911949],"aabb_xy":[[0.05946338628335504,1.3851484061912975],[0.21945103344047148,1.5451484113769807]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.019312052505748856,-1.754951062068359,0.71338606911949],"aabb_xy":[[-0.05362832968036679,-1.804951062041537],[0.015004224668869082,-1.7049510620951815]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[0.4559343975105927,-1.6356453270304503,0.71338606911949],"aabb_xy":[[0.4466407792734422,-1.6731453255185842],[0.46522801574774336,-1.5981453285423164]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_24","position":[0.05198520005652918,1.2047208538578245,0.71338606911949],"aabb_xy":[[-0.012010497338567405,1.1407208555571158],[0.11598089745162576,1.2687208521585331]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_25","position":[0.6673626337366736,-1.3087886235367423,0.71338606911949],"aabb_xy":[[0.6632466836246008,-1.3129041785695876],[0.6714785838487461,-1.3046730685038965]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_26","position":[-0.09940587111900157,1.0935337441491173,0.71338606911949],"aabb_xy":[[-0.1337027821367422,1.059236857939176],[-0.06510896010126092,1.1278306303590586]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_27","position":[0.31548970180784397,-1.3621166330654606,0.71338606911949],"aabb_xy":[[0.23548970073472364,-1.371894679402845],[0.3954897028809643,-1.3523385867280762]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[-0.6071051892413284,-1.003868443570977,0.71338606911949],"aabb_xy":[[-0.664735658128599,-1.0638684424976874],[-0.5494747203540573,-0.9438684446442662]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_29","position":[-0.4687614003995786,-2.4096269114627242,0.71338606911949],"aabb_xy":[[-0.538761402208324,-2.4309806802269116],[-0.3987613985908331,-2.388273142698537]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_30","position":[0.643203718629791,1.5161560439867139,0.71338606911949],"aabb_xy":[[0.5782037159919975,1.464676445287267],[0.7082037212675845,1.5676356426861608]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_31","position":[-0.32269175663726923,1.6881652831134804,0.71338606911949],"aabb_xy":[[-0.34560746952231913,1.665260985977057],[-0.29977604375221933,1.711069580249904]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_32","position":[0.2927804000168983,-0.795627263353818,0.71338606911949],"aabb_xy":[[0.2466953087621668,-0.8596272606063731],[0.33886549127162974,-0.7316272661012628]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_33","position":[0.36779093809918617,1.5444631958000943,0.71338606911949],"aabb_xy":[[0.28779093666905897,1.4649460407874846],[0.44779093952931337,1.6239803508127035]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6606936929979813,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2741.png","name":"2741"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2741.png","name":"2741"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8119.png","name":"8119"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7523.png","name":"7523"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5588.png","name":"5588"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5872.png","name":"5872"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":812.0747873966656,"rotation_z_degrees":228.23937188501125,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015264481823705012,0.013471928896301059,0.006073941064210931]},{"name":"camera_2","offset_m":[-0.015646836564642184,0.000945041369543858,0.006664773750406496]},{"name":"camera_3","offset_m":[0.013766087566898986,-0.01355302957958843,-0.01085920976190871]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001396719879855509,0.00024747851891467705,-0.001519583584941456],"end_effector_yaw_offset_degrees":-0.01785179811864901},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001522323098271031,-0.0008549307949891913,-0.0010707891001123895],"end_effector_yaw_offset_degrees":0.007603891051158662},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012700310286893404,-0.000858423789314756,0.0004372477547493329],"end_effector_yaw_offset_degrees":-0.03413568258675315},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005096255119140857,0.0008710887250110858,-0.0017286847768767048],"end_effector_yaw_offset_degrees":-0.4604781784026464}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00023873896359597607,-0.0003196623686557128],"position_m":[0.16953873896359598,0.22978033763134428,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004699778502400069,0.0023253945286221414],"position_m":[0.23010022149759993,-0.36127460547137785,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004309092901697685,0.0031163696670752144],"position_m":[0.20790909290169768,-0.042683630332924785,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004808526802517795,0.0015082573055374658],"position_m":[0.3289914731974822,0.11920825730553747,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"05501efcf560d44d4585107e50e801c657bb2f73d521b3273bed0a83d61b1be4","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2741/tex_ceiling_textures_5872/tex_floor_textures_5588/tex_table_textures_8119/tex_wall_textures_7523","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6255261520553577015,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6255261520553577015,"visual_seed":6255261520553577015,"scene_id":"lab_003","finished_at":"2026-09-04T17:44:31"}
+{"episode_id":"ep_000002","started_at":"2026-09-04T17:44:36","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.3149525136670161,0.6963773943597467,0.71338606911949],"aabb_xy":[[-0.3394987292897668,0.6661284978107095],[-0.2904062980442654,0.7266262909087836]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_1","position":[-0.19021171219628108,1.339458537093154,0.71338606911949],"aabb_xy":[[-0.227711712301874,1.3326363752401726],[-0.1527117120906881,1.346280698946135]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_2","position":[-0.33399264284248376,-0.7916950862499244,0.71338606911949],"aabb_xy":[[-0.3939926430938849,-0.8459764112863889],[-0.2739926425910825,-0.7374137612134596]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[-0.6600678433398598,-0.07212647532548644,0.71338606911949],"aabb_xy":[[-0.6791801506978387,-0.09126125420272846],[-0.6409555359818809,-0.05299169644824442]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.4254368346643756,0.921667104732919,0.71338606911949],"aabb_xy":[[-0.4754099001968911,0.8716671049203862],[-0.3754637691318602,0.971667104545452]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_5","position":[-0.08211195093204693,-1.1027966647770004,0.71338606911949],"aabb_xy":[[-0.10428447790869776,-1.1249723319331237],[-0.05993942395539609,-1.0806209976208772]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[-0.010936751218778129,-0.7188720166975133,0.71338606911949],"aabb_xy":[[-0.07093675106534492,-0.7756906388905519],[0.04906324862778866,-0.6620533945044745]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[-0.4464676137364731,1.0984007264818487,0.71338606911949],"aabb_xy":[[-0.4573192199853487,1.0875414357541977],[-0.4356160074875975,1.1092600172094997]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[-0.27628159718154505,-1.5456136338921214,0.71338606911949],"aabb_xy":[[-0.29378159631591216,-1.5554932609297092],[-0.2587815980471778,-1.5357340068545335]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_9","position":[0.620082145855356,-0.81988431958226,0.71338606911949],"aabb_xy":[[0.5988041377118838,-0.8848843219083331],[0.6413601539988283,-0.754884317256187]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[0.6060658527890783,-1.3277745548592288,0.71338606911949],"aabb_xy":[[0.5420658536193083,-1.3745412419781913],[0.6700658519588482,-1.2810078677402663]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.3355830086680535,1.1233494636567931,0.71338606911949],"aabb_xy":[[-0.37308300985284626,1.1189312409607324],[-0.29808300748326066,1.1277676863528534]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[-0.14194300446797403,1.7135466702440332,0.71338606911949],"aabb_xy":[[-0.221943001482222,1.6934121185706217],[-0.06194300745372605,1.7336812219174442]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[-0.31912381968279746,-1.74185504920574,0.71338606911949],"aabb_xy":[[-0.3429600373234026,-1.8318550500142265],[-0.29528760204219245,-1.6518550483972536]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[0.3989289252339536,1.1782904080292491,0.71338606911949],"aabb_xy":[[0.3928342973458353,1.1697210134775804],[0.40502355312207194,1.1868598025809178]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[0.13528829170941947,-0.9555947303625041,0.71338606911949],"aabb_xy":[[0.07028829167511674,-1.0022954070428312],[0.2002882917437222,-0.9088940536821767]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_16","position":[-0.5645529237144615,-1.210141166534733,0.71338606911949],"aabb_xy":[[-0.5698904993804662,-1.2351411674638728],[-0.5592153480484571,-1.1851411656055932]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[-0.6179012070687826,-1.0302655844872128,0.71338606911949],"aabb_xy":[[-0.6529012062616006,-1.0412326304848751],[-0.5829012078759641,-1.01929853848955]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.09203863678450275,0.7533079804082168,0.71338606911949],"aabb_xy":[[0.028038637490334542,0.6893218400393626],[0.15603863607867097,0.817294120777071]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[0.25136459353002116,-1.4403067613245188,0.71338606911949],"aabb_xy":[[0.18736459315248755,-1.4900520281753311],[0.3153645939075548,-1.3905614944737066]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66908862537057,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2389.png","name":"2389"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2389.png","name":"2389"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5361.png","name":"5361"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7186.png","name":"7186"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6852.png","name":"6852"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4206.png","name":"4206"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":524.9141880900553,"rotation_z_degrees":353.02933681948014,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012026294194734787,-0.019628100248640087,0.002623383301327307]},{"name":"camera_2","offset_m":[0.014559593065742667,-0.002800705389530745,0.006524556421974942]},{"name":"camera_3","offset_m":[-0.012538383753240047,-0.01719613953379527,0.013460074059364852]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013571736765482525,0.0010127221664030868,-0.0013726667669036476],"end_effector_yaw_offset_degrees":0.07729732255359045},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00030155894150881357,0.0014676129020886933,0.0016841376077564988],"end_effector_yaw_offset_degrees":0.5031415876213969},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009786082567963105,0.000586104231757238,-0.00020081937477176796],"end_effector_yaw_offset_degrees":-0.6569865559892907},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009408979832602423,0.0014657406068641263,0.00038542812249677373],"end_effector_yaw_offset_degrees":0.2454991096596033}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028442422379739993,0.001703040367630475],"position_m":[0.172144242237974,0.23180304036763047,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026907300707770454,-0.0017104895841539803],"position_m":[0.23749073007077706,-0.36531048958415396,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002985453237643287,0.00032684382727691825],"position_m":[0.2065854532376433,-0.04547315617272308,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002007348837275582,-0.0025678968731968365],"position_m":[0.3358073488372756,0.11513210312680316,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"554b464e9f3987fe9abf896ba43e09e0db1f99398fff62edeeffabb378555729","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2389/tex_ceiling_textures_4206/tex_floor_textures_6852/tex_table_textures_5361/tex_wall_textures_7186","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6149814768009253516,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6149814768009253516,"visual_seed":6149814768009253516,"scene_id":"lab_003","finished_at":"2026-09-04T17:48:19"}
+{"episode_id":"ep_000003","started_at":"2026-09-04T17:48:24","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_0","position":[-0.509982746538969,1.0571089003768708,0.71338606911949],"aabb_xy":[[-0.5739827438246177,1.0156021814240268],[-0.4459827492533204,1.0986156193297147]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_1","position":[-0.27511220013513044,-1.983588592361563,0.71338606911949],"aabb_xy":[[-0.31011220003114925,-1.9919628278735033],[-0.24011220023911153,-1.9752143568496232]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.3146556586703153,0.4319501559248393,0.71338606911949],"aabb_xy":[[0.27715565817295706,0.42798147237672085],[0.35215565916767355,0.4359188394729577]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[0.08281131669643838,-1.1615429194929108,0.71338606911949],"aabb_xy":[[-0.007188685637580683,-1.2390252740780234],[0.17281131903045743,-1.0840605649077981]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_4","position":[0.18349763995658974,1.4179092773945388,0.71338606911949],"aabb_xy":[[0.14219309689285375,1.3539092778264215],[0.22480218302032573,1.4819092769626556]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[0.48484917577024134,0.486908365142829,0.71338606911949],"aabb_xy":[[0.4473491756646484,0.4800862032898478],[0.5223491758758343,0.49373052699581005]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[-0.34211094975178463,1.7234463024926092,0.71338606911949],"aabb_xy":[[-0.4061109490459528,1.659460162123755],[-0.27811095045761636,1.7874324428614634]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.16683182488641923,-0.8461393261221359,0.71338606911949],"aabb_xy":[[0.1595880588401739,-0.9261393243257382],[0.17407559093266456,-0.7661393279185335]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[0.401768600412058,1.1222298062182663,0.71338606911949],"aabb_xy":[[0.37722238478930725,1.091980909669229],[0.4263148160348087,1.1524787027673031]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_9","position":[-0.17009294778566075,1.0399749168917336,0.71338606911949],"aabb_xy":[[-0.17405343155539513,1.032307052306213],[-0.16613246401592638,1.0476427814772542]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[-0.13651298098351572,-0.09919483870849044,0.71338606911949],"aabb_xy":[[-0.18651298264501046,-0.14919328096419313],[-0.08651297932202094,-0.04919639645278772]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[-0.5107000695373769,1.502245783730427,0.71338606911949],"aabb_xy":[[-0.5480313460626194,1.4675927289355748],[-0.4733687930121342,1.5368988385252793]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[-0.1765499215752664,-0.6291374349870733,0.71338606911949],"aabb_xy":[[-0.22652873008558227,-0.679137434992792],[-0.1265711130649505,-0.5791374349813544]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[-0.611768270976194,-2.3567277230107546,0.71338606911949],"aabb_xy":[[-0.6767682688578419,-2.4078513867172955],[-0.5467682730945463,-2.3056040593042137]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[0.09484611227372419,1.1498228822301315,0.71338606911949],"aabb_xy":[[0.0779353798373824,1.1363506766375169],[0.11175684471006596,1.1632950878227462]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[-0.5834678798819626,-1.144439515219517,0.71338606911949],"aabb_xy":[[-0.5905081898154996,-1.2244395146191884],[-0.5764275699484256,-1.0644395158198456]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[-0.35160843386352236,-2.1117185102663156,0.71338606911949],"aabb_xy":[[-0.42160843027348405,-2.1321564459179965],[-0.28160843745356046,-2.091280574614633]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[0.011578213630269563,-1.0192018904525744,0.71338606911949],"aabb_xy":[[-0.005431883659781088,-1.0353363789508483],[0.028588310920320215,-1.0030674019543004]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_18","position":[0.6881514474405761,-1.0778964603977355,0.71338606911949],"aabb_xy":[[0.6840732895335264,-1.0819774406459988],[0.6922296053476258,-1.0738154801494721]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[-0.26537973883842836,-0.9813732430854565,0.71338606911949],"aabb_xy":[[-0.30037974018991004,-1.001732979042277],[-0.2303797374869466,-0.9610135071286356]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6658145404720841,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4150.png","name":"4150"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4150.png","name":"4150"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3808.png","name":"3808"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4878.png","name":"4878"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7059.png","name":"7059"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6000.png","name":"6000"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":622.321146644759,"rotation_z_degrees":313.64868908085896,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011561224543475971,-0.014668185788222245,0.011590326656241465]},{"name":"camera_2","offset_m":[0.006950861061818435,0.015355369184886999,0.0068042815372416285]},{"name":"camera_3","offset_m":[0.015584981519638174,0.00046924740543899737,0.011164932612609126]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007394810204999153,0.0002131296213831106,-0.0006957840457339883],"end_effector_yaw_offset_degrees":-0.3291647744923072},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001959246204003065,-0.0016294636318042732,0.0017640725428080856],"end_effector_yaw_offset_degrees":0.8885879179806955},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012687581853547383,-0.00044061887628118915,-5.382065518374276e-05],"end_effector_yaw_offset_degrees":0.15370795016207728},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016136415803510926,0.0010783399009436775,-0.001197512391798456],"end_effector_yaw_offset_degrees":0.7056755846721672}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003666557029045353,0.0014774733039391178],"position_m":[0.17296655702904537,0.23157747330393913,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002359354512595717,0.003804707549176593],"position_m":[0.23715935451259573,-0.35979529245082337,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029954417744101408,0.0003714913747235064],"position_m":[0.20659544177441014,-0.0454285086252765,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008507103417426214,-0.0032718962940612973],"position_m":[0.3329492896582574,0.1144281037059387,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2fe59b9a74c3ebfb9b22e1f7ebb02e10fafd460892b0493823e6b3bed53b9ef9","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4150/tex_ceiling_textures_6000/tex_floor_textures_7059/tex_table_textures_3808/tex_wall_textures_4878","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5152319413928037661,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5152319413928037661,"visual_seed":5152319413928037661,"scene_id":"lab_003","finished_at":"2026-09-04T17:52:27"}
+{"episode_id":"ep_000004","started_at":"2026-09-04T17:55:09","dimensions":{"distractor":{"count":23,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.29325593334918354,-2.3447488517893955,0.71338606911949],"aabb_xy":[[-0.3064071793204729,-2.3697488515460825],[-0.2801046873778942,-2.3197488520327094]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[0.10094789072733668,-0.7663561707364355,0.71338606911949],"aabb_xy":[[0.09079487517318728,-0.8024257123091756],[0.11110090628148603,-0.730286629163695]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[-0.15408132756998494,-1.579662151720215,0.71338606911949],"aabb_xy":[[-0.1845655776970151,-1.629662151501711],[-0.12359707744295478,-1.529662151938719]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_3","position":[0.24603790993561114,-1.8350523636241753,0.71338606911949],"aabb_xy":[[0.16603790946539523,-1.843363071238524],[0.32603791040582714,-1.8267416560098275]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[0.2647871712496741,-1.2916448027611653,0.71338606911949],"aabb_xy":[[0.20319641202568134,-1.3556448008702124],[0.326377930473667,-1.2276448046521187]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_5","position":[-0.5443702944147906,0.6702733115982755,0.71338606911949],"aabb_xy":[[-0.5508719309227953,0.6605054895719658],[-0.5378686579067861,0.6800411336245853]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.5000129729764939,0.5582709325690982,0.71338606911949],"aabb_xy":[[0.4643838170765342,0.5226382658122453],[0.5356421288764537,0.5939035993259512]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[0.01030694267549348,1.4788349701812051,0.71338606911949],"aabb_xy":[[-0.024009334499124457,1.4288349702080274],[0.04462321985011142,1.5288349701543829]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[-0.3958527386107255,1.5884164227048054,0.71338606911949],"aabb_xy":[[-0.40080875879560685,1.565916422502684],[-0.3908967184258444,1.6109164229069273]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[0.5420638733215646,-1.4637675339653908,0.71338606911949],"aabb_xy":[[0.524633158242558,-1.4810396486292412],[0.559494588400571,-1.4464954193015396]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[-0.06969424374856681,-0.2139290970116301,0.71338606911949],"aabb_xy":[[-0.112460950627987,-0.27792910043343255],[-0.026927536869146618,-0.14992909358982764]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_11","position":[-0.18163712986402303,-0.2705908105654471,0.71338606911949],"aabb_xy":[[-0.20522225332791788,-0.3355908128108788],[-0.15805200640012818,-0.20559080832001525]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.25778645869436884,0.22403296782887994,0.71338606911949],"aabb_xy":[[-0.31277967003150564,0.16903296749008634],[-0.20279324735723214,0.27903296816767353]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[0.6269644046916669,-1.8296378723344544,0.71338606911949],"aabb_xy":[[0.616123926465152,-1.8468241536251033],[0.6378048829181818,-1.812451591043806]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_14","position":[0.02322533329935894,1.1204237420252938,0.71338606911949],"aabb_xy":[[-0.04177466485656012,1.0941274974753816],[0.088225331455278,1.146719986575206]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[0.608515288519287,-1.025129518883689,0.71338606911949],"aabb_xy":[[0.5585152875687541,-1.0566786658872105],[0.6585152894698197,-0.9935803718801677]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[-0.1998210423486667,1.0514120598926113,0.71338606911949],"aabb_xy":[[-0.2798210437787939,0.9718949048800019],[-0.11982104091853948,1.1309292149052208]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[-0.16531053534049867,-1.0541473993615291,0.71338606911949],"aabb_xy":[[-0.21540799932157229,-1.118147399871341],[-0.11521307135942505,-0.9901473988517173]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_18","position":[-0.43649848238136296,-1.7742136234441224,0.71338606911949],"aabb_xy":[[-0.47149848157418117,-1.7851806694417849],[-0.40149848318854464,-1.7632465774464594]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.5685372222309095,-2.158665765683526,0.71338606911949],"aabb_xy":[[0.4785372185539911,-2.2200981722606294],[0.6585372259078275,-2.0972333591064207]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[-0.06866567397867529,0.29093524884136324,0.71338606911949],"aabb_xy":[[-0.10366567387469415,0.2825610133294233],[-0.03366567408265641,0.2993094843533032]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[0.5768020168254915,1.506271846896405,0.71338606911949],"aabb_xy":[[0.48680201710231724,1.4831984943612249],[0.6668020165486656,1.5293451994315845]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[-0.473712254736243,-2.054520062244851,0.71338606911949],"aabb_xy":[[-0.4849573103068608,-2.0657618599689465],[-0.4624671991656251,-2.043278264520756]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6648356065072603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5061.png","name":"5061"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5061.png","name":"5061"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5780.png","name":"5780"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5026.png","name":"5026"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2908.png","name":"2908"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1566.png","name":"1566"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":597.7161328576055,"rotation_z_degrees":31.654961477264063,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004961828600262112,0.004093898849265948,-0.016645948259105474]},{"name":"camera_2","offset_m":[-0.008904938422286408,-0.00962373606833791,0.004344509978769041]},{"name":"camera_3","offset_m":[-0.00939917458172697,-0.01745881327583692,0.01720866266967883]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003856220469540296,-0.0018815184433776833,0.0005442688157065475],"end_effector_yaw_offset_degrees":0.48232142536288913},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001260750557256934,-0.00044325567205677095,-0.0016318310646952906],"end_effector_yaw_offset_degrees":-0.9910350116930429},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000979678792336312,0.0016259463994815122,0.0009859824927114878],"end_effector_yaw_offset_degrees":-0.21709558537892426},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00022415321060190326,-0.0018573712705967993,0.00024415982643847525],"end_effector_yaw_offset_degrees":0.8686022246331906}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0045478720570021,0.004056517752698161],"position_m":[0.1738478720570021,0.23415651775269816,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00019593070213318707,0.002256213090849092],"position_m":[0.2349959307021332,-0.36134378690915087,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004896517585426209,-0.000505466925174061],"position_m":[0.1987034824145738,-0.04630546692517406,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0001799887656275534,-0.0032574483143182308],"position_m":[0.33362001123437246,0.11444255168568176,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"239e7c7cb0b8363ebd36674868b047a7b3e5988438e9ceca6c18d17845f2087c","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0010.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5061/tex_ceiling_textures_1566/tex_floor_textures_2908/tex_table_textures_5780/tex_wall_textures_5026","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5869069101800608361,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5869069101800608361,"visual_seed":5869069101800608361,"scene_id":"lab_003","finished_at":"2026-09-04T17:58:48"}
+{"episode_id":"ep_000005","started_at":"2026-09-04T17:58:52","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_0","position":[-0.5554351909914566,-1.5542441377934573,0.71338606911949],"aabb_xy":[[-0.6054181411789358,-1.6042441374360175],[-0.5054522408039771,-1.5042441381508966]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[-0.3037724217725807,1.1442991163239,0.71338606911949],"aabb_xy":[[-0.34127242212080844,1.1325077207428165],[-0.2662724214243529,1.1560905119049836]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[0.03145130335492896,1.7237228346151405,0.71338606911949],"aabb_xy":[[0.0014596406210586332,1.69372283527834],[0.06144296608879929,1.753722833951941]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_3","position":[0.10326160698304443,-2.295667675941367,0.71338606911949],"aabb_xy":[[0.01953938148296197,-2.3856676794760627],[0.1869838324831269,-2.205667672406671]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.46560736557204496,0.36849754237822285,0.71338606911949],"aabb_xy":[[0.4016073636597026,0.3125863931202124],[0.5296073674843873,0.4244086916362333]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[0.49221963321456386,-1.9303605895237719,0.71338606911949],"aabb_xy":[[0.44722704649611345,-1.9753605887982204],[0.5372122199330143,-1.885360590249323]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[-0.5866653617875004,-0.6167742312025151,0.71338606911949],"aabb_xy":[[-0.6361457830014592,-0.6807742291153669],[-0.5371849405735416,-0.5527742332896632]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[0.5532492929948136,1.020491629954178,0.71338606911949],"aabb_xy":[[0.4892492926172801,0.9707463631033655],[0.6172492933723474,1.07023689680499]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[-0.447890640484782,-2.147728998727381,0.71338606911949],"aabb_xy":[[-0.4534723121189108,-2.1602289985451564],[-0.4423089688506533,-2.135228998909605]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_9","position":[-0.23599291299921366,1.62339938098301,0.71338606911949],"aabb_xy":[[-0.27332418952445625,1.588746326188158],[-0.19866163647397103,1.6580524357778625]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[0.40598338603719664,-1.576417018933051,0.71338606911949],"aabb_xy":[[0.3209833876197734,-1.661291314395336],[0.49098338445461986,-1.491542723470766]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.3334729743179733,1.0554411591871125,0.71338606911949],"aabb_xy":[[-0.370972975833605,1.0442143861709672],[-0.2959729728023416,1.0666679322032573]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[0.49689158727269844,-0.9872029371344111,0.71338606911949],"aabb_xy":[[0.48918839659862134,-0.9949123078331492],[0.5045947779467754,-0.9794935664356732]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_13","position":[-0.058745981457795415,1.0307649200724343,0.71338606911949],"aabb_xy":[[-0.06752720860503166,1.0219851727839042],[-0.0499647543105592,1.0395446673609647]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.6401959314931778,-1.1433851159716681,0.71338606911949],"aabb_xy":[[0.6180234045165268,-1.1655607831277912],[0.6623684584698285,-1.121209448815545]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.6808131924502865,-1.8707780428803982,0.71338606911949],"aabb_xy":[[0.6699727142237716,-1.8879643241710469],[0.6916536706768014,-1.853591761589749]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[-0.06632258356494303,1.6792971668805108,0.71338606911949],"aabb_xy":[[-0.07273639720812795,1.6728873466328422],[-0.05990876992175808,1.685706987128179]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[-0.31259357265081783,0.41347337320286615,0.71338606911949],"aabb_xy":[[-0.32950430508715955,0.40000116761025156],[-0.295682840214476,0.4269455787954806]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.1992398767592105,1.3009611582431702,0.71338606911949],"aabb_xy":[[-0.26323987897961754,1.2565880741178819],[-0.13523987453880348,1.3453342423684584]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[0.44116855464190374,-2.3945851099211852,0.71338606911949],"aabb_xy":[[0.40616855329042195,-2.4149448458780056],[0.4761685559933854,-2.374225373964364]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641981137284753,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/225.png","name":"225"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/225.png","name":"225"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4073.png","name":"4073"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3760.png","name":"3760"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2535.png","name":"2535"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2736.png","name":"2736"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":772.7816161088056,"rotation_z_degrees":298.1635252112932,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011681960532385594,0.0062739463084321954,-0.01875318723440454]},{"name":"camera_2","offset_m":[-0.017792838660096212,0.00252617480908374,-0.00209685670995376]},{"name":"camera_3","offset_m":[0.019266591334392808,0.002049802842947583,-0.009779076297058417]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017366301476546698,0.0009369669855239971,-0.0011141825748444433],"end_effector_yaw_offset_degrees":0.16173566137700002},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012440870510316035,0.0011840828858088559,-0.0008597776523366952],"end_effector_yaw_offset_degrees":-0.5541595231269081},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008804439131022339,0.0012424558201685398,0.0014626168565358027],"end_effector_yaw_offset_degrees":-0.5257533535899503},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.1812485264774911e-05,0.00019784715967001475,-0.0010027908619274965],"end_effector_yaw_offset_degrees":0.5301816833070814}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024470986577014475,0.0013234133722545864],"position_m":[0.16685290134229855,0.23142341337225458,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022743367635620995,-0.0003684829347176226],"position_m":[0.23252566323643792,-0.3639684829347176,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032878173416969617,-0.0018884047162107953],"position_m":[0.20688781734169698,-0.047688404716210796,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019312476126834089,-0.0026454244695567407],"position_m":[0.33186875238731656,0.11505457553044326,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"37ed0324d09ebc57e1eb8fa748500ebcf46c80fbad31042dc00c3cf85442d0f4","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_225/tex_ceiling_textures_2736/tex_floor_textures_2535/tex_table_textures_4073/tex_wall_textures_3760","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3873536207185519416,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3873536207185519416,"visual_seed":3873536207185519416,"scene_id":"lab_003","finished_at":"2026-09-04T18:02:47"}
+{"episode_id":"ep_000006","started_at":"2026-09-04T18:02:50","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[0.32553531932140545,1.3647746541868742,0.71338606911949],"aabb_xy":[[0.3167540921741693,1.3559949068983443],[0.33431654646864173,1.3735544014754049]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[-0.20981294584382348,-0.272537694848757,0.71338606911949],"aabb_xy":[[-0.23481294500945663,-0.27948994055411364],[-0.1848129466781904,-0.2655854491434005]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[0.6527730366862528,0.520335488264779,0.71338606911949],"aabb_xy":[[0.6454907203095889,0.4303354846552699],[0.6600553530629162,0.6103354918742878]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[0.5621629929094838,-0.2119158384014148,0.71338606911949],"aabb_xy":[[0.5542397126707355,-0.23441583863941814],[0.5700862731482321,-0.18941583816341143]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.05025596980680935,-1.226857413529471,0.71338606911949],"aabb_xy":[[-0.05571391544382941,-1.30685741683713],[-0.04479802416978928,-1.1468574102218119]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.2939703088717478,0.7162710713572955,0.71338606911949],"aabb_xy":[[-0.358970309828875,0.6643228594235898],[-0.2289703079146206,0.768219283291001]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.34317168978379,-1.1634303521856737,0.71338606911949],"aabb_xy":[[0.3305689906467136,-1.1760257484105392],[0.3557743889208665,-1.1508349559608082]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_7","position":[0.2793183298024139,-1.4820983773566423,0.71338606911949],"aabb_xy":[[0.2193183281594921,-1.5340985266485865],[0.3393183314453358,-1.430098228064698]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_8","position":[-0.03705232796981184,-2.316028691481799,0.71338606911949],"aabb_xy":[[-0.04049300420986901,-2.319890124456164],[-0.033611651729754666,-2.312167258507435]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_9","position":[0.1717123176406311,-0.7676883293542136,0.71338606911949],"aabb_xy":[[0.10671231653468782,-0.7926537024223419],[0.2367123187465744,-0.7427229562860853]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[-0.1922852798363025,-1.8451538281137205,0.71338606911949],"aabb_xy":[[-0.21612149747690762,-1.9351538289222072],[-0.16844906219569747,-1.7551538273052343]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[0.047873572644434925,1.251388988716653,0.71338606911949],"aabb_xy":[[0.027815161031194635,1.2313239018074957],[0.06793198425767522,1.2714540756258106]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.6047509665875819,-0.8482098066006689,0.71338606911949],"aabb_xy":[[0.5576215875857461,-0.9122098076450708],[0.6518803455894174,-0.7842098055562668]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[-0.43645025992931724,0.7886131483658301,0.71338606911949],"aabb_xy":[[-0.46099647555206796,0.758364251816793],[-0.4119040443065665,0.8188620449148671]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[0.10121219374817048,1.3781843248895314,0.71338606911949],"aabb_xy":[[0.08430146131182868,1.3647121192969167],[0.11812292618451224,1.391656530482146]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[-0.27797257866778885,-2.1571690281992772,0.71338606911949],"aabb_xy":[[-0.29307488012880684,-2.1722705498303383],[-0.26287027720677064,-2.1420675065682144]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[-0.5199932632164674,1.1829789330667935,0.71338606911949],"aabb_xy":[[-0.5343276883426309,1.1709187175122546],[-0.505658838090304,1.1950391486213323]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[-0.5687094603962098,1.716920865865268,0.71338606911949],"aabb_xy":[[-0.576752820322165,1.6319208647699013],[-0.5606661004702547,1.8019208669606341]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_18","position":[0.21983609230152157,0.8751856436075496,0.71338606911949],"aabb_xy":[[0.20466392301988826,0.8600167866793463],[0.23500826158315494,0.890354500535753]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.5665950068024739,0.2468109568106991,0.71338606911949],"aabb_xy":[[0.5166018946932821,0.1968109561365035],[0.6165881189116659,0.2968109574848948]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_20","position":[0.059591057137431624,1.6289625024730507,0.71338606911949],"aabb_xy":[[0.05469176483086812,1.6012855831704818],[0.06449034944399512,1.6566394217756193]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[-0.041962843755506296,-0.7528355636525796,0.71338606911949],"aabb_xy":[[-0.09196284511639352,-0.8028134682279952],[0.00803715760538092,-0.7028576590771639]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[-0.4133359085333434,-1.0697566805919545,0.71338606911949],"aabb_xy":[[-0.46333590948387615,-1.101305827595476],[-0.36333590758281054,-1.038207533588433]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[-0.05229486222261848,-2.015189503193244,0.71338606911949],"aabb_xy":[[-0.08573503741863807,-2.0486331290241737],[-0.018854687026598867,-1.9817458773623136]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_24","position":[-0.23731882385488778,-0.6605661352545193,0.71338606911949],"aabb_xy":[[-0.24531231365016984,-0.6685642671949951],[-0.22932533405960578,-0.6525680033140439]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_25","position":[0.4157085181097837,1.4647356518686938,0.71338606911949],"aabb_xy":[[0.4032411600000481,1.4522703272353705],[0.4281758762195194,1.4772009765020175]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_26","position":[-0.5845260707478132,-2.101160565557107,0.71338606911949],"aabb_xy":[[-0.6745260674834234,-2.154344028874401],[-0.49452607401220294,-2.047977102239812]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_27","position":[-0.04280850904502553,1.0393936863080935,0.71338606911949],"aabb_xy":[[-0.050432777135203784,1.03176046277155],[-0.03518424095484729,1.0470269098446374]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_28","position":[-0.5152047790776335,0.19449154914740951,0.71338606911949],"aabb_xy":[[-0.528356025048923,0.169491549390723],[-0.5020535331063443,0.2194915489040961]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_29","position":[0.33969463641749775,-0.7090820426813873,0.71338606911949],"aabb_xy":[[0.3097029736836274,-0.7390820420181878],[0.3696862991513681,-0.6790820433445868]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_30","position":[-0.3603605662820452,-0.6649152474977986,0.71338606911949],"aabb_xy":[[-0.4243605633941509,-0.7139476172922093],[-0.2963605691699395,-0.6158828777033881]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_31","position":[0.02066943532794685,1.503285612652118,0.71338606911949],"aabb_xy":[[-0.013627475689793774,1.4689887264421766],[0.054966346345687464,1.5375824988620592]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_32","position":[0.4327315171787771,1.0491654372057826,0.71338606911949],"aabb_xy":[[0.39814043432473184,0.9841654369207516],[0.4673226000328223,1.1141654374908136]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6649760713945125,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3143.png","name":"3143"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3143.png","name":"3143"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7019.png","name":"7019"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5738.png","name":"5738"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4116.png","name":"4116"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2599.png","name":"2599"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":516.4185734525502,"rotation_z_degrees":90.4754335818692,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016595299601039372,-0.012423387260102347,-0.00624174856814772]},{"name":"camera_2","offset_m":[-0.009188237775965282,-0.0048248040049828494,-0.011362190709107654]},{"name":"camera_3","offset_m":[-0.002824090762276219,-0.008489267764998077,0.01324325545354255]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005151376819284993,-0.0015797320820219772,0.00055208136074727],"end_effector_yaw_offset_degrees":-0.8297988182827578},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018894594476591756,-0.0018433734697120832,0.0016595894729761911],"end_effector_yaw_offset_degrees":0.4698306046267622},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010391937662712447,-0.000388393850706457,-0.0017196037872534223],"end_effector_yaw_offset_degrees":-0.5824666559652689},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00036902492979625076,-0.0017226660999607466,4.238881993266297e-05],"end_effector_yaw_offset_degrees":-0.28312391041623663}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014396063587191763,0.0009278860747863951],"position_m":[0.17073960635871918,0.2310278860747864,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003150398339958945,-0.0031148070866190546],"position_m":[0.23164960166004106,-0.366714807086619,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003020851775077971,0.0009191945533860244],"position_m":[0.20662085177507797,-0.04488080544661398,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003671626232283045,0.001964957741257681],"position_m":[0.33747162623228305,0.11966495774125768,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6d155fe8c89b3cfc7b43bbcfe4b201dbe39e4908ddf8a90c513419e5ea405f43","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0012.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3143/tex_ceiling_textures_2599/tex_floor_textures_4116/tex_table_textures_7019/tex_wall_textures_5738","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3647433261688286545,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3647433261688286545,"visual_seed":3647433261688286545,"scene_id":"lab_003","finished_at":"2026-09-04T18:06:19"}
+{"episode_id":"ep_000007","started_at":"2026-09-04T18:06:22","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.3598217626154834,0.5492661831019889,0.71338606911949],"aabb_xy":[[0.34232182918149995,0.5317661831817543],[0.3773216960494667,0.5667661830222234]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[0.4804027393650805,-2.213731927146422,0.71338606911949],"aabb_xy":[[0.4755034470585169,-2.2414088464489903],[0.4853020316716439,-2.1860550078438528]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[-0.6332600018921606,0.2074299671960702,0.71338606911949],"aabb_xy":[[-0.6408842699823388,0.1997967436595265],[-0.6256357338019823,0.21506319073261393]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[0.18549558205489147,-0.9235938114910667,0.71338606911949],"aabb_xy":[[0.1629964463286645,-0.9460938122693295],[0.20799471778111844,-0.9010938107128036]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[0.4509452285832529,1.5774134861091675,0.71338606911949],"aabb_xy":[[0.370945230602468,1.5698119451473154],[0.530945226564038,1.5850150270710193]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[-0.357221893011197,-2.1970565427617794,0.71338606911949],"aabb_xy":[[-0.3750153999461134,-2.214856288357577],[-0.3394283860762805,-2.1792567971659818]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[-0.518834910569627,-0.4722975181920277,0.71338606911949],"aabb_xy":[[-0.5401129187130993,-0.5372975205181008],[-0.4975569024261548,-0.4072975158659546]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[-0.09332903458976516,-2.424319420672671,0.71338606911949],"aabb_xy":[[-0.1573290352932345,-2.4703378031455925],[-0.029329033886295812,-2.3783010381997505]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.5998616606754037,1.4690819326162798,0.71338606911949],"aabb_xy":[[0.5648616623647081,1.4613669176927342],[0.634861658986099,1.4767969475398255]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[0.3506224337493222,-1.4266396802357015,0.71338606911949],"aabb_xy":[[0.28662243663721654,-1.4756720500301121],[0.4146224308614279,-1.377607310441291]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_10","position":[0.33610403195049954,-0.8336435729824643,0.71338606911949],"aabb_xy":[[0.2661040293139132,-0.8537484379783297],[0.4061040345870859,-0.8135387079865987]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_11","position":[0.688100397612053,-1.2009221665510992,0.71338606911949],"aabb_xy":[[0.6531003984192346,-1.2118892125487617],[0.7231003968048711,-1.1899551205534362]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_12","position":[-0.2015009481228523,-1.7324009015012325,0.71338606911949],"aabb_xy":[[-0.2515009491419876,-1.7688671172390604],[-0.15150094710371706,-1.6959346857634046]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_13","position":[0.47085904316177496,0.8892444097292396,0.71338606911949],"aabb_xy":[[0.3808590434386007,0.8661710571940596],[0.560859042884949,0.9123177622644193]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_14","position":[-0.6174273878531611,-2.0148485382319503,0.71338606911949],"aabb_xy":[[-0.6518897352513027,-2.049342420629772],[-0.5829650404550191,-1.980354655834127]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.5374234843296668,-0.7621966776663625,0.71338606911949],"aabb_xy":[[0.5095784475490597,-0.7929811764046741],[0.5652685211102739,-0.7314121789280508]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[0.3621656104040929,1.0159447676079623,0.71338606911949],"aabb_xy":[[0.32566978977681416,0.9794608251812047],[0.39866143103137164,1.0524287100347198]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_17","position":[-0.4940393100842202,-0.8841382446460186,0.71338606911949],"aabb_xy":[[-0.5290393083543401,-0.8912123723410068],[-0.45903931181410024,-0.8770641169510305]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_18","position":[-0.14147067546475023,0.4053717845129552,0.71338606911949],"aabb_xy":[[-0.15224364938611798,0.3703717862939162],[-0.13069770154338242,0.4403717827319942]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[-0.23663997524911,-1.2419289153575692,0.71338606911949],"aabb_xy":[[-0.24485452036479396,-1.2506055056552103],[-0.228425430133426,-1.2332523250599277]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[-0.07362744492257323,1.1537061989737025,0.71338606911949],"aabb_xy":[[-0.09654315780762314,1.1308019018372792],[-0.05071173203752333,1.1766104961101262]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.4049303219807595,0.23402446175937452,0.71338606911949],"aabb_xy":[[-0.46493032182732624,0.17720583956633582],[-0.34493032213419267,0.2908430839524132]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6669036274951652,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4944.png","name":"4944"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4944.png","name":"4944"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1168.png","name":"1168"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1697.png","name":"1697"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1712.png","name":"1712"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3906.png","name":"3906"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":606.9588629128018,"rotation_z_degrees":358.1317706017137,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001995625795902175,-0.0019266928523512562,-0.009414961510234235]},{"name":"camera_2","offset_m":[0.006142093617139032,-0.0009741222944554852,0.00695089899457756]},{"name":"camera_3","offset_m":[0.017747645560049336,0.018388509275756162,-0.012310574851910436]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003920103131585407,0.001966723359510223,0.0009449528213698959],"end_effector_yaw_offset_degrees":0.859479559629529},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00018582121182597134,-0.0008737459137111308,-0.0007141920105512235],"end_effector_yaw_offset_degrees":-0.4397818274169265},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001209912933054491,0.0018441599802398677,0.001638987651249738],"end_effector_yaw_offset_degrees":-0.0375443653021752},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009524399460150614,-0.0015608665189268574,0.0019922015702359755],"end_effector_yaw_offset_degrees":-0.7781760054735363}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009656893643066357,0.0020264289335275897],"position_m":[0.17026568936430664,0.23212642893352758,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002297000749357783,0.001696800474360204],"position_m":[0.2370970007493578,-0.36190319952563976,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004653491279283271,0.004721815932541643],"position_m":[0.20313465087207166,-0.041078184067458355,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021709027429615427,-0.001172309866436897],"position_m":[0.33597090274296154,0.11652769013356311,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e4b0dfd60481de4b5a88aba565fd725a2d1842646b4f098dd99f430f6b572c91","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0013.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4944/tex_ceiling_textures_3906/tex_floor_textures_1712/tex_table_textures_1168/tex_wall_textures_1697","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1826423310404763467,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1826423310404763467,"visual_seed":1826423310404763467,"scene_id":"lab_003","finished_at":"2026-09-04T18:09:57"}
+{"episode_id":"ep_000008","started_at":"2026-09-04T18:10:01","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_0","position":[0.2030082040696719,-1.2544959217884946,0.71338606911949],"aabb_xy":[[0.16956802887365227,-1.2879395476194242],[0.23644837926569148,-1.221052295957564]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[-0.35340917313106124,1.0359703674203624,0.71338606911949],"aabb_xy":[[-0.390909174315854,1.0315521447243015],[-0.3159091719462684,1.0403885901164225]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.5312082027087133,-0.30228546417167035,0.71338606911949],"aabb_xy":[[-0.5952082012952857,-0.34929242757117906],[-0.4672082041221408,-0.25527850077216163]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.15139223874093732,-1.9058999970028494,0.71338606911949],"aabb_xy":[[0.07139223547692417,-1.9194600293117627],[0.23139224200495043,-1.892339964693936]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[-0.14605105384971429,-1.9744934622562131,0.71338606911949],"aabb_xy":[[-0.16855105366361667,-1.9789680786266939],[-0.1235510540358119,-1.9700188458857324]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[0.4965022276118347,-0.12539473241328603,0.71338606911949],"aabb_xy":[[0.4630230603507938,-0.15887384578439306],[0.5299813948728758,-0.09191561904217904]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_6","position":[-0.22308105411441226,-1.4253315824031623,0.71338606911949],"aabb_xy":[[-0.288081054148715,-1.4720322590834896],[-0.15808105408010953,-1.378630905722835]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[0.3824436029636058,-1.6048638400493749,0.71338606911949],"aabb_xy":[[0.3678001974095727,-1.619522559706159],[0.3970870085176387,-1.5902051203925907]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[-0.10528702433384418,-1.2007466453426077,0.71338606911949],"aabb_xy":[[-0.1230805312687606,-1.2185463909384053],[-0.08749351739892773,-1.18294689974681]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[-0.551543508879067,1.135401722772135,0.71338606911949],"aabb_xy":[[-0.6131342681030598,1.071401724663088],[-0.4899527496550742,1.1994017208811818]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_10","position":[0.250824915392282,0.5092897432473937,0.71338606911949],"aabb_xy":[[0.24686443162254765,0.5016218786618732],[0.25478539916201637,0.5169576078329144]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[-0.5784494257317261,-0.8817769292304174,0.71338606911949],"aabb_xy":[[-0.5903215087432271,-0.9667769289240677],[-0.5665773427202249,-0.796776929536767]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.28338731934584843,-0.9907155440304256,0.71338606911949],"aabb_xy":[[-0.3058873193559967,-1.0048117636700287],[-0.26088731933570014,-0.9766193243908222]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[-0.48587311589856375,-1.6720639160592894,0.71338606911949],"aabb_xy":[[-0.5104193315213146,-1.7023128126083265],[-0.46132690027581313,-1.6418150195102523]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[-0.5928111074235961,-2.0669064801934645,0.71338606911949],"aabb_xy":[[-0.6427844014268564,-2.116906480748012],[-0.5428378134203355,-2.016906479638917]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[0.319670327394568,-2.3468385247645736,0.71338606911949],"aabb_xy":[[0.2556703302824623,-2.3958708945589846],[0.38367032450667365,-2.2978061549701634]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[-0.4998212862694118,-0.16554631913453033,0.71338606911949],"aabb_xy":[[-0.5099743018235612,-0.20161586070727064],[-0.48966827071526237,-0.12947677756179]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[-0.35595422305214275,1.5823035585694867,0.71338606911949],"aabb_xy":[[-0.42095422120806186,1.5560073140195745],[-0.29095422489622375,1.6085998031193989]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.6688617323851775,-2.571068738250033,0.71338606911949],"aabb_xy":[[0.6612374642949993,-2.5787019617865767],[0.6764860004753558,-2.5634355147134893]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.7124955591634741,1.5347073458983798,0.71338606911949],"aabb_xy":[[0.704381904490097,1.5266015294443505],[0.7206092138368512,1.5428131623524086]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[-0.17040587700819576,-2.3963820593110743,0.71338606911949],"aabb_xy":[[-0.2047221541828137,-2.446382059284252],[-0.13608959983357782,-2.3463820593378966]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.6409625153349419,0.8968792260516527,0.71338606911949],"aabb_xy":[[-0.6634616510611688,0.8743792252733896],[-0.6184633796087149,0.9193792268299156]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[-0.02065640736543206,-1.5261485120727092,0.71338606911949],"aabb_xy":[[-0.06674149862016353,-1.590148509325264],[0.025428683889299416,-1.4621485148201538]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[-0.22643203784210797,1.1863142839121834,0.71338606911949],"aabb_xy":[[-0.27631473471980417,1.1363142846659087],[-0.17654934096441177,1.2363142831584581]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[0.12715545070408862,1.507456754418309,0.71338606911949],"aabb_xy":[[0.11522271634226056,1.4950746016104497],[0.1390881850659167,1.5198389072261684]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[-0.5464048156591614,0.06818053457189688,0.71338606911949],"aabb_xy":[[-0.6364048123947715,0.014997071254602368],[-0.4564048189235511,0.12136399788919139]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_26","position":[0.11667500666428887,1.1369587618343027,0.71338606911949],"aabb_xy":[[0.09924429158528235,1.1196866471704516],[0.13410572174329535,1.1542308764981533]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_27","position":[-0.01082018486734626,1.6060421284275619,0.71338606911949],"aabb_xy":[[-0.048320184811112665,1.5977490383927253],[0.026679815076420144,1.6143352184623985]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6607363201164113,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9175.png","name":"9175"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9175.png","name":"9175"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7183.png","name":"7183"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9437.png","name":"9437"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5800.png","name":"5800"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5029.png","name":"5029"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":736.4427307909385,"rotation_z_degrees":267.39701135673334,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016720804069124694,0.012406022060606026,-5.5648923524415084e-05]},{"name":"camera_2","offset_m":[0.008171217686741412,-0.00805355630320125,0.016057296343418282]},{"name":"camera_3","offset_m":[0.014413352938887247,-0.00031625587927750984,-0.006654122974344215]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009486402257478776,0.0014406924772666163,0.00032271328880385634],"end_effector_yaw_offset_degrees":0.8489726953370726},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018806245276414791,-0.0018115447880408674,0.0008510348508793766],"end_effector_yaw_offset_degrees":0.41564523637667117},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[4.266437401060719e-05,0.0011385821496376256,-0.0014088603725792366],"end_effector_yaw_offset_degrees":-0.2960321267494528},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006739831193740909,-0.0007844519371382531,-0.0014356454494597803],"end_effector_yaw_offset_degrees":0.7091757508714103}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016379923582552367,1.9967150012515505e-05],"position_m":[0.17093799235825524,0.2301199671500125,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030557896913482674,0.004776628665829458],"position_m":[0.23174421030865175,-0.3588233713341705,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019085575447763759,0.002110544897429876],"position_m":[0.20550855754477637,-0.04368945510257012,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002302799319853938,0.0011985648228685511],"position_m":[0.33610279931985393,0.11889856482286855,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"732ab2d0c92866aca5e73a60e74291f1983c60ad2f5caaebff33cc6baf082681","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0014.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9175/tex_ceiling_textures_5029/tex_floor_textures_5800/tex_table_textures_7183/tex_wall_textures_9437","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3037802211783653009,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3037802211783653009,"visual_seed":3037802211783653009,"scene_id":"lab_003","finished_at":"2026-09-04T18:13:48"}
+{"episode_id":"ep_000009","started_at":"2026-09-04T18:13:51","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[0.2238539246950354,-1.620435516202246,0.71338606911949],"aabb_xy":[[0.20829815528477016,-1.6359859494466538],[0.2394096941053007,-1.6048850829578394]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_1","position":[0.41272963605604285,0.6028017252146358,0.71338606911949],"aabb_xy":[[0.3627296374101216,0.5528821815551734],[0.462729634701964,0.6527212688740982]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[0.5600119340581449,-1.7488190647311548,0.71338606911949],"aabb_xy":[[0.47001193732253455,-1.8020025280484488],[0.650011930793755,-1.6956356014138598]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.47676577140160004,-1.1892773710975877,0.71338606911949],"aabb_xy":[[0.4695045238311926,-1.2020643813610972],[0.48402701897200745,-1.1764903608340782]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_4","position":[-0.3950431680197756,-1.5925687869207534,0.71338606911949],"aabb_xy":[[-0.40640490267306173,-1.6039372533270413],[-0.3836814333664894,-1.5812003205144651]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[-0.5360053727054059,-2.2046727706927363,0.71338606911949],"aabb_xy":[[-0.5585053722291132,-2.227168718143356],[-0.5135053731816984,-2.1821768232421146]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[0.28539707973194495,-0.5909687848880345,0.71338606911949],"aabb_xy":[[0.26156086209133994,-0.680968785696521],[0.30923329737255006,-0.500968784079548]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[0.183768831407629,-1.0964622953982979,0.71338606911949],"aabb_xy":[[0.15328458128059885,-1.1464622951797938],[0.21425308153465916,-1.046462295616802]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_8","position":[0.47597152841861745,1.6255221250762673,0.71338606911949],"aabb_xy":[[0.4481264916380104,1.5947376263379556],[0.5038165651992246,1.656306623814579]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.07287553776103928,0.8621977856558884,0.71338606911949],"aabb_xy":[[-0.1628755414379574,0.8007653790787838],[0.017124465915878916,0.9236301922329925]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_10","position":[0.6947548058155115,-0.06417100732962266,0.71338606911949],"aabb_xy":[[0.6795919328385744,-0.07933646462474142],[0.7099176787924486,-0.04900555003450391]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_11","position":[0.17876562479302505,1.489595046482178,0.71338606911949],"aabb_xy":[[0.1412656249759915,1.4849568351710363],[0.2162656246100586,1.49423325779332]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[-0.5413217836761987,1.6949720059549906,0.71338606911949],"aabb_xy":[[-0.5520947575975664,1.6599720077359519],[-0.5305488097548309,1.7299720041740299]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[0.6582282209927535,-0.9639898771122604,0.71338606911949],"aabb_xy":[[0.6154615141133332,-1.0279898805340628],[0.7009949278721735,-0.8999898736904578]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[-0.4200934202841013,-2.4447147882163214,0.71338606911949],"aabb_xy":[[-0.45759342038969425,-2.451536950069302],[-0.38259342017850834,-2.43789262636334]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[-0.42341649398142106,0.8640232869472624,0.71338606911949],"aabb_xy":[[-0.5084164923988443,0.7791489914849774],[-0.33841649556399783,0.9488975824095474]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_16","position":[0.1418100885783663,-0.6407591918340005,0.71338606911949],"aabb_xy":[[0.116810089306404,-0.6571045554301628],[0.16681008785032855,-0.6244138282378381]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[0.3441631940251306,1.3829419695755973,0.71338606911949],"aabb_xy":[[0.26416319375152364,1.3099924217498804],[0.4241631942987376,1.4558915174013138]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.19947824739943287,1.716204868972007,0.71338606911949],"aabb_xy":[[0.10947824506541379,1.6387225143868942],[0.28947824973345193,1.7936872235571195]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[-0.4234740676153641,-1.2111798992976794,0.71338606911949],"aabb_xy":[[-0.42978616715170254,-1.2169468385508984],[-0.41716196807902567,-1.2054129600444605]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[0.5476722265675324,-0.48340536590345584,0.71338606911949],"aabb_xy":[[0.4676722233035193,-0.4969653982123691],[0.6276722298315456,-0.46984533359454245]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_21","position":[-0.12012124924554657,-0.2920315512726015,0.71338606911949],"aabb_xy":[[-0.17511672706620596,-0.3470315527065084],[-0.06512577142488717,-0.2370315498386945]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_22","position":[0.10905549987442054,-2.304120350158342,0.71338606911949],"aabb_xy":[[0.06687108571358981,-2.368120350435553],[0.15123991403525128,-2.2401203498811304]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_23","position":[-0.08539596828572094,1.6660179974867817,0.71338606911949],"aabb_xy":[[-0.13539097924517296,1.6160179984511902],[-0.035400957326268905,1.7160179965223736]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_24","position":[0.21192577584379346,-0.7492471085127768,0.71338606911949],"aabb_xy":[[0.2074951464889533,-0.7546954802474595],[0.21635640519863367,-0.7437987367780943]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_25","position":[-0.35789746608399403,-0.7070445949082911,0.71338606911949],"aabb_xy":[[-0.3841862904044346,-0.7333160285629422],[-0.33160864176355326,-0.6807731612536397]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_26","position":[0.6167402386187815,1.4758614173806346,0.71338606911949],"aabb_xy":[[0.5954622304753092,1.4108614150545613],[0.6380182467622537,1.5408614197067074]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[0.554401204996172,-1.2034791008799945,0.71338606911949],"aabb_xy":[[0.5374904725598302,-1.2169513064726087],[0.5713119374325137,-1.19000689528738]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627981509538569,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9970.png","name":"9970"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9970.png","name":"9970"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4842.png","name":"4842"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8422.png","name":"8422"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8212.png","name":"8212"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4190.png","name":"4190"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":683.5556477931023,"rotation_z_degrees":133.61188440574446,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007006703714522677,-0.01607278776411981,-4.7566953972566495e-05]},{"name":"camera_2","offset_m":[0.0008576036451298993,-0.007800418956784148,0.006585080664947833]},{"name":"camera_3","offset_m":[0.0074208647125221655,-0.007622666516652603,0.010147064771730094]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008994273163959472,0.001144200988032893,-0.0006504443445909636],"end_effector_yaw_offset_degrees":-0.3036516307620136},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000993090452205475,0.001763596106477269,0.0015925224687610632],"end_effector_yaw_offset_degrees":-0.9486461270837916},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001193540139002764,-0.00028667491489298407,0.0013503133268601927],"end_effector_yaw_offset_degrees":-0.59677439785077},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006238735508330407,-0.0007610267674505007,0.0018761640161353826],"end_effector_yaw_offset_degrees":-0.9628484355997491}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029344313006354457,0.004274622808223774],"position_m":[0.17223443130063545,0.23437462280822377,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002309432256132544,0.002138596021560757],"position_m":[0.23249056774386748,-0.36146140397843923,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003450743498590608,-0.0031450935890462587],"position_m":[0.20014925650140938,-0.04894509358904626,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0031640833575390928,-0.0013815049274138835],"position_m":[0.3369640833575391,0.11631849507258611,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cfe6f1b6a578c92ad5fd34c7fb6a7c81b3daf332089b0ca1acb49ea966c4767b","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0015.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9970/tex_ceiling_textures_4190/tex_floor_textures_8212/tex_table_textures_4842/tex_wall_textures_8422","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5976467242324898278,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5976467242324898278,"visual_seed":5976467242324898278,"scene_id":"lab_003","finished_at":"2026-09-04T18:17:27"}
+{"episode_id":"ep_000010","started_at":"2026-09-04T18:22:48","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[-0.05602784417252282,0.7139345761897813,0.71338606911949],"aabb_xy":[[-0.09102784406854168,0.7055603406778413],[-0.021027844276503945,0.7223088117017212]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[-0.49315263161341283,-0.7841836749054314,0.71338606911949],"aabb_xy":[[-0.5631526337448423,-0.8069456405311269],[-0.42315262948198323,-0.7614217092797356]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.5338198237593216,-0.5331863955794258,0.71338606911949],"aabb_xy":[[-0.5418631836852766,-0.6181863966747921],[-0.5257764638333663,-0.4481863944840593]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_3","position":[-0.48890145806902957,-1.4684846933980378,0.71338606911949],"aabb_xy":[[-0.5789014577922036,-1.4915580459332174],[-0.3989014583458553,-1.4454113408628577]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[-0.4416873367428602,-0.5331586639609789,0.71338606911949],"aabb_xy":[[-0.4652724602067551,-0.5981586662064107],[-0.4181022132789654,-0.4681586617155471]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[0.38471118927788717,-0.8268072844745726,0.71338606911949],"aabb_xy":[[0.30471118784775997,-0.9063244394871821],[0.46471119070801437,-0.7472901294619632]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.37040480224401606,1.6508642275435341,0.71338606911949],"aabb_xy":[[-0.43040480310482876,1.5994377975370475],[-0.31040480138320314,1.7022906575500203]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[0.566988149428286,-2.3422525057122923,0.71338606911949],"aabb_xy":[[0.5526537243021226,-2.354312721266831],[0.5813225745544495,-2.3301922901577528]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[0.646755943499516,1.6806380838716692,0.71338606911949],"aabb_xy":[[0.6315837742178827,1.6654692269434659],[0.6619281127811494,1.6958069407998726]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[-0.09294145607626347,-1.274295371958425,0.71338606911949],"aabb_xy":[[-0.1041865116468813,-1.2855371696825202],[-0.08169640050564562,-1.2630535742343296]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[-0.4020153191595983,-0.3280466623085503,0.71338606911949],"aabb_xy":[[-0.4520153195201644,-0.37802664951815323],[-0.35201531879903225,-0.27806667509894734]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[0.04507282693846415,1.349857060749406,0.71338606911949],"aabb_xy":[[0.027572827660377268,1.33251896068306],[0.06257282621655103,1.367195160815752]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[0.5641221853335332,-0.6337230526826196,0.71338606911949],"aabb_xy":[[0.5521894509717052,-0.646105205490479],[0.5760549196953614,-0.6213408998747603]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.4463098167557023,0.3800780541204909,0.71338606911949],"aabb_xy":[[-0.4934391957575379,0.3160780530760888],[-0.3991804377538666,0.44407805516489274]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.19232942751648396,-2.3170092830051825,0.71338606911949],"aabb_xy":[[0.17626750005796632,-2.402009284817774],[0.2083913549750016,-2.2320092811925902]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[-0.5717453340125891,-2.3695085777432734,0.71338606911949],"aabb_xy":[[-0.5793696021027673,-2.377141801279817],[-0.5641210659224108,-2.3618753542067297]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[0.30986873694481654,-2.0102613569635093,0.71338606911949],"aabb_xy":[[0.29930125728671747,-2.0208063870765174],[0.3204362166029155,-1.9997163268505003]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[0.41292806873590804,0.36949243609402327,0.71338606911949],"aabb_xy":[[0.3489280694417398,0.3055062957251691],[0.47692806803007626,0.43347857646287746]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_18","position":[0.6275119820035777,-1.7598748206986623,0.71338606911949],"aabb_xy":[[0.5675119821570109,-1.8166934428917005],[0.6875119818501445,-1.7030561985056232]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[-0.13165549346862104,1.166507744380373,0.71338606911949],"aabb_xy":[[-0.201655496860183,1.1311919706769422],[-0.061655490077059054,1.201823518083804]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[0.05412806293223782,-1.5904057661237456,0.71338606911949],"aabb_xy":[[0.04478105534994259,-1.6047093883413897],[0.06347507051453305,-1.5761021439061016]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[0.384040662473937,0.9119223112288002,0.71338606911949],"aabb_xy":[[0.3780741235332012,0.905961166569436],[0.39000720141467277,0.9178834558881641]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[-0.588243115852005,0.6049187064758077,0.71338606911949],"aabb_xy":[[-0.6107431160955203,0.5927140718160357],[-0.5657431156084896,0.6171233411355797]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638292407006949,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9930.png","name":"9930"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9930.png","name":"9930"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/57.png","name":"57"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8900.png","name":"8900"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/889.png","name":"889"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9990.png","name":"9990"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":573.6049904253267,"rotation_z_degrees":280.18623952334406,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0177184715642567,-0.008768462845280368,0.013973543135993496]},{"name":"camera_2","offset_m":[-0.014771461654674817,0.002970698594229333,-0.013739889511054898]},{"name":"camera_3","offset_m":[-0.007273346433892054,0.003309236710977187,-0.018997365204991616]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001515575323912397,0.0006548142068617596,-0.0019374175605320404],"end_effector_yaw_offset_degrees":0.05061812320678594},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006968167529375711,-0.0014868071634614344,0.0018445743055028664],"end_effector_yaw_offset_degrees":0.9847367933497064},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00037654614821441964,0.0005280675171609379,0.000948233197822375],"end_effector_yaw_offset_degrees":-0.38418580608530495},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018671858673266683,-0.0001370395761645948,-0.0001701217186456665],"end_effector_yaw_offset_degrees":0.8719817031331545}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002544302465008896,-0.0012452534908877866],"position_m":[0.1718443024650089,0.22885474650911222,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00047834463386892036,0.004549923413442707],"position_m":[0.23527834463386893,-0.3590500765865573,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004224466221665572,-0.0016033605054570211],"position_m":[0.2078244662216656,-0.04740336050545702,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003943423617994387,0.0005910772907404393],"position_m":[0.3298565763820056,0.11829107729074044,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b758277f7cc77fd5b34a31f6db7fb0d0535c2b246811cb04c4abce6ea8ad6194","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0018.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9930/tex_ceiling_textures_9990/tex_floor_textures_889/tex_table_textures_57/tex_wall_textures_8900","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7183363717004792085,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7183363717004792085,"visual_seed":7183363717004792085,"scene_id":"lab_003","finished_at":"2026-09-04T18:26:22"}
+{"episode_id":"ep_000011","started_at":"2026-09-04T18:26:25","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[-0.5578212992253022,0.7165750420594503,0.71338606911949],"aabb_xy":[[-0.5721557243514657,0.7045148265049115],[-0.5434868740991388,0.7286352576139892]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[0.41633234333504454,-0.8354398027457848,0.71338606911949],"aabb_xy":[[0.36231674705314454,-0.8994398056380419],[0.47034793961694454,-0.7714397998535276]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[0.6178650234516281,-1.1500004403582678,0.71338606911949],"aabb_xy":[[0.60076294549326,-1.1671072458895375],[0.6349671014099963,-1.132893634826998]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[0.47308834174728753,-1.996327948530846,0.71338606911949],"aabb_xy":[[0.46546407365710935,-2.00396117206739],[0.48071260983746583,-1.9886947249943023]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[0.10432668128003075,-2.52298033397461,0.71338606911949],"aabb_xy":[[0.0798130571830249,-2.5472449272766466],[0.1288403053770366,-2.4987157406725737]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.596572482738569,-1.4077897011551046,0.71338606911949],"aabb_xy":[[0.5415724835619794,-1.462779375930062],[0.6515724819151584,-1.3528000263801467]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.17023703252717648,1.0829513136118503,0.71338606911949],"aabb_xy":[[-0.18786986812070403,1.065328367596227],[-0.15260419693364888,1.100574259627473]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_7","position":[-0.5584960361106465,-1.872284344942328,0.71338606911949],"aabb_xy":[[-0.5809608060820516,-1.8947843458211886],[-0.5360312661392413,-1.8497843440634676]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_8","position":[0.4138284974867885,-2.3664548013291355,0.71338606911949],"aabb_xy":[[0.40678818755325163,-2.4464548007288074],[0.4208688074203256,-2.2864548019294646]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[0.18012082330515833,-1.2209610087981984,0.71338606911949],"aabb_xy":[[0.15983652058175954,-1.241243633940907],[0.20040512602855706,-1.2006783836554893]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.29403181846465254,-0.6220006731957353,0.71338606911949],"aabb_xy":[[0.2565318183590595,-0.6288228350487163],[0.33153181857024544,-0.615178511342754]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[0.48608430828399474,-1.1602152517695654,0.71338606911949],"aabb_xy":[[0.4310843100822499,-1.2007372183960028],[0.5410843064857396,-1.1196932851431276]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.19999417366970923,-1.3287166176837302,0.71338606911949],"aabb_xy":[[-0.2097501631788831,-1.3384791517429644],[-0.1902381841605353,-1.3189540836244955]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[0.07279776342115885,1.4467379453252218,0.71338606911949],"aabb_xy":[[0.022820346555905254,1.396737943835973],[0.12277518028641242,1.4967379468144701]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[-0.40052258661259,1.6126899042847938,0.71338606911949],"aabb_xy":[[-0.40793504215397847,1.6068386938631658],[-0.3931101310712015,1.6185411147064217]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[-0.491134713591616,1.207295056350929,0.71338606911949],"aabb_xy":[[-0.5411347130318116,1.1573271318666125],[-0.4411347141514203,1.2572629808352451]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.4140236768010102,0.23330781361361996,0.71338606911949],"aabb_xy":[[-0.4515236771492379,0.22151641803253638],[-0.3765236764527824,0.2450992091947035]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[-0.5707780498196131,0.014459506395352761,0.71338606911949],"aabb_xy":[[-0.6019249686631961,-0.05554049229145441],[-0.5396311309760299,0.08445950508215994]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_18","position":[-0.2267954838479765,-0.8790207379024386,0.71338606911949],"aabb_xy":[[-0.23478897364325851,-0.8870188698429146],[-0.21880199405269446,-0.8710226059619633]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[-0.4926183736059955,0.5823131136223658,0.71338606911949],"aabb_xy":[[-0.5826183703416057,0.5291296503050713],[-0.40261837687038526,0.6354965769396603]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6712899117201759,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1670.png","name":"1670"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1670.png","name":"1670"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3014.png","name":"3014"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7223.png","name":"7223"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9879.png","name":"9879"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4716.png","name":"4716"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":726.144132310357,"rotation_z_degrees":305.4623267375255,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008159690930490831,0.006560133493072339,-0.016100161549792817]},{"name":"camera_2","offset_m":[0.013891137752521699,0.01906391410324673,-0.01394814809445684]},{"name":"camera_3","offset_m":[0.01530035571609192,0.01874692589237822,-0.012096741676949727]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014401047902284085,-0.0012200387153058325,-0.0004937071322646993],"end_effector_yaw_offset_degrees":0.12774284905808542},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008496414604925616,-0.0012425342242682689,-0.0001563543768306518],"end_effector_yaw_offset_degrees":-0.12111818722418155},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00037593422399659826,0.0010123300866773923,0.0010760539426767383],"end_effector_yaw_offset_degrees":0.40595538113714413},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010466418493218915,-0.0014820954535230597,0.0009521038746195436],"end_effector_yaw_offset_degrees":0.9212151007072924}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038956362638388796,-0.002563474153104326],"position_m":[0.17319563626383888,0.22753652584689568,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004165583476418422,-0.00347851269074095],"position_m":[0.23896558347641844,-0.36707851269074093,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002402338673376082,-0.0035229693665175758],"position_m":[0.20600233867337608,-0.049322969366517574,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002479974739060454,0.00034542489302464945],"position_m":[0.3313200252609395,0.11804542489302465,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9e954002a68c847de3fa0bfa8b5a687919a0d53c047065039acd3a88d065d108","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0019.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1670/tex_ceiling_textures_4716/tex_floor_textures_9879/tex_table_textures_3014/tex_wall_textures_7223","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4758621521869717365,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4758621521869717365,"visual_seed":4758621521869717365,"scene_id":"lab_003","finished_at":"2026-09-04T18:30:03"}
+{"episode_id":"ep_000012","started_at":"2026-09-04T18:32:42","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[-0.2907116169122382,1.3108643711077201,0.71338606911949],"aabb_xy":[[-0.3035835204131783,1.2308643706938838],[-0.27783971341129804,1.390864371521556]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_1","position":[-0.21266785895466267,-1.323358569111661,0.71338606911949],"aabb_xy":[[-0.2548522731154934,-1.3873585693888724],[-0.17048344479383193,-1.25935856883445]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.613399782266618,-0.058334301419420864,0.71338606911949],"aabb_xy":[[-0.6234814893451913,-0.1383342993115355],[-0.6033180751880444,0.021665696472693792]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_3","position":[-0.5237362601824985,0.41828715847377707,0.71338606911949],"aabb_xy":[[-0.5286922803673798,0.3957871582716555],[-0.5187802399976175,0.44078715867589874]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[0.6476805722100571,0.748165830692745,0.71338606911949],"aabb_xy":[[0.6240954487461623,0.6831658284473132],[0.671265695673952,0.8131658329381768]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[0.4718196232298528,-2.5321741131345608,0.71338606911949],"aabb_xy":[[0.45153532050645406,-2.5524567382772694],[0.4921039259532516,-2.5118914879918512]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_6","position":[-0.45621141583824887,1.1603716593255045,0.71338606911949],"aabb_xy":[[-0.478725107661706,1.0903716587244967],[-0.4336977240147916,1.2303716599265118]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[-0.45300306444935473,-2.434234079154578,0.71338606911949],"aabb_xy":[[-0.4610293350799808,-2.4429855741319306],[-0.4449767938187288,-2.4254825841772254]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[0.5877730042796929,-0.28165468130270144,0.71338606911949],"aabb_xy":[[0.5077730021169303,-0.361609864928845],[0.6677730064424553,-0.20169949767655776]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[0.43648434623654775,-1.2947702308471705,0.71338606911949],"aabb_xy":[[0.40202199883840595,-1.3292641132449927],[0.47094669363468955,-1.2602763484493473]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[0.3216609770998229,-1.324031624591836,0.71338606911949],"aabb_xy":[[0.31150796154567345,-1.3601011661645759],[0.3318139926539722,-1.2879620830190952]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.04972947864121302,-2.278300695160175,0.71338606911949],"aabb_xy":[[-0.1047032006775459,-2.333300694724408],[0.005244243395119856,-2.223300695595942]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[0.22011639013307083,-2.4444345984518776,0.71338606911949],"aabb_xy":[[0.1832658421960832,-2.4819345992749113],[0.25696693807005844,-2.406934597628844]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[0.5524384177698498,-0.7001213367918058,0.71338606911949],"aabb_xy":[[0.5415868115209742,-0.7109806275194567],[0.5632900240187254,-0.6892620460641546]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[-0.2446118089343688,-0.4076752283161391,0.71338606911949],"aabb_xy":[[-0.3086118062367152,-0.4520416552839958],[-0.1806118116320224,-0.3633088013482823]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[-0.27123216830591823,-0.9586546721432683,0.71338606911949],"aabb_xy":[[-0.28790930429901374,-0.9753545961171983],[-0.2545550323128227,-0.9419547481693378]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.3812198952092347,-0.38202555901899116,0.71338606911949],"aabb_xy":[[-0.41170414533626487,-0.4320255588004871],[-0.35073564508220456,-0.3320255592374952]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.3680529599519839,-0.19277077616100646,0.71338606911949],"aabb_xy":[[-0.4220685562338839,-0.2567707790532636],[-0.3140373636700839,-0.1287707732687493]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.48127059583649656,0.7384614387368988,0.71338606911949],"aabb_xy":[[-0.5662705942539198,0.6535871432746139],[-0.39627059741907333,0.8233357341991838]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_19","position":[0.28963222601290495,1.5237763529251978,0.71338606911949],"aabb_xy":[[0.1996322236788859,1.446293998340085],[0.379632228346924,1.6012587075103104]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[-0.3288662837049523,-2.4924925610460984,0.71338606911949],"aabb_xy":[[-0.3674119765301534,-2.5310383321022867],[-0.2903205908797513,-2.4539467899899092]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[0.5376628695997892,1.4070895700960717,0.71338606911949],"aabb_xy":[[0.5026628697037703,1.3987153345841319],[0.572662869495808,1.415463805608012]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[-0.5900905579646832,-0.9428282728070483,0.71338606911949],"aabb_xy":[[-0.6600905606012695,-0.9629331378029137],[-0.5200905553280968,-0.9227234078111827]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[-0.1820992563656687,-2.462587575582993,0.71338606911949],"aabb_xy":[[-0.21709925549562434,-2.468332796658657],[-0.14709925723571302,-2.456842354507329]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[0.6529165162518729,-0.5008962208167227,0.71338606911949],"aabb_xy":[[0.6186002390772549,-0.5508962207899003],[0.6872327934264908,-0.45089622084354486]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[-0.559896053603546,-2.2756028839552065,0.71338606911949],"aabb_xy":[[-0.5820685805801967,-2.2977785511113296],[-0.537723526626895,-2.2534272167990834]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_26","position":[0.6959515681442294,-1.9439239163459976,0.71338606911949],"aabb_xy":[[0.6880282879054811,-1.966423916584001],[0.7038748483829778,-1.9214239161079942]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6652476768020681,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2873.png","name":"2873"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2873.png","name":"2873"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8621.png","name":"8621"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/204.png","name":"204"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5217.png","name":"5217"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3120.png","name":"3120"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":579.2071762845912,"rotation_z_degrees":127.02037053886755,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0017669554743911173,0.004243150341692602,0.015679254289173338]},{"name":"camera_2","offset_m":[0.0025954829027818593,0.014410194177104218,0.0039013364640402247]},{"name":"camera_3","offset_m":[0.01635767544176046,6.156265847143821e-05,-0.006945454697023009]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010508188064751942,-0.00023825388653602787,-0.001227393627223819],"end_effector_yaw_offset_degrees":0.27626272839094845},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018405895128322117,-0.0015249729636732758,-0.001171173633044645],"end_effector_yaw_offset_degrees":-0.4285452859422929},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00048768349555440875,0.0012243679976092162,-0.000647711555792264],"end_effector_yaw_offset_degrees":-0.636823628834275},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001232961307957798,-0.0019746258406928433,-0.0014084436359792746],"end_effector_yaw_offset_degrees":-0.3972522062990944}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004779055574088845,0.001931491264023896],"position_m":[0.1688220944425911,0.2320314912640239,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012421774424236421,-0.0007081224212579394],"position_m":[0.23355782255757637,-0.36430812242125793,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003277949148943836,-0.0015797049301469759],"position_m":[0.20032205085105617,-0.047379704930146975,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[1.2048110466583543e-05,-0.00375096305838305],"position_m":[0.33381204811046655,0.11394903694161695,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba6dbc595c8aca7011e0cd35dc5231522368f8aca3762f5a005bd2c3f6c28ac5","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0021.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2873/tex_ceiling_textures_3120/tex_floor_textures_5217/tex_table_textures_8621/tex_wall_textures_204","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8677824288453611590,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8677824288453611590,"visual_seed":8677824288453611590,"scene_id":"lab_003","finished_at":"2026-09-04T18:36:17"}
+{"episode_id":"ep_000013","started_at":"2026-09-04T18:39:01","dimensions":{"distractor":{"count":30,"items":[{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_0","position":[-0.41308876745826006,-2.0417127413798957,0.71338606911949],"aabb_xy":[[-0.4257155547454564,-2.051258815081469],[-0.4004619801710637,-2.0321666676783225]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[-0.23587719318767053,0.9979701965259871,0.71338606911949],"aabb_xy":[[-0.2998771945956612,0.9461812450020624],[-0.17187719177967986,1.0497591480499118]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[-0.3784781798302859,-0.9341372626349784,0.71338606911949],"aabb_xy":[[-0.4197827228940219,-0.9981372622030955],[-0.33717363676654993,-0.8701372630668613]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[-0.3081436972062608,-1.4120824269470844,0.71338606911949],"aabb_xy":[[-0.32061105531599643,-1.424547751580408],[-0.29567633909652513,-1.399617102313761]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[0.6569492960711845,1.71230154903026,0.71338606911949],"aabb_xy":[[0.6213201401712247,1.676668882273407],[0.6925784519711442,1.747934215787113]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[0.6365405522673637,0.11320055534406892,0.71338606911949],"aabb_xy":[[0.5992092757421212,0.07854750054921661],[0.6738718287926064,0.14785361013892123]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[-0.06263392229664011,1.1140203516670342,0.71338606911949],"aabb_xy":[[-0.07550582579758025,1.0340203512531978],[-0.049762018795699976,1.19402035208087]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[-0.04505043743729764,-2.0810542677266293,0.71338606911949],"aabb_xy":[[-0.06060620684756292,-2.0966047009710365],[-0.029494668027032385,-2.065503834482222]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_8","position":[-0.08902170030750889,-0.1702849880067494,0.71338606911949],"aabb_xy":[[-0.11941981140665246,-0.2006918900084189],[-0.058623589208365294,-0.13987808600507987]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.08874697257826403,0.7322606817969661,0.71338606911949],"aabb_xy":[[0.0688559326979238,0.7196048705122693],[0.1086380124586043,0.744916493081663]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_10","position":[-0.24014844516104844,-2.1519957693090466,0.71338606911949],"aabb_xy":[[-0.2786941379862494,-2.190541540365235],[-0.20160275233584737,-2.1134499982528574]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.5588835818517058,-1.036928049799435,0.71338606911949],"aabb_xy":[[-0.5959176912797655,-1.0713052571331443],[-0.521849472423646,-1.0025508424657255]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_12","position":[-0.1348848822413763,1.6268183060752865,0.71338606911949],"aabb_xy":[[-0.21488488331449662,1.6170402597379023],[-0.05488488116825596,1.6365963524126712]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[0.2508179284018913,-1.2733389673244728,0.71338606911949],"aabb_xy":[[0.23996632215301572,-1.284198258052124],[0.2616695346507669,-1.262479676596822]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[0.25281935924141985,1.373852193148819,0.71338606911949],"aabb_xy":[[0.192819357598498,1.321852043856875],[0.3128193608843417,1.4258523424407634]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[0.6372986574906938,-1.3397388382686366,0.71338606911949],"aabb_xy":[[0.573298654272056,-1.386461950167645],[0.7012986607093317,-1.2930157263696282]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[-0.08661009561895228,1.4062014763812178,0.71338606911949],"aabb_xy":[[-0.10005662225299562,1.3927316247281263],[-0.07316356898490896,1.419671328034309]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_17","position":[0.2751248735288141,0.5363591676144903,0.71338606911949],"aabb_xy":[[0.24134931433812112,0.5223206724013253],[0.30890043271950707,0.5503976628276553]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[-0.12789003742492577,-2.0197669438032575,0.71338606911949],"aabb_xy":[[-0.13591630805555177,-2.02851843878061],[-0.11986376679429978,-2.011015448825905]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[0.6492939458269609,0.7445190409444682,0.71338606911949],"aabb_xy":[[0.5792939494169989,0.7240811052927862],[0.7192939422369224,0.7649569765961497]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_20","position":[-0.5674932567641806,1.0970610769130458,0.71338606911949],"aabb_xy":[[-0.6474932581943078,1.0175439219004363],[-0.4874932553340534,1.1765782319256552]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_21","position":[-0.5428604157083585,1.3611876111550236,0.71338606911949],"aabb_xy":[[-0.5537008939348734,1.344001329864375],[-0.5320199374818436,1.3783738924456723]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[0.30860302457469735,1.6560546022672669,0.71338606911949],"aabb_xy":[[0.25360981323756066,1.6010546019284733],[0.36359623591183415,1.7110546026060605]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_23","position":[0.03283118259034801,-1.307451954120605,0.71338606911949],"aabb_xy":[[0.00899496494974294,-1.3974519549290918],[0.056667400230953076,-1.2174519533121189]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.3254287681555174,-0.6226279716272807,0.71338606911949],"aabb_xy":[[-0.3366738237261353,-0.633869769351376],[-0.31418371258489963,-0.6113861739031854]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_25","position":[-0.2889207785450049,-1.2013705939951658,0.71338606911949],"aabb_xy":[[-0.33840119975896377,-1.2653705919080176],[-0.23944035733104618,-1.137370596082314]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[0.6325895778195734,-1.6265027275054749,0.71338606911949],"aabb_xy":[[0.6150895785414865,-1.6438408275718208],[0.6500895770976602,-1.609164627439129]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_27","position":[0.6751074317109957,1.5986054594721604,0.71338606911949],"aabb_xy":[[0.6559951243530169,1.5794706805949184],[0.6942197390689746,1.6177402383494024]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_28","position":[0.34482030924595697,-1.0268726185083437,0.71338606911949],"aabb_xy":[[0.30982030934993804,-1.0352468540202837],[0.3798203091419758,-1.0184983829964036]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_29","position":[0.28969011191385907,-0.8172376168934448,0.71338606911949],"aabb_xy":[[0.2592058617868289,-0.8672376166749408],[0.3201743620408892,-0.7672376171119489]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6620491048504553,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5454.png","name":"5454"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5454.png","name":"5454"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/498.png","name":"498"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7780.png","name":"7780"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5811.png","name":"5811"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8397.png","name":"8397"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":716.7830404309692,"rotation_z_degrees":78.6967828020806,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013829915702742526,-0.014431181532157621,0.013470866109754388]},{"name":"camera_2","offset_m":[-0.019343872076758403,0.0017272802586648615,0.011579642411398843]},{"name":"camera_3","offset_m":[0.001044256928345616,-0.0034739895091042902,0.009088094147150425]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015192599218482204,0.0008599613930643795,-0.00047219261243820884],"end_effector_yaw_offset_degrees":0.7058743472013023},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009218209230907591,-0.0016320473047116285,-0.0001932251961501276],"end_effector_yaw_offset_degrees":-0.674576837755664},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007104699179042596,0.0018216179703146418,-0.0010593230273257203],"end_effector_yaw_offset_degrees":-0.952434543434842},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009858269356482967,-7.3640494242725556e-06,0.0006684856053142162],"end_effector_yaw_offset_degrees":0.555976700519184}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00033116831183030784,0.003554331078162383],"position_m":[0.1689688316881697,0.23365433107816239,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025776270002068756,0.003100468967188355],"position_m":[0.23222237299979312,-0.3604995310328116,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014902785840091573,-0.003006105507318656],"position_m":[0.20210972141599085,-0.048806105507318655,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028248005694985656,-0.002052594765741748],"position_m":[0.3309751994305014,0.11564740523425825,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"607ee0e09843d9068942c6eaa9f524ba18b03eaaca2c06562615b03e67b6151c","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5454/tex_ceiling_textures_8397/tex_floor_textures_5811/tex_table_textures_498/tex_wall_textures_7780","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7212962272099174012,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7212962272099174012,"visual_seed":7212962272099174012,"scene_id":"lab_003","finished_at":"2026-09-04T18:42:39"}
+{"episode_id":"ep_000014","started_at":"2026-09-04T18:45:14","dimensions":{"distractor":{"count":21,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[0.4284853489940943,-1.7728425042022604,0.71338606911949],"aabb_xy":[[0.4065766668547432,-1.794743171022351],[0.4503940311334453,-1.7509418373821695]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[0.12578569606938872,-1.6018132179800235,0.71338606911949],"aabb_xy":[[0.11263445009809939,-1.6268132177367103],[0.1389369420406781,-1.5768132182233372]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.6180645748964761,-0.8191863262196715,0.71338606911949],"aabb_xy":[[-0.6678813543613109,-0.8691863247039748],[-0.5682477954316414,-0.7691863277353681]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[-0.1832539321572313,0.49375359817063025,0.71338606911949],"aabb_xy":[[-0.24825393311435848,0.44180538623692467],[-0.11825393120010406,0.5457018101043358]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_4","position":[-0.21494544369106305,0.7018233274898309,0.71338606911949],"aabb_xy":[[-0.2199014638759443,0.6793233272877094],[-0.2099894235061819,0.7243233276919526]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_5","position":[-0.32101460592095626,1.5096341608646155,0.71338606911949],"aabb_xy":[[-0.3585146058647226,1.5013410708297792],[-0.2835146059771898,1.5179272508994524]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[-0.031949354928108575,1.0138045058242784,0.71338606911949],"aabb_xy":[[-0.07712067277627754,0.94980450867974],[0.013221962920060403,1.0778045029688168]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_7","position":[-0.5655461678438359,-0.06539854891114505,0.71338606911949],"aabb_xy":[[-0.5798805929699993,-0.0774587644656839],[-0.5512117427176724,-0.053338333356606205]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[-0.5627207158711628,-2.483847018472414,0.71338606911949],"aabb_xy":[[-0.6177129665066737,-2.538847020215727],[-0.5077284652356518,-2.4288470167291014]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[0.3922871889550055,-2.429471718948193,0.71338606911949],"aabb_xy":[[0.3122871856909924,-2.4430317512571063],[0.47228719221901866,-2.4159116866392796]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.3758913712680496,1.2738940020679186,0.71338606911949],"aabb_xy":[[0.31189137268147715,1.2268870386684099],[0.43989136985462207,1.3209009654674273]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[-0.1177398328078284,-1.7198633748012493,0.71338606911949],"aabb_xy":[[-0.14157605044843347,-1.809863375609736],[-0.09390361516722336,-1.629863373992763]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[0.6807603005785607,-1.9810764685822493,0.71338606911949],"aabb_xy":[[0.6521109682181445,-2.0097220278593246],[0.709409632938977,-1.9524309093051733]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.019223670453529684,-1.0089210514184426,0.71338606911949],"aabb_xy":[[0.01438007569229971,-1.0137727038974267],[0.02406726521475966,-1.0040693989394585]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.36239591923155146,0.12070408913391262,0.71338606911949],"aabb_xy":[[-0.3711979745405241,0.11289276297898354],[-0.3535938639225787,0.1285154152888417]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[-0.45288961155965757,1.2658132274922385,0.71338606911949],"aabb_xy":[[-0.4878896115361534,1.2563486114446218],[-0.41788961158316174,1.275277843539855]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[-0.07149381877365923,-2.05031683460394,0.71338606911949],"aabb_xy":[[-0.15149382020378643,-2.1298339896165497],[0.008506182656467964,-1.9707996795913307]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[0.43327523135018486,-0.9060220841606299,0.71338606911949],"aabb_xy":[[0.41559960076158653,-0.9237023004400325],[0.4509508619387832,-0.888341867881227]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_18","position":[-0.3958816213881459,0.5196848377220227,0.71338606911949],"aabb_xy":[[-0.4039249813141011,0.43468483662665625],[-0.38783826146219075,0.6046848388173891]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.05765807892700259,-2.2532020274991,0.71338606911949],"aabb_xy":[[-0.022341918476590828,-2.333194598697282],[0.13765807633059599,-2.1732094563009166]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_20","position":[-0.20169380387608576,-0.5077651730754371,0.71338606911949],"aabb_xy":[[-0.22669380314804807,-0.5241105366715993],[-0.1766938046041235,-0.4914198094792747]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6673728523659133,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7220.png","name":"7220"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7220.png","name":"7220"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4448.png","name":"4448"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/303.png","name":"303"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4003.png","name":"4003"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1048.png","name":"1048"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":709.6667700161411,"rotation_z_degrees":208.5499157170676,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006399847601503982,0.005059306850428543,-0.011238016531291981]},{"name":"camera_2","offset_m":[-0.012270341797493636,0.010196378725944318,-0.015693458033280625]},{"name":"camera_3","offset_m":[0.01108853491405172,-0.016265805254681617,-0.003686708865593656]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010858849068147883,3.069269538483795e-05,-0.00021669098166016273],"end_effector_yaw_offset_degrees":-0.01907015184769323},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019356050681175337,2.5854976621167685e-05,-0.0019354558439486382],"end_effector_yaw_offset_degrees":-0.26566537080171515},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007147112852328124,-1.9034244713644986e-05,0.0016967256918575739],"end_effector_yaw_offset_degrees":-0.6469734889017047},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002047648098602614,0.0018133201276282016,0.0012213723545530931],"end_effector_yaw_offset_degrees":0.9058030152413199}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010284859750449302,-0.0008055935747268749],"position_m":[0.16827151402495508,0.22929440642527313,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001880749583815542,0.00019094609340282107],"position_m":[0.23668074958381555,-0.36340905390659717,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0042111976030032765,-0.004635304612025045],"position_m":[0.2078111976030033,-0.05043530461202504,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004733570928687476,-0.004606507762325065],"position_m":[0.33853357092868747,0.11309349223767494,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b41bf09723cf54648f81b8f727c23693c834b117bb25d9049fbfadd739059869","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0025.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7220/tex_ceiling_textures_1048/tex_floor_textures_4003/tex_table_textures_4448/tex_wall_textures_303","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":947035559467554734,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":947035559467554734,"visual_seed":947035559467554734,"scene_id":"lab_003","finished_at":"2026-09-04T18:49:02"}
+{"episode_id":"ep_000015","started_at":"2026-09-04T18:49:06","dimensions":{"distractor":{"count":31,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.3422551746470947,0.8274753325229418,0.71338606911949],"aabb_xy":[[-0.43225517406546554,0.794099835678752],[-0.25225517522872376,0.8608508293671314]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_1","position":[0.14714825924074848,1.1893041952631709,0.71338606911949],"aabb_xy":[[0.13108633178223084,1.1043041934505788],[0.16321018669926612,1.2743041970757625]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[0.6119344701792186,-0.20080928865401493,0.71338606911949],"aabb_xy":[[0.5619394592197666,-0.2508092876896067],[0.6619294811386707,-0.15080928961842324]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.4593551474902066,-2.195155409011716,0.71338606911949],"aabb_xy":[[-0.4701956257167214,-2.212341690302364],[-0.4485146692636916,-2.1779691277210667]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[0.21543978162525979,-2.0284972734596676,0.71338606911949],"aabb_xy":[[0.2066585544780236,-2.0372770207481983],[0.22422100877249604,-2.0197175261711378]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.625290644136942,0.6348844779025731,0.71338606911949],"aabb_xy":[[-0.6892906414225907,0.5933777589497291],[-0.5612906468512934,0.676391196855417]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[-0.5719216270214238,-1.5050960206935844,0.71338606911949],"aabb_xy":[[-0.6359216261911936,-1.551862707812547],[-0.5079216278516537,-1.4583293335746221]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[0.7134760885791869,-2.0950699482526303,0.71338606911949],"aabb_xy":[[0.7054327286532317,-2.1800699493479962],[0.721519448505142,-2.0100699471572634]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[0.6001874501546856,-1.6420129969791746,0.71338606911949],"aabb_xy":[[0.5846316807444204,-1.6575634302235822],[0.6157432195649509,-1.6264625637347678]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[0.37245868904049706,-2.5372499835629596,0.71338606911949],"aabb_xy":[[0.3631650708033464,-2.574749982051093],[0.3817523072776476,-2.4997499850748253]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_10","position":[-0.07924421888036859,-1.1412726891202776,0.71338606911949],"aabb_xy":[[-0.10923588161423892,-1.1712726884570783],[-0.04925255614649826,-1.1112726897834773]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[0.2162154401684001,1.5065660718615024,0.71338606911949],"aabb_xy":[[0.20750147111846556,1.4840660712023142],[0.22492940921833454,1.5290660725206906]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[-0.3806986380366723,1.2000696991223387,0.71338606911949],"aabb_xy":[[-0.38794240408291764,1.1200697009187364],[-0.373454871990427,1.2800696973259411]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[0.19666283507981341,-1.678142465826538,0.71338606911949],"aabb_xy":[[0.13166283692389436,-1.70443871037645],[0.2616628332357325,-1.6518462212766256]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_14","position":[0.15001684533748771,-0.9280903375979532,0.71338606911949],"aabb_xy":[[0.09502136751682833,-0.9830903390318599],[0.2050123231581471,-0.8730903361640461]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[0.06703702843845305,-1.5833681750703903,0.71338606911949],"aabb_xy":[[0.04203702888671457,-1.5935106589355248],[0.09203702799019153,-1.5732256912052553]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[0.5585509362789325,-1.8613044939935817,0.71338606911949],"aabb_xy":[[0.5410042413628136,-1.898804495557833],[0.5760976311950514,-1.8238044924293304]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_17","position":[-0.3966314214879841,-1.9677749745516175,0.71338606911949],"aabb_xy":[[-0.4312225043420293,-2.0327749748366486],[-0.36204033863393886,-1.9027749742665865]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[0.03580120895059702,-1.3926088979043165,0.71338606911949],"aabb_xy":[[-0.04419878903018803,-1.4002104388661682],[0.11580120693138206,-1.3850073569424644]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[-0.12660320619227894,1.5197704472724962,0.71338606911949],"aabb_xy":[[-0.14351393862862072,1.5062982416798814],[-0.10969247375593717,1.5332426528651106]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.10452496254876409,1.5329089657301869,0.71338606911949],"aabb_xy":[[0.06767441461177648,1.4954089649071531],[0.1413755104857517,1.5704089665532206]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[0.6490893155929489,-0.9364185338201807,0.71338606911949],"aabb_xy":[[0.5914588467056779,-0.9964185327468911],[0.7067197844802197,-0.8764185348934699]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_22","position":[0.2760643163379314,-2.5333082978671464,0.71338606911949],"aabb_xy":[[0.2680279816366465,-2.541346417171563],[0.28410065103921617,-2.52527017856273]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_23","position":[0.35173459632621196,-2.252183070893742,0.71338606911949],"aabb_xy":[[0.3234048863776718,-2.2566438130874595],[0.38006430627475224,-2.2477223287000254]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_24","position":[-0.557782571527295,1.5916432344653422,0.71338606911949],"aabb_xy":[[-0.5952825727120876,1.5872250117692812],[-0.520282570342502,1.5960614571614022]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_25","position":[-0.5207267018079663,1.3841215298063987,0.71338606911949],"aabb_xy":[[-0.526308373442095,1.371621529988623],[-0.5151450301738376,1.396621529624174]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_26","position":[0.002360218764693167,-0.7129780508835459,0.71338606911949],"aabb_xy":[[-0.02263978050726911,-0.7293234144797082],[0.027360218036655445,-0.6966326872873835]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[-0.20612577386813563,-1.8023170822495516,0.71338606911949],"aabb_xy":[[-0.286125772455455,-1.8816326841877127],[-0.1261257752808162,-1.7230014803113909]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_28","position":[-0.49033067366091154,-0.7064704196243974,0.71338606911949],"aabb_xy":[[-0.497591921231319,-0.7192574298879069],[-0.4830694260905042,-0.6936834093608879]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_29","position":[0.3488509534122355,-2.0882317781326725,0.71338606911949],"aabb_xy":[[0.2937257477826447,-2.148231779573959],[0.40397615904182627,-2.028231776691385]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_30","position":[0.42059709208006013,-1.8791008158668119,0.71338606911949],"aabb_xy":[[0.3405970910069398,-1.8888788622041963],[0.5005970931531805,-1.8693227695294274]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6620126872434862,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7701.png","name":"7701"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7701.png","name":"7701"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8004.png","name":"8004"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8419.png","name":"8419"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7918.png","name":"7918"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6549.png","name":"6549"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":720.0185743476017,"rotation_z_degrees":259.24363984355506,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01180042720594433,-0.0036529719856307832,-0.003272047026474309]},{"name":"camera_2","offset_m":[0.018302713518407104,0.019192665685185784,-0.019511969974444054]},{"name":"camera_3","offset_m":[-0.0029852448230362344,0.011310525046432148,-0.0029971438733328165]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00042794324539477337,-0.001610238138076673,-0.000582500728755067],"end_effector_yaw_offset_degrees":0.04725218456374658},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0014238798666451544,-0.00016518390688330083,0.000549478501786957],"end_effector_yaw_offset_degrees":0.6780526264392848},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013398276327725956,-0.001148890953952343,4.264236069884521e-05],"end_effector_yaw_offset_degrees":0.9556603962028589},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011566507313146217,0.000618333783708775,0.0017927719029007948],"end_effector_yaw_offset_degrees":-0.8878298319760796}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004035655506851609,0.001980652606003115],"position_m":[0.17333565550685162,0.2320806526060031,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036785855170132498,0.0014768845082142358],"position_m":[0.23112141448298676,-0.3621231154917857,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021998252499397307,-0.0039743480198473615],"position_m":[0.20140017475006028,-0.04977434801984736,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003354133460520426,-0.004881597614044723],"position_m":[0.334135413346052,0.11281840238595528,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2146ebb0ae3c6efc799a9de300c17caa80e6972f66920e6d79be263eec32cc8b","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7701/tex_ceiling_textures_6549/tex_floor_textures_7918/tex_table_textures_8004/tex_wall_textures_8419","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3534119876055923211,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3534119876055923211,"visual_seed":3534119876055923211,"scene_id":"lab_003","finished_at":"2026-09-04T18:52:40"}
+{"episode_id":"ep_000016","started_at":"2026-09-04T18:52:44","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[0.3527468329862862,-1.6632838633374725,0.71338606911949],"aabb_xy":[[0.34339982540399094,-1.6775874855551165],[0.3620938405685814,-1.6489802411198284]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[-0.13563890731518613,-0.32033497556041457,0.71338606911949],"aabb_xy":[[-0.17213472794246484,-0.35681891798717214],[-0.09914308668790736,-0.283851033133657]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[-0.10783023482352083,0.4455541825465601,0.71338606911949],"aabb_xy":[[-0.1978302313243926,0.39964254012810185],[-0.017830238322649083,0.49146582496501834]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[-0.6271366321487998,0.3483444896937802,0.71338606911949],"aabb_xy":[[-0.6364302503859504,0.3108444912056463],[-0.6178430139116492,0.3858444881819141]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[-0.1614997694657504,1.1281820813393777,0.71338606911949],"aabb_xy":[[-0.18934480624635752,1.097397582601066],[-0.13365473268514327,1.1589665800776894]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[-0.38649978941994617,1.1845569612641627,0.71338606911949],"aabb_xy":[[-0.4364946223478878,1.1345569623689191],[-0.33650495649200457,1.2345569601594062]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[0.1988197227366556,0.6914642686070827,0.71338606911949],"aabb_xy":[[0.10881971905973739,0.6300318620299782],[0.28881972641357373,0.7528966751841868]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[-0.45071160154623247,-0.9140768502920515,0.71338606911949],"aabb_xy":[[-0.510711602407045,-0.9655032802985377],[-0.39071160068541955,-0.8626504202855649]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[0.5117473785958897,1.4624727309037042,0.71338606911949],"aabb_xy":[[0.47424738017248935,1.4493085169358735],[0.54924737701929,1.475636944871535]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_9","position":[-0.6712537715559074,-1.9977492802587014,0.71338606911949],"aabb_xy":[[-0.6776675851990922,-2.0041591005063695],[-0.6648399579127223,-1.9913394600110328]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.20134639407632082,-1.208110219847071,0.71338606911949],"aabb_xy":[[0.11134639548185088,-1.224360806160492],[0.29134639267079077,-1.19185963353365]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[-0.39446212981950496,0.26315391994055926,0.71338606911949],"aabb_xy":[[-0.399920075456525,0.1831539166329001],[-0.3890041841824849,0.3431539232482183]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[0.4862503982712785,-0.9762583268386051,0.71338606911949],"aabb_xy":[[0.4629685560731471,-1.061258328135833],[0.5095322404694097,-0.891258325541377]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[0.5197805926489798,-0.09872145909241548,0.71338606911949],"aabb_xy":[[0.49728145692275283,-0.12122145987067845],[0.5422797283752068,-0.0762214583141525]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[-0.5339123835845261,-1.4027606189562143,0.71338606911949],"aabb_xy":[[-0.5839054956937181,-1.4527606196304101],[-0.4839192714753343,-1.3527606182820189]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[-0.6550550934049794,-2.321351458302282,0.71338606911949],"aabb_xy":[[-0.692555093753207,-2.333142853883365],[-0.6175550930567515,-2.309560062721198]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.444503034095157,-2.0957583379536056,0.71338606911949],"aabb_xy":[[0.4032542230652422,-2.1507583374658226],[0.4857518451250717,-2.0407583384413877]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.26978225662318206,-0.4697344015336937,0.71338606911949],"aabb_xy":[[-0.27421288597802224,-0.4751827732683764],[-0.2653516272683419,-0.4642860297990112]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[0.6389169360053752,0.6342634609286435,0.71338606911949],"aabb_xy":[[0.6136960991455355,0.6090397100757565],[0.6641377728652148,0.65948721178153]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.3851066011344139,1.3991290227239643,0.71338606911949],"aabb_xy":[[-0.4188821603251069,1.3850905275107994],[-0.35133104194372095,1.4131675179371292]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[-0.3318902112526493,1.335376387532651,0.71338606911949],"aabb_xy":[[-0.3358040844480718,1.326627372126094],[-0.32797633805722676,1.3441254029392076]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_21","position":[0.11099389988870467,-2.0911578137162796,0.71338606911949],"aabb_xy":[[0.04599389893157745,-2.143106025649985],[0.17599390084583186,-2.039209601782574]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_22","position":[0.2572535649686042,-0.8557261908200533,0.71338606911949],"aabb_xy":[[0.1932535685730311,-0.9196894792387869],[0.32125356136417726,-0.7917629024013197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6677488514736594,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3568.png","name":"3568"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3568.png","name":"3568"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4031.png","name":"4031"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5009.png","name":"5009"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1987.png","name":"1987"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2370.png","name":"2370"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":702.0976246791504,"rotation_z_degrees":175.43315945011034,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0107154015120474,-0.014808483776481966,0.009090058115549558]},{"name":"camera_2","offset_m":[0.017185699099314247,-0.00943210061786076,0.013817432476330622]},{"name":"camera_3","offset_m":[-0.016764112044138916,0.019322476242889113,-0.008434310847232016]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019783128480539572,-0.0012841000724546033,-0.0010591696537896786],"end_effector_yaw_offset_degrees":0.15766404861887717},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-2.260802906665308e-05,0.0002757045457007631,-0.0004295860540444597],"end_effector_yaw_offset_degrees":0.7377421051583886},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00014769823480888754,-0.001884978349461049,0.0012847038622820785],"end_effector_yaw_offset_degrees":0.692076432078566},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010704901845384014,0.0014720986356574531,-0.0013212603289657196],"end_effector_yaw_offset_degrees":-0.06712042041445931}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037107403895066298,0.0001737952883280134],"position_m":[0.17301074038950665,0.230273795288328,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-8.064923939032648e-05,-0.003496727740636859],"position_m":[0.23471935076060968,-0.36709672774063684,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002578578177773425,-0.0010226942880400504],"position_m":[0.20617857817777344,-0.04682269428804005,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037076749344690752,0.0037074832009762566],"position_m":[0.33009232506553093,0.12140748320097626,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f26d04c6c3ef6764b2b114660be8fa16c31b65689714f6928e9f45a24848991e","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0027.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3568/tex_ceiling_textures_2370/tex_floor_textures_1987/tex_table_textures_4031/tex_wall_textures_5009","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6255693027569407041,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6255693027569407041,"visual_seed":6255693027569407041,"scene_id":"lab_003","finished_at":"2026-09-04T18:56:25"}
+{"episode_id":"ep_000017","started_at":"2026-09-04T18:56:29","dimensions":{"distractor":{"count":32,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.07930169583653401,1.4159647569158742,0.71338606911949],"aabb_xy":[[-0.010698307840384167,1.3545323503387698],[0.16930169951345217,1.4773971634929786]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[-0.5589852554513122,-0.9428982091813263,0.71338606911949],"aabb_xy":[[-0.6239852564084393,-0.9948464211150319],[-0.4939852544941849,-0.8909499972476207]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_2","position":[0.4331717764334009,0.682163132566457,0.71338606911949],"aabb_xy":[[0.35317177427063845,0.6022079489403134],[0.5131717785961634,0.7621183161926006]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.686602963833981,1.6040571949475662,0.71338606911949],"aabb_xy":[[0.6522866866593631,1.5540571949743882],[0.7209192410085989,1.6540571949207437]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[-0.4818084818666336,0.41711660582034416,0.71338606911949],"aabb_xy":[[-0.48951167254071065,0.4094072351216061],[-0.47410529119255657,0.4248259765190821]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_5","position":[0.26093548091022223,1.4631172831511674,0.71338606911949],"aabb_xy":[[0.22647313351208034,1.4286234007533445],[0.2953978283083639,1.4976111655489899]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[0.4041013127345532,0.8853333266529093,0.71338606911949],"aabb_xy":[[0.3953873436846186,0.862833325993721],[0.41281528178448756,0.9078333273120974]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[-0.22951738039094388,-0.1822791617007571,0.71338606911949],"aabb_xy":[[-0.29351738076847744,-0.23202442855156935],[-0.16551738001341024,-0.13253389484994482]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_8","position":[-0.21074892644119453,1.4257670744506856,0.71338606911949],"aabb_xy":[[-0.29074892671480146,1.352817526624969],[-0.1307489261675875,1.4987166222764023]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[-0.18410432610701688,1.0163863308037149,0.71338606911949],"aabb_xy":[[-0.2691043245244401,0.9315120353414299],[-0.09910432768959362,1.1012606262659999]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[-0.45296406078927864,0.35276379387641166,0.71338606911949],"aabb_xy":[[-0.4879640607657744,0.343299177828795],[-0.41796406081278276,0.3622284099240282]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_11","position":[0.540448675636261,0.15168910278720382,0.71338606911949],"aabb_xy":[[0.4804486747754481,0.10026267278071736],[0.6004486764970737,0.20311553279369013]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[0.5006542902027353,1.4972810067197853,0.71338606911949],"aabb_xy":[[0.4631542900971423,1.490458844866804],[0.5381542903083282,1.5041031685727662]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[0.4243370660765313,0.1759330420189773,0.71338606911949],"aabb_xy":[[0.4169246105351429,0.17008183159734933],[0.43174952161791985,0.18178425244060523]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.7087654022319811,1.4541435815707238,0.71338606911949],"aabb_xy":[[0.7007719124366991,1.4461454496302482],[0.7167588920272632,1.4621417135111994]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[0.4686410276787556,-1.0154362904736876,0.71338606911949],"aabb_xy":[[0.46400591252652224,-1.019303625550836],[0.47327614283098896,-1.0115689553965386]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_16","position":[-0.6056012709953804,1.1271045366785244,0.71338606911949],"aabb_xy":[[-0.6128450370416257,1.047104538474922],[-0.5983575049491351,1.2071045348821268]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.6380086510958745,0.7197086441643656,0.71338606911949],"aabb_xy":[[0.6080410941860489,0.6897086438664799],[0.6679762080057002,0.7497086444622514]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[0.5677461287270138,-0.32064401705664025,0.71338606911949],"aabb_xy":[[0.5502461295926466,-0.330523644094228],[0.585246127861381,-0.3107643900190524]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[0.705736481920499,-0.4766558857199854,0.71338606911949],"aabb_xy":[[0.6948960036939841,-0.49384216701063416],[0.7165769601470139,-0.45946960442933654]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[-0.13104738581128994,1.2298511201013214,0.71338606911949],"aabb_xy":[[-0.14261636655822651,1.2048511199843897],[-0.11947840506435337,1.254851120218253]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.57313177222782,1.6789364852401545,0.71338606911949],"aabb_xy":[[-0.6371317741401623,1.623025335982144],[-0.5091317703154776,1.734847634498165]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_22","position":[0.17816029444189985,-1.8814258506503845,0.71338606911949],"aabb_xy":[[0.09816029728232453,-1.8929734516082017],[0.25816029160147513,-1.8698782496925677]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_23","position":[0.5076952121725204,-2.4189295032372633,0.71338606911949],"aabb_xy":[[0.42769521351563455,-2.433434362161526],[0.5876952108294066,-2.4044246443130004]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_24","position":[0.5136491577668341,-0.6088451731436426,0.71338606911949],"aabb_xy":[[0.4336491545089911,-0.6888416809356265],[0.593649161024677,-0.5288486653516585]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_25","position":[-0.5758590439604339,-0.6386206487408217,0.71338606911949],"aabb_xy":[[-0.5846610992694065,-0.6464319748957507],[-0.567056988651461,-0.6308093225858925]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[0.2089778514155275,1.1048488702149317,0.71338606911949],"aabb_xy":[[0.14497784919512044,1.0604757860896434],[0.2729778536359345,1.14922195434022]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_27","position":[0.3557592386616457,-1.1220644891085363,0.71338606911949],"aabb_xy":[[0.30575996349320955,-1.1720644903844837],[0.4057585138300819,-1.0720644878325893]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_28","position":[0.6218389406642348,1.0893290093528418,0.71338606911949],"aabb_xy":[[0.5999302585248837,1.067428342532751],[0.6437476228035858,1.1112296761729326]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_29","position":[0.06823287129423639,-1.7788704959571309,0.71338606911949],"aabb_xy":[[0.061731234786231784,-1.7886383179834409],[0.07473450780224102,-1.7691026739308213]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_30","position":[0.2039229614389444,-1.6234245913939054,0.71338606911949],"aabb_xy":[[0.14392295979602254,-1.6754247406858493],[0.26392296308186625,-1.571424442101961]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_31","position":[0.6115376499573162,1.2102070953769908,0.71338606911949],"aabb_xy":[[0.5615643559540557,1.1602070948224432],[0.6615109439605766,1.260207095931538]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.671923707245157,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4766.png","name":"4766"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4766.png","name":"4766"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9470.png","name":"9470"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3811.png","name":"3811"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/147.png","name":"147"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2494.png","name":"2494"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":741.2133563326843,"rotation_z_degrees":102.14121377496289,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002783186349008617,-0.007554967795832939,-0.01791976044208432]},{"name":"camera_2","offset_m":[-0.008660844157998096,0.004251651001162468,0.009037717028645958]},{"name":"camera_3","offset_m":[0.014164658120060607,-0.0019745073501190383,0.012969660173232322]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019515463627970157,0.0012583694171322316,0.0011766556123080085],"end_effector_yaw_offset_degrees":-0.9252758605452045},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019835384091594476,-0.0007468159401545797,-0.0001538943928242663],"end_effector_yaw_offset_degrees":-0.8567281049772537},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019310752182267847,-0.001991434505157941,0.0005753884087965886],"end_effector_yaw_offset_degrees":-0.5754135377647442},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018841660562993537,-0.00014473360742964345,-0.001138788935483694],"end_effector_yaw_offset_degrees":0.6307625857763821}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038924947108774713,-0.0006264402908905727],"position_m":[0.16540750528912254,0.22947355970910943,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004690531553402586,-0.0038338075785585212],"position_m":[0.2394905315534026,-0.3674338075785585,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002003950442290307,-0.0032748273216214696],"position_m":[0.20560395044229032,-0.04907482732162147,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002506181058182592,0.003087733282943618],"position_m":[0.33630618105818255,0.12078773328294362,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"afa1bbca3acfe510b822b11ef030b5ec5a3a2ae36bbaaf221f36646d211c11e2","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0028.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4766/tex_ceiling_textures_2494/tex_floor_textures_147/tex_table_textures_9470/tex_wall_textures_3811","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1673096777127687658,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1673096777127687658,"visual_seed":1673096777127687658,"scene_id":"lab_003","finished_at":"2026-09-04T19:00:31"}
+{"episode_id":"ep_000018","started_at":"2026-09-04T19:03:17","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[-0.6138508166483768,1.5986931170502587,0.71338606911949],"aabb_xy":[[-0.6194324882825055,1.5861931172324828],[-0.6082691450142481,1.6111931168680338]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_1","position":[-0.39560383657087045,0.009354231873194063,0.71338606911949],"aabb_xy":[[-0.4206038365033883,0.0024715636522707474],[-0.3706038366383525,0.01623690009411738]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[0.36235066662515325,-0.3512298424618354,0.71338606911949],"aabb_xy":[[0.3456735306320578,-0.3679297664357657],[0.3790278026182488,-0.33452991848790514]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.7072541381587552,-2.374107244660861,0.71338606911949],"aabb_xy":[[0.7009420386224168,-2.3798741839140796],[0.7135662376950935,-2.368340305407642]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[-0.021556128468286584,-1.174267881427503,0.71338606911949],"aabb_xy":[[-0.031312117977460474,-1.1840304154867374],[-0.01180013895911269,-1.1645053473682685]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[-0.24421465358894584,0.8113594256000725,0.71338606911949],"aabb_xy":[[-0.32421465156973084,0.8037578846382205],[-0.1642146556081608,0.8189609665619244]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[-0.48799701114833677,-0.06879008924091057,0.71338606911949],"aabb_xy":[[-0.5054277262273431,-0.08606220390476137],[-0.4705662960693302,-0.05151797457705975]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_7","position":[-0.12873800016150638,0.8831964723215759,0.71338606911949],"aabb_xy":[[-0.13685165483488346,0.8750906558675468],[-0.12062434548812925,0.8913022887756049]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[-0.5785696038642314,-2.313330150614604,0.71338606911949],"aabb_xy":[[-0.604858428184672,-2.339601584269255],[-0.5522807795437906,-2.2870587169599523]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_9","position":[-0.587748774840593,-1.3233781379168164,0.71338606911949],"aabb_xy":[[-0.6377487752011589,-1.373358125126419],[-0.5377487744800268,-1.2733981507072132]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[-0.26248072455301524,0.609139262614276,0.71338606911949],"aabb_xy":[[-0.2870269401757659,0.5788903660652389],[-0.2379345089302645,0.639388159163313]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[-0.02810133077022159,-2.221727621461671,0.71338606911949],"aabb_xy":[[-0.033000623076785085,-2.24940454076424],[-0.02320203846365809,-2.1940507021591023]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_12","position":[-0.5022902507600583,-1.893391127992897,0.71338606911949],"aabb_xy":[[-0.5141623337715594,-1.9783911276865471],[-0.4904181677485572,-1.8083911282992464]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[0.5093013575707632,1.673589474506985,0.71338606911949],"aabb_xy":[[0.44530135731029236,1.6285806751540568],[0.5733013578312339,1.7185982738599128]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_14","position":[-0.5787006350081557,-0.872875556332618,0.71338606911949],"aabb_xy":[[-0.6143297909081155,-0.9085082230894711],[-0.543071479108196,-0.8372428895757652]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_15","position":[-0.20490205944747208,1.3032394713990323,0.71338606911949],"aabb_xy":[[-0.21531361812795577,1.2978937380631337],[-0.19449050076698834,1.3085852047349305]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_16","position":[0.5917782842255157,-1.6759055033338544,0.71338606911949],"aabb_xy":[[0.5762225148152504,-1.691455936578262],[0.607334053635781,-1.6603550700894476]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.3268111919346108,0.9847057989747858,0.71338606911949],"aabb_xy":[[-0.3908111942774123,0.9397649477306532],[-0.26281118959180916,1.029646650218918]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.31908625373811217,-2.466487842694598,0.71338606911949],"aabb_xy":[[-0.38908625014807385,-2.486925778346279],[-0.2490862573281503,-2.4460499070429154]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_19","position":[0.09725386569196814,-0.7855566494373576,0.71338606911949],"aabb_xy":[[0.01725386872892898,-0.862632291081131],[0.1772538626550073,-0.7084810077935841]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_20","position":[0.15547113218247466,1.1199288547314952,0.71338606911949],"aabb_xy":[[0.1442260766118568,1.1086870570073997],[0.16671618775309247,1.1311706524555902]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6662649273648168,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1903.png","name":"1903"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1903.png","name":"1903"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6629.png","name":"6629"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7996.png","name":"7996"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3543.png","name":"3543"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6329.png","name":"6329"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":776.4976862097553,"rotation_z_degrees":220.48344427095438,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0049398947086482375,-0.010984860627242101,0.012644008837746721]},{"name":"camera_2","offset_m":[0.0028982465841773802,-0.014853795770066975,-0.001803526065001556]},{"name":"camera_3","offset_m":[0.01773706358547927,0.009658393059706963,-0.010963586413082394]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012550992770957925,0.0014450046612391292,-0.0019615683612911653],"end_effector_yaw_offset_degrees":-0.47380857075939375},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018640922905229385,-0.0012163722086818095,0.0009193011261495495],"end_effector_yaw_offset_degrees":-0.6099103363840872},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012069208168489194,0.0010965207814836397,0.0009256640531324794],"end_effector_yaw_offset_degrees":0.4898112654846376},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00040849663019893573,0.0012185768618122907,-0.0009168589439731236],"end_effector_yaw_offset_degrees":-0.5855792479622484}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002478269849378626,0.004578363747572796],"position_m":[0.16682173015062138,0.23467836374757278,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017890782359498113,-0.003392347736317216],"position_m":[0.2330109217640502,-0.36699234773631717,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002089462470566801,-0.0033973659232788365],"position_m":[0.2056894624705668,-0.049197365923278835,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004168222146313254,0.004728038265694799],"position_m":[0.32963177785368675,0.1224280382656948,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"baac8932053156858998c9ce464db90bf74060a382fbe6aefeb8c1c9f4e2c653","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0030.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1903/tex_ceiling_textures_6329/tex_floor_textures_3543/tex_table_textures_6629/tex_wall_textures_7996","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5082244032796283837,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5082244032796283837,"visual_seed":5082244032796283837,"scene_id":"lab_003","finished_at":"2026-09-04T19:06:53"}
+{"episode_id":"ep_000019","started_at":"2026-09-04T19:06:56","dimensions":{"distractor":{"count":31,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[0.3865532426078282,-1.0312071629743476,0.71338606911949],"aabb_xy":[[0.2965532461069564,-1.0771188053928056],[0.4765532391086999,-0.9852955205558892]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_1","position":[-0.40847253828458235,1.4583140031131916,0.71338606911949],"aabb_xy":[[-0.4388706493837259,1.427907101111522],[-0.3780744271854387,1.488720905114861]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[0.5158775230368211,-0.32968721454018146,0.71338606911949],"aabb_xy":[[0.4875478130882809,-0.3341479567338985],[0.5442072329853613,-0.3252264723464644]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.23178453916934172,-0.49168470729832014,0.71338606911949],"aabb_xy":[[0.22452329159893433,-0.5044717175618296],[0.23904578673974916,-0.4788976970348107]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.41635512804685537,1.531710891781406,0.71338606911949],"aabb_xy":[[0.37985930741957663,1.4952269493546482],[0.4528509486741341,1.5681948342081633]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_5","position":[-0.48711524477641444,0.33011666134546624,0.71338606911949],"aabb_xy":[[-0.513404069096855,0.30384522769081496],[-0.4608264204559737,0.3563880950001174]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[-0.23878112392410522,-1.656886365663073,0.71338606911949],"aabb_xy":[[-0.2578934312820841,-1.676021144540315],[-0.21966881656612636,-1.637751586785831]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.38535545774847396,0.8882766596224272,0.71338606911949],"aabb_xy":[[-0.42285545926410567,0.8770498866062822],[-0.34785545623284225,0.8995034326385724]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[0.12035765334710413,-1.5061711300153533,0.71338606911949],"aabb_xy":[[0.10602322822094068,-1.5182313455698921],[0.13469207847326758,-1.4941109144608145]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_9","position":[0.35921791557380245,0.8525655565255863,0.71338606911949],"aabb_xy":[[0.2952179141658118,0.8007766050016616],[0.4232179169817931,0.904354508049511]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_10","position":[-0.5621834492388121,-0.5814388798263725,0.71338606911949],"aabb_xy":[[-0.585768572702707,-0.6464388820718044],[-0.5385983257749173,-0.5164388775809409]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_11","position":[-0.46983401098872674,1.0167841858130982,0.71338606911949],"aabb_xy":[[-0.53483401209467,0.9918188127449701],[-0.40483400988278345,1.0417495588812267]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_12","position":[0.005024374648626928,1.1652423168913448,0.71338606911949],"aabb_xy":[[-0.028415800547392674,1.1317986910604145],[0.03846454984464653,1.1986859427222747]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.23859415000749978,1.0357129734005994,0.71338606911949],"aabb_xy":[[-0.27609415067207843,1.020025915400377],[-0.20109414934292102,1.0514000314008214]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[-0.05223468322820757,0.5661816720421169,0.71338606911949],"aabb_xy":[[-0.06973468250629444,0.5488435719757709],[-0.0347346839501207,0.5835197721084628]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_15","position":[0.4952330779720395,-0.675159005301069,0.71338606911949],"aabb_xy":[[0.41523307470802634,-0.6887190376099823],[0.5752330812360527,-0.6615989729921556]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[-0.11078957752974439,1.5309348488672252,0.71338606911949],"aabb_xy":[[-0.14325127841167182,1.5008020167523224],[-0.07832787664781692,1.5610676809821276]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[0.6414976453321246,-0.7420597916126455,0.71338606911949],"aabb_xy":[[0.6039976469087243,-0.7552240055804761],[0.678997643755525,-0.7288955776448148]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[0.1890275235756177,1.0414063174711234,0.71338606911949],"aabb_xy":[[0.1834458519414889,1.028906317653348],[0.19460919520974643,1.053906317288899]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[0.5849784860998415,-0.4402015593740569,0.71338606911949],"aabb_xy":[[0.4949784866814706,-0.47357705621824664],[0.6749784855182124,-0.4068260625298672]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[0.48363797237795514,-1.8542386816499237,0.71338606911949],"aabb_xy":[[0.41963797509230655,-1.8957454006027679],[0.5476379696636038,-1.81273196269708]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_21","position":[0.1136406790846839,-2.4588309965354567,0.71338606911949],"aabb_xy":[[0.08864067991905078,-2.4657832422408132],[0.138640678250317,-2.4518787508301]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_22","position":[-0.0282141110732399,-0.24467852487933062,0.71338606911949],"aabb_xy":[[-0.03878159073133891,-0.2552235549923392],[-0.017646631415140893,-0.23413349476632203]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_23","position":[0.30584861974933175,-0.604538607713528,0.71338606911949],"aabb_xy":[[0.3024079435092746,-0.6084000406878924],[0.3092892959893889,-0.6006771747391635]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[-0.3351152902885021,-1.3185608938515119,0.71338606911949],"aabb_xy":[[-0.3551737019017424,-1.3386259807606695],[-0.31505687867526183,-1.2984958069423542]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[0.6668666095486648,-0.011958428074294147,0.71338606911949],"aabb_xy":[[0.6218740228302143,-0.0569584273487429],[0.7118591962671151,0.03304157120015461]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[0.18100985977931294,-1.235063839514685,0.71338606911949],"aabb_xy":[[0.16433272378621744,-1.2517637634886152],[0.19768699577240845,-1.2183639155407546]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_27","position":[-0.5669911811644351,-0.3161432912159259,0.71338606911949],"aabb_xy":[[-0.6469911825945622,-0.3956604462285353],[-0.48699117973430783,-0.23662613620331635]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_28","position":[-0.5572335669878226,-0.08621647855577041,0.71338606911949],"aabb_xy":[[-0.5701054704887626,-0.16621647896960656],[-0.5443616634868823,-0.00621647814193428]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_29","position":[0.13196535296693446,-1.3465549177454232,0.71338606911949],"aabb_xy":[[0.12663283831232147,-1.3518792459906588],[0.13729786762154744,-1.3412305895001877]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_30","position":[0.25690723567715845,-1.3421489969897522,0.71338606911949],"aabb_xy":[[0.2528290777701087,-1.3462299772380155],[0.2609853935842082,-1.338068016741489]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6691254050676418,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4281.png","name":"4281"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4281.png","name":"4281"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6306.png","name":"6306"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6756.png","name":"6756"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9824.png","name":"9824"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8751.png","name":"8751"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":808.7127331914234,"rotation_z_degrees":190.04712882451977,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0011123963263691035,0.007295858769266798,0.0029745200202495603]},{"name":"camera_2","offset_m":[0.018670438725153293,0.017030944607454,-0.009836813070134016]},{"name":"camera_3","offset_m":[-0.010663363201176876,-0.0005443829260460414,-0.006328152101512382]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[5.267786018891066e-05,0.000663426361162327,-0.0017513846476772189],"end_effector_yaw_offset_degrees":0.9408237897593723},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001286213109417723,0.00022038693634285692,0.0011799104512951832],"end_effector_yaw_offset_degrees":0.14396324636146174},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011788137457969948,-0.000804362899981618,0.0014055095966595118],"end_effector_yaw_offset_degrees":-0.606087714384524},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003203713619476364,-0.0017751548641822758,-6.694832602393316e-05],"end_effector_yaw_offset_degrees":0.9954124115623038}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001254469094365742,-0.002138156905215515],"position_m":[0.17055446909436575,0.22796184309478448,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011410826851940333,-0.004144285128178036],"position_m":[0.23594108268519404,-0.36774428512817803,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001551890331895818,0.002508573196665278],"position_m":[0.2020481096681042,-0.043291426803334726,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013659223737736426,-0.0011173338603583118],"position_m":[0.33243407762622634,0.11658266613964169,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6864f4b7ce82f141d1cb1afeb0f1a7a560785d44636d07645a3e6eba6a309c17","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0031.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4281/tex_ceiling_textures_8751/tex_floor_textures_9824/tex_table_textures_6306/tex_wall_textures_6756","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":496080504897789318,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":496080504897789318,"visual_seed":496080504897789318,"scene_id":"lab_003","finished_at":"2026-09-04T19:10:39"}
+{"episode_id":"ep_000020","started_at":"2026-09-04T19:13:19","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.612160894128559,-0.4859310844162006,0.71338606911949],"aabb_xy":[[-0.6343334211052098,-0.5081067515723238],[-0.5899883671519082,-0.4637554172600774]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.4543560215696252,-0.9456887615824727,0.71338606911949],"aabb_xy":[[0.4082709303148937,-1.0096887588350278],[0.5004411128243567,-0.8816887643299176]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[0.18490279752966254,-1.7847185767688065,0.71338606911949],"aabb_xy":[[0.16732449534071567,-1.8022930663429113],[0.20248109971860936,-1.7671440871947017]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[-0.5980941903087077,-0.7796957866234628,0.71338606911949],"aabb_xy":[[-0.6099662733202088,-0.8646957863171133],[-0.5862221072972066,-0.6946957869298126]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[0.20354796401057884,0.832120996845799,0.71338606911949],"aabb_xy":[[0.15354796299144358,0.7956547811079712],[0.2535479650297141,0.868587212583627]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.15438326967141358,0.5439384120117063,0.71338606911949],"aabb_xy":[[-0.2183832669570622,0.5024316930588624],[-0.0903832723857649,0.5854451309645503]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_6","position":[0.4989078739546855,0.39736153370057403,0.71338606911949],"aabb_xy":[[0.4726190496342449,0.3710901000459228],[0.5251966982751262,0.42363296735522527]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[-0.404467513658902,-2.153726526234399,0.71338606911949],"aabb_xy":[[-0.4413180615958896,-2.1912265270574327],[-0.3676169657219144,-2.1162265254113652]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[0.020854737503076315,0.8548095862661813,0.71338606911949],"aabb_xy":[[-0.04914525890688548,0.8343716506144994],[0.0908547339130381,0.8752475219178628]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_9","position":[0.4705020473049881,-1.6814732412319482,0.71338606911949],"aabb_xy":[[0.4599345676468891,-1.6920182713449567],[0.48106952696308714,-1.6709282111189396]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.6684177865104333,-0.7967456415511014,0.71338606911949],"aabb_xy":[[0.6359560856285057,-0.8268784736660039],[0.7008794873923606,-0.7666128094361987]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_11","position":[0.4742721682373594,-1.3392565693485512,0.71338606911949],"aabb_xy":[[0.38427216590334035,-1.4167389239336639],[0.5642721705713785,-1.2617742147634385]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_12","position":[-0.025353826774195953,0.7235882229017445,0.71338606911949],"aabb_xy":[[-0.038800353408239285,0.7101183712486533],[-0.011907300140152618,0.7370580745548357]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[-0.32378717583624417,-1.3122043260417768,0.71338606911949],"aabb_xy":[[-0.37378028794543605,-1.3622043267159725],[-0.2737940637270523,-1.2622043253675812]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.2803230543173303,-0.806619075026868,0.71338606911949],"aabb_xy":[[-0.3503230577088922,-0.8419348487302989],[-0.21032305092576828,-0.7713033013234372]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[-0.41371379344360604,0.9427883734177636,0.71338606911949],"aabb_xy":[[-0.4637130686120423,0.8927883721418166],[-0.36371451827517,0.992788374693711]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.5659745664193009,-2.151048031947856,0.71338606911949],"aabb_xy":[[-0.6459745674924212,-2.16082607828524],[-0.48597456534618055,-2.1412699856104713]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_17","position":[0.39165746324926176,1.1250841978780182,0.71338606911949],"aabb_xy":[[0.35665746497914186,1.11801007018303],[0.42665746151938166,1.1321583255730063]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.16561127823792765,1.1411672304271554,0.71338606911949],"aabb_xy":[[0.1524600322666383,1.1161672306704689],[0.178762524209217,1.166167230183842]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[-0.18715261907241876,-2.0394420063659764,0.71338606911949],"aabb_xy":[[-0.20964904050628286,-2.0619420061727234],[-0.16465619763855466,-2.0169420065592285]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[-0.5914498817683365,-1.2246364947641124,0.71338606911949],"aabb_xy":[[-0.5969078274053565,-1.3046364980717713],[-0.5859919361313164,-1.144636491456453]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_21","position":[-0.3124685188201168,0.3361276423921411,0.71338606911949],"aabb_xy":[[-0.37746851697603584,0.3098313978422289],[-0.24746852066419772,0.3624238869420533]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[-0.4932569899736752,-1.5062191857036855,0.71338606911949],"aabb_xy":[[-0.49975862648167985,-1.5159870077299953],[-0.4867553534656706,-1.4964513636773755]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[-0.25306959372978977,-0.30565321573941073,0.71338606911949],"aabb_xy":[[-0.29056959422714795,-0.30962189928752915],[-0.21556959323243147,-0.3016845321912923]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[0.4104180991963422,-0.754164412603634,0.71338606911949],"aabb_xy":[[0.3792711803527591,-0.8241644112904412],[0.4415650180399253,-0.6841644139168268]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[-0.03585364475218611,-1.3104705814986677,0.71338606911949],"aabb_xy":[[-0.08585364603602606,-1.3604494358892893],[0.014146356531653857,-1.2604917271080451]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_26","position":[0.5553243715986556,0.8158401682247285,0.71338606911949],"aabb_xy":[[0.5472810116727004,0.7308401671293621],[0.5633677315246107,0.9008401693200949]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_27","position":[-0.4350018916709789,0.4322897583542127,0.71338606911949],"aabb_xy":[[-0.44312957986429213,0.42337614994350503],[-0.4268742034776657,0.44120336676492034]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_28","position":[0.5954233269307809,-2.052159911095422,0.71338606911949],"aabb_xy":[[0.5650252158316372,-2.082566813097091],[0.6258214380299244,-2.021753009093752]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_29","position":[-0.05986585117806653,1.0651107343573094,0.71338606911949],"aabb_xy":[[-0.09736585184264522,1.049423676357087],[-0.022365850513487825,1.0807977923575314]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_30","position":[-0.6135011563984386,-1.791113609910463,0.71338606911949],"aabb_xy":[[-0.6750919156224315,-1.85511360801951],[-0.5519103971744459,-1.7271136118014163]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6684979771922096,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3464.png","name":"3464"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3464.png","name":"3464"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1496.png","name":"1496"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7703.png","name":"7703"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/24.png","name":"24"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9952.png","name":"9952"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":511.6090645439264,"rotation_z_degrees":58.92270051344997,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0171338679039101,0.00817746545082041,0.000526827857930838]},{"name":"camera_2","offset_m":[-0.009372438239564044,0.0014211793761296672,-0.010427497557035932]},{"name":"camera_3","offset_m":[-0.0012335088985830737,0.019456894458386245,-0.019298682533265596]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008580973722216907,0.001795225787128243,-0.0015254535771431176],"end_effector_yaw_offset_degrees":-0.15845045820504922},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007022334953650394,0.0001993126620519394,-0.0015492488735429108],"end_effector_yaw_offset_degrees":-0.012085899899538566},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006338500961490345,0.0005402235905117153,0.0016640609774989613],"end_effector_yaw_offset_degrees":-0.2854593226057547},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008113846026108229,-0.0010761794579226547,0.0017080409156433117],"end_effector_yaw_offset_degrees":-0.9368479670038485}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018865441086177246,0.0026130497101632504],"position_m":[0.17118654410861772,0.23271304971016324,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011043644758027696,-0.00305742055899028],"position_m":[0.2359043644758028,-0.36665742055899025,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002337845858676636,-0.003850275887865008],"position_m":[0.20126215414132337,-0.04965027588786501,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037764686204014965,0.0014936331631551138],"position_m":[0.33757646862040147,0.11919363316315511,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"86ba11efcfbb069d5012b563c3b56bd9b5e2052696b826a348d0c63c0aa4b1b6","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0033.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3464/tex_ceiling_textures_9952/tex_floor_textures_24/tex_table_textures_1496/tex_wall_textures_7703","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1037889174643514480,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1037889174643514480,"visual_seed":1037889174643514480,"scene_id":"lab_003","finished_at":"2026-09-04T19:17:17"}
+{"episode_id":"ep_000021","started_at":"2026-09-04T19:17:21","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[0.035661895472538285,1.0243511338565465,0.71338606911949],"aabb_xy":[[-0.028338103821629934,0.9603649934876923],[0.0996618947667065,1.0883372742254007]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[0.49030861168704654,-1.7766966714228811,0.71338606911949],"aabb_xy":[[0.4003086151861747,-1.8226083138413391],[0.5803086081879182,-1.7307850290044227]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.6090856370759941,-1.5016285671780905,0.71338606911949],"aabb_xy":[[0.5715856365786358,-1.5055972507262088],[0.6465856375733523,-1.4976598836299717]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_3","position":[0.4621417323624548,-0.5878284913267209,0.71338606911949],"aabb_xy":[[0.412141731411922,-0.6193776383302423],[0.5121417333129876,-0.5562793443231995]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.21107825058165552,1.2866368250997446,0.71338606911949],"aabb_xy":[[-0.24106991331552585,1.256636825762944],[-0.1810865878477852,1.3166368244365452]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[-0.14423885086723742,1.541262830995644,0.71338606911949],"aabb_xy":[[-0.17771801812827837,1.5077837176245372],[-0.11075968360619648,1.5747419443667512]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_6","position":[0.5118931464260756,-0.9746369599927138,0.71338606911949],"aabb_xy":[[0.4618931451422356,-1.0246158143833357],[0.5618931477099155,-0.9246581056020916]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_7","position":[0.5506329538587786,0.15452862604193873,0.71338606911949],"aabb_xy":[[0.4955077482291878,0.09452862460065158],[0.6057581594883693,0.21452862748322585]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[0.4948522466529681,0.7725393004800627,0.71338606911949],"aabb_xy":[[0.4839464705654053,0.6925393040812334],[0.5057580227405307,0.8525392968788917]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[-0.4914025945031871,-0.7840990219378932,0.71338606911949],"aabb_xy":[[-0.5614025963119325,-0.8054527907020805],[-0.4214025926944417,-0.7627452531737058]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_10","position":[0.6663325328847924,0.5856291762905772,0.71338606911949],"aabb_xy":[[0.6575304775758196,0.577817850135648],[0.675134588193765,0.5934405024455062]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[-0.40789658648808397,0.6002956866059912,0.71338606911949],"aabb_xy":[[-0.4578698804913443,0.5502956860514437],[-0.3579232924848234,0.6502956871605384]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[0.6625875345328958,0.6450748708951677,0.71338606911949],"aabb_xy":[[0.6579524193806624,0.6412075358180189],[0.6672226496851291,0.6489422059723162]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_13","position":[-0.09059386553432713,-0.9760334619524877,0.71338606911949],"aabb_xy":[[-0.10034985504350101,-0.985795996011722],[-0.08083787602515323,-0.9662709278932531]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[-0.20028608945611948,-1.548329105994685,0.71338606911949],"aabb_xy":[[-0.22356793165425082,-1.6333291072919132],[-0.17700424725798813,-1.463329104697457]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[-0.036799582885079785,1.7669952957765758,0.71338606911949],"aabb_xy":[[-0.09443005177235061,1.706995296849865],[0.020830886002191077,1.8269952947032861]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[-0.13581978692266738,-1.8013393917938185,0.71338606911949],"aabb_xy":[[-0.14310210329933098,-1.891339395403327],[-0.12853747054600367,-1.711339388184309]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[0.2425934465290137,-1.5968123298320474,0.71338606911949],"aabb_xy":[[0.19259344616844765,-1.64679231704165],[0.2925934468895798,-1.5468323426224442]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[0.2214893902076881,-0.8899249066267385,0.71338606911949],"aabb_xy":[[0.19899025448146115,-0.9124249074050015],[0.2439885259339151,-0.8674249058484755]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[-0.45628469734003646,-2.071737561699976,0.71338606911949],"aabb_xy":[[-0.5012772840584869,-2.116737560974425],[-0.41129211062158605,-2.0267375624255273]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[-0.25223230142278064,1.0854112067732777,0.71338606911949],"aabb_xy":[[-0.30223230099911536,1.0354306278211718],[-0.20223230184644592,1.1353917857253837]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_21","position":[0.5083191743114677,0.3924602791140801,0.71338606911949],"aabb_xy":[[0.47146862637448006,0.35496027829104637],[0.5451697222484553,0.42996027993711383]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_22","position":[-0.24740860605930437,0.42568927861572936,0.71338606911949],"aabb_xy":[[-0.3374086097362225,0.36425687203862495],[-0.15740860238238616,0.4871216851928336]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.512041878014598,1.4350111314630536,0.71338606911949],"aabb_xy":[[-0.6020418774329689,1.4016356346188639],[-0.4220418785962271,1.4683866283072433]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_24","position":[0.03298381224481173,-2.069143097812148,0.71338606911949],"aabb_xy":[[-0.027016188006589455,-2.1234244228486125],[0.0929838124962129,-2.014861772775683]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[0.10983061282497375,-0.6160381756816502,0.71338606911949],"aabb_xy":[[0.07233061203297832,-0.6224060166398403],[0.1473306136169692,-0.6096703347234601]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_26","position":[-0.671273474491391,1.5361838262900398,0.71338606911949],"aabb_xy":[[-0.6809051107118207,1.5265465135103307],[-0.6616418382709615,1.5458211390697485]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6657967607459689,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1448.png","name":"1448"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1448.png","name":"1448"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2844.png","name":"2844"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4504.png","name":"4504"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9619.png","name":"9619"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5332.png","name":"5332"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":609.7470973761499,"rotation_z_degrees":282.4698908013195,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010477389590738588,-0.010676021782064136,0.005533624165223877]},{"name":"camera_2","offset_m":[-0.007164277688855209,-0.010032870094689233,-0.017614642129230657]},{"name":"camera_3","offset_m":[0.011544353350040771,0.01803668792678707,-0.019125779817025505]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006666091280575909,-8.129555729719678e-05,0.0015520003475737367],"end_effector_yaw_offset_degrees":0.43573403726948556},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003057248042114733,0.0011647766791852655,-0.00011491130002878208],"end_effector_yaw_offset_degrees":0.5797629186729136},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019081138153453842,-0.0011553369194454138,0.0011198558649592365],"end_effector_yaw_offset_degrees":0.8038257294652755},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016512137293463952,0.001741099871342164,0.0009712647558130713],"end_effector_yaw_offset_degrees":0.4955321573905458}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004968028073390669,0.0010677661184996757],"position_m":[0.17426802807339067,0.23116776611849968,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00010972033838813327,2.1548478154709977e-05],"position_m":[0.23469027966161188,-0.36357845152184526,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015878896720943826,0.004445233912444064],"position_m":[0.20201211032790561,-0.041354766087555936,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027644230603274004,-0.003425653822513164],"position_m":[0.3365644230603274,0.11427434617748683,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7f6b44b7b0ad9029a78ae473327d0e5249198ab389c892eabc4516dd4c19c9b6","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1448/tex_ceiling_textures_5332/tex_floor_textures_9619/tex_table_textures_2844/tex_wall_textures_4504","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2885117776744676807,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2885117776744676807,"visual_seed":2885117776744676807,"scene_id":"lab_003","finished_at":"2026-09-04T19:20:55"}
+{"episode_id":"ep_000022","started_at":"2026-09-04T19:20:59","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_0","position":[0.21920066882402833,-0.9672741383254297,0.71338606911949],"aabb_xy":[[0.15920066822801215,-1.0220866108706532],[0.2792006694200445,-0.9124616657802063]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[-0.3466345888847805,-1.6638593209377852,0.71338606911949],"aabb_xy":[[-0.37662625161865076,-1.693859320274586],[-0.3166429261509101,-1.633859321600985]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.04620488337828921,-2.0072949126031343,0.71338606911949],"aabb_xy":[[-0.06208937664361435,-2.0216478529019586],[-0.03032039011296405,-1.9929419723043102]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_3","position":[-0.4079129974471198,-2.0157903398088437,0.71338606911949],"aabb_xy":[[-0.41594933214840457,-2.0238284591132603],[-0.3998766627458349,-2.007752220504427]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_4","position":[0.03175763336696191,0.8072880569552989,0.71338606911949],"aabb_xy":[[0.020512577796344078,0.7960462592312035],[0.04300268893757975,0.8185298546793941]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[-0.054422330648718265,1.0732922475149103,0.71338606911949],"aabb_xy":[[-0.13442233281148075,0.9933370638887666],[0.025577671514044234,1.1532474311410539]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[-0.500923165691562,-1.7739663074481262,0.71338606911949],"aabb_xy":[[-0.5178338981279037,-1.7874385130407406],[-0.4840124332552202,-1.7604941018555114]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.12488098826373839,1.4898610362528042,0.71338606911949],"aabb_xy":[[-0.21488098768210928,1.4564855394086145],[-0.034880988845367514,1.523236533096994]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_8","position":[-0.1262753614933183,-1.9719903439267834,0.71338606911949],"aabb_xy":[[-0.14060978661948176,-1.9840505594813223],[-0.11194093636715485,-1.9599301283722446]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[0.2312312948611226,-1.5327420937554417,0.71338606911949],"aabb_xy":[[0.18623129339489375,-1.5777419506169228],[0.27623129632735144,-1.4877422368939612]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_10","position":[0.6385904703391545,-0.20948439143517827,0.71338606911949],"aabb_xy":[[0.592505379084423,-0.2734843886877334],[0.684675561593886,-0.14548439418262316]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_11","position":[-0.23820709026778647,-1.754100554727163,0.71338606911949],"aabb_xy":[[-0.24451918980412488,-1.7598674939803818],[-0.231894990731448,-1.748333615473944]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_12","position":[-0.5053639642910087,1.2555420451266182,0.71338606911949],"aabb_xy":[[-0.5299101799137594,1.225293148577581],[-0.48081774866825805,1.2857909416756552]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[0.6784201796986342,-1.8922503809381146,0.71338606911949],"aabb_xy":[[0.6531993428387944,-1.9174741317910011],[0.7036410165584738,-1.8670266300852276]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.2661200185030034,-0.6686248467596774,0.71338606911949],"aabb_xy":[[0.1761200220021316,-0.7145364891781355],[0.3561200150038751,-0.622713204341219]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[0.20984634651706713,0.864422141398157,0.71338606911949],"aabb_xy":[[0.159847071348631,0.8144221401222098],[0.2598456216855033,0.9144221426741042]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.06959075972694895,-0.27909100053619396,0.71338606911949],"aabb_xy":[[-0.0751724313610777,-0.2915910003539694],[-0.06400908809282017,-0.2665910007184184]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[0.4756474661812984,1.0074744147990922,0.71338606911949],"aabb_xy":[[0.46860601523055073,1.0004476630612977],[0.4826889171320459,1.0145011665368866]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[-0.1591691819289791,1.6695489354306274,0.71338606911949],"aabb_xy":[[-0.1645016965835921,1.6642246071853921],[-0.15383666727436612,1.6748732636758632]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[-0.3865957297566456,0.8221666754292709,0.71338606911949],"aabb_xy":[[-0.4251414225818467,0.7836209043730823],[-0.3480500369314446,0.8607124464854595]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[-0.018687836316849782,-0.08233275674423002,0.71338606911949],"aabb_xy":[[-0.031918781851531075,-0.09556017576622941],[-0.005456890782168485,-0.06910533772223057]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_21","position":[-0.40134425253555733,0.10025040936293461,0.71338606911949],"aabb_xy":[[-0.44847363153739295,0.03625040831853263],[-0.3542148735337216,0.16425041040733654]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[0.40698001686882535,-0.2991515550826511,0.71338606911949],"aabb_xy":[[0.3694800163714671,-0.3031202386307695],[0.4444800173661836,-0.29518287153453265]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[0.1744105464810547,-2.5302278832792835,0.71338606911949],"aabb_xy":[[0.12441054546191943,-2.566694099017112],[0.22441054750019,-2.493761667541456]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_24","position":[0.6441558862941257,-2.266902790503576,0.71338606911949],"aabb_xy":[[0.6402420130987032,-2.2756518059101327],[0.6480697594895481,-2.258153775097019]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_25","position":[0.525229242979071,0.2201745455270534,0.71338606911949],"aabb_xy":[[0.44522924499828603,0.21257300456520148],[0.6052292409598561,0.22777608648890538]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[-0.055709902716670534,0.3796509931244536,0.71338606911949],"aabb_xy":[[-0.07357901047112603,0.36581808514724273],[-0.037840794962215034,0.3934839011016646]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_27","position":[0.447091358092051,-1.806871419910967,0.71338606911949],"aabb_xy":[[0.3971180640887905,-1.8568714204655141],[0.4970646520953114,-1.7568714193564194]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_28","position":[0.6982084345342217,1.3183685783571786,0.71338606911949],"aabb_xy":[[0.6821465070757039,1.2333685765445865],[0.7142703619927392,1.4033685801697702]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_29","position":[-0.5847285801128509,0.8090659340363109,0.71338606911949],"aabb_xy":[[-0.6021592951918573,0.79179381937246],[-0.5672978650338443,0.8263380487001616]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_30","position":[-0.3429507539237105,-1.8472656633089652,0.71338606911949],"aabb_xy":[[-0.34785004623027393,-1.8749425826115338],[-0.33805146161714694,-1.8195887440063963]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_31","position":[-0.2366588485606803,-1.2914351460911608,0.71338606911949],"aabb_xy":[[-0.2966588488120815,-1.3457164711276255],[-0.1766588483092791,-1.2371538210546962]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663764869938239,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6961.png","name":"6961"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6961.png","name":"6961"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/747.png","name":"747"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6170.png","name":"6170"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6676.png","name":"6676"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1368.png","name":"1368"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":766.2040768801894,"rotation_z_degrees":117.89997235080168,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004877913461966674,-0.01906989831001032,-0.002899638801015167]},{"name":"camera_2","offset_m":[0.009523183006051705,-0.0011657577915758395,0.0039022199122617923]},{"name":"camera_3","offset_m":[0.008807374823215013,-0.0036220907000690528,0.014188546127229171]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010182940551749606,0.0004999097136733064,0.0018760307856058238],"end_effector_yaw_offset_degrees":-0.23786977689603472},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009693299797512316,0.0011342782934076001,0.0013566383234741757],"end_effector_yaw_offset_degrees":-0.25359967523388693},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001218636844104064,-0.0009020928150624927,0.0009661632705054587],"end_effector_yaw_offset_degrees":0.7866384205543853},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002203873446147333,-0.0018183699498028813,0.00013883185098563728],"end_effector_yaw_offset_degrees":-0.593421800906967}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004951164300807206,0.0005841484686431361],"position_m":[0.1643488356991928,0.23068414846864313,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002071476316493299,0.0007332387826507599],"position_m":[0.23272852368350672,-0.36286676121734923,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003098842947420315,0.003274687689876466],"position_m":[0.20050115705257968,-0.042525312310123534,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004957222848963882,-0.0043616736844155944],"position_m":[0.3288427771510361,0.11333832631558441,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ab1db1052d67336e854281d13d4766569f5546ecf64a4edc21e286bdc3c9a976","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6961/tex_ceiling_textures_1368/tex_floor_textures_6676/tex_table_textures_747/tex_wall_textures_6170","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5517726501844177994,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5517726501844177994,"visual_seed":5517726501844177994,"scene_id":"lab_003","finished_at":"2026-09-04T19:24:44"}
+{"episode_id":"ep_000023","started_at":"2026-09-04T19:24:48","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[-0.28236528709955566,-1.6672073045781475,0.71338606911949],"aabb_xy":[[-0.34236528694612245,-1.7240259267711862],[-0.22236528725298887,-1.6103886823851088]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[0.6211266531940178,-0.0581109574983798,0.71338606911949],"aabb_xy":[[0.5852131487690282,-0.09402446571513443],[0.6570401576190075,-0.022197449281625176]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[-0.0039256129090194936,-2.08270112466159,0.71338606911949],"aabb_xy":[[-0.08764783840910195,-2.172701128196286],[0.07979661259106297,-1.9927011211268941]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[0.49858568558058836,-0.23033709698289817,0.71338606911949],"aabb_xy":[[0.4345856836682461,-0.2862482462409086],[0.5625856874929308,-0.17442594772488773]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.1402451120990187,-0.9879557671224288,0.71338606911949],"aabb_xy":[[0.07024510946243231,-1.008060632118294],[0.210245114735605,-0.9678509021265632]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_5","position":[-0.3809516408801378,-2.3537215079311413,0.71338606911949],"aabb_xy":[[-0.460945464458696,-2.433721510523983],[-0.30095781730157956,-2.2737215053382998]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[-0.33044509992800325,0.7349462046634847,0.71338606911949],"aabb_xy":[[-0.3420140806749398,0.709946204546553],[-0.3188761191810667,0.7599462047804164]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[-0.42085958419815095,1.3563512009599732,0.71338606911949],"aabb_xy":[[-0.4748751804800509,1.2923511980677158],[-0.3668439879162509,1.4203512038522301]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[0.07952447689711295,1.1031419354456022,0.71338606911949],"aabb_xy":[[0.056608764012063065,1.080237638309179],[0.10244018978216288,1.126046232582026]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_9","position":[0.3602663439168239,-1.0369880155535747,0.71338606911949],"aabb_xy":[[0.3377663443931164,-1.059483963004195],[0.38276634344053123,-1.0144920681029534]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_10","position":[-0.5310882179160805,-0.7839138373709351,0.71338606911949],"aabb_xy":[[-0.5589332546966876,-0.8146983361092469],[-0.5032431811354734,-0.7531293386326235]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.34274918139042926,1.5352886980384173,0.71338606911949],"aabb_xy":[[-0.35216665596029195,1.5258725209006982],[-0.33333170682056645,1.5447048751761363]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[-0.33564033082231187,-0.36178472017966445,0.71338606911949],"aabb_xy":[[-0.40064033177943903,-0.41373293211337],[-0.2706403298651846,-0.3098365082459588]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[-0.44235737660445,1.6233420624260781,0.71338606911949],"aabb_xy":[[-0.4686462009248907,1.5970706287714267],[-0.41606855228400935,1.6496134960807292]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[0.54104163358987,1.402670331980533,0.71338606911949],"aabb_xy":[[0.5123923012294537,1.374024772703457],[0.5696909659502861,1.4313158912576085]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.022280768533045503,-1.4281313279878227,0.71338606911949],"aabb_xy":[[-0.05674311593118729,-1.4626252103856452],[0.0121815788650963,-1.3936374455899998]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[0.4671674624816893,0.7784713680361905,0.71338606911949],"aabb_xy":[[0.4171743503724975,0.728471367361995],[0.5171605745908813,0.8284713687103864]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.5848370502841225,-1.1124426274495836,0.71338606911949],"aabb_xy":[[0.5475057737588799,-1.147095682244436],[0.6221683268093651,-1.0777895726547315]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.5450450660046426,-2.5476137371700855,0.71338606911949],"aabb_xy":[[0.5275450667265558,-2.5649518372364315],[0.5625450652827295,-2.5302756371037396]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[-0.011472698452738905,-1.8643428236163089,0.71338606911949],"aabb_xy":[[-0.03647269800447739,-1.8744853074814434],[0.013527301098999578,-1.854200339751174]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[-0.591831103344649,-0.06698064364291101,0.71338606911949],"aabb_xy":[[-0.6044578906318453,-0.07652671734448391],[-0.5792043160574526,-0.05743456994133811]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[0.10451898598234832,-1.526828143878725,0.71338606911949],"aabb_xy":[[0.06951898771222839,-1.533902271573713],[0.1395189842524682,-1.5197540161837366]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[-0.24191324033220674,-0.2524271105134619,0.71338606911949],"aabb_xy":[[-0.2794132411242022,-0.25879495147165205],[-0.20441323954021132,-0.24605926955527185]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_23","position":[0.3992972929283469,0.46085644525033365,0.71338606911949],"aabb_xy":[[0.3342972919278464,0.4100700800956587],[0.46429729392884744,0.5116428104050086]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_24","position":[0.4134701272809551,1.3882836674685386,0.71338606911949],"aabb_xy":[[0.39583729168742754,1.3706607214529156],[0.4311029628744827,1.4059066134841616]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_25","position":[0.617293049745864,-0.8449769957205764,0.71338606911949],"aabb_xy":[[0.6133325659761296,-0.852644860306097],[0.6212535335155983,-0.8373091311350558]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_26","position":[-0.08800278697439157,-1.723489110573392,0.71338606911949],"aabb_xy":[[-0.1381002509554652,-1.787489111083204],[-0.03790532299331795,-1.6594891100635805]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_27","position":[0.5569654540229241,0.1472968853955403,0.71338606911949],"aabb_xy":[[0.4919654529169807,0.12233151232741205],[0.6219654551288673,0.17226225846366863]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_28","position":[0.3764436189911775,-2.4967291240118143,0.71338606911949],"aabb_xy":[[0.35192999489417165,-2.5209937173138504],[0.40095724308818337,-2.4724645307097775]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_29","position":[-0.3761732585064649,-1.0136958174909283,0.71338606911949],"aabb_xy":[[-0.42615620869394416,-1.0636958171334885],[-0.3261903083189855,-0.9636958178483678]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_30","position":[0.3637507343425719,1.2116808845115363,0.71338606911949],"aabb_xy":[[0.3485785650609386,1.1965120275833332],[0.3789229036242053,1.22684974143974]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_31","position":[-0.08545340407896829,-1.283378886668285,0.71338606911949],"aabb_xy":[[-0.08988403343380846,-1.2888272584029674],[-0.08102277472412811,-1.2779305149336024]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6645092931059183,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4762.png","name":"4762"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4762.png","name":"4762"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3157.png","name":"3157"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5234.png","name":"5234"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5186.png","name":"5186"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3849.png","name":"3849"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":571.6150883927553,"rotation_z_degrees":256.1378680679648,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008434362374578851,0.013268495393226349,-0.017580153940497036]},{"name":"camera_2","offset_m":[0.01714409950719902,0.01771031838057498,0.011362730579878206]},{"name":"camera_3","offset_m":[-0.014054967496482253,-0.0016299484123469717,-0.008314125077507289]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00010490662693523364,-0.0007199610463051243,0.001057162286925783],"end_effector_yaw_offset_degrees":0.8618658694142034},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00031012245425525594,0.0009258554884561425,-0.001012558606028124],"end_effector_yaw_offset_degrees":-0.4098493683722908},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003177507165630256,0.0014174851599411493,0.0005242729562721276],"end_effector_yaw_offset_degrees":-0.6970775581165591},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002772913271425778,0.0001418434841424952,-0.0014926623537192922],"end_effector_yaw_offset_degrees":-0.3091284318127412}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004745551701446682,-0.004454876213673568],"position_m":[0.1645544482985533,0.22564512378632642,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004452450297751992,-0.004234195079323613],"position_m":[0.23034754970224802,-0.3678341950793236,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-9.015629859361954e-05,0.0012166066694352827],"position_m":[0.20350984370140637,-0.04458339333056472,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004391757743448407,-0.0023711679036326327],"position_m":[0.3294082422565516,0.11532883209636736,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"48fe523bec1dcc0414545a3761b74b7f98b7da8f9529d5050ac4952a425eaebe","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4762/tex_ceiling_textures_3849/tex_floor_textures_5186/tex_table_textures_3157/tex_wall_textures_5234","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4138037784759110643,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4138037784759110643,"visual_seed":4138037784759110643,"scene_id":"lab_003","finished_at":"2026-09-04T19:29:03"}
+{"episode_id":"ep_000024","started_at":"2026-09-04T19:29:07","dimensions":{"distractor":{"count":20,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[0.4548481989788502,1.4748515320182798,0.71338606911949],"aabb_xy":[[0.3748482019646022,1.4547169803448683],[0.5348481959930982,1.4949860836916908]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[-0.4841733722396041,-1.6833965908103603,0.71338606911949],"aabb_xy":[[-0.5294519871207533,-1.747396590158544],[-0.4388947573584548,-1.6193965914621766]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[0.5795609794863856,-1.3781475135712955,0.71338606911949],"aabb_xy":[[0.5576522973470345,-1.400048180391386],[0.6014696616257366,-1.3562468467512045]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[-0.3291354513425819,0.9630512224139558,0.71338606911949],"aabb_xy":[[-0.3351724643432466,0.9570245213450076],[-0.32309843834191715,0.969077923482904]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_4","position":[0.6421798008773076,-0.4277447828316574,0.71338606911949],"aabb_xy":[[0.5921797995934674,-0.47772363722227945],[0.6921798021611474,-0.37776592844103524]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[-0.31247755716198145,0.2950242657984492,0.71338606911949],"aabb_xy":[[-0.33702377278473217,0.26477536924941214],[-0.2879313415392307,0.32527316234748627]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[0.6262888407777052,-1.692010332880608,0.71338606911949],"aabb_xy":[[0.6150437852070875,-1.703252130604703],[0.6375338963483231,-1.6807685351565125]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[0.07992076675535043,-1.6475078125995795,0.71338606911949],"aabb_xy":[[0.0464805915593308,-1.6809514384305095],[0.11336094195137,-1.6140641867686494]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_8","position":[0.4270566299542866,-0.5049568524963708,0.71338606911949],"aabb_xy":[[0.33736955364617116,-0.5949568527508213],[0.5167437062624021,-0.41495685224192025]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.6425621879113046,1.2927603638141698,0.71338606911949],"aabb_xy":[[0.6226711480309643,1.280104552529473],[0.6624532277916448,1.3054161750988666]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[0.3925926107361881,-0.3266535241493109,0.71338606911949],"aabb_xy":[[0.3550926121605673,-0.3393898198128688],[0.4300926093118089,-0.31391722848575293]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[-0.5655192806168361,0.0785585424129236,0.71338606911949],"aabb_xy":[[-0.6155185557852723,0.028558541136976423],[-0.5155200054483999,0.12855854368887076]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[0.28095497793857704,0.5509930408888146,0.71338606911949],"aabb_xy":[[0.24636389508453174,0.4859930406037834],[0.31554606079262215,0.6159930411738455]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_13","position":[-0.6132139381744336,-1.5305705438450237,0.71338606911949],"aabb_xy":[[-0.6353864651510844,-1.5527462110011465],[-0.5910414111977828,-1.5083948766889004]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[-0.5017608147075614,-0.28413974608934556,0.71338606911949],"aabb_xy":[[-0.5321589258067049,-0.314546648091015],[-0.47136270360841775,-0.253732844087676]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[-0.02492179709369513,-1.3994981088884133,0.71338606911949],"aabb_xy":[[-0.0849217973450963,-1.4537794339248777],[0.035078203157706045,-1.3452167838519484]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[-0.20236180475337778,0.17269403919932325,0.71338606911949],"aabb_xy":[[-0.23232936166320348,0.1426940389014375],[-0.17239424784355215,0.202694039497209]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[-0.04789365068027318,-1.9888759652715864,0.71338606911949],"aabb_xy":[[-0.10301885630986395,-2.048875966712873],[0.007231554949317597,-1.9288759638302992]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[-0.13927288556517292,-1.358445885007624,0.71338606911949],"aabb_xy":[[-0.14730922026645776,-1.3664840043120408],[-0.13123655086388808,-1.3504077657032072]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[0.3772442260886797,-2.4266257626695253,0.71338606911949],"aabb_xy":[[0.35974422695431246,-2.4365053897071127],[0.3947442252230468,-2.416746135631937]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664744259848849,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6238.png","name":"6238"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6238.png","name":"6238"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8435.png","name":"8435"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9901.png","name":"9901"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3147.png","name":"3147"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8921.png","name":"8921"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":828.4007971853214,"rotation_z_degrees":30.45809552958662,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007183635110803548,0.0027721381977695893,0.003755158311765195]},{"name":"camera_2","offset_m":[0.01945280023148342,-0.01608225187299926,0.016703477608076066]},{"name":"camera_3","offset_m":[0.007009027064582549,0.015049359498603507,0.006889212530267835]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016157500973331134,0.000967797931289299,0.0014093700039679666],"end_effector_yaw_offset_degrees":-0.2881424268188564},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018162708874864789,-0.0007659731271032583,0.0015787211292922205],"end_effector_yaw_offset_degrees":-0.08130323375743731},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006309647981656702,-0.001800573057144388,-0.00024961277255644283],"end_effector_yaw_offset_degrees":0.17989425481832289},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000816163307761209,0.0008609554762780513,-0.00021944383607119269],"end_effector_yaw_offset_degrees":0.998769839969633}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00011851285957152884,-0.0027118158023112025],"position_m":[0.16918148714042847,0.2273881841976888,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0027012939650448934,0.0031162171144901137],"position_m":[0.2375012939650449,-0.36048378288550986,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006624630824860174,0.004904593475691375],"position_m":[0.20426246308248602,-0.040895406524308626,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0029006996716639845,1.8112769027174222e-05],"position_m":[0.330899300328336,0.11771811276902718,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"180ee2e8ade2715661a04f97e7f388f7226b794dd8430ef542c7747c393f3bf5","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6238/tex_ceiling_textures_8921/tex_floor_textures_3147/tex_table_textures_8435/tex_wall_textures_9901","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7491335605748377492,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7491335605748377492,"visual_seed":7491335605748377492,"scene_id":"lab_003","finished_at":"2026-09-04T19:32:54"}
+{"episode_id":"ep_000025","started_at":"2026-09-04T19:35:32","dimensions":{"distractor":{"count":27,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[0.5905629574282836,-0.43039539403607874,0.71338606911949],"aabb_xy":[[0.5776910539273433,-0.5103953944499149],[0.6034348609292236,-0.3503953936222426]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_1","position":[-0.11709284985904422,-1.7791431847826564,0.71338606911949],"aabb_xy":[[-0.12079611118818308,-1.7828452030913744],[-0.11338958852990534,-1.7754411664739385]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[0.12145229826061155,1.2622312987224946,0.71338606911949],"aabb_xy":[[0.08395229808873961,1.2295305633395872],[0.15895229843248349,1.2949320341054016]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_3","position":[0.3277390853451567,-1.2520543353276345,0.71338606911949],"aabb_xy":[[0.292739083993675,-1.2724140712844552],[0.36273908669663846,-1.2316945993708135]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[-0.34263265539952015,-2.2164312364594654,0.71338606911949],"aabb_xy":[[-0.40663265251162584,-2.2654636062538764],[-0.27863265828741446,-2.167398866665055]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[-0.6191480169120586,-1.5704138214985266,0.71338606911949],"aabb_xy":[[-0.6261894678628062,-1.5774405732363215],[-0.612106565961311,-1.5633870697607322]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[-0.004153772078801743,-1.3856463021492031,0.71338606911949],"aabb_xy":[[-0.013571246648664492,-1.3950624792869222],[0.005263702491061006,-1.3762301250114841]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[-0.4782619318575509,1.579321962262679,0.71338606911949],"aabb_xy":[[-0.5382619317041177,1.5225033400696404],[-0.4182619320109841,1.6361405844557178]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[0.5661645637337778,1.5588973544441083,0.71338606911949],"aabb_xy":[[0.5021645673064559,1.511727730622012],[0.6301645601610997,1.606066978266205]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[-0.24581359557432392,-0.32961765572547463,0.71338606911949],"aabb_xy":[[-0.2909849134224929,-0.3936176528700131],[-0.20064227772615495,-0.2656176585809362]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[-0.29519423535213934,1.318247259755918,0.71338606911949],"aabb_xy":[[-0.332228344780199,1.2838700524222086],[-0.25816012592407955,1.3526244670896275]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[-0.3429948458530697,-1.3393193354088335,0.71338606911949],"aabb_xy":[[-0.3779948457490886,-1.3476935709207736],[-0.30799484595705084,-1.330945099896894]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_12","position":[-0.1850514038843193,0.7189583251851928,0.71338606911949],"aabb_xy":[[-0.21553565401134944,0.6689583254036968],[-0.15456715375728913,0.7689583249666887]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_13","position":[0.6485162138323259,0.010468584712899354,0.71338606911949],"aabb_xy":[[0.6072674028024111,-0.044531414799318096],[0.6897650248622406,0.0654685842251168]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[0.5344356192652331,0.3410012505350961,0.71338606911949],"aabb_xy":[[0.5168889243491142,0.30350124897084485],[0.551982314181352,0.3785012520993474]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_15","position":[-0.378290747499813,0.1577647081007716,0.71338606911949],"aabb_xy":[[-0.4035115843596526,0.1325409572478848],[-0.3530699106399733,0.1829884589536583]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[-0.16953742021122487,-0.7406198571775584,0.71338606911949],"aabb_xy":[[-0.1775636908418509,-0.749371352154911],[-0.1615111495805989,-0.7318683622002058]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[-0.5865584321587728,0.7370018957805748,0.71338606911949],"aabb_xy":[[-0.6365584335196599,0.6870239912051591],[-0.5365584307978855,0.7869798003559904]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[-0.14088805525241044,-1.4506655112461881,0.71338606911949],"aabb_xy":[[-0.14500400536448305,-1.4547810662790337],[-0.13677210514033772,-1.4465499562133426]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_19","position":[-0.3175112932517353,-2.5260246883553696,0.71338606911949],"aabb_xy":[[-0.32284886891773995,-2.5510246892845094],[-0.3121737175857308,-2.50102468742623]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[-0.08479445721623047,1.5380823849201453,0.71338606911949],"aabb_xy":[[-0.12609900027996646,1.474082385352028],[-0.04348991415249448,1.6020823844882621]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[0.3435138994867244,0.6611263305543793,0.71338606911949],"aabb_xy":[[0.32101389996301694,0.6386303831037584],[0.36601389901043174,0.683622278005]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_22","position":[0.6064608553908128,0.8654270572972496,0.71338606911949],"aabb_xy":[[0.5614682686723624,0.8204270580228008],[0.6514534421092633,0.9104270565716983]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_23","position":[-0.22050899710886335,-0.959875448777729,0.71338606911949],"aabb_xy":[[-0.23567187008580048,-0.9750409060728479],[-0.20534612413192632,-0.9447099914826104]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_24","position":[-0.2763343198517017,-1.1398259949004572,0.71338606911949],"aabb_xy":[[-0.34633432166044714,-1.1611797636646446],[-0.20633431804295627,-1.1184722261362698]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_25","position":[0.06264319683220321,-2.227419043927642,0.71338606911949],"aabb_xy":[[-0.007356805804383151,-2.2475239089235073],[0.13264319946878955,-2.2073141789317763]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[-0.20514424767007655,1.0967964141237152,0.71338606911949],"aabb_xy":[[-0.22703399525901735,1.006796416834466],[-0.18325450008113575,1.1867964114129643]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6622747244651082,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6326.png","name":"6326"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6326.png","name":"6326"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9299.png","name":"9299"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7403.png","name":"7403"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9847.png","name":"9847"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1674.png","name":"1674"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":517.8860277679229,"rotation_z_degrees":341.9488167277565,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00852759522489389,-0.006874207777219695,-0.011919766987680403]},{"name":"camera_2","offset_m":[0.017922574287727897,0.012218636098792025,0.00908738908493753]},{"name":"camera_3","offset_m":[-0.01821866156449313,-0.017760055299589534,-0.008908425698652774]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011653570686340638,0.00030669110612396074,-0.0019488904231876646],"end_effector_yaw_offset_degrees":0.8689105777813162},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009774377086914122,-0.00025129817748748896,0.001292906143084273],"end_effector_yaw_offset_degrees":-0.03273931735418589},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008204992563681489,0.00020096233808461397,0.0019451925280752],"end_effector_yaw_offset_degrees":0.9359140784736055},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009895780832116941,-0.0010631112420546045,-0.001348361592104243],"end_effector_yaw_offset_degrees":0.7119987147687279}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004639603684490629,0.00181843121515531],"position_m":[0.17393960368449063,0.23191843121515532,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035853218980001623,0.0011406524128799375],"position_m":[0.23121467810199986,-0.36245934758712006,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004664992979852844,-0.003517751242267049],"position_m":[0.20826499297985285,-0.04931775124226705,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007332238545644208,0.002417112906005686],"position_m":[0.3345332238545644,0.12011711290600569,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ac884723a554a570856c292d2da0663d350d5aac5aebf83cf70e594c6050db04","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6326/tex_ceiling_textures_1674/tex_floor_textures_9847/tex_table_textures_9299/tex_wall_textures_7403","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4359154787833092773,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4359154787833092773,"visual_seed":4359154787833092773,"scene_id":"lab_003","finished_at":"2026-09-04T19:39:11"}
+{"episode_id":"ep_000026","started_at":"2026-09-04T19:39:16","dimensions":{"distractor":{"count":25,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.6450868778308312,-1.9822113219896496,0.71338606911949],"aabb_xy":[[-0.6566558585777679,-2.0072113221065813],[-0.6335178970838947,-1.9572113218727178]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.11644936833734643,-0.9558673614269533,0.71338606911949],"aabb_xy":[[0.07894936798911865,-0.9676587570080367],[0.15394936868557418,-0.9440759658458696]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.2752853578604939,1.082335071183389,0.71338606911949],"aabb_xy":[[0.26351717106583644,0.9973350712781675],[0.2870535446551515,1.1673350710886106]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[0.10479551480694493,0.9572649474074351,0.71338606911949],"aabb_xy":[[0.047165045919674076,0.8972649484807244],[0.1624259836942158,1.0172649463341457]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_4","position":[-0.3753873346937566,-2.495068581675048,0.71338606911949],"aabb_xy":[[-0.4369780939177495,-2.559068579784095],[-0.31379657546976386,-2.431068583566001]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[0.43631955540561007,1.688309428394264,0.71338606911949],"aabb_xy":[[0.3723195561114418,1.62432328802541],[0.5003195546997783,1.7522955687631183]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.24299107261802189,1.5178869626127338,0.71338606911949],"aabb_xy":[[0.2380350524331407,1.4953869624106124],[0.24794709280290309,1.5403869628148559]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[0.6766202068201383,-2.1340992530208966,0.71338606911949],"aabb_xy":[[0.6591202076857712,-2.1439788800584845],[0.6941202059545055,-2.124219625983309]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_8","position":[-0.42455795319525913,0.5368309687319801,0.71338606911949],"aabb_xy":[[-0.44205788662924245,0.5193309688117455],[-0.4070580197612757,0.5543309686522145]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[0.1452229775259718,-0.7095429130578421,0.71338606911949],"aabb_xy":[[0.1338612428726856,-0.7209113794641301],[0.15658471217925793,-0.6981744466515539]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.11365329175407013,-1.1240809950144977,0.71338606911949],"aabb_xy":[[-0.17765329343206748,-1.1725983864938117],[-0.049653290076072776,-1.0755636035351832]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_11","position":[-0.3884181266466775,0.02615773114260378,0.71338606911949],"aabb_xy":[[-0.4524181288670845,-0.018215352982684507],[-0.32441812442627044,0.07053081526789207]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_12","position":[0.2566888313910537,-2.178918451571255,0.71338606911949],"aabb_xy":[[0.2458483531645388,-2.1961047328619037],[0.2675293096175686,-2.1617321702806063]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_13","position":[0.06729970997544221,1.6224779127110005,0.71338606911949],"aabb_xy":[[0.029799709183446765,1.61611007175281],[0.10479971076743766,1.6288457536691905]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[0.33237594655731306,0.5905974532638902,0.71338606911949],"aabb_xy":[[0.2948759464517201,0.5837752914109091],[0.369875946662906,0.5974196151168714]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[-0.33346799917576236,-2.142524476307401,0.71338606911949],"aabb_xy":[[-0.3617977091243026,-2.146985218501118],[-0.30513828922722214,-2.138063734113684]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[-0.009243075768491371,1.4908652774649265,0.71338606911949],"aabb_xy":[[-0.014701021405511439,1.4108652741572674],[-0.0037851301314713037,1.5708652807725856]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[-0.18924633418577497,-0.8000399419623372,0.71338606911949],"aabb_xy":[[-0.2442463338075208,-0.85502363474981],[-0.13424633456402912,-0.7450562491748646]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[-0.15553244680424727,-0.2752561691699289,0.71338606911949],"aabb_xy":[[-0.17244317924058902,-0.28872837476254337],[-0.13862171436790546,-0.2617839635773143]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[-0.6588170341779468,-1.9048092017259024,0.71338606911949],"aabb_xy":[[-0.6658584851286944,-1.911835953463697],[-0.6517755832271992,-1.8977824499881082]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[-0.23360880576173915,-1.089437756615563,0.71338606911949],"aabb_xy":[[-0.2430262803316019,-1.0988539337532819],[-0.2241913311918764,-1.0800215794778438]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[-0.5549142870005496,-0.37273628412052107,0.71338606911949],"aabb_xy":[[-0.6189142855871219,-0.4197432475200297],[-0.490914288413977,-0.3257293207210123]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_22","position":[-0.3702877917673278,0.8196137619756447,0.71338606911949],"aabb_xy":[[-0.4352877928732711,0.7946483889075164],[-0.3052877906613845,0.844579135043773]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[-0.41871735759249756,-1.387369607645235,0.71338606911949],"aabb_xy":[[-0.43639298818109584,-1.4050498239246376],[-0.4010417270038992,-1.3696893913658321]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_24","position":[-0.6290189562042567,-1.4042348105543099,0.71338606911949],"aabb_xy":[[-0.6790019063917359,-1.45423481019687],[-0.5790360060167772,-1.3542348109117492]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6672436699509992,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3066.png","name":"3066"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3066.png","name":"3066"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3783.png","name":"3783"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9701.png","name":"9701"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8808.png","name":"8808"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2279.png","name":"2279"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":814.5017548000577,"rotation_z_degrees":214.0177325248969,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01895331024591794,-0.007257573036768945,-0.00721689112601513]},{"name":"camera_2","offset_m":[-0.009037108875882277,0.010468166468913381,0.013182989110154659]},{"name":"camera_3","offset_m":[-0.010653222373152835,-0.009917121867817378,0.01638152126800579]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012078128657959648,0.0007957870502698296,0.0008813197394827469],"end_effector_yaw_offset_degrees":-0.10253401506312665},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004963716237789506,-4.032084451825605e-05,-0.0006663391332704706],"end_effector_yaw_offset_degrees":0.2996078176240893},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010310670831857945,0.00027978219449070665,3.396653093084992e-05],"end_effector_yaw_offset_degrees":-0.9638771799540202},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017779252631638146,0.0015053144493954768,0.0004801836674825262],"end_effector_yaw_offset_degrees":0.15917857088268939}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003326585695450626,0.001185679451194327],"position_m":[0.16963265856954507,0.23128567945119433,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00380018114097374,0.003403786503146642],"position_m":[0.23860018114097375,-0.3601962134968533,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009562688204659865,-0.0038144979729576502],"position_m":[0.20264373117953402,-0.04961449797295765,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002647075393129188,-0.0003272531466631959],"position_m":[0.3311529246068708,0.1173727468533368,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8106d1430418522838381b2b75c1ac521c5b80729d13c87ef08f89bdc1e1e84f","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0040.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3066/tex_ceiling_textures_2279/tex_floor_textures_8808/tex_table_textures_3783/tex_wall_textures_9701","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6143231560450314131,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6143231560450314131,"visual_seed":6143231560450314131,"scene_id":"lab_003","finished_at":"2026-09-04T19:42:54"}
+{"episode_id":"ep_000027","started_at":"2026-09-04T19:42:57","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.18278311295346195,1.245307006022884,0.71338606911949],"aabb_xy":[[0.16528317951947855,1.2278070061026491],[0.2002830463874453,1.2628070059431182]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[0.642514661728244,-0.08240057660732969,0.71338606911949],"aabb_xy":[[0.6200009699047867,-0.15240057720833722],[0.6650283535517011,-0.012400576006322162]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_2","position":[0.47608041962011116,0.9956389460374799,0.71338606911949],"aabb_xy":[[0.4721199358503768,0.9879710814519593],[0.4800409033898455,1.0033068106230005]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[-0.015440621502911034,-0.0259064091102994,0.71338606911949],"aabb_xy":[[-0.01888129774296821,-0.02976784208466388],[-0.011999945262853865,-0.022044976135934924]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[-0.4308311404911013,-2.284468058070572,0.71338606911949],"aabb_xy":[[-0.5108311407647084,-2.357417605896288],[-0.3508311402174944,-2.2115185102448547]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_5","position":[0.6398144239084946,-1.1486658636219318,0.71338606911949],"aabb_xy":[[0.5898144243321599,-1.198646442574038],[0.6898144234848294,-1.098685284669826]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[0.18713670736521115,-0.8838635230701437,0.71338606911949],"aabb_xy":[[0.12313670568721377,-0.9323809145494579],[0.2511367090432085,-0.8353461315908295]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_7","position":[-0.13588048159803334,-1.7274037391859238,0.71338606911949],"aabb_xy":[[-0.1858754925574854,-1.777403738221516],[-0.08588547063858133,-1.6774037401503326]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[-0.4961647187891956,-0.895395468112445,0.71338606911949],"aabb_xy":[[-0.5026663552972003,-0.9051632901387549],[-0.4896630822811911,-0.8856276460861353]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[0.15767272613259897,1.6612067636404677,0.71338606911949],"aabb_xy":[[0.12017272578437121,1.649415368059384],[0.19517272648082673,1.672998159221551]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_10","position":[-0.37979286938705126,-1.5537982565917372,0.71338606911949],"aabb_xy":[[-0.3974684999756496,-1.5714784728711397],[-0.3621172387984529,-1.5361180403123342]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[-0.3119938179239623,0.9809372921152222,0.71338606911949],"aabb_xy":[[-0.31840763156714724,0.9745274718675538],[-0.30558000428077736,0.9873471123628905]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[0.477619898393288,-0.22084577521271997,0.71338606911949],"aabb_xy":[[0.4426198992633324,-0.2265909962883841],[0.5126198975232437,-0.2151005541370559]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_13","position":[0.32193776476809366,0.4825167405777182,0.71338606911949],"aabb_xy":[[0.3118560576895202,0.40251674268560345],[0.33201947184666714,0.5625167384698327]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.4701146342832141,-1.9660221007270466,0.71338606911949],"aabb_xy":[[0.4540527068246964,-2.0510221025396387],[0.4861765617417317,-1.8810220989144548]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[-0.0041413857084907635,-0.6909296999010452,0.71338606911949],"aabb_xy":[[-0.012167656339116761,-0.699681194878398],[0.0038848849221352335,-0.6821782049236927]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.4326270040882861,0.9503844091030409,0.71338606911949],"aabb_xy":[[-0.43966845503903373,0.9433576573652462],[-0.42558555313753854,0.9574111608408353]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[-0.07018893848692775,0.5555982990459314,0.71338606911949],"aabb_xy":[[-0.1351889366428468,0.5293020544960192],[-0.005188940331008696,0.5818945435958436]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[-0.31781946469677264,-1.3584050930273144,0.71338606911949],"aabb_xy":[[-0.3337039579620978,-1.3727580333261384],[-0.3019349714314475,-1.3440521527284903]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[-0.2352166323382719,1.1987370940423534,0.71338606911949],"aabb_xy":[[-0.30021663021991973,1.1476134303358128],[-0.17021663445662413,1.2498607577488945]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[0.36347145132622094,1.4434190783604088,0.71338606911949],"aabb_xy":[[0.31337398734514726,1.379419077850597],[0.4135689153072945,1.5074190788702206]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.47542107362653285,0.6887042558397583,0.71338606911949],"aabb_xy":[[-0.5654210773034509,0.6272718492626538],[-0.3854210699496145,0.7501366624168624]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6635732590197079,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5762.png","name":"5762"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5762.png","name":"5762"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9439.png","name":"9439"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4612.png","name":"4612"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4670.png","name":"4670"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1726.png","name":"1726"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":637.3123584987368,"rotation_z_degrees":276.86784013306146,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006922979463467573,0.018677338352809308,0.005248970941670025]},{"name":"camera_2","offset_m":[0.016463663153993068,-0.0036174753619660147,0.01774419985788678]},{"name":"camera_3","offset_m":[-0.0008598151540180066,-0.01695765695110624,-0.003012886863412289]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00141560509725228,-0.0014861143928192595,-0.0016524259606474447],"end_effector_yaw_offset_degrees":0.39605383117144743},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001993063529887364,0.0005685094594631516,0.00019375105486993177],"end_effector_yaw_offset_degrees":-0.15454174820781885},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.037922798833473e-05,-0.001703087665474099,-0.0005698154187982897],"end_effector_yaw_offset_degrees":0.8670159277167944},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018648117904001213,-0.0014401743945729431,0.0018333145460977837],"end_effector_yaw_offset_degrees":0.5619489904963704}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006474076511003932,0.000641575524844863],"position_m":[0.1699474076511004,0.23074157552484487,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003592322078800986,-0.0012371704901715653],"position_m":[0.23120767792119903,-0.36483717049017156,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004466209560350335,0.0027419788139347546],"position_m":[0.20806620956035035,-0.04305802118606525,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001809624707242865,-0.00498138100902727],"position_m":[0.33560962470724287,0.11271861899097273,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ff7a0ae8e23c27cfb1f13cec0d76cd37b5d61444f8fcbbe604c5c45efbbf2be7","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5762/tex_ceiling_textures_1726/tex_floor_textures_4670/tex_table_textures_9439/tex_wall_textures_4612","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1916358538143795771,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1916358538143795771,"visual_seed":1916358538143795771,"scene_id":"lab_003","finished_at":"2026-09-04T19:47:03"}
+{"episode_id":"ep_000028","started_at":"2026-09-04T19:47:07","dimensions":{"distractor":{"count":30,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.651861086960916,0.6471680478250188,0.71338606911949],"aabb_xy":[[0.6235313770123758,0.6427073056313017],[0.6801907969094563,0.6516287900187359]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[0.5294972330356269,-0.5035146346329955,0.71338606911949],"aabb_xy":[[0.510384925677648,-0.5226494135102375],[0.5486095403936058,-0.4843798557557535]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_2","position":[0.06379971577014676,-2.103412063581166,0.71338606911949],"aabb_xy":[[-0.0002002833996231773,-2.1501787507001286],[0.1277997149399167,-2.0566453764622037]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.4955800505492156,1.6249611302394444,0.71338606911949],"aabb_xy":[[0.4580800521258152,1.6117969162716135],[0.533080048972616,1.638125344207275]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[0.4023453545723821,-2.1830528199166683,0.71338606911949],"aabb_xy":[[0.33834535386891273,-2.2290712023895893],[0.46634535527585147,-2.1370344374437473]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[0.6903133226442313,0.37371958688005114,0.71338606911949],"aabb_xy":[[0.675141153362598,0.35855072995184784],[0.7054854919258646,0.38888844380825455]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[0.2715950704681215,1.3614848067067884,0.71338606911949],"aabb_xy":[[0.1915950734538735,1.3413502550333771],[0.35159506748236946,1.3816193583801997]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.6642242691576651,1.4730106447861266,0.71338606911949],"aabb_xy":[[-0.6729382382075993,1.450510644126938],[-0.6555103001077304,1.4955106454453144]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[0.5999628929504932,1.1261654902591185,0.71338606911949],"aabb_xy":[[0.5624628922859144,1.110478432258896],[0.6374628936150718,1.1418525482593405]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[-0.04655579383009423,-1.5942690305168297,0.71338606911949],"aabb_xy":[[-0.13655579033096596,-1.640180672935288],[0.04344420267077753,-1.5483573880983714]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[-0.45929410043361135,-0.43191705601884367,0.71338606911949],"aabb_xy":[[-0.5142863510691223,-0.4869170577621565],[-0.4043018497981005,-0.37691705427553096]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[0.5345156265902677,1.4710176203715037,0.71338606911949],"aabb_xy":[[0.47051562337163,1.4242945084724954],[0.5985156298089057,1.517740732270512]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[0.5835128534755312,-1.9514947641055522,0.71338606911949],"aabb_xy":[[0.5742192352383806,-1.9889947625936861],[0.5928064717126817,-1.9139947656174183]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.09990281510765497,-0.2626134328415075,0.71338606911949],"aabb_xy":[[-0.1899028187845731,-0.32404583941861176],[-0.009902811430736775,-0.20118102626440304]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_14","position":[0.1454820295513335,-1.8327216590244442,0.71338606911949],"aabb_xy":[[0.12298560811746939,-1.8552216588311916],[0.1679784509851976,-1.8102216592176967]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_15","position":[0.08598193509450014,-1.4193579943109826,0.71338606911949],"aabb_xy":[[0.06609089521415991,-1.4320138055956797],[0.10587297497484041,-1.406702183026286]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[-0.11468350761765533,-1.4130090477973174,0.71338606911949],"aabb_xy":[[-0.13226180980660215,-1.4305835373714224],[-0.09710520542870846,-1.3954345582232124]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[-0.18839377751994058,-0.7580964858658701,0.71338606911949],"aabb_xy":[[-0.2683876010984988,-0.8380964884587117],[-0.10839995394138235,-0.6780964832730285]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[-0.6034566030151686,-1.4696438752405914,0.71338606911949],"aabb_xy":[[-0.6674566032891468,-1.5197099754378793],[-0.5394566027411903,-1.4195777750433034]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_19","position":[-0.3960305079055279,1.2978465677685245,0.71338606911949],"aabb_xy":[[-0.40688211415440345,1.2869872770408735],[-0.38517890165665225,1.3087058584961755]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[-0.6247723577709987,-1.83385887709782,0.71338606911949],"aabb_xy":[[-0.688772359683341,-1.8897700263558306],[-0.5607723558586564,-1.7779477278398097]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[0.2507716893339643,-1.057837413531748,0.71338606911949],"aabb_xy":[[0.18577169145231656,-1.108961077238289],[0.31577168721561216,-1.0067137498252072]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_22","position":[0.09975050090446624,1.72788929906323,0.71338606911949],"aabb_xy":[[0.06515941805042101,1.6628892987781987],[0.13434158375851143,1.7928892993482608]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_23","position":[-0.19857220441055934,-1.6898699837752629,0.71338606911949],"aabb_xy":[[-0.2046092174112241,-1.6958966848442112],[-0.19253519140989464,-1.683843282706315]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_24","position":[-0.39411991747606584,1.4777143133775703,0.71338606911949],"aabb_xy":[[-0.41658468744747096,1.45521431249871],[-0.3716551475046607,1.500214314256431]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_25","position":[-0.29783384359620113,-0.47897283215733344,0.71338606911949],"aabb_xy":[[-0.34782867652414273,-0.5289728310525771],[-0.24783901066825953,-0.42897283326209]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_26","position":[0.44958901317680566,0.9087387117415169,0.71338606911949],"aabb_xy":[[0.3695890160172303,0.8971911107836998],[0.529589010336381,0.9202863126993339]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[0.36167948810604167,-1.6493093101962195,0.71338606911949],"aabb_xy":[[0.34651661512910453,-1.6644747674913387],[0.37684236108297875,-1.6341438529011012]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_28","position":[-0.2956367002886686,0.9235648557608247,0.71338606911949],"aabb_xy":[[-0.31152119355399377,0.9092119154620006],[-0.27975220702334347,0.9379177960596488]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_29","position":[-0.5231731383042411,1.4118537491814598,0.71338606911949],"aabb_xy":[[-0.5347421190511776,1.3868537490645283],[-0.5116041575573045,1.4368537492983917]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662538434636554,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6932.png","name":"6932"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6932.png","name":"6932"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2518.png","name":"2518"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8264.png","name":"8264"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7716.png","name":"7716"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/674.png","name":"674"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":760.8847577418287,"rotation_z_degrees":257.88441215075034,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015056106860855973,0.018113346398280845,0.003160016810614851]},{"name":"camera_2","offset_m":[-0.019975313068314897,-0.00751148461659846,0.005723234923659025]},{"name":"camera_3","offset_m":[-0.0028898364886846793,0.008651078849044608,-0.005445590179592865]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[1.2378977946276865e-05,0.0018487638033080492,0.00023656095899273833],"end_effector_yaw_offset_degrees":-0.5486025675424262},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0001291225514388583,0.00021895194501057565,-0.0013387117255727699],"end_effector_yaw_offset_degrees":-0.9502998974068613},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001446681515340901,-0.0016689819677679386,0.001799102243292449],"end_effector_yaw_offset_degrees":0.5479147120629293},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001419152724153762,-0.0018085529220411942,-0.00020097654818081526],"end_effector_yaw_offset_degrees":-0.03191908085356143}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036122208210715955,-0.0035109136938285103],"position_m":[0.1656877791789284,0.2265890863061715,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012182251661867049,0.004299948655343275],"position_m":[0.23358177483381332,-0.3593000513446567,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002885884839605589,0.000985373253865337],"position_m":[0.20071411516039442,-0.044814626746134664,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002402632517753551,0.004728782119017424],"position_m":[0.33620263251775356,0.12242878211901742,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d2c75cc819e0d991c3838f39bcbe36958a2d6ad58073450e09d9aa406b0b22f8","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0042.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6932/tex_ceiling_textures_674/tex_floor_textures_7716/tex_table_textures_2518/tex_wall_textures_8264","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6144868651285201507,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6144868651285201507,"visual_seed":6144868651285201507,"scene_id":"lab_003","finished_at":"2026-09-04T19:50:52"}
+{"episode_id":"ep_000029","started_at":"2026-09-04T19:53:31","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[-0.08365484473606888,-2.389539413680689,0.71338606911949],"aabb_xy":[[-0.1686548431534921,-2.474413709142974],[0.0013451536813543497,-2.304665118218404]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_1","position":[-0.6531944421254894,-2.2328458247177427,0.71338606911949],"aabb_xy":[[-0.6633474576796385,-2.268915366290482],[-0.6430414265713398,-2.1967762831450015]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_2","position":[0.3744613309443061,-2.4298985410175096,0.71338606911949],"aabb_xy":[[0.37102065470424894,-2.4337599739918745],[0.37790200718436334,-2.4260371080431455]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[-0.3585668371024162,0.8641876340478603,0.71338606911949],"aabb_xy":[[-0.3760668373617529,0.8500960918590877],[-0.3410668368430796,0.878279176236633]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_4","position":[0.1048534154211257,-2.4493107558790976,0.71338606911949],"aabb_xy":[[0.0798534154886078,-2.4561934241000207],[0.1298534153536436,-2.4424280876581745]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_5","position":[0.5003760405409301,-2.3775119254576045,0.71338606911949],"aabb_xy":[[0.48844330617910203,-2.389894078265464],[0.5123087749027582,-2.365129772649745]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.14798634211067263,-1.6327209560468212,0.71338606911949],"aabb_xy":[[0.14148470560266804,-1.6424887780731312],[0.15448797861867727,-1.6229531340205117]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[-0.48105163419517705,0.4471141641345815,0.71338606911949],"aabb_xy":[[-0.4922966897657949,0.4358723664104862],[-0.4698065786245592,0.4583559618586768]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[0.5633242157857068,1.754278661268859,0.71338606911949],"aabb_xy":[[0.5083287379650474,1.6992786598349519],[0.6183196936063662,1.8092786627027657]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_9","position":[0.4000890268627304,-1.495506212000113,0.71338606911949],"aabb_xy":[[0.34508902768614086,-1.5504958867750707],[0.45508902603931983,-1.4405165372251554]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[0.5387932417887895,-1.051777538540326,0.71338606911949],"aabb_xy":[[0.5232374723785242,-1.0673279717847333],[0.5543490111990548,-1.0362271052959189]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[-0.5646640943484145,1.723144106241596,0.71338606911949],"aabb_xy":[[-0.6124702619621831,1.6581441035345368],[-0.5168579267346458,1.7881441089486547]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.22589517712608398,-2.3305045101291233,0.71338606911949],"aabb_xy":[[0.21797189688733565,-2.3530045103671267],[0.2338184573648323,-2.30800450989112]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.5208592318198908,-2.475340867225852,0.71338606911949],"aabb_xy":[[0.4858592335497709,-2.4824149949208407],[0.5558592300900107,-2.4682667395308644]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.36066734116594473,-0.3092069837138647,0.71338606911949],"aabb_xy":[[-0.4106673425268319,-0.3591848882892803],[-0.31066733980505745,-0.25922907913844906]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[-0.5475425031902936,1.4000243463984567,0.71338606911949],"aabb_xy":[[-0.5523860979515236,1.3951726939194726],[-0.5426989084290637,1.4048759988774409]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[0.2709456254078253,-1.0088385665911415,0.71338606911949],"aabb_xy":[[0.26698514163809095,-1.016506431176662],[0.27490610917755964,-1.0011707020056209]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.47750329959820625,0.9727025377215774,0.71338606911949],"aabb_xy":[[0.4715367606574704,0.9667413930622134],[0.483469838538942,0.9786636823809415]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[0.0899049108259512,0.7401838946019592,0.71338606911949],"aabb_xy":[[0.04381981957121973,0.676183897349404],[0.13599000208068268,0.8041838918545142]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[-0.37622113733495927,-0.7600935463193315,0.71338606911949],"aabb_xy":[[-0.40868283821688667,-0.7902263784342338],[-0.34375943645303175,-0.7299607142044287]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_20","position":[-0.26251121422750673,0.5003234669858405,0.71338606911949],"aabb_xy":[[-0.35251121072837843,0.4544118245673823],[-0.17251121772663494,0.5462351094042988]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[-0.18864739333573344,-1.4955773999710886,0.71338606911949],"aabb_xy":[[-0.211147393847774,-1.518069258336487],[-0.1661473928236928,-1.4730855416056903]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_22","position":[-0.4136966848481807,0.7606222815926436,0.71338606911949],"aabb_xy":[[-0.4245482910970563,0.7497629908649924],[-0.4028450785993051,0.7714815723202945]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_23","position":[-0.20712951661791018,-2.0330317357277354,0.71338606911949],"aabb_xy":[[-0.22624182397588904,-2.0521665146049775],[-0.18801720925993132,-2.0138969568504934]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_24","position":[-0.5417143194798726,-2.011402162993938,0.71338606911949],"aabb_xy":[[-0.6317143231567905,-2.0728345695710413],[-0.4517143158029542,-1.9499697564168326]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[0.23100489937004598,-1.3027858088396755,0.71338606911949],"aabb_xy":[[0.18100489770855116,-1.352784251095378],[0.28100490103154063,-1.2527873665839726]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[-0.5869973437722005,0.8550781810872117,0.71338606911949],"aabb_xy":[[-0.6215884266262457,0.7900781808021805],[-0.5524062609181553,0.9200781813722426]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_27","position":[-0.390701782259334,0.26039801514592886,0.71338606911949],"aabb_xy":[[-0.4557017833652773,0.23543264207780062],[-0.3257017811533907,0.2853633882140572]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_28","position":[-0.42072339583103474,-2.488636055700506,0.71338606911949],"aabb_xy":[[-0.43892921949228253,-2.4996614562824977],[-0.4025175721697872,-2.4776106551185144]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_29","position":[0.5501843807219564,-1.9418273948003706,0.71338606911949],"aabb_xy":[[0.5263481630813515,-2.0318273956088575],[0.5740205983625616,-1.8518273939918843]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_30","position":[0.46932171361804587,-0.2870062973660663,0.71338606911949],"aabb_xy":[[0.405321713357575,-0.33201509671899426],[0.5333217138785166,-0.24199749801313827]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_31","position":[0.22141763345105347,1.625794063809526,0.71338606911949],"aabb_xy":[[0.20631533199003532,1.610692542178464],[0.23651993491207152,1.6408955854405878]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668032812357898,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9048.png","name":"9048"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9048.png","name":"9048"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2731.png","name":"2731"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6029.png","name":"6029"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5288.png","name":"5288"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3292.png","name":"3292"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":628.4057223441947,"rotation_z_degrees":202.19112758605385,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016174810430254448,0.0075527532035486004,0.0018659254901208754]},{"name":"camera_2","offset_m":[-0.014638059715756789,0.016099419279292555,-0.0008210216666161944]},{"name":"camera_3","offset_m":[-0.004229114685628525,0.019637677360732148,-0.011355681189881728]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001504809503005806,-0.000501239969833017,-0.0008085906269800218],"end_effector_yaw_offset_degrees":0.8734137347256992},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009682960480929981,0.0002801574997819971,0.0005715209892235592],"end_effector_yaw_offset_degrees":0.4263999155379783},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001366764643277021,0.001483190609476727,-0.001968357824169905],"end_effector_yaw_offset_degrees":0.6046346437103793},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00044463403752886864,0.0007570721049483982,0.00025895688117583615],"end_effector_yaw_offset_degrees":-0.20570202391916914}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021501599589205432,-0.0007071864490827522],"position_m":[0.16714984004107947,0.22939281355091726,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003158535497716099,0.0032193987620669747],"position_m":[0.23795853549771612,-0.36038060123793303,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003398376603040729,0.004557613301388367],"position_m":[0.20020162339695927,-0.04124238669861163,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007077327725213802,0.002485660962211058],"position_m":[0.3345077327725214,0.12018566096221106,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"50f2630503480294a3cf0fdeed235c3b35fc14bb82818aee993414b1e0f2cd69","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9048/tex_ceiling_textures_3292/tex_floor_textures_5288/tex_table_textures_2731/tex_wall_textures_6029","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6787296338788910024,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6787296338788910024,"visual_seed":6787296338788910024,"scene_id":"lab_003","finished_at":"2026-09-04T19:56:37"}
+{"episode_id":"ep_000030","started_at":"2026-09-04T19:59:23","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_0","position":[-0.3268563080670865,-2.0056803114980113,0.71338606911949],"aabb_xy":[[-0.36810511909700117,-2.0606803110102287],[-0.2856074970371717,-1.950680311985794]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[-0.4119108828810107,1.1710960921379692,0.71338606911949],"aabb_xy":[[-0.42281665896857334,1.0910960957391398],[-0.4010051067934479,1.251096088536798]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_2","position":[-0.41991847565404783,0.523326221974282,0.71338606911949],"aabb_xy":[[-0.42733093119543625,0.5174750115526541],[-0.4125060201126593,0.52917743239591]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_3","position":[-0.22196480727307127,1.2762298197300073,0.71338606911949],"aabb_xy":[[-0.3119648096070903,1.1987474651448946],[-0.1319648049390522,1.35371217431512]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_4","position":[0.5064507684999611,-2.189247248963638,0.71338606911949],"aabb_xy":[[0.49468258170530355,-2.2742472488688596],[0.5182189552946186,-2.1042472490584165]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[0.21814449148140047,-1.7071759953027108,0.71338606911949],"aabb_xy":[[0.20297232219976716,-1.7223448522309142],[0.23331666076303384,-1.6920071383745074]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_6","position":[0.4719596065101326,-0.6328030045066455,0.71338606911949],"aabb_xy":[[0.4351090585731449,-0.6703030053296792],[0.5088101544471202,-0.5953030036836118]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[0.04126379193638374,-2.4366185486092635,0.71338606911949],"aabb_xy":[[0.014974967615943078,-2.4628899822639143],[0.06755261625682439,-2.410347114954612]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.44533325692752057,-1.817706043515488,0.71338606911949],"aabb_xy":[[-0.5253332538905597,-1.8947816851592612],[-0.3653332599644814,-1.7406304018717143]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_9","position":[0.05839956361816978,0.9457045094392043,0.71338606911949],"aabb_xy":[[-0.006600439019623698,0.8942249107397573],[0.12339956625596327,0.9971841081386512]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_10","position":[-0.34093071048690204,-0.6235185482470085,0.71338606911949],"aabb_xy":[[-0.38311512464773284,-0.6875185485242197],[-0.29874629632607136,-0.5595185479697973]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.0865934482941434,-1.377676452749205,0.71338606911949],"aabb_xy":[[0.057944115933727156,-1.4063220120262805],[0.1152427806545596,-1.349030893472129]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_12","position":[0.02499149827795144,0.7010350780804244,0.71338606911949],"aabb_xy":[[0.0024914987542440366,0.6785391306298035],[0.04749149780165884,0.7235310255310451]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[-0.2511740061139652,1.512021095232782,0.71338606911949],"aabb_xy":[[-0.3151740068174345,1.4660027127598612],[-0.1871740054104958,1.5580394777057034]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[0.4746492432380114,0.043990989867910724,0.71338606911949],"aabb_xy":[[0.41967552120167845,-0.011009009696322458],[0.5296229652743443,0.0989909894321439]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_15","position":[-0.44306336116993095,0.9668930585245197,0.71338606911949],"aabb_xy":[[-0.4509866414086793,0.9443930582865163],[-0.4351400809311826,0.989393058762523]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_16","position":[0.6832215508124344,-2.47390445652636,0.71338606911949],"aabb_xy":[[0.6734655613032604,-2.483666990585594],[0.6929775403216082,-2.464141922467125]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_17","position":[0.6924870314589622,-0.6705288849560536,0.71338606911949],"aabb_xy":[[0.669973339635505,-0.7405288855570609],[0.7150007232824194,-0.6005288843550458]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[0.4171031337698692,1.4660791317494213,0.71338606911949],"aabb_xy":[[0.4077561261875739,1.4517755095317775],[0.42645014135216436,1.4803827539670655]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.38660448486394716,-0.4935180612678507,0.71338606911949],"aabb_xy":[[0.37849083019057006,-0.5016238777218798],[0.39471813953732426,-0.48541224481382156]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.3427527362220422,-2.4682275652305523,0.71338606911949],"aabb_xy":[[-0.3727202931318679,-2.4982275655284383],[-0.31278517931221655,-2.4382275649326663]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[0.2741552204446488,0.6953984937149009,0.71338606911949],"aabb_xy":[[0.26291016487403096,0.6841566959908055],[0.28540027601526663,0.7066402914389961]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_22","position":[0.5519688532698106,-1.0557801374044142,0.71338606911949],"aabb_xy":[[0.5364130838595454,-1.0713305706488216],[0.567524622680076,-1.0402297041600073]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[-0.09477670737064248,1.1463138107514759,0.71338606911949],"aabb_xy":[[-0.10670944173247054,1.1339316579436165],[-0.08284397300881441,1.1586959635593352]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[0.6228368663648569,0.768609377448529,0.71338606911949],"aabb_xy":[[0.6029458264845167,0.7559535661638322],[0.6427279062451972,0.7812651887332259]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[-0.11404279065500489,-1.398806272043608,0.71338606911949],"aabb_xy":[[-0.16404279009520048,-1.4487741965279242],[-0.06404279121480924,-1.3488383475592916]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_26","position":[-0.16852899289309364,-0.23354474487095978,0.71338606911949],"aabb_xy":[[-0.21852899425398084,-0.2835226494463754],[-0.1185289915322064,-0.18356684029554415]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_27","position":[0.2043597907042214,-1.1607913400316296,0.71338606911949],"aabb_xy":[[0.14936431288356197,-1.2157913414655366],[0.2593552685248808,-1.1057913385977227]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6655655770563847,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7520.png","name":"7520"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7520.png","name":"7520"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3243.png","name":"3243"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3913.png","name":"3913"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4162.png","name":"4162"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3569.png","name":"3569"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":767.5112635777202,"rotation_z_degrees":283.00298788432445,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010090240627914122,-0.019538009929645224,0.01800943519010133]},{"name":"camera_2","offset_m":[-0.01908053295534131,-0.010952702569097328,0.00794934428911568]},{"name":"camera_3","offset_m":[0.016263010441566302,-0.010659883135269457,0.00564704819737364]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00028389040740840125,0.0008803039691888922,-0.000761050845279784],"end_effector_yaw_offset_degrees":0.1851916924429564},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012394169719699977,-0.0017875757236764872,0.001581522532475765],"end_effector_yaw_offset_degrees":0.2547183116796754},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013245934405089574,-0.0004405790177891204,0.0004917375894134806],"end_effector_yaw_offset_degrees":0.632645170020737},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000175491224367411,-0.0008453757073718351,-0.0008324645986735896],"end_effector_yaw_offset_degrees":0.8883716554124859}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017443691076388821,0.004859217090337956],"position_m":[0.1710443691076389,0.23495921709033796,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029140801095158286,-0.0038260014175178192],"position_m":[0.23188591989048418,-0.3674260014175178,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020555780542935932,0.0031304071797179445],"position_m":[0.2015444219457064,-0.04266959282028206,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00030968707022542303,0.001400131958084039],"position_m":[0.3341096870702254,0.11910013195808404,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"14ebeb2357a35a4c6e4c84372cf744905bb9d5d80292bac997e2e152289c60c7","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7520/tex_ceiling_textures_3569/tex_floor_textures_4162/tex_table_textures_3243/tex_wall_textures_3913","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5177376422247901945,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5177376422247901945,"visual_seed":5177376422247901945,"scene_id":"lab_003","finished_at":"2026-09-04T20:03:04"}
+{"episode_id":"ep_000031","started_at":"2026-09-04T20:03:08","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[0.04839930288236027,-1.5581695946846723,0.71338606911949],"aabb_xy":[[0.01974997052194405,-1.5868151539617479],[0.0770486352427765,-1.5295240354075963]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[0.5066476742679427,-0.09472105502007189,0.71338606911949],"aabb_xy":[[0.49865368569023916,-0.10272113511516222],[0.5146416628456459,-0.08672097492498153]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_2","position":[0.5108773692952289,-0.9339156528626968,0.71338606911949],"aabb_xy":[[0.48458854497478815,-0.9601870865173479],[0.5371661936156694,-0.9076442192080454]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.15901896731788867,1.0284819348902716,0.71338606911949],"aabb_xy":[[-0.16910067439646212,0.9484819369981567],[-0.14893726023931517,1.108481932782386]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[0.4479133641786117,-1.6154579060935403,0.71338606911949],"aabb_xy":[[0.39791336315947645,-1.6519241218313687],[0.497913365197747,-1.5789916903557129]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[0.14458384394951773,-1.2466200093051851,0.71338606911949],"aabb_xy":[[0.12671473619506224,-1.2604529172823962],[0.16245295170397323,-1.232787101327974]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[-0.5567253867242956,-0.944233970418378,0.71338606911949],"aabb_xy":[[-0.5718975560059288,-0.9594028273465814],[-0.5415532174426622,-0.9290651134901747]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_7","position":[-0.0008084673527471997,0.7216461970004553,0.71338606911949],"aabb_xy":[[-0.07080846998933354,0.7015413320045897],[0.06919153528383915,0.7417510619963207]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_8","position":[0.2501345879071608,-1.0109406329411963,0.71338606911949],"aabb_xy":[[0.22762089608370362,-1.0809406335422036],[0.272648279730618,-0.9409406323401885]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_9","position":[-0.5280359189779941,0.1519450483435607,0.71338606911949],"aabb_xy":[[-0.5655359201627868,0.14752682564750014],[-0.4905359177932012,0.15636327103962122]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[-0.30691382825230784,1.7486308565379898,0.71338606911949],"aabb_xy":[[-0.31322592778864633,1.7428639172847706],[-0.30060172871596946,1.7543977957912085]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[-0.18507301964020295,-0.5560871854036828,0.71338606911949],"aabb_xy":[[-0.2025730187745701,-0.5659668124412706],[-0.16757302050583575,-0.5462075583660949]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.10467879298195482,-1.6121387140275796,0.71338606911949],"aabb_xy":[[-0.11172024393270241,-1.6191654657653742],[-0.09763734203120722,-1.6051119622897854]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.4735174526663273,0.7038233963946023,0.71338606911949],"aabb_xy":[[0.46908682331148716,0.6983750246599199],[0.4779480820211675,0.709271768129285]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_14","position":[-0.32488316342725765,-0.29740293715667,0.71338606911949],"aabb_xy":[[-0.3670675775880884,-0.36140293743388124],[-0.2826987492664269,-0.23340293687945884]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[0.41068596014687775,-0.4949863738531435,0.71338606911949],"aabb_xy":[[0.3406859580154481,-0.517748339478839],[0.4806859622783072,-0.4722244082274477]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[0.6436341980389311,1.2186680895831374,0.71338606911949],"aabb_xy":[[0.6093179208643131,1.1686680896099597],[0.677950475213549,1.2686680895563152]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[0.42246044630663615,1.1513856579716153,0.71338606911949],"aabb_xy":[[0.3724611711382,1.1013856566956681],[0.4724597214750723,1.2013856592475625]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.28067892881389056,-0.7126195423695425,0.71338606911949],"aabb_xy":[[-0.35067892522385224,-0.7330574780212239],[-0.21067893240392868,-0.6921816067178604]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_19","position":[0.3452247652065126,0.9845644287332691,0.71338606911949],"aabb_xy":[[0.33006189222957555,0.9693989714381505],[0.3603876381834497,0.999729886028388]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.5021585668874846,1.6522798356778403,0.71338606911949],"aabb_xy":[[0.4796937969160794,1.6297798347989796],[0.5246233368588896,1.6747798365567006]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[-0.32676746947503454,-0.11157336550185892,0.71338606911949],"aabb_xy":[[-0.37674076347829494,-0.16157336605640626],[-0.27679417547177404,-0.06157336494731158]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.6299568111458249,0.6506347379203019,0.71338606911949],"aabb_xy":[[0.5499568106756091,0.6423240303059535],[0.709956811616041,0.6589454455346503]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_23","position":[-0.5056720901356785,1.3973845236997242,0.71338606911949],"aabb_xy":[[-0.5906720885531017,1.3125102282374392],[-0.42067209171825526,1.4822588191620092]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6654722134466465,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/397.png","name":"397"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/397.png","name":"397"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/539.png","name":"539"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6917.png","name":"6917"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9830.png","name":"9830"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2062.png","name":"2062"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":654.5569118943959,"rotation_z_degrees":280.29245266532143,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010801772838977031,0.004622285796783698,0.01850492535890998]},{"name":"camera_2","offset_m":[0.016052974507450187,-0.015474381097549346,-0.01679281027451498]},{"name":"camera_3","offset_m":[-0.006019937738067775,-0.01718000105936874,0.0040746094829975064]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009717057691304345,0.001507782902616606,0.0015730933972027284],"end_effector_yaw_offset_degrees":0.003758951339883243},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008539342731589193,-0.0006396833729459585,-0.0015130563345955692],"end_effector_yaw_offset_degrees":-0.9585565217529466},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-7.504763047092976e-05,0.0019837612079080733,0.0004120266843544492],"end_effector_yaw_offset_degrees":0.06441276245596983},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005368269320355995,0.00016418453132120182,0.001546318693670553],"end_effector_yaw_offset_degrees":0.10156510138938657}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030310268571880528,-0.00315565818809197],"position_m":[0.16626897314281194,0.22694434181190803,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004220775100868702,0.0014346449597438084],"position_m":[0.2352220775100869,-0.36216535504025615,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034434736799962727,-0.000733349414213106],"position_m":[0.2070434736799963,-0.04653334941421311,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004855161473542911,-0.0005794828431202959],"position_m":[0.3386551614735429,0.1171205171568797,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1f0f4b4a0cc566fdb3b9cb4e5b68defcfefe93d721c085579cf7ad76f0546f33","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0047.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_397/tex_ceiling_textures_2062/tex_floor_textures_9830/tex_table_textures_539/tex_wall_textures_6917","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5807358970031787406,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5807358970031787406,"visual_seed":5807358970031787406,"scene_id":"lab_003","finished_at":"2026-09-04T20:06:50"}
+{"episode_id":"ep_000032","started_at":"2026-09-04T20:06:53","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[-0.3258963290718046,0.9754451014889991,0.71338606911949],"aabb_xy":[[-0.38589633071472645,0.9234449521970549],[-0.26589632742888275,1.0274452507809433]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_1","position":[0.32073955627934425,-1.139798020260686,0.71338606911949],"aabb_xy":[[0.3089713694846868,-1.2247980201659079],[0.3325077430740018,-1.0547980203554648]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[0.12317109223976763,-0.7654086768648056,0.71338606911949],"aabb_xy":[[0.08567109194759281,-0.7694501522654094],[0.16067109253194245,-0.7613672014642021]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[-0.20126235204367338,1.6485575619508235,0.71338606911949],"aabb_xy":[[-0.28126235063099275,1.5692419600126626],[-0.12126235345635393,1.7278731638889844]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[0.28638419005049853,-0.5518081191691477,0.71338606911949],"aabb_xy":[[0.2739168319407629,-0.5642734438024714],[0.2988515481602342,-0.5393427945358243]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[-0.5398025078840091,0.6901918104968905,0.71338606911949],"aabb_xy":[[-0.5697700647938347,0.6601918101990047],[-0.5098349509741834,0.7201918107947762]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[-0.3202492523933636,1.3546656212158532,0.71338606911949],"aabb_xy":[[-0.3308167320514626,1.3441205911028444],[-0.3096817727352646,1.3652106513288615]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.4211438265158134,-2.4871291180618575,0.71338606911949],"aabb_xy":[[-0.4304908340981086,-2.5014327402795016],[-0.41179681893351816,-2.4728254958442135]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_8","position":[-0.37331240546853633,-1.4278365429120234,0.71338606911949],"aabb_xy":[[-0.3810155961426133,-1.4355459136107613],[-0.36560921479445924,-1.420127172213285]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_9","position":[0.4684986992089255,-0.1234860566436442,0.71338606911949],"aabb_xy":[[0.4533963977479073,-0.13858757827470597],[0.4836010006699435,-0.10838453501258236]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[-0.4567482212252155,1.4946663344041364,0.71338606911949],"aabb_xy":[[-0.4912105686233572,1.4601724520063133],[-0.4222858738270736,1.5291602168019587]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_11","position":[0.400911658529433,1.6365987132369058,0.71338606911949],"aabb_xy":[[0.3776298163313016,1.5515987119396777],[0.4241935007275643,1.7215987145341338]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[0.17381965669638744,-2.1054947645989053,0.71338606911949],"aabb_xy":[[0.15470734933840857,-2.1246295434761473],[0.1929319640543663,-2.0863599857216633]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.3589286348726222,-0.3435901505151868,0.71338606911949],"aabb_xy":[[-0.3932255458903628,-0.37788703672512813],[-0.32463172385488154,-0.3092932643052454]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[-0.2530983611251686,1.2137573974539322,0.71338606911949],"aabb_xy":[[-0.2705983602595357,1.2038777704163441],[-0.2355983619908014,1.2236370244915198]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[0.549630527130913,-0.7083759862850787,0.71338606911949],"aabb_xy":[[0.4996305257700258,-0.7583538908604943],[0.5996305284918002,-0.6583980817096631]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[0.21634790756829247,0.6796687644048895,0.71338606911949],"aabb_xy":[[0.1523479111727194,0.615705475986156],[0.28034790396386555,0.7436320528236231]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[-0.26188382546508726,-0.4851541012479297,0.71338606911949],"aabb_xy":[[-0.2897288622456944,-0.5159385999862414],[-0.23403878868448014,-0.454369602509618]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_18","position":[0.2279888249141806,-2.1782400244205737,0.71338606911949],"aabb_xy":[[0.14798882165016747,-2.191800056729487],[0.30798882817819373,-2.1646799921116604]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_19","position":[0.31625388032665147,-0.9558126260105324,0.71338606911949],"aabb_xy":[[0.293753880802944,-0.9783085734611531],[0.3387538798503588,-0.9333166785599115]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.014099568907772198,0.9366969456388796,0.71338606911949],"aabb_xy":[[-0.0940995675646582,0.9221920867146168],[0.06590042974911381,0.9512018045631424]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.577828305493413,1.6237930342639664,0.71338606911949],"aabb_xy":[[0.5599591977389575,1.6099601262867551],[0.5956974132478685,1.6376259422411772]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_22","position":[0.3497039476682542,-1.340126152775037,0.71338606911949],"aabb_xy":[[0.28470394666775367,-1.3909125179297117],[0.4147039486687547,-1.2893397876203618]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_23","position":[-0.48697942133145417,-1.8750501527053725,0.71338606911949],"aabb_xy":[[-0.5016228268854872,-1.8897088723621565],[-0.4723360157774212,-1.860391433048588]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_24","position":[0.050482110215195775,-1.7183090564166554,0.71338606911949],"aabb_xy":[[-0.013517886896909914,-1.767341426211066],[0.11448210732730146,-1.6692766866222448]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[0.1373494610446162,1.4810647916663,0.71338606911949],"aabb_xy":[[0.1265089828181013,1.4638785103756513],[0.1481899392711311,1.4982510729569487]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[-0.08517668168004677,-0.13649260070207703,0.71338606911949],"aabb_xy":[[-0.13016926839849718,-0.18149259997652575],[-0.04018409496159636,-0.09149260142762825]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_27","position":[-0.1395174027611793,-0.6917049505395432,0.71338606911949],"aabb_xy":[[-0.15274834829586054,-0.7049323695615425],[-0.12628645722649795,-0.6784775315175436]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_28","position":[0.4848487281309275,0.44303801177596336,0.71338606911949],"aabb_xy":[[0.4804180987760873,0.4375896400412808],[0.4892793574857677,0.448486383510646]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_29","position":[-0.5166796248916907,-0.7035852690641282,0.71338606911949],"aabb_xy":[[-0.5391796254037313,-0.7260771274295265],[-0.49417962437965013,-0.6810934106987298]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6718928670842668,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3904.png","name":"3904"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3904.png","name":"3904"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8760.png","name":"8760"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8180.png","name":"8180"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8993.png","name":"8993"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8821.png","name":"8821"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":610.1959502732498,"rotation_z_degrees":114.86440503083026,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0020919225204266353,0.009718749879390129,0.013454844723238438]},{"name":"camera_2","offset_m":[0.00040517776267365996,0.009372316453644045,0.019997718566885595]},{"name":"camera_3","offset_m":[0.0029382693747415436,-0.006545594328518254,0.01713374084736231]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006353948535783322,-1.1863875697187918e-05,-0.0016943494722347495],"end_effector_yaw_offset_degrees":-0.4431627841423309},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013332403609522619,-0.0013191968100809172,0.000616145732664458],"end_effector_yaw_offset_degrees":0.6730416592422059},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.6022337880143653e-05,-0.0016092828699656528,-4.1934808180681214e-05],"end_effector_yaw_offset_degrees":0.80318955599245},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014494470546804932,0.0016995616478435592,0.0013783445534756712],"end_effector_yaw_offset_degrees":0.4833926786531717}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016265339796173997,-0.0035871359019795327],"position_m":[0.1676734660203826,0.22651286409802046,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0044665318660486305,-0.004120177671916956],"position_m":[0.23926653186604863,-0.36772017767191695,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004243291924974858,0.0033557826632611065],"position_m":[0.20784329192497486,-0.04244421733673889,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010777357127027274,0.001335212418259405],"position_m":[0.33487773571270274,0.1190352124182594,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4fea0b158b2377ec557bd4c58cf79e6c27d8d44ed511be4b81a6e3d78418a56f","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0048.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3904/tex_ceiling_textures_8821/tex_floor_textures_8993/tex_table_textures_8760/tex_wall_textures_8180","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":709663399628803862,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":709663399628803862,"visual_seed":709663399628803862,"scene_id":"lab_003","finished_at":"2026-09-04T20:10:59"}
+{"episode_id":"ep_000033","started_at":"2026-09-04T20:11:02","dimensions":{"distractor":{"count":34,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[-0.2705701655463121,-2.0308456837010667,0.71338606911949],"aabb_xy":[[-0.3605701620471838,-2.0767573261195245],[-0.1805701690454403,-1.9849340412826082]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_1","position":[0.6022946274716519,1.641399946362093,0.71338606911949],"aabb_xy":[[0.5672946283416962,1.6356547252864286],[0.6372946266016075,1.6471451674377569]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[0.2514330387840962,-0.5912274778290678,0.71338606911949],"aabb_xy":[[0.1964330396075067,-0.6462171526040255],[0.30643303796068566,-0.5362378030541102]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[0.2508650010560449,-1.5615510919830156,0.71338606911949],"aabb_xy":[[0.23480307359752725,-1.6465510937956072],[0.2669269285145625,-1.4765510901704235]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[0.7139503762602946,0.10022712749866258,0.71338606911949],"aabb_xy":[[0.7058226880669813,0.09131351908795493],[0.7220780644536078,0.10914073590937023]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[0.5022536953015095,-1.470322171783597,0.71338606911949],"aabb_xy":[[0.4672536953250137,-1.4797867878312136],[0.5372536952780054,-1.4608575557359804]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[-0.6318100119959336,-0.970843612163981,0.71338606911949],"aabb_xy":[[-0.6388503219294706,-1.0508436115636526],[-0.6247697020623966,-0.8908436127643099]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_7","position":[0.007632051911378168,-0.8240599512517996,0.71338606911949],"aabb_xy":[[-0.057367949194565115,-0.849025324319928],[0.07263205301732145,-0.7990945781836715]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[0.651184527041919,-0.8006531118881326,0.71338606911949],"aabb_xy":[[0.6399394714713011,-0.8118949096122279],[0.6624295826125368,-0.7894113141640373]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[-0.26451301510527214,-1.6291424675007464,0.71338606911949],"aabb_xy":[[-0.28201294853925546,-1.6466424674209807],[-0.24701308167128871,-1.6116424675805117]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_10","position":[0.06896639372087654,0.7800099555522064,0.71338606911949],"aabb_xy":[[0.04707664613193575,0.6900099582629572],[0.09085614130981734,0.8700099528414554]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.24780674394260155,0.34205477718818766,0.71338606911949],"aabb_xy":[[-0.28530674545823326,0.33082800417204256],[-0.21030674242696984,0.35328155020433266]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.49612152562060874,1.2300618478791852,0.71338606911949],"aabb_xy":[[-0.5611215241776815,1.2003093144653023],[-0.43112152706353585,1.2598143812930676]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_13","position":[-0.40018090166172104,0.7005470166896104,0.71338606911949],"aabb_xy":[[-0.41482430721575403,0.685888297032826],[-0.38553749610768806,0.7152057363463945]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.22817275866198033,-0.8029192586780618,0.71338606911949],"aabb_xy":[[-0.2881727603049022,-0.854919407970006],[-0.16817275701905848,-0.7509191093861176]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[-0.16992809669621844,-2.4427764672821217,0.71338606911949],"aabb_xy":[[-0.21990116222873396,-2.492776467094655],[-0.11995503116370301,-2.3927764674695893]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.5585653597309611,-1.387727063071222,0.71338606911949],"aabb_xy":[[-0.5711680588680376,-1.4003224592960877],[-0.5459626605938847,-1.3751316668463567]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_17","position":[0.46525182824102607,-2.234197542047267,0.71338606911949],"aabb_xy":[[0.4580080621947808,-2.3141975402508694],[0.47249559428727145,-2.1541975438436647]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.4480722336006264,-0.02090542933848294,0.71338606911949],"aabb_xy":[[0.4156105327186989,-0.05103826145338554],[0.4805339344825538,0.00922740277641968]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.07974115403176785,-0.9635769743880709,0.71338606911949],"aabb_xy":[[-0.11724115482376328,-0.9699448153462609],[-0.042241153239772386,-0.9572091334298807]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[0.33441025891710985,0.7188373067096308,0.71338606911949],"aabb_xy":[[0.3242572433629604,0.6827677651368902],[0.3445632744712592,0.7549068482823708]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[0.48106364926653034,-1.5981108043608128,0.71338606911949],"aabb_xy":[[0.4651791560012052,-1.6124637446596368],[0.4969481425318555,-1.5837578640619887]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_22","position":[0.05420107708915167,-1.6707746184691465,0.71338606911949],"aabb_xy":[[0.0041036131080780525,-1.7347746189789583],[0.10429854107022529,-1.6067746179593347]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[-0.0071519870089690185,-1.095276849239468,0.71338606911949],"aabb_xy":[[-0.03215198617460213,-1.1022290949448244],[0.017848012156664095,-1.0883246035341112]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_24","position":[0.3769522446889728,-0.9237906772648754,0.71338606911949],"aabb_xy":[[0.35504356254962177,-0.9456913440849659],[0.39886092682832386,-0.9018900104447845]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_25","position":[0.27215646796295667,1.0969272833340913,0.71338606911949],"aabb_xy":[[0.19215646749274073,1.088616575719743],[0.3521564684331726,1.1052379909484396]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_26","position":[0.6049172530535876,-1.757622278680506,0.71338606911949],"aabb_xy":[[0.5409172516455969,-1.8094112302044307],[0.6689172544615782,-1.7058333271565813]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_27","position":[0.0488328633320716,-2.064580962092411,0.71338606911949],"aabb_xy":[[-0.015167139010729967,-2.109521813336543],[0.11283286567487315,-2.019640110848278]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_28","position":[0.04341800396838391,-2.4764047594220373,0.71338606911949],"aabb_xy":[[0.015088294019843684,-2.480865501615755],[0.07174771391692414,-2.4719440172283207]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_29","position":[0.38634324973153134,-0.6653465545332069,0.71338606911949],"aabb_xy":[[0.3488432493833035,-0.6771379501142903],[0.42384325007975904,-0.6535551589521232]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_30","position":[0.7092785069778305,-2.146429485141886,0.71338606911949],"aabb_xy":[[0.7051426506451304,-2.183929484586243],[0.7134143633105308,-2.108929485697529]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_31","position":[-0.562272150684558,-1.8405890835336414,0.71338606911949],"aabb_xy":[[-0.5720281401937318,-1.8503516175928756],[-0.552516161175384,-1.8308265494744067]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_32","position":[-0.36738093534311234,-1.176618785772828,0.71338606911949],"aabb_xy":[[-0.4373809379796986,-1.1967236507686936],[-0.29738093270652594,-1.1565139207769626]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_33","position":[-0.30606343958439913,0.921912994261294,0.71338606911949],"aabb_xy":[[-0.3148654948933718,0.914101668106365],[-0.29726138427542637,0.9297243204162231]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6645262680038132,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1813.png","name":"1813"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1813.png","name":"1813"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9210.png","name":"9210"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5911.png","name":"5911"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9050.png","name":"9050"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2214.png","name":"2214"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":613.8177300235014,"rotation_z_degrees":232.7950133015374,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012043520362106434,0.011994790836842243,-0.0011377988162458441]},{"name":"camera_2","offset_m":[0.011251015974414722,-0.009750079755555032,-0.004602729220266477]},{"name":"camera_3","offset_m":[0.007153618280227994,-0.011856626846244937,-0.0002983485966073507]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001483173805844049,0.0007946675112848424,-0.000904848727659568],"end_effector_yaw_offset_degrees":0.20994864825672588},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[7.3584919465675275e-06,0.00030339975003526327,0.0010377028201180782],"end_effector_yaw_offset_degrees":0.9630691332011498},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001908220576649336,0.0005037103580975253,0.0014610904235146677],"end_effector_yaw_offset_degrees":-0.5010400569382676},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003021668236155889,0.0005597721621360408,-0.000655621511652286],"end_effector_yaw_offset_degrees":0.8602474583144384}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006312279136450041,0.002514230033204742],"position_m":[0.169931227913645,0.23261423003320475,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003662382786665246,-0.0030735380977209292],"position_m":[0.23113761721333476,-0.3666735380977209,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004086345531250815,-0.003889658000477068],"position_m":[0.20768634553125082,-0.04968965800047707,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004436781452550266,-0.000594273609083833],"position_m":[0.33823678145255026,0.11710572639091617,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"770f2f0ee0112893ccc9171a56c1a517765f589f9a2850d41a37c43c1ee42679","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0049.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1813/tex_ceiling_textures_2214/tex_floor_textures_9050/tex_table_textures_9210/tex_wall_textures_5911","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8438724007298529689,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8438724007298529689,"visual_seed":8438724007298529689,"scene_id":"lab_003","finished_at":"2026-09-04T20:14:38"}
+{"episode_id":"ep_000034","started_at":"2026-09-04T20:14:42","dimensions":{"distractor":{"count":30,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.30785631692683774,0.3538926396335036,0.71338606911949],"aabb_xy":[[-0.331138159124969,0.2688926383362755],[-0.28457447472870634,0.43889264093073166]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_1","position":[-0.6674784927478198,1.3074298073358896,0.71338606911949],"aabb_xy":[[-0.6755921474211969,1.2993239908818603],[-0.6593648380744427,1.3155356237899185]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_2","position":[-0.4195798525329973,-2.576591929027857,0.71338606911949],"aabb_xy":[[-0.4445798516986304,-2.5835441747332135],[-0.3945798533673642,-2.5696396833225004]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[-0.1259688610023173,-1.689692501234599,0.71338606911949],"aabb_xy":[[-0.13389214124106563,-1.7121925014726023],[-0.11804558076356897,-1.6671925009965955]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[0.48446438893354915,1.164788960649238,0.71338606911949],"aabb_xy":[[0.44946439062285376,1.1570739457256924],[0.5194643872442446,1.1725039755727837]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[-0.6572079579394319,-0.18659251086315942,0.71338606911949],"aabb_xy":[[-0.6947079587314272,-0.1929603518213495],[-0.6197079571474363,-0.1802246699049693]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[-0.0448042387476264,1.4951519437876803,0.71338606911949],"aabb_xy":[[-0.08980424021385526,1.4501520869261997],[0.0001957627186024436,1.5401518006491612]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_7","position":[-0.5369448723450164,1.1750076369673188,0.71338606911949],"aabb_xy":[[-0.6269448690806265,1.1218241736500243],[-0.4469448756094061,1.2281911002846133]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_8","position":[0.033887821218045455,1.1180274011915277,0.71338606911949],"aabb_xy":[[-0.0301121804599519,1.0695100097122134],[0.09788782289604281,1.1665447926708419]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[-0.667984562693676,0.9790480884850528,0.71338606911949],"aabb_xy":[[-0.6788361689425516,0.9681887977574017],[-0.6571329564448004,0.9899073792127038]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_10","position":[-0.41971791175577244,0.8045028997752008,0.71338606911949],"aabb_xy":[[-0.48371791104994066,0.7405167594063466],[-0.3557179124616042,0.868489040144055]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.37290989428976484,-1.526509188629954,0.71338606911949],"aabb_xy":[[0.3504098947660574,-1.5490051360805746],[0.3954098938134722,-1.504013241179333]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_12","position":[0.2428405436076746,1.4959321116303452,0.71338606911949],"aabb_xy":[[0.16284054034983161,1.4159356038383615],[0.32284054686551755,1.5759286194223294]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[-0.43148458136200246,-0.8929574774344702,0.71338606911949],"aabb_xy":[[-0.4964845813963052,-0.9396581541147975],[-0.36648458132769973,-0.8462568007541429]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[-0.2942375207023572,-1.7247682229404329,0.71338606911949],"aabb_xy":[[-0.3117375209616939,-1.7388597651292057],[-0.27673752044302063,-1.7106766807516605]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_15","position":[0.5292577713499031,0.6088542857446142,0.71338606911949],"aabb_xy":[[0.4442577726578285,0.5768684223497352],[0.6142577700419778,0.6408401491394929]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[0.36219304915746275,-1.6983687048755014,0.71338606911949],"aabb_xy":[[0.28219922557890453,-1.7783687074683432],[0.442186872736021,-1.61836870228266]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_17","position":[0.6363821162657373,1.6894684866674985,0.71338606911949],"aabb_xy":[[0.5863821176198161,1.6395489430080359],[0.6863821149116585,1.7393880303269607]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[0.5700741326477357,0.26153654861393383,0.71338606911949],"aabb_xy":[[0.5607271250654404,0.2472329263962898],[0.5794211402300309,0.27584017083157786]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_19","position":[-0.03696147660502158,-2.511223949733163,0.71338606911949],"aabb_xy":[[-0.052517246015286845,-2.5267743829775706],[-0.021405707194756308,-2.4956735164887562]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.6098643721450423,0.573434934649725,0.71338606911949],"aabb_xy":[[-0.6381940820935825,0.5689741924560079],[-0.5815346621965021,0.577895676843442]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[0.38277439087307963,-1.304022235298538,0.71338606911949],"aabb_xy":[[0.3187743886526726,-1.3483953194238263],[0.44677439309348665,-1.2596491511732497]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[-0.3143628158365224,-2.3004374313004896,0.71338606911949],"aabb_xy":[[-0.3643628167870552,-2.3319865783040106],[-0.26436281488598956,-2.2688882842969678]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_23","position":[0.48880423541948237,0.009632004358514301,0.71338606911949],"aabb_xy":[[0.45434175740639454,0.002968327175591477],[0.5232667134325701,0.016295681541437124]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[0.15160475131637596,0.5499578184248999,0.71338606911949],"aabb_xy":[[0.14119319263589222,0.5446120850890013],[0.16201630999685965,0.5553035517607983]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[-0.19093149546765387,-1.8535890898015666,0.71338606911949],"aabb_xy":[[-0.1970261233557722,-1.8621584843532353],[-0.18483686757953555,-1.8450196952498978]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_26","position":[-0.42172520273845215,-1.4955242377276816,0.71338606911949],"aabb_xy":[[-0.44672520267097005,-1.5024069059486052],[-0.39672520280593426,-1.4886415695067585]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_27","position":[0.27800051887701616,-1.503729012017664,0.71338606911949],"aabb_xy":[[0.2604222166880693,-1.5213035015917689],[0.295578821065963,-1.4861545224435588]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_28","position":[-0.5907053672503544,0.38706855118452665,0.71338606911949],"aabb_xy":[[-0.6547053691626967,0.3311574019265162],[-0.526705365338012,0.4429797004425371]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_29","position":[0.312803968353349,-1.097796663565063,0.71338606911949],"aabb_xy":[[0.29674204089483136,-1.1827966653776547],[0.32886589581186665,-1.012796661752471]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6648711985075477,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7416.png","name":"7416"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7416.png","name":"7416"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5149.png","name":"5149"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7594.png","name":"7594"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7306.png","name":"7306"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5786.png","name":"5786"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":708.4024790618984,"rotation_z_degrees":303.17446409798083,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014753976894980415,-0.0194397581869726,0.003489630343056719]},{"name":"camera_2","offset_m":[0.009887452338487354,-0.0027509921243373398,-0.008848190318454963]},{"name":"camera_3","offset_m":[-0.005767067792965012,0.013372310145742427,0.019078052311647494]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013368135019847282,-0.0013804683818102047,0.0006092852896504098],"end_effector_yaw_offset_degrees":0.5622612100848623},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008178338391743977,-0.0009884540786564728,0.0018010875754084993],"end_effector_yaw_offset_degrees":0.738046689031642},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0001383145697361936,-0.00042889955716264474,0.0011153570480392995],"end_effector_yaw_offset_degrees":0.24103835427478515},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015886898116163456,-0.001068197002601401,-0.0009107023920319067],"end_effector_yaw_offset_degrees":0.715067735432207}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013017393187367103,0.004042050705630749],"position_m":[0.1706017393187367,0.23414205070563074,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00036857521388606197,0.001320573642963732],"position_m":[0.23443142478611395,-0.36227942635703625,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038807415475293184,-0.001884868234895004],"position_m":[0.19971925845247068,-0.047684868234895005,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00234504571571265,0.004773638859536906],"position_m":[0.33614504571571263,0.12247363885953691,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"89f8015d6e82fadd7127f7b0389dbe24ee5db5a332d6efebfc9ca29148c632b3","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0050.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7416/tex_ceiling_textures_5786/tex_floor_textures_7306/tex_table_textures_5149/tex_wall_textures_7594","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1135525541805451975,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1135525541805451975,"visual_seed":1135525541805451975,"scene_id":"lab_003","finished_at":"2026-09-04T20:18:26"}
+{"episode_id":"ep_000035","started_at":"2026-09-04T20:18:30","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[0.060639181302755585,-0.9694994761092397,0.71338606911949],"aabb_xy":[[0.01066611577024012,-1.0194994759217728],[0.11061224683527107,-0.919499476296707]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[0.009513221227287705,-1.8559639119726095,0.71338606911949],"aabb_xy":[[-0.006042548182977562,-1.871514345217017],[0.025068990637552975,-1.8404134787282027]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[-0.38404693745012886,1.3923891285812888,0.71338606911949],"aabb_xy":[[-0.46404693460970414,1.3808415276234718],[-0.30404694029055357,1.4039367295391059]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[0.4835784118258746,-0.5737694687558883,0.71338606911949],"aabb_xy":[[0.43357841080673937,-0.6102356844937163],[0.5335784128450098,-0.5373032530180605]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_4","position":[-0.1651415696664551,-1.3629617633242503,0.71338606911949],"aabb_xy":[[-0.22014156884304456,-1.4179514380992078],[-0.11014157048986559,-1.3079720885492925]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.16352555536778524,0.4239727178131045,0.71338606911949],"aabb_xy":[[-0.16848157555266643,0.40147271761098297],[-0.15856953518290404,0.4464727180152262]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_6","position":[0.00992829769899739,-2.1763821422156,0.71338606911949],"aabb_xy":[[-0.0013167578716204442,-2.1876239399396953],[0.021173353269615225,-2.1651403444915047]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_7","position":[-0.2640687915710083,-1.5412311823205695,0.71338606911949],"aabb_xy":[[-0.28906879073664143,-1.5481834280259261],[-0.2390687924053752,-1.534278936615213]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[0.41161999193433174,0.8306694213434951,0.71338606911949],"aabb_xy":[[0.3964478226526985,0.8155005644152918],[0.4267921612159652,0.8458382782716986]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_9","position":[0.4026897454960048,-0.29405841055989335,0.71338606911949],"aabb_xy":[[0.391916771574637,-0.32905840877893233],[0.41346271941737256,-0.25905841234085436]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[0.6338469538590044,0.9319059451470992,0.71338606911949],"aabb_xy":[[0.5843665326450456,0.8679059472342474],[0.6833273750729632,0.9959059430599511]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[0.4958218414339213,-0.9435411855670459,0.71338606911949],"aabb_xy":[[0.4620462822432283,-0.957579680780211],[0.5295974006246142,-0.929502690353881]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[0.24063680297602197,1.2957495694062757,0.71338606911949],"aabb_xy":[[0.20948988413243885,1.2257495707194686],[0.2717837218196051,1.365749568093083]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[0.526928040178058,0.9195122304196612,0.71338606911949],"aabb_xy":[[0.5125936150518946,0.9074520148651225],[0.5412624653042215,0.9315724459742002]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_14","position":[-0.282559703098347,-1.7984109979089158,0.71338606911949],"aabb_xy":[[-0.2944317861098481,-1.8834109976025661],[-0.2706876200868459,-1.7134109982152654]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_15","position":[0.48423188631660374,0.017459334456961795,0.71338606911949],"aabb_xy":[[0.43423877420741197,-0.03254066621723385],[0.5342249984257957,0.06745933513115744]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.6470520392388353,-1.7893158537812535,0.71338606911949],"aabb_xy":[[0.5820520392045324,-1.8360165304615808],[0.7120520392731379,-1.7426151771009262]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_17","position":[-0.38716200508151727,1.6209931734502345,0.71338606911949],"aabb_xy":[[-0.4206021802775368,1.587549547619304],[-0.3537218298854976,1.6544367992811642]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[0.45289338233011134,1.5755088923752347,0.71338606911949],"aabb_xy":[[0.44489939375240795,1.5675088122801442],[0.46088737090781473,1.5835089724703248]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_19","position":[-0.47650745466820615,-0.5342478868068343,0.71338606911949],"aabb_xy":[[-0.48530950997717887,-0.5420592129617633],[-0.46770539935923344,-0.5264365606519051]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[0.27963533648953875,-1.6199978980500398,0.71338606911949],"aabb_xy":[[0.25713533647939046,-1.6340941176896429],[0.30213533649968705,-1.6059016784104363]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[-0.5101626955843068,-0.2515818036834889,0.71338606911949],"aabb_xy":[[-0.5601626972458015,-0.3015802459391916],[-0.460162693922812,-0.20158336142778618]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_22","position":[-0.3405960407056588,-1.8217376873603481,0.71338606911949],"aabb_xy":[[-0.34450991390108127,-1.8304867027669047],[-0.3366821675102362,-1.812988671953791]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[-0.6593069106155801,1.6976806153370858,0.71338606911949],"aabb_xy":[[-0.6818069108590955,1.6854759806773139],[-0.6368069103720647,1.7098852499968578]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_24","position":[0.1890747795576796,-2.115257981356643,0.71338606911949],"aabb_xy":[[0.13907976859822757,-2.165257980392235],[0.23906979051713165,-2.0652579823210515]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_25","position":[-0.031252945924903464,1.4704435733815875,0.71338606911949],"aabb_xy":[[-0.101252948056333,1.4476816077558916],[0.03874705620652608,1.493205539007283]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[0.4243616395740206,-0.19184129984786225,0.71338606911949],"aabb_xy":[[0.40144592668897083,-0.21474559698428577],[0.44727735245907063,-0.16893700271143874]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_27","position":[0.5773509822006142,-1.4311703805829599,0.71338606911949],"aabb_xy":[[0.5428886348024722,-1.4656642629807823],[0.6118133295987558,-1.396676498185137]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[0.4873542510404598,1.467064927609782,0.71338606911949],"aabb_xy":[[0.40735425238357376,1.452560068685519],[0.5673542496973458,1.4815697865340447]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_29","position":[-0.049640102690935106,1.0693819750901885,0.71338606911949],"aabb_xy":[[-0.06054587877849782,0.9893819786913591],[-0.03873432660337239,1.1493819714890174]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_30","position":[0.12235531144341305,-2.4126608113335015,0.71338606911949],"aabb_xy":[[0.09985531191970562,-2.4351567587841223],[0.1448553109671204,-2.3901648638828807]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6723936596254398,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1297.png","name":"1297"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1297.png","name":"1297"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/418.png","name":"418"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7495.png","name":"7495"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4545.png","name":"4545"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8451.png","name":"8451"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":677.3995676932037,"rotation_z_degrees":75.02112546410642,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015786692095015025,0.015284169229797608,-0.00474214799610762]},{"name":"camera_2","offset_m":[-0.011404329946728842,-0.018380956665791977,-0.0006430231552643981]},{"name":"camera_3","offset_m":[0.00550426531273478,-0.014762115419381251,-0.019514289135806103]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005483209741635605,-0.0009729138130579193,-0.0012572384388181614],"end_effector_yaw_offset_degrees":0.5471905840418936},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010639349364857007,-0.0014622961139985696,-0.0006209592981545424],"end_effector_yaw_offset_degrees":0.25830128692493237},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008436185303297265,0.0009110145325492746,-0.00045523255200949375],"end_effector_yaw_offset_degrees":0.522943870256503},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006356350355758785,0.0012993990678909612,-0.0006423672819830467],"end_effector_yaw_offset_degrees":-0.8369892513362012}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028296647796012134,0.002780528548269421],"position_m":[0.17212966477960123,0.23288052854826943,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004648284178182788,-0.0047570073024932585],"position_m":[0.23944828417818279,-0.3683570073024932,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001215576040019214,0.002718844438087983],"position_m":[0.2048155760400192,-0.04308115556191202,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003506855645699766,0.000971777941582189],"position_m":[0.33029314435430024,0.1186717779415822,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"267bd8256a421aa82bba6469da7ad79cbf5de32398f14c298bd29f0994188786","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0051.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1297/tex_ceiling_textures_8451/tex_floor_textures_4545/tex_table_textures_418/tex_wall_textures_7495","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1098653082523634484,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1098653082523634484,"visual_seed":1098653082523634484,"scene_id":"lab_003","finished_at":"2026-09-04T20:22:08"}
+{"episode_id":"ep_000036","started_at":"2026-09-04T20:22:11","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[0.5530900503999792,1.2794541732854068,0.71338606911949],"aabb_xy":[[0.549649374159922,1.2755927403110425],[0.5565307266400363,1.2833156062597715]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_1","position":[-0.4934126133510697,0.8011137175557126,0.71338606911949],"aabb_xy":[[-0.5434126119969909,0.7511941738962501],[-0.4434126147051485,0.8510332612151749]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_2","position":[0.6590840444199091,-2.23788631840681,0.71338606911949],"aabb_xy":[[0.5940840465382614,-2.2890099821133507],[0.724084042301557,-2.186762654700269]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_3","position":[-0.45643401582373505,-0.7310935359826853,0.71338606911949],"aabb_xy":[[-0.5164340160751362,-0.7853748610191499],[-0.3964340155723338,-0.6768122109462206]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[0.11696920746788575,-1.1760609317670854,0.71338606911949],"aabb_xy":[[0.09196920819592345,-1.1924062953632475],[0.141969206739848,-1.1597155681709228]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_5","position":[0.1487165746578406,1.1936961436920184,0.71338606911949],"aabb_xy":[[0.14058888646452739,1.1847825352813104],[0.15684426285115383,1.202609752102726]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_6","position":[-0.33915454126277284,0.3079781362493321,0.71338606911949],"aabb_xy":[[-0.4191545445206158,0.2279816284573481],[-0.2591545380049299,0.38797464404131604]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.5456934920290952,-0.5782220152086901,0.71338606911949],"aabb_xy":[[-0.5627035893191458,-0.594356503706964],[-0.5286833947390445,-0.5620875267104162]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_8","position":[-0.4591151498398144,0.6088199074623111,0.71338606911949],"aabb_xy":[[-0.4742780228167515,0.5936544501671923],[-0.44395227686287736,0.6239853647574298]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_9","position":[-0.4373970259746423,1.7717533151662637,0.71338606911949],"aabb_xy":[[-0.487213805439477,1.7217533166819603],[-0.3875802465098075,1.821753313650567]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[0.19082902073761998,-0.5597476428904171,0.71338606911949],"aabb_xy":[[0.18153540250046937,-0.5972476413785509],[0.20012263897477053,-0.5222476444022831]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[0.5344880662605349,1.505085022407593,0.71338606911949],"aabb_xy":[[0.4704880648525442,1.4532960708836682],[0.5984880676685255,1.5568739739315176]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_12","position":[-0.21457767398327338,0.9663719404415487,0.71338606911949],"aabb_xy":[[-0.24957767311322904,0.9606267193658846],[-0.17957767485331771,0.9721171615172128]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[0.5263681738504691,0.2267091115781743,0.71338606911949],"aabb_xy":[[0.5088681736054196,0.20920932373860743],[0.5438681740955184,0.24420889941774113]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_14","position":[-0.5940325613455582,0.3140871180407916,0.71338606911949],"aabb_xy":[[-0.6580325635659651,0.2697140339155033],[-0.530032559125151,0.3584602021660799]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_15","position":[0.08438800974960159,-1.0354596498013977,0.71338606911949],"aabb_xy":[[-0.0056119899735725945,-1.0585330023365775],[0.17438800947277575,-1.0123862972662179]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_16","position":[0.3864806784982773,-1.5622936229802606,0.71338606911949],"aabb_xy":[[0.3414880917798268,-1.6072936222547092],[0.43147326521672763,-1.5172936237058117]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[-0.17048719219235997,1.4694753292726328,0.71338606911949],"aabb_xy":[[-0.1784104724311083,1.4469753290346292],[-0.16256391195361164,1.491975329510636]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[0.42137037900006513,0.975464234303248,0.71338606911949],"aabb_xy":[[0.4044596465637233,0.9619920287106333],[0.43828111143640686,0.9889364398958623]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[0.3542033502179951,-1.2165308656879128,0.71338606911949],"aabb_xy":[[0.31670335179459475,-1.229695079655743],[0.39170334864139544,-1.203366651720082]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[-0.05022492366231179,-1.543882947257856,0.71338606911949],"aabb_xy":[[-0.07272492390582719,-1.556087581917628],[-0.027724923418796406,-1.5316783125980842]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_21","position":[-0.09898482803356157,-0.7576147973721885,0.71338606911949],"aabb_xy":[[-0.1789786516121198,-0.8376147999650302],[-0.01899100445500336,-0.677614794779347]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[0.06722534837857841,-1.6152760328927256,0.71338606911949],"aabb_xy":[[0.04430963549352852,-1.6381803300291493],[0.09014106126362832,-1.5923717357563023]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_23","position":[-0.12283875415538681,-1.2810174556838714,0.71338606911949],"aabb_xy":[[-0.12675262735080933,-1.2897664710904284],[-0.11892488095996427,-1.2722684402773148]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_24","position":[0.3366473952804916,-2.444351483958854,0.71338606911949],"aabb_xy":[[0.25664739311772916,-2.5243066675849977],[0.41664739744325413,-2.3643963003327104]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_25","position":[-0.6491814496931595,-0.9417323949305294,0.71338606911949],"aabb_xy":[[-0.653297399805232,-0.9458479499633748],[-0.6450654995810867,-0.9376168398976837]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6662912238803892,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8717.png","name":"8717"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8717.png","name":"8717"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6528.png","name":"6528"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2061.png","name":"2061"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2842.png","name":"2842"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9963.png","name":"9963"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":529.5049479797965,"rotation_z_degrees":14.693117352634623,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009255680780612324,5.2571195480907024e-05,0.010624642170248829]},{"name":"camera_2","offset_m":[-0.011332548682145473,-0.018184655174398837,0.010293601887968403]},{"name":"camera_3","offset_m":[0.009597537376000727,-0.007480171125113224,-0.0018987714034000187]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-6.324548683479402e-05,0.0018296611556785705,0.0005572955959241808],"end_effector_yaw_offset_degrees":0.1496898611824189},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017315135279634703,-0.00039293280752598133,-0.00024716700476840893],"end_effector_yaw_offset_degrees":0.8617906852861423},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011403562896866223,0.00034656132198895113,0.0003940183836667389],"end_effector_yaw_offset_degrees":-0.026605928319254124},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015544283520532382,0.000441438842303066,0.0007308564860855822],"end_effector_yaw_offset_degrees":-0.4974104014517624}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020805013421942055,0.0012256599154409865],"position_m":[0.1672194986578058,0.231325659915441,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001235738067601153,-0.0026004005695806367],"position_m":[0.23356426193239885,-0.36620040056958064,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012930125969548532,0.00014833265845810677],"position_m":[0.20230698740304515,-0.04565166734154189,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021328433751621276,0.0020235730803494544],"position_m":[0.3359328433751621,0.11972357308034945,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c8571d8a204ec2007f68f9cd5a236e00a4d07a0104e0bbddfbf7e7a883c2b3fb","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0052.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8717/tex_ceiling_textures_9963/tex_floor_textures_2842/tex_table_textures_6528/tex_wall_textures_2061","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5058994667436845655,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5058994667436845655,"visual_seed":5058994667436845655,"scene_id":"lab_003","finished_at":"2026-09-04T20:26:03"}
+{"episode_id":"ep_000037","started_at":"2026-09-04T20:26:07","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[0.6416262392684713,-0.4287245380474487,0.71338606911949],"aabb_xy":[[0.6379229779393323,-0.43242655635616656],[0.6453295005976101,-0.42502251973873084]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[0.13562788658253122,-2.3797486682806244,0.71338606911949],"aabb_xy":[[0.13154972867548148,-2.3838296485288875],[0.13970604448958096,-2.3756676880323604]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[0.585873166641889,1.054234214639623,0.71338606911949],"aabb_xy":[[0.5158731650396096,1.0408014214379655],[0.6558731682441685,1.0676670078412807]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.4220408537188587,-0.43119166083271,0.71338606911949],"aabb_xy":[[0.3720408523579714,-0.4811695654081256],[0.47204085507974586,-0.38121375625729437]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_4","position":[-0.3965598354431701,-1.9515297321834617,0.71338606911949],"aabb_xy":[[-0.446538643953486,-2.00152973218918],[-0.34658102693285425,-1.9015297321777427]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_5","position":[-0.10620726146011339,-2.5340723754494037,0.71338606911949],"aabb_xy":[[-0.11423353209073939,-2.5428238704267563],[-0.09818099082948739,-2.525320880472051]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.2208833951820865,1.80884216869489,0.71338606911949],"aabb_xy":[[-0.22551851033431983,1.8049748336177411],[-0.21624828002985305,1.8127095037720387]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[0.6601748456143985,-1.6891323633309434,0.71338606911949],"aabb_xy":[[0.6507573710445357,-1.6985485404686624],[0.6695923201842612,-1.6797161861932244]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.5901973145196313,-1.5701630004488945,0.71338606911949],"aabb_xy":[[0.5809036962824807,-1.6076629989370281],[0.5994909327567819,-1.5326630019607603]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_9","position":[0.0869414212069839,1.401605526351391,0.71338606911949],"aabb_xy":[[-0.003058575293887866,1.3556938839329324],[0.17694141770785562,1.447517168769849]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[0.07756490837287688,-0.7643577876466265,0.71338606911949],"aabb_xy":[[0.06935036325719289,-0.7730343779442677],[0.08577945348856085,-0.755681197348985]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.3551174849666695,-2.130921667632862,0.71338606911949],"aabb_xy":[[-0.4151174855626857,-2.1857341401780856],[-0.2951174843706533,-2.0761091950876387]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.02004450821517889,-1.6683485031212886,0.71338606911949],"aabb_xy":[[-0.03492921382115399,-1.7233485026855218],[0.07501823025151177,-1.6133485035570554]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.4070938724627291,1.2904739788866193,0.71338606911949],"aabb_xy":[[0.3618152575815798,1.2264739795384354],[0.4523724873438783,1.3544739782348028]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[-0.3789266370656612,-0.5479597324723189,0.71338606911949],"aabb_xy":[[-0.4239266385318901,-0.5929595893337996],[-0.33392663559943236,-0.5029598756108382]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[-0.47818346166529574,0.5792481818732491,0.71338606911949],"aabb_xy":[[-0.4835210373313003,0.5542481809441093],[-0.47284588599929117,0.6042481828023889]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_16","position":[-0.5184485036574186,-0.5102102979475771,0.71338606911949],"aabb_xy":[[-0.5534485027873742,-0.5159555190232412],[-0.4834485045274629,-0.504465076871913]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[-0.4304993836749744,-1.7330187897731215,0.71338606911949],"aabb_xy":[[-0.4904993835215412,-1.78983741196616],[-0.37049938382840764,-1.6762001675800826]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[-0.31673901505052915,0.10615718515653283,0.71338606911949],"aabb_xy":[[-0.38173901600765636,0.05420897322282727],[-0.25173901409340194,0.1581053970902384]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[0.5014796147196496,-1.7513434257127263,0.71338606911949],"aabb_xy":[[0.43647961683800185,-1.8024670894192674],[0.5664796126012974,-1.7002197620061856]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_20","position":[-0.6371186181765396,-0.06559247369885757,0.71338606911949],"aabb_xy":[[-0.6435324318197244,-0.0720022939465259],[-0.6307048045333545,-0.05918265345118922]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_21","position":[-0.6595127082758651,-0.7743849366207445,0.71338606911949],"aabb_xy":[[-0.6738471334020286,-0.7864451521752832],[-0.6451782831497017,-0.7623247210662055]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_22","position":[0.09331560002158745,1.8042129149659618,0.71338606911949],"aabb_xy":[[0.07081559950954683,1.7817210566005632],[0.11581560053362802,1.82670477333136]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.4929675465540398,-1.0308073446767518,0.71338606911949],"aabb_xy":[[-0.5829675459724105,-1.0641828415209416],[-0.4029675471356688,-0.9974318478325621]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[0.29716439095074165,1.033456086422973,0.71338606911949],"aabb_xy":[[0.22716438755917964,0.998140312719542],[0.3671643943423036,1.0687718601264036]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[-0.33230583186293466,-1.069121939073983,0.71338606911949],"aabb_xy":[[-0.3493159291529853,-1.085256427572257],[-0.315295734572884,-1.052987450575709]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_26","position":[-0.14088367041832295,-0.7909335605711585,0.71338606911949],"aabb_xy":[[-0.1713679205453531,-0.8409335603526543],[-0.1103994202912928,-0.7409335607896624]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_27","position":[0.6670033618632616,1.211857192365008,0.71338606911949],"aabb_xy":[[0.6445042261370347,1.1893571915867451],[0.6895024975894887,1.234357193143271]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_28","position":[-0.2651680078410055,-0.358541334534209,0.71338606911949],"aabb_xy":[[-0.28227008579937374,-0.37564814006547875],[-0.24806592988263743,-0.34143452900293925]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_29","position":[-0.46768682484221297,-0.856692848507002,0.71338606911949],"aabb_xy":[[-0.5226868230439579,-0.8972148151334395],[-0.41268682664046813,-0.8161708818805643]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_30","position":[0.5010382977971599,1.6821001401399855,0.71338606911949],"aabb_xy":[[0.4939968468464123,1.6750733884021913],[0.5080797487479075,1.6891268918777802]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_31","position":[0.013795150118321553,1.2544114844510288,0.71338606911949],"aabb_xy":[[-0.056204852013107987,1.231649518825333],[0.08379515224975109,1.2771734500767242]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_32","position":[-0.1679926687314358,-1.224316588840315,0.71338606911949],"aabb_xy":[[-0.19428149305187645,-1.2505880224949661],[-0.14170384441099512,-1.1980451551856637]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_33","position":[0.10868063608702572,-1.9948119111851388,0.71338606911949],"aabb_xy":[[0.01868063241010753,-2.0562443177622427],[0.19868063976394384,-1.933379504608034]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_34","position":[0.4844524658264202,-1.4159829545329312,0.71338606911949],"aabb_xy":[[0.4488233099264604,-1.4516156212897842],[0.52008162172638,-1.3803502877760783]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6619908117131509,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5861.png","name":"5861"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5861.png","name":"5861"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2703.png","name":"2703"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3605.png","name":"3605"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5646.png","name":"5646"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7884.png","name":"7884"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":638.8201916921064,"rotation_z_degrees":21.717286418098865,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004552981867377598,-0.014801658001283639,-0.0002097704197189451]},{"name":"camera_2","offset_m":[-0.009057749406390512,-0.01023768809094789,-0.0029818760495449494]},{"name":"camera_3","offset_m":[0.019876304298912333,-0.004641055781590712,-0.0041976898557621045]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016304556138647106,0.0010873572099357066,0.00163043644336312],"end_effector_yaw_offset_degrees":0.1519971289562725},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00199789008526927,0.0004026955011514088,0.0005889382742140228],"end_effector_yaw_offset_degrees":-0.5946381993552263},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019414998968270468,0.0014779822004896723,0.0009697402833212057],"end_effector_yaw_offset_degrees":-0.4565239378315642},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001097568231854842,0.0009952429819361439,0.001029190575895495],"end_effector_yaw_offset_degrees":-0.34657944688101416}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007267210976043461,0.0036283277727706216],"position_m":[0.16857327890239565,0.2337283277727706,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004777305005310316,-0.0001591846126628351],"position_m":[0.2300226949946897,-0.3637591846126628,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0003414325167965613,0.003216434068784178],"position_m":[0.20394143251679656,-0.042583565931215824,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0021428523309512384,0.003125344709823774],"position_m":[0.3359428523309512,0.12082534470982377,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e4c56843094b0b759d26f36a5063546186c4ec30aab9f557585c3553c146449b","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5861/tex_ceiling_textures_7884/tex_floor_textures_5646/tex_table_textures_2703/tex_wall_textures_3605","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":700600106468732769,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":700600106468732769,"visual_seed":700600106468732769,"scene_id":"lab_003","finished_at":"2026-09-04T20:30:18"}
+{"episode_id":"ep_000038","started_at":"2026-09-04T20:37:20","dimensions":{"distractor":{"count":29,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[-0.32696871308099856,-1.7770297106046202,0.71338606911949],"aabb_xy":[[-0.33242665871801863,-1.8570297139122791],[-0.3215107674439785,-1.697029707296961]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[-0.6442216122135146,-2.5557955492619024,0.71338606911949],"aabb_xy":[[-0.6641126520938548,-2.5684513605465997],[-0.6243305723331743,-2.543139737977206]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.3254705510843745,0.7882632244298096,0.71338606911949],"aabb_xy":[[0.2604705499784312,0.7632978513616813],[0.3904705521903178,0.8132285974979379]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_3","position":[-0.05730409546024551,1.0917282014870704,0.71338606911949],"aabb_xy":[[-0.07919384304918631,1.001728204197821],[-0.035414347871304715,1.1817281987763193]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_4","position":[-0.5169467738976038,-1.4470244673254467,0.71338606911949],"aabb_xy":[[-0.5230414017857221,-1.4555938618771151],[-0.5108521460094855,-1.4384550727737777]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_5","position":[-0.05867071540814195,0.2768726107290811,0.71338606911949],"aabb_xy":[[-0.10367071687437082,0.23187275386760048],[-0.0136707139419131,0.3218724675905618]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[-0.20084071438937418,0.963659565572009,0.71338606911949],"aabb_xy":[[-0.2109937299435235,0.9275900239992686],[-0.19068769883522474,0.9997291071447493]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[0.5365762993212868,0.44782851041110305,0.71338606911949],"aabb_xy":[[0.5060920491942567,0.39782851062960706],[0.567060549448317,0.49782851019259894]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[-0.09615524611667381,-2.2894220981593554,0.71338606911949],"aabb_xy":[[-0.15615524671269,-2.344234570704579],[-0.03615524552065763,-2.234609625614132]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[-0.4179106703389927,-0.5715177016772337,0.71338606911949],"aabb_xy":[[-0.42967885713365034,-0.6565177015824555],[-0.4061424835443353,-0.48651770177201237]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[0.4030045136074756,-1.6549866483432654,0.71338606911949],"aabb_xy":[[0.3827202108840767,-1.675269273485974],[0.42328881633087423,-1.6347040232005563]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_11","position":[-0.23421708455988066,1.1998386637508407,0.71338606911949],"aabb_xy":[[-0.31421708672264315,1.119883480124697],[-0.15421708239711815,1.2797938473769843]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_12","position":[0.5130178579822187,1.0567297990752489,0.71338606911949],"aabb_xy":[[0.4983744524281857,1.0420710794184647],[0.5276612635362516,1.0713885187320331]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[-0.27419553318916706,0.7850422563841288,0.71338606911949],"aabb_xy":[[-0.31069135381644575,0.7485583139573713],[-0.23769971256188827,0.8215261988108864]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_14","position":[0.3204470483186044,-1.5802622800907815,0.71338606911949],"aabb_xy":[[0.282947049895204,-1.593426494058612],[0.35794704674200467,-1.5670980661229506]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[0.4453141093618731,1.1931971827311814,0.71338606911949],"aabb_xy":[[0.3753141077595937,1.1797643895295238],[0.5153141109641526,1.206629975932839]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_16","position":[-0.4531384791348114,-1.4695132978402718,0.71338606911949],"aabb_xy":[[-0.46370595879291043,-1.4800583279532802],[-0.4425709994767124,-1.458968267727263]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[0.054841168675963115,-1.106982505953354,0.71338606911949],"aabb_xy":[[-0.025158829911356314,-1.1862981078915147],[0.13484116726328252,-1.027666904015193]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.4517085259196499,-2.306030302717759,0.71338606911949],"aabb_xy":[[-0.5157085266231192,-2.35204868519068],[-0.3877085252161806,-2.260011920244838]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_19","position":[-0.6728022684473548,-0.5811865513639951,0.71338606911949],"aabb_xy":[[-0.677437383599588,-0.5850538864411436],[-0.6681671532951213,-0.5773192162868463]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_20","position":[-0.213508685568771,0.3159307407308356,0.71338606911949],"aabb_xy":[[-0.27750868285441965,0.27442402177799163],[-0.14950868828312236,0.35743745968367957]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[-0.536462274562118,-1.8573482316318315,0.71338606911949],"aabb_xy":[[-0.6164622719657115,-1.9373408028300143],[-0.45646227715852467,-1.7773556604336487]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_22","position":[0.010762272913527382,-0.7671932270108706,0.71338606911949],"aabb_xy":[[-0.024237726279290883,-0.7781602730085331],[0.04576227210634565,-0.7562261810132078]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_23","position":[-0.5351360709908259,0.44469937822762384,0.71338606911949],"aabb_xy":[[-0.5576360715028664,0.42220751986222543],[-0.5126360704787852,0.46719123659302214]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_24","position":[0.6142031721208201,-1.8525133750332778,0.71338606911949],"aabb_xy":[[0.5643204752431239,-1.902513374279553],[0.6640858689985163,-1.8025133757870035]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[-0.3809186153857344,-0.28157471157832736,0.71338606911949],"aabb_xy":[[-0.4459186163428616,-0.3335229235120329],[-0.3159186144286072,-0.22962649964462176]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_26","position":[0.06136171906253085,-0.9264203862285887,0.71338606911949],"aabb_xy":[[0.04386171880319424,-0.9405119284173616],[0.0788617193218675,-0.9123288440398164]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_27","position":[0.48693360979865274,-0.3264298066329254,0.71338606911949],"aabb_xy":[[0.4069336111417668,-0.3409346655571882],[0.5669336084555388,-0.31192494770866264]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_28","position":[0.4855778500923331,-1.5561170927684944,0.71338606911949],"aabb_xy":[[0.4785363991415855,-1.563143844506289],[0.4926193010430807,-1.5490903410306998]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641805564310296,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5767.png","name":"5767"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5767.png","name":"5767"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7662.png","name":"7662"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5281.png","name":"5281"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4174.png","name":"4174"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5129.png","name":"5129"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":513.0024628713469,"rotation_z_degrees":73.1684811237892,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011467725707281717,0.0016890896388097876,-0.002687238657609989]},{"name":"camera_2","offset_m":[-0.014144138455048996,-0.010946507321700284,-0.00916932241926618]},{"name":"camera_3","offset_m":[0.015430896892455043,0.009921559094711638,0.011496619677844214]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016962802430813713,0.0004109085837117293,0.0018103250546174393],"end_effector_yaw_offset_degrees":0.6883456688736187},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006953520244185269,-0.001765363777431716,-0.0010068193105411925],"end_effector_yaw_offset_degrees":-0.8718660918428816},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-7.986392713562468e-05,-0.0016716301307503586,-0.0005037527314663017],"end_effector_yaw_offset_degrees":-0.1214818091814096},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014176651572629542,-0.0007986015900744677,6.476419061776043e-05],"end_effector_yaw_offset_degrees":0.20806156670694143}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027827548667111682,0.0003995726199743123],"position_m":[0.17208275486671118,0.2304995726199743,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011792358928981355,0.0049910922929106505],"position_m":[0.23597923589289815,-0.3586089077070893,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00445727613780025,0.004871400916002778],"position_m":[0.19914272386219975,-0.04092859908399722,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003267470299425713,0.004536075611548532],"position_m":[0.3305325297005743,0.12223607561154853,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a578e83763ef2a0cf6cce35b49eba83e34f5518e850fa3f31985bd9f53ca51f9","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0056.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5767/tex_ceiling_textures_5129/tex_floor_textures_4174/tex_table_textures_7662/tex_wall_textures_5281","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4535269168691589747,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4535269168691589747,"visual_seed":4535269168691589747,"scene_id":"lab_003","finished_at":"2026-09-04T20:41:02"}
+{"episode_id":"ep_000039","started_at":"2026-09-04T20:43:50","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[0.581250420250595,-0.7312224286559457,0.71338606911949],"aabb_xy":[[0.5162504223689472,-0.7823460923624866],[0.6462504181322428,-0.6800987649494048]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[0.7005769579102312,-1.220427349085122,0.71338606911949],"aabb_xy":[[0.6862425327840678,-1.232487564639661],[0.7149113830363947,-1.2083671335305832]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[-0.06938469599691854,-1.2110677835951171,0.71338606911949],"aabb_xy":[[-0.13338469804665054,-1.251162266684425],[-0.005384693947186547,-1.1709733005058092]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[-0.3855578294209405,-2.0602109720756228,0.71338606911949],"aabb_xy":[[-0.40847354230599053,-2.0831152692120467],[-0.3626421165358907,-2.0373066749391997]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.04184854779281222,-1.7502361537593074,0.71338606911949],"aabb_xy":[[-0.12184855105065516,-1.8302326615512914],[0.03815145546503075,-1.6702396459673234]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[0.5698546008408558,0.3138559053425509,0.71338606911949],"aabb_xy":[[0.5355383236662379,0.2638559053693732],[0.6041708780154738,0.36385590531572864]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[-0.3403260503579096,-2.386822805836283,0.71338606911949],"aabb_xy":[[-0.3954512559875003,-2.4468228072775697],[-0.28520084472831875,-2.3268228043949954]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[0.26428615188102555,-0.6673535493319389,0.71338606911949],"aabb_xy":[[0.24918385042000737,-0.6824550709630004],[0.27938845334204354,-0.6522520277008768]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_8","position":[-0.5610653791007125,0.7445116591810028,0.71338606911949],"aabb_xy":[[-0.6250653823904205,0.701176740177085],[-0.49706537581100435,0.7878465781849202]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_9","position":[0.6253131982290943,0.7016380000984448,0.71338606911949],"aabb_xy":[[0.602813198218946,0.6875417804588415],[0.6478131982392425,0.7157342197380481]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[-0.1769489939989437,0.8720024621107973,0.71338606911949],"aabb_xy":[[-0.20078521163954882,0.782002461302311],[-0.15311277635833867,0.9620024629192839]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.5829534623797819,-1.8834403628077565,0.71338606911949],"aabb_xy":[[0.5329760455145282,-1.933440364297005],[0.6329308792450353,-1.833440361318508]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_12","position":[-0.41122644406733805,-1.4730047703538873,0.71338606911949],"aabb_xy":[[-0.4487264455829697,-1.4842315433700322],[-0.3737264425517063,-1.461777997337742]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_13","position":[0.5416686880125883,-1.4367336181603667,0.71338606911949],"aabb_xy":[[0.4776686847939504,-1.483456730059375],[0.6056686912312261,-1.3900105062613584]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_14","position":[-0.5733430172193238,-0.01309568216956336,0.71338606911949],"aabb_xy":[[-0.6228234384332826,-0.07709568008241519],[-0.523862596005365,0.050904315743288464]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[-0.5305401720982033,-2.337062623931871,0.71338606911949],"aabb_xy":[[-0.5555401716499417,-2.3472051077970053],[-0.5055401725464648,-2.326920140066736]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[-0.3133321864157643,-1.9311680542072378,0.71338606911949],"aabb_xy":[[-0.3709626553030351,-1.9911680531339482],[-0.2557017175284934,-1.871168055280527]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[0.36395896606419087,1.08790043617496,0.71338606911949],"aabb_xy":[[0.3464589658191414,1.070400648335393],[0.38145896630924014,1.1054002240145266]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[0.5749513690924419,0.06820862377488535,0.71338606911949],"aabb_xy":[[0.5399513699624863,0.06246340269922124],[0.6099513682223976,0.07395384485054946]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_19","position":[-0.04428665147958122,-2.1042456879440326,0.71338606911949],"aabb_xy":[[-0.09428148440752282,-2.1542456868392756],[0.00570818144836039,-2.0542456890487886]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[0.18512397786442591,-2.2493740866029333,0.71338606911949],"aabb_xy":[[0.18168330162436874,-2.253235519577298],[0.18856465410448311,-2.245512653628569]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[0.3448263599197665,-1.4069376109125213,0.71338606911949],"aabb_xy":[[0.3272480577308197,-1.4245121004866264],[0.3624046621087134,-1.3893631213384168]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[0.32821685963908753,-2.1741075480411323,0.71338606911949],"aabb_xy":[[0.2944413004483945,-2.188146043254297],[0.36199241882978045,-2.1600690528279674]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_23","position":[-0.02090820687848438,0.8195917300235243,0.71338606911949],"aabb_xy":[[-0.0520551257220675,0.749591731336717],[0.010238711965098735,0.8895917287103313]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[0.43164906341821463,-1.7184050779215436,0.71338606911949],"aabb_xy":[[0.3716490617752928,-1.7704052272134878],[0.4916490650611365,-1.6664049286295994]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_25","position":[-0.3948300309491773,1.035456935548686,0.71338606911949],"aabb_xy":[[-0.4002879765861973,0.9554569322410269],[-0.38937208531215717,1.1154569388563451]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[0.6001203336938306,1.376456823681731,0.71338606911949],"aabb_xy":[[0.5501203327432977,1.3449076766782093],[0.6501203346443634,1.4080059706852521]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_27","position":[0.6219084886645199,-1.6848100471463323,0.71338606911949],"aabb_xy":[[0.6049977562281781,-1.6982822527389467],[0.6388192211008616,-1.6713378415537175]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_28","position":[0.5131279469118066,-2.2859471132598834,0.71338606911949],"aabb_xy":[[0.4756279462472279,-2.301634171260105],[0.5506279475763852,-2.270260055259661]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_29","position":[-0.6755720704529268,-2.4766806257943497,0.71338606911949],"aabb_xy":[[-0.6809096461189313,-2.5016806267234895],[-0.6702344947869222,-2.45168062486521]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.669119632625852,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1818.png","name":"1818"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1818.png","name":"1818"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5527.png","name":"5527"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7445.png","name":"7445"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9284.png","name":"9284"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7605.png","name":"7605"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":799.4021040860836,"rotation_z_degrees":126.99365997249747,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01928016221810017,0.015345971521442573,-0.002747256808164865]},{"name":"camera_2","offset_m":[-0.004465616634734135,-0.019498490887831878,0.014419791638707064]},{"name":"camera_3","offset_m":[-0.0009823472891271612,0.01671548039263261,0.00033067403199289747]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012312344568903549,0.00024956173822474666,-9.856797272811283e-05],"end_effector_yaw_offset_degrees":-0.72370596635811},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00030119132485360725,-0.00021550976248006846,-0.00046059330011321317],"end_effector_yaw_offset_degrees":-0.8881194651144149},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001058555834111968,-0.0003438269854592524,0.0016518338883176405],"end_effector_yaw_offset_degrees":0.8656010212069218},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017261786712556085,0.0017731744938195419,-0.0009994995553083768],"end_effector_yaw_offset_degrees":-0.7872091869244333}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025985482156050364,0.002681712320374499],"position_m":[0.17189854821560505,0.2327817123203745,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002978906983639974,-0.0013247769293965052],"position_m":[0.23777890698364,-0.3649247769293965,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026373704655988026,-0.003443754061853678],"position_m":[0.2062373704655988,-0.049243754061853676,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004655430417477913,-0.002950847679460623],"position_m":[0.3291445695825221,0.11474915232053938,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d343104f155cb8356c034cd16276f685e7168b60ef74bbdd22de3152e93a3dca","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0058.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1818/tex_ceiling_textures_7605/tex_floor_textures_9284/tex_table_textures_5527/tex_wall_textures_7445","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8418962380187540169,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8418962380187540169,"visual_seed":8418962380187540169,"scene_id":"lab_003","finished_at":"2026-09-04T20:47:30"}
+{"episode_id":"ep_000040","started_at":"2026-09-04T20:47:34","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[0.1569962359306606,-1.7415415813158255,0.71338606911949],"aabb_xy":[[0.07699623896762142,-1.818617222959599],[0.23699623289369975,-1.664465939672052]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[-0.06699980694079832,-2.2146579242877937,0.71338606911949],"aabb_xy":[[-0.1469998074110143,-2.222968631902142],[0.013000193529417618,-2.2063472166734455]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.3156530213304326,-2.2417533493919177,0.71338606911949],"aabb_xy":[[-0.3706452719659436,-2.296753351135231],[-0.2606607706949217,-2.1867533476486054]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_3","position":[0.5623408586905865,-2.064881731300412,0.71338606911949],"aabb_xy":[[0.5210363156268505,-2.1288817308685286],[0.6036454017543225,-2.0008817317322944]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[0.5974468048903718,-1.19815014128651,0.71338606911949],"aabb_xy":[[0.5804367076003211,-1.2142846297847838],[0.6144569021804224,-1.182015652788236]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_5","position":[-0.028815144864138276,-1.370128747295101,0.71338606911949],"aabb_xy":[[-0.03512724440047671,-1.3758956865483198],[-0.022503045327799842,-1.364361808041882]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[0.6565625248137448,-0.5753867378818227,0.71338606911949],"aabb_xy":[[0.6493187587674994,-0.6553867360854251],[0.6638062908599901,-0.49538673967822033]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_7","position":[0.31871266539883725,1.4550881384562904,0.71338606911949],"aabb_xy":[[0.31071867682113385,1.4470880583612],[0.32670665397654064,1.4630882185513807]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[-0.6033237543982022,-2.3957642578766,0.71338606911949],"aabb_xy":[[-0.6266055965963334,-2.480764259173828],[-0.5800419122000707,-2.310764256579372]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[0.362237212981501,-1.5552218674239557,0.71338606911949],"aabb_xy":[[0.28223721500071597,-1.5628234083858077],[0.4422372109622861,-1.5476203264621038]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_10","position":[0.4558036873302258,-1.0300906417039046,0.71338606911949],"aabb_xy":[[0.418303688754605,-1.0428269373674626],[0.4933036859058466,-1.0173543460403467]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_11","position":[-0.5998425808179053,0.4365022518586321,0.71338606911949],"aabb_xy":[[-0.6104100604760043,0.42595722174562356],[-0.5892751011598063,0.4470472819716407]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[0.5881079915100789,0.8517933572397545,0.71338606911949],"aabb_xy":[[0.5510738820820191,0.8174161499060449],[0.6251421009381386,0.8861705645734638]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_13","position":[-0.6504932345923908,-1.4176625574033666,0.71338606911949],"aabb_xy":[[-0.6703842744727311,-1.4303183686880634],[-0.6306021947120506,-1.4050067461186697]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[0.47987106865414497,0.579448321058508,0.71338606911949],"aabb_xy":[[0.4719477884153966,0.5569483208205046],[0.48779434889289325,0.6019483212965113]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.39241219896726576,-0.7637896353701059,0.71338606911949],"aabb_xy":[[-0.4011934261145021,-0.7725693826586363],[-0.38363097182002964,-0.755009888081576]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.15420957126707968,0.5199635211900158,0.71338606911949],"aabb_xy":[[-0.21820526866217624,0.45596352288930697],[-0.09021387387198307,0.5839635194907243]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_17","position":[-0.13270166888098645,0.7566018110900741,0.71338606911949],"aabb_xy":[[-0.1827016684573212,0.7066212321379681],[-0.08270166930465175,0.80658239004218]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[0.39977866369875414,-0.5878951879190655,0.71338606911949],"aabb_xy":[[0.36731696281682663,-0.6180280200339678],[0.43224036458068155,-0.5577623558041627]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[0.03989959618763317,0.8127845650045078,0.71338606911949],"aabb_xy":[[0.006124036996940196,0.7987460697913427],[0.07367515537832614,0.8268230602176727]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_20","position":[0.2611371616573219,0.9940363333439248,0.71338606911949],"aabb_xy":[[0.2571766778875876,0.9863684687584041],[0.26509764542705627,1.0017041979294454]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[0.012879268556126644,-1.5645578389224448,0.71338606911949],"aabb_xy":[[-0.0571207340804597,-1.58466270391831],[0.08287927119271299,-1.544452973926579]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[-0.647152171052503,0.5221942424187125,0.71338606911949],"aabb_xy":[[-0.6524897467185076,0.4971942414895727],[-0.6418145953864984,0.5471942433478523]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_23","position":[-0.2632151331882248,1.2852138427502773,0.71338606911949],"aabb_xy":[[-0.3007151333600967,1.25251310736737],[-0.22571513301635282,1.3179145781331845]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[0.573710128587166,-0.6785093200190357,0.71338606911949],"aabb_xy":[[0.5628043524996031,-0.758509316417865],[0.5846159046747286,-0.5985093236202067]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[-0.5122290917333623,-2.387769211944488,0.71338606911949],"aabb_xy":[[-0.5347282274595891,-2.4102692127227505],[-0.4897299560071352,-2.365269211166225]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_26","position":[0.6450888771699888,-1.0970624871630976,0.71338606911949],"aabb_xy":[[0.6378276295995812,-1.1098494974266073],[0.6523501247403961,-1.0842754768995884]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_27","position":[0.21031333077836023,-2.455630783146298,0.71338606911949],"aabb_xy":[[0.18814080380170933,-2.4778064503024204],[0.23248585775501102,-2.4334551159901743]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_28","position":[0.4251120286434136,-0.8090706455705914,0.71338606911949],"aabb_xy":[[0.41807171870987675,-0.8890706449702631],[0.43215233857695073,-0.7290706461709202]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_29","position":[-0.39412267676788737,-1.769783503268083,0.71338606911949],"aabb_xy":[[-0.4581226788176193,-1.809877986357391],[-0.3301226747181553,-1.7296890201787751]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_30","position":[-0.06576191398830866,-1.9954814730000345,0.71338606911949],"aabb_xy":[[-0.06987786410038131,-1.99959702803288],[-0.061645963876235985,-1.991365917967189]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_31","position":[-0.5253798111637862,1.5535650813714779,0.71338606911949],"aabb_xy":[[-0.5675642253246169,1.4895650810942669],[-0.48319539700295544,1.6175650816486893]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6628983042111872,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1967.png","name":"1967"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1967.png","name":"1967"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/962.png","name":"962"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3161.png","name":"3161"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1402.png","name":"1402"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5529.png","name":"5529"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":845.8293851914677,"rotation_z_degrees":145.5216499206108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0040668201964714,-0.008845984466001018,-0.00029488061065630414]},{"name":"camera_2","offset_m":[-0.00729109511878117,0.006130798633886134,0.0002858268892001817]},{"name":"camera_3","offset_m":[-0.011858662927033454,-0.00944896784178368,0.008529185019922253]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00010766537131249036,-0.0005605022059590699,0.001633995027955412],"end_effector_yaw_offset_degrees":0.30220008883889293},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005773106492402446,-0.00034930234639969854,-0.0011743459974341555],"end_effector_yaw_offset_degrees":-0.29641512665045466},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00039881340561519446,-0.0009460734501427713,-0.0004916746888443599],"end_effector_yaw_offset_degrees":0.49943810859464577},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008932272200875696,0.000854011970482506,-0.0010829408058111536],"end_effector_yaw_offset_degrees":0.11424441731777635}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007962430180019232,0.003296987028878641],"position_m":[0.17009624301800194,0.23339698702887865,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030790341606780603,0.0007754994289283614],"position_m":[0.23172096583932195,-0.36282450057107163,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014685271391478706,-0.0011458816611695866],"position_m":[0.20213147286085215,-0.046945881661169586,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003969643991122629,0.002486696206660987],"position_m":[0.33776964399112264,0.12018669620666099,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4301f0b7fcdb556739da208a1ee8b574cf225399d5d10652c4e7cee2454b8918","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_1967/tex_ceiling_textures_5529/tex_floor_textures_1402/tex_table_textures_962/tex_wall_textures_3161","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2151577437772368344,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2151577437772368344,"visual_seed":2151577437772368344,"scene_id":"lab_003","finished_at":"2026-09-04T20:51:17"}
+{"episode_id":"ep_000041","started_at":"2026-09-04T20:51:21","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[0.10887839959016388,-1.9895081829781276,0.71338606911949],"aabb_xy":[[0.07848028849102028,-2.0199150849797967],[0.13927651068930744,-1.9591012809764579]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[0.44637110614545694,-0.9120633015863286,0.71338606911949],"aabb_xy":[[0.37637110973549504,-0.9325012372380103],[0.5163711025554185,-0.8916253659346468]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[0.5670435282776198,1.1081109366796147,0.71338606911949],"aabb_xy":[[0.534581827395692,1.0779781045647117],[0.599505229159547,1.1382437687945168]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.20691751377786838,1.348009916885573,0.71338606911949],"aabb_xy":[[-0.2609331100597684,1.2840099139933157],[-0.15290191749596835,1.41200991977783]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[0.21248646572372776,-1.6859497835070407,0.71338606911949],"aabb_xy":[[0.14848646861162207,-1.7349821533014513],[0.27648646283583345,-1.63691741371263]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.42077348738660747,0.2685004073010857,0.71338606911949],"aabb_xy":[[-0.45507039840434804,0.23420352109114428],[-0.3864765763688668,0.302797293511027]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[-0.17634603792190728,-2.058489162007661,0.71338606911949],"aabb_xy":[[-0.266346034422779,-2.1044008044261187],[-0.08634604142103551,-2.012577519589202]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_7","position":[0.5830752603698883,-0.5113915916093021,0.71338606911949],"aabb_xy":[[0.5750319004439332,-0.5963915927046686],[0.5911186202958435,-0.4263915905139357]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[-0.06872592457929771,0.9355588394610823,0.71338606911949],"aabb_xy":[[-0.10372592288999315,0.9278438245375367],[-0.033725926268602255,0.943273854384628]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.49487153201643275,0.049127531863283114,0.71338606911949],"aabb_xy":[[-0.5588715284120058,-0.014835756555450441],[-0.4308715356208597,0.11309082028201667]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[0.44588559972139574,-1.5755052901807378,0.71338606911949],"aabb_xy":[[0.43301369622045555,-1.655505290594574],[0.4587575032223358,-1.4955052897669017]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.24059644244619505,-1.069803275835674,0.71338606911949],"aabb_xy":[[0.22309644220114563,-1.0873030636752405],[0.2580964426912444,-1.0523034879961068]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[-0.19471875090376278,-1.4805525508716453,0.71338606911949],"aabb_xy":[[-0.20264203114251111,-1.5030525511096486],[-0.18679547066501445,-1.458052550633642]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[-0.17667249372874294,-1.5575047094510517,0.71338606911949],"aabb_xy":[[-0.18063297749847732,-1.5651725740365723],[-0.17271200995900857,-1.549836844865531]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[-0.1911234205300637,-2.453895531507439,0.71338606911949],"aabb_xy":[[-0.2136234210421043,-2.476387389872837],[-0.1686234200180231,-2.4314036731420403]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[0.4260043724031335,1.309313374216174,0.71338606911949],"aabb_xy":[[0.40909363996679166,1.2958411686235594],[0.4429151048394752,1.3227855798087886]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[-0.3594309496740115,1.654571987708541,0.71338606911949],"aabb_xy":[[-0.40940836653926505,1.6045719862192926],[-0.30945353280875787,1.7045719891977897]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_17","position":[-0.23358642705415494,-0.3930599357962623,0.71338606911949],"aabb_xy":[[-0.24535461384881252,-0.478059935701484],[-0.22181824025949748,-0.3080599358910408]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.08559234862512821,1.494662954209129,0.71338606911949],"aabb_xy":[[-0.1080923481488356,1.472167006758508],[-0.0630923491014208,1.5171589016597495]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[0.4078795567360376,-0.19707602345961295,0.71338606911949],"aabb_xy":[[0.37037955691900404,-0.2017142347707548],[0.44537955655307115,-0.19243781214847108]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_20","position":[0.6685011357736805,1.320804123166726,0.71338606911949],"aabb_xy":[[0.663163560107676,1.2958041222375865],[0.6738387114396851,1.345804124095866]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[-0.23933084506092317,0.7330633353803759,0.71338606911949],"aabb_xy":[[-0.28881126627488196,0.6690633374675241],[-0.18985042384696438,0.7970633332932278]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6644984755505303,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8647.png","name":"8647"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8647.png","name":"8647"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5390.png","name":"5390"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1759.png","name":"1759"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5426.png","name":"5426"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5816.png","name":"5816"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":585.9977214640896,"rotation_z_degrees":256.2456469261984,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0006872953013080836,0.005246961591803621,-0.011607336169907749]},{"name":"camera_2","offset_m":[-0.014486987915012076,0.01938040388875702,-0.00647739472943552]},{"name":"camera_3","offset_m":[0.009490208125847718,0.004688045399419999,-0.0070318437590741485]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014806077786183934,0.0011552116286080907,0.0009760964572610663],"end_effector_yaw_offset_degrees":-0.0980270097027669},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015602807004643858,-0.000152359200503052,-0.0012757216991623381],"end_effector_yaw_offset_degrees":-0.012956034969555663},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00013081781370996646,-0.0014976245742906848,-0.0014373053753633167],"end_effector_yaw_offset_degrees":-0.1402858653667065},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016901979490817638,0.0003828588935588357,-0.0002068881114123532],"end_effector_yaw_offset_degrees":0.7059114894068077}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004417625190993392,0.002497761488635262],"position_m":[0.1648823748090066,0.23259776148863526,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004602004665352397,-0.0044395675001886875],"position_m":[0.2301979953346476,-0.3680395675001887,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011090753452465598,-0.0019971193960414348],"position_m":[0.20470907534524657,-0.047797119396041435,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002170325554283009,-0.0023588331896603255],"position_m":[0.331629674445717,0.11534116681033968,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"abf6354d920e63887406cc3452dffaa00bfc17908de3584753a12de4f748a1ca","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8647/tex_ceiling_textures_5816/tex_floor_textures_5426/tex_table_textures_5390/tex_wall_textures_1759","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4857214849438489938,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4857214849438489938,"visual_seed":4857214849438489938,"scene_id":"lab_003","finished_at":"2026-09-04T20:55:12"}
+{"episode_id":"ep_000042","started_at":"2026-09-04T20:58:14","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_0","position":[-0.6169845247867994,-2.334483971733778,0.71338606911949],"aabb_xy":[[-0.6229510637275352,-2.3404451163931417],[-0.6110179858460635,-2.3285228270744134]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[-0.5652655251505797,0.8267245854330953,0.71338606911949],"aabb_xy":[[-0.5827655253956291,0.8092247975935283],[-0.5477655249055303,0.844224373272662]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_2","position":[0.6235741464344844,0.29225881615394433,0.71338606911949],"aabb_xy":[[0.5860741457699056,0.2765717581537221],[0.661074147099063,0.30794587415416647]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[-0.34146047851002576,0.30036667888093627,0.71338606911949],"aabb_xy":[[-0.3664604780617642,0.29022419501580154],[-0.3164604789582872,0.310509162746071]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[0.506356318629618,1.0869570600479976,0.71338606911949],"aabb_xy":[[0.4163563162955989,1.009474705462885],[0.596356320963637,1.1644394146331103]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.2053874100727972,1.043057744260918,0.71338606911949],"aabb_xy":[[-0.26538741066881344,0.9882452717156944],[-0.14538740947678105,1.0978702168061414]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_6","position":[-0.5561563113153429,1.2938038764756814,0.71338606911949],"aabb_xy":[[-0.5865544224144864,1.2633969744740117],[-0.5257582002161992,1.3242107784773507]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[-0.339099852650086,1.3446175275249481,0.71338606911949],"aabb_xy":[[-0.3620155655351359,1.3217132303885248],[-0.3161841397650361,1.3675218246613718]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[0.4158298039159749,-2.0756484697131694,0.71338606911949],"aabb_xy":[[0.3983298046378881,-2.092986569779515],[0.43332980319406184,-2.058310369646823]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[-0.2390850292542217,-0.223742117015588,0.71338606911949],"aabb_xy":[[-0.30908503138565124,-0.24650408264128362],[-0.16908502712279216,-0.2009801513898923]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[0.33766275174086346,-2.22927267962758,0.71338606911949],"aabb_xy":[[0.3206526544508128,-2.2454071681258534],[0.3546728490309141,-2.2131381911293055]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[-0.14231529279066468,0.5642999941405735,0.71338606911949],"aabb_xy":[[-0.22231529077144974,0.5566984531787216],[-0.06231529480987965,0.5719015351024255]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[-0.2785721010067769,-2.1733693377586154,0.71338606911949],"aabb_xy":[[-0.29050483536860494,-2.1857514905664743],[-0.2666393666449488,-2.1609871849507556]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_13","position":[0.16492161354221058,1.4467027542727,0.71338606911949],"aabb_xy":[[0.10092591614711394,1.382702755971991],[0.2289173109373071,1.5107027525734085]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.4341546945459249,-1.9132457159459275,0.71338606911949],"aabb_xy":[[0.3998577835281843,-1.9475426021558688],[0.46845160556366555,-1.8789488297359862]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[0.38121765179745704,-0.6134328198895316,0.71338606911949],"aabb_xy":[[0.31962689257346427,-0.6774328179985785],[0.4428084110214499,-0.5494328217804847]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[-0.6562763899546197,-0.1833476810814525,0.71338606911949],"aabb_xy":[[-0.6812763891202528,-0.19029992678680904],[-0.6312763907889866,-0.1763954353760959]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_17","position":[0.09214682175162914,-1.6678242120660696,0.71338606911949],"aabb_xy":[[0.02214681911504278,-1.6879290770619348],[0.16214682438821548,-1.6477193470702038]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_18","position":[-0.46185564629006665,-2.0961216031820857,0.71338606911949],"aabb_xy":[[-0.5068482330085171,-2.1411216024565345],[-0.41686305957161623,-2.051121603907637]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.6603922072181959,-2.4569296649594774,0.71338606911949],"aabb_xy":[[-0.6664292202188608,-2.4629563660284255],[-0.6543551942175313,-2.4509029638905293]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[0.18022125813703116,-2.1040734882405436,0.71338606911949],"aabb_xy":[[0.16272125900266396,-2.113953115278131],[0.1977212572713983,-2.0941938612029554]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[0.29799118681289716,0.7752375784832903,0.71338606911949],"aabb_xy":[[0.24801789280963665,0.7252375779287429],[0.34796448081615755,0.8252375790378376]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[0.500691441334959,-1.3316034769573137,0.71338606911949],"aabb_xy":[[0.4919102141877229,-1.3403832242458438],[0.5094726684821954,-1.3228237296687837]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[-0.09234984019897308,1.6059040856558267,0.71338606911949],"aabb_xy":[[-0.14183026141293187,1.541904087742975],[-0.042869418985014285,1.6699040835686787]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_24","position":[-0.5540820500154653,1.7206536072690795,0.71338606911949],"aabb_xy":[[-0.5641637570940387,1.6406536093769646],[-0.5440003429368917,1.8006536051611939]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_25","position":[-0.3434377361423464,0.23137067522497734,0.71338606911949],"aabb_xy":[[-0.3468784123824036,0.2275092422506129],[-0.33999705990228923,0.23523210819934184]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_26","position":[0.6161235601220909,-0.5352355766949173,0.71338606911949],"aabb_xy":[[0.5611303487849542,-0.590235577033711],[0.6711167714592277,-0.4802355763561238]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[-0.5910790244451058,-1.0532208317821852,0.71338606911949],"aabb_xy":[[-0.6550790217307545,-1.094727550735029],[-0.5270790271594572,-1.011714112829341]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_28","position":[0.37418977818095955,-1.5982340495500038,0.71338606911949],"aabb_xy":[[0.32418977953503836,-1.648153593209466],[0.42418977682688075,-1.5483145058905412]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_29","position":[0.11949395206269842,0.5684448989860096,0.71338606911949],"aabb_xy":[[0.10908239338221468,0.5630991656501111],[0.1299055107431821,0.5737906323219081]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_30","position":[-0.424004885779708,0.1823982828198778,0.71338606911949],"aabb_xy":[[-0.43745141241375135,0.16892843116678657],[-0.4105583591456647,0.19586813447296902]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6652220171097278,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4760.png","name":"4760"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4760.png","name":"4760"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8782.png","name":"8782"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7638.png","name":"7638"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2313.png","name":"2313"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3720.png","name":"3720"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":829.3440045728139,"rotation_z_degrees":198.14627130412057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01890221583419972,0.00028343579223049503,0.01953994610197696]},{"name":"camera_2","offset_m":[0.014212218846918489,0.010209343231831779,-0.00991672209934308]},{"name":"camera_3","offset_m":[-0.007200001309152446,0.005873890859447135,-0.005256558502952861]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013979967657395207,0.0003428920762851219,-0.001833552086990395],"end_effector_yaw_offset_degrees":0.05718722092648609},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006148255381444659,-0.00020799437092467203,-0.00187808564973862],"end_effector_yaw_offset_degrees":-0.6508424822484984},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001036753085468098,-8.183796726331455e-05,0.00018883439595997198],"end_effector_yaw_offset_degrees":-0.13548415976241013},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-6.155225434229948e-05,-0.0012154810385384667,0.0016074223718745935],"end_effector_yaw_offset_degrees":-0.8038893290784253}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001476232011588188,0.0037458387900701105],"position_m":[0.1707762320115882,0.23384583879007012,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030380571504893972,-0.003390810303017201],"position_m":[0.2317619428495106,-0.36699081030301717,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00024316624683849188,-0.003567552813239897],"position_m":[0.2038431662468385,-0.0493675528132399,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037018749720725873,-0.0014216680402276082],"position_m":[0.33750187497207257,0.11627833195977239,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dbbf2c97347e6d23968ddb78ccca179c3b43edaa7bc393e1059d952d76d7a38e","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0062.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4760/tex_ceiling_textures_3720/tex_floor_textures_2313/tex_table_textures_8782/tex_wall_textures_7638","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1523985016473066250,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1523985016473066250,"visual_seed":1523985016473066250,"scene_id":"lab_003","finished_at":"2026-09-04T21:02:06"}
+{"episode_id":"ep_000043","started_at":"2026-09-04T21:05:03","dimensions":{"distractor":{"count":24,"items":[{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_0","position":[-0.5103012289612381,0.7049351025737356,0.71338606911949],"aabb_xy":[[-0.515759174598258,0.6249350992660765],[-0.5048432833242179,0.7849351058813947]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[-0.16882692403241584,-1.084787923384424,0.71338606911949],"aabb_xy":[[-0.23382692503291633,-1.1355742885390991],[-0.10382692303191529,-1.0340015582297493]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_2","position":[-0.47764386463637254,-0.25163274060199736,0.71338606911949],"aabb_xy":[[-0.5276438662978671,-0.3016311828577],[-0.42764386297487766,-0.20163429834629462]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[-0.4451510912846659,1.7641182999591174,0.71338606911949],"aabb_xy":[[-0.4826510897080662,1.7509540859912864],[-0.4076510928612655,1.777282513926948]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[0.35976631924836133,-1.0402022131302886,0.71338606911949],"aabb_xy":[[0.2957663228210395,-1.087371836952385],[0.4237663156756833,-0.9930325893081922]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[-0.6845205735063931,1.8026495156797337,0.71338606911949],"aabb_xy":[[-0.6905575865070578,1.7966228146107857],[-0.6784835605057283,1.8086762167486818]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.6398748285866384,-1.6216614305794286,0.71338606911949],"aabb_xy":[[-0.6530260745579277,-1.6466614303361153],[-0.626723582615349,-1.5966614308227423]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_7","position":[0.12309005128497952,-1.5442961416076058,0.71338606911949],"aabb_xy":[[0.033090054784107766,-1.5902077840260638],[0.21309004778585128,-1.4983844991891473]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_8","position":[0.3172607486998955,1.28979454420248,0.71338606911949],"aabb_xy":[[0.2837815814388546,1.256315430831373],[0.3507399159609365,1.323273657573587]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_9","position":[-0.4383136611612657,1.097295942903648,0.71338606911949],"aabb_xy":[[-0.5183136581755137,1.0771613912302367],[-0.35831366414701765,1.1174304945770592]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[0.2611561884703564,-2.4036422087734466,0.71338606911949],"aabb_xy":[[0.18115619106676298,-2.483634779971629],[0.3411561858739498,-2.3236496375752633]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[-0.08821172507857122,-1.7609380341093517,0.71338606911949],"aabb_xy":[[-0.148211724925138,-1.8177566563023901],[-0.028211725232004436,-1.7041194119163128]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_12","position":[-0.4003137142151529,1.6417057074266261,0.71338606911949],"aabb_xy":[[-0.4154858834967863,1.6265368504984228],[-0.3851415449335196,1.6568745643548295]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_13","position":[-0.08654970932541783,-2.4482152893380977,0.71338606911949],"aabb_xy":[[-0.15054970661106648,-2.4897220082909417],[-0.022549712039769187,-2.4067085703852538]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_14","position":[0.22251002655102792,-1.964341689268736,0.71338606911949],"aabb_xy":[[0.19202577642399773,-2.014341689050232],[0.25299427667805807,-1.9143416894872398]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_15","position":[-0.20424519451216477,-2.250885729402988,0.71338606911949],"aabb_xy":[[-0.25422261137741836,-2.3008857308922366],[-0.1542677776469112,-2.2008857279137395]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[0.0022026584652262704,1.7995691309997794,0.71338606911949],"aabb_xy":[[-0.07779734260789406,1.7897910846623948],[0.0822026595383466,1.8093471773371637]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_17","position":[0.5507894669288662,-0.39165551504522567,0.71338606911949],"aabb_xy":[[0.4707894689480812,-0.3992570560070775],[0.6307894649096513,-0.3840539740833736]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[0.4131114829174849,-0.3060172820248015,0.71338606911949],"aabb_xy":[[0.39543585232888645,-0.3236974983042042],[0.4307871135060831,-0.2883370657453987]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[0.04036356497006166,-2.2911463157094714,0.71338606911949],"aabb_xy":[[0.005363563618579931,-2.311506051666292],[0.0753635663215434,-2.2707865797526505]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[0.4356514966293983,0.13746387118218717,0.71338606911949],"aabb_xy":[[0.41744567296815066,0.12643847060019553],[0.453857320290646,0.1484892717641788]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[0.4759874994340314,0.8482410605862256,0.71338606911949],"aabb_xy":[[0.4718715493219587,0.8441255055533798],[0.480103449546104,0.852356615619071]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_22","position":[-0.15469097587718195,1.4183168401218675,0.71338606911949],"aabb_xy":[[-0.2443780521852974,1.328316839867417],[-0.06500389956906649,1.508316840376318]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_23","position":[0.4053819601711355,1.6728277078385632,0.71338606911949],"aabb_xy":[[0.35929686891640406,1.6088277105860078],[0.451467051425867,1.736827705091118]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6690109690579001,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9785.png","name":"9785"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9785.png","name":"9785"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5816.png","name":"5816"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9374.png","name":"9374"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2452.png","name":"2452"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9599.png","name":"9599"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":687.1189522907133,"rotation_z_degrees":243.65739819774817,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015720011944817338,0.018049362819099784,-0.01779361055781234]},{"name":"camera_2","offset_m":[0.004192862083435996,-0.012994699207804276,0.015078918474951773]},{"name":"camera_3","offset_m":[0.017824977575363856,0.013056542351000854,0.0008504593890763384]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00182916717023953,-8.088908409659102e-05,-0.00011570888770023077],"end_effector_yaw_offset_degrees":0.6040911478481177},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014780589534078275,-5.620753334245111e-05,0.00042697846098831496],"end_effector_yaw_offset_degrees":0.23727922162483317},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012655319026738012,-0.0001274937998109293,0.0008419431665477256],"end_effector_yaw_offset_degrees":0.4600333284199276},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000991116257918729,0.0017763209436642904,0.0007386316065413068],"end_effector_yaw_offset_degrees":0.5595142916048277}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[8.390521960441322e-05,0.004891963974565243],"position_m":[0.16938390521960442,0.23499196397456523,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004647436308248465,0.0014530975223324112],"position_m":[0.23944743630824847,-0.36214690247766756,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019127426990271723,0.0004493133129088731],"position_m":[0.20551274269902717,-0.04535068668709113,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004813029372546451,0.003050556393263958],"position_m":[0.3289869706274535,0.12075055639326396,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d760f5a2a45c2a49d9ecb7f9f518420d9131c457ea687a2d7f10e216c96afb99","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0064.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9785/tex_ceiling_textures_9599/tex_floor_textures_2452/tex_table_textures_5816/tex_wall_textures_9374","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2330021126031029149,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2330021126031029149,"visual_seed":2330021126031029149,"scene_id":"lab_003","finished_at":"2026-09-04T21:08:49"}
+{"episode_id":"ep_000044","started_at":"2026-09-04T21:08:53","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_0","position":[0.19096477008219115,1.1199479075580898,0.71338606911949],"aabb_xy":[[0.11096476791942866,1.039992723931946],[0.27096477224495363,1.1999030911842332]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[-0.3804268563056326,-1.1985024890575773,0.71338606911949],"aabb_xy":[[-0.3912784625545082,-1.209361779785228],[-0.369575250056757,-1.187643198329926]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_2","position":[-0.17119677168032388,1.58908697140764,0.71338606911949],"aabb_xy":[[-0.21221471506669476,1.5390869707766828],[-0.130178828293953,1.6390869720385974]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.5526407219529362,-0.8507855487126286,0.71338606911949],"aabb_xy":[[-0.5899719984781789,-0.8854386035074808],[-0.5153094454276937,-0.8161324939177763]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.2618627338958958,-1.933224326217962,0.71338606911949],"aabb_xy":[[-0.27953836448449415,-1.9509045424973646],[-0.2441871033072975,-1.915544109938559]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[-0.5655143724302856,0.3747682528540004,0.71338606911949],"aabb_xy":[[-0.579848797556449,0.36270803729946155],[-0.5511799473041221,0.38682846840853924]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[0.29798910018680913,-2.2536020654532836,0.71338606911949],"aabb_xy":[[0.2871486219602942,-2.2707883467439323],[0.30882957841332404,-2.236415784162635]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_7","position":[0.0092211607243039,-2.346946537368071,0.71338606911949],"aabb_xy":[[-0.013694552160746002,-2.3698508345044944],[0.03213687360935381,-2.3240422402316474]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.7078078018351284,1.3256513340251108,0.71338606911949],"aabb_xy":[[0.6990057465261557,1.3178400078701813],[0.7166098571441011,1.3334626601800394]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_9","position":[0.428409007456902,-2.2244182268872836,0.71338606911949],"aabb_xy":[[0.4159416493471664,-2.2368835515206076],[0.4408763655666377,-2.2119529022539606]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[0.6587008280963524,0.17738652867939653,0.71338606911949],"aabb_xy":[[0.5947008264183551,0.1288691372000823],[0.7227008297743498,0.22590392015871075]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_11","position":[-0.2701918937237324,-0.7566335373700115,0.71338606911949],"aabb_xy":[[-0.28710262616007415,-0.7701057429626258],[-0.2532811612873906,-0.7431613317773967]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.6336249133870748,-2.299391386535923,0.71338606911949],"aabb_xy":[[0.5875398221323433,-2.363391383788478],[0.6797100046418063,-2.2353913892833677]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[0.5577788890016486,1.1019528881223257,0.71338606911949],"aabb_xy":[[0.5402788898672815,1.0920732610847377],[0.5752788881360158,1.1118325151599133]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.36767698214568223,-0.5904590487975812,0.71338606911949],"aabb_xy":[[0.31767698078479506,-0.6404369533729968],[0.4176769835065695,-0.5404811442221655]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_15","position":[-0.2175036895472141,0.9666062444226116,0.71338606911949],"aabb_xy":[[-0.2676011535282877,0.9026062439127996],[-0.16740622556614052,1.0306062449324234]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.4532051868998718,-2.4066971635204544,0.71338606911949],"aabb_xy":[[-0.5332051873700878,-2.4150078711348026],[-0.37320518642965583,-2.398386455906106]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.3093101986863114,0.656389903768638,0.71338606911949],"aabb_xy":[[-0.3458060193135901,0.6199059613418805],[-0.27281437805903264,0.6928738461953956]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[-0.5062808781838556,1.1710545530080436,0.71338606911949],"aabb_xy":[[-0.5437808785320833,1.1592631574269598],[-0.46878087783562783,1.182845948589127]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_19","position":[0.4614321253766358,0.07929889942725987,0.71338606911949],"aabb_xy":[[0.4064366475559764,0.024298897993352928],[0.5164276031972952,0.1342989008611668]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.23407116375587067,-0.7233096075396965,0.71338606911949],"aabb_xy":[[0.19907116377937484,-0.7327742235873131],[0.2690711637323665,-0.7138449914920799]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_21","position":[-0.06603591815607124,1.166238917383502,0.71338606911949],"aabb_xy":[[-0.08067932371010421,1.1515801977267175],[-0.05139251260203824,1.180897637040286]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[0.04912890398523173,-1.0530232958999508,0.71338606911949],"aabb_xy":[[0.011628902469600022,-1.0642500689160959],[0.08662890550086344,-1.0417965228838058]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[-0.5582967201090494,-0.03232799867703262,0.71338606911949],"aabb_xy":[[-0.5655790364857128,-0.12232800228654159],[-0.5510144037323855,0.05767200493247637]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_24","position":[-0.28491582367877905,1.535115851617944,0.71338606911949],"aabb_xy":[[-0.30497423529201934,1.5150507647087867],[-0.26485741206553876,1.5551809385271016]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.665684354023907,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5442.png","name":"5442"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5442.png","name":"5442"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3486.png","name":"3486"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5181.png","name":"5181"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2271.png","name":"2271"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6357.png","name":"6357"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":640.8327222489745,"rotation_z_degrees":151.0645281266116,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014299849674545572,-0.0035693347258321274,-0.01617628412095838]},{"name":"camera_2","offset_m":[-0.015496034344976014,0.01954461131437758,0.006820388491682219]},{"name":"camera_3","offset_m":[0.003142172245499779,-0.007608198949661488,0.016861678363220455]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00020990717708429456,-0.0009581117055912837,-0.00030649648115246234],"end_effector_yaw_offset_degrees":0.7973671466921242},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001917916833848309,-0.00044906665154306334,-0.00145382154404642],"end_effector_yaw_offset_degrees":0.732359600755665},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003204184046813872,-0.0011996226028357492,-0.001588430199333371],"end_effector_yaw_offset_degrees":-0.7706378761983013},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010727189714121207,0.0013282919971182522,-0.0005588859556189276],"end_effector_yaw_offset_degrees":0.5831767510336037}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019562218695297205,-0.00325899089987583],"position_m":[0.16734377813047027,0.22684100910012417,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011692216536264978,-0.001393646645379366],"position_m":[0.23363077834637352,-0.36499364664537937,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006741437160015882,0.0022355379257248025],"position_m":[0.20292585628399842,-0.043564462074275195,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023434656005529653,-0.0034220509258605925],"position_m":[0.331456534399447,0.1142779490741394,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"37fd75eb67b016624c392000afceba2221b4e9e71b703503c38d26d6920bffac","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5442/tex_ceiling_textures_6357/tex_floor_textures_2271/tex_table_textures_3486/tex_wall_textures_5181","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2397684103731217731,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2397684103731217731,"visual_seed":2397684103731217731,"scene_id":"lab_003","finished_at":"2026-09-04T21:12:27"}
+{"episode_id":"ep_000045","started_at":"2026-09-04T21:15:19","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_0","position":[-0.5135074231823985,0.6873669545416536,0.71338606911949],"aabb_xy":[[-0.5510074216057987,0.6742027405738229],[-0.47600742475899804,0.7005311685094842]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[-0.14148200997364346,0.856041777301491,0.71338606911949],"aabb_xy":[[-0.14544249374337784,0.8483739127159704],[-0.1375215262039091,0.8637096418870116]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[0.2923688529205256,1.1802275726951885,0.71338606911949],"aabb_xy":[[0.27990149481078996,1.167762248061865],[0.30483621103026126,1.192692897328512]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[0.34024823188512276,1.5462504341554744,0.71338606911949],"aabb_xy":[[0.26024823322823676,1.5317455752312115],[0.42024823054200877,1.5607552930797373]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_4","position":[0.11976015614295543,-1.6432253668619294,0.71338606911949],"aabb_xy":[[0.09726015589944004,-1.6554300015217016],[0.14226015638647083,-1.6310207322021577]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_5","position":[0.38544121571127854,0.49901869581350233,0.71338606911949],"aabb_xy":[[0.37802876016989,0.4931674853918743],[0.39285367125266696,0.5048699062351303]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_6","position":[0.28013266666633707,-1.1951939169428394,0.71338606911949],"aabb_xy":[[0.2301395545571452,-1.2451939176170352],[0.33012577877552896,-1.145193916268644]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.6873421289046828,0.7612803545765026,0.71338606911949],"aabb_xy":[[0.6691363052434353,0.7502549539945109],[0.7055479525659306,0.7723057551584942]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[0.6004106874978972,-2.3338562223899926,0.71338606911949],"aabb_xy":[[0.5801263847744983,-2.3541388475327008],[0.6206949902212958,-2.3135735972472826]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[0.012482539502260193,-1.4933879485433585,0.71338606911949],"aabb_xy":[[-0.03251746196396866,-1.5383878054048392],[0.05748254096848905,-1.4483880916818777]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[-0.04599070570229924,-0.7538062667811558,0.71338606911949],"aabb_xy":[[-0.10599070629831542,-0.8086187393263793],[0.01400929489371694,-0.6989937942359323]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_11","position":[-0.6121436079140612,-1.8797221098645565,0.71338606911949],"aabb_xy":[[-0.6240156909255622,-1.9647221095582068],[-0.60027152490256,-1.794722110170906]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_12","position":[-0.4966379207734606,-0.6631270672390945,0.71338606911949],"aabb_xy":[[-0.5466379220573003,-0.7131059216297165],[-0.4466379194896205,-0.6131482128484723]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[-0.584333163811954,-0.5479795529080724,0.71338606911949],"aabb_xy":[[-0.6093331633636924,-0.5581220367732072],[-0.5593331642602154,-0.5378370690429377]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[0.07335370391637852,0.969069860518236,0.71338606911949],"aabb_xy":[[0.009353701573576954,0.9241290092741035],[0.13735370625918006,1.0140107117623685]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_15","position":[0.49125284521519164,1.1622491877535648,0.71338606911949],"aabb_xy":[[0.4547570245879129,1.1257652453268072],[0.5277486658424704,1.1987331301803223]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[-0.07589347289789217,1.1072466905523792,0.71338606911949],"aabb_xy":[[-0.13989347148446463,1.0602397271528703],[-0.011893474311319693,1.1542536539518877]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[0.3826230327836304,1.7049330752915641,0.71338606911949],"aabb_xy":[[0.3026230325100234,1.6319835274658472],[0.4626230330572374,1.7778826231172806]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[0.16622038127516758,-0.9580188746167813,0.71338606911949],"aabb_xy":[[0.1487203821408004,-0.967898501654369],[0.18372038040953476,-0.9481392475791933]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.5826249577359857,0.6735168898950898,0.71338606911949],"aabb_xy":[[0.5451249575641137,0.6408161545121825],[0.6201249579078576,0.7062176252779969]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_20","position":[-0.588317361406398,-2.4142307384529857,0.71338606911949],"aabb_xy":[[-0.6253514708344577,-2.448607945786695],[-0.5512832519783383,-2.3798535311192763]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_21","position":[-0.49997431310503054,-2.1829509919242263,0.71338606911949],"aabb_xy":[[-0.5576047819923013,-2.2429509908509364],[-0.44234384421775963,-2.122950992997515]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_22","position":[-0.2678612634639781,-1.2989387353695747,0.71338606911949],"aabb_xy":[[-0.27548553155415634,-1.3065719589061184],[-0.26023699537379985,-1.291305511833031]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[0.44728235410688266,-0.28012343442974386,0.71338606911949],"aabb_xy":[[0.3832823524288853,-0.328640825909058],[0.51128235578488,-0.23160604295042958]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_24","position":[-0.20455199667507823,0.42111145658895666,0.71338606911949],"aabb_xy":[[-0.2685519930706513,0.3571481681702231],[-0.14055200027950515,0.4850747450076902]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[-0.14925628243752043,-0.29302934501036004,0.71338606911949],"aabb_xy":[[-0.15803750958475668,-0.3018090922988902],[-0.14047505529028423,-0.2842495977218299]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[0.2827261767586363,-2.5433666819063108,0.71338606911949],"aabb_xy":[[0.20272617628842043,-2.5516773895206595],[0.3627261772288523,-2.535055974291963]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_27","position":[0.5195719225004412,-1.7767771412451816,0.71338606911949],"aabb_xy":[[0.47826737943670505,-1.8407771408132987],[0.560876465564177,-1.7127771416770645]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_28","position":[-0.30634117160055474,1.2269877798073554,0.71338606911949],"aabb_xy":[[-0.3703411708947229,1.1630016394385014],[-0.24234117230638647,1.2909739201762098]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_29","position":[-0.19420706330940696,-1.8990381532030702,0.71338606911949],"aabb_xy":[[-0.2492070629311528,-1.9540218459905432],[-0.13920706368766111,-1.8440544604155977]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_30","position":[-0.4345061563305746,-1.7140155002460535,0.71338606911949],"aabb_xy":[[-0.49850615660455283,-1.7640816004433415],[-0.37050615605659637,-1.6639494000487656]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_31","position":[0.22356076414759452,1.684475935892436,0.71338606911949],"aabb_xy":[[0.21942490781489435,1.646975936448079],[0.22769662048029474,1.721975935336793]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_32","position":[-0.1422332437191418,-1.3938577677677426,0.71338606911949],"aabb_xy":[[-0.15308484996801738,-1.4047170584953936],[-0.13138163747026618,-1.3829984770400916]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_33","position":[-0.31641432698404004,-0.14579518765686927,0.71338606911949],"aabb_xy":[[-0.36638739251655555,-0.19579518746940222],[-0.26644126145152464,-0.09579518784433641]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6659495317769751,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3158.png","name":"3158"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3158.png","name":"3158"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6892.png","name":"6892"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5444.png","name":"5444"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7759.png","name":"7759"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6496.png","name":"6496"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":583.0698119655651,"rotation_z_degrees":356.1745292943583,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014807483341634838,-0.01009483609690164,-0.003598586287672262]},{"name":"camera_2","offset_m":[-0.013794512461807922,-0.00877914783716134,0.019963242788547112]},{"name":"camera_3","offset_m":[0.013045586437445713,-0.017123229262132725,0.01859284447668699]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001712536074880977,0.001724294837213927,-3.0131931021455758e-05],"end_effector_yaw_offset_degrees":0.22342353666087011},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018531082145866527,-0.0017502125055466919,0.0017939878547586635],"end_effector_yaw_offset_degrees":0.7547113801088876},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017249399091492268,0.00022810402498472417,-0.0012225345239941193],"end_effector_yaw_offset_degrees":-0.012885232071208064},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010110638362685828,-0.0018741310480803973,-0.0010552679127792813],"end_effector_yaw_offset_degrees":0.733190661589574}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001835219370726806,0.0028320527023589235],"position_m":[0.1674647806292732,0.23293205270235892,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002634931466525582,0.0003145959805896459],"position_m":[0.23506349314665256,-0.36328540401941034,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002755832264601199,0.0049933745303711],"position_m":[0.2063558322646012,-0.0408066254696289,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004489146865602326,-0.0019282682956015575],"position_m":[0.3382891468656023,0.11577173170439845,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"896c3dcd431f92d74895ea281786f44b70abfb7d33c11578098e9e6d2987287d","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0067.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3158/tex_ceiling_textures_6496/tex_floor_textures_7759/tex_table_textures_6892/tex_wall_textures_5444","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8475968548779590187,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8475968548779590187,"visual_seed":8475968548779590187,"scene_id":"lab_003","finished_at":"2026-09-04T21:19:02"}
+{"episode_id":"ep_000046","started_at":"2026-09-04T21:21:50","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.2613188300481843,-0.11966974711714062,0.71338606911949],"aabb_xy":[[-0.30912499766195295,-0.1846697498241996],[-0.21351266243441563,-0.05466974441008167]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[-0.6648843678844232,-0.11789568832501596,0.71338606911949],"aabb_xy":[[-0.6773517259941588,-0.13036101295833946],[-0.6524170097746875,-0.10543036369169245]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[-0.23917868431209943,-0.39142094355546897,0.71338606911949],"aabb_xy":[[-0.3041786854180427,-0.41638631662359726],[-0.17417868320615615,-0.3664555704873407]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.1698358957445819,-0.9264397315730923,0.71338606911949],"aabb_xy":[[0.08983589248056875,-0.9399997638820058],[0.249835899008595,-0.9128796992641791]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.6926993876984588,-2.208213887275222,0.71338606911949],"aabb_xy":[[0.6818589094719439,-2.2254001685658706],[0.7035398659249738,-2.1910276059845732]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_5","position":[0.3621463600375876,-1.0914848344142958,0.71338606911949],"aabb_xy":[[0.3371463608719545,-1.0984370801196524],[0.3871463592032207,-1.0845325887089392]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[-0.5348141250634157,0.2962633690975167,0.71338606911949],"aabb_xy":[[-0.5691110360811562,0.2619664828875753],[-0.5005172140456751,0.33056025530745803]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.1484565518893901,1.448478150988175,0.71338606911949],"aabb_xy":[[0.13652381752756204,1.4360959981803154],[0.16038928625121818,1.4608603037960342]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[-0.2888680344567643,1.385115049495118,0.71338606911949],"aabb_xy":[[-0.29767008976573694,1.3773037233401888],[-0.2800659791477915,1.392926375650047]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[0.11992382894144116,1.3223580912403876,0.71338606911949],"aabb_xy":[[0.03992382786832084,1.3125800449030034],[0.1999238300145615,1.3321361375777723]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[-0.22529135847260257,-2.059764597754435,0.71338606911949],"aabb_xy":[[-0.27526465247586307,-2.109764598308982],[-0.17531806446934214,-2.0097645971998874]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[0.65646100366112,-1.8956580715558071,0.71338606911949],"aabb_xy":[[0.6389610045267529,-1.9055376985933952],[0.6739610027954872,-1.8857784445182195]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_12","position":[0.23519196555975708,-0.6894313758496187,0.71338606911949],"aabb_xy":[[0.2275676974695789,-0.6970645993861624],[0.24281623364993538,-0.681798152313075]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[-0.5121522059589535,-1.5215701632423186,0.71338606911949],"aabb_xy":[[-0.6021522096358716,-1.5830025698194226],[-0.4221522022820352,-1.460137756665214]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[-0.4692732603225237,-0.4254795618066609,0.71338606911949],"aabb_xy":[[-0.5492732635803667,-0.5054760695986448],[-0.38927325706468074,-0.3454830540146768]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.5608594506318241,1.3771625381010266,0.71338606911949],"aabb_xy":[[0.5379437377467742,1.3542582409646031],[0.583775163516874,1.4000668352374501]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[-0.27339603270953644,0.6179899689757025,0.71338606911949],"aabb_xy":[[-0.3433960291194981,0.5975520333240205],[-0.20339603629957456,0.638427904627384]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[0.6470620550772812,1.639825863236736,0.71338606911949],"aabb_xy":[[0.6120620559473254,1.6340806421610719],[0.6820620542072368,1.6455710843124]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[-0.27814515342990265,1.5155680915762697,0.71338606911949],"aabb_xy":[[-0.34214515370388093,1.4655019913789817],[-0.21414515315592447,1.5656341917735577]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[-0.4550394558088235,-0.918221953188207,0.71338606911949],"aabb_xy":[[-0.4893557329834414,-0.9682219531613848],[-0.42072317863420555,-0.8682219532150294]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[0.6588949907866968,0.6176921962335054,0.71338606911949],"aabb_xy":[[0.6088949921407756,0.567772652574043],[0.708894989432618,0.6676117398929677]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_21","position":[0.5808862334247769,-0.8855900113445097,0.71338606911949],"aabb_xy":[[0.5753045617906479,-0.8980900111622852],[0.5864679050589056,-0.8730900115267342]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[-0.5539393812764223,-2.406315141365878,0.71338606911949],"aabb_xy":[[-0.5653011159297083,-2.417683607772166],[-0.542577646623136,-2.3949466749595896]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[-0.363447083517159,-0.7178193732805496,0.71338606911949],"aabb_xy":[[-0.36954171140527736,-0.7263887678322183],[-0.3573524556290407,-0.7092499787288808]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_24","position":[0.3073328349849864,1.424123011014347,0.71338606911949],"aabb_xy":[[0.24733283334206457,1.3721228617224028],[0.3673328366279083,1.4761231603062912]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[-0.485783651040559,-1.2077939999002247,0.71338606911949],"aabb_xy":[[-0.5070616591840311,-1.2727940022262978],[-0.4645056428970867,-1.1427939975741517]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[0.05148753447954002,-0.7090506688848792,0.71338606911949],"aabb_xy":[[-0.028512464107779408,-0.78836627082304],[0.13148753306685942,-0.6297350669467182]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_27","position":[-0.32747846087635585,-1.159921176302746,0.71338606911949],"aabb_xy":[[-0.36194080827449754,-1.1944150587005682],[-0.29301611347821394,-1.1254272939049228]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_28","position":[0.6072940673326701,-0.455495628229067,0.71338606911949],"aabb_xy":[[0.5697940670404953,-0.4595371036296706],[0.6447940676248449,-0.45145415282846335]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_29","position":[0.23862219867180656,-2.354284888980966,0.71338606911949],"aabb_xy":[[0.2235198972107884,-2.369386410612027],[0.25372450013282455,-2.339183367349903]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6696236164778355,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2891.png","name":"2891"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2891.png","name":"2891"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1961.png","name":"1961"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4304.png","name":"4304"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1932.png","name":"1932"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3070.png","name":"3070"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":737.0624731526146,"rotation_z_degrees":340.9299626071367,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01711468226689393,-0.007921859228741047,-0.018635668746086846]},{"name":"camera_2","offset_m":[0.016721869810158285,0.005621383704915838,-0.002771583859518253]},{"name":"camera_3","offset_m":[-0.007678457867838117,-0.00027840694577242753,-0.0005621952262338074]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015738579896142969,-0.0012656908007641667,0.00020867493796953044],"end_effector_yaw_offset_degrees":0.9662899293039873},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010795347802798343,-0.0013523520960952843,-0.0014237973737942769],"end_effector_yaw_offset_degrees":0.5893787389576308},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.5647695362414816e-05,-0.001291197562799331,-0.001105272556585259],"end_effector_yaw_offset_degrees":0.8626553263848447},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017546348373585789,-0.001265542564645513,-0.001127922409420019],"end_effector_yaw_offset_degrees":-0.702411054835792}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00480895084865995,0.002422351383931186],"position_m":[0.17410895084865996,0.23252235138393118,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0012593455502570659,-0.004870615856479439],"position_m":[0.23605934555025707,-0.36847061585647944,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008645203237137777,0.0022623120073058736],"position_m":[0.20273547967628622,-0.04353768799269413,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002177857562419537,-0.001972104483088195],"position_m":[0.33597785756241955,0.1157278955169118,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ad8353692b191ab348bfd47133a79e2cb3a2e1f9bd3119ec48a7e631f537d00f","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0069.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2891/tex_ceiling_textures_3070/tex_floor_textures_1932/tex_table_textures_1961/tex_wall_textures_4304","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":248896488035758670,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":248896488035758670,"visual_seed":248896488035758670,"scene_id":"lab_003","finished_at":"2026-09-04T21:26:03"}
+{"episode_id":"ep_000047","started_at":"2026-09-04T21:26:06","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[0.44231425513099976,-2.4682341005225843,0.71338606911949],"aabb_xy":[[0.41232259239712943,-2.4982340998593844],[0.4723059178648701,-2.4382341011857833]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[0.16792953792426524,-1.98759443570992,0.71338606911949],"aabb_xy":[[0.1510188054879234,-2.001066641302534],[0.18484027036060696,-1.9741222301173054]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.07740494027021294,1.3293405295045568,0.71338606911949],"aabb_xy":[[-0.1118674182833007,1.3226768523216341],[-0.042942462257125155,1.3360042066874795]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_3","position":[0.6167062512443167,0.3579426769182339,0.71338606911949],"aabb_xy":[[0.5329840257442342,0.26794267338353794],[0.7004284767443991,0.44794268045292984]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.5987130057463415,-1.0749910643735725,0.71338606911949],"aabb_xy":[[0.5879400318249737,-1.1099910625926115],[0.6094859796677092,-1.0399910661545335]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[-0.24035266647921755,-1.7834977666471847,0.71338606911949],"aabb_xy":[[-0.3053526675851608,-1.808463139715313],[-0.17535266537327424,-1.7585323935790564]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.6079294130377918,0.5293861657032863,0.71338606911949],"aabb_xy":[[-0.6188351891253545,0.4493861693044571],[-0.5970236369502291,0.6093861621021154]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[-0.6613918293005833,0.7656901428983387,0.71338606911949],"aabb_xy":[[-0.6859054533975891,0.7414255495963022],[-0.6368782052035774,0.7899547362003752]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[-0.10954847571880488,0.7650382159763733,0.71338606911949],"aabb_xy":[[-0.19954847805282394,0.6875558613912607],[-0.01954847338478584,0.842520570561486]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[-0.4710931828767869,-0.5403866328327043,0.71338606911949],"aabb_xy":[[-0.5078878160016933,-0.5772925079292865],[-0.4342985497518807,-0.503480757736122]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[0.08930605101030697,-1.6227426951697115,0.71338606911949],"aabb_xy":[[0.07955006150113307,-1.632505229228946],[0.09906204051948085,-1.612980161110477]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[-0.4456897583122154,-1.1955700594017498,0.71338606911949],"aabb_xy":[[-0.5006820089477264,-1.2505700611450625],[-0.39069750767670447,-1.140570057658437]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_12","position":[-0.17819409142648013,1.060687902438576,0.71338606911949],"aabb_xy":[[-0.21673978425168117,1.022142131382387],[-0.1396483986012791,1.0992336734947645]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.1677739022360808,-2.4183315726953625,0.71338606911949],"aabb_xy":[[0.07808682592796537,-2.508331572949813],[0.25746097854419625,-2.328331572440912]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.5546609487932965,-1.7838362040848241,0.71338606911949],"aabb_xy":[[0.5301147331705457,-1.8140851006338612],[0.5792071644160471,-1.753587307535787]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_15","position":[0.24831563406702617,-1.7018125891040035,0.71338606911949],"aabb_xy":[[0.23398120894086274,-1.713872804658542],[0.2626500591931896,-1.6897523735494644]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[0.618177708020279,-1.521888680237497,0.71338606911949],"aabb_xy":[[0.5728990931391298,-1.5858886795856806],[0.6634563229014283,-1.4578886808893132]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_17","position":[0.40330343293540105,-2.017658551310691,0.71338606911949],"aabb_xy":[[0.3393077355403044,-2.0816585496113995],[0.4672991303304976,-1.9536585530099821]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[-0.36853126950107423,-1.0423310551671503,0.71338606911949],"aabb_xy":[[-0.37462589738919255,-1.050900449718819],[-0.3624366416129559,-1.0337616606154816]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[0.5431416259470525,1.121642522225855,0.71338606911949],"aabb_xy":[[0.5066458053197737,1.0851585797990972],[0.5796374465743311,1.1581264646526124]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_20","position":[-0.2479739403243122,0.3022981010792436,0.71338606911949],"aabb_xy":[[-0.305604409211583,0.24229810215253295],[-0.19034347143704128,0.36229810000595414]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[0.3892668233201373,1.2188457870606628,0.71338606911949],"aabb_xy":[[0.3533533188951476,1.182932278843908],[0.425180327745127,1.2547592952774171]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[-0.6846694378627886,-0.1035898244764688,0.71338606911949],"aabb_xy":[[-0.6934506650100248,-0.112369571764999],[-0.6758882107155525,-0.0948100771879387]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[-0.5108624653243173,0.1989266015435165,0.71338606911949],"aabb_xy":[[-0.5181447817009808,0.10892659793400748],[-0.5035801489476535,0.28892660515302543]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[-0.067617945976716,-1.0791652504446752,0.71338606911949],"aabb_xy":[[-0.13161794819712302,-1.1235383345699634],[-0.0036179437563089722,-1.0347921663193869]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[-0.4066369714044577,-2.454664969187629,0.71338606911949],"aabb_xy":[[-0.4616324492251171,-2.5096649706215355],[-0.3516414935837983,-2.3996649677537216]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_26","position":[0.5834893979435898,1.6549559212504081,0.71338606911949],"aabb_xy":[[0.545989397651415,1.6509144458498044],[0.6209893982357646,1.6589973966510114]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_27","position":[-0.26526382695512,0.7170539711536876,0.71338606911949],"aabb_xy":[[-0.2841482107236302,0.6981680463733348],[-0.24637944318660981,0.7359398959340404]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_28","position":[0.22152086891416767,0.6009190017598152,0.71338606911949],"aabb_xy":[[0.21222725067701706,0.5634190032716812],[0.23081448715131822,0.638419000247949]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_29","position":[0.6210195278805117,-0.5560641039841387,0.71338606911949],"aabb_xy":[[0.5660458058441789,-0.6110641035483719],[0.6759932499168446,-0.5010641044199056]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_30","position":[-0.35834515647154813,0.13307169919398998,0.71338606911949],"aabb_xy":[[-0.4083281066590274,0.08307169955142955],[-0.30836220628406874,0.18307169883655036]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_31","position":[-0.35246457729931435,1.452532405942128,0.71338606911949],"aabb_xy":[[-0.3952312841787345,1.3885324025203256],[-0.3096978704198941,1.5165324093639305]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_32","position":[-0.4072923689796878,-2.2270473297944076,0.71338606911949],"aabb_xy":[[-0.4247923692390245,-2.2411388719831806],[-0.3897923687203513,-2.2129557876056354]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659502197296594,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2744.png","name":"2744"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2744.png","name":"2744"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3971.png","name":"3971"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2473.png","name":"2473"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4889.png","name":"4889"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9032.png","name":"9032"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":676.4410825495604,"rotation_z_degrees":344.7150581826664,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006688797705820013,-0.011878398083606126,-0.00025691136659292124]},{"name":"camera_2","offset_m":[-0.0002441064694710532,0.007191410492822663,-0.003570311387367419]},{"name":"camera_3","offset_m":[-0.004503918064412837,-0.012705617672405292,-0.003424987817761089]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003790205004351522,0.0019519958399246045,0.0008352036222951617],"end_effector_yaw_offset_degrees":0.8639436594127847},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008925141026843574,-0.0006618036000966901,0.0016228393923280434],"end_effector_yaw_offset_degrees":-0.27879080520293664},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002725619542864415,-0.0008418907402725916,0.0005560342261210051],"end_effector_yaw_offset_degrees":-0.16708476312729226},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00025609851721055906,-0.0005837336638607052,-0.001856306438305431],"end_effector_yaw_offset_degrees":0.13099009607512868}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005476290821837303,0.004369269355386652],"position_m":[0.16984762908218373,0.23446926935538664,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004864849777305447,0.0042548192396957155],"position_m":[0.22993515022269456,-0.35934518076030425,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020298636931431434,-0.0018887202665815663],"position_m":[0.20562986369314315,-0.047688720266581566,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00048127697830042254,-0.0011799109744608806],"position_m":[0.3342812769783004,0.11652008902553912,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"113876e062b6b49b5d17a453be08512cfd82b0cd9b071988089ee5ecee83ae39","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0070.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2744/tex_ceiling_textures_9032/tex_floor_textures_4889/tex_table_textures_3971/tex_wall_textures_2473","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3214968624081209513,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3214968624081209513,"visual_seed":3214968624081209513,"scene_id":"lab_003","finished_at":"2026-09-04T21:29:54"}
+{"episode_id":"ep_000048","started_at":"2026-09-04T21:29:58","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.2960586609387236,0.6040712168189137,0.71338606911949],"aabb_xy":[[0.23842819205145266,0.544071217892203],[0.3536891298259944,0.6640712157456242]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_1","position":[0.4173139213050614,-1.4390579973372242,0.71338606911949],"aabb_xy":[[0.35731391966213955,-1.4910581466291686],[0.47731392294798325,-1.3870578480452802]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[0.008891092586193139,-1.6061446919373044,0.71338606911949],"aabb_xy":[[-0.025571254811948663,-1.6406385743351268],[0.043353439984334934,-1.5716508095394814]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.2526238698242452,-0.7268026716919325,0.71338606911949],"aabb_xy":[[-0.28911969045152386,-0.7632866141186898],[-0.21612804919696638,-0.6903187292651747]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[0.25818127677319025,-2.0867982131156046,0.71338606911949],"aabb_xy":[[0.19818127617717407,-2.141610685660828],[0.31818127736920643,-2.031985740570381]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[-0.34611907354260774,0.5527914818562518,0.71338606911949],"aabb_xy":[[-0.40111907271919717,0.49780180708129407],[-0.2911190743660182,0.6077811566312094]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_6","position":[-0.6726782907421831,-1.054462615385474,0.71338606911949],"aabb_xy":[[-0.6806015709809314,-1.0769626156234773],[-0.6647550105034348,-1.0319626151474706]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[-0.41225583638113616,-0.11484865972282021,0.71338606911949],"aabb_xy":[[-0.4535603794448721,-0.1788486592909373],[-0.3709512933174001,-0.05084866015470313]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.1542831022965493,1.009126230509311,0.71338606911949],"aabb_xy":[[-0.1767478722679544,0.9866262296304502],[-0.13181833232514417,1.0316262313881712]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[-0.039901957523141185,1.0677403935701557,0.71338606911949],"aabb_xy":[[-0.062398378957005285,1.0452403937634083],[-0.017405536089277085,1.0902403933769031]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_10","position":[0.3453626349441661,1.1884116131488875,0.71338606911949],"aabb_xy":[[0.3298068655339008,1.1728611799044806],[0.36091840435443134,1.203962046393295]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_11","position":[0.47028720809272206,-2.042704695233596,0.71338606911949],"aabb_xy":[[0.4630048917160583,-2.132704698843104],[0.4775695244693856,-1.9527046916240864]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.03549263942842995,-2.3213638582909817,0.71338606911949],"aabb_xy":[[0.022341393457140587,-2.3463638580476682],[0.04864388539971932,-2.296363858534295]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_13","position":[-0.6175546619323458,-0.8390769822989728,0.71338606911949],"aabb_xy":[[-0.635054662177395,-0.8565767701385395],[-0.6000546616872963,-0.8215771944594058]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.45734292637052065,1.4423322387873623,0.71338606911949],"aabb_xy":[[0.4073641178602047,1.3923322387816432],[0.5073217348808365,1.4923322387930809]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_15","position":[0.01806982085806874,1.4121440324212688,0.71338606911949],"aabb_xy":[[-0.07193017856030215,1.3787685355770791],[0.10806982027643963,1.4455195292654586]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.611033197778174,1.3369249668224632,0.71338606911949],"aabb_xy":[[0.606189603016944,1.332073314343479],[0.615876792539404,1.3417766193014473]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.30647339487810504,-0.39731484817174145,0.71338606911949],"aabb_xy":[[-0.36048899116000505,-0.4613148510639986],[-0.25245779859620504,-0.3333148452794843]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.567416166354664,1.2838906252900841,0.71338606911949],"aabb_xy":[[-0.5899153020808909,1.2613906245118212],[-0.544917030628437,1.306390626068347]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[-0.5942579714176074,-0.4519265111614357,0.71338606911949],"aabb_xy":[[-0.611757971676944,-0.46601805335020835],[-0.5767579711582708,-0.4378349689726631]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[0.47106119331041474,0.5249059868951971,0.71338606911949],"aabb_xy":[[0.46064963462993097,0.5195602535592985],[0.4814727519908984,0.5302517202310955]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[0.2729792519878361,1.0901215089829543,0.71338606911949],"aabb_xy":[[0.2595327253537928,1.076651657329863],[0.28642577862187946,1.1035913606360457]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_22","position":[0.002996773026506583,-2.0106501500724336,0.71338606911949],"aabb_xy":[[-0.019503226983641708,-2.024746369712037],[0.025496773036654874,-1.9965539304328304]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[0.08404693976610789,0.8852361125682755,0.71338606911949],"aabb_xy":[[0.05056777250506695,0.8517569991971685],[0.11752610702714883,0.9187152259393825]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_24","position":[-0.4633221919245831,1.766124681760124,0.71338606911949],"aabb_xy":[[-0.4784943612062165,1.7509558248319206],[-0.44815002264294984,1.7812935386883273]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[-0.15818887739364107,0.7446877305503046,0.71338606911949],"aabb_xy":[[-0.1710607808945812,0.6646877301364683],[-0.14531697389270093,0.8246877309641406]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_26","position":[-0.020525147848579284,0.5912649907993108,0.71338606911949],"aabb_xy":[[-0.036409641113904434,0.5769120505004868],[-0.0046406545832541335,0.6056179310981349]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_27","position":[-0.44891258321876604,-1.3925717298955949,0.71338606911949],"aabb_xy":[[-0.45334321257360627,-1.3980201016302776],[-0.4444819538639259,-1.3871233581609126]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_28","position":[0.3991531468308609,-1.246484325024107,0.71338606911949],"aabb_xy":[[0.38481872170469744,-1.258544540578646],[0.41348757195702435,-1.2344241094695683]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[0.4942205104838242,0.809150101293941,0.71338606911949],"aabb_xy":[[0.4302205088058269,0.7606327098146268],[0.5582205121618216,0.8576674927732553]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_30","position":[0.006858546557609313,-0.7236367062606286,0.71338606911949],"aabb_xy":[[0.0008215335569445863,-0.7296634073295768],[0.012895559558274042,-0.7176100051916804]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_31","position":[-0.673008924242247,0.01903604521447333,0.71338606911949],"aabb_xy":[[-0.6896860602353424,0.0023361212405430543],[-0.6563317882491514,0.035735969188403605]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_32","position":[-0.06254591221068306,-0.8683738023311933,0.71338606911949],"aabb_xy":[[-0.15254591193385722,-0.8914471548663729],[0.027454087512491118,-0.8453004497960133]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_33","position":[-0.36422773664206387,0.3069066275651373,0.71338606911949],"aabb_xy":[[-0.3714715026883092,0.22690662936153494],[-0.35698397059581854,0.3869066257687397]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_34","position":[0.587134561938949,-2.443686116672027,0.71338606911949],"aabb_xy":[[0.5498032854137064,-2.478339171466879],[0.6244658384641916,-2.4090330618771745]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6649710707162079,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/260.png","name":"260"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/260.png","name":"260"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1789.png","name":"1789"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9684.png","name":"9684"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3143.png","name":"3143"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3669.png","name":"3669"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":825.0470500647816,"rotation_z_degrees":69.16536779504325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01620537484097091,0.0012030346049492838,-0.01095850932275945]},{"name":"camera_2","offset_m":[-0.016445107009916013,-0.00976741502788685,0.00010153980523930003]},{"name":"camera_3","offset_m":[-0.018523184779407984,0.01699480610701588,0.019420635745211804]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010907707850955476,0.0003051032168573135,-0.0018671127860830513],"end_effector_yaw_offset_degrees":0.6463576545739211},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001919538255093266,-0.0019321849185958255,-0.0019080094319082125],"end_effector_yaw_offset_degrees":0.1308570974066654},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004838357609124361,0.0018052627151379343,0.0018199324224094362],"end_effector_yaw_offset_degrees":0.07941813048061519},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015459079900737023,0.0011654532493687903,0.0015652830032102235],"end_effector_yaw_offset_degrees":-0.4712141736116815}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004648091481207406,0.00024582434658740413],"position_m":[0.1739480914812074,0.2303458243465874,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0026309932544211745,-0.0023188422911022454],"position_m":[0.23216900674557883,-0.3659188422911022,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0022063341061138255,-0.0008755698862982185],"position_m":[0.2013936658938862,-0.046675569886298215,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002852883730319395,-0.0043727826331493485],"position_m":[0.3366528837303194,0.11332721736685065,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1b4d08e9343b574f59e52fc3d426fa4543da0172b832d477d7fac173a5517298","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0071.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_260/tex_ceiling_textures_3669/tex_floor_textures_3143/tex_table_textures_1789/tex_wall_textures_9684","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3716817957326453878,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3716817957326453878,"visual_seed":3716817957326453878,"scene_id":"lab_003","finished_at":"2026-09-04T21:33:46"}
+{"episode_id":"ep_000049","started_at":"2026-09-04T21:33:50","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_0","position":[-0.5260667543461462,-0.40458061544539925,0.71338606911949],"aabb_xy":[[-0.5860667552069588,-0.45600704545188564],[-0.4660667534853333,-0.35315418543891286]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_1","position":[-0.3355205805752741,-0.5871623239836175,0.71338606911949],"aabb_xy":[[-0.37302057915089487,-0.5998986196471753],[-0.29802058199965326,-0.5744260283200594]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[-0.6088262460769283,0.07628940661096939,0.71338606911949],"aabb_xy":[[-0.6728262424725013,0.012326118192235835],[-0.5448262496813552,0.14025269502970295]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[-0.5803419252149823,-1.8567003565690063,0.71338606911949],"aabb_xy":[[-0.6443376226100788,-1.9207003548697148],[-0.5163462278198856,-1.7927003582682974]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[-0.1726946209716489,-1.2533660123759958,0.71338606911949],"aabb_xy":[[-0.17753821573287887,-1.2582176648549797],[-0.16785102621041892,-1.2485143598970114]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_5","position":[-0.22103697138681844,1.3374438013499872,0.71338606911949],"aabb_xy":[[-0.2290803313127736,1.2524438002546208],[-0.21299361146086326,1.4224438024453536]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_6","position":[0.4118746206431545,1.6264728683655503,0.71338606911949],"aabb_xy":[[0.3905966124996822,1.561472866039477],[0.4331526287866267,1.691472870691623]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[-0.3711935225781343,-0.00315931264224778,0.71338606911949],"aabb_xy":[[-0.4211935221544691,-0.05313989159435373],[-0.32119352300179965,0.04682126630985817]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_8","position":[-0.17754465630041472,-1.0474699500812374,0.71338606911949],"aabb_xy":[[-0.18575920141609867,-1.0561465403788786],[-0.1693301111847307,-1.0387933597835959]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_9","position":[0.06581015746096708,-2.277812086742026,0.71338606911949],"aabb_xy":[[0.032369982264947465,-2.3112557125729554],[0.09925033265698667,-2.2443684609110948]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_10","position":[-0.39784973747803903,-1.1316274779394788,0.71338606911949],"aabb_xy":[[-0.4778497360653584,-1.2109430798776397],[-0.31784973889071955,-1.052311876001318]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_11","position":[0.28687792498255205,-2.007519784597897,0.71338606911949],"aabb_xy":[[0.2068779245123361,-2.0158304922122454],[0.366877925452768,-1.9992090769835489]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[0.2717541566267846,1.7229982969506499,0.71338606911949],"aabb_xy":[[0.24925502090055762,1.7004982961723871],[0.29425329235301156,1.745498297728913]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_13","position":[0.06477405548310566,1.6141563734938695,0.71338606911949],"aabb_xy":[[0.04888956221778051,1.5998034331950453],[0.08065854874843081,1.6285093137926934]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[-0.5075326367796432,-2.1563712248203517,0.71338606911949],"aabb_xy":[[-0.557532638441138,-2.206369667076054],[-0.4575326351181485,-2.1063727825646485]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[-0.4203853567633733,1.2241145798433521,0.71338606911949],"aabb_xy":[[-0.42502047191560655,1.2202472447662032],[-0.4157502416111398,1.2279819149205007]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.454590949599025,0.9043903118321515,0.71338606911949],"aabb_xy":[[-0.5185909487687949,0.857623624713189],[-0.390590950429255,0.9511569989511139]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.060706396958064346,1.3697255731165798,0.71338606911949],"aabb_xy":[[-0.09720221758534309,1.333241630689822],[-0.024210576330785605,1.4062095155433372]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[0.2086415908356677,1.5312412542635045,0.71338606911949],"aabb_xy":[[0.14464159154149947,1.4672551138946504],[0.2726415901298359,1.5952273946323587]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[0.5315306021512312,-2.013317772022581,0.71338606911949],"aabb_xy":[[0.5146198697148893,-2.0267899776151954],[0.5484413345875728,-1.9998455664299664]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_20","position":[0.6089336383075563,-1.4513857509431902,0.71338606911949],"aabb_xy":[[0.5853485148436615,-1.516385753188622],[0.6325187617714512,-1.3863857486977584]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[0.4188531525323167,0.9948356775908764,0.71338606911949],"aabb_xy":[[0.3963531530086092,0.9723397301402555],[0.441353152056024,1.017331625041497]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[0.584222159510065,0.9307632764126521,0.71338606911949],"aabb_xy":[[0.5202221562203568,0.8874283574087345],[0.6482221627997731,0.9740981954165697]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[0.1636969625120942,-1.2684734394570252,0.71338606911949],"aabb_xy":[[0.10210620328810138,-1.332473437566072],[0.22528772173608702,-1.2044734413479783]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6685039403696607,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8530.png","name":"8530"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8530.png","name":"8530"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3569.png","name":"3569"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6770.png","name":"6770"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8829.png","name":"8829"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3831.png","name":"3831"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":681.1380694909293,"rotation_z_degrees":134.28778875138713,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0021450076129042282,-0.007746872362186883,0.0054629069544317906]},{"name":"camera_2","offset_m":[0.008137438723682635,5.0731547841943725e-05,-0.005463220606053882]},{"name":"camera_3","offset_m":[0.004319939897264206,-0.014798654672888198,-0.017529887768990622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008921902084578041,-0.0005356519507144317,0.0002645226009223168],"end_effector_yaw_offset_degrees":-0.8424755135752735},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015149829220574792,-0.0009084081371492849,-0.0010432731286891808],"end_effector_yaw_offset_degrees":-0.17425562853568266},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014104440691118311,-0.0016700702406962482,0.00011710778169820701],"end_effector_yaw_offset_degrees":0.8091795048441481},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015523713346637358,0.0018563726846968411,-0.0014989834296602331],"end_effector_yaw_offset_degrees":-0.6981316813491876}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-8.740686994043387e-05,-0.0007133790229276737],"position_m":[0.16921259313005957,0.22938662097707233,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0047597125213720655,0.0025654976162088165],"position_m":[0.23955971252137206,-0.36103450238379114,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014474446529730558,-0.0012348382961654527],"position_m":[0.20504744465297306,-0.047034838296165456,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037359596755596604,-0.003023253107216776],"position_m":[0.3300640403244403,0.11467674689278322,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"93cc8ddb8af6ac68e7b9236d2849c587569a9359e950149053de57802d85018d","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8530/tex_ceiling_textures_3831/tex_floor_textures_8829/tex_table_textures_3569/tex_wall_textures_6770","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8257521267247787094,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8257521267247787094,"visual_seed":8257521267247787094,"scene_id":"lab_003","finished_at":"2026-09-04T21:37:58"}
+{"episode_id":"ep_000050","started_at":"2026-09-04T21:38:01","dimensions":{"distractor":{"count":22,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.506899302107563,-0.0021041088613822367,0.71338606911949],"aabb_xy":[[0.42689930345067706,-0.016608967785645024],[0.5868993007644491,0.01240075006288055]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_1","position":[0.4138450096930384,-1.138917906654822,0.71338606911949],"aabb_xy":[[0.3638518975838465,-1.188917907329018],[0.46383812180223033,-1.0889179059806267]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[0.08006390940422603,1.2673736534475766,0.71338606911949],"aabb_xy":[[-0.009936090318948152,1.2443003009123965],[0.1700639091274002,1.2904470059827562]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_3","position":[-0.10038746843605428,-2.2324764424956736,0.71338606911949],"aabb_xy":[[-0.11383399507009759,-2.245946294148765],[-0.08694094180201092,-2.2190065908425822]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[-0.08560244142099505,0.7364223896715969,0.71338606911949],"aabb_xy":[[-0.09644291964750995,0.7192361083809481],[-0.07476196319448014,0.7536086709622457]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[-0.5922488425809732,-0.19581459327278727,0.71338606911949],"aabb_xy":[[-0.6722488411682925,-0.2751301952109481],[-0.5122488439936537,-0.11649899133462636]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[-0.19660062473462253,-0.045004870041374545,0.71338606911949],"aabb_xy":[[-0.2191006247447708,-0.059101089680977825],[-0.1741006247244742,-0.030908650401771265]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_7","position":[0.11653426160696101,-1.5146501974041575,0.71338606911949],"aabb_xy":[[0.08654259887309067,-1.544650196740958],[0.14652592434083134,-1.484650198067357]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[-0.07780409830312929,-1.28086222450153,0.71338606911949],"aabb_xy":[[-0.14280409618477707,-1.3319858882080708],[-0.012804100421481477,-1.229738560794989]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_9","position":[0.2627642698534485,-2.2521650583245485,0.71338606911949],"aabb_xy":[[0.2252642683378167,-2.2633918313406935],[0.3002642713690801,-2.2409382853084034]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.5346325960040796,-0.461424973531257,0.71338606911949],"aabb_xy":[[-0.6046325976063591,-0.47485776673291463],[-0.46463259440180016,-0.4479921803295995]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.33758402729171016,-0.12420166483378381,0.71338606911949],"aabb_xy":[[-0.35764243890495045,-0.14426675174294135],[-0.3175256156784699,-0.10413657792462627]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[0.6315701941963092,-1.8521550142874887,0.71338606911949],"aabb_xy":[[0.5515701962155241,-1.8597565552493411],[0.7115701921770942,-1.8445534733256372]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[0.666956728063669,0.14272021744667773,0.71338606911949],"aabb_xy":[[0.6494567278043325,0.12862867525790514],[0.6844567283230057,0.15681175963545038]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[0.6672460345739879,1.4713446606514275,0.71338606911949],"aabb_xy":[[0.6495704039853896,1.4536644443720248],[0.6849216651625862,1.4890248769308303]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[0.495648248213294,-2.056932661377501,0.71338606911949],"aabb_xy":[[0.471812030572689,-2.1469326621859874],[0.5194844658538991,-1.9669326605690145]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[0.6181540282740337,-0.9996126035365249,0.71338606911949],"aabb_xy":[[0.56805656429296,-1.0636126040463367],[0.6682514922551073,-0.9356126030267131]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[-0.6100642629841558,-2.1077664197005896,0.71338606911949],"aabb_xy":[[-0.6900642603877492,-2.187758990898772],[-0.5300642655805623,-2.0277738485024064]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[-0.526519274637652,0.07858697734637188,0.71338606911949],"aabb_xy":[[-0.5965192780292139,0.04327120364294101],[-0.45651927124609,0.11390275104980273]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.342591849734287,-0.7933135805809304,0.71338606911949],"aabb_xy":[[-0.36009184886865414,-0.8031932076185181],[-0.3250918505999198,-0.7834339535433424]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[-0.3323574821462258,-0.5599454063758302,0.71338606911949],"aabb_xy":[[-0.34276904082670945,-0.5652911397117286],[-0.321945923465742,-0.5545996730399316]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_21","position":[0.5722825460647254,-2.497344622134727,0.71338606911949],"aabb_xy":[[0.5652422361311885,-2.5773446215343983],[0.5793228559982625,-2.4173446227350555]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.666877780344862,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4837.png","name":"4837"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4837.png","name":"4837"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7686.png","name":"7686"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9326.png","name":"9326"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3425.png","name":"3425"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2612.png","name":"2612"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":711.9755815008126,"rotation_z_degrees":219.67823069131867,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008165541029787716,0.018093944649612673,-0.0184369727731253]},{"name":"camera_2","offset_m":[-0.011560089831960645,0.017248952083221653,-0.017145886586429702]},{"name":"camera_3","offset_m":[0.0017391276848715276,-0.013252581747421548,0.0009411108422370598]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001600140147837204,-0.0012498613809175487,0.001140103078347149],"end_effector_yaw_offset_degrees":-0.1680320607097019},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013924736463981112,-0.0012580389698246353,-0.0015794667962084944],"end_effector_yaw_offset_degrees":0.28737730837546893},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013722327298585934,0.0002513195954463852,-0.001209164741137898],"end_effector_yaw_offset_degrees":-0.9740498638979169},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002936378563996268,-0.0012491067350191248,0.0012833105341366314],"end_effector_yaw_offset_degrees":-0.9048038585460552}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0045240587384223,0.0005376271653577428],"position_m":[0.1647759412615777,0.23063762716535774,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012132724629493143,-0.0036324681161698713],"position_m":[0.2335867275370507,-0.36723246811616983,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000787008344480057,-0.004345131807836704],"position_m":[0.20281299165551994,-0.0501451318078367,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005771822505573421,0.0015231672177077361],"position_m":[0.33437718225055735,0.11922316721770773,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"95cb561bdb22a628ddb231c2a3fa96109e81e76219fb27eb78488f5002efe10e","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0073.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4837/tex_ceiling_textures_2612/tex_floor_textures_3425/tex_table_textures_7686/tex_wall_textures_9326","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5839930061671068667,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5839930061671068667,"visual_seed":5839930061671068667,"scene_id":"lab_003","finished_at":"2026-09-04T21:41:42"}
+{"episode_id":"ep_000051","started_at":"2026-09-04T21:44:23","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_0","position":[-0.3051099315785853,-0.324408927856211,0.71338606911949],"aabb_xy":[[-0.31526294713273456,-0.3604784694289513],[-0.2949569160244358,-0.2883393862834706]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[-0.33935226929083734,-2.201442793824224,0.71338606911949],"aabb_xy":[[-0.3845235871390064,-2.265442790968763],[-0.2941809514426684,-2.1374427966796863]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[-0.4859890233669403,-1.009378158675513,0.71338606911949],"aabb_xy":[[-0.5459890250098621,-1.0613783079674575],[-0.4259890217240184,-0.9573780093835691]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_3","position":[0.5322546119029576,1.6501122117057414,0.71338606911949],"aabb_xy":[[0.4672546109024571,1.5993258465510665],[0.5972546129034582,1.7008985768604163]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[-0.5568540727689046,0.05270333367654301,0.71338606911949],"aabb_xy":[[-0.5924832286688644,0.017070666919690065],[-0.5212249168689449,0.08833600043339596]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[-0.09029189615320943,1.4370547992823144,0.71338606911949],"aabb_xy":[[-0.10165363080649556,1.425686332876026],[-0.07893016149992324,1.4484232656886022]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[-0.07147256532754442,0.5739972578815928,0.71338606911949],"aabb_xy":[[-0.13147256583539732,0.5171505241956714],[-0.011472564819691498,0.630843991567514]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_7","position":[0.6397961154642964,-0.7164534592838485,0.71338606911949],"aabb_xy":[[0.5697961128277099,-0.7365583242797139],[0.7097961181008826,-0.6963485942879829]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_8","position":[-0.2806873837055638,-1.7707798689086716,0.71338606911949],"aabb_xy":[[-0.33567963434107473,-1.8257798706519845],[-0.22569513307005284,-1.715779867165359]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[-0.1332322156487562,-2.3881791135355313,0.71338606911949],"aabb_xy":[[-0.21323221890659913,-2.4681756213275152],[-0.05323221239091322,-2.3081826057435473]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_10","position":[-0.4011556587783803,-2.4342945987346027,0.71338606911949],"aabb_xy":[[-0.40725028666649865,-2.4428639932862715],[-0.395061030890262,-2.425725204182934]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[0.2100806942034572,0.8878806879985794,0.71338606911949],"aabb_xy":[[0.18819094661451638,0.7978806907093303],[0.23197044179239798,0.9778806852878286]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[-0.005853957686057343,-2.1846514127311893,0.71338606911949],"aabb_xy":[[-0.01289540863680494,-2.191678164468984],[0.0011874932646902528,-2.177624660993395]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[0.2511930608915255,-0.8771978043001425,0.71338606911949],"aabb_xy":[[0.22004614204794237,-0.9471978029869497],[0.2823399797351086,-0.8071978056133353]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[0.21777511017422913,-1.6594383953543663,0.71338606911949],"aabb_xy":[[0.21007191950015208,-1.6671477660531042],[0.22547830084830617,-1.651729024655628]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_15","position":[0.283652425106075,-2.0833476813997525,0.71338606911949],"aabb_xy":[[0.27208344435913845,-2.108347681516684],[0.2952214058530116,-2.0583476812828208]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.49292201894130616,-0.04817714749577684,0.71338606911949],"aabb_xy":[[0.4329220190947393,-0.10499576968881552],[0.552922018787873,0.008641474697261842]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[-0.2699901736203436,1.5902188553827972,0.71338606911949],"aabb_xy":[[-0.29216270059699445,1.5680431882266739],[-0.24781764664369277,1.61239452253892]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[0.5029489467153638,0.14023207309951902,0.71338606911949],"aabb_xy":[[0.48044894719165626,0.11773612564889822],[0.525448946239071,0.16272802055013977]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[-0.4461879340054402,-1.9509284606015949,0.71338606911949],"aabb_xy":[[-0.4511439541903215,-1.9734284608037167],[-0.44123191382055915,-1.9284284603994735]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_20","position":[0.6494710601630016,-2.3448486878011856,0.71338606911949],"aabb_xy":[[0.5794710567714395,-2.3801644615046165],[0.7194710635545635,-2.3095329140977547]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_21","position":[-0.46992035579794555,-0.5493616864987043,0.71338606911949],"aabb_xy":[[-0.47872241110691827,-0.5571730126536333],[-0.46111830048897284,-0.5415503603437751]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[-0.29765809380561864,1.173163256263904,0.71338606911949],"aabb_xy":[[-0.32265809297125175,1.1662110105585475],[-0.2726580946399855,1.1801155019692606]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_23","position":[0.03683745473994193,-1.7654798486543548,0.71338606911949],"aabb_xy":[[-0.013155657369249955,-1.8154798493285507],[0.08683056684913383,-1.7154798479801594]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_24","position":[0.654295622008249,-0.20468758136994847,0.71338606911949],"aabb_xy":[[0.6093030352897986,-0.24968758064439722],[0.6992882087266994,-0.1596875820954997]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_25","position":[0.20755789109582112,0.6115162273932504,0.71338606911949],"aabb_xy":[[0.2005175811622842,0.5315162279935791],[0.21459820102935817,0.6915162267929219]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[-0.2081058922994155,-1.417179655852128,0.71338606911949],"aabb_xy":[[-0.21894637052593038,-1.4343659371427768],[-0.19726541407290057,-1.399993374561479]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_27","position":[-0.6594511074762333,1.1191463489070421,0.71338606911949],"aabb_xy":[[-0.6640862226284665,1.1152790138298931],[-0.6548159923239998,1.1230136839841907]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_28","position":[0.05952371100972165,-0.8625432952537155,0.71338606911949],"aabb_xy":[[0.029039460882691485,-0.9125432950352115],[0.0900079611367518,-0.8125432954722196]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_29","position":[-0.6198382661842429,-0.6851844777333129,0.71338606911949],"aabb_xy":[[-0.6548382661607387,-0.6946490937809296],[-0.584838266207747,-0.6757198616856964]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_30","position":[0.6929140489332961,-1.799680259910728,0.71338606911949],"aabb_xy":[[0.6679140493815576,-1.8098227437758627],[0.7179140484850346,-1.7895377760455933]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6615442058741691,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3761.png","name":"3761"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3761.png","name":"3761"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8873.png","name":"8873"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6024.png","name":"6024"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1551.png","name":"1551"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3030.png","name":"3030"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":525.5459102451755,"rotation_z_degrees":298.75375137760255,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006399075354143559,-0.017613618391895035,0.0199660072939631]},{"name":"camera_2","offset_m":[-0.010616363563601926,0.007036051769566974,-0.012896399524421103]},{"name":"camera_3","offset_m":[-0.012433075522086185,0.01599772426661752,-0.019437061745220797]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000524382441765944,0.0006032277933681711,0.00020642523294350052],"end_effector_yaw_offset_degrees":-0.67343791026729},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017055007891789238,0.0018141156173777395,0.001446595148289613],"end_effector_yaw_offset_degrees":-0.1720593354947899},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006473723027036549,-0.0007850418142364517,0.0013295324044309614],"end_effector_yaw_offset_degrees":0.20355548581233718},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006616483096997521,-0.00035855958603747554,-0.0007977294710409862],"end_effector_yaw_offset_degrees":0.6479348912118377}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0012904523092142819,-0.00423699162288552],"position_m":[0.1705904523092143,0.22586300837711448,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033233576473019532,0.0028795261918427425],"position_m":[0.23147664235269805,-0.36072047380815725,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004161017072409209,-0.004975635519451415],"position_m":[0.1994389829275908,-0.05077563551945141,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003921786265157336,0.0026223305243419925],"position_m":[0.3377217862651573,0.12032233052434199,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b7f12f246b427f3fbd629d3b17973bb4fb4d99677d394096a535c4ef1e43a8b1","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3761/tex_ceiling_textures_3030/tex_floor_textures_1551/tex_table_textures_8873/tex_wall_textures_6024","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6651809571014870023,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6651809571014870023,"visual_seed":6651809571014870023,"scene_id":"lab_003","finished_at":"2026-09-04T21:48:14"}
+{"episode_id":"ep_000052","started_at":"2026-09-04T21:48:18","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[-0.015033696836099009,0.6870665842202945,0.71338606911949],"aabb_xy":[[-0.02314735150947611,0.6789607677662655],[-0.006920042162721905,0.6951724006743236]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.2138163821179916,-0.7081697645853602,0.71338606911949],"aabb_xy":[[-0.2637951906283075,-0.758169764591079],[-0.1638375736076757,-0.6581697645796414]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_2","position":[0.19004475605558413,-2.1754451330381674,0.71338606911949],"aabb_xy":[[0.15504475686276584,-2.1864121790358295],[0.22504475524840237,-2.1644780870405045]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[0.23255243499427058,0.8871226400948924,0.71338606911949],"aabb_xy":[[0.20963672210922074,0.864218342958469],[0.25546814787932054,0.910026937231316]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[0.532271999582874,0.6654758845438815,0.71338606911949],"aabb_xy":[[0.4682720031873008,0.601512596125148],[0.5962719959784469,0.7294391729626151]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[-0.20469310567716287,0.10168264594641441,0.71338606911949],"aabb_xy":[[-0.21985597865409998,0.08651718865129565],[-0.18953023270022581,0.11684810324153318]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[-0.07333753666640985,0.3416209653320954,0.71338606911949],"aabb_xy":[[-0.08205150571634431,0.31912096467290707],[-0.06462356761647534,0.3641209659912835]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[0.5440063768404575,1.2726713989446843,0.71338606911949],"aabb_xy":[[0.4940063772641228,1.2226908199925783],[0.5940063764167922,1.3226519778967902]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[-0.18268273507878485,0.6222371959558539,0.71338606911949],"aabb_xy":[[-0.22767532179723526,0.5772371966814052],[-0.13769014836033444,0.6672371952303027]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.3615549481350026,-1.6957805334933753,0.71338606911949],"aabb_xy":[[-0.39858905756306234,-1.7301577408270845],[-0.32452083870694287,-1.6614033261596657]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_10","position":[0.4665928070986187,-0.17998353319285076,0.71338606911949],"aabb_xy":[[0.4574329281547422,-0.18651475123638778],[0.4757526860424954,-0.17345231514931375]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[0.37724704963595146,-2.422727796315579,0.71338606911949],"aabb_xy":[[0.36464435049887506,-2.4353231925404444],[0.38984974877302797,-2.4101324000907134]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[-0.2359130407869534,-1.0079480997577597,0.71338606911949],"aabb_xy":[[-0.285907873714895,-1.0579480986530032],[-0.18591820785901178,-0.9579481008625161]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_13","position":[0.5438768626674,0.24004657042059385,0.71338606911949],"aabb_xy":[[0.509560585492782,0.1900465704474161],[0.5781931398420179,0.2900465703937716]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[0.6574961975920679,-0.22994114629979645,0.71338606911949],"aabb_xy":[[0.6414342701335501,-0.3149411481123882],[0.6735581250505854,-0.1449411444872046]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[-0.5259545162207417,1.0997942107052832,0.71338606911949],"aabb_xy":[[-0.5899545178987391,1.051276819225969],[-0.4619545145427444,1.1483116021845974]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[0.10217393564285793,0.99684270884149,0.71338606911949],"aabb_xy":[[0.09209222856428444,0.9168427109493753],[0.11225564272143139,1.0768427067336046]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[-0.16624210536557116,-2.2710367082893868,0.71338606911949],"aabb_xy":[[-0.2562421050887453,-2.2941100608245666],[-0.07624210564239696,-2.247963355754207]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[0.29551255709135604,-0.8107671284676841,0.71338606911949],"aabb_xy":[[0.2315125538016479,-0.8541020474716017],[0.3595125603810641,-0.7674322094637664]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[0.22683497448905354,0.6620110695473986,0.71338606911949],"aabb_xy":[[0.1893349745452871,0.653717979512562],[0.26433497443281995,0.6703041595822352]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6663578901904718,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1608.png","name":"1608"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1608.png","name":"1608"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6634.png","name":"6634"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9015.png","name":"9015"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2352.png","name":"2352"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6955.png","name":"6955"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":848.0453768770959,"rotation_z_degrees":178.59104870083846,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01416924923438961,-0.0011130020646212997,-0.01800755207115605]},{"name":"camera_2","offset_m":[0.004867146720677774,-0.0024562827400302634,-0.013567011328993187]},{"name":"camera_3","offset_m":[-0.012945101565245372,-0.019683413180626268,-0.00448424332875319]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008160649600178847,-0.0006639822463103187,-0.000394792639692731],"end_effector_yaw_offset_degrees":-0.20593661620204906},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[3.5033945190911936e-06,0.0005253799000635041,-0.0015597342571087927],"end_effector_yaw_offset_degrees":0.41154263613835695},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010544966453589926,-0.0012803709688959937,0.0007898492356356694],"end_effector_yaw_offset_degrees":0.12332313146921137},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00021498139438918748,0.0019011783182433409,5.49004521779254e-05],"end_effector_yaw_offset_degrees":-0.314450142177251}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004672589224212741,-0.00048813416024612397],"position_m":[0.16462741077578727,0.22961186583975388,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00156001031858075,-0.0032139309445575357],"position_m":[0.23323998968141926,-0.3668139309445575,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030248067247967457,-0.004367007392378618],"position_m":[0.20057519327520326,-0.050167007392378615,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004568233843254588,-0.001787402876803935],"position_m":[0.3383682338432546,0.11591259712319607,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1501048b7a268e1738f9bc043e77736a00eccf5c64a16cb172e35b5738951b68","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0076.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1608/tex_ceiling_textures_6955/tex_floor_textures_2352/tex_table_textures_6634/tex_wall_textures_9015","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4118626257193494750,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4118626257193494750,"visual_seed":4118626257193494750,"scene_id":"lab_003","finished_at":"2026-09-04T21:52:04"}
+{"episode_id":"ep_000053","started_at":"2026-09-04T21:52:08","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.3281172590259074,-1.2921941917993267,0.71338606911949],"aabb_xy":[[0.31061725989154015,-1.3020738188369143],[0.3456172581602745,-1.2823145647617387]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[-0.6052254560484701,1.1444104933001178,0.71338606911949],"aabb_xy":[[-0.6128497241386485,1.136777269763574],[-0.597601187958292,1.1520437168366615]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[-0.3731567357889632,-1.225088675836688,0.71338606911949],"aabb_xy":[[-0.37873840742309195,-1.2375886756544634],[-0.36757506415483443,-1.2125886760189124]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[-0.47262799735922845,0.9142172264667132,0.71338606911949],"aabb_xy":[[-0.5204341649729971,0.8492172237596542],[-0.42482182974545973,0.9792172291737722]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[0.5661125594770169,-2.0533217433531985,0.71338606911949],"aabb_xy":[[0.531650212078875,-2.0878156257510208],[0.6005749068751586,-2.0188278609553754]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[-0.03434476159725297,-1.45805109783337,0.71338606911949],"aabb_xy":[[-0.11806698709733543,-1.5480511013680662],[0.049377463902829495,-1.3680510942986743]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_6","position":[0.17111629141850904,1.6432828940480548,0.71338606911949],"aabb_xy":[[0.10711628907570749,1.5983420428039221],[0.2351162937613106,1.688223745292187]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_7","position":[0.5567833204796082,1.5358909222231962,0.71338606911949],"aabb_xy":[[0.5208698160546186,1.4999774140064417],[0.5926968249045979,1.5718044304399508]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.1526470444657605,-0.11957785176205826,0.71338606911949],"aabb_xy":[[-0.24264704418893468,-0.14265120429723807],[-0.06264704474258632,-0.09650449922687841]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_9","position":[0.1874192214296575,-1.8411005457922656,0.71338606911949],"aabb_xy":[[0.17651344534209476,-1.9211005421910947],[0.1983249975172202,-1.7611005493934364]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_10","position":[0.002433823076087527,1.3907877123233554,0.71338606911949],"aabb_xy":[[-0.032566176053868134,1.3850424912476913],[0.03743382220604319,1.3965329333990195]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_11","position":[-0.4551416154622391,-2.2866583538287464,0.71338606911949],"aabb_xy":[[-0.5201416136181581,-2.312954598378659],[-0.39014161730632,-2.2603621092788346]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[-0.26217899091754837,1.4614512042684011,0.71338606911949],"aabb_xy":[[-0.27728129237856636,1.4463496826373388],[-0.2470766894565302,1.4765527258994626]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.2733571173777666,0.40798159334724726,0.71338606911949],"aabb_xy":[[-0.36304419368588203,0.3179815930927968],[-0.18367004106965112,0.49798159360169786]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[0.5414717478911133,-0.989052720404964,0.71338606911949],"aabb_xy":[[0.5239717476317768,-1.0031442625937368],[0.55897174815045,-0.9749611782161915]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[0.5420676919499443,-0.7740134704632133,0.71338606911949],"aabb_xy":[[0.4949383129481085,-0.8380134715076152],[0.5891970709517799,-0.7100134694188113]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[0.3259439379083713,-0.716012263609821,0.71338606911949],"aabb_xy":[[0.30143031381136537,-0.7402768569118574],[0.3504575620053771,-0.6917476703077845]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[-0.6150409120147101,0.6717537031492826,0.71338606911949],"aabb_xy":[[-0.6372134389913608,0.6495780359931594],[-0.5928683850380592,0.6939293703054058]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_18","position":[-0.5229667770910015,1.4570106977166009,0.71338606911949],"aabb_xy":[[-0.5724471983049604,1.3930106998037493],[-0.4734863558770428,1.521010695629453]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[-0.12893682983257937,-1.2474250722717715,0.71338606911949],"aabb_xy":[[-0.17024137289631536,-1.3114250718398885],[-0.08763228676884338,-1.1834250727036544]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[0.1740668795701218,-2.391222681827318,0.71338606911949],"aabb_xy":[[0.13976996855238114,-2.425519568037259],[0.2083637905878624,-2.3569257956173764]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_21","position":[0.4081336660821364,-1.4345670867567653,0.71338606911949],"aabb_xy":[[0.34813366522132355,-1.4859935167632514],[0.46813366694294917,-1.3831406567502786]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_22","position":[0.44407101749592615,0.5011877213540061,0.71338606911949],"aabb_xy":[[0.4116093166139986,0.4710548892391033],[0.4765327183778535,0.5313205534689085]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_23","position":[0.14069303171857528,-0.9687941978058661,0.71338606911949],"aabb_xy":[[0.12248720805732763,-0.9798195983878577],[0.15889885537982298,-0.9577687972238744]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_24","position":[-0.20890444086453014,-1.8945010722906244,0.71338606911949],"aabb_xy":[[-0.25900190484560376,-1.9585010728004362],[-0.15880697688345652,-1.8305010717808126]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_25","position":[0.4484557757441461,-2.145396102741768,0.71338606911949],"aabb_xy":[[0.420610738963539,-2.1761806014800795],[0.47630081252475326,-2.114611604003456]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_26","position":[-0.3534548682719464,1.026028840643281,0.71338606911949],"aabb_xy":[[-0.3784548678236848,1.015886356778146],[-0.32845486872020785,1.0361713245084154]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_27","position":[0.6179228332130506,-0.5035443385443163,0.71338606911949],"aabb_xy":[[0.5479228305764642,-0.5236492035401817],[0.6879228358496369,-0.48343947354845074]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_28","position":[0.2767706087719821,1.3795914271329761,0.71338606911949],"aabb_xy":[[0.22677061012606092,1.3296718834735137],[0.3267706074179033,1.4295109707924385]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_29","position":[0.5721345733578411,-1.1773763378810103,0.71338606911949],"aabb_xy":[[0.5293678664784209,-1.2413763413028127],[0.6149012802372613,-1.1133763344592078]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_30","position":[-0.362335372034869,0.0611717544979018,0.71338606911949],"aabb_xy":[[-0.3886241963553096,0.03490032084325056],[-0.33604654771442827,0.08744318815255302]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_31","position":[0.5850281687964731,1.366908887232325,0.71338606911949],"aabb_xy":[[0.531012572514573,1.3029088843400678],[0.639043765078373,1.4309088901245821]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_32","position":[-0.37089224111569385,1.586711645782692,0.71338606911949],"aabb_xy":[[-0.39339224135920925,1.5745070111229202],[-0.34839224087217846,1.5989162804424641]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_33","position":[-0.3436978425039855,-1.409177027123587,0.71338606911949],"aabb_xy":[[-0.37801411967860343,-1.4591770270967648],[-0.30938156532936756,-1.3591770271504093]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_34","position":[-0.05727217436669674,-0.8901803091279543,0.71338606911949],"aabb_xy":[[-0.1072714495351329,-0.9401803104039016],[-0.007272899198260581,-0.8401803078520073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6673222598741249,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5469.png","name":"5469"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5469.png","name":"5469"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5161.png","name":"5161"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7196.png","name":"7196"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2391.png","name":"2391"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7907.png","name":"7907"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":641.6479751537956,"rotation_z_degrees":52.43761575546677,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011306423231793896,0.009760681690174706,-0.006206337722941515]},{"name":"camera_2","offset_m":[-0.006424085275459098,0.01706350517200945,0.005021176685155969]},{"name":"camera_3","offset_m":[0.0008050366279712395,-0.00384216262977655,-0.01612817296191036]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00033868371517935345,0.0006040578774943743,-0.00011100829407660433],"end_effector_yaw_offset_degrees":-0.2993837678835949},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007982939405218122,0.0016683930822861122,-0.0010014288909942243],"end_effector_yaw_offset_degrees":0.2042607574313584},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006715454065793333,-0.0014511311113310052,0.0006790653244900711],"end_effector_yaw_offset_degrees":-0.8906745691765785},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[9.430156895373978e-05,0.0012230862568234084,-7.855517848834033e-05],"end_effector_yaw_offset_degrees":0.5688152136275426}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004563825149871314,-0.0018007542360190766],"position_m":[0.1647361748501287,0.22829924576398092,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-3.621342819292231e-05,-0.0026525323646635203],"position_m":[0.23476378657180708,-0.3662525323646635,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0016360441294575616,-0.0023259929171477777],"position_m":[0.20523604412945756,-0.04812599291714778,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002865047215539294,0.0048281235284473095],"position_m":[0.33093495278446067,0.1225281235284473,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f0f33d6e0edd70e3169fc087bdde7020e408b3350e28ba78358bfd59d659932d","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0077.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5469/tex_ceiling_textures_7907/tex_floor_textures_2391/tex_table_textures_5161/tex_wall_textures_7196","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2154473577350427655,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2154473577350427655,"visual_seed":2154473577350427655,"scene_id":"lab_003","finished_at":"2026-09-04T21:56:05"}
+{"episode_id":"ep_000054","started_at":"2026-09-04T21:59:00","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_0","position":[-0.427453819330115,0.8062581603407382,0.71338606911949],"aabb_xy":[[-0.4774538189064498,0.7562775813886321],[-0.37745381975378034,0.856238739292844]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_1","position":[-0.507066353519019,-2.3105321099333933,0.71338606911949],"aabb_xy":[[-0.5196690526560954,-2.3231275061582592],[-0.4944636543819425,-2.2979367137085283]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_2","position":[0.5688991652965489,1.5693529060902622,0.71338606911949],"aabb_xy":[[0.5048991650360781,1.524344106737334],[0.6328991655570197,1.61436170544319]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[-0.3905407259139124,-2.303612956289922,0.71338606911949],"aabb_xy":[[-0.401392332162788,-2.314472247017573],[-0.3796891196650368,-2.2927536655622713]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[-0.3816782891276169,-1.7614218115942286,0.71338606911949],"aabb_xy":[[-0.46167828614186485,-1.7815563632676399],[-0.3016782921133689,-1.7412872599208173]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[-0.028324796183514578,-0.2334890342416429,0.71338606911949],"aabb_xy":[[-0.03558604375392199,-0.24627604450515242],[-0.021063548613107167,-0.22070202397813346]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[-0.36714220117760665,-0.5152926509554492,0.71338606911949],"aabb_xy":[[-0.3743859672238519,-0.5952926491590516],[-0.35989843513136127,-0.4352926527518468]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[-0.0668821340920519,-1.854976124622166,0.71338606911949],"aabb_xy":[[-0.1120534519402209,-1.9189761217667047],[-0.02171081624388294,-1.790976127477628]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[-0.026206172579559928,-1.2003251354089701,0.71338606911949],"aabb_xy":[[-0.05120617251207782,-1.2072078036298934],[-0.0012061726470420399,-1.1934424671880468]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[0.0661082495412385,-0.9067075202550385,0.71338606911949],"aabb_xy":[[0.05146484398720551,-0.9213662399118226],[0.08075165509527148,-0.8920488005982542]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[0.512829534409251,-1.3221909553229585,0.71338606911949],"aabb_xy":[[0.5074919587432464,-1.3471909562520985],[0.5181671100752555,-1.297190954393819]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_11","position":[-0.07701565108010044,-0.8060281909206615,0.71338606911949],"aabb_xy":[[-0.1033044754005411,-0.8322996245753126],[-0.050726826759659775,-0.7797567572660101]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_12","position":[-0.46669343449376344,1.7462938842483777,0.71338606911949],"aabb_xy":[[-0.5566934330882334,1.7300432979349567],[-0.3766934358992935,1.7625444705617987]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[-0.21892252720087663,1.4379311183147094,0.71338606911949],"aabb_xy":[[-0.2829225292506086,1.3978366352254015],[-0.15492252515114463,1.4780256014040174]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.3007958223894398,-0.7016930826643495,0.71338606911949],"aabb_xy":[[0.29022834273134074,-0.712238112777358],[0.31136330204753876,-0.6911480525513409]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[-0.13002767797803683,0.29269472184595724,0.71338606911949],"aabb_xy":[[-0.1713322210417728,0.2286947222778402],[-0.08872313491430081,0.3566947214140744]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[-0.4086201800156692,-1.4174658171444425,0.71338606911949],"aabb_xy":[[-0.41275603634836944,-1.4549658165887995],[-0.40448432368296905,-1.3799658177000855]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_17","position":[0.2699859456615825,1.7261351586273341,0.71338606911949],"aabb_xy":[[0.20839518643758975,1.6621351605182872],[0.3315767048855754,1.790135156736381]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.0746516760108904,1.5025195461693053,0.71338606911949],"aabb_xy":[[0.03715167758749004,1.4893553322014745],[0.11215167443429074,1.515683760137136]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.5046999348873291,-2.115816717080398,0.71338606911949],"aabb_xy":[[0.49985634012609914,-2.120668369559382],[0.5095435296485591,-2.1109650646014138]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_20","position":[0.24666807202713437,0.5050187469128637,0.71338606911949],"aabb_xy":[[0.22879896427267887,0.4911858389356528],[0.26453717978158986,0.5188516548900747]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[0.6238968203417967,1.0885794290561823,0.71338606911949],"aabb_xy":[[0.5738968193912639,1.057030282052661],[0.6738968212923295,1.1201285760597037]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_22","position":[-0.25375079028417086,-0.43819237380040477,0.71338606911949],"aabb_xy":[[-0.30372408428743125,-0.488192374354952],[-0.20377749628091035,-0.3881923732458573]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_23","position":[-0.4245214426368263,0.16154974788751364,0.71338606911949],"aabb_xy":[[-0.4495214418024594,0.15459750218215706],[-0.39952144347119317,0.16850199359287021]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_24","position":[-0.23051491271394703,-1.1341244339583039,0.71338606911949],"aabb_xy":[[-0.24244764707577512,-1.1465065867661635],[-0.218582178352119,-1.1217422811504447]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_25","position":[0.12182404023837035,0.685085962950085,0.71338606911949],"aabb_xy":[[0.08432404166274954,0.6723496672865269],[0.15932403881399115,0.6978222586136428]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_26","position":[0.518479889732413,-2.4852701386322806,0.71338606911949],"aabb_xy":[[0.5124428767317484,-2.4912968397012287],[0.5245169027330778,-2.4792434375633325]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_27","position":[-0.26458431361732776,-0.5682032605402623,0.71338606911949],"aabb_xy":[[-0.2770516717270634,-0.5806685851735858],[-0.2521169555075921,-0.5557379359069388]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_28","position":[-0.2519573464751742,1.7746973622918554,0.71338606911949],"aabb_xy":[[-0.3069310685115071,1.7196973627276222],[-0.19698362443884132,1.8296973618560886]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6656318350426932,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7725.png","name":"7725"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7725.png","name":"7725"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8070.png","name":"8070"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6329.png","name":"6329"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6771.png","name":"6771"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1268.png","name":"1268"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":721.7492475798884,"rotation_z_degrees":22.63895171220411,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015563412677045318,0.009670684629621694,0.017350053671572992]},{"name":"camera_2","offset_m":[0.012289022392687563,0.0019887198822955213,-0.002921117792975242]},{"name":"camera_3","offset_m":[0.019329145071934017,-0.010045229226617223,-0.01403008802230735]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00023152274273463428,-0.0008932434435867617,0.0006978606740647379],"end_effector_yaw_offset_degrees":0.17405729531637393},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001452789823704483,0.0011538804775639575,1.2310824329845888e-05],"end_effector_yaw_offset_degrees":-0.7964062697183543},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012104695557806108,0.0008304440273620662,-0.0019394751377112764],"end_effector_yaw_offset_degrees":-0.5165364816731217},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003231097521795784,0.0017420171512671475,0.0012049440175911411],"end_effector_yaw_offset_degrees":0.690750635718085}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030740253513164275,0.0035346752528879607],"position_m":[0.16622597464868358,0.23363467525288795,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00048049756136399075,-0.000244977266587061],"position_m":[0.23431950243863603,-0.36384497726658704,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0023265052065968273,4.2176920450545316e-05],"position_m":[0.20127349479340317,-0.04575782307954945,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019990048464996165,-0.0012852779213756637],"position_m":[0.3357990048464996,0.11641472207862434,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"298eefa3d53cf59ffd743472dad1f380fb695dfd45f87647a58235bd9e26c375","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0079.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7725/tex_ceiling_textures_1268/tex_floor_textures_6771/tex_table_textures_8070/tex_wall_textures_6329","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5370327630328868729,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5370327630328868729,"visual_seed":5370327630328868729,"scene_id":"lab_003","finished_at":"2026-09-04T22:02:55"}
+{"episode_id":"ep_000055","started_at":"2026-09-04T22:08:31","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[-0.48440665861354526,-2.094911511154394,0.71338606911949],"aabb_xy":[[-0.554406655023507,-2.115349446806075],[-0.41440666220358335,-2.0744735755027115]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_1","position":[0.5194334562085319,1.3015222655166228,0.71338606911949],"aabb_xy":[[0.4554334529188237,1.258187346512705],[0.5834334594982399,1.3448571845205401]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[0.4418997501922286,0.9240878654038567,0.71338606911949],"aabb_xy":[[0.39409358257845994,0.8590878626967976],[0.48970591780599726,0.9890878681109155]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.6187171033369385,-0.4036860663076145,0.71338606911949],"aabb_xy":[[0.5687171019760513,-0.4536639708830301],[0.6687171046978257,-0.3537081617321989]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[-0.04266578994132708,-1.9727334784622332,0.71338606911949],"aabb_xy":[[-0.12766578863340172,-2.004719341857112],[0.04233420875074756,-1.9407476150673542]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.5567309321902745,1.0032654646597918,0.71338606911949],"aabb_xy":[[-0.6467309358671925,0.941833058082687],[-0.4667309285133562,1.0646978712368957]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[-0.45173117328650536,-1.3415864888330116,0.71338606911949],"aabb_xy":[[-0.46349936008116294,-1.4265864887382333],[-0.4399629864918479,-1.2565864889277902]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[0.1357916171866581,-1.7497129919860348,0.71338606911949],"aabb_xy":[[0.07179161648318876,-1.795731374458956],[0.19979161789012748,-1.703694609513114]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[-0.32976767625353315,1.2282913233515633,0.71338606911949],"aabb_xy":[[-0.37958445571836796,1.1782913248672597],[-0.27995089678869844,1.2782913218358665]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[-0.15292194349097699,1.6723697728710802,0.71338606911949],"aabb_xy":[[-0.23292194207829642,1.5930541709329193],[-0.07292194490365757,1.7516853748092411]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_10","position":[-0.35555276949809933,-1.1216380405903008,0.71338606911949],"aabb_xy":[[-0.3930527702900948,-1.128005881548491],[-0.3180527687061039,-1.1152701996321106]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[-0.2312803858635531,0.48964875927331253,0.71338606911949],"aabb_xy":[[-0.24829048315360372,0.4735142707750386],[-0.21427028857350242,0.5057832477715865]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_12","position":[-0.1121258425206525,-1.8461926521009815,0.71338606911949],"aabb_xy":[[-0.17712584255495523,-1.8928933287813088],[-0.04712584248634977,-1.7994919754206542]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_13","position":[-0.4205047274353789,-0.11689654899011925,0.71338606911949],"aabb_xy":[[-0.4244652112051133,-0.12456441357563985],[-0.41654424366564463,-0.10922868440459865]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[-0.48405413916997114,-0.4940393418648581,0.71338606911949],"aabb_xy":[[-0.5740541356708427,-0.5399509842833163],[-0.3940541426690993,-0.44812769944639985]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[-0.085466040467444,-0.21028214479359164,0.71338606911949],"aabb_xy":[[-0.10457834782542287,-0.22941692367083366],[-0.06635373310946514,-0.19114736591634962]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.05483453971239716,1.4907564286719306,0.71338606911949],"aabb_xy":[[-0.10482765182158907,1.4407564279977352],[-0.004841427603205274,1.5407564293461267]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.17921893640712283,-0.8004665554763137,0.71338606911949],"aabb_xy":[[0.17119266577649683,-0.8092180504536665],[0.18724520703774883,-0.7917150604989612]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[-0.2709046040686976,-1.1599551573801736,0.71338606911949],"aabb_xy":[[-0.2779460550194452,-1.1669819091179685],[-0.26386315311795,-1.1529284056423792]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[0.5120646070699264,0.01112485709367661,0.71338606911949],"aabb_xy":[[0.49463389199091984,-0.006147257570174202],[0.5294953221489328,0.02839697175752742]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_20","position":[0.2232219451213856,1.204565048585505,0.71338606911949],"aabb_xy":[[0.18974277786034469,1.171085935214398],[0.25670111238242654,1.238044161956612]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.18404029993822602,-0.5816518505455122,0.71338606911949],"aabb_xy":[[-0.24804030134621669,-0.6334408020694369],[-0.12004029853023536,-0.5298628990215875]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[0.4151430616570351,-1.4392939752227822,0.71338606911949],"aabb_xy":[[0.33142083615695256,-1.5292939787574782],[0.4988652871571175,-1.3492939716880863]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[0.620223756781429,-1.788446302895606,0.71338606911949],"aabb_xy":[[0.5827237583580287,-1.8016105168634364],[0.6577237552048294,-1.775282088927775]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[-0.6561860123239411,-2.5091700858579093,0.71338606911949],"aabb_xy":[[-0.6911860114538968,-2.5149153069335735],[-0.6211860131939855,-2.5034248647822452]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[0.5045015047449022,-2.187622897243028,0.71338606911949],"aabb_xy":[[0.46950150643420663,-2.1953379121665737],[0.5395015030555975,-2.1799078823194824]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_26","position":[-0.5140963190852089,1.549656940395637,0.71338606911949],"aabb_xy":[[-0.578096320763206,1.5011395489163226],[-0.45009631740721134,1.598174331874951]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[0.5042250204936864,0.25471464103531893,0.71338606911949],"aabb_xy":[[0.4692250205976675,0.24634040552337902],[0.5392250203897052,0.2630888765472589]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_28","position":[-0.15803915905487642,-0.6975925474181535,0.71338606911949],"aabb_xy":[[-0.2280391608636219,-0.7189463161823408],[-0.08803915724613101,-0.6762387786539661]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_29","position":[-0.6560206187239478,1.6748105867600134,0.71338606911949],"aabb_xy":[[-0.6735673136400667,1.6373105851957621],[-0.6384739238078289,1.7123105883242646]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_30","position":[-0.21034342115812932,-1.517422614604306,0.71338606911949],"aabb_xy":[[-0.27534342211525653,-1.5693708265380115],[-0.1453434202010021,-1.4654744026706004]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6673013169868707,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2202.png","name":"2202"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2202.png","name":"2202"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3104.png","name":"3104"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/785.png","name":"785"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5737.png","name":"5737"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9864.png","name":"9864"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":809.4937657513774,"rotation_z_degrees":198.58507644697426,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009336877054854816,0.0075426535629389314,-0.008374058153604938]},{"name":"camera_2","offset_m":[0.007786959442369058,-0.001834213308962062,-0.005980479289871901]},{"name":"camera_3","offset_m":[-0.007484465538466375,0.005815876007594586,-0.01754207533865943]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005270234867010785,-0.0008570773665113047,-0.0010907352869925983],"end_effector_yaw_offset_degrees":-0.9301318820199502},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013230737333214614,-0.0013948291862022383,-0.0016471991131173772],"end_effector_yaw_offset_degrees":0.05282520763686849},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00022768657825075387,0.0008602530853002509,9.283657372066928e-05],"end_effector_yaw_offset_degrees":0.8928052373790962},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017330454845063967,0.001987041909823157,-0.0008956370806584451],"end_effector_yaw_offset_degrees":-0.83343859102771}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016093338823623049,-0.004613973372515734],"position_m":[0.17090933388236232,0.22548602662748427,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004655050597368377,0.004633102791545521],"position_m":[0.23945505059736838,-0.3589668972084545,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005352879171854168,-0.004496942361915382],"position_m":[0.2030647120828146,-0.050296942361915384,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002469782956164359,0.0020253884470467776],"position_m":[0.33626978295616433,0.11972538844704678,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8f2b5735e890d4a0b0d98024548db1729766a622cf195dc1cfea9350c207ac3c","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2202/tex_ceiling_textures_9864/tex_floor_textures_5737/tex_table_textures_3104/tex_wall_textures_785","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5886792548716711453,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5886792548716711453,"visual_seed":5886792548716711453,"scene_id":"lab_003","finished_at":"2026-09-04T22:12:16"}
+{"episode_id":"ep_000056","started_at":"2026-09-04T22:20:30","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[-0.6017219760255139,-0.10046376816358604,0.71338606911949],"aabb_xy":[[-0.6193002782144608,-0.11803825773769094],[-0.5841436738365671,-0.08288927858948114]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[-0.1396533703159607,1.048052283622928,0.71338606911949],"aabb_xy":[[-0.1771533718315924,1.036825510606783],[-0.10215336880032899,1.059279056639073]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_2","position":[-0.2751763348153401,-0.6247670449957186,0.71338606911949],"aabb_xy":[[-0.2990125524559452,-0.714767045804205],[-0.2513401171747351,-0.5347670441872321]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.03916355259878623,-1.7599321250848832,0.71338606911949],"aabb_xy":[[0.0016635523066114086,-1.7639736004854867],[0.07666355289096105,-1.7558906496842797]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[0.3781751318037969,-1.6328710032604423,0.71338606911949],"aabb_xy":[[0.34226162737880717,-1.6687845114771966],[0.41408863622878656,-1.5969574950436876]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.04119224108823605,-1.0854436629078532,0.71338606911949],"aabb_xy":[[0.023398734153319604,-1.1032434085036509],[0.05898574802315248,-1.0676439173120555]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_6","position":[-0.09322216791916793,0.38245749177053456,0.71338606911949],"aabb_xy":[[-0.10202422322814064,0.3746461656156055],[-0.08442011261019522,0.39026881792546364]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_7","position":[-0.4846175446867461,1.2108164516760378,0.71338606911949],"aabb_xy":[[-0.5109063690071867,1.1845450180213863],[-0.4583287203663054,1.2370878853306888]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[-0.14227224937725735,-0.8919886253944118,0.71338606911949],"aabb_xy":[[-0.22227225080738452,-0.9715057804070212],[-0.06227224794713013,-0.8124714703818022]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[0.481628432466769,1.3836223748130854,0.71338606911949],"aabb_xy":[[0.4176327350716723,1.3196223765123767],[0.5456241298618655,1.447622373113794]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[-0.17635782854157656,-2.082232696633586,0.71338606911949],"aabb_xy":[[-0.18169540420758115,-2.1072326975627256],[-0.17102025287557202,-2.057232695704446]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.12309239244673653,-1.5426616493432228,0.71338606911949],"aabb_xy":[[0.10599031448836838,-1.5597684548744923],[0.1401944704051047,-1.5255548438119528]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.6947599891944074,0.2503108781830865,0.71338606911949],"aabb_xy":[[0.6893020435573872,0.1703108748754274],[0.7002179348314274,0.3303108814907456]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_13","position":[-0.33839098291225306,0.7021447920896762,0.71338606911949],"aabb_xy":[[-0.40239098459025036,0.6536274006103618],[-0.27439098123425565,0.7506621835689903]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[-0.029178967455583127,-1.8967190876655247,0.71338606911949],"aabb_xy":[[-0.037876929746298416,-1.9088440619729996],[-0.020481005164867838,-1.8845941133580502]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.12268016176842345,-2.54239867956358,0.71338606911949],"aabb_xy":[[-0.12899226130476188,-2.5481656188167987],[-0.11636806223208503,-2.5366317403103613]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_16","position":[0.4765609502454231,1.6429081178548945,0.71338606911949],"aabb_xy":[[0.4724827923383733,1.6388271376066315],[0.4806391081524728,1.646989098103158]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_17","position":[-0.12472153202681668,1.6967405047362925,0.71338606911949],"aabb_xy":[[-0.14722066775304365,1.6742405039580295],[-0.10222239630058971,1.7192405055145554]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[-0.5660400047304266,-2.2185060606789397,0.71338606911949],"aabb_xy":[[-0.6276307639544195,-2.282506058787987],[-0.5044492455064339,-2.1545060625698933]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_19","position":[0.4916709853200425,0.07226731630442318,0.71338606911949],"aabb_xy":[[0.43667873468453156,0.017267314561110417],[0.5466632359555534,0.12726731804773597]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[0.2782051928473277,-1.7904245139628896,0.71338606911949],"aabb_xy":[[0.24070519218274897,-1.8061115719631113],[0.31570519351190635,-1.774737455962667]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_21","position":[-0.5250194283393481,-0.26064156869568045,0.71338606911949],"aabb_xy":[[-0.5625194295241407,-0.2650597913917409],[-0.48751942715455515,-0.2562233459996199]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_22","position":[0.4498453720264033,-2.0377905020533467,0.71338606911949],"aabb_xy":[[0.44375074413828497,-2.0463598966050154],[0.4559399999145216,-2.029221107501678]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[0.16808415293606538,-1.3160569988921118,0.71338606911949],"aabb_xy":[[0.16084038688982008,-1.3960569970957142],[0.17532791898231073,-1.2360570006885094]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[0.6477088751585787,-2.3847181409929847,0.71338606911949],"aabb_xy":[[0.6342623485245353,-2.3981879926460756],[0.661155401792622,-2.371248289339893]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[-0.009872904509132585,1.0834769278277476,0.71338606911949],"aabb_xy":[[-0.02071338273564749,1.066290646537099],[0.0009675737173823196,1.1006632091183963]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[-0.5999435778654528,-1.5071296310441853,0.71338606911949],"aabb_xy":[[-0.6128154813663929,-1.5871296314580214],[-0.5870716743645126,-1.4271296306303491]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_27","position":[-0.43166826997622054,1.4895356134497644,0.71338606911949],"aabb_xy":[[-0.4956682723190221,1.4445947622056319],[-0.367668267633419,1.5344764646938969]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.667823029845393,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1053.png","name":"1053"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1053.png","name":"1053"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1779.png","name":"1779"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2497.png","name":"2497"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3132.png","name":"3132"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7223.png","name":"7223"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":569.6782890446459,"rotation_z_degrees":328.0007105797185,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019406223201799234,0.018725908185874055,0.0036311587279273735]},{"name":"camera_2","offset_m":[-0.014117545823892047,-0.014179825662135107,-0.0021326678205462607]},{"name":"camera_3","offset_m":[0.01321099053552478,-0.014637104934199275,0.014048304431462866]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011090075308616862,0.00026407588229169924,-0.0001627150730727149],"end_effector_yaw_offset_degrees":0.8713640790662809},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005122864212559644,-0.0017947196843884914,-0.00021134381340279966],"end_effector_yaw_offset_degrees":-0.8339329140092944},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013207960980517637,0.0010256165537328903,0.0014296597169398723],"end_effector_yaw_offset_degrees":-0.1801720415242316},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001981615356260919,-0.0014577822677758314,-0.0004038047836360033],"end_effector_yaw_offset_degrees":-0.6161144554966527}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003572493216408552,0.0014971025902076858],"position_m":[0.16572750678359147,0.2315971025902077,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009864632281577756,-0.0020056981415436815],"position_m":[0.23578646322815777,-0.36560569814154364,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002270370144307553,0.0016435987820701738],"position_m":[0.20132962985569244,-0.044156401217929825,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0024155986718658196,-0.0033675865243954816],"position_m":[0.3313844013281342,0.11433241347560452,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a7a5f062887b328ebdcfbffbb61ba40ba684987fcc98849bd46c27b6d9f4b643","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0086.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1053/tex_ceiling_textures_7223/tex_floor_textures_3132/tex_table_textures_1779/tex_wall_textures_2497","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3797865419822946561,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3797865419822946561,"visual_seed":3797865419822946561,"scene_id":"lab_003","finished_at":"2026-09-04T22:24:18"}
+{"episode_id":"ep_000057","started_at":"2026-09-04T22:24:23","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.6275066727895096,-0.4300107823417769,0.71338606911949],"aabb_xy":[[-0.632844248455514,-0.45501078327091676],[-0.6221690971235049,-0.4050107814126372]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_1","position":[-0.4730944085030611,-1.5803661056062765,0.71338606911949],"aabb_xy":[[-0.5330944093638739,-1.6317925356127625],[-0.4130944076422483,-1.5289396755997897]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[0.5270471582723333,-1.1618708943072205,0.71338606911949],"aabb_xy":[[0.490252525147427,-1.1987767694038025],[0.5638417913972396,-1.124965019210638]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_3","position":[-0.4792157254531464,-2.5808365375241364,0.71338606911949],"aabb_xy":[[-0.48962728413363005,-2.5861822708600344],[-0.4688041667726626,-2.5754908041882376]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[0.5384245618237267,-1.9841851951397955,0.71338606911949],"aabb_xy":[[0.5034245635536068,-1.9912593228347835],[0.5734245600938466,-1.9771110674448071]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.6741846343171813,1.1708186260315046,0.71338606911949],"aabb_xy":[[0.6598502091910178,1.1587584104769657],[0.6885190594433447,1.1828788415860434]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[-0.4364077254259475,0.2992314824863933,0.71338606911949],"aabb_xy":[[-0.4739077255315405,0.29240932063341213],[-0.39890772532035457,0.3060536443393744]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[0.6724890399068495,-2.2267829700361808,0.71338606911949],"aabb_xy":[[0.6359932192795708,-2.2632669124629383],[0.7089848605341282,-2.190299027609423]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[-0.17220734037987973,0.7117654848038746,0.71338606911949],"aabb_xy":[[-0.18298031430124753,0.6767654865848356],[-0.16143436645851197,0.7467654830229136]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[-0.12981565644160087,1.5354869947310195,0.71338606911949],"aabb_xy":[[-0.19981565857303038,1.5127250291053236],[-0.0598156543101713,1.558248960356715]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[-0.35245088402223224,1.7111280401225524,0.71338606911949],"aabb_xy":[[-0.40233358089992843,1.6611280408762776],[-0.302568187144536,1.7611280393688271]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[0.15801139716886392,-1.7204256364587678,0.71338606911949],"aabb_xy":[[0.10301591934820453,-1.7754256378926743],[0.2130068749895233,-1.6654256350248604]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_12","position":[-0.4585657906715538,-0.013688503141070285,0.71338606911949],"aabb_xy":[[-0.471796736206235,-0.026915922163069705],[-0.44533484513687244,-0.00046108411907086304]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[0.09122056307487647,-1.183927520706432,0.71338606911949],"aabb_xy":[[0.08418025314133949,-1.2639275201061035],[0.09826087300841349,-1.1039275213067608]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_14","position":[-0.22728524981673887,-0.16367697847173224,0.71338606911949],"aabb_xy":[[-0.2423875512777569,-0.178778500102794],[-0.2121829483557207,-0.14857545684067036]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.2126227532814594,0.6947107703399777,0.71338606911949],"aabb_xy":[[0.18810912918445355,0.6704461770379413],[0.23713637737846527,0.7189753636420142]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[-0.11081883237783574,0.9516909577791557,0.71338606911949],"aabb_xy":[[-0.11577485256271698,0.9291909575770342],[-0.10586281219295458,0.9741909579812774]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[0.13933724670540693,0.9634644514211468,0.71338606911949],"aabb_xy":[[0.08952046724057217,0.9134644529368433],[0.18915402617024168,1.0134644499054501]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[-0.027204498351386608,-1.212813034082931,0.71338606911949],"aabb_xy":[[-0.037286205429960084,-1.2928130319750455],[-0.01712279127281313,-1.1328130361908162]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.4348307879307627,1.172227939455707,0.71338606911949],"aabb_xy":[[0.39264637376993194,1.1082279391784957],[0.4770152020915934,1.2362279397329181]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_20","position":[0.37546347847004924,-2.318603003634202,0.71338606911949],"aabb_xy":[[0.3653104629158998,-2.3546725452069417],[0.3856164940241985,-2.282533462061461]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6616305127078168,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3393.png","name":"3393"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3393.png","name":"3393"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6168.png","name":"6168"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4215.png","name":"4215"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2947.png","name":"2947"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8008.png","name":"8008"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":575.7902008264008,"rotation_z_degrees":106.79619260065627,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012406629928800605,0.014728466136543144,-0.007817607994533767]},{"name":"camera_2","offset_m":[6.181337685668906e-05,0.010477549488997102,-0.008809224544469947]},{"name":"camera_3","offset_m":[0.0015658745649944766,0.006032763501347543,-0.01937534534646501]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013592148922538568,-0.00011028851175273768,0.0006410638276071749],"end_effector_yaw_offset_degrees":0.5622502358931716},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013632410076255428,0.0014360552627640257,0.0012777429787035723],"end_effector_yaw_offset_degrees":0.3709863684631609},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016124990473571094,-0.001192800594018677,0.0015612037057940618],"end_effector_yaw_offset_degrees":-0.395930089559678},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005651060753895543,0.000936970114632642,0.0005054729112485674],"end_effector_yaw_offset_degrees":-0.9214655431650651}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030450212511243307,-0.004585883005360942],"position_m":[0.17234502125112433,0.22551411699463905,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003279678216795652,0.0027883984221306604],"position_m":[0.23152032178320436,-0.36081160157786935,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017016957703466186,0.0006715882998571485],"position_m":[0.20530169577034663,-0.045128411700142854,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038678605931279156,-0.0037277011645285153],"position_m":[0.32993213940687205,0.11397229883547148,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"754efef04ac03b4d4a55683f7a798d1e5f5f2a3146fc6c89519efc2a343b43ff","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3393/tex_ceiling_textures_8008/tex_floor_textures_2947/tex_table_textures_6168/tex_wall_textures_4215","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4375616212099868831,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4375616212099868831,"visual_seed":4375616212099868831,"scene_id":"lab_003","finished_at":"2026-09-04T22:28:26"}
+{"episode_id":"ep_000058","started_at":"2026-09-04T22:34:17","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.08559892903799193,0.47720924976696466,0.71338606911949],"aabb_xy":[[-0.13557199457050742,0.4272092499544319],[-0.03562586350547648,0.5272092495794977]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[0.7041079246924205,0.33197641856686344,0.71338606911949],"aabb_xy":[[0.6946904501225578,0.32256024142914436],[0.7135253992622833,0.3413925957045824]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.3349893200251664,1.3859958746395327,0.71338606911949],"aabb_xy":[[-0.3524892534591498,1.368495874719298],[-0.31748938659118303,1.403495874559767]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_3","position":[-0.6255124479966544,0.9741551918598161,0.71338606911949],"aabb_xy":[[-0.6480124485086949,0.9516633334944178],[-0.6030124474846137,0.9966470502252145]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.6061368350988731,1.1713032094153677,0.71338606911949],"aabb_xy":[[-0.639912394289566,1.1572647142022028],[-0.5723612759081801,1.1853417046285326]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[-0.477994530323342,-1.2828878214316088,0.71338606911949],"aabb_xy":[[-0.5004945298470493,-1.3053837688822294],[-0.4554945307996346,-1.2603918739809878]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_6","position":[-0.10850773066082275,-0.8958456340354359,0.71338606911949],"aabb_xy":[[-0.18850772762386192,-0.9729212756792093],[-0.028507733697783602,-0.8187699923916624]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[-0.061336335100353745,1.7679094038036856,0.71338606911949],"aabb_xy":[[-0.07883633437844062,1.7505713037373396],[-0.04383633582226688,1.7852475038700315]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_8","position":[0.4227591834960991,-0.6741871409895479,0.71338606911949],"aabb_xy":[[0.35275918085951274,-0.6942920059854133],[0.49275918613268543,-0.6540822759936823]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[-0.6082103607205597,1.0754933710900145,0.71338606911949],"aabb_xy":[[-0.6782103641121215,1.0401775973865834],[-0.5382103573289976,1.1108091447934452]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[-0.34065859236070345,0.5918646431379502,0.71338606911949],"aabb_xy":[[-0.39578379799029423,0.531864641696663],[-0.28553338673111267,0.6518646445792373]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[0.08659599315131639,-2.2796714350983605,0.71338606911949],"aabb_xy":[[0.03662269914805592,-2.329671435652908],[0.13656928715457683,-2.229671434543813]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.2983247873769802,1.4027972488506641,0.71338606911949],"aabb_xy":[[0.2511954083751445,1.338797247806262],[0.3454541663788158,1.4667972498950659]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.08091517866201803,1.0795651603896865,0.71338606911949],"aabb_xy":[[0.0159151786277153,1.0328644837093595],[0.14591517869632076,1.126265837070014]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_14","position":[-0.3869829298474118,0.3773775238519539,0.71338606911949],"aabb_xy":[[-0.39958562898448824,0.36478212762708845],[-0.3743802307103353,0.38997292007681944]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[-5.744228754633873e-05,-1.5942075426506352,0.71338606911949],"aabb_xy":[[-0.008859497596519049,-1.602018868805564],[0.008744613021426371,-1.586396216495706]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_16","position":[0.3227139391521445,0.9832805185886411,0.71338606911949],"aabb_xy":[[0.2841682463269435,0.9447347475324525],[0.36125963197734556,1.0218262896448298]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_17","position":[0.6328844350856662,-2.364173725474474,0.71338606911949],"aabb_xy":[[0.615782357127298,-2.3812805310057437],[0.6499865130440343,-2.347066919943204]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[0.5279645881887025,-0.3962908253948001,0.71338606911949],"aabb_xy":[[0.46796458759268633,-0.4511032979400236],[0.5879645887847187,-0.3414783528495766]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_19","position":[0.291834344263452,-2.0531140752773442,0.71338606911949],"aabb_xy":[[0.22683434638180422,-2.104237738983885],[0.3568343421450998,-2.0019904115708034]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_20","position":[-0.26823123728294085,1.5931617620921474,0.71338606911949],"aabb_xy":[[-0.27432586517105917,1.584592367540479],[-0.26213660939482253,1.6017311566438164]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[-0.5547178320456517,-1.8585022735705103,0.71338606911949],"aabb_xy":[[-0.5679487775803329,-1.8717296925925095],[-0.5414868865109703,-1.8452748545485107]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[0.08064140610666437,1.384878537522019,0.71338606911949],"aabb_xy":[[0.016641409679342467,1.3377089136999225],[0.14464140253398627,1.4320481613441154]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[0.6515531646973978,1.1946453847297591,0.71338606911949],"aabb_xy":[[0.6451393510542126,1.1882355644820906],[0.6579669783405825,1.2010552049774272]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_24","position":[-0.3217250082097579,-2.336156613356636,0.71338606911949],"aabb_xy":[[-0.4017250056133514,-2.4161491845548184],[-0.24172501080616457,-2.256164042158453]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_25","position":[-0.12911577543432495,1.5535025538579812,0.71338606911949],"aabb_xy":[[-0.13401506774088842,1.5258256345554122],[-0.12421648312776143,1.5811794731605497]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[0.22228394456796108,1.6359399432006883,0.71338606911949],"aabb_xy":[[0.1646534756806902,1.5759399442739772],[0.2799144134552319,1.6959399421273984]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_27","position":[0.5095815685678016,1.50027194733287,0.71338606911949],"aabb_xy":[[0.5018783778937246,1.492562576634132],[0.5172847592418786,1.5079813180316082]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_28","position":[0.23369405980135827,-0.9635844314282596,0.71338606911949],"aabb_xy":[[0.20254714095777515,-1.033584430115067],[0.2648409786449414,-0.8935844327414525]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_29","position":[0.4881279631845967,-2.2068611981512163,0.71338606911949],"aabb_xy":[[0.42312796502867767,-2.2331574427011285],[0.5531279613405158,-2.180564953601304]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_30","position":[-0.643504512191852,-0.4548642688173352,0.71338606911949],"aabb_xy":[[-0.6680507278146027,-0.4851131653663722],[-0.6189582965691013,-0.4246153722682981]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.663998953520115,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8103.png","name":"8103"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8103.png","name":"8103"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1473.png","name":"1473"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3256.png","name":"3256"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8220.png","name":"8220"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1213.png","name":"1213"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":552.0346152957438,"rotation_z_degrees":338.0706685174821,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00047781624988004964,-0.004925692012445278,-0.015444293783455283]},{"name":"camera_2","offset_m":[-0.008522818762285533,0.011199479590707315,-0.006375149719623101]},{"name":"camera_3","offset_m":[0.0164189894750801,0.015815338511056192,0.01645907207496657]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004422732053320018,0.0015851054553673149,0.000591674292595012],"end_effector_yaw_offset_degrees":0.5204695290126482},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012721942211418305,-0.0016643995891431893,-0.0015533619126306961],"end_effector_yaw_offset_degrees":0.48385102815621517},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009672824801812922,-0.0005403648064773114,0.0013066153600607205],"end_effector_yaw_offset_degrees":0.43586448091536933},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008310186800616782,0.0017288810705383866,-0.00019215414311583162],"end_effector_yaw_offset_degrees":0.6241813956913793}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004653791618729084,0.0024197603562733363],"position_m":[0.1739537916187291,0.23251976035627334,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019279163408585263,0.0005249513009238163],"position_m":[0.23287208365914147,-0.36307504869907614,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002499073608021638,0.00016624395280814136],"position_m":[0.20110092639197835,-0.04563375604719186,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002790950769478934,-0.002995549279264257],"position_m":[0.3365909507694789,0.11470445072073575,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4d6d927f966cea24c558b75ba6e7ba5b73dd3915a6c25a30adc71feeccaafb84","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0090.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8103/tex_ceiling_textures_1213/tex_floor_textures_8220/tex_table_textures_1473/tex_wall_textures_3256","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1579934943490047932,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1579934943490047932,"visual_seed":1579934943490047932,"scene_id":"lab_003","finished_at":"2026-09-04T22:38:04"}
+{"episode_id":"ep_000059","started_at":"2026-09-04T22:38:09","dimensions":{"distractor":{"count":22,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[0.37642043132678094,-0.6915871971839984,0.71338606911949],"aabb_xy":[[0.3390891548015383,-0.7262402519788508],[0.4137517078520235,-0.6569341423891463]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[-0.1372032900804262,-1.8888377581761608,0.71338606911949],"aabb_xy":[[-0.14655029766272143,-1.9031413803938049],[-0.12785628249813097,-1.8745341359585168]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_2","position":[0.6851539824230677,-1.166399872162301,0.71338606911949],"aabb_xy":[[0.6648696796996687,-1.1866824973050096],[0.7054382851464662,-1.146117247019592]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_3","position":[-0.18722258911919787,-2.206904190588666,0.71338606911949],"aabb_xy":[[-0.2422225887409437,-2.2618878833761387],[-0.13222258949745203,-2.151920497801193]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[-0.09171897369349691,-1.654530424756042,0.71338606911949],"aabb_xy":[[-0.1557189708056026,-1.7035627945504526],[-0.02771897658139122,-1.6054980549616313]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_5","position":[0.05994230877499229,1.0369110129408314,0.71338606911949],"aabb_xy":[[0.01477099092682332,0.972911015796293],[0.10511362662316129,1.1009110100853698]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_6","position":[0.6458281643635242,1.3385816969481628,0.71338606911949],"aabb_xy":[[0.6357464572849507,1.258581699056048],[0.6559098714420977,1.4185816948402774]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.43179661584310186,-1.9994158856612718,0.71338606911949],"aabb_xy":[[-0.4957966131454482,-2.043782312629128],[-0.3677966185407554,-1.9550494586934148]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[0.21363603570876155,0.6903325029440301,0.71338606911949],"aabb_xy":[[0.15363603511274537,0.6355200303988067],[0.27363603630477773,0.7451449754892536]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_9","position":[0.3968000490572101,-0.23983397456391753,0.71338606911949],"aabb_xy":[[0.3797899517671594,-0.25596846306219145],[0.4138101463472607,-0.22369948606564363]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[0.6773099420294726,-2.2285228749912322,0.71338606911949],"aabb_xy":[[0.671272929028808,-2.2345495760601803],[0.6833469550301374,-2.222496173922284]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.29996848946808413,-0.9081198304654201,0.71338606911949],"aabb_xy":[[-0.3374684906528768,-0.9125380531614805],[-0.2624684882832912,-0.9037016077693595]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.3048406656663547,-0.8258271425780483,0.71338606911949],"aabb_xy":[[0.29852856613001627,-0.8315940818312672],[0.31115276520269314,-0.8200602033248295]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.6515351147512163,1.7998893922514125,0.71338606911949],"aabb_xy":[[0.6471044853963762,1.79444102051673],[0.6559657441060566,1.805337763986095]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_14","position":[0.5103970818013148,-0.07918852861417403,0.71338606911949],"aabb_xy":[[0.4563814855194148,-0.14318853150643118],[0.5644126780832148,-0.015188525721916854]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[-0.5968273241200545,-0.5436326017674502,0.71338606911949],"aabb_xy":[[-0.6421059390012037,-0.6076326011156338],[-0.5515487092389052,-0.4796326024192664]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[-0.5336667712062955,-1.505483859819186,0.71338606911949],"aabb_xy":[[-0.5480011963324589,-1.5175440753737248],[-0.519332346080132,-1.4934236442646471]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_17","position":[-0.3766403458351338,1.0405006461072697,0.71338606911949],"aabb_xy":[[-0.3991367672689979,1.0180006463005222],[-0.3541439244012697,1.063000645914017]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[-0.3682891418452362,-2.229951679604196,0.71338606911949],"aabb_xy":[[-0.423282353182373,-2.28495167994299],[-0.31329593050809945,-2.1749516792654027]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.48518813337011113,-0.4624930086435586,0.71338606911949],"aabb_xy":[[0.4201881348130383,-0.4922455420574412],[0.550188131927184,-0.43274047522967596]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[-0.433941221411231,-1.4033492521062516,0.71338606911949],"aabb_xy":[[-0.4380770777439312,-1.4408492515506086],[-0.4298053650785308,-1.3658492526618946]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[0.014022388794113771,-1.2773703736752615,0.71338606911949],"aabb_xy":[[-0.04997761050005445,-1.3413565140441157],[0.07802238808828199,-1.2133842333064073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6714773834919234,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/98.png","name":"98"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/98.png","name":"98"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5075.png","name":"5075"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3170.png","name":"3170"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6639.png","name":"6639"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6115.png","name":"6115"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":797.5570541274924,"rotation_z_degrees":334.584461872175,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006703190253429546,0.0002764310987646325,-0.0023218479234067488]},{"name":"camera_2","offset_m":[-0.01906251149254802,-0.0023098777239972494,-0.009393768293001275]},{"name":"camera_3","offset_m":[-0.017992262163195424,0.009520150656042722,0.018793750101820165]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017420805837663385,-0.0004996407492859087,-0.0011695036363894799],"end_effector_yaw_offset_degrees":0.1433085278184718},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005406279701825553,-0.0012981347282729919,0.0013104677969422605],"end_effector_yaw_offset_degrees":-0.2901348098863068},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010969772646630034,-0.0012122171456970326,0.0019885133820965904],"end_effector_yaw_offset_degrees":-0.38001289410566597},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008279966775639595,-0.001023335743832155,0.0002587839586367718],"end_effector_yaw_offset_degrees":-0.8077659698966695}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019611666306995836,0.0014516651937179206],"position_m":[0.16733883336930042,0.23155166519371792,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004392476367166086,-0.003473933683737416],"position_m":[0.2391924763671661,-0.3670739336837374,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004023358870485051,-0.00482506268390519],"position_m":[0.20762335887048505,-0.05062506268390519,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007066324101975803,-0.003348127299542002],"position_m":[0.3330933675898024,0.11435187270045799,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ddd4bc12fbe9f3f3790a0b3734f469a8aa074127cd6dfd1ef39c3d18893d2456","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0091.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_98/tex_ceiling_textures_6115/tex_floor_textures_6639/tex_table_textures_5075/tex_wall_textures_3170","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1590474024209515079,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1590474024209515079,"visual_seed":1590474024209515079,"scene_id":"lab_003","finished_at":"2026-09-04T22:42:10"}
+{"episode_id":"ep_000060","started_at":"2026-09-04T22:44:56","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_0","position":[0.49738320879749875,-0.9166539026150116,0.71338606911949],"aabb_xy":[[0.4433676125155987,-0.9806539055072687],[0.5513988050793988,-0.8526538997227544]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[0.3067404855198468,-1.5563673079522968,0.71338606911949],"aabb_xy":[[0.27677292861002106,-1.5863673082501828],[0.3367080424296724,-1.5263673076544113]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_2","position":[-0.6002528563071877,1.2548875164169453,0.71338606911949],"aabb_xy":[[-0.645531471188337,1.1908875170687616],[-0.5549742414260385,1.318887515765129]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[-0.5029401825731711,-1.6721659936460243,0.71338606911949],"aabb_xy":[[-0.5669401839811616,-1.7239549451699487],[-0.43894018116518035,-1.6203770421220993]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.12600177654269684,1.2371072055968035,0.71338606911949],"aabb_xy":[[0.05600177390611047,1.2170023406009378],[0.19600177917928316,1.2572120705926688]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[-0.6266622486535625,1.6841929429203772,0.71338606911949],"aabb_xy":[[-0.6906622478233325,1.6374262558014148],[-0.5626622494837926,1.7309596300393397]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.7130047793850978,-2.474329874016178,0.71338606911949],"aabb_xy":[[0.7085741500302576,-2.4797782457508606],[0.7174354087399379,-2.4688815022814956]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_7","position":[0.38661071922137014,0.510123574337356,0.71338606911949],"aabb_xy":[[0.3641115834951431,0.4876235735590929],[0.40910985494759705,0.5326235751156189]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[-0.14301335470233423,1.4886756063478006,0.71338606911949],"aabb_xy":[[-0.148595026336463,1.476175606530025],[-0.13743168306820547,1.501175606165576]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_9","position":[0.22868222045595266,-2.076962994296219,0.71338606911949],"aabb_xy":[[0.21523569382190932,-2.0904328459493104],[0.242128747089996,-2.0634931426431278]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.5477431873080918,-1.2734360304854149,0.71338606911949],"aabb_xy":[[0.5131521044540465,-1.338436030770446],[0.5823342701621369,-1.2084360302003838]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[0.6113850385329076,0.4404516351274297,0.71338606911949],"aabb_xy":[[0.5213850399384377,0.4242010488140087],[0.7013850371273775,0.45670222144085076]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[-0.4386561763456046,-0.3015459186938405,0.71338606911949],"aabb_xy":[[-0.44496827588194304,-0.3073128579470593],[-0.4323440768092662,-0.2957789794406217]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_13","position":[-0.38699953722344543,0.345126883762227,0.71338606911949],"aabb_xy":[[-0.39962632451064173,0.3355808100606541],[-0.374372749936249,0.3546729574637999]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[0.5460039056665433,0.9511338967635363,0.71338606911949],"aabb_xy":[[0.48100390456060005,0.9261685236954079],[0.6110039067724866,0.9760992698316645]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_15","position":[0.18397729032408805,1.072942663093695,0.71338606911949],"aabb_xy":[[0.14712674238710044,1.0354426622706612],[0.22082783826107566,1.1104426639167286]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[-0.09769654188499677,0.6086419626208821,0.71338606911949],"aabb_xy":[[-0.161696541179165,0.5446558222520279],[-0.03369654259082855,0.6726281029897363]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[-0.49138656209508247,1.0236706070075776,0.71338606911949],"aabb_xy":[[-0.5238482629770098,0.9935377748926747],[-0.45892486121315496,1.0538034391224798]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_18","position":[-0.4728230027063921,-2.2685700969033005,0.71338606911949],"aabb_xy":[[-0.5528230059642351,-2.3485666046952844],[-0.39282299944854915,-2.1885735891113165]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.021063949201454046,-2.5378699455057547,0.71338606911949],"aabb_xy":[[-0.05606394747157395,-2.5449440732007425],[0.01393604906866586,-2.530795817810766]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_20","position":[0.5850548358934011,-0.3527529191266874,0.71338606911949],"aabb_xy":[[0.5680447386033505,-0.36888740762496125],[0.6020649331834518,-0.3366184306284134]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[-0.5160992179613691,-0.2845555508002917,0.71338606911949],"aabb_xy":[[-0.5252590969052457,-0.2910867688438287],[-0.5069393390174926,-0.2780243327567547]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_22","position":[0.6693073765828705,-1.5284352362919726,0.71338606911949],"aabb_xy":[[0.6194905971180358,-1.5784352347762758],[0.7191241560477053,-1.478435237807669]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[-0.028707120880901105,-1.5488451724926968,0.71338606911949],"aabb_xy":[[-0.1087071223110283,-1.628362327505306],[0.051292880549226094,-1.4693280174800871]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_24","position":[-0.05507219507860006,-0.9812804150629362,0.71338606911949],"aabb_xy":[[-0.10115728633333153,-1.045280412315491],[-0.008987103823868579,-0.917280417810381]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[-0.5892954618382181,-1.4044866660661202,0.71338606911949],"aabb_xy":[[-0.6492954624342343,-1.4592991386113439],[-0.529295461242202,-1.349674193520897]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_26","position":[-0.14282904326851698,-2.3360547226657062,0.71338606911949],"aabb_xy":[[-0.19063521088228558,-2.401054725372765],[-0.09502287565474829,-2.2710547199586473]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6601854339157986,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7535.png","name":"7535"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7535.png","name":"7535"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7626.png","name":"7626"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5060.png","name":"5060"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/14.png","name":"14"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6663.png","name":"6663"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":664.2279672799066,"rotation_z_degrees":301.1707313985712,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007949379574204284,-0.014043086196388695,0.014731744279491591]},{"name":"camera_2","offset_m":[0.010677539089665806,-0.009627055492045358,0.004167531753063617]},{"name":"camera_3","offset_m":[0.004022800717202461,0.004781597965183768,0.017385983531292618]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00103905117441776,0.00033453715048336946,-0.00039353810846392005],"end_effector_yaw_offset_degrees":-0.423658216797832},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008064996975202148,0.0008940438196191345,0.0012530347286385194],"end_effector_yaw_offset_degrees":0.4554659175418956},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009500825191578765,-0.0013143084392253103,0.0010531323748650717],"end_effector_yaw_offset_degrees":-0.3396655260385737},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007363411610462121,-0.0007522195309408409,0.0019051823050366093],"end_effector_yaw_offset_degrees":-0.06999473001470635}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033121008904848535,0.0037502699860600145],"position_m":[0.16598789910951514,0.23385026998606,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035759918879113128,0.0049867092477966545],"position_m":[0.2312240081120887,-0.35861329075220333,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026863354725144162,0.0014103230748621258],"position_m":[0.20628633547251443,-0.04438967692513787,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004858222270644897,0.004814602992328324],"position_m":[0.3386582222706449,0.12251460299232832,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ca1f068d82db90d8bee6bf2ab0716797e8d1fa91fa78635cb3a6710996428817","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0093.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7535/tex_ceiling_textures_6663/tex_floor_textures_14/tex_table_textures_7626/tex_wall_textures_5060","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6170578105008287504,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6170578105008287504,"visual_seed":6170578105008287504,"scene_id":"lab_003","finished_at":"2026-09-04T22:48:55"}
+{"episode_id":"ep_000061","started_at":"2026-09-04T22:48:59","dimensions":{"distractor":{"count":32,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[0.3695334777487791,0.6351145284654467,0.71338606911949],"aabb_xy":[[0.347624795609428,0.6132138616453559],[0.3914421598881301,0.6570151952855373]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.25920697484994115,1.6630568846627205,0.71338606911949],"aabb_xy":[[-0.309185783360257,1.6130568846570015],[-0.2092281663396252,1.713056884668439]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[0.5645400523211808,0.3319074556244379,0.71338606911949],"aabb_xy":[[0.527040052029006,0.3278659802238343],[0.6020400526133556,0.33594893102504153]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_3","position":[0.5361739356946669,-1.1118753478862646,0.71338606911949],"aabb_xy":[[0.4910026178464979,-1.1758753450308033],[0.5813452535428358,-1.0478753507417264]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[-0.06093514394979871,-0.34100773680422636,0.71338606911949],"aabb_xy":[[-0.11093514561129346,-0.39100617905992907],[-0.010935142288303943,-0.29100929454852364]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[-0.034931545757490245,-1.1246131356766933,0.71338606911949],"aabb_xy":[[-0.09493154560405703,-1.181431757869732],[0.02506845408907655,-1.0677945134836546]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[-0.3740731870411585,-0.004400163697914294,0.71338606911949],"aabb_xy":[[-0.41157318822595124,-0.008818386393974833],[-0.33657318585636564,1.8058998146248426e-05]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[-0.06394417682119857,1.6264373808090258,0.71338606911949],"aabb_xy":[[-0.07207186501451181,1.6175237723983182],[-0.055816488627885366,1.6353509892197338]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_8","position":[-0.19091210663588132,1.0105555223808929,0.71338606911949],"aabb_xy":[[-0.19502805674795395,1.006439967348047],[-0.18679615652380863,1.0146710774137382]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_9","position":[-0.38023279912361985,0.9689979683492935,0.71338606911949],"aabb_xy":[[-0.44523279727953885,0.9427017237993813],[-0.31523280096770073,0.9952942128992057]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.6627419188291159,1.1197703721179764,0.71338606911949],"aabb_xy":[[0.6578983240678861,1.1149187196389923],[0.667585513590346,1.1246220245969605]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[0.33249046243991787,-2.3321140068235393,0.71338606911949],"aabb_xy":[[0.28251304557466417,-2.3821140083127874],[0.38246787930517134,-2.2821140053342903]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_12","position":[0.17197215306013935,0.927535688189896,0.71338606911949],"aabb_xy":[[0.1544254581440204,0.8900356866256446],[0.18951884797625826,0.9650356897541471]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[-0.19135517875623642,-1.0487594191652492,0.71338606911949],"aabb_xy":[[-0.2413544539246726,-1.0987594204411963],[-0.14135590358780029,-0.998759417889302]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[-0.6033148684145401,0.7821579039789555,0.71338606911949],"aabb_xy":[[-0.6112381486532885,0.7596579037409521],[-0.5953915881757919,0.8046579042169588]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_15","position":[0.04514978902897637,-1.6766997124659762,0.71338606911949],"aabb_xy":[[0.007818512503733749,-1.7113527672608284],[0.082481065554219,-1.642046657671124]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_16","position":[-0.5525409928150095,-1.6842400675980962,0.71338606911949],"aabb_xy":[[-0.6165409930754803,-1.7292488669510242],[-0.4885409925545387,-1.6392312682451682]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[-0.5534609907984624,-1.9551076033047157,0.71338606911949],"aabb_xy":[[-0.5756335177751132,-1.9772832704608387],[-0.5312884638218115,-1.9329319361485922]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[-0.3463423869191369,-2.5179328534153766,0.71338606911949],"aabb_xy":[[-0.38910909379855707,-2.5819328568371787],[-0.3035756800397167,-2.4539328499935738]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_19","position":[-0.23121179987690316,0.5726216203707972,0.71338606911949],"aabb_xy":[[-0.3112117985337892,0.5581167614465344],[-0.15121180122001718,0.58712647929506]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[-0.3813546280230648,0.7923460330723016,0.71338606911949],"aabb_xy":[[-0.3863106482079461,0.7698460328701802],[-0.37639860783818363,0.8148460332744234]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_21","position":[0.5018647354176007,-0.6735074546896163,0.71338606911949],"aabb_xy":[[0.41186473891672887,-0.7194190971080744],[0.5918647319184723,-0.6275958122711579]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_22","position":[0.20463626718333539,0.7679397193085706,0.71338606911949],"aabb_xy":[[0.18212257535987816,0.697939718707563],[0.22714995900679255,0.837939719909578]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_23","position":[-0.3598345205463619,-1.7960368462492755,0.71338606911949],"aabb_xy":[[-0.3670957681167693,-1.8088238565127852],[-0.3525732729759545,-1.7832498359857663]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[-0.46262565244543974,0.5682700111723245,0.71338606911949],"aabb_xy":[[-0.475856597980121,0.555042592150325],[-0.4493947069107584,0.5814974301943239]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[0.569571591691405,-1.5688934083802264,0.71338606911949],"aabb_xy":[[0.4895715906182848,-1.5786714547176108],[0.6495715927645255,-1.559115362042842]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[0.0035184948955172546,-2.132380355471778,0.71338606911949],"aabb_xy":[[-0.06148150606160995,-2.1843285674054833],[0.06851849585264445,-2.080432143538072]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_27","position":[0.3650018483442454,-0.36882777186774307,0.71338606911949],"aabb_xy":[[0.3475711332652388,-0.38609988653159383],[0.3824325634232518,-0.3515556572038922]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_28","position":[0.06437123002951695,-1.8843875897654674,0.71338606911949],"aabb_xy":[[-0.02562877364740123,-1.9458199963425713],[0.1543712337064351,-1.8229551831883626]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_29","position":[0.18132704798344967,1.7065612889820847,0.71338606911949],"aabb_xy":[[0.1749132343402647,1.700151468734416],[0.1877408616266346,1.7129711092297526]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_30","position":[0.017374460186702412,1.040042835078792,0.71338606911949],"aabb_xy":[[-0.04662554215609914,0.9951019838346594],[0.08137446252950396,1.0849836863229243]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_31","position":[-0.46605423589938527,-2.1639026948270526,0.71338606911949],"aabb_xy":[[-0.4741678905727623,-2.1720085112810814],[-0.4579405812260081,-2.1557968783730237]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6634201979433207,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8558.png","name":"8558"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8558.png","name":"8558"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8589.png","name":"8589"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/928.png","name":"928"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2393.png","name":"2393"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1553.png","name":"1553"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":524.9184062592855,"rotation_z_degrees":136.39388599200655,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008534488649168682,0.018520622223648118,0.007254910657608821]},{"name":"camera_2","offset_m":[0.015548964617361997,-0.013021158219763103,-0.014898971732857903]},{"name":"camera_3","offset_m":[0.0075967383179056415,0.00279493960680173,0.01632503874941645]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011453665205424846,-9.845202454840645e-05,-0.0017484448415946718],"end_effector_yaw_offset_degrees":0.0004436306572295212},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009950863701041204,0.0018987560487030292,0.001043845777844121],"end_effector_yaw_offset_degrees":-0.8383139257012739},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009160911211444829,-0.001589680711448545,0.0008683045880935],"end_effector_yaw_offset_degrees":0.35210937351256333},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005927707938179609,0.0002332009904840002,-0.0012208526431368525],"end_effector_yaw_offset_degrees":-0.8285185808618982}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001750203617675662,0.0005183451935351167],"position_m":[0.17105020361767567,0.2306183451935351,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0043003736644225314,-0.00203293435950601],"position_m":[0.23049962633557747,-0.365632934359506,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004725600224079986,0.003991233399427249],"position_m":[0.20832560022407998,-0.04180876660057275,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026289811915717817,-0.0019000666060236438],"position_m":[0.3364289811915718,0.11579993339397636,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"10cde9912f301e0c24cb75dd138708748248fbe13f775242880381bbdf537115","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0094.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8558/tex_ceiling_textures_1553/tex_floor_textures_2393/tex_table_textures_8589/tex_wall_textures_928","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5966631611833384360,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5966631611833384360,"visual_seed":5966631611833384360,"scene_id":"lab_003","finished_at":"2026-09-04T22:52:48"}
+{"episode_id":"ep_000062","started_at":"2026-09-04T22:52:54","dimensions":{"distractor":{"count":21,"items":[{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_0","position":[0.13191981548441523,-1.3318885536398168,0.71338606911949],"aabb_xy":[[0.046919817066992,-1.4167628491021018],[0.21691981390183845,-1.2470142581775319]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_1","position":[-0.11360981568945838,-2.0278911636995183,0.71338606911949],"aabb_xy":[[-0.2036098193663765,-2.0893235702766217],[-0.023609812012540206,-1.966458757122413]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_2","position":[-0.34070164292312655,1.7541742443966082,0.71338606911949],"aabb_xy":[[-0.3451322722779667,1.748725872661926],[-0.33627101356828637,1.759622616131291]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[-0.07558876944173198,-1.4853863530400309,0.71338606911949],"aabb_xy":[[-0.0985044823267819,-1.5082906501764546],[-0.052673056556682085,-1.4624820559036074]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[-0.4256940766490705,-0.05190658128914105,0.71338606911949],"aabb_xy":[[-0.4896940730446436,-0.1158698697078746],[-0.3616940802534974,0.012056707129592503]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[0.23694143539446144,-1.102244512302156,0.71338606911949],"aabb_xy":[[0.2193947404783425,-1.1397445138664073],[0.2544881303105804,-1.0647445107379048]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.37957889705511233,-0.572984482342457,0.71338606911949],"aabb_xy":[[-0.4140412444532541,-0.6074783647402795],[-0.3451165496569705,-0.5384905999446341]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_7","position":[0.48369239074557946,-0.4704075341272822,0.71338606911949],"aabb_xy":[[0.40369239208869345,-0.484912393051545],[0.5636923894024655,-0.4559026752030194]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_8","position":[0.6822731469929022,-0.769206224824825,0.71338606911949],"aabb_xy":[[0.6410243359629874,-0.8242062243370424],[0.7235219580228168,-0.7142062253126075]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.2122070713156649,-0.4623345340171423,0.71338606911949],"aabb_xy":[[-0.262206346484101,-0.5123345352930895],[-0.16220779614722872,-0.4123345327411952]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_10","position":[-0.07290809908914941,1.6974153181679283,0.71338606911949],"aabb_xy":[[-0.12289104927662874,1.6474153185253675],[-0.022925148901670075,1.7474153178104883]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_11","position":[0.1541771137672694,0.7399828430949995,0.71338606911949],"aabb_xy":[[0.09918163594661,0.6849828416610925],[0.20917259158792878,0.7949828445289063]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[0.1641834813197557,-1.1918409237004468,0.71338606911949],"aabb_xy":[[0.1586018096856269,-1.2043409235182223],[0.16976515295388442,-1.1793409238826713]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_13","position":[-0.6502032232998006,0.9580676642233015,0.71338606911949],"aabb_xy":[[-0.6619714100944583,0.8730676643180802],[-0.6384350365051432,1.0430676641285235]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.17274547752556246,1.5471833821757879,0.71338606911949],"aabb_xy":[[0.10874547726509169,1.5021745828228596],[0.2367454777860333,1.5921921815287157]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[0.645314779120989,-0.29007067215116233,0.71338606911949],"aabb_xy":[[0.630671373566956,-0.3047293918079466],[0.659958184675022,-0.27541195249437805]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[0.6493765348808349,-2.193007105053692,0.71338606911949],"aabb_xy":[[0.6397448986604053,-2.2026444178334006],[0.6590081711012645,-2.1833697922739828]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[0.7120338099120471,-0.15201727748934157,0.71338606911949],"aabb_xy":[[0.7004648291651105,-0.17701727760627328],[0.7236027906589837,-0.12701727737240986]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[0.31649482432257314,1.170477460610511,0.71338606911949],"aabb_xy":[[0.2364948238523572,1.1621667529961628],[0.39649482479278914,1.1787881682248593]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.5497884719550272,0.21217313665615878,0.71338606911949],"aabb_xy":[[0.5417949821597453,0.2041750047156832],[0.5577819617503094,0.22017126859663452]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[0.4124781030474385,-1.7185639173139642,0.71338606911949],"aabb_xy":[[0.36247810360724275,-1.76853184179828],[0.462478102487634,-1.6685959928296474]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6664914202997714,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/421.png","name":"421"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/421.png","name":"421"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1582.png","name":"1582"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5408.png","name":"5408"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8223.png","name":"8223"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9035.png","name":"9035"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":773.8980316228697,"rotation_z_degrees":205.98447093398252,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00982007945126549,0.009090566267573975,-0.01594481786123591]},{"name":"camera_2","offset_m":[0.005484022979035014,0.011665278493796876,0.012946944109678536]},{"name":"camera_3","offset_m":[-0.009046269193661614,-0.015848066144421954,-0.008258685996862547]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011670686655685077,-0.00015241449976798678,-0.0010008493670707614],"end_effector_yaw_offset_degrees":-0.1475092340818538},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011167934595793095,0.001106433108915558,0.0014919575075875257],"end_effector_yaw_offset_degrees":-0.8842159043980067},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019801331410913316,0.0018202439247286843,0.0017486634165654342],"end_effector_yaw_offset_degrees":-0.3062442198403912},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006108861761850953,-0.000930221494951808,-0.0009366378763341636],"end_effector_yaw_offset_degrees":-0.7858261890722402}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003079051582623658,-0.0022685212130072385],"position_m":[0.17237905158262368,0.22783147878699275,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002181841598209283,0.0022783952496998093],"position_m":[0.2369818415982093,-0.3613216047503002,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009791510991125777,0.002628610938408801],"position_m":[0.2045791510991126,-0.0431713890615912,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004116566094481202,0.002332825145862992],"position_m":[0.3379165660944812,0.120032825145863,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e3eac9181993c9c4e12ccc732f2c3b6ea75de8c6ecbb40373f47b06141693cf1","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_421/tex_ceiling_textures_9035/tex_floor_textures_8223/tex_table_textures_1582/tex_wall_textures_5408","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2096662001489518430,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2096662001489518430,"visual_seed":2096662001489518430,"scene_id":"lab_003","finished_at":"2026-09-04T22:56:42"}
+{"episode_id":"ep_000063","started_at":"2026-09-04T22:56:46","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[-0.6362780760700673,-1.8095613695014015,0.71338606911949],"aabb_xy":[[-0.6737780758871008,-1.8141995808125433],[-0.5987780762530337,-1.8049231581902596]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[-0.2494405042196069,1.1527425140569303,0.71338606911949],"aabb_xy":[[-0.29471911910075616,1.0887425147087464],[-0.20416188933845764,1.2167425134051137]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.4610537843776961,-0.816094286831097,0.71338606911949],"aabb_xy":[[-0.5160460350132071,-0.8710942885744098],[-0.4060615337421853,-0.7610942850877843]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[0.3927967833638908,0.8380684763635116,0.71338606911949],"aabb_xy":[[0.30279678476942085,0.8218178900500906],[0.48279678195836073,0.8543190626769327]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_4","position":[-0.23575175229550627,-0.5370535156637049,0.71338606911949],"aabb_xy":[[-0.2398876086282065,-0.5745535151080619],[-0.2316158959628061,-0.49955351621934785]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_5","position":[-0.24258168280138542,-0.1255131675231449,0.71338606911949],"aabb_xy":[[-0.26508168261528775,-0.12998778389362559],[-0.220081682987483,-0.12103855115266421]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_6","position":[0.6440622894542913,-1.4453565335464629,0.71338606911949],"aabb_xy":[[0.5800665920591949,-1.5093565318471713],[0.708057986849388,-1.381356535245754]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[0.7070299615904116,-2.383417083349186,0.71338606911949],"aabb_xy":[[0.7030694778206772,-2.3910849479347065],[0.7109904453601459,-2.3757492187636653]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[-0.5804691586648529,-2.392039752686692,0.71338606911949],"aabb_xy":[[-0.5858067343308575,-2.417039753615832],[-0.5751315829988484,-2.3670397517575523]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_9","position":[0.2457479721109984,0.8004128709549581,0.71338606911949],"aabb_xy":[[0.24111285695876497,0.7965455358778094],[0.25038308726323166,0.8042802060321067]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[-0.41279200310215575,-1.5502002274708806,0.71338606911949],"aabb_xy":[[-0.44623217829817524,-1.5836438533018105],[-0.37935182790613603,-1.5167566016399503]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_11","position":[0.23938563233968435,-1.4957002888250108,0.71338606911949],"aabb_xy":[[0.22930392526111085,-1.5757002867171253],[0.2494673394182578,-1.415700290932896]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_12","position":[-0.26349055709587765,0.6564222162010971,0.71338606911949],"aabb_xy":[[-0.2991197129958374,0.620789549444244],[-0.2278614011959179,0.6920548829579499]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.5827681420173035,0.2255921588316765,0.71338606911949],"aabb_xy":[[-0.6255348488967237,0.16159215540987404],[-0.5400014351378833,0.28959216225347895]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[-0.43783853342603857,-0.3098634160251308,0.71338606911949],"aabb_xy":[[-0.46648786578645474,-0.33850897530220647],[-0.4091892010656223,-0.2812178567480549]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_15","position":[-0.49974986854968717,1.3951596739213619,0.71338606911949],"aabb_xy":[[-0.5597498683962538,1.3383410517283234],[-0.43974986870312033,1.4519782961144008]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[0.4175947641716724,-1.394280529088714,0.71338606911949],"aabb_xy":[[0.39512999420026723,-1.4167805299675744],[0.44005953414307747,-1.3717805282098534]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.3334284366478295,-2.1729814820420006,0.71338606911949],"aabb_xy":[[0.32616718907742215,-2.1857684923055105],[0.340689684218237,-2.1601944717784916]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.35974391605868594,-0.5021947187020515,0.71338606911949],"aabb_xy":[[0.3211982232334849,-0.5407404897582402],[0.398289608883887,-0.4636489476458629]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[0.623282829155501,-2.12313541130853,0.71338606911949],"aabb_xy":[[0.6013741470161499,-2.14503607812862],[0.645191511294852,-2.1012347444884387]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.25897553159745323,-0.26761767189428287,0.71338606911949],"aabb_xy":[[-0.3002243426273679,-0.3226176714065003],[-0.21772672056753847,-0.2126176723820654]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_21","position":[-0.04739587563404224,1.0124052282965943,0.71338606911949],"aabb_xy":[[-0.06494257055016117,0.974905226732343],[-0.029849180717923307,1.0499052298608456]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_22","position":[0.12743158333081572,-0.7780552589621359,0.71338606911949],"aabb_xy":[[0.07243158415422621,-0.8330449337370934],[0.18243158250740518,-0.7230655841871781]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[0.3157749190908332,1.562638631326179,0.71338606911949],"aabb_xy":[[0.24577491748855373,1.5492058381245215],[0.3857749206931127,1.5760714245278367]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_24","position":[-0.4671743069994311,-1.1006241908877032,0.71338606911949],"aabb_xy":[[-0.528765066223424,-1.1646241889967504],[-0.4055835477754383,-1.0366241927786566]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_25","position":[0.062149321896571075,-1.0095926252406193,0.71338606911949],"aabb_xy":[[0.012149320877435806,-1.0460588409784473],[0.11214932291570637,-0.9731264095027914]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_26","position":[0.6375542240334258,0.9145924886422914,0.71338606911949],"aabb_xy":[[0.6326549317268623,0.8869155693397224],[0.6424535163399893,0.9422694079448599]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_27","position":[0.09395072209817745,-1.8337309808205375,0.71338606911949],"aabb_xy":[[0.08079947612688809,-1.8587309805772243],[0.10710196806946683,-1.8087309810638512]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_28","position":[0.3768739877447551,-0.6738068002394082,0.71338606911949],"aabb_xy":[[0.3680927605975189,-0.6825865475279383],[0.3856552148919914,-0.665027052950878]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_29","position":[0.01357595012707391,1.4249879543524657,0.71338606911949],"aabb_xy":[[-0.023218682997832363,1.3880820792558834],[0.05037058325198018,1.461893829449048]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6704158051432979,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5516.png","name":"5516"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5516.png","name":"5516"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/265.png","name":"265"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3051.png","name":"3051"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/321.png","name":"321"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5383.png","name":"5383"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":627.3808959626477,"rotation_z_degrees":226.37694914799312,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008870849629239706,-0.008955180887336494,-0.016301174578748447]},{"name":"camera_2","offset_m":[-0.010696688489732207,-0.009619580787900426,-0.00982852319029826]},{"name":"camera_3","offset_m":[-0.01594183339554185,0.007654297808499893,0.016214542350081265]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009650601599217601,-0.0019349072835766297,-0.0017135301512378788],"end_effector_yaw_offset_degrees":-0.14243267195174814},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013214283765096758,0.00020372480192213738,-0.0013334146781975517],"end_effector_yaw_offset_degrees":-0.07532880490912719},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008510018240288461,-0.0012452602644347742,-0.0008578199960026062],"end_effector_yaw_offset_degrees":-0.7704698417670086},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001864772749752431,-0.0011436136534232171,-0.0018597371196805077],"end_effector_yaw_offset_degrees":-0.8815717916349666}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004228785013688603,0.00289398729846502],"position_m":[0.16507121498631142,0.23299398729846502,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028959593140980037,-0.003822586705093523],"position_m":[0.237695959314098,-0.3674225867050935,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004076509976229851,-0.0037528814383791654],"position_m":[0.19952349002377015,-0.049552881438379166,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000510320634172304,-0.0022131689093837594],"position_m":[0.33431032063417226,0.11548683109061623,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0cd9da7cff62b46cac3273b598861b5a85bdc6cd340019e2aff7c5d841ee239d","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0096.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5516/tex_ceiling_textures_5383/tex_floor_textures_321/tex_table_textures_265/tex_wall_textures_3051","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2030688171652607244,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2030688171652607244,"visual_seed":2030688171652607244,"scene_id":"lab_003","finished_at":"2026-09-04T23:00:43"}
+{"episode_id":"ep_000064","started_at":"2026-09-04T23:00:47","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[0.5467461146042534,0.5930574188998823,0.71338606911949],"aabb_xy":[[0.4967728206009928,0.5430574183453348],[0.5967194086075137,0.6430574194544295]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[0.033579262453623526,1.3538121986762714,0.71338606911949],"aabb_xy":[[-0.04642073613369589,1.2744965967381103],[0.11357926104094296,1.4331278006144321]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_2","position":[-0.38595273497161986,-0.6560530924357897,0.71338606911949],"aabb_xy":[[-0.42328401149686246,-0.690706147230642],[-0.34862145844637726,-0.6214000376409375]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_3","position":[-0.25600707318117133,0.330416136263219,0.71338606911949],"aabb_xy":[[-0.3360070734547783,0.2574665884375022],[-0.17600707290756437,0.40336568408893564]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_4","position":[-0.2942267569549241,-1.051346231103281,0.71338606911949],"aabb_xy":[[-0.34921996829206087,-1.1063462314420747],[-0.23923354561778737,-0.9963462307644875]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.4144731374155337,-1.572746153054196,0.71338606911949],"aabb_xy":[[0.32447313882106377,-1.588996739367617],[0.5044731360100037,-1.556495566740775]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.6432124120200444,-1.6550301302846915,0.71338606911949],"aabb_xy":[[-0.6931966477282216,-1.7050301290981873],[-0.5932281763118672,-1.605030131471196]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.29292011116808414,-1.9619693540976808,0.71338606911949],"aabb_xy":[[0.2880208188615206,-1.9896462734002494],[0.2978194034746476,-1.9342924347951118]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_8","position":[0.5086646255705056,1.0665789878629313,0.71338606911949],"aabb_xy":[[0.5045287692378054,1.0290789884185743],[0.5128004819032058,1.1040789873072883]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[-0.025037475420025768,-1.0733385983648884,0.71338606911949],"aabb_xy":[[-0.04020964470165911,-1.0885074552930918],[-0.009865306138392427,-1.058169741436685]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[0.5448346753115192,-0.2532431818802081,0.71338606911949],"aabb_xy":[[0.5329625923000181,-0.33824318157385846],[0.5567067583230203,-0.16824318218655776]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[0.5241127680245039,-1.1072537731594638,0.71338606911949],"aabb_xy":[[0.5016127682106015,-1.1117283895299446],[0.5466127678384063,-1.102779156788983]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_12","position":[0.1986371621264592,-1.4062452849767313,0.71338606911949],"aabb_xy":[[0.1854062165917779,-1.4194727039987307],[0.21186810766114048,-1.3930178659547319]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[0.6071634694507366,1.5914014595181283,0.71338606911949],"aabb_xy":[[0.6011264564500719,1.5853747584491804],[0.6132004824514014,1.5974281605870766]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.3786645175126054,-2.312416146827615,0.71338606911949],"aabb_xy":[[-0.38516615402061005,-2.3221839688539254],[-0.37216288100460077,-2.302648324801306]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_15","position":[-0.6559506766708213,-0.053848232669086116,0.71338606911949],"aabb_xy":[[-0.6639446652485246,-0.061848312764176454],[-0.6479566880931178,-0.045848152573995764]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[0.28604236852268405,-0.8406382964734784,0.71338606911949],"aabb_xy":[[0.25819733174207693,-0.8714227952117901],[0.3138874053032912,-0.8098537977351667]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.5543921399176609,1.5551914486866836,0.71338606911949],"aabb_xy":[[-0.5590272550698941,1.5513241136095348],[-0.5497570247654274,1.5590587837638323]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_18","position":[-0.28710623330810964,0.6208473778878356,0.71338606911949],"aabb_xy":[[-0.29794671153462454,0.6036610965971867],[-0.27626575508159473,0.6380336591784843]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.3810870606410416,-1.2507000015946899,0.71338606911949],"aabb_xy":[[-0.4305674818550004,-1.314699999507542],[-0.3316066394270828,-1.1867000036818383]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_20","position":[0.08062636959888936,-2.0484356489484545,0.71338606911949],"aabb_xy":[[0.030626370158693725,-2.098403573432771],[0.13062636903908498,-1.9984677244641382]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[0.5053973018112079,1.3393733320041323,0.71338606911949],"aabb_xy":[[0.45558052234637314,1.2893733335198287],[0.5552140812760427,1.3893733304884355]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6628321517608934,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9442.png","name":"9442"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9442.png","name":"9442"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3249.png","name":"3249"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2664.png","name":"2664"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6695.png","name":"6695"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9788.png","name":"9788"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":546.6789783035314,"rotation_z_degrees":262.3194597593587,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004562309004634609,-0.019058006418150506,-0.006266718087824929]},{"name":"camera_2","offset_m":[0.010761613071074667,-0.00163986195272562,-0.0013777132979476171]},{"name":"camera_3","offset_m":[-0.012773475115649333,-0.010293707722440511,0.004357481618491369]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006040990746862512,-0.0002342827414104449,-0.0018334555496808784],"end_effector_yaw_offset_degrees":0.3126295977383564},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001791350516250522,-0.0010799567259913855,0.0011501515045859267],"end_effector_yaw_offset_degrees":0.6452624915131073},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017601925517541606,-0.001728213698560496,-0.0017522639615021114],"end_effector_yaw_offset_degrees":-0.971551607062328},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018279477346902192,-0.0012033127552496937,-0.0017688337277005314],"end_effector_yaw_offset_degrees":-0.8857026364825076}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030475215268820043,0.003699819301110299],"position_m":[0.166252478473118,0.2337998193011103,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001711097039267243,0.0029973680046609602],"position_m":[0.23308890296073276,-0.36060263199533904,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024791974123262207,-0.003590167840976017],"position_m":[0.20607919741232622,-0.04939016784097602,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005045549279484541,0.0025390070446438453],"position_m":[0.3343045549279484,0.12023900704464384,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"320fe374d12e112ad26df577eacceb1b1bcf7bbd5d6c9c0fd1ff0a6a417e76e9","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9442/tex_ceiling_textures_9788/tex_floor_textures_6695/tex_table_textures_3249/tex_wall_textures_2664","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2692258672966688671,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2692258672966688671,"visual_seed":2692258672966688671,"scene_id":"lab_003","finished_at":"2026-09-04T23:04:42"}
+{"episode_id":"ep_000065","started_at":"2026-09-04T23:07:32","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_0","position":[-0.004447167726504553,1.4731291758217835,0.71338606911949],"aabb_xy":[[-0.026619694703155387,1.4509535086656604],[0.017725359250146285,1.4953048429779066]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_1","position":[-0.1314390630819402,-1.716258992773924,0.71338606911949],"aabb_xy":[[-0.20143905949190194,-1.7366969284256053],[-0.06143906667197837,-1.6958210571222418]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.5480400665067142,0.0797866511393508,0.71338606911949],"aabb_xy":[[-0.5567380287974295,0.06766167683187607],[-0.5393421042159989,0.09191162544682552]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_3","position":[-0.6353473852436468,-2.373744814789621,0.71338606911949],"aabb_xy":[[-0.6853473848199815,-2.4237253937417274],[-0.585347385667312,-2.3237642358375155]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_4","position":[0.2376068243103071,-1.7139269608820187,0.71338606911949],"aabb_xy":[[0.21238598745046738,-1.739150711734905],[0.26282766117014666,-1.6887032100291315]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[-0.023090281984201266,1.1593248372114862,0.71338606911949],"aabb_xy":[[-0.04298132186454151,1.1466690259267895],[-0.0031992421038610193,1.1719806484961832]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[0.2726183238210259,-0.8514376993522976,0.71338606911949],"aabb_xy":[[0.23761832551033046,-0.8591527142758432],[0.30761832213172136,-0.8437226844287519]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[0.3411224879647239,0.7092765425511618,0.71338606911949],"aabb_xy":[[0.3307109292842401,0.7039308092152632],[0.35153404664520754,0.7146222758870602]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_8","position":[0.07441143611622658,-1.9051678023815781,0.71338606911949],"aabb_xy":[[-0.015588566217792477,-1.9826501569666906],[0.16441143845024564,-1.8276854477964652]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[-0.4235394837915888,-0.2860830747874368,0.71338606911949],"aabb_xy":[[-0.4591686396915486,-0.32171574154428967],[-0.3879103278916291,-0.25045040803058377]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[-0.2955161121338349,-0.4321262593791544,0.71338606911949],"aabb_xy":[[-0.3101595176878678,-0.4467849790359386],[-0.28087270657980185,-0.41746753972237005]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[-0.2384414641323972,0.2879242242309714,0.71338606911949],"aabb_xy":[[-0.28844146449296326,0.23794423702136844],[-0.18844146377183113,0.3379042114405743]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[0.2945242907808785,-0.9318203016558102,0.71338606911949],"aabb_xy":[[0.2658749584204622,-0.960465860932886],[0.32317362314129466,-0.9031747423787344]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_13","position":[0.3378209241254506,-0.7371389504548604,0.71338606911949],"aabb_xy":[[0.30032092430841706,-0.7417771617660023],[0.3753209239424842,-0.7325007391437186]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_14","position":[0.6042284571784586,0.3645156299707413,0.71338606911949],"aabb_xy":[[0.5817293214522317,0.3420156291924783],[0.6267275929046856,0.38701563074900425]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[0.2901578081610403,-2.030897401360101,0.71338606911949],"aabb_xy":[[0.25265780958541945,-2.0436336970236586],[0.32765780673666106,-2.0181611056965427]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[-0.12377924367682669,-1.4522039191626057,0.71338606911949],"aabb_xy":[[-0.20377924063986586,-1.5292795608063792],[-0.04377924671378752,-1.3751282775188323]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[-0.626110295275105,-0.4335497940464088,0.71338606911949],"aabb_xy":[[-0.6355277698449678,-0.44296597118412784],[-0.6166928207052423,-0.4241336169086898]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[-0.4837388682901666,-0.5198974856748628,0.71338606911949],"aabb_xy":[[-0.5212388689547452,-0.5355845436750849],[-0.44623886762558784,-0.5042104276746405]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[-0.42316243042465784,0.9973756755304066,0.71338606911949],"aabb_xy":[[-0.43291841993383173,0.9876131414711721],[-0.41340644091548395,1.007138209589641]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[0.617093029447616,1.2518858103673267,0.71338606911949],"aabb_xy":[[0.6105913929396115,1.242117988341017],[0.6235946659556207,1.2616536323936365]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_21","position":[-0.35052250732480106,-1.6813378658140685,0.71338606911949],"aabb_xy":[[-0.3542257686539399,-1.6850398841227863],[-0.3468192459956621,-1.6776358475053508]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[0.10779569907482245,-1.050875706055241,0.71338606911949],"aabb_xy":[[0.027795695816979493,-1.1308722138472251],[0.1877957023326654,-0.9708791982632572]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[-0.5246813145426549,-1.1087780068246333,0.71338606911949],"aabb_xy":[[-0.5886813152461242,-1.1547963892975546],[-0.46068131383918554,-1.0627596243517126]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[0.7141214899412087,0.7006500709292447,0.71338606911949],"aabb_xy":[[0.7053194346322359,0.6928387447743156],[0.7229235452501813,0.7084613970841738]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[-0.0809693859247047,1.7885690507030678,0.71338606911949],"aabb_xy":[[-0.11688289034969437,1.7526555424863133],[-0.04505588149971501,1.8244825589198224]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_26","position":[-0.28287913940289705,-2.095555813642469,0.71338606911949],"aabb_xy":[[-0.3003791386809839,-2.112893913708815],[-0.2653791401248102,-2.078217713576123]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_27","position":[-0.20326525990740096,1.0482339602674302,0.71338606911949],"aabb_xy":[[-0.24076526001299386,1.0414117984144489],[-0.16576525980180795,1.055056122120411]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[0.4641297674058038,-0.38475127816654053,0.71338606911949],"aabb_xy":[[0.4535622877477047,-0.3952963082795491],[0.4746972470639027,-0.374206248053532]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_29","position":[-0.28741629280987396,0.15006629014654482,0.71338606911949],"aabb_xy":[[-0.3124162927423919,0.1431836219256215],[-0.2624162928773561,0.15694895836746814]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_30","position":[-0.16075561106689118,-1.281910925807967,0.71338606911949],"aabb_xy":[[-0.22575561370468467,-1.3333905245074142],[-0.0957556084290977,-1.2304313271085203]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_31","position":[0.7018734341754482,-1.5472410938252978,0.71338606911949],"aabb_xy":[[0.6905116995221621,-1.5586095602315861],[0.7132351688287344,-1.53587262741901]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6687876674501203,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1179.png","name":"1179"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1179.png","name":"1179"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1980.png","name":"1980"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9073.png","name":"9073"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3615.png","name":"3615"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4725.png","name":"4725"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":808.0899478111685,"rotation_z_degrees":78.45892395181626,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013070277592829083,0.003731728883570415,-0.007623540776030401]},{"name":"camera_2","offset_m":[-0.006472139269779836,0.0067874649760306,-0.004311218180475435]},{"name":"camera_3","offset_m":[-0.009020650340298739,0.01893506640310619,-0.003518069137575689]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007023011307489991,-0.00011740827963394734,-0.00023688364140813083],"end_effector_yaw_offset_degrees":0.3731527040093843},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013499126464950218,-0.0017044536362430755,-0.0015962313597714137],"end_effector_yaw_offset_degrees":0.5827798078556852},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001169899659671167,0.0004013799560969255,0.00017549375162121328],"end_effector_yaw_offset_degrees":-0.3506501327951479},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017396826969325132,-0.0016461946366598422,-0.0012131084253078975],"end_effector_yaw_offset_degrees":0.72348031248533}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00317263911279702,0.0013059361013468872],"position_m":[0.16612736088720298,0.23140593610134688,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023329720727838137,-0.0017081816582799857],"position_m":[0.23713297207278383,-0.36530818165827994,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004642238416694476,0.0020340339555557667],"position_m":[0.19895776158330553,-0.043765966044444236,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026795490607499787,-0.0003839136817417807],"position_m":[0.33647954906074995,0.11731608631825821,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"37aa72e458ca64b0f35503a9a23c4efe31f224002aed3561baa5ba4ca6e369bc","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1179/tex_ceiling_textures_4725/tex_floor_textures_3615/tex_table_textures_1980/tex_wall_textures_9073","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6431250778099170869,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6431250778099170869,"visual_seed":6431250778099170869,"scene_id":"lab_003","finished_at":"2026-09-04T23:11:29"}
+{"episode_id":"ep_000066","started_at":"2026-09-04T23:11:33","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[-0.23618514689947007,-1.9661689368253077,0.71338606911949],"aabb_xy":[[-0.28618514826035724,-2.0161468414007233],[-0.18618514553858284,-1.916191032249892]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_1","position":[-0.3671197138941558,-0.2641100404436765,0.71338606911949],"aabb_xy":[[-0.38958448386556094,-0.286610041322537],[-0.3446549439227507,-0.24161003956481597]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.5188079337741947,0.7966234417047335,0.71338606911949],"aabb_xy":[[-0.524902561662313,0.7880540471530647],[-0.5127133058860763,0.8051928362564021]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[-0.5443918703847913,-1.893054116413188,0.71338606911949],"aabb_xy":[[-0.608391867496897,-1.9420864862075988],[-0.4803918732726856,-1.8440217466187776]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.4014317462039245,-0.9478225505621949,0.71338606911949],"aabb_xy":[[-0.4664317473098678,-0.9727879236303232],[-0.33643174509798124,-0.9228571774940666]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[-0.5109854639751437,-0.6595296685313514,0.71338606911949],"aabb_xy":[[-0.5355316795978944,-0.6897785650803885],[-0.486439248352393,-0.6292807719823144]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[0.4843979170705366,-1.2005061247902695,0.71338606911949],"aabb_xy":[[0.4736249431491688,-1.2355061230093085],[0.49517089099190437,-1.1655061265712305]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[0.5558357374099805,-1.2464912302620395,0.71338606911949],"aabb_xy":[[0.5369513536414703,-1.2653771550423922],[0.5747201211784907,-1.2276053054816867]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_8","position":[0.37009404035093385,-1.534370917958102,0.71338606911949],"aabb_xy":[[0.33563169295279194,-1.5688648003559242],[0.40455638774907554,-1.4998770355602788]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_9","position":[-0.433688082065944,1.6024604195914196,0.71338606911949],"aabb_xy":[[-0.5236880843999631,1.5249780650063072],[-0.34368807973192494,1.6799427741765325]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_10","position":[-0.6796883398478036,-2.536947274529416,0.71338606911949],"aabb_xy":[[-0.6879028849634874,-2.5456238648270566],[-0.6714737947321194,-2.528270684231774]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.17656211421589296,-2.4798013751414274,0.71338606911949],"aabb_xy":[[-0.24056211447636375,-2.524810174494355],[-0.11256211395542214,-2.434792575788499]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[0.5678272285180539,1.4109533348317873,0.71338606911949],"aabb_xy":[[0.5028272258802604,1.3594737361323403],[0.6328272311558474,1.4624329335312343]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[0.6137193507310763,0.1632550885358124,0.71338606911949],"aabb_xy":[[0.5887193514591139,0.14690972493965002],[0.6387193500030385,0.1796004521319747]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.05324271051836804,1.277070541217551,0.71338606911949],"aabb_xy":[[-0.1132427121612899,1.225070391925607],[0.006757291124553803,1.3290706905094953]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[-0.08360797939113118,-0.7870670699136759,0.71338606911949],"aabb_xy":[[-0.12110797933489757,-0.7953601599485124],[-0.046107979447364764,-0.7787739798788392]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_16","position":[0.6826070560428743,0.5872644656009056,0.71338606911949],"aabb_xy":[[0.6738050007339016,0.5794531394459765],[0.691409111351847,0.5950757917558347]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[0.6743323565034052,-2.085978256451516,0.71338606911949],"aabb_xy":[[0.6656343942126899,-2.0981032307589906],[0.6830303187941205,-2.073853282144041]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[0.3301926604474765,-2.2425117189236414,0.71338606911949],"aabb_xy":[[0.25019266328790124,-2.2540593198814585],[0.4101926576070518,-2.2309641179658244]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[0.6572745736235726,-2.0110561274833247,0.71338606911949],"aabb_xy":[[0.6197745750479516,-2.0237924231468822],[0.6947745721991933,-1.9983198318197666]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.0897019521751492,-0.22943054723411738,0.71338606911949],"aabb_xy":[[-0.16970195076246863,-0.3087461491722783],[-0.009701953587829782,-0.15011494529595648]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[0.4768700146799687,0.3748354086510055,0.71338606911949],"aabb_xy":[[0.4128700132719781,0.3230464571270808],[0.5408700160879594,0.4266243601749302]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[0.6355114785038176,-1.7257243763157526,0.71338606911949],"aabb_xy":[[0.599597974078828,-1.7616378845325071],[0.6714249829288073,-1.689810868098998]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6713766830572171,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3701.png","name":"3701"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3701.png","name":"3701"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4098.png","name":"4098"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4806.png","name":"4806"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4271.png","name":"4271"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1795.png","name":"1795"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":561.1870354674667,"rotation_z_degrees":350.3868148129952,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0038472984650341074,0.013176009897823731,-0.008510865685887837]},{"name":"camera_2","offset_m":[-0.019763858527008394,0.01061776738496504,-0.01890579579211073]},{"name":"camera_3","offset_m":[0.009734938314634074,-0.0005243445531138806,0.012237520831400981]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006788832887673303,-0.0010323973056069668,0.0015743762874144262],"end_effector_yaw_offset_degrees":0.6276815917793213},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00017285873504957775,0.0010929075676673226,-0.0011020690961109029],"end_effector_yaw_offset_degrees":-0.7526034280868399},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006038137493158814,-0.00059204155293255,-0.0011484421330817175],"end_effector_yaw_offset_degrees":-0.6924572610345521},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018548712619662344,0.0013675204059390026,-0.00036359285347545354],"end_effector_yaw_offset_degrees":0.581594900554397}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004348643606249998,0.0003243620312912178],"position_m":[0.16495135639375,0.2304243620312912,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004943815571040399,-0.002443399537729393],"position_m":[0.2397438155710404,-0.36604339953772935,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038883848559538277,0.0016813552567813252],"position_m":[0.20748838485595383,-0.04411864474321867,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003067321072873903,0.0010283588770858224],"position_m":[0.3307326789271261,0.11872835887708583,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4b437081e5e5e1a101681ee3b4a26136d92904ff3aca6657eca15338446eb57d","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0100.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3701/tex_ceiling_textures_1795/tex_floor_textures_4271/tex_table_textures_4098/tex_wall_textures_4806","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8598712333373369131,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8598712333373369131,"visual_seed":8598712333373369131,"scene_id":"lab_003","finished_at":"2026-09-04T23:15:17"}
+{"episode_id":"ep_000067","started_at":"2026-09-04T23:15:21","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[-0.2976756514003005,-2.576144679096647,0.71338606911949],"aabb_xy":[[-0.33517565258509324,-2.5805629017927068],[-0.26017565021550765,-2.5717264564005857]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_1","position":[-0.31148509134337865,0.3275186013191398,0.71338606911949],"aabb_xy":[[-0.3614843665118148,0.2775186000431926],[-0.2614858161749425,0.37751860259508696]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[-0.511173121982322,1.024332191618126,0.71338606911949],"aabb_xy":[[-0.5356867460793279,1.0000675983160896],[-0.48665949788531615,1.0485967849201625]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[0.3455352054097487,-2.138278984483598,0.71338606911949],"aabb_xy":[[0.32053520547723086,-2.145161652704522],[0.37053520534226664,-2.131396316262675]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[-0.657451830381493,-0.8332947353760976,0.71338606911949],"aabb_xy":[[-0.6824518296534552,-0.8496400989722599],[-0.6324518311095306,-0.8169493717799352]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_5","position":[0.652459798737536,-1.6791293702220962,0.71338606911949],"aabb_xy":[[0.6444658101598325,-1.6871294503171863],[0.6604537873152393,-1.6711292901270056]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[-0.5870855083264432,-1.4886955254268972,0.71338606911949],"aabb_xy":[[-0.6670855063072283,-1.4962970663887492],[-0.5070855103456582,-1.4810939844650453]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[-0.6388187367976536,-0.18122224364553574,0.71338606911949],"aabb_xy":[[-0.6470332819133374,-0.189898833943177],[-0.6306041916819695,-0.17254565334789443]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_8","position":[0.1625671123741017,-1.375156925479905,0.71338606911949],"aabb_xy":[[0.14996441323702528,-1.3877523217047703],[0.1751698115111782,-1.3625615292550393]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_9","position":[-0.20032796841852635,-1.646229619593658,0.71338606911949],"aabb_xy":[[-0.20682960492653096,-1.6559974416199683],[-0.19382633191052173,-1.6364617975673488]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[0.535319943173582,0.1761966379234896,0.71338606911949],"aabb_xy":[[0.4713199411238501,0.13610215483418164],[0.5993199452233141,0.21629112101279757]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[0.5675702320219571,1.36505527367714,0.71338606911949],"aabb_xy":[[0.543734014381352,1.2750552728686537],[0.5914064496625622,1.4550552744856267]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_12","position":[0.48742585432575325,-2.088694344451776,0.71338606911949],"aabb_xy":[[0.4696323473908368,-2.106494090047573],[0.5052193612606697,-2.0708945988559777]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[-0.40505648831887375,0.12386568580421642,0.71338606911949],"aabb_xy":[[-0.4436021811440748,0.08531991474802776],[-0.3665107954936727,0.1624114568604051]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[-0.5060260275739116,-1.1299531239865086,0.71338606911949],"aabb_xy":[[-0.5610182782094226,-1.1849531257298214],[-0.45103377693840074,-1.0749531222431958]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[0.026606522397758736,-2.2020007565757673,0.71338606911949],"aabb_xy":[[-0.0037915887013848545,-2.232407658577437],[0.05700463349690231,-2.171593854574098]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_16","position":[0.3811206217854657,1.3788536081000933,0.71338606911949],"aabb_xy":[[0.3461206225926474,1.3678865621024305],[0.41612062097828395,1.3898206540977556]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.4407599558723745,-0.9676012002046426,0.71338606911949],"aabb_xy":[[0.430678248793801,-1.047601198096757],[0.45084166295094796,-0.8876012023125278]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_18","position":[0.0007354282673497359,-2.529348151626967,0.71338606911949],"aabb_xy":[[-0.06426457268977746,-2.5812963635606723],[0.06573542922447694,-2.477399939693261]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_19","position":[0.39542105413827633,-2.337273988336398,0.71338606911949],"aabb_xy":[[0.35792105364091814,-2.3412426718845163],[0.43292105463563463,-2.3333053047882792]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[0.568519985104716,-2.261525096709019,0.71338606911949],"aabb_xy":[[0.5496356013362057,-2.2804110214893716],[0.5874043688732261,-2.242639171928666]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[-0.4596307501972012,-2.3296947935964716,0.71338606911949],"aabb_xy":[[-0.5096307496373969,-2.379662718080788],[-0.4096307507570055,-2.2797268691121553]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_22","position":[0.5883754936619245,0.4732110423702278,0.71338606911949],"aabb_xy":[[0.5600457837133844,0.46875030017651076],[0.6167052036104649,0.4776717845639449]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_23","position":[0.027389521549715856,-1.4770473134609123,0.71338606911949],"aabb_xy":[[-0.01778179629845312,-1.5410473106054507],[0.07256083939788484,-1.4130473163163737]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_24","position":[0.022497766305875633,1.8074930481759695,0.71338606911949],"aabb_xy":[[-0.04750223010408616,1.7870551125242875],[0.09249776271583741,1.827930983827651]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_25","position":[0.34071220878410036,-0.761232043180897,0.71338606911949],"aabb_xy":[[0.3032122079921049,-0.7675998841390872],[0.3782122095760958,-0.754864202222707]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_26","position":[0.7082840581992063,-2.445748054371844,0.71338606911949],"aabb_xy":[[0.7002905684039243,-2.4537461863123196],[0.7162775479944884,-2.4377499224313683]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[-0.5803411105514094,-2.2444817929414316,0.71338606911949],"aabb_xy":[[-0.5911140844727771,-2.2794817911604706],[-0.5695681366300416,-2.2094817947223926]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_28","position":[0.12062383683343969,1.2517875879257123,0.71338606911949],"aabb_xy":[[0.08562383770348402,1.2460423668500482],[0.15562383596339535,1.2575328090013764]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6669879759339836,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3262.png","name":"3262"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3262.png","name":"3262"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6775.png","name":"6775"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/171.png","name":"171"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5527.png","name":"5527"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9949.png","name":"9949"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":566.5082797404585,"rotation_z_degrees":218.43782466092955,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007632667459555487,0.007471038262257087,0.018269833719194214]},{"name":"camera_2","offset_m":[-0.005542512447895711,-0.010959810295395825,-0.016441915038637477]},{"name":"camera_3","offset_m":[0.010684367798545737,-0.008793125597993376,-0.006048200676612039]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007995003996127178,0.0010931911951623896,-0.00010729043615004394],"end_effector_yaw_offset_degrees":0.9978151249255212},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001850710164320482,0.0008431746275658746,-0.0006327548867684051],"end_effector_yaw_offset_degrees":0.9386989186560102},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00029247562126181363,0.0005539957130710755,-0.0012416504594179871],"end_effector_yaw_offset_degrees":-0.7867860509765825},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009917077521155529,0.00023645766049854152,0.001366383927663539],"end_effector_yaw_offset_degrees":-0.5749942267518635}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00048094788422576445,-0.004980488958740157],"position_m":[0.16978094788422576,0.22511951104125985,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004346467312461163,0.004732029513362128],"position_m":[0.23914646731246117,-0.3588679704866379,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001614672279300834,0.004785872778984827],"position_m":[0.20198532772069916,-0.041014127221015176,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003360592442227802,-0.0025230439405736728],"position_m":[0.3304394075577722,0.11517695605942632,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"624b956a1d66b65d5a461f2e03b180d97a0faf5b2a566cf0c8580008421e2cd5","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0101.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3262/tex_ceiling_textures_9949/tex_floor_textures_5527/tex_table_textures_6775/tex_wall_textures_171","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5825531213708781088,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5825531213708781088,"visual_seed":5825531213708781088,"scene_id":"lab_003","finished_at":"2026-09-04T23:19:12"}
+{"episode_id":"ep_000068","started_at":"2026-09-04T23:21:56","dimensions":{"distractor":{"count":23,"items":[{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_0","position":[0.5478579634660075,-2.0847546928352023,0.71338606911949],"aabb_xy":[[0.5103579628014286,-2.100441750835424],[0.585357964130586,-2.0690676348349797]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[-0.430427907981317,0.49054506579930024,0.71338606911949],"aabb_xy":[[-0.5201149842894324,0.4005450655448497],[-0.3407408316732015,0.5805450660537508]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[-0.4472649544546359,-2.498680196189754,0.71338606911949],"aabb_xy":[[-0.464764953589003,-2.5085598232273414],[-0.42976495532026865,-2.4888005691521657]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.26242325174491765,1.2482164817458425,0.71338606911949],"aabb_xy":[[0.25151747565735494,1.1682164853470134],[0.27332902783248036,1.3282164781446717]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_4","position":[0.5128224220818205,0.7613883695405517,0.71338606911949],"aabb_xy":[[0.4488224249697148,0.712355999746141],[0.5768224191939262,0.8104207393349623]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[0.1664792737792684,0.5560926455348549,0.71338606911949],"aabb_xy":[[0.1314792755091485,0.5490185178398668],[0.2014792720493883,0.5631667732298431]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[0.1811087477906379,-1.4551070062242732,0.71338606911949],"aabb_xy":[[0.15111708505676757,-1.4851070055610736],[0.21110041052450823,-1.4251070068874725]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.2588232205109923,0.9576950759790228,0.71338606911949],"aabb_xy":[[-0.32282322242333467,0.9017839267210125],[-0.19482321859864998,1.0136062252370333]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[0.3104772608701811,-2.4998004822651807,0.71338606911949],"aabb_xy":[[0.22047726145181018,-2.5331759791093704],[0.40047726028855196,-2.466424985420991]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[-0.0029824514429607207,-1.772173416623013,0.71338606911949],"aabb_xy":[[-0.040482451940318964,-1.7761421001711317],[0.03451754905439752,-1.7682047330748947]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[0.17640560709118713,0.7104942155839686,0.71338606911949],"aabb_xy":[[0.14592135696415698,0.6604942158024727],[0.2068898572182173,0.7604942153654646]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[-0.11183102794625188,-0.045739721895145635,0.71338606911949],"aabb_xy":[[-0.1401607378947921,-0.0502004640888627],[-0.08350131799771167,-0.04127897970142858]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.17231874741157505,-0.5102778436444466,0.71338606911949],"aabb_xy":[[-0.1820747369207489,-0.520040377703681],[-0.16256275790240113,-0.5005153095852121]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[-0.46618004402154445,1.56544068598846,0.71338606911949],"aabb_xy":[[-0.48367997745552793,1.5479406860682257],[-0.4486801105875612,1.5829406859086947]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[0.5746117934245616,-0.8902926336191384,0.71338606911949],"aabb_xy":[[0.537761245487574,-0.9277926344421722],[0.6114623413615492,-0.8527926327961047]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_15","position":[-0.5952567212397881,0.9120662338874865,0.71338606911949],"aabb_xy":[[-0.6122668185298388,0.8959317453892127],[-0.5782466239497375,0.9282007223857606]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_16","position":[-0.17445427394567847,-2.3473288148577165,0.71338606911949],"aabb_xy":[[-0.22942799598201136,-2.40232881442195],[-0.11948055190934559,-2.2923288152934838]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_17","position":[-0.2935807103377934,-1.0518475025551401,0.71338606911949],"aabb_xy":[[-0.30482576590841126,-1.0630893002792354],[-0.2823356547671756,-1.0406057048310449]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[-0.23339040065150596,-0.29283773456567763,0.71338606911949],"aabb_xy":[[-0.2708904014435014,-0.2992055755238677],[-0.19589039985951048,-0.2864698936074875]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.34483116139903197,-1.9243399300436013,0.71338606911949],"aabb_xy":[[-0.3948261723584841,-1.974339929079193],[-0.29483615043958,-1.8743399310080096]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[0.2628631480634459,-1.8911865485508792,0.71338606911949],"aabb_xy":[[0.1988631463854485,-1.9397039400301934],[0.3268631497414432,-1.842669157071565]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[0.14060951300808255,-1.8330908350031239,0.71338606911949],"aabb_xy":[[0.12393237701498702,-1.8497907589770541],[0.15728664900117803,-1.8163909110291936]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_22","position":[0.5224893714845211,-0.7813050504714567,0.71338606911949],"aabb_xy":[[0.5073870700235028,-0.7964065721025183],[0.537591672945539,-0.7662035288403947]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6636819471034094,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3104.png","name":"3104"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3104.png","name":"3104"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7022.png","name":"7022"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6385.png","name":"6385"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9256.png","name":"9256"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4670.png","name":"4670"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":501.60330733954345,"rotation_z_degrees":101.30096662405089,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009715298700619669,0.012897960389355433,-0.008479466134914784]},{"name":"camera_2","offset_m":[-0.019338849307916798,-0.005880148766432289,0.016761731676502214]},{"name":"camera_3","offset_m":[0.010516872010096576,-0.01227069855847172,0.004945696014882234]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009450593618250069,0.00028542217175903974,-0.00028967707504423896],"end_effector_yaw_offset_degrees":0.1666060317327671},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003414034913112043,0.0012296412728447993,0.0019993724424677995],"end_effector_yaw_offset_degrees":-0.8207837693968711},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009458225789762697,-0.0018232845299439517,-0.0011301957942861343],"end_effector_yaw_offset_degrees":0.8108231478438479},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008170827676344042,0.0014254727896031321,-0.0005872308928992842],"end_effector_yaw_offset_degrees":-0.7657202898191526}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002758989671359505,0.003151134217923666],"position_m":[0.17205898967135952,0.23325113421792368,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004472838131913463,-0.002768270454666654],"position_m":[0.23032716186808655,-0.36636827045466663,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004609429811368704,0.003812967288118891],"position_m":[0.1989905701886313,-0.04198703271188111,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006295496089551841,-0.0009770136706002035],"position_m":[0.33442954960895516,0.1167229863293998,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"07ed02ce3f6c5668d51ce7db76a1878b6581d8ec312f090b20ec2681e6ca425f","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0103.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3104/tex_ceiling_textures_4670/tex_floor_textures_9256/tex_table_textures_7022/tex_wall_textures_6385","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4020683347568267810,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4020683347568267810,"visual_seed":4020683347568267810,"scene_id":"lab_003","finished_at":"2026-09-04T23:25:46"}
+{"episode_id":"ep_000069","started_at":"2026-09-04T23:25:49","dimensions":{"distractor":{"count":31,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[-0.6025333824833043,0.9312528658700678,0.71338606911949],"aabb_xy":[[-0.6250298039171684,0.9087528660633204],[-0.5800369610494402,0.9537528656768153]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_1","position":[0.013251839591082226,1.7383872210033204,0.71338606911949],"aabb_xy":[[-0.0070324631323165345,1.7181045958606114],[0.03353614231448098,1.758669846146029]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[0.5627919931826497,-0.9438867558784769,0.71338606911949],"aabb_xy":[[0.5077919935609039,-0.9988704486659497],[0.6177919928043956,-0.8889030630910042]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_3","position":[0.5203976160287989,1.323097888191163,0.71338606911949],"aabb_xy":[[0.4828976162117654,1.3184596768800212],[0.5578976158458325,1.3277360995023049]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_4","position":[-0.3233669989498669,-2.0207063798535434,0.71338606911949],"aabb_xy":[[-0.3933670010812964,-2.0434683454792384],[-0.25336699681843733,-1.9979444142278473]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.45268539677889197,-0.796186690611276,0.71338606911949],"aabb_xy":[[-0.46732880233292495,-0.8108454102680601],[-0.438041991224859,-0.7815279709544917]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[0.42735829554373517,-2.515050272121255,0.71338606911949],"aabb_xy":[[0.39951325876312804,-2.5458347708595666],[0.4552033323243423,-2.484265773382943]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[0.31833956239445804,-1.3277859688759805,0.71338606911949],"aabb_xy":[[0.30646747938295693,-1.4127859685696307],[0.33021164540595915,-1.24278596918233]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[-0.471322696878795,0.6944615401815546,0.71338606911949],"aabb_xy":[[-0.48649486616042836,0.6792926832533513],[-0.4561505275971617,0.7096303971097581]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[-0.3887355209204835,-0.7911823397393198,0.71338606911949],"aabb_xy":[[-0.3963597890106618,-0.7988155632758636],[-0.38111125283030534,-0.7835491162027761]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_10","position":[0.6113453029811438,-1.744745640584302,0.71338606911949],"aabb_xy":[[0.5779051277851239,-1.778189266415232],[0.6447854781771631,-1.7113020147533717]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[-0.10812936942112616,-0.22581810456641271,0.71338606911949],"aabb_xy":[[-0.14312936855108183,-0.23156332564207682],[-0.07312937029117049,-0.2200728834907486]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_12","position":[0.30181814284497666,-0.6721288937335226,0.71338606911949],"aabb_xy":[[0.21181814312180244,-0.6952022462687023],[0.3918181425681508,-0.6490555411983426]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_13","position":[0.6356366550562038,-0.4959041486592035,0.71338606911949],"aabb_xy":[[0.6221901284221604,-0.5093740003122946],[0.649083181690247,-0.48243429700611223]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[0.3121461340643843,-0.5391843891340056,0.71338606911949],"aabb_xy":[[0.277146134871566,-0.5501514351316681],[0.3471461332572025,-0.5282173431363428]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[-0.1738398393792452,-2.5447673360076006,0.71338606911949],"aabb_xy":[[-0.21087394880730487,-2.57914454334131],[-0.13680572995118545,-2.510390128673891]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_16","position":[0.6209631391459352,-1.4785773724284221,0.71338606911949],"aabb_xy":[[0.5738337601440993,-1.5425773734728236],[0.6680925181477706,-1.4145773713840197]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[0.14592292097774262,-2.1961540179727335,0.71338606911949],"aabb_xy":[[0.11346122009581512,-2.226286850087636],[0.17838462185967002,-2.16602118585783]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_18","position":[0.6678699177143137,0.7128936997694857,0.71338606911949],"aabb_xy":[[0.637902360804488,0.6828936994716001],[0.6978374746241394,0.7428937000673715]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.05808408627950923,-2.2871979591695557,0.71338606911949],"aabb_xy":[[-0.10807909723896127,-2.3371979582051474],[-0.008089075320057192,-2.237197960133964]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[0.4201956382113894,-0.06192048210857681,0.71338606911949],"aabb_xy":[[0.407568850924193,-0.07146655581014971],[0.4328224254985857,-0.05237440840700391]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[0.5867477095162394,-0.5839569900513104,0.71338606911949],"aabb_xy":[[0.5167477131062775,-0.6043949257029919],[0.6567477059262011,-0.5635190543996285]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_22","position":[-0.4876308279560565,1.4754059648798603,0.71338606911949],"aabb_xy":[[-0.572630826648131,1.4434201014849815],[-0.4026308292639818,1.5073918282747392]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[-0.4199194326420293,-1.720228602473933,0.71338606911949],"aabb_xy":[[-0.4698924981745448,-1.7702286022864664],[-0.36994636710951384,-1.6702286026614006]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_24","position":[-0.30179992435246505,-0.47353209221934645,0.71338606911949],"aabb_xy":[[-0.38179992131550416,-0.5506077338631199],[-0.22179992738942583,-0.396456450575573]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[0.48874037289236005,0.2618528314680284,0.71338606911949],"aabb_xy":[[0.47788876664348445,0.2509935407403774],[0.49959197914123565,0.2727121221956794]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_26","position":[-0.661729975918974,-2.135412453645659,0.71338606911949],"aabb_xy":[[-0.6651706521590312,-2.1392738866200234],[-0.6582892996789168,-2.1315510206712944]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_27","position":[-0.3995544884921692,-2.3709203444344804,0.71338606911949],"aabb_xy":[[-0.41046026457973184,-2.450920340833309],[-0.3886487124046064,-2.290920348035651]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[-0.6440684992288765,-0.6141412362466121,0.71338606911949],"aabb_xy":[[-0.6615684994739259,-0.6316410240861788],[-0.6265684989838272,-0.5966414484070451]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_29","position":[-0.20929005291456898,-1.2290083648553782,0.71338606911949],"aabb_xy":[[-0.22013053114108383,-1.246194646146027],[-0.19844957468805402,-1.2118220835647295]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_30","position":[0.5775877933944376,0.8571615655724751,0.71338606911949],"aabb_xy":[[0.5175877927984214,0.8023490930272518],[0.6375877939904537,0.9119740381176987]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6684278290750857,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3736.png","name":"3736"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3736.png","name":"3736"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3947.png","name":"3947"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/696.png","name":"696"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3425.png","name":"3425"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8872.png","name":"8872"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":549.9927950609957,"rotation_z_degrees":200.39511821284108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004612630886626078,0.017484382186982044,0.01974770043407043]},{"name":"camera_2","offset_m":[0.005848987220334171,-0.018685321617858314,0.017097018235283788]},{"name":"camera_3","offset_m":[0.014626964690161847,0.006453450552280082,0.0024628113811250747]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[4.15391978788671e-06,-0.0018750725498028471,-0.000945980760326472],"end_effector_yaw_offset_degrees":0.13308433012123833},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00035369242866299146,-0.0013409019388102923,0.0003234478974815042],"end_effector_yaw_offset_degrees":0.599816045066919},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001120677987997571,0.001929263499213258,0.0006712035017056792],"end_effector_yaw_offset_degrees":0.5698701786337748},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011011102679206225,3.100930591576692e-05,-0.00032109070136804763],"end_effector_yaw_offset_degrees":0.8824997127992218}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036566757026986777,0.0018033319352742574],"position_m":[0.16564332429730133,0.23190333193527427,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032461071193893966,0.0003576390590548841],"position_m":[0.2380461071193894,-0.3632423609409451,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005770117682436515,-0.0019339364892317478],"position_m":[0.20302298823175635,-0.04773393648923175,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004120022946852818,9.035866821258468e-05],"position_m":[0.32967997705314717,0.11779035866821258,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba81447287c123e584404af59cd089e42deeb3e1bb42d10ffa4f2dd33e990b14","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0104.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3736/tex_ceiling_textures_8872/tex_floor_textures_3425/tex_table_textures_3947/tex_wall_textures_696","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1407973040812584412,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1407973040812584412,"visual_seed":1407973040812584412,"scene_id":"lab_003","finished_at":"2026-09-04T23:29:40"}
+{"episode_id":"ep_000070","started_at":"2026-09-04T23:29:43","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.5956471326050463,-1.3421430285970664,0.71338606911949],"aabb_xy":[[-0.6028908986512916,-1.4221430268006687],[-0.588403366558801,-1.262143030393464]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[-0.10249914973475294,-0.7714047615575477,0.71338606911949],"aabb_xy":[[-0.18249915116488014,-0.850921916570157],[-0.022499148304625752,-0.6918876065449381]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[-0.2708638179749249,0.2785940497032011,0.71338606911949],"aabb_xy":[[-0.3358638206127184,0.22711445100375416],[-0.20586381533713144,0.3300736484026481]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[0.34625063764727426,1.3469050885261256,0.71338606911949],"aabb_xy":[[0.2662568140687161,1.266905085933284],[0.42624446122583254,1.4269050911189671]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_4","position":[-0.6044934108930456,0.19977939332980288,0.71338606911949],"aabb_xy":[[-0.6203779041583708,0.18542645303097882],[-0.5886089176277205,0.21413233362862694]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_5","position":[0.09537938017384795,1.5093504998990865,0.71338606911949],"aabb_xy":[[0.011657154673765477,1.4193504963643904],[0.1791016056739304,1.5993505034337823]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[0.05771882512600168,-0.7739812901377703,0.71338606911949],"aabb_xy":[[0.052819532819438186,-0.801658209440339],[0.06261811743256518,-0.7463043708352015]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[0.19080953615427543,-2.1523000659607594,0.71338606911949],"aabb_xy":[[0.12080953434553002,-2.1736538347249468],[0.26080953796302087,-2.130946297196572]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[-0.5009298598954686,-1.754343582248529,0.71338606911949],"aabb_xy":[[-0.523429859419176,-1.7768395296991497],[-0.4784298603717612,-1.7318476347979082]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_9","position":[-0.4618796250795476,-1.5703476358586226,0.71338606911949],"aabb_xy":[[-0.5118638607877248,-1.6203476346721182],[-0.41189538937137044,-1.520347637045127]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[-0.10901820957372088,1.254839278458129,0.71338606911949],"aabb_xy":[[-0.14401820946973976,1.2464650429461888],[-0.07401820967770201,1.2632135139700689]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[-0.051967331327587796,-1.4988109453665606,0.71338606911949],"aabb_xy":[[-0.11596733461729591,-1.5421458643704782],[0.012032671962120314,-1.455476026362643]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[-0.6731605523171851,0.5725956948994724,0.71338606911949],"aabb_xy":[[-0.6802008622507222,0.4925956954998011],[-0.6661202423836482,0.6525956942991439]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.08428520265240724,1.7530608059593518,0.71338606911949],"aabb_xy":[[-0.08892031780464062,1.7491934708822028],[-0.07965008750017384,1.7569281410365003]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[0.09753226691505157,-1.6693771879224046,0.71338606911949],"aabb_xy":[[0.08438102094376221,-1.6943771876790914],[0.11068351288634094,-1.6443771881657183]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[-0.4954964332298475,1.6442646963068657,0.71338606911949],"aabb_xy":[[-0.5404890199482979,1.5992646970324167],[-0.45050384651139713,1.6892646955813142]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_16","position":[-0.34411226266431866,0.6160754034226525,0.71338606911949],"aabb_xy":[[-0.389390877545468,0.5520754040744689],[-0.29883364778316945,0.6800754027708362]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[0.26941995212426106,-1.2153434775118452,0.71338606911949],"aabb_xy":[[0.21944114361394518,-1.265343477517564],[0.31939876063457695,-1.1653434775061264]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_18","position":[-0.2761820207600022,-0.10510091449324044,0.71338606911949],"aabb_xy":[[-0.2863350363141515,-0.14117045606598075],[-0.26602900520585276,-0.06903137292050009]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[-0.3429016945733061,1.0263372468478305,0.71338606911949],"aabb_xy":[[-0.346604955902445,1.0226352285391125],[-0.3391984332441672,1.030039265156548]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[-0.2512329415443664,1.2027588156416402,0.71338606911949],"aabb_xy":[[-0.25993090383508166,1.1906338413341655],[-0.24253497925365108,1.214883789949115]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6651713573626183,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1813.png","name":"1813"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1813.png","name":"1813"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1269.png","name":"1269"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2097.png","name":"2097"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8295.png","name":"8295"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2110.png","name":"2110"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":757.2636372202155,"rotation_z_degrees":233.31782192397662,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013771329557262912,0.008800141521122504,-0.002891807534359435]},{"name":"camera_2","offset_m":[0.014162691295672294,-0.013891809680019133,-0.006708250131891372]},{"name":"camera_3","offset_m":[-0.009764001678631704,-0.0007722663979207942,0.013637444304866232]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007439310669064849,-0.0010655305628906831,0.00023192979563439525],"end_effector_yaw_offset_degrees":0.9601488068436626},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0001958640584625896,0.0006183073722324382,0.0016468262198013743],"end_effector_yaw_offset_degrees":-0.05893315140915156},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00016016639382337278,-0.001287901112888426,-0.00040134714259211545],"end_effector_yaw_offset_degrees":0.3427550159892869},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00020831553980047227,-0.0009501173245801402,-0.0005641892562884023],"end_effector_yaw_offset_degrees":0.9743569200823194}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0022405986478645137,0.002017569117853728],"position_m":[0.17154059864786453,0.23211756911785372,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003396425988349945,-0.003840317590107637],"position_m":[0.23140357401165007,-0.3674403175901076,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005864879932443497,0.0006898889828710376],"position_m":[0.20418648799324435,-0.04511011101712896,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004778811947178734,0.004984886638716996],"position_m":[0.32902118805282127,0.12268488663871699,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"56cbd538ac60c53fc06486534df9be783c4b2bb3b6f5c3f559212fb9469586d9","episode_index":105,"episode_name":"episode_0105"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0105.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1813/tex_ceiling_textures_2110/tex_floor_textures_8295/tex_table_textures_1269/tex_wall_textures_2097","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3475178658838582850,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3475178658838582850,"visual_seed":3475178658838582850,"scene_id":"lab_003","finished_at":"2026-09-04T23:33:46"}
+{"episode_id":"ep_000071","started_at":"2026-09-04T23:33:50","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[-0.6129766540373351,0.7391184277568525,0.71338606911949],"aabb_xy":[[-0.6769766562577422,0.6947453436315641],[-0.5489766518169281,0.7834915118821407]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_1","position":[-0.5939552986851695,-1.9192087875162187,0.71338606911949],"aabb_xy":[[-0.6839552951860411,-1.9651204299346767],[-0.5039553021842976,-1.8732971450977602]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_2","position":[-0.5209499079508207,-1.299618837741925,0.71338606911949],"aabb_xy":[[-0.5250857642835209,-1.337118837186282],[-0.5168140516181206,-1.262118838297568]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_3","position":[0.41851687644624946,1.3348426921172538,0.71338606911949],"aabb_xy":[[0.3685168750853622,1.2848647875418382],[0.46851687780713663,1.3848205966926694]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.503308143658159,-1.9219268231716797,0.71338606911949],"aabb_xy":[[0.4754631068775519,-1.9527113219099914],[0.5311531804387661,-1.891142324433368]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[-0.23168004445269863,0.3855290690192099,0.71338606911949],"aabb_xy":[[-0.24878212241106681,0.36842226348794016],[-0.2145779664943305,0.40263587455047967]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[-0.20138365435005767,-0.864108874982048,0.71338606911949],"aabb_xy":[[-0.2653836535198276,-0.9108755621010105],[-0.13738365518028775,-0.8173421878630855]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[-0.1780820599713855,0.9056402498924916,0.71338606911949],"aabb_xy":[[-0.23808206022278666,0.8513589248560268],[-0.11808205971998431,0.9599215749289561]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_8","position":[0.562548244723611,1.3811302173790234,0.71338606911949],"aabb_xy":[[0.5517752708022433,1.3461302191599842],[0.5733212186449789,1.4161302155980622]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[-0.3056428404627966,-1.8868752167475487,0.71338606911949],"aabb_xy":[[-0.3606350910983076,-1.9418752184908619],[-0.2506505898272857,-1.8318752150042363]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[0.2731172847556901,-1.0015909880884402,0.71338606911949],"aabb_xy":[[0.21812407341855333,-1.056590988427234],[0.32811049609282683,-0.9465909877496468]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[0.07000083229570242,-2.0971512953386275,0.71338606911949],"aabb_xy":[[0.0060008290059943145,-2.140486214342545],[0.13400083558541054,-2.05381637633471]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[0.44554759532269905,-2.238365073720876,0.71338606911949],"aabb_xy":[[0.40278088844327886,-2.302365077142678],[0.48831430220211924,-2.174365070299073]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_13","position":[-0.17407811970958054,1.533475118672563,0.71338606911949],"aabb_xy":[[-0.2115781203741592,1.5177880606723406],[-0.1365781190450018,1.549162176672785]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_14","position":[-0.40684354715953497,-0.945804305221233,0.71338606911949],"aabb_xy":[[-0.4768435489682804,-0.9671580739854203],[-0.33684354535078953,-0.9244505364570456]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_15","position":[-0.4878770821972087,1.3183613329975064,0.71338606911949],"aabb_xy":[[-0.5030399551741459,1.3031958757023876],[-0.47271420922027174,1.333526790292625]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[0.6316388672461688,-0.8060686183982395,0.71338606911949],"aabb_xy":[[0.6181923406121254,-0.8195384700513307],[0.645085393880212,-0.7925987667451483]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[0.005028781590135423,1.8234779057902002,0.71338606911949],"aabb_xy":[[-0.0010082314105293035,1.8174512047212523],[0.01106579459080015,1.8295046068591485]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[-0.2549922566470854,-0.46110710720195636,0.71338606911949],"aabb_xy":[[-0.34499225898110447,-0.538589461787069],[-0.16499225431306636,-0.38362475261684365]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_19","position":[-0.22947930193157146,-2.48309408098872,0.71338606911949],"aabb_xy":[[-0.24705760412051828,-2.500668570562825],[-0.21190099974262458,-2.465519591414615]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[0.24804738386551806,-1.717679814759148,0.71338606911949],"aabb_xy":[[0.2443441225363792,-1.7213818330678659],[0.25175064519465695,-1.7139777964504304]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[0.5345340231375799,-0.7278061282513895,0.71338606911949],"aabb_xy":[[0.4970340231938135,-0.7360992182862262],[0.5720340230813463,-0.719513038216553]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[0.07861370349718633,-1.6127458618453954,0.71338606911949],"aabb_xy":[[0.04429742632256839,-1.662745861818573],[0.11292998067180426,-1.5627458618722176]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_23","position":[0.5242288792530354,-2.492945396441412,0.71338606911949],"aabb_xy":[[0.46022887854956607,-2.5389637789143333],[0.5882288799565047,-2.4469270139684913]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_24","position":[-0.11894968420680829,-0.024759373593284728,0.71338606911949],"aabb_xy":[[-0.12773091135404452,-0.033539120881814884],[-0.11016845705957208,-0.015979626304754583]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_25","position":[-0.3354938747730738,-1.2140013293678242,0.71338606911949],"aabb_xy":[[-0.42549387336754374,-1.2302519156812453],[-0.24549387617860385,-1.1977507430544032]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[-0.4211352937945599,0.9595080158774301,0.71338606911949],"aabb_xy":[[-0.4430250413835007,0.8695080185881809],[-0.3992455462056191,1.0495080131666792]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_27","position":[0.34266066067833734,-0.30629340233315183,0.71338606911949],"aabb_xy":[[0.33324318610847453,-0.31570957947087086],[0.35207813524820003,-0.2968772251954328]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_28","position":[0.6510001504310077,0.2657371372947539,0.71338606911949],"aabb_xy":[[0.5870001483812757,0.225642654205446],[0.7150001524807397,0.3058316203840619]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_29","position":[0.6758066715973376,-0.3279738543954558,0.71338606911949],"aabb_xy":[[0.645408560498194,-0.35838075639712524],[0.7062047826964811,-0.2975669523937862]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_30","position":[0.2853393806981849,1.548747133716287,0.71338606911949],"aabb_xy":[[0.24783938052631294,1.51604639833338],[0.3228393808700568,1.5814478690991944]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_31","position":[-0.4194983200255981,-2.4710449878780842,0.71338606911949],"aabb_xy":[[-0.4416708470022489,-2.493220655034207],[-0.3973257930489472,-2.4488693207219607]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6666431254501048,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9354.png","name":"9354"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9354.png","name":"9354"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/689.png","name":"689"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6400.png","name":"6400"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5023.png","name":"5023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4999.png","name":"4999"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":832.9452611033041,"rotation_z_degrees":52.445142186291754,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007594534535478387,0.005454915113456658,-0.016173649831074867]},{"name":"camera_2","offset_m":[0.007607791384004522,-0.0021331291910012713,0.01543559357773561]},{"name":"camera_3","offset_m":[0.010153402162148578,0.013213118457233549,0.0007285974102173368]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-7.734668477241374e-05,-0.0014922662407168242,-0.0016403731846535829],"end_effector_yaw_offset_degrees":0.376913705700453},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005721500367434102,0.0005177132790042537,-0.00041005350699153845],"end_effector_yaw_offset_degrees":-0.12625178129704206},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014878858521546188,0.0005684846770365373,-0.0012137231858590477],"end_effector_yaw_offset_degrees":-0.04962069829971161},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013084883173723433,0.0012353126774059808,0.000707070435273776],"end_effector_yaw_offset_degrees":-0.02536774900711536}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004942021809313644,0.0035905241834459497],"position_m":[0.17424202180931364,0.23369052418344594,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020191184016463207,0.001746748393287879],"position_m":[0.23681911840164632,-0.3618532516067121,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004305649455186176,0.002724541172876848],"position_m":[0.2079056494551862,-0.04307545882712315,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003656150213711664,0.00264244493347631],"position_m":[0.33745615021371167,0.1203424449334763,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ae4d6b9f7f47c098c1f7b110eb55ae3b5a13a40bc9429bdcd306eb13072f8ed6","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0106.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9354/tex_ceiling_textures_4999/tex_floor_textures_5023/tex_table_textures_689/tex_wall_textures_6400","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4503694380071483818,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4503694380071483818,"visual_seed":4503694380071483818,"scene_id":"lab_003","finished_at":"2026-09-04T23:37:46"}
+{"episode_id":"ep_000072","started_at":"2026-09-04T23:37:49","dimensions":{"distractor":{"count":35,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[-0.6254906778717331,0.8101556828854215,0.71338606911949],"aabb_xy":[[-0.6342046469216673,0.7876556822262331],[-0.6167767088217984,0.8326556835446095]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[0.6400874558422418,-1.6751977485671312,0.71338606911949],"aabb_xy":[[0.5901045056547624,-1.7251977482096912],[0.690070406029721,-1.6251977489245704]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[0.1021028356537621,1.3877772977576996,0.71338606911949],"aabb_xy":[[0.09275582807146689,1.3734736755400558],[0.11144984323605735,1.402080919975344]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_3","position":[0.48376999906095164,0.08924932507158445,0.71338606911949],"aabb_xy":[[0.4491789162069063,0.02424932478655339],[0.5183610819149966,0.15424932535661548]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_4","position":[-0.39282086208424627,0.06730245777745347,0.71338606911949],"aabb_xy":[[-0.4046929450957473,-0.01769754191619688],[-0.3809487790727451,0.15230245747110382]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[0.34540266293626853,-1.5090942301066534,0.71338606911949],"aabb_xy":[[0.33670470064555325,-1.5212192044141284],[0.3541006252269838,-1.4969692557991787]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_6","position":[-0.32590058370284125,-0.39071794724624187,0.71338606911949],"aabb_xy":[[-0.3899005859232483,-0.43509103137153016],[-0.2619005814824342,-0.3463448631209536]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_7","position":[-0.5630432671211718,-0.22188496972532068,0.71338606911949],"aabb_xy":[[-0.5710796018224568,-0.22992308902973746],[-0.5550069324198871,-0.2138468504209039]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.08112457711176035,-0.5966173050091779,0.71338606911949],"aabb_xy":[[-0.0887488452019386,-0.6042505285457216],[-0.07350030902158211,-0.5889840814726341]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[0.4596042449307718,0.9438035864620651,0.71338606911949],"aabb_xy":[[0.3796042446571648,0.8708540386363484],[0.5396042452043788,1.0167531342877818]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[0.4985340449468063,-1.6031444424636536,0.71338606911949],"aabb_xy":[[0.45354145822835584,-1.6481444417381024],[0.5435266316652567,-1.5581444431892049]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[0.4021968951237753,-0.48020096923418665,0.71338606911949],"aabb_xy":[[0.35220206219583367,-0.5302009681294302],[0.45219172805171687,-0.43020097033894306]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_12","position":[0.3613427415530399,-0.5967072323418785,0.71338606911949],"aabb_xy":[[0.3363427420013014,-0.6068497162070132],[0.38634274110477834,-0.5865647484767438]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[0.6300711795764349,-2.255147260718638,0.71338606911949],"aabb_xy":[[0.6192195733275592,-2.2660065514462886],[0.6409227858253104,-2.244287969990987]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_14","position":[0.5066615727927606,-0.19927085463467664,0.71338606911949],"aabb_xy":[[0.46916157229540234,-0.20323953818279505],[0.5441615732901188,-0.19530217108655823]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[-0.6850742572760609,1.6409443418325433,0.71338606911949],"aabb_xy":[[-0.6932019454693742,1.6320307334218356],[-0.6769465690827478,1.649857950243251]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_16","position":[0.4598975197969337,1.1729030778321294,0.71338606911949],"aabb_xy":[[0.42560060877919303,1.1386061916221877],[0.4941944308146743,1.2071999640420703]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[0.563643988875038,-1.0408404592385183,0.71338606911949],"aabb_xy":[[0.4739569125669224,-1.1308404594929689],[0.6533310651831533,-0.9508404589840678]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[0.028403975585332586,0.7590011916770267,0.71338606911949],"aabb_xy":[[-0.009096024520260365,0.7521790298240457],[0.06590397569092553,0.765823353530008]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_19","position":[0.5631048548809643,-2.0761173402372743,0.71338606911949],"aabb_xy":[[0.49810485392383713,-2.12806555217098],[0.6281048558380915,-2.0241691283035688]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.27954092824809545,0.7738572142398019,0.71338606911949],"aabb_xy":[[-0.3290213494620543,0.7098572163269502],[-0.23006050703413672,0.8378572121526539]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[-0.02400993259748374,1.1302152400901475,0.71338606911949],"aabb_xy":[[-0.0615099329457115,1.118423844509064],[0.013490067750744017,1.142006635671231]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[0.4628970481972303,-2.358177620291932,0.71338606911949],"aabb_xy":[[0.40789704999548543,-2.398699586918369],[0.517897046398975,-2.317655653665494]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_23","position":[-0.06403272563718843,-2.1025247499964967,0.71338606911949],"aabb_xy":[[-0.11403272658772122,-2.1340738970000177],[-0.014032724686655604,-2.070975602992975]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_24","position":[0.44186580343360116,-1.7596182378476026,0.71338606911949],"aabb_xy":[[0.4344533478922127,-1.7654694482692308],[0.44927825897498963,-1.753767027425975]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[0.5416721740843056,-1.9128443785838711,0.71338606911949],"aabb_xy":[[0.5180870506204108,-1.977844380829303],[0.5652572975482005,-1.8478443763384393]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_26","position":[-0.1204224544538467,0.9010190776387148,0.71338606911949],"aabb_xy":[[-0.14292245496588726,0.8785272192733163],[-0.09792245394180607,0.923510936004113]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[-0.10729186495347043,1.6506932118917734,0.71338606911949],"aabb_xy":[[-0.1972918672874895,1.5732108573066608],[-0.017291862619451356,1.728175566476886]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_28","position":[-0.07781875462685972,0.43805661121011985,0.71338606911949],"aabb_xy":[[-0.14781875643560516,0.4167028424459324],[-0.007818752818114269,0.45941037997430717]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_29","position":[0.289179654112228,-2.4236853942312555,0.71338606911949],"aabb_xy":[[0.2523850209873217,-2.460591269327838],[0.32597428723713423,-2.3867795191346732]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_30","position":[0.26398212356140316,0.6252416196715291,0.71338606911949],"aabb_xy":[[0.25111022006046296,0.5452416192576929],[0.27685402706234324,0.7052416200853652]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_31","position":[-0.2442541157908445,-0.6968933625532805,0.71338606911949],"aabb_xy":[[-0.3242541128050924,-0.7170279142266917],[-0.16425411877659649,-0.6767588108798691]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_32","position":[-0.24650283503208464,-1.2988793926961395,0.71338606911949],"aabb_xy":[[-0.31050283825072256,-1.3456025045951479],[-0.18250283181344681,-1.2521562807971311]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_33","position":[0.4790194288795866,1.3324631137369343,0.71338606911949],"aabb_xy":[[0.442168880942599,1.2949631129139005],[0.5158699768165742,1.369963114559968]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_34","position":[0.10802853224107212,-1.9422699798616214,0.71338606911949],"aabb_xy":[[0.10171643270473368,-1.9480369191148408],[0.11434063177741055,-1.936503040608403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680033564541592,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5282.png","name":"5282"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5282.png","name":"5282"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3341.png","name":"3341"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/266.png","name":"266"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9880.png","name":"9880"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6806.png","name":"6806"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":555.9750487208898,"rotation_z_degrees":28.342461304319606,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015402613723913949,0.015363822676814787,0.010872022184010687]},{"name":"camera_2","offset_m":[-0.006601560468168004,-0.01119321877663884,0.01994967781137409]},{"name":"camera_3","offset_m":[0.012129255752667493,0.005990682963951617,-0.0052916529775428565]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018877854362213348,0.0004266924225308933,-0.0006590948406187058],"end_effector_yaw_offset_degrees":0.754490057762365},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001399082690316029,0.0006436089616880867,0.0008268018324959214],"end_effector_yaw_offset_degrees":0.1682439494328669},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003926888638653464,-0.00023168071244785175,0.0014371944782804102],"end_effector_yaw_offset_degrees":0.59859189619598},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000498410644331889,0.000533410562527772,-0.0015602445343496588],"end_effector_yaw_offset_degrees":0.9949962808806097}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0029270590664527566,0.004522732307642563],"position_m":[0.17222705906645278,0.23462273230764255,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010280643243818699,-0.0022714365040594742],"position_m":[0.2358280643243819,-0.36587143650405946,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013028285883042957,-0.0025648332308601343],"position_m":[0.2022971714116957,-0.04836483323086013,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00268349444186489,0.0021555266781894903],"position_m":[0.33648349444186487,0.1198555266781895,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7aabb49e1de2cf8f14b9a4e98f8aefaa72ca3a139a2a154d6e78b9d569e9530b","episode_index":107,"episode_name":"episode_0107"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0107.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5282/tex_ceiling_textures_6806/tex_floor_textures_9880/tex_table_textures_3341/tex_wall_textures_266","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4517655914446293374,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4517655914446293374,"visual_seed":4517655914446293374,"scene_id":"lab_003","finished_at":"2026-09-04T23:41:41"}
+{"episode_id":"ep_000073","started_at":"2026-09-04T23:41:45","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_0","position":[0.5230804282604185,-1.397479398685266,0.71338606911949],"aabb_xy":[[0.4430804312973792,-1.4745550403290393],[0.6030804252234575,-1.3204037570414924]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[-0.15303418138790226,-1.6866275987474997,0.71338606911949],"aabb_xy":[[-0.17554787321135945,-1.7566275993485072],[-0.13052048956444506,-1.6166275981464922]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_2","position":[0.16134496559547407,-2.2964789718977925,0.71338606911949],"aabb_xy":[[0.12484914496819532,-2.33296291432455],[0.1978407862227528,-2.259995029471035]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[0.5216080156431957,1.4940841754702014,0.71338606911949],"aabb_xy":[[0.4983261734450643,1.4090841741729734],[0.5448898578413269,1.5790841767674295]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[-0.4938648931922112,-2.421687364624041,0.71338606911949],"aabb_xy":[[-0.5438648945530984,-2.4716652691994563],[-0.443864891831324,-2.371709460048625]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_5","position":[0.1914019215144135,1.2020330161656578,0.71338606911949],"aabb_xy":[[0.17385522659829458,1.1645330146014066],[0.20894861643053245,1.239533017729909]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_6","position":[-0.210156449083084,-2.0002804036225847,0.71338606911949],"aabb_xy":[[-0.24461879648122578,-2.0347742860204066],[-0.17569410168494218,-1.9657865212247614]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[-0.03678195092673653,-1.840391889592116,0.71338606911949],"aabb_xy":[[-0.10078195297646853,-1.880486372681424],[0.027218051122995468,-1.8002974065028081]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[0.34509299778200475,1.633680599060456,0.71338606911949],"aabb_xy":[[0.28109299740447113,1.5839353322096437],[0.40909299815953837,1.6834258659112682]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.12624041729139723,-1.3639570178724927,0.71338606911949],"aabb_xy":[[0.10332470440634733,-1.3868613150089164],[0.14915613017644713,-1.3410527207360694]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_10","position":[-0.5845121166244177,-0.7743346102237205,0.71338606911949],"aabb_xy":[[-0.6156590354680008,-0.8443346089105276],[-0.5533651977808346,-0.7043346115369132]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[0.1538085295434103,-1.562221235858009,0.71338606911949],"aabb_xy":[[0.14822685790928153,-1.5747212356757843],[0.15939020117753905,-1.5497212360402333]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_12","position":[-0.06107545420547189,-2.0030238407612755,0.71338606911949],"aabb_xy":[[-0.06603147439035309,-2.0255238409633978],[-0.0561194340205907,-1.9805238405591543]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[0.025887035707348183,1.1646798921563732,0.71338606911949],"aabb_xy":[[-0.03174343317992266,1.1046798932296624],[0.08351750459461903,1.2246798910830836]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[-0.38493747745510665,-1.7731290261864132,0.71338606911949],"aabb_xy":[[-0.448937474757453,-1.8174954531542697],[-0.3209374801527602,-1.7287625992185562]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[0.424700713163092,1.0544494867123153,0.71338606911949],"aabb_xy":[[0.3597007146060192,1.0246969532984327],[0.4897007117201649,1.084202020126198]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_16","position":[0.4720830630121795,0.6535045079366713,0.71338606911949],"aabb_xy":[[0.4220830617283395,0.603525653546049],[0.5220830642960194,0.7034833623272932]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_17","position":[-0.5960565305657628,-2.137854797632716,0.71338606911949],"aabb_xy":[[-0.6135565297001299,-2.1477344246703036],[-0.5785565314313955,-2.127975170595128]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[0.3211727242382656,0.8389711059613498,0.71338606911949],"aabb_xy":[[0.30794177870358425,0.8257436869393503],[0.33440366977294683,0.8521985249833491]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[0.6797038453999276,-0.5613516727544017,0.71338606911949],"aabb_xy":[[0.6677711110380996,-0.573733825562261],[0.6916365797617557,-0.5489695199465423]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[-0.12093386354476776,-1.4803484149825952,0.71338606911949],"aabb_xy":[[-0.15437403874078737,-1.5137920408135253],[-0.08749368834874816,-1.446904789151665]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6677679793178443,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9848.png","name":"9848"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9848.png","name":"9848"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2379.png","name":"2379"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7758.png","name":"7758"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/256.png","name":"256"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8724.png","name":"8724"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":800.9395276448454,"rotation_z_degrees":352.62126327668483,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01577164638753045,0.0013952047898810292,0.0043930567149018974]},{"name":"camera_2","offset_m":[0.007925247601889028,0.00474544759149988,0.014338241573134288]},{"name":"camera_3","offset_m":[-0.002144161618795829,-0.00028355389000153317,0.00012177662999051861]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012211374404961445,0.0010670636491825506,4.076203824780354e-05],"end_effector_yaw_offset_degrees":0.40224811727929777},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001113908528186271,-0.0003711169372635377,-0.0002938477892784799],"end_effector_yaw_offset_degrees":-0.7207686954625665},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00014069935939634796,-0.0016281312596976702,-0.0016833814060905016],"end_effector_yaw_offset_degrees":0.36393825555086656},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010953287059219845,0.0008748630094746815,-0.001134661663002017],"end_effector_yaw_offset_degrees":0.5346471653824316}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003851177612810462,0.0008047786830331404],"position_m":[0.17315117761281046,0.23090477868303314,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003677199823932233,0.002242301080009208],"position_m":[0.23847719982393223,-0.36135769891999076,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001437426197667768,-0.004907718952143509],"position_m":[0.20503742619766777,-0.05070771895214351,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017854621799371874,-0.004445750066082452],"position_m":[0.3320145378200628,0.11325424993391754,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b27435f5cf1b3a5a16aa1f04f06c054647d7dab31aceb285f8184f1de60886e8","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0108.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9848/tex_ceiling_textures_8724/tex_floor_textures_256/tex_table_textures_2379/tex_wall_textures_7758","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3732070619622460919,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3732070619622460919,"visual_seed":3732070619622460919,"scene_id":"lab_003","finished_at":"2026-09-04T23:45:29"}
+{"episode_id":"ep_000074","started_at":"2026-09-04T23:45:32","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[0.19257002741848672,-0.6761681431326181,0.71338606911949],"aabb_xy":[[0.1425969618859713,-0.726168142945151],[0.24254309295100224,-0.6261681433200852]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[-0.4595286546765255,-2.032116205405238,0.71338606911949],"aabb_xy":[[-0.46723184535060236,-2.039825576103976],[-0.4518254640024483,-2.0244068347065]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[0.3537905507808792,-1.0887081999564816,0.71338606911949],"aabb_xy":[[0.28379055437091727,-1.1091461356081629],[0.42379054719084086,-1.0682702643047994]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[-0.36622428625955117,0.9444715710313365,0.71338606911949],"aabb_xy":[[-0.40355556278479376,0.9098185162364841],[-0.3288930097343086,0.9791246258261886]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.13048867444072498,0.24974064586669575,0.71338606911949],"aabb_xy":[[-0.1679886747328998,0.2456991704660922],[-0.09298867414855017,0.2537821212672994]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_5","position":[-0.5172390145295509,1.4450170425580233,0.71338606911949],"aabb_xy":[[-0.567239014890117,1.3950370553484202],[-0.4672390141689849,1.494997029767626]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_6","position":[0.5124931294103585,-0.15376900534784177,0.71338606911949],"aabb_xy":[[0.5052493633641132,-0.23376900355144412],[0.5197368954566038,-0.07376900714423937]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_7","position":[-0.5625245595176924,-0.36579267283973715,0.71338606911949],"aabb_xy":[[-0.571818177754843,-0.40329267132787106],[-0.5532309412805418,-0.32829267435160325]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[-0.41901273032586805,-1.0489055106062062,0.71338606911949],"aabb_xy":[[-0.4558073634507744,-1.0858113857027885],[-0.38221809720096184,-1.011999635509624]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[-0.2128129182254605,0.6589424660734262,0.71338606911949],"aabb_xy":[[-0.27681292013780284,0.6030313168154159],[-0.14881291631311816,0.7148536153314368]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_10","position":[0.6504715828692074,-2.5186086216586796,0.71338606911949],"aabb_xy":[[0.6358281773151744,-2.5332673413154634],[0.6651149884232403,-2.503949902001895]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[0.1384095953670076,0.9254911676435613,0.71338606911949],"aabb_xy":[[0.12323742608537425,0.9103223107153581],[0.15358176464864093,0.9406600245717648]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[-0.6500706053526677,-0.20962778763367718,0.71338606911949],"aabb_xy":[[-0.6671726833110357,-0.22673459316494696],[-0.6329685273942994,-0.19252098210240745]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_13","position":[-0.14754486384650445,1.7012632319042154,0.71338606911949],"aabb_xy":[[-0.1601475629835809,1.68866783567935],[-0.134942164709428,1.713858628129081]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_14","position":[0.5053430930624048,0.7174055076461463,0.71338606911949],"aabb_xy":[[0.4808294689653989,0.6931409143441098],[0.5298567171594106,0.7416701009481828]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_15","position":[0.5210229337215975,-1.3186080844081394,0.71338606911949],"aabb_xy":[[0.4560229327644702,-1.370556296341845],[0.5860229346787246,-1.2666598724744338]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[-0.5160876934255958,-0.6465476818904943,0.71338606911949],"aabb_xy":[[-0.5517168493255556,-0.6821803486473472],[-0.48045853752563616,-0.6109150151336413]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_17","position":[0.43880073753676796,-2.3338721265403617,0.71338606911949],"aabb_xy":[[0.40380073834394953,-2.3448391725380233],[0.47380073672958606,-2.3229050805426983]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_18","position":[-0.3361202991304794,-2.4684994700566443,0.71338606911949],"aabb_xy":[[-0.3487470864176757,-2.478045543758217],[-0.323493511843283,-2.4589533963550716]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[0.08508965729740303,-2.191239641074831,0.71338606911949],"aabb_xy":[[0.025089655654481166,-2.2432397903667756],[0.14508965894032488,-2.139239491782887]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[-0.5928160183761261,0.052832164983478425,0.71338606911949],"aabb_xy":[[-0.6153124398099902,0.030332165176730985],[-0.570319596942262,0.07533216479022586]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[-0.00012632763357667276,1.5329773569166307,0.71338606911949],"aabb_xy":[[-0.022035009772927716,1.51107669009654],[0.02178235450577437,1.5548780237367215]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[-0.15934303894375157,1.1160602332251388,0.71338606911949],"aabb_xy":[[-0.18933470167762192,1.086060233888338],[-0.12935137620988127,1.1460602325619391]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[0.38620857971064493,1.371536529689775,0.71338606911949],"aabb_xy":[[0.34870857960505197,1.3647143678367935],[0.4237085798162379,1.3783586915427557]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_24","position":[0.4665887576312613,0.4526529200026217,0.71338606911949],"aabb_xy":[[0.4065887567704484,0.40122648999613525],[0.526588758492074,0.504079350009108]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[0.09445362920956557,-1.1142222650313798,0.71338606911949],"aabb_xy":[[0.0606780700188726,-1.1282607602445445],[0.12822918840025854,-1.1001837698182146]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_26","position":[-0.5212462704367979,0.6427249314897345,0.71338606911949],"aabb_xy":[[-0.5712412813962501,0.5927249324541429],[-0.47125125947734603,0.6927249305253264]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_27","position":[-0.05732164053550992,-1.3987333873303418,0.71338606911949],"aabb_xy":[[-0.1373216426982724,-1.4786885709564852],[0.02267836162725257,-1.318778203704198]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_28","position":[0.023292096684183305,-2.4493259792161717,0.71338606911949],"aabb_xy":[[-0.056707900330064676,-2.469460530889583],[0.10329209369843129,-2.429191427542761]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_29","position":[0.1057503528614695,-0.8234921986117194,0.71338606911949],"aabb_xy":[[0.041750349642831655,-0.8702153105107278],[0.16975035608010736,-0.776769086712711]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646560127878307,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6255.png","name":"6255"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6255.png","name":"6255"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1863.png","name":"1863"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4909.png","name":"4909"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3853.png","name":"3853"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5615.png","name":"5615"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":659.0895826992382,"rotation_z_degrees":69.03758615451984,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010213374589412974,-0.0004521423662673177,-0.006668365977276981]},{"name":"camera_2","offset_m":[0.014888650560306537,-0.019696054271362826,0.004831428994313689]},{"name":"camera_3","offset_m":[0.011153028856981138,0.0014429609794345752,-0.010858875595309141]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011376027463368648,-0.00031764697541271933,0.00020588669830021384],"end_effector_yaw_offset_degrees":0.5325653270358217},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00030053258451842417,0.0016796671850792281,0.00014698574313513468],"end_effector_yaw_offset_degrees":0.5208972877127989},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005375037190531659,-0.0012847208407231509,-0.0017701704291684592],"end_effector_yaw_offset_degrees":-0.25602248510297243},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[2.2161427903529592e-05,0.0010237621058011791,-0.00045361203244470615],"end_effector_yaw_offset_degrees":0.8549908116594749}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002546481297387624,0.0010835220325587092],"position_m":[0.17184648129738764,0.2311835220325587,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004050758391136557,0.002910245172392251],"position_m":[0.23520507583911365,-0.36068975482760773,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003863430436112346,0.0006194626457854948],"position_m":[0.19973656956388766,-0.045180537354214505,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021373333038882058,-0.004984022741847965],"position_m":[0.3316626666961118,0.11271597725815204,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ea65caff92d08733fd4101001855095ff51ac462603c7626e7566b635576df36","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0109.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6255/tex_ceiling_textures_5615/tex_floor_textures_3853/tex_table_textures_1863/tex_wall_textures_4909","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6811161458023127613,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6811161458023127613,"visual_seed":6811161458023127613,"scene_id":"lab_003","finished_at":"2026-09-04T23:49:22"}
+{"episode_id":"ep_000075","started_at":"2026-09-04T23:49:25","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.3341457906896796,1.7521601667903481,0.71338606911949],"aabb_xy":[[-0.39814578711700144,1.7049905429682517],[-0.27014579426235763,1.7993297906124446]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.5710301905678156,-1.8959716280574739,0.71338606911949],"aabb_xy":[[-0.6210301922293102,-1.9459700703131764],[-0.5210301889063207,-1.845973185801771]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_2","position":[0.2589888135347237,1.243771755863241,0.71338606911949],"aabb_xy":[[0.22148881342913077,1.2369495940102595],[0.29648881364031665,1.2505939177162217]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[0.53502385107456,-0.561819662234393,0.71338606911949],"aabb_xy":[[0.5277626035041526,-0.5746066724979024],[0.5422850986449675,-0.5490326519708835]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_4","position":[0.11247532991690745,-1.5856459571264634,0.71338606911949],"aabb_xy":[[0.047475328916406934,-1.636432322281138],[0.17747533091740797,-1.5348595919717882]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_5","position":[0.22812057416488996,-2.4584358825603387,0.71338606911949],"aabb_xy":[[0.18593616000405921,-2.5224358828375504],[0.2703049883257207,-2.394435882283128]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[-0.12154224371682187,0.5493080607455676,0.71338606911949],"aabb_xy":[[-0.16430895059624206,0.48530805732376503],[-0.07877553683740168,0.6133080641673699]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.4144101473638181,-0.039883721250859594,0.71338606911949],"aabb_xy":[[-0.45191014854861083,-0.04430194394692013],[-0.37691014617902524,-0.035465498554799045]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_8","position":[0.31310205283804793,-1.6370170564897415,0.71338606911949],"aabb_xy":[[0.27560205426242707,-1.6497533521532994],[0.3506020514136687,-1.6242807608261836]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[0.48450794203523984,1.5903277384793282,0.71338606911949],"aabb_xy":[[0.4507323828445468,1.5762892432661633],[0.5182835012259328,1.604366233692493]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_10","position":[-0.2801495735647516,-1.89446872767773,0.71338606911949],"aabb_xy":[[-0.3174808500899943,-1.9291217824725821],[-0.24281829703950905,-1.8598156728828776]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_11","position":[-0.5429081687925927,-2.1995699634358163,0.71338606911949],"aabb_xy":[[-0.587900755511043,-2.244569962710265],[-0.4979155820741422,-2.1545699641613676]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[-0.24932614762705618,1.1167347654557793,0.71338606911949],"aabb_xy":[[-0.26366057275321964,1.1046745499012405],[-0.23499172250089273,1.1287949810103182]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[-0.13843897317805853,-0.38180747176950636,0.71338606911949],"aabb_xy":[[-0.14859198873220789,-0.4178770133422466],[-0.12828595762390912,-0.34573793019676596]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_14","position":[0.5553842729177765,1.2920708511452488,0.71338606911949],"aabb_xy":[[0.5377514373242488,1.2744479051296256],[0.5730171085113039,1.3096937971608715]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[0.12224702891490957,1.0060150909417631,0.71338606911949],"aabb_xy":[[0.09724702898239168,0.9991324227208398],[0.14724702884742746,1.0128977591626864]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_16","position":[-0.028145482128339006,-0.7496390814072413,0.71338606911949],"aabb_xy":[[-0.0776259033422978,-0.8136390793200932],[0.021334939085619786,-0.6856390834943895]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[0.5114887184983463,0.5232693981500574,0.71338606911949],"aabb_xy":[[0.5073528621656461,0.48576939870570035],[0.5156245748310465,0.5607693975944144]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_18","position":[-0.22908855683465806,-2.191419138045875,0.71338606911949],"aabb_xy":[[-0.23824843577853466,-2.197950356089412],[-0.21992867789078147,-2.184887920002338]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_19","position":[0.15995276557156624,1.771183794188556,0.71338606911949],"aabb_xy":[[0.15437109393743745,1.7586837943707805],[0.16553443720569497,1.7836837940063315]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[-0.5324139214220416,0.6649114006188541,0.71338606911949],"aabb_xy":[[-0.5964139231000389,0.6163940091395399],[-0.4684139197440442,0.7134287920981683]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[-0.04438098710050131,1.2122929875702702,0.71338606911949],"aabb_xy":[[-0.0778211622965209,1.17884936173934],[-0.010940811904481705,1.2457366134012002]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[-0.6308816816713697,-0.3335321737569892,0.71338606911949],"aabb_xy":[[-0.6908816821792225,-0.39037890744291043],[-0.5708816811635167,-0.2766854400710678]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[-0.1292178153405572,-1.3221575138149795,0.71338606911949],"aabb_xy":[[-0.18421781451714667,-1.3771471885899371],[-0.07421781616396769,-1.2671678390400218]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[0.6640932907063781,-1.9309569785098306,0.71338606911949],"aabb_xy":[[0.6265932891907464,-1.9421837515259754],[0.7015932922220098,-1.9197302054936853]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_25","position":[0.4106058039617573,-1.9666577453325478,0.71338606911949],"aabb_xy":[[0.3466058066594108,-2.011024172300404],[0.4746058012641036,-1.9222913183646908]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[0.058443257228927514,-2.4063498539063373,0.71338606911949],"aabb_xy":[[0.008464448718611614,-2.456349853912056],[0.10842206573924339,-2.3563498539006185]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_27","position":[0.05858096133515611,1.4948703519045226,0.71338606911949],"aabb_xy":[[0.021080961042981287,1.490828876503919],[0.09608096162733093,1.498911827305126]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_28","position":[0.514918168956654,-0.377999700499994,0.71338606911949],"aabb_xy":[[0.4920024560716041,-0.4009039976364176],[0.5378338818417039,-0.35509540336357054]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_29","position":[0.4047849508593482,-1.1585139028631886,0.71338606911949],"aabb_xy":[[0.38723825594322925,-1.1960139044274398],[0.4223316457754671,-1.1210139012989373]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_30","position":[-0.14766958061208957,-2.5694278719988874,0.71338606911949],"aabb_xy":[[-0.1826695797420452,-2.575173093074551],[-0.11266958148213388,-2.563682650923223]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_31","position":[0.40278782917792233,0.8844807941982156,0.71338606911949],"aabb_xy":[[0.37778782990596,0.8681354306020533],[0.42778782844988456,0.900826157794378]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_32","position":[-0.189452487161059,-2.082047843886996,0.71338606911949],"aabb_xy":[[-0.21195248697496138,-2.0865224602574766],[-0.16695248734715662,-2.0775732275165155]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_33","position":[-0.06681791035115936,1.5609497189969406,0.71338606911949],"aabb_xy":[[-0.13681791195343884,1.547516925795283],[0.0031820912511201227,1.5743825121985981]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6643862824896788,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4156.png","name":"4156"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4156.png","name":"4156"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2438.png","name":"2438"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1404.png","name":"1404"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2250.png","name":"2250"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3220.png","name":"3220"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":653.6439443058665,"rotation_z_degrees":132.610043940289,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01856173931157455,-0.0065293409548604995,-0.013189433600162618]},{"name":"camera_2","offset_m":[-0.013203313261632533,-0.001918038687431435,0.01784587658104426]},{"name":"camera_3","offset_m":[0.012522857451559965,-0.01905701595618536,-0.011444952952988894]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006251543876748559,-3.120661328751212e-05,-0.0009145249305049289],"end_effector_yaw_offset_degrees":-0.46425612047757325},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007452671964060906,0.00022923618881857824,0.0005728146994206248],"end_effector_yaw_offset_degrees":-0.4467249968088487},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016601310011654627,0.00046956801842366544,0.0010580339785022353],"end_effector_yaw_offset_degrees":0.8014003695199974},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00134564429991247,0.000648657446563743,0.0003919630576923309],"end_effector_yaw_offset_degrees":-0.3086489718233836}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037215878504560217,-0.003922680710103801],"position_m":[0.165578412149544,0.2261773192898962,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000951630626276615,0.0042560299729711435],"position_m":[0.23575163062627663,-0.35934397002702884,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004093800289899772,-0.0010730976164450455],"position_m":[0.19950619971010022,-0.04687309761644504,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001564281120637946,0.00012307252390293764],"position_m":[0.33223571887936204,0.11782307252390294,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4f48528b80a866efad33a4518c1b88ef28dbd876c7bef3aeeefd359b610feef0","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0110.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4156/tex_ceiling_textures_3220/tex_floor_textures_2250/tex_table_textures_2438/tex_wall_textures_1404","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4465745820317121049,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4465745820317121049,"visual_seed":4465745820317121049,"scene_id":"lab_003","finished_at":"2026-09-04T23:53:14"}
+{"episode_id":"ep_000076","started_at":"2026-09-04T23:57:51","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[0.01820545195124812,-2.0562564574248636,0.71338606911949],"aabb_xy":[[0.011791638308063178,-2.0626662776725317],[0.024619265594433056,-2.0498466371771946]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_1","position":[0.25594389712537224,-0.824982023901534,0.71338606911949],"aabb_xy":[[0.2480206168866239,-0.8474820241395372],[0.2638671773641206,-0.8024820236635305]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[-0.6489299856578189,0.1816268299885646,0.71338606911949],"aabb_xy":[[-0.6874756784830198,0.1430810589323759],[-0.6103842928326177,0.22017260104475325]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[0.2886043269003724,-2.137060411489465,0.71338606911949],"aabb_xy":[[0.22460432959802595,-2.181426838457322],[0.35260432420271876,-2.0926939845216084]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[0.5672686899186279,-2.0243134945765173,0.71338606911949],"aabb_xy":[[0.47726868758460894,-2.10179584916163],[0.6572686922526471,-1.9468311399914047]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[0.19202867103066468,-0.6959663403648841,0.71338606911949],"aabb_xy":[[0.18273505279351407,-0.733466338853018],[0.20132228926781523,-0.6584663418767502]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.5100852176386947,-1.827566798670782,0.71338606911949],"aabb_xy":[[-0.5322577446153455,-1.8497424658269046],[-0.4879126906620438,-1.8053911315146585]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[-0.07092221594266979,-0.6984891603399739,0.71338606911949],"aabb_xy":[[-0.120922217303557,-0.7484670649153894],[-0.020922214581782558,-0.6485112557645581]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_8","position":[0.2440173639873594,-1.06476076241676,0.71338606911949],"aabb_xy":[[0.194044298454844,-1.1147607622292932],[0.2939904295198749,-1.0147607626042274]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[-0.6191452816476788,-2.519518112982917,0.71338606911949],"aabb_xy":[[-0.669144556816115,-2.5695181142588646],[-0.5691460064792426,-2.46951811170697]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[-0.50569344926868,0.438828679066519,0.71338606911949],"aabb_xy":[[-0.5556934487088756,0.38886075458220265],[-0.45569344982848436,0.48879660355083526]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[0.024205317945783067,-1.5131076218679753,0.71338606911949],"aabb_xy":[[0.008143390487265428,-1.598107623680567],[0.04026724540430071,-1.4281076200553833]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.1001104435685034,-0.35433049494506674,0.71338606911949],"aabb_xy":[[-0.11899482733701362,-0.3732164197254195],[-0.08122605979999321,-0.33544457016471396]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_13","position":[-0.44053511063915124,-0.6586611811855265,0.71338606911949],"aabb_xy":[[-0.4583286175740677,-0.6764609267813241],[-0.4227416037042348,-0.6408614355897287]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_14","position":[0.601358842365213,1.7395071947608236,0.71338606911949],"aabb_xy":[[0.5838588421058764,1.7254156525720517],[0.6188588426245496,1.753598736949597]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[-0.6420530352398397,-0.3407906323985661,0.71338606911949],"aabb_xy":[[-0.687331650120989,-0.4047906317467498],[-0.5967744203586904,-0.27679063305038243]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[-0.03174758284361823,1.4255841249186036,0.71338606911949],"aabb_xy":[[-0.0357080666133526,1.4179162603330833],[-0.027787099073883853,1.4332519895041245]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[-0.35461597864498295,-2.5417417377492626,0.71338606911949],"aabb_xy":[[-0.3791621942677336,-2.5719906342982997],[-0.3300697630222322,-2.5114928412002255]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[0.3403160881285472,0.6445010053253415,0.71338606911949],"aabb_xy":[[0.2853228767914105,0.5895010049865479],[0.39530929946568405,0.6995010056641351]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[-0.5622776768823945,1.1657031780841907,0.71338606911949],"aabb_xy":[[-0.5847913687058516,1.095703177483183],[-0.5397639850589372,1.235703178685198]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_20","position":[-0.2894320971757017,-0.9812620154443799,0.71338606911949],"aabb_xy":[[-0.34943209803651437,-1.032688445450866],[-0.22943209631488878,-0.9298355854378934]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[0.6017411738274336,-0.4603274633577472,0.71338606911949],"aabb_xy":[[0.5604366307636975,-0.5243274629258643],[0.6430457168911695,-0.39632746378963013]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_22","position":[-0.2911568394335084,-1.3493241228639588,0.71338606911949],"aabb_xy":[[-0.34115684071734836,-1.3993029772545806],[-0.24115683814966846,-1.2993452684733364]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[0.6269719173247081,-2.3511264945089208,0.71338606911949],"aabb_xy":[[0.619268726650631,-2.358835865207659],[0.634675107998785,-2.3434171238101826]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_24","position":[-0.618231983384833,-1.29048504655366,0.71338606911949],"aabb_xy":[[-0.6732319815865777,-1.331007013180097],[-0.563231985183088,-1.2499630799272219]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[-0.6813252495517972,0.3767679536124935,0.71338606911949],"aabb_xy":[[-0.6941971530527373,0.29676795319865734],[-0.668453346050857,0.45676795402632964]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[0.663696699443364,0.2720125345730051,0.71338606911949],"aabb_xy":[[0.6299211402526711,0.25797403935984003],[0.697472258634057,0.2860510297861701]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_27","position":[-0.3024649018153177,-0.589815295308239,0.71338606911949],"aabb_xy":[[-0.36746489997123677,-0.6161115398581511],[-0.23746490365939865,-0.5635190507583268]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_28","position":[-0.5338333834971621,-2.114682852477906,0.71338606911949],"aabb_xy":[[-0.5563333833110645,-2.1191574688483867],[-0.5113333836832598,-2.1102082361074257]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_29","position":[0.6143909323647874,1.5984216080046036,0.71338606911949],"aabb_xy":[[0.6071296847943798,1.585634597741094],[0.6216521799351947,1.611208618268113]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_30","position":[0.12252135394307828,0.9182765782212785,0.71338606911949],"aabb_xy":[[0.042527530364520075,0.838276575628437],[0.2025151775216365,0.9982765808141202]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_31","position":[0.5925263662993321,-1.5352394147387636,0.71338606911949],"aabb_xy":[[0.5515084229129612,-1.585239415369721],[0.633544309685703,-1.4852394141078062]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_32","position":[-0.10488192366203264,1.1140338989706686,0.71338606911949],"aabb_xy":[[-0.11565489758340042,1.0790339007516296],[-0.09410894974066486,1.1490338971897076]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_33","position":[-0.0647228144573403,-1.3756714636440004,0.71338606911949],"aabb_xy":[[-0.08972281372930256,-1.3920168272401625],[-0.039722815185378006,-1.3593261000478378]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_34","position":[0.3131934444933755,1.8243163522657242,0.71338606911949],"aabb_xy":[[0.3072269055526397,1.8183552076063598],[0.3191599834341113,1.8302774969250881]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6672627934668249,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5374.png","name":"5374"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5374.png","name":"5374"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2914.png","name":"2914"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3706.png","name":"3706"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8486.png","name":"8486"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3375.png","name":"3375"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":519.4880175059815,"rotation_z_degrees":294.8212737989735,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009091974597028988,-0.019373901912685836,-0.019838420620067607]},{"name":"camera_2","offset_m":[0.006432458038288812,0.006976535724592298,0.00962416181749575]},{"name":"camera_3","offset_m":[0.0176219494778526,0.017497351173879083,0.015259983469140852]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014880475627615844,-0.0009143345925383688,0.0016670905442402123],"end_effector_yaw_offset_degrees":-0.31688449291403087},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015419200884396254,0.0019952641644918395,-0.0016113702437252023],"end_effector_yaw_offset_degrees":0.8916438006869525},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014154864859417162,-0.0019774795133932223,-0.0006360245650411463],"end_effector_yaw_offset_degrees":0.24933305433968633},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00032665551778335907,0.0014268187817645132,0.00019400552160074754],"end_effector_yaw_offset_degrees":0.6567006344177075}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002731975764310525,-0.0021253484741449646],"position_m":[0.16656802423568948,0.22797465152585503,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014388201268471998,-0.00028704972255841343],"position_m":[0.23623882012684722,-0.36388704972255836,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0045322219105252545,0.0022120986646315833],"position_m":[0.20813222191052524,-0.04358790133536842,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004645839925736854,0.003648649438171353],"position_m":[0.3291541600742631,0.12134864943817135,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7ce29f079a936b07acd7c8d0e81713d27cf6b667055d489ee37c4cdc5e904e30","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0112.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5374/tex_ceiling_textures_3375/tex_floor_textures_8486/tex_table_textures_2914/tex_wall_textures_3706","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":9134810183597982527,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":9134810183597982527,"visual_seed":9134810183597982527,"scene_id":"lab_003","finished_at":"2026-09-05T00:01:38"}
+{"episode_id":"ep_000077","started_at":"2026-09-05T00:04:30","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_0","position":[-0.25324823674857505,-2.3831985884502562,0.71338606911949],"aabb_xy":[[-0.30322153075183544,-2.433198589004803],[-0.20327494274531455,-2.3331985878957084]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[-0.5208372423955143,1.1988241441749805,0.71338606911949],"aabb_xy":[[-0.5421152505389866,1.1338241418489072],[-0.4995592342520421,1.2638241465010533]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[0.38245697671723944,-0.6717793346546173,0.71338606911949],"aabb_xy":[[0.37052424235541137,-0.6841614874624767],[0.3943897110790675,-0.659397181846758]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_3","position":[0.535526977279239,-2.237009634020163,0.71338606911949],"aabb_xy":[[0.4705269772449363,-2.2837103107004904],[0.6005269773135418,-2.1903089573398358]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[-0.05980153706882074,0.9221612253604232,0.71338606911949],"aabb_xy":[[-0.06376202083855512,0.9144933607749026],[-0.05584105329908637,0.9298290899459438]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.45364609087786123,-1.5228918538156417,0.71338606911949],"aabb_xy":[[0.44723227723467623,-1.5293016740633099],[0.4600599045210461,-1.5164820335679732]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[-0.37679133965131073,-0.21009443682941198,0.71338606911949],"aabb_xy":[[-0.3938014369413614,-0.2262289253276859],[-0.3597812423612601,-0.19395994833113805]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[-0.053624166212944746,-2.4076791880780384,0.71338606911949],"aabb_xy":[[-0.11862416409459256,-2.4588028517845792],[0.011375831668703049,-2.3565555243714975]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.6218290340312903,-0.8087579634678208,0.71338606911949],"aabb_xy":[[-0.6568290340077861,-0.8182225795154374],[-0.5868290340547945,-0.7992933474202042]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_9","position":[0.052089949422384985,-1.0742520630932084,0.71338606911949],"aabb_xy":[[-0.017910053969176994,-1.109567836796639],[0.12208995281394695,-1.0389362893897773]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[0.5773195098169945,-1.3060967956940719,0.71338606911949],"aabb_xy":[[0.5641682638457052,-1.3310967954507587],[0.5904707557882839,-1.2810967959373856]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_11","position":[-0.17675371140605078,0.6105359650082609,0.71338606911949],"aabb_xy":[[-0.2017537113385687,0.6036532967873376],[-0.15175371147353292,0.6174186332291842]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[-0.4209378450930852,-0.9750231609619475,0.71338606911949],"aabb_xy":[[-0.42905149976646234,-0.9831289774159765],[-0.41282419041970814,-0.9669173445079183]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.4653797566800667,0.9676399485403571,0.71338606911949],"aabb_xy":[[-0.5148601778940256,0.9036399506275052],[-0.41589933546610797,1.031639946453209]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[-0.16179338958244316,-1.9519550156729157,0.71338606911949],"aabb_xy":[[-0.19929339109807487,-1.9631817886890606],[-0.12429338806681145,-1.9407282426567705]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[0.5469384193520379,-0.3515297254870897,0.71338606911949],"aabb_xy":[[0.5094384188546797,-0.3554984090352081],[0.5844384198493962,-0.34756104193897125]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[0.6891058881708101,-2.1756588699818926,0.71338606911949],"aabb_xy":[[0.6782542819219345,-2.186518160709544],[0.6999574944196857,-2.1647995792542414]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[-0.3259159033841903,-1.7160754034080958,0.71338606911949],"aabb_xy":[[-0.36868261026361043,-1.780075406829898],[-0.28314919650477005,-1.6520753999862932]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_18","position":[0.3960003606350597,0.28444780289811833,0.71338606911949],"aabb_xy":[[0.37889828267669157,0.2673409973668486],[0.4131024385934279,0.3015546084293881]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_19","position":[0.2553327502382864,-2.3200614708623486,0.71338606911949],"aabb_xy":[[0.2303327506865479,-2.3302039547274833],[0.28033274979002487,-2.309918986997214]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[0.11384388260971323,-1.9955888720463586,0.71338606911949],"aabb_xy":[[0.07634388231753841,-1.999630347446962],[0.15134388290188805,-1.991547396645755]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[0.4214179145137751,0.997301003189266,0.71338606911949],"aabb_xy":[[0.4154513755730393,0.9913398585299017],[0.42738445345451087,1.0032621478486299]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_22","position":[-0.31432104220239804,1.0894380362421856,0.71338606911949],"aabb_xy":[[-0.33815725984300316,0.9994380354336991],[-0.29048482456179303,1.179438037050672]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_23","position":[-0.5338372255719372,-2.2944479313148896,0.71338606911949],"aabb_xy":[[-0.542051770687621,-2.3031245216125305],[-0.525622680456253,-2.2857713410172478]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_24","position":[-0.13710601851653903,1.031646494373009,0.71338606911949],"aabb_xy":[[-0.15497512627099452,1.017813586395798],[-0.11923691076208354,1.04547940235022]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_25","position":[-0.3529127284344364,0.4144611151495412,0.71338606911949],"aabb_xy":[[-0.362072607378313,0.40792989710600414],[-0.3437528494905598,0.42099233319307816]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_26","position":[0.04566325422992501,0.694950727767881,0.71338606911949],"aabb_xy":[[-0.04433674810409405,0.6174683731827685],[0.13566325656394407,0.7724330823529938]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_27","position":[-0.1187903446126144,-0.65893260383625,0.71338606911949],"aabb_xy":[[-0.18279034488659263,-0.7089987040335378],[-0.054790344338636165,-0.6088665036389619]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_28","position":[0.27921612437454313,1.4307486635236706,0.71338606911949],"aabb_xy":[[0.24218201494648336,1.396371456189961],[0.3162502338026028,1.4651258708573798]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_29","position":[-0.27246688998974605,-1.8462840416983917,0.71338606911949],"aabb_xy":[[-0.29014252057834433,-1.8639642579777946],[-0.25479125940114766,-1.8286038254189891]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_30","position":[-0.13374141848440446,1.3393261074966443,0.71338606911949],"aabb_xy":[[-0.19533217770839728,1.2753261093875974],[-0.07215065926041164,1.4033261056056912]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_31","position":[0.16856901314658823,-2.572021054479491,0.71338606911949],"aabb_xy":[[0.13356901325056936,-2.580395289991431],[0.2035690130426071,-2.563646818967551]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6646494565029266,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7662.png","name":"7662"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7662.png","name":"7662"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4402.png","name":"4402"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1023.png","name":"1023"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8072.png","name":"8072"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5994.png","name":"5994"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":709.3752877282101,"rotation_z_degrees":208.95862706734155,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0016560871911214768,-0.015106967294067832,0.01132365506036279]},{"name":"camera_2","offset_m":[0.005707857324929309,-0.010068262220866857,0.00990393800039301]},{"name":"camera_3","offset_m":[0.00973202459365952,-0.01522119827531843,0.004875318968221746]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009160936521920111,0.0012761386164420884,-0.0006447533205554375],"end_effector_yaw_offset_degrees":0.13838752806941645},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010010402045968411,-0.0003292079172874053,-0.0016649787392838099],"end_effector_yaw_offset_degrees":-0.005702767675480391},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012956639827625908,0.001803832639340995,0.001842077948538994],"end_effector_yaw_offset_degrees":0.9139693558524788},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015141614568494615,-0.0010090685737692176,-0.0007921832799197182],"end_effector_yaw_offset_degrees":-0.11438720599424079}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00013517442198699575,0.0034195925531557243],"position_m":[0.169435174421987,0.2335195925531557,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00039688442100719624,0.0016840683265916265],"position_m":[0.23440311557899282,-0.36191593167340835,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0041075282440278015,0.0011556825888346086],"position_m":[0.1994924717559722,-0.04464431741116539,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002577431290291206,-0.004932246424231086],"position_m":[0.3363774312902912,0.11276775357576892,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"69c50311afc7d322962bd56090bf98eae258283e178a3bb5c27dd639f065b7ca","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0114.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7662/tex_ceiling_textures_5994/tex_floor_textures_8072/tex_table_textures_4402/tex_wall_textures_1023","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3778596085296557367,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3778596085296557367,"visual_seed":3778596085296557367,"scene_id":"lab_003","finished_at":"2026-09-05T00:08:22"}
+{"episode_id":"ep_000078","started_at":"2026-09-05T00:08:26","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[-0.3060672029375883,-2.413515185398246,0.71338606911949],"aabb_xy":[[-0.3365514530646185,-2.463515185179742],[-0.27558295281055817,-2.36351518561675]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_1","position":[0.5321578778975151,1.0171873270242355,0.71338606911949],"aabb_xy":[[0.49512376846945527,0.9828101196905261],[0.5691919873255747,1.051564534357945]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[0.3891209391518984,-1.4934751457695603,0.71338606911949],"aabb_xy":[[0.3566592382699708,-1.5236079778844624],[0.42158264003382573,-1.4633423136546573]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_3","position":[-0.39368440153805456,1.4432019705310153,0.71338606911949],"aabb_xy":[[-0.4536844031809764,1.391201821239071],[-0.3336843998951327,1.4952021198229595]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[-0.5741253790690894,0.9100731461940077,0.71338606911949],"aabb_xy":[[-0.59113547635914,0.8939386576957339],[-0.5571152817790387,0.9262076346922817]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[0.09359215777836549,-1.6554922936054481,0.71338606911949],"aabb_xy":[[0.013592160618790178,-1.6670398945632652],[0.17359215493794075,-1.643944692647631]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_6","position":[-0.2790262731570401,-1.8033644226902767,0.71338606911949],"aabb_xy":[[-0.3165262731008065,-1.811657512725113],[-0.2415262732132737,-1.79507133265544]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_7","position":[-0.05440529316262066,-1.8500232169233426,0.71338606911949],"aabb_xy":[[-0.10438952887079789,-1.9000232157368382],[-0.004421057454443426,-1.800023218109847]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[0.4355430850253639,-1.0505602765630864,0.71338606911949],"aabb_xy":[[0.3715430847513856,-1.1006263767603746],[0.49954308529934205,-1.0004941763657986]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[0.6495686449760898,-2.1942818671415396,0.71338606911949],"aabb_xy":[[0.633506717517572,-2.2792818689541305],[0.6656305724346073,-2.109281865328947]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_10","position":[-0.38367431178513367,-2.3772609329679733,0.71338606911949],"aabb_xy":[[-0.3907146217186708,-2.457260932367645],[-0.3766340018515968,-2.2972609335683023]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.5196651890380886,-0.11085050327970114,0.71338606911949],"aabb_xy":[[0.49101585667767234,-0.13949606255677693],[0.5483145213985048,-0.08220494400262535]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_12","position":[-0.4855010633878155,-2.0182028553584015,0.71338606911949],"aabb_xy":[[-0.5355010629641503,-2.0681834343105074],[-0.43550106381148085,-1.9682222764062955]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_13","position":[0.020248019764235736,-0.8900031983884635,0.71338606911949],"aabb_xy":[[-0.0182976730609653,-0.928548969444652],[0.05879371258943676,-0.8514574273322748]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[0.12469474865170627,-1.85340668230244,0.71338606911949],"aabb_xy":[[0.0947271917418806,-1.883406682600326],[0.15466230556153193,-1.8234066820045545]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[0.2720966069891423,1.0145760277575455,0.71338606911949],"aabb_xy":[[0.25459660785477506,1.0046964007199577],[0.2895966061235094,1.0244556547951333]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[0.130009739555613,0.8253817036858715,0.71338606911949],"aabb_xy":[[0.12196637962965784,0.740381702590505],[0.1380530994815682,0.9103817047812378]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_17","position":[0.0681918792327515,1.2869398153618636,0.71338606911949],"aabb_xy":[[0.058435889723577605,1.277177281302629],[0.07794786874192539,1.2967023494210979]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[-0.3688011761051922,1.2588761739576637,0.71338606911949],"aabb_xy":[[-0.3987928388390625,1.228876174620863],[-0.33880951337132187,1.288876173294464]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_19","position":[-0.04119620993255635,0.8903837136400381,0.71338606911949],"aabb_xy":[[-0.08221415331892723,0.8403837130090808],[-0.00017826654618546822,0.9403837142709954]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[-0.4934488262632646,1.629702433054542,0.71338606911949],"aabb_xy":[[-0.58313590257138,1.5397024328000914],[-0.40376174995514913,1.7197024333089925]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_21","position":[0.07854877801556803,-0.6791028080267214,0.71338606911949],"aabb_xy":[[0.00854877588413848,-0.701864773652417],[0.14854878014699757,-0.6563408424010256]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[-0.08310316091498393,0.7410687019739202,0.71338606911949],"aabb_xy":[[-0.0877382760672173,0.7372013668967714],[-0.07846804576275053,0.7449360370510687]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[0.6597540771543033,-0.8272939947974811,0.71338606911949],"aabb_xy":[[0.6147540756880745,-0.872293851658962],[0.7047540786205322,-0.7822941379360007]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6680556270584741,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1012.png","name":"1012"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1012.png","name":"1012"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3028.png","name":"3028"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2207.png","name":"2207"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3164.png","name":"3164"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9582.png","name":"9582"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":828.8651636980019,"rotation_z_degrees":189.70887741744323,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010130752880804015,0.01785227489173506,0.0010273354823280463]},{"name":"camera_2","offset_m":[-0.010209345336572664,-0.012680927421043875,0.013072188849387188]},{"name":"camera_3","offset_m":[0.007949569665817738,0.009459744503303752,0.010502939487145722]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00039406949766676125,-0.0016302457753343874,0.0012353832310866698],"end_effector_yaw_offset_degrees":-0.11335684591920159},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009530830946817203,-0.0007685374881902542,-0.0011053738571375562],"end_effector_yaw_offset_degrees":0.51959929875773},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006284940643398881,0.0016640244704920824,-0.0005248140045394658],"end_effector_yaw_offset_degrees":0.24575676458362028},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000678465900755405,-0.0004289758714346359,0.00017836762559834008],"end_effector_yaw_offset_degrees":-0.48506650913058924}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005715540804627686,-0.0026950083399014803],"position_m":[0.16872844591953723,0.22740499166009853,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032220935073987563,0.001005834187543326],"position_m":[0.23802209350739875,-0.3625941658124566,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004875458135586825,0.0004214825373523882],"position_m":[0.20847545813558682,-0.045378517462647615,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028907441346626727,0.0014605582348160675],"position_m":[0.3309092558653373,0.11916055823481607,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0a5b154576efdfd1c9e389cf88d72faf8984a77a22de456dbf9f5662bb6abaad","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0115.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1012/tex_ceiling_textures_9582/tex_floor_textures_3164/tex_table_textures_3028/tex_wall_textures_2207","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6555558896581452895,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6555558896581452895,"visual_seed":6555558896581452895,"scene_id":"lab_003","finished_at":"2026-09-05T00:12:19"}
+{"episode_id":"ep_000079","started_at":"2026-09-05T00:20:42","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[-0.09191591041890601,-0.5439194139724188,0.71338606911949],"aabb_xy":[[-0.097248425073519,-0.5492437422176544],[-0.08658339576429303,-0.5385950857271833]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_1","position":[0.5521900612837569,1.4733022534952558,0.71338606911949],"aabb_xy":[[0.46250298497564135,1.3833022532408055],[0.6418771375918723,1.5633022537497065]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.30524141219681344,-0.9846701683917121,0.71338606911949],"aabb_xy":[[0.24124141290264517,-1.0486563087605663],[0.3692414114909816,-0.9206840280228579]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_3","position":[0.09747246101412033,1.1371824997180848,0.71338606911949],"aabb_xy":[[0.049666293400351655,1.0721824970110259],[0.14527862862788896,1.2021825024251438]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[-0.42285645765683516,-0.4027999830886295,0.71338606911949],"aabb_xy":[[-0.5078564563489099,-0.4347858464835084],[-0.33785645896476046,-0.37081411969375067]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[0.1284248861279511,-1.0432147305065458,0.71338606911949],"aabb_xy":[[0.06842488526713826,-1.094641160513032],[0.18842488698876386,-0.9917883005000593]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_6","position":[0.1947656343577263,1.3767811000716823,0.71338606911949],"aabb_xy":[[0.14476635918929018,1.3267810987957351],[0.2447649095261625,1.4267811013476295]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.2387195594806637,-2.5038694209620993,0.71338606911949],"aabb_xy":[[-0.25118691759039935,-2.5163347455954233],[-0.22625220137092805,-2.4914040963287762]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_8","position":[-0.3218544149914531,1.253543252915379,0.71338606911949],"aabb_xy":[[-0.3447701278765031,1.2306389557789557],[-0.2989387021064033,1.2764475500518027]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_9","position":[0.4964898011938246,-1.2341103965811306,0.71338606911949],"aabb_xy":[[0.46086064529386483,-1.2697430633379836],[0.5321189570937843,-1.1984777298242777]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.08753348395664784,0.3845690422370103,0.71338606911949],"aabb_xy":[[-0.13752849491609986,0.33456904320141856],[-0.03753847299719581,0.43456904127260204]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[0.10950633471215376,-0.6813563947951518,0.71338606911949],"aabb_xy":[[0.10246488376140617,-0.6883831465329463],[0.11654778566290136,-0.6743296430573572]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_12","position":[0.6442270521726101,0.24472486156855044,0.71338606911949],"aabb_xy":[[0.636113397499233,0.23661904511452136],[0.6523407068459872,0.2528306780225795]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[0.37703296444404955,0.4773312827008529,0.71338606911949],"aabb_xy":[[0.31303296239431755,0.43723679961154494],[0.44103296649378154,0.5174257657901609]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[0.37368878228037095,-1.5713373655389509,0.71338606911949],"aabb_xy":[[0.3437212253705453,-1.6013373658368366],[0.4036563391901966,-1.5413373652410651]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[0.6441124511099854,0.16199197297823442,0.71338606911949],"aabb_xy":[[0.6266817360309787,0.14471985831438358],[0.6615431661889917,0.1792640876420852]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[0.5598533845142795,-2.4422039042503694,0.71338606911949],"aabb_xy":[[0.555939511318857,-2.4509529196569257],[0.5637672577097019,-2.433454888843812]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.5126230034170849,1.6962192087154784,0.71338606911949],"aabb_xy":[[-0.5501230049327166,1.6849924356993335],[-0.4751230019014532,1.7074459817316237]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.26454528160393986,0.7462395656068148,0.71338606911949],"aabb_xy":[[-0.27741718510487995,0.6662395651929787],[-0.25167337810299967,0.826239566020651]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.1670370954395466,-1.8130332434196172,0.71338606911949],"aabb_xy":[[0.13000298601148688,-1.8474104507533262],[0.2040712048676063,-1.7786560360859074]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6644940617413936,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8385.png","name":"8385"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8385.png","name":"8385"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6512.png","name":"6512"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8831.png","name":"8831"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9212.png","name":"9212"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/862.png","name":"862"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":744.4398444715512,"rotation_z_degrees":35.06393012116649,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012144542398965728,-0.014155413213424218,0.016253497384639926]},{"name":"camera_2","offset_m":[-0.00624317686045619,0.018513858684372126,0.014297601263563987]},{"name":"camera_3","offset_m":[0.0076352819973956945,0.018367622739904558,0.01140679827153446]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011752113639989384,0.0008411083128459325,-0.0003326890537093297],"end_effector_yaw_offset_degrees":0.4332923286418502},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00026903702122964366,-0.000315694895599688,0.0007249065714213156],"end_effector_yaw_offset_degrees":-0.1259015962981802},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016605103012901396,0.0005768815021679678,-0.0008306533213188812],"end_effector_yaw_offset_degrees":0.7842427819140037},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003078931093981527,0.0019511351604501233,0.000125071403065973],"end_effector_yaw_offset_degrees":-0.48016462479109245}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014173592308232416,0.0026799273322728545],"position_m":[0.17071735923082323,0.23277992733227285,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019531879453077517,-0.0004182993178877296],"position_m":[0.23284681205469226,-0.3640182993178877,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004282407442585562,0.0025929110949789733],"position_m":[0.19931759255741444,-0.04320708890502103,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004629332443346305,-0.001007045189294429],"position_m":[0.3384293324433463,0.11669295481070557,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a88c4b4ecb15c15dcceee67b7a5df9b3f89f72172e18fe3787a84ab2eb57570a","episode_index":119,"episode_name":"episode_0119"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0119.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8385/tex_ceiling_textures_862/tex_floor_textures_9212/tex_table_textures_6512/tex_wall_textures_8831","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":4175766922716244808,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":4175766922716244808,"visual_seed":4175766922716244808,"scene_id":"lab_003","finished_at":"2026-09-05T00:24:30"}
+{"episode_id":"ep_000080","started_at":"2026-09-05T00:27:20","dimensions":{"distractor":{"count":28,"items":[{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_0","position":[0.5124107365876298,-1.7421709633273135,0.71338606911949],"aabb_xy":[[0.4874107374219966,-1.74912320903267],[0.5374107357532628,-1.735218717621957]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[-0.2637522684520022,-1.9786526554050452,0.71338606911949],"aabb_xy":[[-0.27891514142893936,-1.993818112700164],[-0.2485893954750652,-1.9634871981099264]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.027316211330145057,0.6694919057704771,0.71338606911949],"aabb_xy":[[-0.055645921278685284,0.6650311635767601],[0.00101349861839517,0.6739526479641942]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_3","position":[-0.15225166852911887,0.9739887182009217,0.71338606911949],"aabb_xy":[[-0.18090100088953506,0.9453431589238459],[-0.12360233616870261,1.0026342774779975]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.3097884340252106,-0.769993294923633,0.71338606911949],"aabb_xy":[[0.2989479557986957,-0.7871795762142818],[0.3206289122517255,-0.7528070136329842]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.07417695932103363,-0.8102680679713938,0.71338606911949],"aabb_xy":[[0.01258620009704084,-0.8742680660804408],[0.13576771854502648,-0.7462680698623471]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[-0.27216558130553914,1.4730891904184094,0.71338606911949],"aabb_xy":[[-0.2873377505871725,1.457920333490206],[-0.2569934120239058,1.4882580473466127]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_7","position":[0.32816625541726774,-1.282323623183333,0.71338606911949],"aabb_xy":[[0.2731707775966083,-1.3373236246172397],[0.38316173323792707,-1.2273236217494259]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[0.6032356681131681,1.0495020705874785,0.71338606911949],"aabb_xy":[[0.561931125049432,0.9855020710193614],[0.644540211176904,1.1135020701555955]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[0.5957847331266259,-0.944152884023735,0.71338606911949],"aabb_xy":[[0.5060976568185105,-1.0341528842781855],[0.6854718094347414,-0.8541528837692844]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.24763420140047754,-1.7691425858508523,0.71338606911949],"aabb_xy":[[0.24113256489247295,-1.7789104078771623],[0.25413583790848215,-1.7593747638245427]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_11","position":[-0.02951691867471362,-1.3475858228846753,0.71338606911949],"aabb_xy":[[-0.05168944565136445,-1.3697614900407986],[-0.007344391698062778,-1.325410155728552]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[-0.29075750012750107,-0.7605368793909417,0.71338606911949],"aabb_xy":[[-0.3076682325638428,-0.7740090849835563],[-0.27384676769115923,-0.7470646737983272]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[-0.5002383030509712,-0.6993431225487332,0.71338606911949],"aabb_xy":[[-0.5652383009326191,-0.7504667862552742],[-0.4352383051693235,-0.6482194588421923]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[-0.262903263128822,0.22330180071282468,0.71338606911949],"aabb_xy":[[-0.3129032617747432,0.1733822570533623],[-0.2129032644829008,0.27322134437228707]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_15","position":[-0.6339677216446792,-1.439220358666518,0.71338606911949],"aabb_xy":[[-0.671467721936854,-1.4432618340671215],[-0.5964677213525044,-1.4351788832659145]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_16","position":[-0.27053455321382963,-1.270966142463381,0.71338606911949],"aabb_xy":[[-0.29242430080277043,-1.36096613975263],[-0.24864480562488886,-1.1809661451741318]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_17","position":[-0.45196719522316753,-2.4836623641350926,0.71338606911949],"aabb_xy":[[-0.45610305155586767,-2.5211623635794496],[-0.4478313388904673,-2.4461623646907356]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.6297183191453098,1.7551843120088546,0.71338606911949],"aabb_xy":[[-0.6667524285733695,1.720807104675145],[-0.59268420971725,1.7895615193425638]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[0.6016181451075857,-0.28147417257190854,0.71338606911949],"aabb_xy":[[0.592904176057651,-0.30397417323109666],[0.61033211415752,-0.2589741719127202]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_20","position":[-0.49844441578370574,-0.21646842823804535,0.71338606911949],"aabb_xy":[[-0.511890942417749,-0.22993827989113658],[-0.4849978891496623,-0.20299857658495413]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_21","position":[0.11060629463527405,1.0768163432815085,0.71338606911949],"aabb_xy":[[0.030606295978388043,1.0623114843572457],[0.19060629329216006,1.0913212022057714]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[-0.5754548052575352,-0.874263792124629,0.71338606911949],"aabb_xy":[[-0.6554548055311421,-0.9472133399503456],[-0.4954548049839282,-0.8013142442989122]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[-0.46861083710623763,1.718338412215552,0.71338606911949],"aabb_xy":[[-0.47470546499435595,1.7097690176638836],[-0.4625162092181193,1.726907806767221]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[-0.3869158474709413,-0.000726705402898542,0.71338606911949],"aabb_xy":[[-0.4509158491489386,-0.04924409688221276],[-0.3229158457929439,0.04779068607641568]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[0.3156611199991899,-2.221142248465926,0.71338606911949],"aabb_xy":[[0.29779201224473434,-2.234975156443137],[0.3335302277536453,-2.207309340488715]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[-0.29802187436815214,-0.500198414998855,0.71338606911949],"aabb_xy":[[-0.32051829580201624,-0.5226984148056025],[-0.27552545293428804,-0.47769841519210765]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_27","position":[0.48468519823160383,-0.622853745903375,0.71338606911949],"aabb_xy":[[0.447185197883376,-0.6346451414844585],[0.5221851985798316,-0.6110623503222914]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6704081217361668,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8310.png","name":"8310"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8310.png","name":"8310"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4199.png","name":"4199"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/324.png","name":"324"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6184.png","name":"6184"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7687.png","name":"7687"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":846.3166145897968,"rotation_z_degrees":216.53015831210388,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013786237214772658,-0.008483388914503984,0.019258227620748646]},{"name":"camera_2","offset_m":[0.002910464317813801,0.01584763282278105,0.004048500031041669]},{"name":"camera_3","offset_m":[0.00816426559403766,0.0032186309401710175,-0.006152227071284776]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000882624994929905,-0.0015605889514048155,0.0005649776267912564],"end_effector_yaw_offset_degrees":0.5854641537454706},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006324200490044497,-0.0017324490264880622,0.0019855680183508157],"end_effector_yaw_offset_degrees":0.29553752943675304},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015804973357479474,0.0005848758121948404,-0.0007752386019044164],"end_effector_yaw_offset_degrees":0.7920861580494165},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019390743782785602,0.0015958429960342248,-0.0015128321197658524],"end_effector_yaw_offset_degrees":0.48336093977591}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001212498055045418,0.004984628767357204],"position_m":[0.17051249805504543,0.2350846287673572,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035106751001069266,-0.0028686556712597335],"position_m":[0.23831067510010692,-0.3664686556712597,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012787162810115396,0.002518381551823652],"position_m":[0.20487871628101154,-0.04328161844817635,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003747261093999736,0.0021000917621366065],"position_m":[0.33754726109399974,0.1198000917621366,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"41a6f6de44404820c8db671dabaf4e51648967dbf01a0b8fa49b8f0cf00aa810","episode_index":121,"episode_name":"episode_0121"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0121.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8310/tex_ceiling_textures_7687/tex_floor_textures_6184/tex_table_textures_4199/tex_wall_textures_324","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6573086049259464151,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6573086049259464151,"visual_seed":6573086049259464151,"scene_id":"lab_003","finished_at":"2026-09-05T00:31:10"}
+{"episode_id":"ep_000081","started_at":"2026-09-05T00:31:14","dimensions":{"distractor":{"count":34,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[0.5662277661654254,0.4626789135555627,0.71338606911949],"aabb_xy":[[0.47622776942981504,0.40949545023826817],[0.6562277629010355,0.5158623768728572]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[-0.05116777937433048,-2.1288331303262815,0.71338606911949],"aabb_xy":[[-0.08866777954620242,-2.1615338657091883],[-0.013667779202458541,-2.096132394943374]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[0.5431762256808121,-2.2581372910116007,0.71338606911949],"aabb_xy":[[0.4791762223911041,-2.301472210015518],[0.6071762289705203,-2.2148023720076826]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[-0.2359350505783585,0.5019240870108641,0.71338606911949],"aabb_xy":[[-0.24684082666592122,0.42192409061203495],[-0.2250292744907958,0.5819240834096933]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[0.5684307766994188,-1.0099849347278913,0.71338606911949],"aabb_xy":[[0.5459316409731918,-1.0324849355061543],[0.5909299124256457,-0.9874849339496283]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_5","position":[0.22645061594913418,1.115404749347035,0.71338606911949],"aabb_xy":[[0.1764773219458737,1.0654047487924874],[0.27642390995239463,1.165404749901582]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_6","position":[0.6899877101668237,-2.4223485732925893,0.71338606911949],"aabb_xy":[[0.6675229401954186,-2.4448485741714494],[0.7124524801382288,-2.3998485724137284]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_7","position":[0.6880817254990534,0.251746941062605,0.71338606911949],"aabb_xy":[[0.6644966020351586,0.18674693881717325],[0.7116668489629483,0.3167469433080368]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_8","position":[0.6194274321481243,-0.03247665957970147,0.71338606911949],"aabb_xy":[[0.5837982762481646,-0.06810932633655442],[0.6550565880480841,0.0031560071771514764]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[0.3792524508992996,-1.7043897729771875,0.71338606911949],"aabb_xy":[[0.37517429299224986,-1.7084707532254506],[0.38333060880634934,-1.700308792728924]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_10","position":[-0.15696360272886956,1.457741629531236,0.71338606911949],"aabb_xy":[[-0.2469636024520437,1.434668276996056],[-0.06696360300569536,1.4808149820664156]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[-0.34282045439518455,0.3102551640742588,0.71338606911949],"aabb_xy":[[-0.42282045140943253,0.2901206124008475],[-0.26282045738093657,0.33038971574767007]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.22328593316422995,0.5620296175702086,0.71338606911949],"aabb_xy":[[0.21782798752720983,0.4820296142625494],[0.22874387880124997,0.6420296208778676]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[-0.5047298449746727,-2.0360728146690503,0.71338606911949],"aabb_xy":[[-0.550814936229404,-2.100072811921605],[-0.4586447537199411,-1.972072817416495]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[0.26182342400740066,1.3132326688763887,0.71338606911949],"aabb_xy":[[0.2537870893061158,1.3051945495719717],[0.2698597587086855,1.3212707881808052]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.0821338264741509,-0.906886259645427,0.71338606911949],"aabb_xy":[[-0.10463382648429918,-0.9209824792850303],[-0.0596338264640026,-0.8927900400058237]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[-0.4048058609923633,-0.6192570455539175,0.71338606911949],"aabb_xy":[[-0.442305862177156,-0.6236752682499778],[-0.3673058598075704,-0.6148388228578567]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[0.48684628224848137,0.7764400107759246,0.71338606911949],"aabb_xy":[[0.47643472356799754,0.771094277440026],[0.49725784092896497,0.781785744111823]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_18","position":[-0.1546293536043417,1.5529330800198742,0.71338606911949],"aabb_xy":[[-0.15874530371641432,1.5488175249870284],[-0.150513403492269,1.5570486350527195]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[-0.6287683608885335,0.042010294890224564,0.71338606911949],"aabb_xy":[[-0.6490526636119321,0.021727669747515718],[-0.6084840581651346,0.0622929200329334]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[0.5093714092011832,1.3421738951246875,0.71338606911949],"aabb_xy":[[0.42937140593717005,1.3286138628157742],[0.5893714124651963,1.3557339274336009]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.5895658903068997,-0.525195227614343,0.71338606911949],"aabb_xy":[[0.5058436648068171,-0.6151952311490391],[0.673288115806982,-0.43519522407964717]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_22","position":[-0.2603609025476668,1.0308861246835779,0.71338606911949],"aabb_xy":[[-0.27947320990564567,1.0117513458063359],[-0.24124859518968794,1.05002090356082]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[-0.5175249723765283,0.6792013577416705,0.71338606911949],"aabb_xy":[[-0.572524970578273,0.6386793911152329],[-0.4625249741747834,0.719723324368108]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[-0.31991120933594047,-1.8225864336845836,0.71338606911949],"aabb_xy":[[-0.33507408231287755,-1.8377518909797026],[-0.3047483363590034,-1.807420976389465]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[-0.1898839704631714,-1.6037814522902591,0.71338606911949],"aabb_xy":[[-0.20112902603378918,-1.6150232500143544],[-0.1786389148925535,-1.5925396545661639]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[0.6139787869977111,-0.8347606949252218,0.71338606911949],"aabb_xy":[[0.5499787898856056,-0.8837930647196325],[0.6779787841098169,-0.7857283251308113]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_27","position":[-0.10667615005103681,-0.638774469955208,0.71338606911949],"aabb_xy":[[-0.1606917463329368,-0.7027744728474651],[-0.052660553769136795,-0.5747744670629508]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_28","position":[-0.5944124329098739,-0.06700605277490013,0.71338606911949],"aabb_xy":[[-0.6287093439276144,-0.1013029389848415],[-0.5601155218921332,-0.03270916656495876]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_29","position":[-0.5727371411271684,-0.5924538184213022,0.71338606911949],"aabb_xy":[[-0.6527371380902076,-0.6695294600650755],[-0.4927371441641293,-0.5153781767775286]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_30","position":[-0.0001358344085530261,0.9482908573331441,0.71338606911949],"aabb_xy":[[-0.05776630329582387,0.8882908584064333],[0.05749463447871782,1.0082908562598545]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_31","position":[0.5440430455546172,-0.36259504716796354,0.71338606911949],"aabb_xy":[[0.5195294214576114,-0.38685964046999993],[0.5685566696516231,-0.338330453865927]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_32","position":[-0.38949982173408654,-1.6573540213926181,0.71338606911949],"aabb_xy":[[-0.4494998233770084,-1.7093541706845625],[-0.3294998200911647,-1.6053538721006742]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_33","position":[-0.4923236485437446,-1.4971648919080214,0.71338606911949],"aabb_xy":[[-0.5773236472358192,-1.5291507553029002],[-0.40732364985166997,-1.4651790285131425]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6682193681953703,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9909.png","name":"9909"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9909.png","name":"9909"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3405.png","name":"3405"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6223.png","name":"6223"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4118.png","name":"4118"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2166.png","name":"2166"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":558.0347070186235,"rotation_z_degrees":176.81775221068276,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019517817392204106,0.016014144953335096,-0.007684318487150739]},{"name":"camera_2","offset_m":[0.007481083649253484,-0.015177209459100522,0.01952847530686912]},{"name":"camera_3","offset_m":[-0.0027149792273556683,-0.012817401315499093,-0.004222647282193147]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013105283486447412,-0.0010661599033392794,-0.0009273612409043254],"end_effector_yaw_offset_degrees":0.7490131090198522},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017103643195305511,-0.00016086096641643177,0.00061443396852036],"end_effector_yaw_offset_degrees":-0.1995519411734401},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006729646323174606,0.0017074947512249606,-0.0014696525396266842],"end_effector_yaw_offset_degrees":-0.2280890671837812},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005267857457562934,-0.0015459616022439992,0.0015153606459647755],"end_effector_yaw_offset_degrees":0.8921395543665007}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005985847724416958,-0.0010806311873883898],"position_m":[0.1687014152275583,0.22901936881261162,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037680667907667364,0.0015497740058465622],"position_m":[0.23856806679076675,-0.36205022599415343,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011455969571895338,-0.0039670256322863985],"position_m":[0.20474559695718952,-0.049767025632286396,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010133604099388628,0.002966427109033723],"position_m":[0.33481336040993886,0.12066642710903372,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"05b2039b0b6c6cdb54a40f361238a5a04317b512c324914bd731d2da81db184d","episode_index":122,"episode_name":"episode_0122"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0122.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9909/tex_ceiling_textures_2166/tex_floor_textures_4118/tex_table_textures_3405/tex_wall_textures_6223","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":6379089935901382857,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":6379089935901382857,"visual_seed":6379089935901382857,"scene_id":"lab_003","finished_at":"2026-09-05T00:35:03"}
+{"episode_id":"ep_000082","started_at":"2026-09-05T00:35:06","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[0.6227468025215601,-0.76884940356019,0.71338606911949],"aabb_xy":[[0.5727536904123682,-0.8188494042343858],[0.672739914630752,-0.7188494028859944]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_1","position":[0.028171886101605037,-2.256818092472956,0.71338606911949],"aabb_xy":[[0.02473120986154787,-2.2606795254473204],[0.03161256234166221,-2.2529566594985915]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[-0.555744383169916,0.8871679484420576,0.71338606911949],"aabb_xy":[[-0.6057176771731764,0.8371679478875103],[-0.5057710891666555,0.9371679489966049]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[0.1267040054126254,-2.393203612306061,0.71338606911949],"aabb_xy":[[0.07670917248468379,-2.4432036112013047],[0.176698838340567,-2.3432036134108176]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[-0.10766376256175103,-1.2780667587857901,0.71338606911949],"aabb_xy":[[-0.14266376391323277,-1.2984264947426107],[-0.0726637612102693,-1.257707022828969]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[-0.3688281125711892,-2.1539162190190972,0.71338606911949],"aabb_xy":[[-0.39337432819393986,-2.1841651155681343],[-0.3442818969484384,-2.12366732247006]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_6","position":[-0.3979612371450025,1.3543126293451961,0.71338606911949],"aabb_xy":[[-0.40599757184628726,1.3462745100407794],[-0.3899249024437176,1.362350748649613]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[0.5767658267007647,-1.6852999469470813,0.71338606911949],"aabb_xy":[[0.5718098065158836,-1.7077999471492031],[0.581721846885646,-1.66279994674496]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_8","position":[0.027632553532884407,1.1230238963033345,0.71338606911949],"aabb_xy":[[-0.022351682175292823,1.0730238974898387],[0.07761678924106163,1.17302389511683]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[0.6320057342712031,1.1599343356571388,0.71338606911949],"aabb_xy":[[0.5820057356252818,1.1100147919976762],[0.6820057329171242,1.209853879316601]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[0.6968226891330513,-0.6273865125751614,0.71338606911949],"aabb_xy":[[0.6904088754898662,-0.6337963328228297],[0.7032365027762361,-0.620976692327493]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[0.1065348423360597,-1.8618200523610202,0.71338606911949],"aabb_xy":[[0.048904373448788827,-1.9218200512877306],[0.16416531122333053,-1.8018200534343094]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[-0.19312201483792057,-1.738733233502483,0.71338606911949],"aabb_xy":[[-0.23062201562991602,-1.7451010744606732],[-0.15562201404592513,-1.7323653925442928]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.16186933032904038,-1.6276276020635243,0.71338606911949],"aabb_xy":[[-0.20899870933087603,-1.691627603107926],[-0.11473995132720469,-1.5636276010191221]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_14","position":[0.6359109990670437,1.5622849139316064,0.71338606911949],"aabb_xy":[[0.6126291568689123,1.4772849126343786],[0.659192841265175,1.6472849152288347]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.5869071850499619,1.5330347933710207,0.71338606911949],"aabb_xy":[[-0.6509071821620677,1.48400242357661],[-0.5229071879378563,1.5820671631654313]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[0.35475285944222734,-0.61387205467892,0.71338606911949],"aabb_xy":[[0.27475286203863386,-0.6938646258771028],[0.4347528568458207,-0.5338794834807372]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.33651824554380294,0.8303759679147924,0.71338606911949],"aabb_xy":[[-0.3965182457952041,0.7760946428783276],[-0.27651824529240177,0.884657292951257]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_18","position":[-0.25724396872940913,-1.1144388787151842,0.71338606911949],"aabb_xy":[[-0.31223944655006847,-1.169438880149091],[-0.2022484909087497,-1.059438877281277]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_19","position":[-0.6057094552213415,1.6728423909748593,0.71338606911949],"aabb_xy":[[-0.6697094543911113,1.6260757038558968],[-0.5417094560515714,1.7196090780938218]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[-0.5738977570794368,-1.2155419535773084,0.71338606911949],"aabb_xy":[[-0.6152023001431728,-1.2795419531454253],[-0.5325932140157008,-1.1515419540091911]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6704807035988507,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2617.png","name":"2617"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2617.png","name":"2617"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/468.png","name":"468"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1654.png","name":"1654"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/492.png","name":"492"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6845.png","name":"6845"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":706.2590013691558,"rotation_z_degrees":296.1875214247491,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0044917139935213065,0.01572071008707619,0.01577798259890909]},{"name":"camera_2","offset_m":[-0.017420476184292828,0.0028456496644081,-0.008295291643294029]},{"name":"camera_3","offset_m":[0.008220843924753717,-0.015271753905384995,-0.0031062675585471627]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015272750875252742,6.834307414166872e-05,0.0006666257802918638],"end_effector_yaw_offset_degrees":0.2738975044659262},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016752751656720151,0.0016351126254769747,-0.0003872669514890718],"end_effector_yaw_offset_degrees":-0.4978843023869819},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001962548389981772,-0.001497343687601207,-0.00020467057182765739],"end_effector_yaw_offset_degrees":0.025050053764857916},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013254898950369638,-0.0009708047932811326,-7.714915008844242e-05],"end_effector_yaw_offset_degrees":-0.21672671598921056}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009829578909194645,-0.004786830900794375],"position_m":[0.16831704210908055,0.22531316909920562,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002524600272069735,-0.00450693777438585],"position_m":[0.23732460027206975,-0.36810693777438586,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0011083714152102055,-0.0031939279234624272],"position_m":[0.2024916285847898,-0.048993927923462424,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010759991137654756,0.0025985517513570366],"position_m":[0.3327240008862345,0.12029855175135704,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f8ac6af7420ceac851efbe3ae6e50e77e971a44dc2e660ac596dd79f0d6ab44b","episode_index":123,"episode_name":"episode_0123"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0123.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2617/tex_ceiling_textures_6845/tex_floor_textures_492/tex_table_textures_468/tex_wall_textures_1654","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7752967574697233715,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7752967574697233715,"visual_seed":7752967574697233715,"scene_id":"lab_003","finished_at":"2026-09-05T00:39:03"}
+{"episode_id":"ep_000083","started_at":"2026-09-05T00:39:07","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[0.22412317723270936,1.316350562910566,0.71338606911949],"aabb_xy":[[0.16012317555471198,1.2678331714312514],[0.2881231789107067,1.3648679543898798]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_1","position":[0.6226642784997205,-1.8924444238311715,0.71338606911949],"aabb_xy":[[0.5426642815366812,-1.9695200654749445],[0.7026642754627596,-1.8153687821873976]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[-0.16985880947070253,-1.6589772622150005,0.71338606911949],"aabb_xy":[[-0.2043212874837903,-1.6656409393979232],[-0.13539633145761476,-1.6523135850320778]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[0.6488172055467614,0.07522764776400015,0.71338606911949],"aabb_xy":[[0.6259014926617116,0.05232335062757666],[0.6717329184318114,0.09813194490042368]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_4","position":[-0.3502807629495303,0.8505792675103874,0.71338606911949],"aabb_xy":[[-0.37386588641342516,0.7855792652649556],[-0.32669563948563546,0.9155792697558192]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_5","position":[-0.4703016007443595,-2.245501171807272,0.71338606911949],"aabb_xy":[[-0.5203016017634947,-2.2819673875451],[-0.42030159972522424,-2.209034956069444]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.04683766112330601,-1.2239578459974247,0.71338606911949],"aabb_xy":[[0.04240703176846583,-1.2294062177321075],[0.05126829047814618,-1.218509474262742]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[-0.4680625937750072,1.1293007657225438,0.71338606911949],"aabb_xy":[[-0.48473972976810276,1.1126008417486135],[-0.45138545778191175,1.146000689696474]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[-0.3896861252878881,-0.21072207597258608,0.71338606911949],"aabb_xy":[[-0.4696861232686732,-0.218323616934438],[-0.3096861273071031,-0.2031205350107341]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[-0.23569225041785952,-0.9694466586836239,0.71338606911949],"aabb_xy":[[-0.25819138614408643,-0.9919466594618869],[-0.21319311469163252,-0.9469466579053609]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_10","position":[0.10841513549576265,-2.3754384627511853,0.71338606911949],"aabb_xy":[[0.0989976609258999,-2.384854639888904],[0.1178326100656254,-2.366022285613466]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_11","position":[0.5700322860522304,-1.2815102006459227,0.71338606911949],"aabb_xy":[[0.532532285260235,-1.2878780416041127],[0.6075322868442259,-1.2751423596877327]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.07414414157868876,-1.445847429635633,0.71338606911949],"aabb_xy":[[-0.09660891155009388,-1.4683474305144935],[-0.05167937160728364,-1.4233474287567724]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[-0.5212713498806983,-2.4369337784454346,0.71338606911949],"aabb_xy":[[-0.5387713490150654,-2.446813405483022],[-0.5037713507463311,-2.4270541514078463]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[0.15599880588976744,-1.981900732592679,0.71338606911949],"aabb_xy":[[0.1184988057841745,-1.9887228944456603],[0.1934988059953604,-1.975078570739698]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[0.30646651005142744,-1.7886709350379837,0.71338606911949],"aabb_xy":[[0.2976852829041913,-1.7974506823265142],[0.3152477371986637,-1.7798911877494537]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_16","position":[-0.1383915716527715,-0.7158872735722916,0.71338606911949],"aabb_xy":[[-0.14847327873134494,-0.7958872714644063],[-0.128309864574198,-0.635887275680177]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[-0.1511463275173872,1.0341439724293124,0.71338606911949],"aabb_xy":[[-0.1627153082643238,1.009143972312381],[-0.13957734677045064,1.0591439725462444]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[0.08782508641145581,-1.665607890068026,0.71338606911949],"aabb_xy":[[-0.002174917265462386,-1.72704029664513],[0.17782509008837394,-1.6041754834909212]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[0.4324727985495058,0.8523509249362857,0.71338606911949],"aabb_xy":[[0.42312579096721054,0.8380473027186417],[0.441819806131801,0.8666545471539298]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[-0.5001164645180224,-0.8471431700981085,0.71338606911949],"aabb_xy":[[-0.5042324146300949,-0.8512587251309539],[-0.4960005144059496,-0.8430276150652628]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[0.09662147456002579,1.0241388358590897,0.71338606911949],"aabb_xy":[[0.03262147816445271,0.9601755474403562],[0.16062147095559887,1.0881021242778233]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[0.2604078935175006,-1.2145248384107261,0.71338606911949],"aabb_xy":[[0.25336758358396366,-1.2945248378103977],[0.26744820345103765,-1.134524839011055]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_23","position":[-0.5399281099835328,0.2342497520390805,0.71338606911949],"aabb_xy":[[-0.6039281072858791,0.1898833250712237],[-0.4759281126811863,0.27861617900693725]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_24","position":[-0.05799209387331972,-2.2505135087637087,0.71338606911949],"aabb_xy":[[-0.13799209530344692,-2.330030663776318],[0.02200790755680749,-2.1709963537510992]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_25","position":[0.16907924782588024,-1.3235761288130699,0.71338606911949],"aabb_xy":[[0.1559280018545909,-1.3485761285697564],[0.18223049379716963,-1.2985761290563833]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[0.19357926264340597,-2.16533957169002,0.71338606911949],"aabb_xy":[[0.11357926405608652,-2.2446551736281806],[0.27357926123072535,-2.0860239697518588]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_27","position":[-0.524367054307705,1.3205867146567818,0.71338606911949],"aabb_xy":[[-0.553016386668121,1.2919411553797058],[-0.4957177219472886,1.3492322739338574]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_28","position":[-0.29592046568039804,-2.233809886231535,0.71338606911949],"aabb_xy":[[-0.35992046210771994,-2.280979510053632],[-0.23192046925307613,-2.186640262409439]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_29","position":[0.6874609949690342,-0.6663978713555438,0.71338606911949],"aabb_xy":[[0.6624609950365163,-0.6732805395764672],[0.7124609949015521,-0.6595152031346205]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_30","position":[0.3013744694596423,0.7278345096254819,0.71338606911949],"aabb_xy":[[0.23737877206454566,0.6638345113247732],[0.36537016685473883,0.7918345079261906]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_31","position":[-0.6406589768016379,0.47341044054527615,0.71338606911949],"aabb_xy":[[-0.6906589780854778,0.423431586154654],[-0.5906589755177979,0.5233892949358981]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6655883139298603,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6423.png","name":"6423"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6423.png","name":"6423"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9364.png","name":"9364"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2862.png","name":"2862"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7949.png","name":"7949"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3428.png","name":"3428"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":748.668903145562,"rotation_z_degrees":201.04516988553613,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012033983502696266,0.004031254452265973,0.008205401741244251]},{"name":"camera_2","offset_m":[0.014762718393484708,-0.009390021663080943,0.00098512178948695]},{"name":"camera_3","offset_m":[-0.01993922818912584,0.010551034634921831,0.011737043859166126]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014881379390682906,0.0007255913010664273,-0.0011745968760942375],"end_effector_yaw_offset_degrees":-0.03176891700926454},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0012751712434590713,0.001387119529751915,0.0009710523680821217],"end_effector_yaw_offset_degrees":-0.864632251877594},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00032064233833417307,0.001150531995747979,0.0013740169601086727],"end_effector_yaw_offset_degrees":0.31318528358683695},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001994267811509103,7.171171806909758e-05,0.001896928875796692],"end_effector_yaw_offset_degrees":-0.6239014592418031}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004600525522676467,-0.001483344980054343],"position_m":[0.16469947447732353,0.22861665501994566,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00022269999007603052,0.0009143884137375958],"position_m":[0.23502269999007605,-0.3626856115862624,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001673350189794416,0.00461177456317326],"position_m":[0.20192664981020558,-0.04118822543682674,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00353970538439763,-0.003969393778661471],"position_m":[0.33026029461560236,0.11373060622133853,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7c3597049793f4407a646c2ca8d8edd078364710743e929c84067d94c9f86baa","episode_index":124,"episode_name":"episode_0124"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0124.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6423/tex_ceiling_textures_3428/tex_floor_textures_7949/tex_table_textures_9364/tex_wall_textures_2862","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7564384676755459344,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7564384676755459344,"visual_seed":7564384676755459344,"scene_id":"lab_003","finished_at":"2026-09-05T00:42:57"}
+{"episode_id":"ep_000084","started_at":"2026-09-05T00:43:01","dimensions":{"distractor":{"count":32,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.6770374722203936,-2.3417134385096516,0.71338606911949],"aabb_xy":[[0.6395374714283981,-2.348081279467842],[0.714537473012389,-2.3353455975514614]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[0.5482529932807905,1.4000671798572224,0.71338606911949],"aabb_xy":[[0.4842529930203197,1.3550583805042944],[0.6122529935412613,1.4450759792101504]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_2","position":[-0.17890904814911146,1.763424732440345,0.71338606911949],"aabb_xy":[[-0.2289040591085635,1.7134247334047534],[-0.12891403718965944,1.8134247314759369]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[-0.3572255105585728,-2.2284171892872187,0.71338606911949],"aabb_xy":[[-0.39152242157631345,-2.26271407549716],[-0.3229285995408322,-2.1941203030772773]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[0.11891678289510021,-1.2042988575914053,0.71338606911949],"aabb_xy":[[0.10285485543658256,-1.289298859403997],[0.13497871035361783,-1.1192988557788133]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_5","position":[0.5367525209565163,-2.4988571513717,0.71338606911949],"aabb_xy":[[0.4517525222644415,-2.5308430147665786],[0.6217525196485908,-2.466871287976821]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[0.5465451804351196,1.5431680129013325,0.71338606911949],"aabb_xy":[[0.4965663719248036,1.4931680128956137],[0.5965239889454353,1.5931680129070513]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[-0.10584343153900155,-1.6376274211870454,0.71338606911949],"aabb_xy":[[-0.1280159585156524,-1.659803088343168],[-0.08367090456235071,-1.615451754030922]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_8","position":[-0.6538945799774566,0.34328666084578785,0.71338606911949],"aabb_xy":[[-0.6632415875597518,0.3289830386281438],[-0.6445475723951614,0.3575902830634319]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_9","position":[-0.5286382654955848,-0.4893936578192428,0.71338606911949],"aabb_xy":[[-0.5926382687852928,-0.5327285768231604],[-0.4646382622058766,-0.44605873881532526]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_10","position":[0.6066943701306904,-0.2163209960594159,0.71338606911949],"aabb_xy":[[0.5166943677966714,-0.29380335064452856],[0.6966943724647096,-0.13883864147430328]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[-0.2786123579786921,1.2727218637555078,0.71338606911949],"aabb_xy":[[-0.31205253317471165,1.2392782379245775],[-0.24517218278267247,1.3061654895864376]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[0.3366751440019755,1.391763654905037,0.71338606911949],"aabb_xy":[[0.2996410345739158,1.3573864475713275],[0.37370925343003525,1.4261408622387464]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_13","position":[0.04936494897335997,1.643666872130391,0.71338606911949],"aabb_xy":[[-0.040635054703558215,1.5822344655532863],[0.13936495265027812,1.705099278707495]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.08752177489950563,-0.9159010243567676,0.71338606911949],"aabb_xy":[[0.037521776253584424,-0.9658205680162298],[0.13752177354542683,-0.8659814806973051]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_15","position":[-0.49742969945514043,-1.8864005260627423,0.71338606911949],"aabb_xy":[[-0.5474027649876559,-1.9364005258752757],[-0.4474566339226251,-1.8364005262502099]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[-0.16268023982260105,-1.5577547540873071,0.71338606911949],"aabb_xy":[[-0.1687748677107194,-1.5663241486389758],[-0.15658561193448275,-1.5491853595356384]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[0.17262609228087955,-0.7390892713124269,0.71338606911949],"aabb_xy":[[0.10262608888931755,-0.7744050450158576],[0.2426260956724415,-0.7037734976089959]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[0.31583839037194217,-1.02353484129088,0.71338606911949],"aabb_xy":[[0.24583839396198023,-1.0439727769425613],[0.3858383867819038,-1.0030969056391978]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_19","position":[0.38550002741038547,-1.4799362745677707,0.71338606911949],"aabb_xy":[[0.36221818521225413,-1.5649362758649985],[0.4087818696085168,-1.3949362732705424]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[0.079927004336246,0.8511087694149073,0.71338606911949],"aabb_xy":[[0.06677575836495665,0.826108769658221],[0.09307825030753537,0.8761087691715941]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[0.3367741024686042,-0.4774715335842341,0.71338606911949],"aabb_xy":[[0.3142741029448967,-0.4999674810348548],[0.3592741019923115,-0.4549755861336132]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_22","position":[-0.23064086177582233,0.5289209759300162,0.71338606911949],"aabb_xy":[[-0.2801212829897811,0.46492097801716425],[-0.18116044056186356,0.5929209738428679]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_23","position":[0.6408882121104278,-1.736210699609945,0.71338606911949],"aabb_xy":[[0.5995836690466918,-1.800210699178062],[0.6821927551741638,-1.6722107000418278]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[0.5160678228019975,-2.1936859153067805,0.71338606911949],"aabb_xy":[[0.5042996360073401,-2.2786859152120025],[0.5278360095966551,-2.1086859154015594]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_25","position":[-0.30820330106872035,1.541530093756125,0.71338606911949],"aabb_xy":[[-0.3882033043327335,1.5279700614472116],[-0.22820329780470722,1.5550901260650383]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_26","position":[-0.6588774815129743,-1.744160497311451,0.71338606911949],"aabb_xy":[[-0.6807672291019151,-1.8341604946007004],[-0.6369877339240335,-1.6541605000222022]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_27","position":[-0.43338154469211676,-0.8162400584440432,0.71338606911949],"aabb_xy":[[-0.436822220932174,-0.8201014914184078],[-0.42994086845205964,-0.8123786254696789]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_28","position":[-0.2543984862056834,-1.3767960761834601,0.71338606911949],"aabb_xy":[[-0.30428118308337965,-1.426796075429735],[-0.20451578932798725,-1.3267960769371856]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_29","position":[-0.0580562962000325,-1.9066689056633153,0.71338606911949],"aabb_xy":[[-0.06677026524996699,-1.9291689063225033],[-0.04934232715009801,-1.8841689050041268]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_30","position":[-0.6047545641296158,-1.1137587476354875,0.71338606911949],"aabb_xy":[[-0.627268255953073,-1.1837587482364949],[-0.5822408723061586,-1.0437587470344798]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_31","position":[-0.36739522382689355,-0.12443790517448772,0.71338606911949],"aabb_xy":[[-0.40489522225029384,-0.13760211914231835],[-0.32989522540349314,-0.11127369120665707]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6629443970329086,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8280.png","name":"8280"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8280.png","name":"8280"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/780.png","name":"780"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9624.png","name":"9624"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2079.png","name":"2079"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5247.png","name":"5247"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":844.5732073689397,"rotation_z_degrees":349.02309942437546,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007669562235987023,-0.005271464702063758,0.004398808067421309]},{"name":"camera_2","offset_m":[-0.0035798055167716933,-0.004096232630006823,0.0002575380566673044]},{"name":"camera_3","offset_m":[-0.011805665472748576,0.004934189875066056,-0.00811711627490947]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016975979369425334,-0.000570218727351421,0.000514604795131763],"end_effector_yaw_offset_degrees":0.9156967215947489},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016993831889233761,0.0008983498947413085,0.00010604281400356267],"end_effector_yaw_offset_degrees":-0.2921185734143452},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.1253611824857401e-05,0.0015095486718836818,-0.0009562698640204457],"end_effector_yaw_offset_degrees":-0.916851720645574},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00038356307216708954,-3.140501330986447e-05,-0.0006803937193304065],"end_effector_yaw_offset_degrees":0.29639014644331096}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017257123521831888,-0.0023437285100211137],"position_m":[0.1710257123521832,0.22775627148997887,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00041414910097705045,0.004798087386343612],"position_m":[0.23438585089902295,-0.35880191261365635,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035794160056127526,-0.0017220243691619943],"position_m":[0.20717941600561277,-0.047522024369161996,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004714510147190429,-0.0028886266403378357],"position_m":[0.3385145101471904,0.11481137335966217,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a6a2ba6710603fd3e90106cbf73648e6e5f0e3d14304b5aac71fc6c6becdbc22","episode_index":125,"episode_name":"episode_0125"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0125.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8280/tex_ceiling_textures_5247/tex_floor_textures_2079/tex_table_textures_780/tex_wall_textures_9624","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3472807619585799553,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3472807619585799553,"visual_seed":3472807619585799553,"scene_id":"lab_003","finished_at":"2026-09-05T00:46:48"}
+{"episode_id":"ep_000085","started_at":"2026-09-05T00:46:52","dimensions":{"distractor":{"count":27,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.16003382097654173,-0.145928082892405,0.71338606911949],"aabb_xy":[[-0.18253382098669,-0.16002430253200828],[-0.1375338209663934,-0.13183186325280172]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.5285662415688342,-1.416187459332247,0.71338606911949],"aabb_xy":[[-0.5713329484482543,-1.4801874627540497],[-0.48579953468941395,-1.3521874559104448]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_2","position":[-0.53752381601712,-1.778911114513041,0.71338606911949],"aabb_xy":[[-0.6272108923252353,-1.8689111147674913],[-0.4478367397090044,-1.6889111142585902]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_3","position":[-0.6370796315279437,1.393258956069301,0.71338606911949],"aabb_xy":[[-0.662079630799906,1.3769135924731388],[-0.6120796322559814,1.4096043196654635]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.07990073389251062,-0.9005776418774725,0.71338606911949],"aabb_xy":[[0.07265696784626531,-0.980577640081075],[0.08714449993875596,-0.8205776436738702]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.6937611922191838,-0.8730066972714443,0.71338606911949],"aabb_xy":[[0.6794267670930202,-0.8850669128259832],[0.7080956173453471,-0.8609464817169055]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.3779441654682849,-1.547006011975472,0.71338606911949],"aabb_xy":[[0.2929441667762103,-1.5789918753703507],[0.4629441641603596,-1.515020148580593]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.4375766937662684,-0.7406602246507077,0.71338606911949],"aabb_xy":[[0.4175182821530281,-0.7607253115598652],[0.4576351053795087,-0.7205951377415502]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.4468798604053109,-0.9238216891641235,0.71338606911949],"aabb_xy":[[-0.4842111369305535,-0.9584747439589758],[-0.4095485838800683,-0.8891686343692713]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_9","position":[-0.3940278090227649,0.6047158174773823,0.71338606911949],"aabb_xy":[[-0.47402780642635833,0.5247232462791994],[-0.3140278116191715,0.684708388675565]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_10","position":[0.047978627456155554,-1.4259322099735177,0.71338606911949],"aabb_xy":[[-0.04202137113831439,-1.4421827962869387],[0.1379786260506255,-1.4096816236600966]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[-0.2722533357170541,1.0817706318128808,0.71338606911949],"aabb_xy":[[-0.2840215225117117,0.9967706319076595],[-0.26048514892239666,1.1667706317181026]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_12","position":[0.38458437768210385,0.8964496291864825,0.71338606911949],"aabb_xy":[[0.34708437649731094,0.8920314064904219],[0.42208437886689654,0.9008678518825429]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[0.5461561971914821,0.3206972804772654,0.71338606911949],"aabb_xy":[[0.49902681818964634,0.2566972794328634],[0.5932855761933177,0.3846972815216673]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_14","position":[0.5358870151999988,-2.2999435927931766,0.71338606911949],"aabb_xy":[[0.5309877228934353,-2.327620512095745],[0.5407863075065623,-2.2722666734906074]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_15","position":[-0.4956370106694644,1.158483268330015,0.71338606911949],"aabb_xy":[[-0.5456320216289166,1.1084832692944233],[-0.44564199971001245,1.2084832673656067]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[0.008664596302204952,1.3146210017738107,0.71338606911949],"aabb_xy":[[-0.015881619320545767,1.2843721052247736],[0.03321081192495567,1.3448698983228478]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[0.33350541504270503,1.430736662281579,0.71338606911949],"aabb_xy":[[0.2535054164553856,1.3514210603434182],[0.41350541363002447,1.51005226421974]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_18","position":[0.47554177765117744,-2.5639686730657703,0.71338606911949],"aabb_xy":[[0.4472120677026373,-2.5684294152594878],[0.5038714875997177,-2.5595079308720536]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.2905976292543536,-0.6826748893491292,0.71338606911949],"aabb_xy":[[0.27736668371967227,-0.6959023083711284],[0.30382857478903486,-0.6694474703271296]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[-0.2515618072051803,-1.2200006277385311,0.71338606911949],"aabb_xy":[[-0.2621292868632793,-1.2305456578515395],[-0.24099432754708128,-1.2094555976255223]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.522254942550478,0.0315154086635161,0.71338606911949],"aabb_xy":[[-0.5527391926775082,-0.018484591117979843],[-0.49177069242344784,0.08151540844501204]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_22","position":[-0.02041805769704841,-2.4346826867625238,0.71338606911949],"aabb_xy":[[-0.033569303668337776,-2.4596826865192103],[-0.00726681172575905,-2.409682687005837]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_23","position":[0.6721909293281163,-1.6753889185870463,0.71338606911949],"aabb_xy":[[0.6641545946268315,-1.683427037891463],[0.6802272640294011,-1.6673507992826295]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[-0.12665540870397418,0.9664664117501993,0.71338606911949],"aabb_xy":[[-0.148827935680625,0.944290744594076],[-0.10448288172732331,0.9886420789063224]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_25","position":[0.4998207065415763,-1.9666923918001986,0.71338606911949],"aabb_xy":[[0.4398207048986545,-2.0186925410921432],[0.5598207081844981,-1.9146922425082546]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_26","position":[0.07398169384405395,-0.6200192099661721,0.71338606911949],"aabb_xy":[[0.06526772479411944,-0.6425192106253601],[0.08269566289398841,-0.5975192093069837]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6647080476999672,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9933.png","name":"9933"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9933.png","name":"9933"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9025.png","name":"9025"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7162.png","name":"7162"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2029.png","name":"2029"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1025.png","name":"1025"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":836.5297856772659,"rotation_z_degrees":292.4402946015026,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008056079101758606,-0.006026590994813735,-0.006945689352241713]},{"name":"camera_2","offset_m":[-0.008677500026154465,-0.006259207779123237,-0.007559305436961173]},{"name":"camera_3","offset_m":[-0.003214827878655367,-0.011218367500081273,0.007652134035175333]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00037093213771337893,-0.0001506282891309519,-0.0013350799449732289],"end_effector_yaw_offset_degrees":0.30813277978557685},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0003928439992903917,0.0017012426097524178,-0.0009573832103490151],"end_effector_yaw_offset_degrees":-0.47767011148522887},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001673509383690572,-0.00046272216085692266,-0.000607503355168328],"end_effector_yaw_offset_degrees":0.18807836643285936},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006405850463472493,-0.000725882601438514,0.0001838724577401499],"end_effector_yaw_offset_degrees":0.23995915337865825}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022896757906329768,-0.001098828900610306],"position_m":[0.16701032420936704,0.2290011710993897,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004702423399595597,0.002915224238717759],"position_m":[0.23527024233995958,-0.3606847757612822,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024932737706322007,-0.0022081643770315894],"position_m":[0.20110672622936782,-0.04800816437703159,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026332044337075266,-0.002910856854936862],"position_m":[0.33116679556629247,0.11478914314506314,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"43bd309bb2a4fdd95cff886600fca5937ee855aaa4655193e869020159d72544","episode_index":126,"episode_name":"episode_0126"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0126.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9933/tex_ceiling_textures_1025/tex_floor_textures_2029/tex_table_textures_9025/tex_wall_textures_7162","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7908446063793683463,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7908446063793683463,"visual_seed":7908446063793683463,"scene_id":"lab_003","finished_at":"2026-09-05T00:50:36"}
+{"episode_id":"ep_000086","started_at":"2026-09-05T00:50:41","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[0.5508171360735574,0.6681494990684311,0.71338606911949],"aabb_xy":[[0.4958216582528979,0.6131494976345242],[0.6058126138942167,0.7231495005023381]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[-0.38914695309668945,-1.2569917881156867,0.71338606911949],"aabb_xy":[[-0.4531469538001589,-1.3030101705886077],[-0.32514695239322017,-1.2109734056427657]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_2","position":[0.4216170240955235,-0.300349314042649,0.71338606911949],"aabb_xy":[[0.4119853878750938,-0.3099866268223579],[0.43124866031595305,-0.29071200126294006]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[-0.239599209516206,-2.423522853107882,0.71338606911949],"aabb_xy":[[-0.24688152589286963,-2.51352285671739],[-0.23231689313954232,-2.333522849498372]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[0.49196882634370653,-1.460071270229105,0.71338606911949],"aabb_xy":[[0.47429319575510814,-1.4777514865085075],[0.5096444569323048,-1.442391053949702]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_5","position":[0.4844201908550787,0.20762281478342137,0.71338606911949],"aabb_xy":[[0.39442019435420683,0.16171117236496307],[0.5744201873559502,0.2535344572018795]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[-0.5903965014170747,-1.4792704705947595,0.71338606911949],"aabb_xy":[[-0.6013022775046374,-1.5592704669935886],[-0.579490725329512,-1.3992704741959303]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.4845093376303381,1.171965065702453,0.71338606911949],"aabb_xy":[[-0.5485093395426806,1.1160539164444425],[-0.4205093357179958,1.2278762149604634]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.08798825155435519,-0.659713118826696,0.71338606911949],"aabb_xy":[[-0.09561251964453345,-0.6673463423632399],[-0.08036398346417695,-0.6520798952901524]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_9","position":[0.19094871557957638,-2.452965166231315,0.71338606911949],"aabb_xy":[[0.15663243840495844,-2.502965166204493],[0.22526499275419432,-2.4029651662581375]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[0.6419883516731386,0.010349017247203829,0.71338606911949],"aabb_xy":[[0.6063591957731788,-0.02528364950964912],[0.6776175075730982,0.04598168400405678]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[0.34217618464481725,1.0441506416152673,0.71338606911949],"aabb_xy":[[0.3293042811438771,0.9641506412014312],[0.3550480881457574,1.1241506420291034]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.2529243278416934,-0.23855812683185373,0.71338606911949],"aabb_xy":[[-0.2980956456898624,-0.30255812397639215],[-0.20775300999352447,-0.17455812968731532]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[-0.27424791309235924,-2.160598979776197,0.71338606911949],"aabb_xy":[[-0.32424274602030084,-2.2105989786714404],[-0.22425308016441764,-2.1105989808809533]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_14","position":[0.4611107029899033,1.495484496285178,0.71338606911949],"aabb_xy":[[0.41330453537613454,1.4304844935781191],[0.5089168706036719,1.5604844989922368]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[-0.6065897545285833,-1.0165760395999746,0.71338606911949],"aabb_xy":[[-0.6865897559587105,-1.0960931946125838],[-0.5265897530984561,-0.9370588845873649]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[0.47830512287877514,-2.1981433975015157,0.71338606911949],"aabb_xy":[[0.4143051237090052,-2.2449100846204777],[0.5423051220485451,-2.1513767103825527]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[0.05281265907802524,1.0108218012781975,0.71338606911949],"aabb_xy":[[-0.01218733880362256,0.9596981375716567],[0.11781265695967305,1.0619454649847384]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[-0.14842032964732899,-1.60116006364079,0.71338606911949],"aabb_xy":[[-0.2124203299213072,-1.651226163838078],[-0.08442032937335073,-1.5510939634435021]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.3860773849195327,-1.8600379483942242,0.71338606911949],"aabb_xy":[[-0.42107738323022814,-1.8677529633177699],[-0.35107738660883725,-1.8523229334706786]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[0.3520901238216869,-1.3820289079874704,0.71338606911949],"aabb_xy":[[0.2880901245275187,-1.4460150483563246],[0.41609012311585514,-1.3180427676186162]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[-0.041211200230628076,-0.872890575817558,0.71338606911949],"aabb_xy":[[-0.07871119865402842,-0.8860547897853887],[-0.0037112018072277195,-0.8597263618497274]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[-0.4182264498091334,-1.7478810385875807,0.71338606911949],"aabb_xy":[[-0.4681091466868297,-1.7978810378338559],[-0.36834375293143723,-1.6978810393413064]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[0.25302467758126634,-1.9117648966536729,0.71338606911949],"aabb_xy":[[0.16802467888919165,-1.9437507600485515],[0.33802467627334093,-1.8797790332587938]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_24","position":[0.4274812220938988,0.7997593495203157,0.71338606911949],"aabb_xy":[[0.4148785229568224,0.7871639532954502],[0.44008392123097534,0.8123547457451812]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[0.14251508659327417,-1.219686292712486,0.71338606911949],"aabb_xy":[[0.1361012729500892,-1.226096112960154],[0.14892890023645908,-1.2132764724648173]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6623070219969811,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2311.png","name":"2311"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2311.png","name":"2311"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4250.png","name":"4250"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6254.png","name":"6254"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2800.png","name":"2800"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4325.png","name":"4325"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":816.6540566167578,"rotation_z_degrees":346.9216904427438,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00028039247539813836,-0.013496346078390191,0.004219462348653967]},{"name":"camera_2","offset_m":[-0.00864197493300186,0.008540261614351868,-0.015882702311580447]},{"name":"camera_3","offset_m":[-0.010682390827005462,-0.007136426771207889,0.017236747577108653]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013086058921081296,-1.1291006169892367e-05,-9.569638339627408e-05],"end_effector_yaw_offset_degrees":-0.24372695850527415},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-3.792240922571117e-05,-0.000976944212169563,0.00033600356398374347],"end_effector_yaw_offset_degrees":0.3006327893061751},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001584764653500966,-0.0010487581300437912,2.6095194824683147e-05],"end_effector_yaw_offset_degrees":0.24946978656646124},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00018306317380389946,0.0018466054259172527,-0.001165444980935924],"end_effector_yaw_offset_degrees":-0.9693215547156022}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0013297924711542521,7.181600380682177e-05],"position_m":[0.16797020752884576,0.23017181600380682,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015226536620328744,0.004255088405807837],"position_m":[0.23327734633796712,-0.35934491159419213,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-6.756770527367208e-05,-0.004273109344362401],"position_m":[0.20353243229472634,-0.050073109344362404,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002594323530219055,0.0045962773903261206],"position_m":[0.33120567646978094,0.12229627739032611,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"54d26ed5427e3e8935f0ad7bf96a100a31e14c6fbaf8dc9ccb998a5873c65659","episode_index":127,"episode_name":"episode_0127"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0127.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2311/tex_ceiling_textures_4325/tex_floor_textures_2800/tex_table_textures_4250/tex_wall_textures_6254","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7416607846213382661,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7416607846213382661,"visual_seed":7416607846213382661,"scene_id":"lab_003","finished_at":"2026-09-05T00:54:33"}
+{"episode_id":"ep_000087","started_at":"2026-09-05T00:54:37","dimensions":{"distractor":{"count":29,"items":[{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_0","position":[0.19920844340493893,1.4796980304668446,0.71338606911949],"aabb_xy":[[0.18912673632636545,1.39969803257473],[0.2092901504835124,1.5596980283589592]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[-0.16629347281609375,1.6633952629659086,0.71338606911949],"aabb_xy":[[-0.17433683274204892,1.5783952618705424],[-0.15825011289013857,1.7483952640612752]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[0.5695088602604357,1.392873898059782,0.71338606911949],"aabb_xy":[[0.48450886156836104,1.360888034664903],[0.6545088589525103,1.4248597614546608]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[-0.6596725930802455,-2.5292850168046943,0.71338606911949],"aabb_xy":[[-0.6710343277335316,-2.5406534832109817],[-0.6483108584269592,-2.517916550398406]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_4","position":[-0.010740247120769486,-1.930151487835008,0.71338606911949],"aabb_xy":[[-0.0907402457080889,-2.0094670897731683],[0.06925975146654993,-1.850835885896847]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[-0.38700871826630817,1.7227657862414376,0.71338606911949],"aabb_xy":[[-0.39234123292092116,1.7174414579962023],[-0.3816762036116952,1.7280901144866734]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.015121100084254047,1.6637989385542702,0.71338606911949],"aabb_xy":[[0.01116061631451967,1.6561310739687496],[0.01908158385398842,1.6714668031397908]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[0.5523618931497418,0.46023367250033864,0.71338606911949],"aabb_xy":[[0.5148618929778699,0.4275329371174314],[0.5898618933216138,0.4929344078832458]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_8","position":[0.10328978597715432,-1.6115908814957747,0.71338606911949],"aabb_xy":[[0.06578978587156137,-1.6184130433487556],[0.14078978608274728,-1.6047687196427933]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_9","position":[0.40296071356726904,1.2242063325757786,0.71338606911949],"aabb_xy":[[0.39171565799665115,1.212964534851683],[0.4142057691378868,1.2354481302998737]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.16969152771071727,-2.405540899714093,0.71338606911949],"aabb_xy":[[-0.18229422684779373,-2.4181362959389583],[-0.15708882857364082,-2.3929455034892273]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_11","position":[0.36762275770254926,0.9444052503104077,0.71338606911949],"aabb_xy":[[0.3026227591454764,0.914652716896525],[0.4326227562596221,0.9741577837242903]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[-0.4149248088953648,-1.1307666115749393,0.71338606911949],"aabb_xy":[[-0.4649022257606184,-1.1807666130641878],[-0.36494739203011123,-1.0807666100856907]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[-0.5391775315912195,1.6594657324145685,0.71338606911949],"aabb_xy":[[-0.6191775286054675,1.6393311807411572],[-0.4591775345769715,1.6796002840879798]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_14","position":[-0.07122450146582016,1.4396270387219112,0.71338606911949],"aabb_xy":[[-0.13622449934746797,1.3885033750153704],[-0.006224503584172371,1.490750702428452]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_15","position":[-0.4067745692488771,1.375255976887202,0.71338606911949],"aabb_xy":[[-0.4186466522603783,1.2902559771935518],[-0.39490248623737606,1.4602559765808525]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_16","position":[0.35287803599003054,0.7029223854980655,0.71338606911949],"aabb_xy":[[0.3394315093559872,0.6894525338449743],[0.36632456262407387,0.7163922371511567]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[-0.21536554250299583,-2.0811050279572596,0.71338606911949],"aabb_xy":[[-0.2522160904399835,-2.1186050287802933],[-0.17851499456600825,-2.043605027134226]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[-0.27619905564148667,-1.3981878036942115,0.71338606911949],"aabb_xy":[[-0.2838233237316649,-1.405821027230755],[-0.2685747875513084,-1.3905545801576675]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_19","position":[-0.10825794271071887,0.4525219070397277,0.71338606911949],"aabb_xy":[[-0.16825794435364072,0.40052175774778354],[-0.04825794106779702,0.5045220563316719]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[-0.2120416691655102,-0.6289903595869943,0.71338606911949],"aabb_xy":[[-0.22397440352733827,-0.6413725123948538],[-0.20010893480368214,-0.6166082067791351]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_21","position":[0.6165935756152972,-1.4692840649961936,0.71338606911949],"aabb_xy":[[0.566710878737601,-1.5192840642424688],[0.6664762724929933,-1.419284065749919]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_22","position":[-0.6269794978806675,-0.9259006652563213,0.71338606911949],"aabb_xy":[[-0.6909794951663162,-0.9674073842091653],[-0.5629795005950189,-0.8843939463034773]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[-0.10495277728669361,-1.770780932357465,0.71338606911949],"aabb_xy":[[-0.12005507874771167,-1.7858824539885263],[-0.08985047582567547,-1.7556794107264029]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[0.38025108861193657,-1.0750857397914397,0.71338606911949],"aabb_xy":[[0.37109120966806003,-1.081616957834977],[0.3894109675558132,-1.0685545217479029]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[-0.45921316400732437,-1.930417039722388,0.71338606911949],"aabb_xy":[[-0.4770066709422408,-1.9482167853181858],[-0.44141965707240793,-1.9126172941265904]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_26","position":[0.41213593217083866,-2.464584393123211,0.71338606911949],"aabb_xy":[[0.3932515484023284,-2.483470317903564],[0.4310203159393488,-2.4456984683428584]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[0.19270350992922725,-0.5365342414004108,0.71338606911949],"aabb_xy":[[0.16273595301940158,-0.5665342416982966],[0.2226710668390529,-0.5065342411025251]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[-0.600576460684855,-0.7216122172552606,0.71338606911949],"aabb_xy":[[-0.6292257930452712,-0.7502577765323363],[-0.5719271283244387,-0.6929666579781847]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6624229245956339,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7348.png","name":"7348"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7348.png","name":"7348"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4741.png","name":"4741"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7478.png","name":"7478"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6512.png","name":"6512"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5975.png","name":"5975"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":797.2982496230007,"rotation_z_degrees":307.86727346233624,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003118047254770495,0.0043364327868316045,-0.008974047275176327]},{"name":"camera_2","offset_m":[-0.00358028352144793,0.012065431963384918,-0.008079388139102802]},{"name":"camera_3","offset_m":[-0.00017264039733507971,0.007087597913221635,0.019304818086014256]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005277033791619794,-0.0002346876570015568,-0.0008456620887294028],"end_effector_yaw_offset_degrees":0.5886144071211943},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017112808273290446,-0.001639883656815861,0.0019804391588539626],"end_effector_yaw_offset_degrees":0.5143814793330226},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016594462755302164,-0.0014048334132587656,0.001718465233302087],"end_effector_yaw_offset_degrees":0.6502575209818813},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008094952576605593,-6.026992043409911e-05,0.0012482306572782664],"end_effector_yaw_offset_degrees":0.01457093254881947}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007162460308519671,-0.0016060119088504234],"position_m":[0.16858375396914804,0.22849398809114957,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004614047212180441,-0.0006971506731296125],"position_m":[0.23018595278781956,-0.36429715067312957,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[7.630980099827475e-06,-0.0033077937080490515],"position_m":[0.20360763098009982,-0.049107793708049054,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001025044897768554,0.0030234338832761535],"position_m":[0.33277495510223143,0.12072343388327615,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a6584f8e9435d7e77ea84183464a8c450992399f976d0e115a98ba623f813e80","episode_index":128,"episode_name":"episode_0128"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0128.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7348/tex_ceiling_textures_5975/tex_floor_textures_6512/tex_table_textures_4741/tex_wall_textures_7478","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8750306405958264112,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8750306405958264112,"visual_seed":8750306405958264112,"scene_id":"lab_003","finished_at":"2026-09-05T00:58:40"}
+{"episode_id":"ep_000088","started_at":"2026-09-05T00:58:44","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_0","position":[-0.2368739093785696,0.6989627008094259,0.71338606911949],"aabb_xy":[[-0.2680208282221527,0.6289627021226186],[-0.20572699053498644,0.768962699496233]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_1","position":[0.5286698967104102,1.5018297601674857,0.71338606911949],"aabb_xy":[[0.46466989644993945,1.4568209608145575],[0.592669896970881,1.5468385595204135]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_2","position":[-0.17431666448227012,-1.1738761528894113,0.71338606911949],"aabb_xy":[[-0.2643166609831418,-1.2197877953078695],[-0.08431666798139835,-1.127964510470953]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[0.010911128612977272,-1.1108511807350847,0.71338606911949],"aabb_xy":[[-0.039088872406158,-1.1473173964729129],[0.06091112963211255,-1.074384964997257]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[0.3916509326227431,-1.9687932273449409,0.71338606911949],"aabb_xy":[[0.3876904488530088,-1.9764610919304615],[0.3956114163924775,-1.9611253627594203]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_5","position":[-0.49306065233896046,-0.282926131572816,0.71338606911949],"aabb_xy":[[-0.5430606517791561,-0.33289405605713224],[-0.44306065289876484,-0.23295820708849962]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.24510936015378887,-1.6425886768366746,0.71338606911949],"aabb_xy":[[-0.2901019468722392,-1.6875886761111236],[-0.20011677343533843,-1.5975886775622261]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_7","position":[0.5818177352526726,0.6911452662226658,0.71338606911949],"aabb_xy":[[0.576918442946109,0.6634683469200969],[0.5867170275592359,0.7188221855252345]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[-0.019447811632195777,-2.2237878139240808,0.71338606911949],"aabb_xy":[[-0.028607690576072375,-2.230319031967617],[-0.010287932688319179,-2.2172565958805435]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[0.47642448186140407,1.2297689841582997,0.71338606911949],"aabb_xy":[[0.41242447864276627,1.1830458722592914],[0.5404244850800419,1.276492096057308]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_10","position":[0.5532353690597942,-0.9634321211026002,0.71338606911949],"aabb_xy":[[0.5468215554166092,-0.9698419413502685],[0.559649182702979,-0.9570223008549318]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[0.6929143860044247,0.0011660601219962707,0.71338606911949],"aabb_xy":[[0.6777515130274877,-0.013999397173122489],[0.7080772589813619,0.01633151741711503]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_12","position":[-0.6416684330830886,0.8550646590418558,0.71338606911949],"aabb_xy":[[-0.6641675688093156,0.8325646582635927],[-0.6191692973568617,0.8775646598201187]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[0.15926540464649375,0.9922019517721226,0.71338606911949],"aabb_xy":[[0.13568028118259892,0.9272019495266908],[0.18285052811038863,1.0572019540175543]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_14","position":[0.2083274178809843,0.6062896118903196,0.71338606911949],"aabb_xy":[[0.1283274174107684,0.5979789042759712],[0.2883274183512003,0.614600319504668]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.30118290233269096,1.2669367864201098,0.71338606911949],"aabb_xy":[[0.24619065169718007,1.211936784676797],[0.35617515296820196,1.3219367881634225]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.23330772696771124,1.3896808502596683,0.71338606911949],"aabb_xy":[[-0.31330772412728647,1.3781332493018512],[-0.15330772980813592,1.4012284512174853]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[-0.24168672063427937,-0.9525700973455522,0.71338606911949],"aabb_xy":[[-0.30168672048084616,-1.0093887195385909],[-0.18168672078771259,-0.8957514751525135]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[0.13540195895711504,-2.2230825799701,0.71338606911949],"aabb_xy":[[0.055401961942867034,-2.243217131643511],[0.215401955971363,-2.2029480282966882]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[-0.5083752199705852,-1.9867065568947142,0.71338606911949],"aabb_xy":[[-0.5429663028246304,-2.051706557179745],[-0.47378413711654005,-1.921706556609683]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[-0.36355691735765383,0.16544317045538914,0.71338606911949],"aabb_xy":[[-0.4085569188238828,0.1204433135939085],[-0.31855691589142504,0.21044302731686987]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_21","position":[-0.32228462829655696,0.9287545981353622,0.71338606911949],"aabb_xy":[[-0.3283792561846753,0.9201852035836935],[-0.31619000040843864,0.9373239926870309]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_22","position":[0.29032277332471934,-0.48940982262746857,0.71338606911949],"aabb_xy":[[0.28162481103400405,-0.5015347969349433],[0.29902073561543463,-0.47728484831999385]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_23","position":[-0.6048681486627626,-2.4180928740826366,0.71338606911949],"aabb_xy":[[-0.6948681472572327,-2.4343434603960574],[-0.5148681500682928,-2.401842287769216]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_24","position":[-0.015416985545486983,-1.993568875104482,0.71338606911949],"aabb_xy":[[-0.10541698787950604,-2.0710512296895947],[0.07458301678853207,-1.9160865205193693]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_25","position":[-0.22415452314610468,0.970643842934531,0.71338606911949],"aabb_xy":[[-0.24170121806222364,0.9331438413702797],[-0.20660782822998577,1.0081438444987822]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_26","position":[0.35609535640017986,1.0251144333838758,0.71338606911949],"aabb_xy":[[0.3185953559028217,1.021145749835757],[0.39359535689753816,1.029083116931994]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_27","position":[-0.5956160938045709,-1.4099113031860173,0.71338606911949],"aabb_xy":[[-0.6315295982295605,-1.4458248114027714],[-0.5597025893795812,-1.3739977949692623]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_28","position":[0.34826231200189084,-0.9142994383555612,0.71338606911949],"aabb_xy":[[0.33116023404352274,-0.9314062438868309],[0.36536438996025905,-0.8971926328242914]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_29","position":[0.2233385325369246,-1.743346292077419,0.71338606911949],"aabb_xy":[[0.1583385325026219,-1.7900469687577465],[0.2883385325712273,-1.696645615397092]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6665301642207817,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4131.png","name":"4131"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4131.png","name":"4131"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6326.png","name":"6326"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1032.png","name":"1032"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6901.png","name":"6901"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6459.png","name":"6459"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":653.0574391807986,"rotation_z_degrees":258.9624869689482,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010499491818626274,0.008182897387320306,-0.018485371890789644]},{"name":"camera_2","offset_m":[-0.007664051472738116,0.009146935248553176,0.014210423752760205]},{"name":"camera_3","offset_m":[0.01814486672273818,-0.004547827957124429,-0.012520557416378572]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00043819853285679547,-0.000968768452323125,0.0014769692407016711],"end_effector_yaw_offset_degrees":0.6034027801601993},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00014091398593897879,0.000551063294264562,-0.000947368476757986],"end_effector_yaw_offset_degrees":0.5647514948899224},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007420832914459912,0.0003126949308361088,-0.0012615741987701647],"end_effector_yaw_offset_degrees":0.4864263168331453},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019972324166038094,0.0009860301209781456,0.0018680480520715526],"end_effector_yaw_offset_degrees":0.21793011091352188}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004604463966158237,0.0032256058714682555],"position_m":[0.17390446396615825,0.23332560587146825,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024857663066175694,-0.004925714860111024],"position_m":[0.23231423369338244,-0.368525714860111,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003010691960438701,-0.003779550791104286],"position_m":[0.2066106919604387,-0.049579550791104286,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035269698522585663,0.004867399371287668],"position_m":[0.3373269698522586,0.12256739937128766,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"62e964f3f81b5fba36d744bb930379dcc7367defc8e5c717e787c140ec33a66c","episode_index":129,"episode_name":"episode_0129"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0129.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4131/tex_ceiling_textures_6459/tex_floor_textures_6901/tex_table_textures_6326/tex_wall_textures_1032","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7001739932350716966,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7001739932350716966,"visual_seed":7001739932350716966,"scene_id":"lab_003","finished_at":"2026-09-05T01:02:32"}
+{"episode_id":"ep_000089","started_at":"2026-09-05T01:02:35","dimensions":{"distractor":{"count":30,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.37696682717325847,-2.38486181935882,0.71338606911949],"aabb_xy":[[0.28696682483923946,-2.4623441739439325],[0.4669668295072776,-2.307379464773707]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_1","position":[0.12510554377471705,-2.010983059875141,0.71338606911949],"aabb_xy":[[0.10599323641673819,-2.0301178387523824],[0.14421785113269592,-1.9918482809978983]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_2","position":[-0.6260587371309984,-0.4370323328923513,0.71338606911949],"aabb_xy":[[-0.630136895038048,-0.4411133131406147],[-0.6219805792239484,-0.43295135264408807]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_3","position":[0.611102847097672,1.2605759696309438,0.71338606911949],"aabb_xy":[[0.5776236798366312,1.227096856259837],[0.6445820143587131,1.294055083002051]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[-0.12758716200486309,-2.356941533579829,0.71338606911949],"aabb_xy":[[-0.1381546416629621,-2.3674865636928373],[-0.11701968234676408,-2.34639650346682]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_5","position":[0.18699695837493158,-1.7724248419880726,0.71338606911949],"aabb_xy":[[0.13699695972901038,-1.8223443856475348],[0.23699695702085277,-1.72250529832861]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.4237900878286536,0.08684241044169694,0.71338606911949],"aabb_xy":[[-0.46129008832601187,0.08287372689357851],[-0.3862900873312954,0.09081109398981534]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_7","position":[-0.484583510541207,1.244958833592535,0.71338606911949],"aabb_xy":[[-0.5191745933952522,1.179958833307504],[-0.44999242768716174,1.309958833877566]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[-0.3502652427240843,1.4084904756335606,0.71338606911949],"aabb_xy":[[-0.38526524099420417,1.4014163479385722],[-0.31526524445396437,1.4155646033285485]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.31253980138781867,0.4150815693933141,0.71338606911949],"aabb_xy":[[-0.3244118843993198,0.33008156969966373],[-0.30066771837631756,0.5000815690869644]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_10","position":[-0.43044270585804323,0.858942730642402,0.71338606911949],"aabb_xy":[[-0.5104427032616365,0.778950159444219],[-0.35044270845444975,0.9389353018405846]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_11","position":[0.4397676564907722,-0.15892701389453867,0.71338606911949],"aabb_xy":[[0.43235520094938373,-0.16477822431616662],[0.4471801120321607,-0.15307580347291072]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_12","position":[-0.12656491753276844,-0.22797283487003295,0.71338606911949],"aabb_xy":[[-0.16359902696082815,-0.26235004220374236],[-0.08953080810470873,-0.19359562753632348]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[-0.13214196248485355,0.5103763611030558,0.71338606911949],"aabb_xy":[[-0.16964196259044648,0.5035541992500746],[-0.09464196237926058,0.5171985229560369]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_14","position":[0.20747247459391116,-2.5221761030203678,0.71338606911949],"aabb_xy":[[0.18247247542827807,-2.529128348725725],[0.2324724737595443,-2.5152238573150116]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[-0.07208822122973635,-2.20444545014064,0.71338606911949],"aabb_xy":[[-0.13608822149020713,-2.2494542494935676],[-0.008088220969265534,-2.1594366507877116]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[0.016740709943922183,0.6179984499786086,0.71338606911949],"aabb_xy":[[0.007109073723492565,0.6083611371988997],[0.0263723461643518,0.6276357627583176]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_17","position":[0.4918894380258454,-1.999855529636641,0.71338606911949],"aabb_xy":[[0.4758275105673277,-2.0848555314492323],[0.5079513654843629,-1.9148555278240487]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.5438834031167165,-1.5478013669890873,0.71338606911949],"aabb_xy":[[-0.5813834030604829,-1.556094457023924],[-0.50638340317295,-1.5395082769542507]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[0.6437171693109516,-2.0259177687845065,0.71338606911949],"aabb_xy":[[0.5797171670905445,-2.0702908529097948],[0.7077171715313586,-1.9815446846592182]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.6526105003703392,0.8489365160218796,0.71338606911949],"aabb_xy":[[-0.6635162764579018,0.7689365196230503],[-0.6417047242827764,0.9289365124207086]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_21","position":[-0.008687100872145859,-2.0509850178933027,0.71338606911949],"aabb_xy":[[-0.0564932684859145,-2.115985020600361],[0.03911906674162279,-1.9859850151862433]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[0.31682896506081426,0.6026059189854225,0.71338606911949],"aabb_xy":[[0.30978865512727727,0.5226059195857512],[0.32386927499435125,0.682605918385094]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_23","position":[-0.3023019427413839,1.5531553676278453,0.71338606911949],"aabb_xy":[[-0.34448635690221463,1.4891553673506344],[-0.26011752858055315,1.6171553679050568]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_24","position":[0.43147891549143846,-0.4768062296823481,0.71338606911949],"aabb_xy":[[0.41824796995675706,-0.49003364870434746],[0.44470986102611965,-0.4635788106603486]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.07798108881406107,-1.1070769688908855,0.71338606911949],"aabb_xy":[[-0.08773707832323496,-1.11683950295012],[-0.06822509930488718,-1.097314434831651]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_26","position":[-0.046466897844892996,-0.024336057169207947,0.71338606911949],"aabb_xy":[[-0.05131049260612298,-0.029187709648192065],[-0.04162330308366303,-0.019484404690223837]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_27","position":[0.3944601053291512,0.6928619652873489,0.71338606911949],"aabb_xy":[[0.3692392684693115,0.6676382144344621],[0.4196809421889908,0.7180857161402356]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[0.18510984279839915,0.7510497907664075,0.71338606911949],"aabb_xy":[[0.09510984307522495,0.7279764382312276],[0.2751098425215733,0.7741231433015873]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_29","position":[-0.4432477195476807,-2.1604609238702683,0.71338606911949],"aabb_xy":[[-0.5232477165107199,-2.2375365655140413],[-0.3632477225846415,-2.0833852822264944]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6619710737138027,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8222.png","name":"8222"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8222.png","name":"8222"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6935.png","name":"6935"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8363.png","name":"8363"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6612.png","name":"6612"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4155.png","name":"4155"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":609.468335984353,"rotation_z_degrees":273.2534574514782,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012614497510871696,-0.010617700744666378,-0.012573855351759332]},{"name":"camera_2","offset_m":[0.018018857146692175,-0.014873897988934815,-0.007216032481462813]},{"name":"camera_3","offset_m":[-0.0055407606265596016,0.006106094792329181,-0.009281353678344928]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006409946376585971,-0.0004438252614246375,-0.00047046326461961307],"end_effector_yaw_offset_degrees":0.5313042910598575},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00011617495008520813,-0.0010306644879620745,0.0015533162025282207],"end_effector_yaw_offset_degrees":0.8717299788135071},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003036998246015738,0.0007780929501161249,-0.001669270108482607],"end_effector_yaw_offset_degrees":0.8392409040167366},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001709530051507875,0.001971282729669119,0.0002496371572423394],"end_effector_yaw_offset_degrees":-0.5619648791488705}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009592802653031829,-0.001734806600827905],"position_m":[0.17025928026530318,0.2283651933991721,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004284995333607523,0.0006264450052173628],"position_m":[0.2305150046663925,-0.3629735549947826,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016039911038639222,0.001555249912202847],"position_m":[0.2019960088961361,-0.04424475008779715,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003522567737486996,-0.001869282719979484],"position_m":[0.330277432262513,0.11583071728002052,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e16bdae0055198c36263e5421a7e26ad7068c3218eb603fceff6a95873534fdc","episode_index":130,"episode_name":"episode_0130"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0130.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8222/tex_ceiling_textures_4155/tex_floor_textures_6612/tex_table_textures_6935/tex_wall_textures_8363","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":1474397168081635339,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":1474397168081635339,"visual_seed":1474397168081635339,"scene_id":"lab_003","finished_at":"2026-09-05T01:06:45"}
+{"episode_id":"ep_000090","started_at":"2026-09-05T01:06:48","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_0","position":[0.4103487629488598,-1.5071608961140242,0.71338606911949],"aabb_xy":[[0.36034876166501983,-1.5571397505046458],[0.46034876423269977,-1.4571820417234016]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[0.40479824208724424,1.5001775647402043,0.71338606911949],"aabb_xy":[[0.3872515471711253,1.4626775631759532],[0.4223449370033632,1.5376775663044557]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_2","position":[-0.4638391814992394,1.4147487247524224,0.71338606911949],"aabb_xy":[[-0.5138391810755742,1.3647681458003167],[-0.41383918192290475,1.4647293037045286]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[-0.4328781280716291,0.7829676513082542,0.71338606911949],"aabb_xy":[[-0.4409917827450063,0.7748618348542252],[-0.4247644733982521,0.7910734677622834]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[-0.41351092713369775,0.34391094758495067,0.71338606911949],"aabb_xy":[[-0.4935109241479457,0.3237763959115394],[-0.3335109301194497,0.36404549925836194]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[0.2901990882184191,-1.7026623946344812,0.71338606911949],"aabb_xy":[[0.2750269189367858,-1.7178312515626846],[0.3053712575000525,-1.6874935377062779]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[0.5621581678453065,-0.6913493612048849,0.71338606911949],"aabb_xy":[[0.5451480705552557,-0.7074838497031588],[0.579168265135357,-0.675214872706611]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[0.12432583226767036,-0.9431484456600954,0.71338606911949],"aabb_xy":[[0.12018997593497018,-0.9806484451044525],[0.12846168860037055,-0.9056484462157385]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[0.07354164693182486,-1.8762030522206694,0.71338606911949],"aabb_xy":[[0.06808370129480479,-1.956203055528328],[0.07899959256884492,-1.7962030489130099]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[0.6101448168691186,0.8172706675656012,0.71338606911949],"aabb_xy":[[0.5838559925486778,0.79099923391095],[0.6364336411895591,0.8435421012202524]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.33783594353796187,-1.0170206538351672,0.71338606911949],"aabb_xy":[[-0.40283594169388093,-1.0433168983850793],[-0.2728359453820428,-0.990724409285255]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_11","position":[0.35426338792088785,-1.8086756438099882,0.71338606911949],"aabb_xy":[[0.3043806910431917,-1.8586756430562632],[0.40414608479858416,-1.7586756445637137]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[-0.5994800016877682,-0.37588919119117614,0.71338606911949],"aabb_xy":[[-0.621652528664419,-0.3980648583472992],[-0.5773074747111173,-0.3537135240350529]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[-0.3491255864948514,-1.4474281921940284,0.71338606911949],"aabb_xy":[[-0.36733141015609916,-1.45845359277602],[-0.3309197628336038,-1.4364027916120368]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[0.5666272779032138,0.6328313293632779,0.71338606911949],"aabb_xy":[[0.5490489757142669,0.615256839789173],[0.5842055800921606,0.6504058189373828]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_15","position":[0.6551658168255545,-0.13631845804708442,0.71338606911949],"aabb_xy":[[0.6201658168490587,-0.14578307409470104],[0.6901658168020504,-0.1268538419994678]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_16","position":[-0.30652331391685017,1.6941155670856793,0.71338606911949],"aabb_xy":[[-0.31456667384280534,1.6091155659903131],[-0.298479953990895,1.779115568181046]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_17","position":[0.6215776221777729,-2.332297500518749,0.71338606911949],"aabb_xy":[[0.5990776216657323,-2.354789358884147],[0.6440776226898135,-2.3098056421533504]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[0.5503149584944018,-1.3926302663075925,0.71338606911949],"aabb_xy":[[0.5442779454937371,-1.3986569673765405],[0.5563519714950665,-1.3866035652386444]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_19","position":[-0.4643375178510316,-1.135793243150361,0.71338606911949],"aabb_xy":[[-0.5283375192590223,-1.1875821946742855],[-0.40033751644304094,-1.084004291626436]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_20","position":[-0.4276350700413883,0.5839606015664263,0.71338606911949],"aabb_xy":[[-0.43321674167551705,0.5714606017486508],[-0.42205339840725953,0.5964606013842018]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_21","position":[-0.4136784560007425,-1.626956291396351,0.71338606911949],"aabb_xy":[[-0.4776784576787398,-1.675473682875665],[-0.3496784543227451,-1.5784388999170365]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_22","position":[-0.2074242478937599,-2.1744953703399923,0.71338606911949],"aabb_xy":[[-0.27242424645083274,-2.2042479037538754],[-0.14242424933668707,-2.14474283692611]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[-0.5459108845611684,0.9890834875607628,0.71338606911949],"aabb_xy":[[-0.5684108840848757,0.966587540110142],[-0.5234108850374609,1.0115794350113836]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_24","position":[0.3309537502419737,-1.2860250137287663,0.71338606911949],"aabb_xy":[[0.3232505595678966,-1.2937343844275042],[0.3386569409160507,-1.2783156430300284]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_25","position":[-0.2261229030660153,1.5091526650039673,0.71338606911949],"aabb_xy":[[-0.26043918024063323,1.4591526650307893],[-0.19180662589139735,1.5591526649771448]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.664009007257171,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4480.png","name":"4480"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4480.png","name":"4480"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/49.png","name":"49"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9813.png","name":"9813"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7479.png","name":"7479"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6255.png","name":"6255"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":649.6996348895668,"rotation_z_degrees":348.22225254330306,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011731371361794266,-0.014997310073866347,0.005696964265803933]},{"name":"camera_2","offset_m":[0.005910077225611671,0.0014553672269686097,0.008650452771673887]},{"name":"camera_3","offset_m":[0.008315138813046428,0.013328889718885104,0.01984748780645414]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019994578733840383,-0.0005606480280577321,3.6468440446731174e-05],"end_effector_yaw_offset_degrees":-0.580682115373162},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00032436630232921676,0.00030696736085108773,0.0001910179798646403],"end_effector_yaw_offset_degrees":0.4133621214901606},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00011732394230852755,-0.00032364460202854864,-0.0003005502778449674],"end_effector_yaw_offset_degrees":-0.895917562789412},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000244659394800879,0.000886052990818073,-0.0008761175012482886],"end_effector_yaw_offset_degrees":-0.8948406322726308}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035287960384828574,-0.0008552487516326913],"position_m":[0.16577120396151715,0.2292447512483673,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00407146666337403,-0.0027544080562327054],"position_m":[0.230728533336626,-0.3663544080562327,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012858532624246298,-0.003219162273649545],"position_m":[0.20231414673757536,-0.049019162273649546,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00399432614247838,0.0030509920025324514],"position_m":[0.33779432614247834,0.12075099200253245,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b7f73a5eec3e9c585d3c14b3a6ffe5b69ecb72cfbf73b6a54b1f081100df20fc","episode_index":131,"episode_name":"episode_0131"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0131.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_4480/tex_ceiling_textures_6255/tex_floor_textures_7479/tex_table_textures_49/tex_wall_textures_9813","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":3661159211768694343,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":3661159211768694343,"visual_seed":3661159211768694343,"scene_id":"lab_003","finished_at":"2026-09-05T01:10:41"}
+{"episode_id":"ep_000091","started_at":"2026-09-05T01:10:44","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_0","position":[0.5879966993704802,0.1285566526880011,0.71338606911949],"aabb_xy":[[0.5303662304832093,0.06855665376129048],[0.645627168257751,0.18855665161471163]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.5265934783084864,-1.8090469463252772,0.71338606911949],"aabb_xy":[[-0.5676114216948572,-1.8590469469562345],[-0.48557553492211547,-1.7590469456943199]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[-0.5124848902360342,0.21305486840478016,0.71338606911949],"aabb_xy":[[-0.5624848912551695,0.17658865266695226],[-0.462484889216899,0.24952108414260815]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_3","position":[0.388724778212032,-0.5816698650722785,0.71338606911949],"aabb_xy":[[0.3805102330963479,-0.5903464553699197],[0.39693932332771587,-0.572993274774637]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[0.21154414856712844,1.7429178349079586,0.71338606911949],"aabb_xy":[[0.2067005538058985,1.7380661824289747],[0.21638774332835845,1.747769487386943]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.3497646549137721,-0.4679750357900403,0.71338606911949],"aabb_xy":[[-0.3589245338576487,-0.47450625383357725],[-0.3406047759698955,-0.4614438177465032]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_6","position":[0.4286873359966379,-1.0296188429265323,0.71338606911949],"aabb_xy":[[0.3646873374100654,-1.0766258063260408],[0.49268733458321035,-0.9826118795270233]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_7","position":[0.26989231268641867,-1.2415404628765492,0.71338606911949],"aabb_xy":[[0.2657564563537185,-1.2790404623209062],[0.27402816901911886,-1.2040404634321922]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.540388948207587,-0.0953951877095931,0.71338606911949],"aabb_xy":[[0.5079272473256594,-0.12552801982449568],[0.5728506490895143,-0.06526235559469047]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[-0.4488688941714489,1.5279129644583134,0.71338606911949],"aabb_xy":[[-0.4561126602176942,1.447912966254711],[-0.44162512812520355,1.6079129626619157]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[-0.6674367741692211,0.4823955221268661,0.71338606911949],"aabb_xy":[[-0.68498346908534,0.44489552056261483],[-0.6498900792531022,0.5198955236911174]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_11","position":[-0.3962819491722937,0.21701927883651217,0.71338606911949],"aabb_xy":[[-0.41407545610721014,0.1992195332407145],[-0.37848844223737726,0.23481902443230984]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[0.5304877137127888,1.4718793599162328,0.71338606911949],"aabb_xy":[[0.45048771044877567,1.4583193276073192],[0.6104877169768019,1.4854393922251459]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[0.430438657328573,-2.0713864022922914,0.71338606911949],"aabb_xy":[[0.39543865813575463,-2.082353448289954],[0.46543865652139116,-2.060419356294629]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_14","position":[0.07172456852888698,-1.732881157060718,0.71338606911949],"aabb_xy":[[0.03742765751114636,-1.7671780432706592],[0.1060214795466276,-1.6985842708507766]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[0.22783471838189995,1.678540452110774,0.71338606911949],"aabb_xy":[[0.22319960322966653,1.674673117033625],[0.2324698335341333,1.6824077871879226]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[-0.1276675343513901,-2.4633421009418432,0.71338606911949],"aabb_xy":[[-0.16198381152600802,-2.5133421009150205],[-0.09335125717677215,-2.413342100968665]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[-0.32753907140013816,-1.7612889016098867,0.71338606911949],"aabb_xy":[[-0.36884361446387415,-1.8252889011780038],[-0.28623452833640217,-1.6972889020417696]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.37048145033851715,1.708700354696696,0.71338606911949],"aabb_xy":[[-0.3833533538394573,1.6287003542828595],[-0.357609546837577,1.7887003551105318]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[-0.11509979938559467,-1.8143065622027805,0.71338606911949],"aabb_xy":[[-0.13259979964493135,-1.8283981043915536],[-0.09759979912625809,-1.8002150200140083]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.6273333950149946,-0.6804899958036632,0.71338606911949],"aabb_xy":[[0.5898333938302016,-0.6849082184997236],[0.6648333961997872,-0.6760717731076026]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[0.6192188892077128,-1.5065152135773605,0.71338606911949],"aabb_xy":[[0.601640587018766,-1.5240897031514655],[0.6367971913966597,-1.4889407240032555]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_22","position":[0.34959474843975413,0.36353603863837725,0.71338606911949],"aabb_xy":[[0.3326840160034123,0.3500638330457627],[0.36650548087609586,0.3770082442309918]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[-0.21805564973759234,1.3366289970203424,0.71338606911949],"aabb_xy":[[-0.2273492679747429,1.2991289985322085],[-0.20876203150044173,1.3741289955084763]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[0.636355462770763,-0.5435845172298257,0.71338606911949],"aabb_xy":[[0.59885546266517,-0.5504066790828067],[0.6738554628763559,-0.5367623553768445]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[-0.3177829475372701,-0.9762577179504441,0.71338606911949],"aabb_xy":[[-0.3977829445003092,-1.0533333595942174],[-0.23778295057423088,-0.8991820763066706]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[0.6354640624791044,0.6828299343691127,0.71338606911949],"aabb_xy":[[0.570464061521977,0.6308817224354071],[0.7004640634362315,0.7347781463028182]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_27","position":[0.15383839335571126,-0.7464498693205273,0.71338606911949],"aabb_xy":[[0.14306541943434348,-0.7814498675395661],[0.16461136727707903,-0.7114498711014882]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_28","position":[-0.6041285901739916,1.3662652959040438,0.71338606911949],"aabb_xy":[[-0.6409791381109792,1.32876529508101],[-0.567278042237004,1.4037652967270775]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_29","position":[0.3280619936532285,1.1352214666543388,0.71338606911949],"aabb_xy":[[0.2780627184847924,1.0852214653783916],[0.37806126882166474,1.185221467930286]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_30","position":[-0.46373512798873795,-0.37174310251593434,0.71338606911949],"aabb_xy":[[-0.49964863241372764,-0.40765661073268894],[-0.42782162356374825,-0.33582959429917975]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_31","position":[0.7051472847524491,-0.21680028845066035,0.71338606911949],"aabb_xy":[[0.6949942691982997,-0.25286983002340063],[0.7153003003065984,-0.18073074687791998]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_32","position":[0.32647810318234183,0.8228304177794072,0.71338606911949],"aabb_xy":[[0.3177801408916266,0.8107054434719324],[0.33517606547305717,0.8349553920868819]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_33","position":[0.3732123749361813,0.7108043316406958,0.71338606911949],"aabb_xy":[[0.36521838635847786,0.7028042515456053],[0.38120636351388465,0.718804411735786]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_34","position":[-0.5537248089634191,-1.6154954731175533,0.71338606911949],"aabb_xy":[[-0.5613490770535974,-1.6231286966540972],[-0.5461005408732409,-1.6078622495810098]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6702186178519922,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3106.png","name":"3106"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3106.png","name":"3106"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6958.png","name":"6958"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1991.png","name":"1991"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3654.png","name":"3654"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9905.png","name":"9905"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":639.9642608411242,"rotation_z_degrees":66.78104880113706,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-3.9488403928564925e-05,0.006696050138588004,-0.01685704504316774]},{"name":"camera_2","offset_m":[0.009879937550679903,-0.001328629928516012,0.012771356252176246]},{"name":"camera_3","offset_m":[0.016657067421314713,0.003765617396926803,-0.010069307216374303]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000614763709067621,-0.0004192353181016633,0.0001884419631651489],"end_effector_yaw_offset_degrees":-0.5340289901465174},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009970108632524238,-0.0019285019356273568,-0.00024168008391357984],"end_effector_yaw_offset_degrees":-0.2670991677740091},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018245387150786056,0.0012319824798107297,-0.0018621325396576216],"end_effector_yaw_offset_degrees":0.4501657136961552},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004067368717828976,0.000383667803733619,0.001661575644863726],"end_effector_yaw_offset_degrees":-0.39811085149471626}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007604008777720959,-0.0011580433593039265],"position_m":[0.1685395991222279,0.22894195664069608,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0036277433207013285,-0.0023423147969272727],"position_m":[0.23842774332070132,-0.36594231479692724,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004782960284999066,-0.0044957159678135185],"position_m":[0.19881703971500095,-0.05029571596781352,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023320991367585227,0.0036804865730175025],"position_m":[0.3361320991367585,0.1213804865730175,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"411a64b03166637946604a1df64d359c641e1211dd682aec7b01836cdb594d07","episode_index":132,"episode_name":"episode_0132"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0132.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3106/tex_ceiling_textures_9905/tex_floor_textures_3654/tex_table_textures_6958/tex_wall_textures_1991","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2652178119866859983,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2652178119866859983,"visual_seed":2652178119866859983,"scene_id":"lab_003","finished_at":"2026-09-05T01:14:33"}
+{"episode_id":"ep_000092","started_at":"2026-09-05T01:14:36","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_0","position":[0.22169008821229963,1.5933943359590432,0.71338606911949],"aabb_xy":[[0.19877437532724979,1.5704900388226202],[0.24460580109734958,1.6162986330954672]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.5883430776515461,-1.5470661033898025,0.71338606911949],"aabb_xy":[[-0.638321886161862,-1.5970661033955211],[-0.5383642691412303,-1.4970661033840835]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_2","position":[-0.38383100920269464,0.9941578817199961,0.71338606911949],"aabb_xy":[[-0.44783100631480033,0.9451255119255856],[-0.31983101209058895,1.0431902515144067]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[-0.4880737938359351,0.39772609597043385,0.71338606911949],"aabb_xy":[[-0.5041357212944527,0.3127260941578419],[-0.4720118663774175,0.48272609778302555]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[0.559256372436856,-2.2460646957840646,0.71338606911949],"aabb_xy":[[0.5463844689359157,-2.3260646961979003],[0.572128275937796,-2.166064695370228]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_5","position":[0.45436067615669273,-1.1709107646140766,0.71338606911949],"aabb_xy":[[0.4368606770223255,-1.1807903916516642],[0.47186067529105985,-1.1610311375764886]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[-0.18058878975297366,0.232461685328754,0.71338606911949],"aabb_xy":[[-0.24458879001344447,0.187452885975826],[-0.11658878949250286,0.277470484681682]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[0.15371699163761687,-2.5480572221948576,0.71338606911949],"aabb_xy":[[0.13621699137828028,-2.5621487643836307],[0.17121699189695352,-2.5339656800060855]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_8","position":[0.5932017375307188,-1.6703653673578627,0.71338606911949],"aabb_xy":[[0.5797552108966755,-1.683835219010954],[0.6066482641647621,-1.6568955157047713]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.1710406887263407,-2.254729198849861,0.71338606911949],"aabb_xy":[[0.16692473861426801,-2.258844753882706],[0.17515663883841334,-2.250613643817015]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[0.19445715579944722,0.9455035426838037,0.71338606911949],"aabb_xy":[[0.14446214483999523,0.895503543648212],[0.2444521667588993,0.9955035417193955]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[-0.0702845292844404,1.5305564293290215,0.71338606911949],"aabb_xy":[[-0.10778452957661522,1.5265149539284182],[-0.03278452899226558,1.5345979047296252]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[-0.46358518601350207,1.3422052680882528,0.71338606911949],"aabb_xy":[[-0.47415266567160114,1.331660237975244],[-0.4530177063554031,1.3527502982012611]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_13","position":[-0.376293177574954,1.6323819947453448,0.71338606911949],"aabb_xy":[[-0.39383987249107294,1.5948819931810936],[-0.3587464826588351,1.669881996309596]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[-0.6278400348332658,1.5057081505984988,0.71338606911949],"aabb_xy":[[-0.6500125618099166,1.4835324834423755],[-0.6056675078566149,1.5278838177546215]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_15","position":[-0.05339818657895423,-2.566333091719597,0.71338606911949],"aabb_xy":[[-0.09089818724353292,-2.5820201497198187],[-0.015898185914375525,-2.5506460337193744]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[-0.4979669691367836,1.576957383893538,0.71338606911949],"aabb_xy":[[-0.5204633905706477,1.5544573840867906],[-0.47547054770291947,1.5994573837002855]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.15716497646879968,-1.3886983711545346,0.71338606911949],"aabb_xy":[[0.07716497930922436,-1.4002459721123517],[0.23716497362837494,-1.3771507701967176]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[-0.24598668692602615,0.8908817975842855,0.71338606911949],"aabb_xy":[[-0.28348668844165786,0.8796550245681404],[-0.20848668541039445,0.9021085706004305]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.38975235628027827,-1.2295575436611565,0.71338606911949],"aabb_xy":[[0.3844198416256653,-1.2348818719063923],[0.39508487093489125,-1.2242332154159212]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_20","position":[-0.05363499637980895,-1.4036117813628866,0.71338606911949],"aabb_xy":[[-0.058478591141038934,-1.4084634338418704],[-0.048791401618578985,-1.3987601288839022]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[-0.3730427403901411,-0.855435588709379,0.71338606911949],"aabb_xy":[[-0.3861939863614305,-0.8804355884660658],[-0.3598914944188517,-0.8304355889526928]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[-0.5154195942471799,-1.979085497496063,0.71338606911949],"aabb_xy":[[-0.5242008213944161,-1.9878652447845937],[-0.5066383670999438,-1.9703057502075332]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[-0.5323225294686633,-2.107117683252443,0.71338606911949],"aabb_xy":[[-0.5822955950011789,-2.1571176830649765],[-0.48234946393614797,-2.0571176834399107]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[-0.5196371124170105,-0.8587441610545161,0.71338606911949],"aabb_xy":[[-0.542137112929051,-0.8812360194199144],[-0.4971371119049698,-0.8362523026891177]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_25","position":[-0.4946479338423426,-1.2723076297863005,0.71338606911949],"aabb_xy":[[-0.5586479324289151,-1.319314593185809],[-0.4306479352557702,-1.2253006663867916]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[-0.020308741021774934,-2.2341565899925246,0.71338606911949],"aabb_xy":[[-0.08430874336457649,-2.2790974412366563],[0.043691261321026624,-2.1892157387483913]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_27","position":[0.3043507833480532,-0.9028161923249041,0.71338606911949],"aabb_xy":[[0.27320386450447004,-0.9728161910117112],[0.33549770219163627,-0.8328161936380969]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_28","position":[-0.42826100058268857,-2.3110634282019356,0.71338606911949],"aabb_xy":[[-0.4932610015398158,-2.3630116401356407],[-0.36326099962556135,-2.2591152162682295]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_29","position":[-0.138183063734168,-1.7877809618833012,0.71338606911949],"aabb_xy":[[-0.1469851190431407,-1.79559228803823],[-0.1293810084251953,-1.7799696357283719]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_30","position":[0.3691372555982546,-1.32400352405692,0.71338606911949],"aabb_xy":[[0.3141372573965097,-1.3645254906833573],[0.4241372537999994,-1.283481557430482]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_31","position":[0.46770099426398626,-0.052874699565881755,0.71338606911949],"aabb_xy":[[0.45633925961070004,-0.06424316597216984],[0.47906272891727236,-0.041506233159593675]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_32","position":[0.6327173384011446,1.5552259856266661,0.71338606911949],"aabb_xy":[[0.5427173398066747,1.5389753993132456],[0.7227173369956146,1.5714765719400876]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6715918182628198,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5234.png","name":"5234"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5234.png","name":"5234"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1524.png","name":"1524"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3967.png","name":"3967"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3424.png","name":"3424"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8854.png","name":"8854"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":720.481568211927,"rotation_z_degrees":88.90200489262115,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012475573975061296,0.0020501601266105715,0.01075970331718967]},{"name":"camera_2","offset_m":[-0.00355592498383683,0.006769984987939574,-0.019682807854566272]},{"name":"camera_3","offset_m":[0.0023267314989768063,-0.008063922740018437,-0.003148549632684877]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017879725502404577,0.0017222832930310467,-0.0013105449530252892],"end_effector_yaw_offset_degrees":-0.08249367922100648},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0009719499987615335,-0.00065560079737404,-0.0013356547670723483],"end_effector_yaw_offset_degrees":-0.9498576284251101},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014938712419250572,0.0010104773985621473,0.0011715496690864967],"end_effector_yaw_offset_degrees":-0.19266803092795404},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016736638264063333,-0.0010234797617254708,0.0017277225826864352],"end_effector_yaw_offset_degrees":-0.4226407447435543}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004534594923147314,1.532157655237485e-05],"position_m":[0.1647654050768527,0.23011532157655237,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004459062346006372,-0.003581268092235791],"position_m":[0.23925906234600638,-0.3671812680922358,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029599253659662603,0.0017512874490359263],"position_m":[0.20655992536596626,-0.04404871255096408,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018286384166016946,0.0008288500069650586],"position_m":[0.3319713615833983,0.11852885000696506,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"332e9b77122497f878f3e2a94a333acdeb682fc772328bd2efad73cb89eb71d7","episode_index":133,"episode_name":"episode_0133"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0133.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5234/tex_ceiling_textures_8854/tex_floor_textures_3424/tex_table_textures_1524/tex_wall_textures_3967","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8750147670784023441,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8750147670784023441,"visual_seed":8750147670784023441,"scene_id":"lab_003","finished_at":"2026-09-05T01:18:30"}
+{"episode_id":"ep_000093","started_at":"2026-09-05T01:18:34","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[0.14116680122922476,-0.965782356734239,0.71338606911949],"aabb_xy":[[0.11662058560647405,-0.996031253283276],[0.16571301685197548,-0.9355334601852019]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.6563260739749668,-1.4224047591151734,0.71338606911949],"aabb_xy":[[0.6344173918356157,-1.4443054259352641],[0.6782347561143178,-1.4005040922950827]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_2","position":[-0.33983712635739866,1.0975695411108002,0.71338606911949],"aabb_xy":[[-0.4198371296152416,1.0175730333188162],[-0.2598371230995557,1.1775660489027842]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[0.1955477233107088,-1.7928503813502306,0.71338606911949],"aabb_xy":[[0.18750436338475363,-1.877850382445597],[0.20359108323666397,-1.7078503802548641]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[-0.09058153240589983,0.8359201564090744,0.71338606911949],"aabb_xy":[[-0.1802686087140153,0.7459201561546236],[-0.0008944560977843657,0.9259201566635247]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_5","position":[0.2576173596994842,-1.52359313027807,0.71338606911949],"aabb_xy":[[0.21485065282006405,-1.5875931336998725],[0.30038406657890443,-1.4595931268562676]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_6","position":[-0.6072247953984212,0.6967446470942664,0.71338606911949],"aabb_xy":[[-0.6712247986170591,0.6500215351952581],[-0.5432247921797834,0.7434677589932748]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[-0.609498798634555,-1.5149293424986783,0.71338606911949],"aabb_xy":[[-0.650803341698291,-1.5789293420667954],[-0.568194255570819,-1.4509293429305612]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[-0.047321192510350274,-1.2127875690452858,0.71338606911949],"aabb_xy":[[-0.09731620346980233,-1.2627875680808778],[0.0026738184491017507,-1.1627875700096943]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_9","position":[0.28233250787806274,-1.8726698671004596,0.71338606911949],"aabb_xy":[[0.2779018785232226,-1.8781182388351423],[0.286763137232903,-1.8672214953657773]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_10","position":[-0.5681963800848939,-1.2524008042134862,0.71338606911949],"aabb_xy":[[-0.590661150056299,-1.2749008050923465],[-0.5457316101134888,-1.2299008033346255]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_11","position":[-0.575315859782183,1.0602516408410958,0.71338606911949],"aabb_xy":[[-0.6252932766474366,1.010251639351847],[-0.5253384429169294,1.1102516423303441]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_12","position":[0.6832975679919564,-1.5287506344767052,0.71338606911949],"aabb_xy":[[0.6752712973613304,-1.537502129454058],[0.6913238386225824,-1.5199991394993528]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[0.4075850662770142,1.103827323729638,0.71338606911949],"aabb_xy":[[0.34758506568099806,1.0490148511844146],[0.4675850668730304,1.1586397962748616]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[-0.4332250126471023,-2.1940130746438795,0.71338606911949],"aabb_xy":[[-0.4610700494277094,-2.224797573382191],[-0.40537997586649516,-2.163228575905568]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[-0.5712997022081062,1.5235210732908588,0.71338606911949],"aabb_xy":[[-0.621116481672941,1.4735210748065555],[-0.5214829227432715,1.5735210717751622]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.32005336065697776,-2.3991295919830242,0.71338606911949],"aabb_xy":[[0.25005336424701585,-2.419567527634705],[0.39005335706693944,-2.3786916563313416]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.003014765281064924,-0.891942486612677,0.71338606911949],"aabb_xy":[[-0.009428578924249862,-0.8983523068603453],[0.0033990483621200154,-0.8855326663650086]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[0.6681163362998654,1.0684165173518672,0.71338606911949],"aabb_xy":[[0.6608340199232017,0.9784165137423578],[0.675398652676529,1.1584165209613757]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[-0.46157822709112756,0.7222239160576298,0.71338606911949],"aabb_xy":[[-0.4729399617444137,0.7108554496513417],[-0.4502164924378414,0.7335923824639179]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[0.10481771570835552,-2.3950034873256505,0.71338606911949],"aabb_xy":[[0.09166646973706614,-2.4200034870823375],[0.11796896167964488,-2.3700034875689644]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_21","position":[-0.34063490829752713,1.6212482955275864,0.71338606911949],"aabb_xy":[[-0.39563490649927197,1.5807263289011486],[-0.2856349100957823,1.6617702621540238]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[-0.5314931365062923,0.38936785394467277,0.71338606911949],"aabb_xy":[[-0.5527711446497644,0.3243678516185997],[-0.5102151283628199,0.45436785627074583]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[-0.30180176743015974,0.9455346968870253,0.71338606911949],"aabb_xy":[[-0.31265337367903534,0.9346754061593743],[-0.29095016118128414,0.9563939876146763]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[0.10942340510297843,1.7118500994576045,0.71338606911949],"aabb_xy":[[0.09765521830832094,1.6268500995523834],[0.12119159189763598,1.7968500993628265]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[-0.40923652298056096,-2.308183068002043,0.71338606911949],"aabb_xy":[[-0.42834883033853977,-2.3273178468792852],[-0.39012421562258204,-2.289048289124801]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_26","position":[-0.6262779012852028,-2.1533196098306795,0.71338606911949],"aabb_xy":[[-0.6912779039229963,-2.204799208530126],[-0.5612778986474093,-2.101840011131232]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_27","position":[0.25987410649507525,1.195286649572493,0.71338606911949],"aabb_xy":[[0.24740674838533966,1.1828213249391695],[0.27234146460481096,1.2077519742058165]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_28","position":[-0.4553476610709145,-0.437271555666638,0.71338606911949],"aabb_xy":[[-0.5014327523256459,-0.501271552919193],[-0.40926256981618303,-0.3732715584140828]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_29","position":[0.6552665092486332,-2.2954758295563127,0.71338606911949],"aabb_xy":[[0.605266510602712,-2.345395373215775],[0.7052665078945544,-2.2455562858968503]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_30","position":[-0.05503810686390154,-2.386574026471114,0.71338606911949],"aabb_xy":[[-0.07271373745249986,-2.404254242750517],[-0.037362476275303196,-2.3688938101917114]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_31","position":[0.5570721622168613,1.6209674853650067,0.71338606911949],"aabb_xy":[[0.5232966030261683,1.6069289901518415],[0.5908477214075543,1.6350059805781714]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_32","position":[0.637538013677154,0.7641922079884385,0.71338606911949],"aabb_xy":[[0.5575380126040337,0.754414161651054],[0.7175380147502743,0.7739702543258229]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_33","position":[-0.04775635794798794,-1.5154147572049577,0.71338606911949],"aabb_xy":[[-0.08234744080203314,-1.5804147574899885],[-0.013165275093942717,-1.4504147569199264]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641619157020401,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5707.png","name":"5707"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5707.png","name":"5707"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3061.png","name":"3061"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4370.png","name":"4370"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5435.png","name":"5435"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7400.png","name":"7400"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":548.5207201420876,"rotation_z_degrees":12.583427228782252,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0069154961564722815,0.004688254810503195,0.016295105793684667]},{"name":"camera_2","offset_m":[0.012061009287941373,0.00884185611797804,0.016643180996155128]},{"name":"camera_3","offset_m":[0.016847501838439003,-0.005087435882119214,0.003466659764821786]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001751496499828594,-0.0009624378254078358,-0.0011694669479120786],"end_effector_yaw_offset_degrees":0.017287616524348515},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019071374838609831,-0.001314904947436306,-0.0008483255388131532],"end_effector_yaw_offset_degrees":-0.2259226406793171},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015555376798207523,0.0017401260304461593,0.0017506617893643115],"end_effector_yaw_offset_degrees":0.6138231492876054},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018845809857068237,-0.001106643980768169,-0.0018331731600073234],"end_effector_yaw_offset_degrees":-0.181069523824255}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028187732239402,0.0045682591040091996],"position_m":[0.1664812267760598,0.2346682591040092,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007174111279171416,0.004306632560439039],"position_m":[0.23551741112791716,-0.3592933674395609,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035166515213073584,0.003376747471679184],"position_m":[0.20711665152130737,-0.04242325252832082,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004060645060004275,-0.0001370663458476959],"position_m":[0.33786064506000424,0.1175629336541523,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0c04112dcea5f01df69166015a81d2aeb42b6de394d7074ce019ba345350bc8e","episode_index":134,"episode_name":"episode_0134"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0134.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5707/tex_ceiling_textures_7400/tex_floor_textures_5435/tex_table_textures_3061/tex_wall_textures_4370","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2672311774751212784,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2672311774751212784,"visual_seed":2672311774751212784,"scene_id":"lab_003","finished_at":"2026-09-05T01:22:37"}
+{"episode_id":"ep_000094","started_at":"2026-09-05T01:22:42","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[0.12610923335042734,-2.4554475328284746,0.71338606911949],"aabb_xy":[[0.11869677780903887,-2.4612987432501026],[0.13352168889181582,-2.4495963224068467]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_1","position":[-0.2695895062769761,-2.5624279191758843,0.71338606911949],"aabb_xy":[[-0.28475237925391317,-2.577593376471004],[-0.254426633300039,-2.5472624618807664]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.14946319860090707,1.1838386692260632,0.71338606911949],"aabb_xy":[[0.13683641131371072,1.17429259552449],[0.16208998588810342,1.1933847429276359]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[-0.3332361167282123,-1.1386430473035576,0.71338606911949],"aabb_xy":[[-0.3972361160223805,-1.2026291876724118],[-0.2692361174340441,-1.0746569069347034]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[0.4430897718865343,1.2982479493389594,0.71338606911949],"aabb_xy":[[0.41444043952611803,1.2696023900618834],[0.4717391042469505,1.326893508616035]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[-0.5625135205252403,-2.4330387147650026,0.71338606911949],"aabb_xy":[[-0.6265135225749723,-2.4731331978543105],[-0.4985135184755083,-2.3929442316756946]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_6","position":[-0.09873550237524786,-1.149947258767794,0.71338606911949],"aabb_xy":[[-0.16273550263571868,-1.194956058120722],[-0.03473550211477706,-1.104938459414866]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[0.7114388108337675,1.2408945079351716,0.71338606911949],"aabb_xy":[[0.6985669073328273,1.1608945075213355],[0.7243107143347076,1.3208945083490078]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_8","position":[-0.3091372991787053,-1.3369501324146826,0.71338606911949],"aabb_xy":[[-0.31713078897398733,-1.3449482643551582],[-0.3011438093834233,-1.328952000474207]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_9","position":[-0.3986113525678236,-0.33862922849148314,0.71338606911949],"aabb_xy":[[-0.48861135624474167,-0.4000616350685874],[-0.30861134889090536,-0.2771968219143787]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.48833841135111333,-1.645659204119105,0.71338606911949],"aabb_xy":[[0.46844737147077314,-1.658315015403802],[0.5082294512314536,-1.6330033928344083]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.4505942129583307,-1.9071209289650506,0.71338606911949],"aabb_xy":[[-0.5355942116504053,-1.9391067923599294],[-0.365594214266256,-1.8751350655701717]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[-0.08656621418438981,-0.7248292938726337,0.71338606911949],"aabb_xy":[[-0.13656621584588455,-0.7748277361283363],[-0.03656621252289504,-0.6748308516169309]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[0.4421624084967768,-1.9044031361153655,0.71338606911949],"aabb_xy":[[0.4121707457629064,-1.9344031354521658],[0.47215407123064707,-1.8744031367785647]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[-0.6119568172392681,1.404567931967148,0.71338606911949],"aabb_xy":[[-0.6398018540198752,1.3737834332288363],[-0.584111780458661,1.4353524307054597]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_15","position":[0.08887199006017432,1.616341751412604,0.71338606911949],"aabb_xy":[[0.028871988417252484,1.56434160212066],[0.14887199170309617,1.6683419007045484]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[-0.5374720479795835,0.7562724131808234,0.71338606911949],"aabb_xy":[[-0.6024720480138861,0.7095717365004961],[-0.47247204794528064,0.8029730898611507]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[-0.6694812703969315,-2.0431299148073365,0.71338606911949],"aabb_xy":[[-0.6758950840401163,-2.049539735055004],[-0.6630674567537465,-2.036720094559668]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[0.6517383401635761,-0.6627821260443703,0.71338606911949],"aabb_xy":[[0.6358538468982511,-0.6771350663431944],[0.6676228334289014,-0.6484291857455463]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_19","position":[-0.22666482034381846,-0.752249794946557,0.71338606911949],"aabb_xy":[[-0.25663237725364413,-0.7822497952444427],[-0.1966972634339928,-0.7222497946486712]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_20","position":[0.3143423956669553,1.6296055453150156,0.71338606911949],"aabb_xy":[[0.2243423933329362,1.552123190729903],[0.4043423980009743,1.7070878999001282]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[0.006644576696500315,0.8342214263721996,0.71338606911949],"aabb_xy":[[-0.035539837464330426,0.7702214260949886],[0.048828990857331056,0.898221426649411]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_22","position":[-0.31830812431711664,0.5574599385519474,0.71338606911949],"aabb_xy":[[-0.3220113856462555,0.5537579202432296],[-0.3146048629879777,0.5611619568606653]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[-0.2254038084267967,-0.36960738858153963,0.71338606911949],"aabb_xy":[[-0.24298211061574357,-0.38718187815564453],[-0.20782550623784987,-0.35203289900743473]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[0.10139250165605496,-0.9213010062854556,0.71338606911949],"aabb_xy":[[0.09508040211971651,-0.9270679455386743],[0.10770460119239338,-0.9155340670322367]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[-0.5295735204993017,-1.1349216103996276,0.71338606911949],"aabb_xy":[[-0.566368153624208,-1.1718274854962099],[-0.49277888737439546,-1.0980157353030453]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627274056761758,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7430.png","name":"7430"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7430.png","name":"7430"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8340.png","name":"8340"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4539.png","name":"4539"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9159.png","name":"9159"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/825.png","name":"825"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":697.4057441073825,"rotation_z_degrees":341.0686627099469,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.000715385825473324,0.01767825309586511,-0.016451352794396974]},{"name":"camera_2","offset_m":[0.01575533202120911,0.004528007601391413,-0.012650564045995507]},{"name":"camera_3","offset_m":[0.012953399421029268,-0.004798476086009069,0.0026701975519281967]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008470870914090631,0.0004573816703658776,0.000822831868192344],"end_effector_yaw_offset_degrees":0.7457622593511264},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000830991976191377,-0.00039152535805240954,-0.0010924017246244358],"end_effector_yaw_offset_degrees":-0.1542079380102359},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006327686580526631,-0.0017424334900386636,-0.0004263768411804868],"end_effector_yaw_offset_degrees":0.09507911428161053},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003431961774215289,-0.0012701364430363809,1.7403351209471264e-05],"end_effector_yaw_offset_degrees":0.5104980938714916}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003520753704942499,-0.004509819133751032],"position_m":[0.17282075370494251,0.22559018086624896,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002883983758561137,0.001386499444058175],"position_m":[0.23191601624143887,-0.3622135005559418,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021716762748248044,-0.0021667073696060492],"position_m":[0.20577167627482482,-0.04796670736960605,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0047719143915800595,-0.0026051677924225337],"position_m":[0.33857191439158,0.11509483220757746,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e89d13b49979dcaacced32ded4287bee88dd4dc744fc6579a1cafc3c20771971","episode_index":135,"episode_name":"episode_0135"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0135.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7430/tex_ceiling_textures_825/tex_floor_textures_9159/tex_table_textures_8340/tex_wall_textures_4539","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5909519771123387201,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5909519771123387201,"visual_seed":5909519771123387201,"scene_id":"lab_003","finished_at":"2026-09-05T01:26:31"}
+{"episode_id":"ep_000095","started_at":"2026-09-05T01:30:35","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[0.6416956556613365,-2.0549151426719368,0.71338606911949],"aabb_xy":[[0.5616956553877294,-2.1278646904976535],[0.7216956559349433,-1.9819655948462203]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_1","position":[-0.06464212598615193,1.7310384372367529,0.71338606911949],"aabb_xy":[[-0.14464212464303794,1.71653357831249],[0.01535787267073406,1.7455432961610158]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_2","position":[-0.5485164858563376,0.16301379949620287,0.71338606911949],"aabb_xy":[[-0.6185164879877671,0.14025183387050716],[-0.47851648372490807,0.18577576512189847]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_3","position":[-0.6628200106990028,1.1885885627510713,0.71338606911949],"aabb_xy":[[-0.6878200102507411,1.1784460788859366],[-0.6378200111472642,1.198731046616206]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_4","position":[-0.46946680209184943,1.1602838352358171,0.71338606911949],"aabb_xy":[[-0.5334667984874224,1.0963205468170836],[-0.4054668056962763,1.2242471236545507]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[-0.5610290836374335,0.40938517144035647,0.71338606911949],"aabb_xy":[[-0.6260290846379339,0.35859880628568147],[-0.4960290826369329,0.46017153659503135]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[0.569068918943177,-0.32477484787052013,0.71338606911949],"aabb_xy":[[0.5050689172651796,-0.3732922393498343],[0.6330689206211743,-0.27625745639120586]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[0.06398408285955537,1.1137171132676968,0.71338606911949],"aabb_xy":[[0.04635124726602779,1.0960941672520736],[0.08161691845308293,1.1313400592833196]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_8","position":[-0.5777342188904331,-1.6410895028037702,0.71338606911949],"aabb_xy":[[-0.6627342175825077,-1.673075366198649],[-0.49273422019835844,-1.6091036394088913]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[-0.3694956085479881,-1.320506038076752,0.71338606911949],"aabb_xy":[[-0.39199560836189046,-1.3249806544472327],[-0.3469956087340857,-1.3160314217062712]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_10","position":[-0.21242383598127795,-1.8318638057973957,0.71338606911949],"aabb_xy":[[-0.25372837904501394,-1.8958638053655126],[-0.17111929291754197,-1.7678638062292784]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[0.47472742290238124,-0.5603162469228726,0.71338606911949],"aabb_xy":[[0.42759804390054545,-0.6243162479672745],[0.5218568019042168,-0.49631624587847056]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_12","position":[0.43805706988552173,0.2274854589823465,0.71338606911949],"aabb_xy":[[0.3680570680767763,0.20613169021815914],[0.5080570716942672,0.2488392277465339]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[0.027505677515738958,-2.4035371102820364,0.71338606911949],"aabb_xy":[[-0.036494325773969154,-2.446872029285954],[0.09150568080544706,-2.360202191278119]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_14","position":[0.5688686078399836,-1.2175638984315416,0.71338606911949],"aabb_xy":[[0.5509995000855281,-1.2313968064087524],[0.5867377155944391,-1.2037309904543307]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_15","position":[0.6505905707400148,-0.7466245887253979,0.71338606911949],"aabb_xy":[[0.5865905714458466,-0.8106107290942521],[0.714590570034183,-0.6826384483565437]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.15271817519667685,0.2094163125073738,0.71338606911949],"aabb_xy":[[-0.18649373438736983,0.19537781729420878],[-0.11894261600598388,0.22345480772053883]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[-0.16353300652400504,-1.3075982736552216,0.71338606911949],"aabb_xy":[[-0.17697953315804835,-1.321068125308313],[-0.15008647988996168,-1.2941284220021303]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[0.5207034323476261,1.8118605720433796,0.71338606911949],"aabb_xy":[[0.48570343407750616,1.8047864443483912],[0.555703430617746,1.8189346997383675]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_19","position":[0.6517987108746519,-1.5368874453621,0.71338606911949],"aabb_xy":[[0.5968054995375153,-1.5918874457008938],[0.7067919222117888,-1.4818874450233064]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_20","position":[-0.4248358116921816,-0.29128989343774814,0.71338606911949],"aabb_xy":[[-0.48883581086195155,-0.33805658055671056],[-0.36083581252241165,-0.24452320631878563]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_21","position":[-0.2694258970238779,-0.19212345719540513,0.71338606911949],"aabb_xy":[[-0.30797158984907896,-0.2306692282515938],[-0.23088020419867689,-0.15357768613921646]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_22","position":[-0.4912288162134658,-2.1677853511157936,0.71338606911949],"aabb_xy":[[-0.5462288158352117,-2.2227690439032664],[-0.43622881659171997,-2.112801658328321]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_23","position":[0.6118621410395906,-1.8158904566485239,0.71338606911949],"aabb_xy":[[0.6038681524618872,-1.823890536743614],[0.619856129617294,-1.8078903765534333]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_24","position":[-0.09262639014550256,0.5728096243086838,0.71338606911949],"aabb_xy":[[-0.10439457694016009,0.4878096244034623],[-0.08085820335084504,0.6578096242139054]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_25","position":[0.08072298585056448,1.6614280276989617,0.71338606911949],"aabb_xy":[[0.07109134963013486,1.6517907149192528],[0.0903546220709941,1.6710653404786706]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_26","position":[0.5583261659445617,-2.2257067036961415,0.71338606911949],"aabb_xy":[[0.533105329084722,-2.2509304545490276],[0.5835470028044013,-2.2004829528432546]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[-0.02105248813472682,-2.1580398610958005,0.71338606911949],"aabb_xy":[[-0.0460524874066891,-2.174385224691963],[0.0039475111372354555,-2.141694497499638]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_28","position":[-0.19671050784009153,0.7529312076970283,0.71338606911949],"aabb_xy":[[-0.21428881002903838,0.7353567181229234],[-0.17913220565114468,0.7705056972711332]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_29","position":[0.4586622155108706,0.004688098422985565,0.71338606911949],"aabb_xy":[[0.42869465860104494,-0.025311901874900178],[0.4886297724206963,0.03468809872087131]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6696188036789463,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9425.png","name":"9425"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9425.png","name":"9425"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6712.png","name":"6712"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2755.png","name":"2755"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2720.png","name":"2720"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2739.png","name":"2739"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":672.2764826974799,"rotation_z_degrees":349.53535875999626,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01150395667643168,-0.01828077935251605,0.0006753146068952144]},{"name":"camera_2","offset_m":[-0.014112499469374203,-0.010366975200240556,-0.011825670247688715]},{"name":"camera_3","offset_m":[0.007485846983762031,-0.012136436924994505,-0.012873412922496476]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010352655317649403,-0.0004103152342012685,0.0003383857078257204],"end_effector_yaw_offset_degrees":0.18516209821469576},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009099159519445799,-0.00040415925435991406,0.0018656527808479043],"end_effector_yaw_offset_degrees":0.9601855603654099},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010040275576389196,0.00016927921520507126,0.001475711884299619],"end_effector_yaw_offset_degrees":0.21111982151581876},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019766285218123653,0.001700477513690647,-0.0015508791533888685],"end_effector_yaw_offset_degrees":0.034182412661812656}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002710613439055761,-0.0036320847453928185],"position_m":[0.16658938656094424,0.2264679152546072,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021131134763711194,-0.0035630656947661975],"position_m":[0.23691311347637112,-0.3671630656947662,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031508672448437363,-1.6756633428692894e-05],"position_m":[0.20675086724484373,-0.04581675663342869,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018937417594956027,-0.0033158753576503874],"position_m":[0.33569374175949557,0.11438412464234961,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4f17c1fd6ba1f48d5ab3ddb714a62504c6a32c8991eeb7a12cf7ba810281fdf2","episode_index":137,"episode_name":"episode_0137"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0137.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9425/tex_ceiling_textures_2739/tex_floor_textures_2720/tex_table_textures_6712/tex_wall_textures_2755","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":8951637058437210447,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":8951637058437210447,"visual_seed":8951637058437210447,"scene_id":"lab_003","finished_at":"2026-09-05T01:34:25"}
+{"episode_id":"ep_000096","started_at":"2026-09-05T01:34:29","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_0","position":[0.5056590248104091,1.6201301121873484,0.71338606911949],"aabb_xy":[[0.477813988029802,1.5893456134490367],[0.5335040615910163,1.65091461092566]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_1","position":[0.6965713662757924,-2.3623914061482276,0.71338606911949],"aabb_xy":[[0.6904767383876741,-2.370960800699897],[0.7026659941639107,-2.3538220115965593]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[0.024616001930897302,1.3336081626411715,0.71338606911949],"aabb_xy":[[-0.012883998361277519,1.3295666872405678],[0.06211600222307212,1.3376496380417748]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[0.35295068585529066,1.667323212616051,0.71338606911949],"aabb_xy":[[0.29795068765354576,1.6268012459896133],[0.40795068405703544,1.7078451792424885]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_4","position":[-0.3520591555443313,-0.9312903564205799,0.71338606911949],"aabb_xy":[[-0.40705463336499065,-0.9862903578544867],[-0.29706367772367187,-0.8762903549866728]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_5","position":[-0.09088882916902086,1.357365304825958,0.71338606911949],"aabb_xy":[[-0.12838882983359953,1.3416782468257356],[-0.05338882850444215,1.37305236282618]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[0.4246971171371541,-2.1462371264687814,0.71338606911949],"aabb_xy":[[0.38719711595236117,-2.1506553491648415],[0.46219711832194676,-2.1418189037727204]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_7","position":[-0.044485511014946244,-1.2484464455614181,0.71338606911949],"aabb_xy":[[-0.10848551306467824,-1.2885409286507261],[0.019514491034785753,-1.2083519624721102]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[-0.6675784491781813,1.1357255455005584,0.71338606911949],"aabb_xy":[[-0.6808093947128625,1.1224981264785587],[-0.6543475036434999,1.1489529645225576]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_9","position":[0.030640681595678232,-0.878462243021026,0.71338606911949],"aabb_xy":[[-0.049359315367360934,-0.9555378846647993],[0.1106406785587174,-0.8013866013772524]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.09574280421711623,-1.1776086060490951,0.71338606911949],"aabb_xy":[[0.061151721363071,-1.242608606334126],[0.13033388707116142,-1.1126086057640638]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_11","position":[-0.6594129909976888,-1.70797099752633,0.71338606911949],"aabb_xy":[[-0.6681109532884041,-1.7200959718338047],[-0.6507150287069735,-1.6958460232188552]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.5040388324518514,-1.2776085036202245,0.71338606911949],"aabb_xy":[[0.43903883149472417,-1.3295567155539298],[0.5690388334089785,-1.2256602916865187]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[-0.6274782613005616,-1.5279197806862757,0.71338606911949],"aabb_xy":[[-0.6774782623196969,-1.5643859964241038],[-0.5774782602814263,-1.4914535649484477]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[-0.6326211163855147,-1.2864016491993737,0.71338606911949],"aabb_xy":[[-0.6626127791193851,-1.316401648536174],[-0.6026294536516444,-1.256401649862573]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_15","position":[-0.6695089116373283,-2.248714725247036,0.71338606911949],"aabb_xy":[[-0.6802818855586961,-2.283714723466075],[-0.6587359377159605,-2.213714727027997]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_16","position":[0.502784145650446,1.7821928191483578,0.71338606911949],"aabb_xy":[[0.4856820676920779,1.765086013617088],[0.5198862236088142,1.7992996246796276]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.047891531664836506,-2.2468802490870345,0.71338606911949],"aabb_xy":[[-0.03210846940828382,-2.2566582954244194],[0.12789153273795684,-2.2371022027496505]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_18","position":[0.3542005051168924,-1.3280472510758645,0.71338606911949],"aabb_xy":[[0.33728977268055055,-1.3415194566684787],[0.3711112375532341,-1.3145750454832499]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_19","position":[-0.4575446334342482,-1.569888078182727,0.71338606911949],"aabb_xy":[[-0.5215446341377177,-1.6159064606556484],[-0.39354463273077894,-1.5238696957098063]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_20","position":[-0.1609579170265255,-2.243401601509598,0.71338606911949],"aabb_xy":[[-0.17030492460882074,-2.257705223727242],[-0.15161090944423028,-2.229097979291954]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_21","position":[-0.13990225423325142,-0.8635926151032729,0.71338606911949],"aabb_xy":[[-0.17490225254394687,-0.8713076300268185],[-0.10490225592255598,-0.8558776001797272]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[0.07013189398755693,0.7946384583802515,0.71338606911949],"aabb_xy":[[0.03263189247192522,0.7834116853641062],[0.10763189550318863,0.8058652313963963]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.41519598587204554,-1.966136023944315,0.71338606911949],"aabb_xy":[[0.39228027298699575,-1.9890403210807388],[0.43811169875709555,-1.9432317268078918]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_24","position":[-0.49034220114355176,-1.7709549753306089,0.71338606911949],"aabb_xy":[[-0.5153422004155139,-1.787300338926771],[-0.4653422018715895,-1.7546096117344463]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6668912889900648,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/912.png","name":"912"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/912.png","name":"912"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2658.png","name":"2658"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2069.png","name":"2069"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9060.png","name":"9060"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2564.png","name":"2564"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":532.3750335472515,"rotation_z_degrees":145.8851937271462,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01971515291170169,0.01229347140384646,0.000259197074194438]},{"name":"camera_2","offset_m":[-0.01871188182137353,-0.009012975095596518,0.019492854844771087]},{"name":"camera_3","offset_m":[0.0038094140954769255,0.012035885469323802,0.018647251858597984]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018072152028599867,0.0004152318080625924,-7.255774550659808e-05],"end_effector_yaw_offset_degrees":0.7376224667729123},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010938575047190232,-0.001159492379819206,0.0016813204381621663],"end_effector_yaw_offset_degrees":-0.12441036966499852},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005384281152941775,0.0005670916757806337,-0.0016445754851425437],"end_effector_yaw_offset_degrees":0.7397403111031979},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007788745847725361,0.0016873339742634534,0.000877528397363111],"end_effector_yaw_offset_degrees":-0.136925350925706}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006057837328878705,-0.0036017771476463643],"position_m":[0.16990578373288787,0.22649822285235363,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001650226773585498,0.0007203630270381919],"position_m":[0.23645022677358551,-0.36287963697296177,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002466581311784093,0.0003823212231037513],"position_m":[0.2060665813117841,-0.04541767877689625,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004864060328806273,-0.0040336600634466955],"position_m":[0.33866406032880625,0.1136663399365533,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bd3fc3d657ea740d503b3427f1fe3d4c87b4f4266ff60b6501af58e145152ec1","episode_index":138,"episode_name":"episode_0138"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0138.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_912/tex_ceiling_textures_2564/tex_floor_textures_9060/tex_table_textures_2658/tex_wall_textures_2069","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5553222139425273688,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5553222139425273688,"visual_seed":5553222139425273688,"scene_id":"lab_003","finished_at":"2026-09-05T01:38:10"}
+{"episode_id":"ep_000097","started_at":"2026-09-05T01:38:13","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[-0.6410381505328926,-1.2863280224215066,0.71338606911949],"aabb_xy":[[-0.6592439741941403,-1.2973534230034984],[-0.6228323268716449,-1.2753026218395151]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[-0.5895477807431722,-1.7721202186731677,0.71338606911949],"aabb_xy":[[-0.6145477800151344,-1.7884655822693298],[-0.5645477814712099,-1.7557748550770051]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.06793635472088211,0.7255962290686875,0.71338606911949],"aabb_xy":[[-0.11775313418571688,0.675596230584384],[-0.018119575256047363,0.7755962275529907]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[-0.5326773802935318,-2.219587031851117,0.71338606911949],"aabb_xy":[[-0.6126773824562942,-2.2995422154772607],[-0.45267737813076925,-2.1396318482249734]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_4","position":[0.23289580762962736,-2.275845260741241,0.71338606911949],"aabb_xy":[[0.19857953045500942,-2.3258452607144187],[0.2672120848042453,-2.225845260768063]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[-0.46285317380034663,1.5128742777011115,0.71338606911949],"aabb_xy":[[-0.47096682847372373,1.5047684612470824],[-0.4547395191269695,1.5209800941551406]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[-0.39150050031691985,1.3163782138019662,0.71338606911949],"aabb_xy":[[-0.44150049896284105,1.2664586701425036],[-0.34150050167099866,1.3662977574614283]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[0.31106123082194825,0.6528158513374804,0.71338606911949],"aabb_xy":[[0.30642611566971484,0.6489485162603318],[0.31569634597418156,0.6566831864146291]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[-0.5945655997688752,1.7528523889134697,0.71338606911949],"aabb_xy":[[-0.6250498498959054,1.702852389131974],[-0.5640813496418451,1.802852388694966]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.5928872738485949,1.3220611336146364,0.71338606911949],"aabb_xy":[[-0.6029689809271682,1.2420611357225217],[-0.5828055667700213,1.402061131506751]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_10","position":[-0.06718329153974567,-2.3995651980484665,0.71338606911949],"aabb_xy":[[-0.1311832938825472,-2.444506049292599],[-0.0031832891969441053,-2.354624346804334]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_11","position":[-0.5279767345970672,-2.425228277264338,0.71338606911949],"aabb_xy":[[-0.545476733875154,-2.442566377330684],[-0.5104767353189803,-2.407890177197992]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.048350110043108296,-2.0260895222366133,0.71338606911949],"aabb_xy":[[-0.13803718635122375,-2.1160895224910643],[0.04133696626500716,-1.9360895219821632]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[0.33076311148994875,-1.2355916600038221,0.71338606911949],"aabb_xy":[[0.26576311048944823,-1.286378025158497],[0.39576311249044926,-1.1848052948491472]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[0.32856305186459256,-1.5791642426633088,0.71338606911949],"aabb_xy":[[0.2685630516131914,-1.6334455676997732],[0.38856305211599373,-1.524882917626844]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[-0.02213967292472363,-1.5395866494218566,0.71338606911949],"aabb_xy":[[-0.030176007626008475,-1.5476247687262732],[-0.014103338223438792,-1.5315485301174396]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.3522042809808455,0.8393820216028529,0.71338606911949],"aabb_xy":[[-0.41620428015061545,0.7926153344838905],[-0.28820428181107555,0.8861487087218155]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[0.597759472264491,-1.7993812968875487,0.71338606911949],"aabb_xy":[[0.5077594725413168,-1.8224546494227283],[0.6877594719876652,-1.7763079443523686]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_18","position":[-0.16225122741781095,-0.7832597034799464,0.71338606911949],"aabb_xy":[[-0.23225122954924046,-0.8060216691056419],[-0.09225122528638138,-0.7604977378542506]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_19","position":[-0.3955028494352833,1.1532084690441473,0.71338606911949],"aabb_xy":[[-0.44049543615373365,1.1082084697696986],[-0.35051026271683283,1.198208468318596]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_20","position":[-0.6513532970926759,-0.4130209696231155,0.71338606911949],"aabb_xy":[[-0.6888532986083076,-0.4242477426392605],[-0.6138532955770442,-0.4017941966069704]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[-0.29481876024194287,-0.6133965220058548,0.71338606911949],"aabb_xy":[[-0.30797000621323223,-0.6383965217625414],[-0.2816675142706535,-0.5883965222491683]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[0.6327927306676155,0.4260924189819253,0.71338606911949],"aabb_xy":[[0.6240115035203794,0.41731267169339525],[0.6415739578148519,0.43487216627045555]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[-0.43582402788454677,-2.535004565610447,0.71338606911949],"aabb_xy":[[-0.4435272185586238,-2.5427139363091853],[-0.42812083721046973,-2.527295194911709]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_24","position":[0.09307912277297181,-0.7108194431433918,0.71338606911949],"aabb_xy":[[0.05557912282920541,-0.7191125331782283],[0.13057912271673822,-0.7025263531085552]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_25","position":[-0.4019566377926613,-1.861736846166798,0.71338606911949],"aabb_xy":[[-0.4869566362100845,-1.9466111416290832],[-0.31695663937523805,-1.7768625507045133]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_26","position":[0.6885710594378389,-0.2683803825993447,0.71338606911949],"aabb_xy":[[0.6797690041288662,-0.27619170875427373],[0.6973731147468116,-0.2605690564444156]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_27","position":[0.425970577175919,-0.5902659746891192,0.71338606911949],"aabb_xy":[[0.3884705787525186,-0.6034301886569498],[0.4634705755993193,-0.5771017607212885]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_28","position":[-0.5471999176520808,0.32769774229927817,0.71338606911949],"aabb_xy":[[-0.5646306327310872,0.3104256276354273],[-0.5297692025730741,0.34496985696312893]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_29","position":[-0.30434331809357873,1.667095639339783,0.71338606911949],"aabb_xy":[[-0.32213682502849517,1.6492958937439854],[-0.2865498111586623,1.6848953849355808]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_30","position":[-0.6447895499886818,0.7034100872762288,0.71338606911949],"aabb_xy":[[-0.6833352428138828,0.6648643162200402],[-0.6062438571634807,0.7419558583324174]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_31","position":[-0.050451574110229824,1.2145152006277131,0.71338606911949],"aabb_xy":[[-0.062020554857166406,1.1895152005107814],[-0.03888259336329326,1.2395152007446448]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_32","position":[-0.06651727989691736,0.26087527579072,0.71338606911949],"aabb_xy":[[-0.07586428747921259,0.24657165357307598],[-0.05717027231462213,0.27517889800836404]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_33","position":[-0.22822263003331944,1.4391728831892716,0.71338606911949],"aabb_xy":[[-0.25322262919895255,1.432220637483915],[-0.2032226308676863,1.4461251288946282]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_34","position":[0.6394799926150467,0.6725790502454605,0.71338606911949],"aabb_xy":[[0.6111502826665065,0.6681183080517435],[0.667809702563587,0.6770397924391777]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6715869821438726,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7768.png","name":"7768"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7768.png","name":"7768"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2154.png","name":"2154"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6524.png","name":"6524"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1410.png","name":"1410"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5417.png","name":"5417"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":775.2060510545692,"rotation_z_degrees":149.2010145417325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005816054611987739,0.015026619890508502,0.00022263033334092228]},{"name":"camera_2","offset_m":[-0.0021411592888816687,0.00744517035480129,0.015104131010866956]},{"name":"camera_3","offset_m":[-0.010390732591456628,-0.0054300460223518695,0.010555429963222437]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009255720973532747,0.0009553704294467729,0.0008254714590495318],"end_effector_yaw_offset_degrees":0.09492585266107834},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017163075615633106,-0.0013361634969053832,-0.0006099717292829467],"end_effector_yaw_offset_degrees":-0.115339210262555},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019209454174705085,0.00028400139492933216,-0.00017461853661826596],"end_effector_yaw_offset_degrees":0.971985315305125},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011194022570759875,-0.000938709668914353,0.0018541168391825145],"end_effector_yaw_offset_degrees":-0.49121396041539045}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004247248314104435,-0.000531498794626226],"position_m":[0.17354724831410445,0.22956850120537378,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003947987006553885,-0.004353929134894678],"position_m":[0.2387479870065539,-0.36795392913489466,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003990271762338034,-0.003858833644098445],"position_m":[0.20759027176233805,-0.04965883364409845,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002695205642188202,-0.000512293337304767],"position_m":[0.3364952056421882,0.11718770666269523,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c9be0c67e44ed3af6fdda449ff4aa24e2e8753a8832cc06e26569a5afc2b0894","episode_index":139,"episode_name":"episode_0139"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0139.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7768/tex_ceiling_textures_5417/tex_floor_textures_1410/tex_table_textures_2154/tex_wall_textures_6524","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":7464650420475622510,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":7464650420475622510,"visual_seed":7464650420475622510,"scene_id":"lab_003","finished_at":"2026-09-05T01:42:15"}
+{"episode_id":"ep_000098","started_at":"2026-09-05T01:47:41","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[-0.20829440188031195,-2.557613593017308,0.71338606911949],"aabb_xy":[[-0.22262882700647538,-2.5696738085718467],[-0.19395997675414847,-2.5455533774627694]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[0.5990510319204221,-2.4708484296166477,0.71338606911949],"aabb_xy":[[0.5951371587249996,-2.4795974450232046],[0.6029649051158446,-2.462099414210091]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.07011345176305483,-0.6448726060818348,0.71338606911949],"aabb_xy":[[-0.08274023905025119,-0.6544186797834077],[-0.057486664475858484,-0.6353265323802619]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_3","position":[-0.16281992920982113,-1.2845428971543713,0.71338606911949],"aabb_xy":[[-0.20500434337065185,-1.3485428974315825],[-0.12063551504899037,-1.22054289687716]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[-0.17920824916814304,-0.13529901056772964,0.71338606911949],"aabb_xy":[[-0.2167082499601385,-0.14166685152591973],[-0.1417082483761476,-0.12893116960953954]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.5568562497538115,0.8011041013106546,0.71338606911949],"aabb_xy":[[-0.6118517275744709,0.7461040998767474],[-0.5018607719331521,0.8561041027445613]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[0.3419746626685689,-1.3388841038368708,0.71338606911949],"aabb_xy":[[0.29697466120234006,-1.3838839606983515],[0.3869746641347978,-1.2938842469753902]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[0.5335529611896894,0.4033889854405128,0.71338606911949],"aabb_xy":[[0.44983073568960685,0.3133889819058169],[0.6172751866897718,0.4933889889752088]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[-0.19027745008799724,-0.9005148785750288,0.71338606911949],"aabb_xy":[[-0.2072875473780479,-0.9166493670733027],[-0.17326735279794658,-0.8843803900767548]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_9","position":[0.6567318260582178,-0.16789489053420814,0.71338606911949],"aabb_xy":[[0.652653668151168,-0.17197587078247145],[0.6608099839652674,-0.16381391028594483]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_10","position":[-0.2796643118292075,-2.225540895309835,0.71338606911949],"aabb_xy":[[-0.3446643118635102,-2.2722415719901616],[-0.21466431179490475,-2.178840218629507]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_11","position":[-0.410679348930306,1.5170804571109726,0.71338606911949],"aabb_xy":[[-0.4253227544843389,1.5024217374541882],[-0.39603594337627296,1.5317391767677566]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.5820390064145816,0.5973710790757663,0.71338606911949],"aabb_xy":[[-0.6620328299931398,0.5173710764829247],[-0.5020451828360234,0.6773710816686078]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_13","position":[0.11367146062675604,-1.2814757606933387,0.71338606911949],"aabb_xy":[[0.0636714611865604,-1.3314436851776548],[0.16367146006695166,-1.2315078362090222]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[0.5595064793746676,-0.56446790965225,0.71338606911949],"aabb_xy":[[0.5530048428666631,-0.5742357316785598],[0.5660081158826723,-0.5547000876259403]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.6601611016112817,-1.796792876829179,0.71338606911949],"aabb_xy":[[-0.6683756467269656,-1.80546946712682],[-0.6519465564955976,-1.7881162865315374]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[-0.639755474100651,-1.327974561576244,0.71338606911949],"aabb_xy":[[-0.6478831622939644,-1.3368881699869517],[-0.6316277859073379,-1.3190609531655362]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[0.08959073331797263,-1.090902504020667,0.71338606911949],"aabb_xy":[[0.03977395385313787,-1.1409025025049702],[0.13940751278280739,-1.0409025055363634]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[-0.10076550843432897,1.2142902496842956,0.71338606911949],"aabb_xy":[[-0.10686013632244727,1.2057208551326268],[-0.09467088054621063,1.2228596442359643]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.28996055238611995,0.517374537003445,0.71338606911949],"aabb_xy":[[0.27246055212678333,0.5032829948146725],[0.3074605526454566,0.5314660791922178]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_20","position":[-0.581460107059159,-1.0299935578772057,0.71338606911949],"aabb_xy":[[-0.6314443427673361,-1.079993556690701],[-0.5314758713509816,-0.9799935590637099]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6630973949720624,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4429.png","name":"4429"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4429.png","name":"4429"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4172.png","name":"4172"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3072.png","name":"3072"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6944.png","name":"6944"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9255.png","name":"9255"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":618.2086585141909,"rotation_z_degrees":335.87637732150154,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006923758716069536,0.001690897999568581,-0.004170347023786259]},{"name":"camera_2","offset_m":[0.018019267106908637,-0.0008934568990854042,0.019192620808012737]},{"name":"camera_3","offset_m":[-0.009007411236894516,0.007893374802306456,0.00803092650339107]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[6.287738961647865e-05,0.0003659777770569318,-0.0001661208581446201],"end_effector_yaw_offset_degrees":0.6089851320761204},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0016042414072692847,0.000268564007027993,0.001498428572767474],"end_effector_yaw_offset_degrees":0.7168465069792673},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009710739697276465,-0.0004186851971749773,-0.0007381482462220244],"end_effector_yaw_offset_degrees":-0.7087052385028081},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001979209674059893,0.0005769367655935817,0.000896381440005025],"end_effector_yaw_offset_degrees":0.169615243788531}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024701498161955604,-0.0032795959833156474],"position_m":[0.16682985018380445,0.22682040401668435,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004765371659061973,-0.0021510535629821206],"position_m":[0.23003462834093805,-0.3657510535629821,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002207082065972962,0.00331146147188265],"position_m":[0.20139291793402705,-0.04248853852811735,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004203854032565717,-0.00394496036516781],"position_m":[0.32959614596743425,0.11375503963483219,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8daf17c5c7848b239a0f44c48d75c9e2fb04f6b334fef8d50eab6ffa65dacdb0","episode_index":142,"episode_name":"episode_0142"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0142.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4429/tex_ceiling_textures_9255/tex_floor_textures_6944/tex_table_textures_4172/tex_wall_textures_3072","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":2786385338004551794,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":2786385338004551794,"visual_seed":2786385338004551794,"scene_id":"lab_003","finished_at":"2026-09-05T01:51:31"}
+{"episode_id":"ep_000099","started_at":"2026-09-05T01:51:35","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[-0.1675903625491436,0.8936698853542651,0.71338606911949],"aabb_xy":[[-0.2225640845854765,0.838669885790032],[-0.11261664051281073,0.9486698849184984]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[0.4869547451804763,1.7161885128531664,0.71338606911949],"aabb_xy":[[0.4229547487531544,1.66901888903107],[0.5509547416077982,1.7633581366752629]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.3642490123280546,-0.5627718206438903,0.71338606911949],"aabb_xy":[[0.35162222504085827,-0.5723178943454632],[0.376875799615251,-0.5532257469423174]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.058222409186809765,1.7025647787475235,0.71338606911949],"aabb_xy":[[0.040589573593282184,1.6849418327319006],[0.07585524478033732,1.7201877247631465]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[0.12530245996532907,-1.1976494086348137,0.71338606911949],"aabb_xy":[[0.08780246138970825,-1.2103857042983717],[0.16280245854094985,-1.1849131129712558]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_5","position":[0.671220526779295,-0.14672660447582375,0.71338606911949],"aabb_xy":[[0.6537205265342455,-0.16422639231539057],[0.6887205270243443,-0.12922681663625687]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[0.4001159583223284,-0.422890037806118,0.71338606911949],"aabb_xy":[[0.37761595831218014,-0.4369862574457213],[0.4226159583324767,-0.4087938181665147]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_7","position":[0.26063525683972666,1.4478766198727517,0.71338606911949],"aabb_xy":[[0.24547238386278963,1.432711162577633],[0.2757981298166638,1.4630420771678705]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.401647739356479,1.1225875342043241,0.71338606911949],"aabb_xy":[[0.3842170242774724,1.105315419540473],[0.4190784544354854,1.1398596488681747]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.33263063642479124,-1.1397454325459035,0.71338606911949],"aabb_xy":[[-0.33654450962021376,-1.1484944479524601],[-0.3287167632293687,-1.1309964171393465]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[0.527023126754941,1.093829652816602,0.71338606911949],"aabb_xy":[[0.5225924974001009,1.0883812810819198],[0.5314537561097813,1.0992780245512848]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_11","position":[-0.3113769067599678,-1.389246472961072,0.71338606911949],"aabb_xy":[[-0.34637690588992354,-1.3949916940367362],[-0.2763769076300122,-1.383501251885408]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[-0.0756174984484298,1.5290827171176598,0.71338606911949],"aabb_xy":[[-0.12560173415660703,1.4790827183041642],[-0.02563326274025257,1.5790827159311553]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.18690151015841228,-0.07100993075166473,0.71338606911949],"aabb_xy":[[-0.1956154792083467,-0.09350993141085294],[-0.17818754110847773,-0.0485099300924765]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_14","position":[-0.08561909538207035,1.3691958444927481,0.71338606911949],"aabb_xy":[[-0.15061909638257087,1.3184094793380732],[-0.020619094381569836,1.419982209647423]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_15","position":[-0.25888739918284814,-1.7132991284830994,0.71338606911949],"aabb_xy":[[-0.3010718133436789,-1.7772991287603106],[-0.2167029850220174,-1.6492991282058882]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[0.2923997655124063,1.6192980574800075,0.71338606911949],"aabb_xy":[[0.2424004903439702,1.5692980562040604],[0.34239904068084254,1.6692980587559547]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[-0.6723152292296556,-2.235647802758991,0.71338606911949],"aabb_xy":[[-0.6893253265197062,-2.2517822912572645],[-0.6553051319396049,-2.2195133142607166]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_18","position":[-0.12071120381647793,-1.423232489762158,0.71338606911949],"aabb_xy":[[-0.2107112003173497,-1.4691441321806162],[-0.03071120731560618,-1.3773208473436998]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[0.5266838979477206,-1.6254162614126795,0.71338606911949],"aabb_xy":[[0.4626838962697233,-1.6739336528919935],[0.590683899625718,-1.576898869933365]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_20","position":[-0.6385254750984446,-0.616046749430379,0.71338606911949],"aabb_xy":[[-0.6885254737443658,-0.6659662930898413],[-0.5885254764525234,-0.5661272057709166]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.17262339243923497,-0.49282390752416516,0.71338606911949],"aabb_xy":[[-0.2061025597002759,-0.5263030208952721],[-0.13914422517819403,-0.4593447941530582]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_22","position":[-0.1682329403430528,-1.2527291221738535,0.71338606911949],"aabb_xy":[[-0.2322329376453992,-1.2970955491417102],[-0.1042329430407064,-1.2083626952059967]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_23","position":[0.36322394379773826,0.42470327460542956,0.71338606911949],"aabb_xy":[[0.35559967570756007,0.4170700510688859],[0.37084821188791656,0.43233649814197334]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_24","position":[0.580840149231346,0.062286589295389216,0.71338606911949],"aabb_xy":[[0.5308670836988305,0.012286589482856328],[0.6308132147638614,0.11228658910792214]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_25","position":[-0.174296520443727,-2.0340302930865386,0.71338606911949],"aabb_xy":[[-0.19139859840209517,-2.0511370986178084],[-0.15719444248535885,-2.016923487555269]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_26","position":[-0.37950901567905565,0.5793719747692627,0.71338606911949],"aabb_xy":[[-0.45950901264209476,0.5022963331254893],[-0.29950901871601643,0.6564476164130362]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_27","position":[0.2556277389558479,-0.5587891114400381,0.71338606911949],"aabb_xy":[[0.23311404713239064,-0.6287891120410455],[0.27814143077930503,-0.4887891108390304]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_28","position":[0.5961197876503277,-0.8664502420325091,0.71338606911949],"aabb_xy":[[0.5463030081854929,-0.9164502405168123],[0.6459365671151625,-0.8164502435482056]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.66231620692317,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8658.png","name":"8658"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8658.png","name":"8658"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8806.png","name":"8806"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9041.png","name":"9041"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/71.png","name":"71"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4917.png","name":"4917"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":689.2953146739246,"rotation_z_degrees":189.22534336276414,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016706220065707062,-0.0008010850558339,-0.011456779116067342]},{"name":"camera_2","offset_m":[0.01222692046571006,0.00847633140163799,0.017648221565326836]},{"name":"camera_3","offset_m":[0.0030514384806765056,-0.011847325432912838,-0.009196163841611678]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001039010066371838,0.0018993983982044803,0.0014540332070621738],"end_effector_yaw_offset_degrees":0.8352371454278749},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009166376538419984,-0.0016038907167902358,0.00015023226400735952],"end_effector_yaw_offset_degrees":-0.05368820301513577},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019260301759450012,0.0007398089470374083,0.00018462152443247427],"end_effector_yaw_offset_degrees":0.6027294820294884},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016072568955377785,-0.0002351053894601564,-0.0007267437871996947],"end_effector_yaw_offset_degrees":0.36013179048086985}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00006","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0001540872711955233,-0.0027113171003877857],"position_m":[0.16914591272880447,0.22738868289961223,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004454683839965366,-0.0002608066698697453],"position_m":[0.23034531616003465,-0.36386080666986975,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0039584647859587235,0.0012206048754130885],"position_m":[0.19964153521404127,-0.04457939512458691,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003937431175291446,0.000585560160196852],"position_m":[0.33419374311752914,0.11828556016019685,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a485e8fc2dc849459b74ed727a3fa16257b4cf49b8f4530cdcc8e5dd4fa2080f","episode_index":143,"episode_name":"episode_0143"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/dataset/episode_0143.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8658/tex_ceiling_textures_4917/tex_floor_textures_71/tex_table_textures_8806/tex_wall_textures_9041","seeds":{"action_seed":613915801507398911,"physical_seed":8286748418787565008,"visual_seed":5031870087759729872,"layout_id":"layout_00006","physical_randomization_enabled":true},"episode_seed":5031870087759729872,"visual_seed":5031870087759729872,"scene_id":"lab_003","finished_at":"2026-09-05T01:55:27"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..6f11c23938d7eef7d29c03dbb27f966a18683ab8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_htb_00006
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00006
+  reproducibility:
+    enabled: true
+    layout_id: layout_00006
+    action_seed: 613915801507398911
+    step_seeds:
+    - 103325174323403004
+    - 3963008736894911500
+    - 627831696969887324
+    - 1233641523371953434
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.1693
+      - 0.1693
+      'y':
+      - 0.2301
+      - 0.2301
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.2036
+      - 0.2036
+      'y':
+      - -0.0458
+      - -0.0458
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3338
+      - 0.3338
+      'y':
+      - 0.1177
+      - 0.1177
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2348
+      - 0.2348
+      'y':
+      - -0.3636
+      - -0.3636
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9ff643afd618e9544dbb94be56519402595a834
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18984339328513547,
+              0.23254314701775683,
+              1.0498495682305062
+            ],
+            "current_z": 1.0498495682305062,
+            "required_z": 0.8611068060379901,
+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.18874276219251618,
+            "gripper_z": 1.0556237617905375,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18561131057100752,
+              0.22811490975569887,
+              1.0556237617905375
+            ],
+            "object_minus_gripper": [
+              0.004232082714127949,
+              0.00442823726205796,
+              -0.005774193560031282
+            ],
+            "object_to_gripper_xy": 0.00612534156992891,
+            "object_to_gripper_z": -0.005774193560031282,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18984339328513547,
+              0.2086599589996498,
+              1.0498495682305062
+            ],
+            "finger_b": [
+              0.17866045851121626,
+              0.23254314701775683,
+              1.0498495682305062
+            ],
+            "finger_midpoint": [
+              0.18425192589817585,
+              0.22060155300870332,
+              1.0498495682305062
+            ],
+            "object_minus_finger_midpoint": [
+              0.00559146738695962,
+              0.011941594009053508,
+              0.0
+            ],
+            "finger_gap": 0.026371664719277432,
+            "fingertip_max_gap": 0.09398030777144276,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013185832359638721,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498495682305062,
+            "object_top_z": 1.1012463478221672,
+            "finger_top_clearance": 0.051396779591661,
+            "fingertip_min_top_clearance": 0.015419033877498333,
+            "object_projection_between_fingers": 0.8201806214666729,
+            "object_to_finger_line_xy": 0.010127693364935875,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04949015388572138,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5231885979493605,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18967805036906335,
+              0.23329403376189606,
+              1.242942234858961
+            ],
+            "held_position": [
+              0.19411643814736895,
+              0.2373507617638709,
+              1.237026019125222
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008435516389691809,
+            "max_held_gripper_dist": 0.00845060561508723,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005916215733738905,
+            "max_held_gripper_z_dist": 0.0059570064078453555,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673542634162598,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19411643814736895,
+              0.21263151746964543,
+              1.237026019125222
+            ],
+            "held_grasp_finger_b": [
+              0.18479006491533886,
+              0.2373507617638709,
+              1.237026019125222
+            ],
+            "held_grasp_midpoint": [
+              0.1894532515313539,
+              0.22499113961675815,
+              1.237026019125222
+            ],
+            "held_grasp_object_position": [
+              0.19411643814736895,
+              0.2373507617638709,
+              1.237026019125222
+            ],
+            "held_grasp_finger_gap": 0.02642011120606282,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024249550983081347,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.046279276922470525,
+              -0.9984596818088978,
+              0.030602162172109537
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004103968360633156,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03716385676906695,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2985589931637115,
+              -0.36501614513269753,
+              0.8515395561701004
+            ],
+            "target_position": [
+              0.292808268695773,
+              -0.3660512138540482,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005843132649877558,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18267280878062955,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395561701004,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523254040235772,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08543113285886526,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15145395064610512,
+            "release_required_pad_clearance": 0.052715566429432634,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.48456677158302275,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008127450942993164,
+            "max_z_decrease": 0.008127450942993164,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035153307261602956,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008127450942993164,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02094505009342329,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008127450942993164,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008127491117432462,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1485081911087036,
+              -0.42231267690658575,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1485081911087036,
+              -0.42231267690658575,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1502325805953581,
+              -0.42088341848017385,
+              0.8037648942458083
+            ],
+            "closest_button": [
+              0.14852502942085266,
+              -0.42229345440864563,
+              0.7686814069747925
+            ],
+            "closest_ee_minus_button": [
+              0.0017075511745054395,
+              0.0014100359284717756,
+              0.035083487271015845
+            ],
+            "button_min_z_position": [
+              0.14852502942085266,
+              -0.42229345440864563,
+              0.7686814069747925
+            ],
+            "min_active_finger_to_button": 0.14365949024057373,
+            "closest_active_finger": [
+              0.024045422673225403,
+              -0.48540157079696655,
+              0.8104662895202637
+            ],
+            "closest_active_finger_button": [
+              0.14850732684135437,
+              -0.4223135709762573,
+              0.77630215883255
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12446190416812897,
+              -0.06308799982070923,
+              0.03416413068771362
+            ],
+            "min_contact_pad_to_button": 0.02094505009342329,
+            "closest_contact_pad": [
+              0.14852502942085266,
+              -0.42229345440864563,
+              0.7896264570682158
+            ],
+            "closest_contact_pad_button": [
+              0.14852502942085266,
+              -0.42229345440864563,
+              0.7686814069747925
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02094505009342329
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4b437081e5e5e1a101681ee3b4a26136d92904ff3aca6657eca15338446eb57d",
+    "visual_seed": 8598712333373369131,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_101_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1608b38e806f36e5c57a844ad91382c16e4e6761
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_101_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 101,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1948141246966964,
+              0.22929286604132867,
+              1.0478783030069272
+            ],
+            "current_z": 1.0478783030069272,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.18677161617822702,
+            "gripper_z": 1.0536669306366664,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19039794293898707,
+              0.22474150932154485,
+              1.0536669306366664
+            ],
+            "object_minus_gripper": [
+              0.004416181757709331,
+              0.004551356719783822,
+              -0.005788627629739196
+            ],
+            "object_to_gripper_xy": 0.006341727628008478,
+            "object_to_gripper_z": -0.005788627629739196,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1948141246966964,
+              0.20541995020197723,
+              1.0478783030069272
+            ],
+            "finger_b": [
+              0.18326595304945761,
+              0.22929286604132867,
+              1.0478783030069272
+            ],
+            "finger_midpoint": [
+              0.18904003887307702,
+              0.21735640812165297,
+              1.0478783030069272
+            ],
+            "object_minus_finger_midpoint": [
+              0.005774085823619379,
+              0.011936457919675708,
+              0.0
+            ],
+            "finger_gap": 0.026519358571934708,
+            "fingertip_max_gap": 0.09435686113013916,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013259679285967335,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478783030069272,
+            "object_top_z": 1.0997515634701103,
+            "finger_top_clearance": 0.05187326046318308,
+            "fingertip_min_top_clearance": 0.01556197813895494,
+            "object_projection_between_fingers": 0.8103728884353532,
+            "object_to_finger_line_xy": 0.010395746529279788,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049678430565069584,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5712534090077839,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19463283127697467,
+              0.22950474172365565,
+              1.2413254881089038
+            ],
+            "held_position": [
+              0.19931340836132083,
+              0.2336180989943612,
+              1.2353940747327785
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008602858508510416,
+            "max_held_gripper_dist": 0.00861644491874749,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0059314133761252386,
+            "max_held_gripper_z_dist": 0.005973953692499201,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08672016971791988,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19931340836132083,
+              0.2087638364393549,
+              1.2353940747327785
+            ],
+            "held_grasp_finger_b": [
+              0.18985810983345666,
+              0.2336180989943612,
+              1.2353940747327785
+            ],
+            "held_grasp_midpoint": [
+              0.19458575909738873,
+              0.22119096771685803,
+              1.2353940747327785
+            ],
+            "held_grasp_object_position": [
+              0.19931340836132083,
+              0.2336180989943612,
+              1.2353940747327785
+            ],
+            "held_grasp_finger_gap": 0.02659204838676816,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024194661327257824,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06273316876690892,
+              -0.9973268010140541,
+              0.037467339317542196
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003966823009762147,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03702975856817614,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2977260103503355,
+              -0.3580224951127128,
+              0.8515396044591015
+            ],
+            "target_position": [
+              0.2922109204371937,
+              -0.35887578480295673,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0055807096363737815,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18161005179353326,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396044591015,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519956307882386,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613158870380115,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15051277351613385,
+            "release_required_pad_clearance": 0.05306579435190058,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1609435672846753,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008055686950683594,
+            "max_z_decrease": 0.008055686950683594,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035139100414441266,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008055686950683594,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021020646916323445,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008055686950683594,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008055693264768678,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1479108482599258,
+              -0.41513723134994507,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1479108482599258,
+              -0.41513723134994507,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1473795740636629,
+              -0.41490257993157215,
+              0.8080212666356748
+            ],
+            "closest_button": [
+              0.14789842069149012,
+              -0.4151419997215271,
+              0.7728868126869202
+            ],
+            "closest_ee_minus_button": [
+              -0.0005188466278272241,
+              0.00023941978995495328,
+              0.035134453948754585
+            ],
+            "button_min_z_position": [
+              0.147903561592102,
+              -0.41513025760650635,
+              0.768753170967102
+            ],
+            "min_active_finger_to_button": 0.14647744424968262,
+            "closest_active_finger": [
+              0.01946309208869934,
+              -0.47672638297080994,
+              0.8109022974967957
+            ],
+            "closest_active_finger_button": [
+              0.14791184663772577,
+              -0.4151379466056824,
+              0.7767933011054993
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12844875454902643,
+              -0.061588436365127563,
+              0.03410899639129639
+            ],
+            "min_contact_pad_to_button": 0.021020646916323445,
+            "closest_contact_pad": [
+              0.147903561592102,
+              -0.41608524165608896,
+              0.7897521138511089
+            ],
+            "closest_contact_pad_button": [
+              0.147903561592102,
+              -0.41513025760650635,
+              0.768753170967102
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009549840495826079,
+              0.020998942884006833
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 101,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "624b956a1d66b65d5a461f2e03b180d97a0faf5b2a566cf0c8580008421e2cd5",
+    "visual_seed": 5825531213708781088,
+    "episode_index": 101,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74f1e4a48b8061cc3b69ac63d03656165c1fe7f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19753311190672213,
+              0.23692810984580606,
+              1.0482155815608816
+            ],
+            "current_z": 1.0482155815608816,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.18710883512753662,
+            "gripper_z": 1.0536301084559996,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19258820787243805,
+              0.2321445152342531,
+              1.0536301084559996
+            ],
+            "object_minus_gripper": [
+              0.0049449040342840755,
+              0.004783594611552949,
+              -0.00541452689511801
+            ],
+            "object_to_gripper_xy": 0.006880032944394768,
+            "object_to_gripper_z": -0.00541452689511801,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19753311190672213,
+              0.21252105726832451,
+              1.0482155815608816
+            ],
+            "finger_b": [
+              0.18586092102506965,
+              0.23692810984580606,
+              1.0482155815608816
+            ],
+            "finger_midpoint": [
+              0.19169701646589588,
+              0.2247245835570653,
+              1.0482155815608816
+            ],
+            "object_minus_finger_midpoint": [
+              0.00583609544082625,
+              0.012203526288740774,
+              0.0
+            ],
+            "finger_gap": 0.027054468309277116,
+            "fingertip_max_gap": 0.09304580773902968,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013527234154638563,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482155815608816,
+            "object_top_z": 1.0990473061787316,
+            "finger_top_clearance": 0.050831724617850016,
+            "fingertip_min_top_clearance": 0.015249517385354988,
+            "object_projection_between_fingers": 0.8138655519810101,
+            "object_to_finger_line_xy": 0.010530008325656304,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04902290386951484,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.388534543361185,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.196693527421942,
+              0.2370617395493024,
+              1.2443078438458373
+            ],
+            "held_position": [
+              0.20188474327178954,
+              0.24146195293838382,
+              1.238788235732319
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008762229944253713,
+            "max_held_gripper_dist": 0.008775794883508032,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0055196081135182595,
+            "max_held_gripper_z_dist": 0.005573886978542442,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663732199887625,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20188474327178954,
+              0.21635926517318718,
+              1.238788235732319
+            ],
+            "held_grasp_finger_b": [
+              0.1917744107874973,
+              0.24146195293838382,
+              1.238788235732319
+            ],
+            "held_grasp_midpoint": [
+              0.19682957702964343,
+              0.2289106090557855,
+              1.238788235732319
+            ],
+            "held_grasp_object_position": [
+              0.20188474327178954,
+              0.24146195293838382,
+              1.238788235732319
+            ],
+            "held_grasp_finger_gap": 0.027062220085940624,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024673508429373492,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03974250565385221,
+              -0.9989097028111155,
+              0.024493649670120347
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004562885284674049,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036981685909489005,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28969234168405267,
+              -0.36481706616097254,
+              0.851539560757358
+            ],
+            "target_position": [
+              0.2833916149928191,
+              -0.3663760847709855,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064907392386375825,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.181904744191065,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539560757358,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583087277584474,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08700449306411305,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14940614523487092,
+            "release_required_pad_clearance": 0.05350224653205653,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0166607916815504,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007987260818481445,
+            "max_z_decrease": 0.007987260818481445,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035158548576348134,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007987260818481445,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021036923996283763,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007987260818481445,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007987288148308447,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13909153640270233,
+              -0.4226375520229339,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13909153640270233,
+              -0.4226375520229339,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13863047925779579,
+              -0.421293516536979,
+              0.8081096782080001
+            ],
+            "closest_button": [
+              0.13908050954341883,
+              -0.42263820767402643,
+              0.772979736328125
+            ],
+            "closest_ee_minus_button": [
+              -0.00045003028562304315,
+              0.001344691137047438,
+              0.03512994187987506
+            ],
+            "button_min_z_position": [
+              0.13907074928283686,
+              -0.4226354360580444,
+              0.7688215970993042
+            ],
+            "min_active_finger_to_button": 0.14597768704309333,
+            "closest_active_finger": [
+              0.01051299273967743,
+              -0.48272573947906494,
+              0.8104364275932312
+            ],
+            "closest_active_finger_button": [
+              0.1390906423330307,
+              -0.42263755202293396,
+              0.7762796878814697
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12857764959335327,
+              -0.06008818745613098,
+              0.034156739711761475
+            ],
+            "min_contact_pad_to_button": 0.021036923996283763,
+            "closest_contact_pad": [
+              0.13907074928283686,
+              -0.4226354360580444,
+              0.789858521095588
+            ],
+            "closest_contact_pad_button": [
+              0.13907074928283686,
+              -0.4226354360580444,
+              0.7688215970993042
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021036923996283763
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "07ed02ce3f6c5668d51ce7db76a1878b6581d8ec312f090b20ec2681e6ca425f",
+    "visual_seed": 4020683347568267810,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..afcdbfc5a219696a709fdfa297af6ee9ad05a5b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1910450889327704,
+              0.2333507773566094,
+              1.0472299102457208
+            ],
+            "current_z": 1.0472299102457208,
+            "required_z": 0.8611068060379901,
+            "initial_z": 0.7611068060379901,
+            "lift_margin": 0.1861231042077307,
+            "gripper_z": 1.0530684230085219,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1864012362675113,
+              0.22874478009233065,
+              1.0530684230085219
+            ],
+            "object_minus_gripper": [
+              0.004643852665259102,
+              0.004605997264278738,
+              -0.005838512762801118
+            ],
+            "object_to_gripper_xy": 0.006540686384101999,
+            "object_to_gripper_z": -0.005838512762801118,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1910450889327704,
+              0.20910993384710333,
+              1.0472299102457208
+            ],
+            "finger_b": [
+              0.17968878128259258,
+              0.2333507773566094,
+              1.0472299102457208
+            ],
+            "finger_midpoint": [
+              0.18536693510768149,
+              0.22123035560185636,
+              1.0472299102457208
+            ],
+            "object_minus_finger_midpoint": [
+              0.005678153825088905,
+              0.01212042175475303,
+              0.0
+            ],
+            "finger_gap": 0.02676909071107663,
+            "fingertip_max_gap": 0.09272929844011024,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013384545355538315,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472299102457208,
+            "object_top_z": 1.0980804757904916,
+            "finger_top_clearance": 0.050850565544770854,
+            "fingertip_min_top_clearance": 0.015255169663431272,
+            "object_projection_between_fingers": 0.8200271227074937,
+            "object_to_finger_line_xy": 0.010283744022723104,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886464922005512,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0843794101498567,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19042409153814574,
+              0.23403785372998687,
+              1.2417370320268875
+            ],
+            "held_position": [
+              0.1952673481064967,
+              0.23828721341650186,
+              1.2357690057698676
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008782455769130415,
+            "max_held_gripper_dist": 0.008795551662028184,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005968026257019865,
+            "max_held_gripper_z_dist": 0.006012085007999657,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651045940944477,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1952673481064967,
+              0.21337963031697138,
+              1.2357690057698676
+            ],
+            "held_grasp_finger_b": [
+              0.1854916579542926,
+              0.23828721341650186,
+              1.2357690057698676
+            ],
+            "held_grasp_midpoint": [
+              0.19037950303039464,
+              0.2258334218667366,
+              1.2357690057698676
+            ],
+            "held_grasp_object_position": [
+              0.1952673481064967,
+              0.23828721341650186,
+              1.2357690057698676
+            ],
+            "held_grasp_finger_gap": 0.026757275904170753,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024455369941966742,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04310295139822638,
+              -0.9987613386683936,
+              0.024858076395420252
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004357704327968555,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037071204001597115,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29697152789296705,
+              -0.3619893780500394,
+              0.851539556610318
+            ],
+            "target_position": [
+              0.29111056024412196,
+              -0.36325017525726394,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0059950439013033005,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18265603086531204,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539556610318,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573245731019379,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613771962351312,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15041121305509825,
+            "release_required_pad_clearance": 0.05306885981175656,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1669954982021933,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008168280124664307,
+            "max_z_decrease": 0.008168280124664307,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501166143529615,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008168280124664307,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02090339954477906,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008168280124664307,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008168382457862772,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14681048691272736,
+              -0.4195116460323334,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14681048691272736,
+              -0.4195116460323334,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14773857657913245,
+              -0.41947184756546835,
+              0.8036407384719837
+            ],
+            "closest_button": [
+              0.14684134721755976,
+              -0.4194848239421844,
+              0.7686405777931213
+            ],
+            "closest_ee_minus_button": [
+              0.0008972293615726878,
+              1.2976376716045124e-05,
+              0.03500016067886236
+            ],
+            "button_min_z_position": [
+              0.14684134721755976,
+              -0.4194848239421844,
+              0.7686405777931213
+            ],
+            "min_active_finger_to_button": 0.14482069496907188,
+            "closest_active_finger": [
+              0.006772533059120178,
+              -0.4057982265949249,
+              0.8108532428741455
+            ],
+            "closest_active_finger_button": [
+              0.1468100994825363,
+              -0.419511616230011,
+              0.7765828967094421
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1400375664234161,
+              0.01371338963508606,
+              0.03427034616470337
+            ],
+            "min_contact_pad_to_button": 0.02090339954477906,
+            "closest_contact_pad": [
+              0.14684134721755976,
+              -0.42043780218788795,
+              0.7895222430761366
+            ],
+            "closest_contact_pad_button": [
+              0.14684134721755976,
+              -0.4194848239421844,
+              0.7686405777931213
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009529782457035618,
+              0.02088166528301527
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba81447287c123e584404af59cd089e42deeb3e1bb42d10ffa4f2dd33e990b14",
+    "visual_seed": 1407973040812584412,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_105_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_105_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..165757d6c842939b1a147ee0fe3c22aac3dc9d83
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_105_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 105,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19714219361498364,
+              0.23466776389202793,
+              1.048654719096184
+            ],
+            "current_z": 1.048654719096184,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1875480918721283,
+            "gripper_z": 1.0541010567561389,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1921199182214814,
+              0.22972941995822577,
+              1.0541010567561389
+            ],
+            "object_minus_gripper": [
+              0.005022275393502251,
+              0.004938343933802158,
+              -0.005446337659954947
+            ],
+            "object_to_gripper_xy": 0.007043471511740412,
+            "object_to_gripper_z": -0.005446337659954947,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19714219361498364,
+              0.21039787854075068,
+              1.048654719096184
+            ],
+            "finger_b": [
+              0.18500809678750235,
+              0.23466776389202793,
+              1.048654719096184
+            ],
+            "finger_midpoint": [
+              0.191075145201243,
+              0.2225328212163893,
+              1.048654719096184
+            ],
+            "object_minus_finger_midpoint": [
+              0.006067048413740644,
+              0.012134942675638638,
+              0.0
+            ],
+            "finger_gap": 0.027134178461542435,
+            "fingertip_max_gap": 0.09104951310214005,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013567089230771231,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048654719096184,
+            "object_top_z": 1.0986016626765842,
+            "finger_top_clearance": 0.049946943580400305,
+            "fingertip_min_top_clearance": 0.014984083074120108,
+            "object_projection_between_fingers": 0.8000223049692604,
+            "object_to_finger_line_xy": 0.010853217437987147,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048024756551070025,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7773330812029478,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19617819327376917,
+              0.23477080630140787,
+              1.2447332045692987
+            ],
+            "held_position": [
+              0.20150207137652248,
+              0.2392593816451353,
+              1.239175137008019
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008909719506530097,
+            "max_held_gripper_dist": 0.008925001594088964,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005558067561279634,
+            "max_held_gripper_z_dist": 0.005613987664375708,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08546738279950994,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20150207137652248,
+              0.21411607385600454,
+              1.239175137008019
+            ],
+            "held_grasp_finger_b": [
+              0.19119460593139648,
+              0.2392593816451353,
+              1.239175137008019
+            ],
+            "held_grasp_midpoint": [
+              0.19634833865395948,
+              0.22668772775056992,
+              1.239175137008019
+            ],
+            "held_grasp_object_position": [
+              0.20150207137652248,
+              0.2392593816451353,
+              1.239175137008019
+            ],
+            "held_grasp_finger_gap": 0.027174064298176495,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024488383582890332,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05913429786060065,
+              -0.9981943714486076,
+              0.010541898541210237
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004403341249539886,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03686653354682996,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29170789175254763,
+              -0.36515679641814014,
+              0.8515395624404503
+            ],
+            "target_position": [
+              0.28446802713638264,
+              -0.36744813190642645,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007593803920320706,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18372145313992438,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395624404503,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563192144191355,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500691811796805,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1517742056068735,
+            "release_required_pad_clearance": 0.05250345905898403,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912936314593255,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008174777030944824,
+            "max_z_decrease": 0.008174777030944824,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03500786265823588,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008174777030944824,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.0209791467440631,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008174777030944824,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008174829824466663,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1401679515838623,
+              -0.42370960116386414,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1401679515838623,
+              -0.42370960116386414,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14009542790997506,
+              -0.42466438811238205,
+              0.8036282079046276
+            ],
+            "closest_button": [
+              0.14018808305263517,
+              -0.42368820309638977,
+              0.7686340808868408
+            ],
+            "closest_ee_minus_button": [
+              -9.2655142660103e-05,
+              -0.0009761850159922814,
+              0.034994127017786814
+            ],
+            "button_min_z_position": [
+              0.14018808305263517,
+              -0.42368820309638977,
+              0.7686340808868408
+            ],
+            "min_active_finger_to_button": 0.14573962227842038,
+            "closest_active_finger": [
+              -0.0009149014949798584,
+              -0.41126734018325806,
+              0.811042308807373
+            ],
+            "closest_active_finger_button": [
+              0.1401696056127548,
+              -0.4237080216407776,
+              0.7766849398612976
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14108450710773465,
+              0.012440681457519531,
+              0.03435736894607544
+            ],
+            "min_contact_pad_to_button": 0.0209791467440631,
+            "closest_contact_pad": [
+              0.14018808305263517,
+              -0.4256045477399993,
+              0.7895255198347889
+            ],
+            "closest_contact_pad_button": [
+              0.14018808305263517,
+              -0.42368820309638977,
+              0.7686340808868408
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019163446436095133,
+              0.020891438947948093
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 105,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "56cbd538ac60c53fc06486534df9be783c4b2bb3b6f5c3f559212fb9469586d9",
+    "visual_seed": 3475178658838582850,
+    "episode_index": 105,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8e5e5e60f17f16f69501cd89aa6a92510289f96
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1996704561574568,
+              0.23567208163719372,
+              1.0469989838900147
+            ],
+            "current_z": 1.0469989838900147,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1858922374566696,
+            "gripper_z": 1.0524038972935241,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19478770481190774,
+              0.2308944383411709,
+              1.0524038972935241
+            ],
+            "object_minus_gripper": [
+              0.004882751345549052,
+              0.0047776432960228155,
+              -0.005404913403509459
+            ],
+            "object_to_gripper_xy": 0.0068313348744218965,
+            "object_to_gripper_z": -0.005404913403509459,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1996704561574568,
+              0.21134923362666638,
+              1.0469989838900147
+            ],
+            "finger_b": [
+              0.1879580058223918,
+              0.23567208163719372,
+              1.0469989838900147
+            ],
+            "finger_midpoint": [
+              0.19381423098992429,
+              0.22351065763193007,
+              1.0469989838900147
+            ],
+            "object_minus_finger_midpoint": [
+              0.005856225167532508,
+              0.012161424005263655,
+              0.0
+            ],
+            "finger_gap": 0.0269959705918231,
+            "fingertip_max_gap": 0.09227624584828159,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013497985295911542,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0469989838900147,
+            "object_top_z": 1.0975549693963322,
+            "finger_top_clearance": 0.05055598550631757,
+            "fingertip_min_top_clearance": 0.015166795651895253,
+            "object_projection_between_fingers": 0.8117661903687695,
+            "object_to_finger_line_xy": 0.010552691497483101,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486381229241408,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.011882052266683,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19879576610237132,
+              0.23602780413274463,
+              1.2407184013856314
+            ],
+            "held_position": [
+              0.2039078817034564,
+              0.24042116516761733,
+              1.2351769015566008
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008726028160437117,
+            "max_held_gripper_dist": 0.008739344703390363,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005541499829030627,
+            "max_held_gripper_z_dist": 0.005595364527677837,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08670212999956958,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2039078817034564,
+              0.21536028951913996,
+              1.2351769015566008
+            ],
+            "held_grasp_finger_b": [
+              0.19388049059751433,
+              0.24042116516761733,
+              1.2351769015566008
+            ],
+            "held_grasp_midpoint": [
+              0.19889418615048537,
+              0.22789072734337865,
+              1.2351769015566008
+            ],
+            "held_grasp_object_position": [
+              0.2039078817034564,
+              0.24042116516761733,
+              1.2351769015566008
+            ],
+            "held_grasp_finger_gap": 0.0269925186053464,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02455466471012519,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04715138858907519,
+              -0.9986670248777483,
+              0.020998094579011032
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004425268581719994,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03697011230046156,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2965909108588527,
+              -0.36012445744566,
+              0.8515395961494956
+            ],
+            "target_position": [
+              0.2898835715263789,
+              -0.36186106592303097,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00692850704875349,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1817105367546745,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395961494956,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754742735950009,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857207111885132,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15010748204896734,
+            "release_required_pad_clearance": 0.0528603555942566,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7630973550788026,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008119523525238037,
+            "max_z_decrease": 0.008119523525238037,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035129152840439395,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008119523525238037,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02094661207416393,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008119523525238037,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008119554026560807,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14558349549770358,
+              -0.41812252998352045,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14558349549770358,
+              -0.41812252998352045,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14680947118179824,
+              -0.4168450315264293,
+              0.8037749471861062
+            ],
+            "closest_button": [
+              0.14559710025787356,
+              -0.4181049168109893,
+              0.7686893343925476
+            ],
+            "closest_ee_minus_button": [
+              0.0012123709239246772,
+              0.0012598852845600028,
+              0.035085612793558596
+            ],
+            "button_min_z_position": [
+              0.14559710025787356,
+              -0.4181049168109893,
+              0.7686893343925476
+            ],
+            "min_active_finger_to_button": 0.1441351784427741,
+            "closest_active_finger": [
+              0.019963733851909637,
+              -0.4799972474575043,
+              0.8108476400375366
+            ],
+            "closest_active_finger_button": [
+              0.14558595418930056,
+              -0.41812157630920405,
+              0.7767095565795898
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12562222033739093,
+              -0.061875671148300226,
+              0.03413808345794678
+            ],
+            "min_contact_pad_to_button": 0.02094661207416393,
+            "closest_contact_pad": [
+              0.14559710025787356,
+              -0.4181049168109893,
+              0.7896359464667115
+            ],
+            "closest_contact_pad_button": [
+              0.14559710025787356,
+              -0.4181049168109893,
+              0.7686893343925476
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02094661207416393
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ae4d6b9f7f47c098c1f7b110eb55ae3b5a13a40bc9429bdcd306eb13072f8ed6",
+    "visual_seed": 4503694380071483818,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_107_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_107_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9f2e007951e7a6b623dc21288e1e853ec3d4712
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_107_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 107,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.197808384935892,
+              0.238638448733776,
+              1.0478193754790546
+            ],
+            "current_z": 1.0478193754790546,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18671268865035417,
+            "gripper_z": 1.0532550669560987,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1927452857306178,
+              0.23370228692522982,
+              1.0532550669560987
+            ],
+            "object_minus_gripper": [
+              0.005063099205274202,
+              0.004936161808546169,
+              -0.005435691477044147
+            ],
+            "object_to_gripper_xy": 0.007071114973085789,
+            "object_to_gripper_z": -0.005435691477044147,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.197808384935892,
+              0.21429595654957484,
+              1.0478193754790546
+            ],
+            "finger_b": [
+              0.18573404690435835,
+              0.238638448733776,
+              1.0478193754790546
+            ],
+            "finger_midpoint": [
+              0.1917712159201252,
+              0.2264672026416754,
+              1.0478193754790546
+            ],
+            "object_minus_finger_midpoint": [
+              0.006037169015766813,
+              0.012171246092100574,
+              0.0
+            ],
+            "finger_gap": 0.027172533276042445,
+            "fingertip_max_gap": 0.09067808538332436,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013586266638021215,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478193754790546,
+            "object_top_z": 1.0975837908557458,
+            "finger_top_clearance": 0.049764415376691185,
+            "fingertip_min_top_clearance": 0.014929324613007338,
+            "object_projection_between_fingers": 0.8025457882758746,
+            "object_to_finger_line_xy": 0.010816786060251302,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047839042691662184,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7120436745334312,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19674688221692604,
+              0.23881888566920448,
+              1.2427432795994415
+            ],
+            "held_position": [
+              0.2020915471538386,
+              0.24332896110159213,
+              1.2371897623764734
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008930161098182551,
+            "max_held_gripper_dist": 0.008944020732186867,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005553517222968152,
+            "max_held_gripper_z_dist": 0.005615842088384948,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649753487810069,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2020915471538386,
+              0.21816570079952,
+              1.2371897623764734
+            ],
+            "held_grasp_finger_b": [
+              0.19177672503529763,
+              0.24332896110159213,
+              1.2371897623764734
+            ],
+            "held_grasp_midpoint": [
+              0.1969341360945681,
+              0.23074733095055605,
+              1.2371897623764734
+            ],
+            "held_grasp_object_position": [
+              0.2020915471538386,
+              0.24332896110159213,
+              1.2371897623764734
+            ],
+            "held_grasp_finger_gap": 0.027195316221124942,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02454136192412327,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.056269269799901794,
+              -0.9983511330119939,
+              0.011348325420697745
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004443628158130464,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03686916159930725,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2957104893982302,
+              -0.3637986180308804,
+              0.8515395168895935
+            ],
+            "target_position": [
+              0.2888925174491144,
+              -0.3658792508203783,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071283780976925705,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18417197782066955,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395168895935,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573918866943433,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855485954994895,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15201402662235006,
+            "release_required_pad_clearance": 0.05277429774974475,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5974142712510008,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00819474458694458,
+            "max_z_decrease": 0.00819474458694458,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035005090385545175,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00819474458694458,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02089198262917464,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.00819474458694458,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00819478872086028,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1445924490690231,
+              -0.42214071750640864,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1445924490690231,
+              -0.42214071750640864,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14487117100726096,
+              -0.42163724252779095,
+              0.8036149045423417
+            ],
+            "closest_button": [
+              0.14460642635822293,
+              -0.4221177399158477,
+              0.7686141133308411
+            ],
+            "closest_ee_minus_button": [
+              0.00026474464903802897,
+              0.00048049738805677755,
+              0.03500079121150068
+            ],
+            "button_min_z_position": [
+              0.14460642635822293,
+              -0.4221177399158477,
+              0.7686141133308411
+            ],
+            "min_active_finger_to_button": 0.14533229459986355,
+            "closest_active_finger": [
+              0.019155830144882202,
+              -0.48706454038619995,
+              0.8108916282653809
+            ],
+            "closest_active_finger_button": [
+              0.14459319412708277,
+              -0.42213976383209223,
+              0.7766612768173218
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12543736398220057,
+              -0.06492477655410772,
+              0.03423035144805908
+            ],
+            "min_contact_pad_to_button": 0.02089198262917464,
+            "closest_contact_pad": [
+              0.14460642635822293,
+              -0.42257671394344115,
+              0.7895010537726513
+            ],
+            "closest_contact_pad_button": [
+              0.14460642635822293,
+              -0.4221177399158477,
+              0.7686141133308411
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004589740275934284,
+              0.020886940441810276
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 107,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7aabb49e1de2cf8f14b9a4e98f8aefaa72ca3a139a2a154d6e78b9d569e9530b",
+    "visual_seed": 4517655914446293374,
+    "episode_index": 107,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a434b8d24d6361a08c7419206c84cfbc726e8b20
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_108_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19829435901712614,
+              0.23537096457500942,
+              1.0487977974236138
+            ],
+            "current_z": 1.0487977974236138,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.18769111059491328,
+            "gripper_z": 1.0541045925169648,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19346140771526388,
+              0.23061868758721163,
+              1.0541045925169648
+            ],
+            "object_minus_gripper": [
+              0.004832951301862259,
+              0.004752276987797788,
+              -0.005306795093350969
+            ],
+            "object_to_gripper_xy": 0.006778019980416443,
+            "object_to_gripper_z": -0.005306795093350969,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19829435901712614,
+              0.2110810123763174,
+              1.0487977974236138
+            ],
+            "finger_b": [
+              0.18662172126530233,
+              0.23537096457500942,
+              1.0487977974236138
+            ],
+            "finger_midpoint": [
+              0.19245804014121423,
+              0.2232259884756634,
+              1.0487977974236138
+            ],
+            "object_minus_finger_midpoint": [
+              0.005836318875911906,
+              0.012144976099346005,
+              0.0
+            ],
+            "finger_gap": 0.026949067700015993,
+            "fingertip_max_gap": 0.09181260401037669,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013474533850007997,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487977974236138,
+            "object_top_z": 1.0991363448098919,
+            "finger_top_clearance": 0.050338547386278076,
+            "fingertip_min_top_clearance": 0.015101564215883389,
+            "object_projection_between_fingers": 0.812392358021535,
+            "object_to_finger_line_xy": 0.010520876498606295,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840630200518835,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.8617551984099096,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1975667878356284,
+              0.23566808779175596,
+              1.2425502436460152
+            ],
+            "held_position": [
+              0.2026306599545361,
+              0.24002585645227564,
+              1.23710434716806
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00861920744522734,
+            "max_held_gripper_dist": 0.008635600278425111,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0054458964779551255,
+            "max_held_gripper_z_dist": 0.0054981517605348085,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08693202866115901,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2026306599545361,
+              0.21497688864646364,
+              1.23710434716806
+            ],
+            "held_grasp_finger_b": [
+              0.19269146411425336,
+              0.24002585645227564,
+              1.23710434716806
+            ],
+            "held_grasp_midpoint": [
+              0.19766106203439474,
+              0.22750137254936964,
+              1.23710434716806
+            ],
+            "held_grasp_object_position": [
+              0.2026306599545361,
+              0.24002585645227564,
+              1.23710434716806
+            ],
+            "held_grasp_finger_gap": 0.026948810773169567,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024509426424591165,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05057511979541634,
+              -0.9985282682618211,
+              0.019582000401596748
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004336890647719072,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696286083750708,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29884279023707305,
+              -0.35925898227749276,
+              0.8515396346758567
+            ],
+            "target_position": [
+              0.2915416529486648,
+              -0.3613655132363096,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007598952453110843,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18320600376107096,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396346758567,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756456556630229,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562793123163069,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15116567598741965,
+            "release_required_pad_clearance": 0.05281396561581535,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6737632241829405,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008129775524139404,
+            "max_z_decrease": 0.008129775524139404,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508736833868799,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008129775524139404,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020935462825316206,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008129775524139404,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008129819240758953,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1472415775060653,
+              -0.41762697696685785,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1472415775060653,
+              -0.41762697696685785,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14820616646646537,
+              -0.41670892973706447,
+              0.8037421727851274
+            ],
+            "closest_button": [
+              0.1472596079111099,
+              -0.41760733723640436,
+              0.7686790823936462
+            ],
+            "closest_ee_minus_button": [
+              0.0009465585553554701,
+              0.0008984074993398927,
+              0.035063090391481144
+            ],
+            "button_min_z_position": [
+              0.1472596079111099,
+              -0.41760733723640436,
+              0.7686790823936462
+            ],
+            "min_active_finger_to_button": 0.144538165769612,
+            "closest_active_finger": [
+              0.021975085139274597,
+              -0.48112693428993225,
+              0.810793399810791
+            ],
+            "closest_active_finger_button": [
+              0.14724163711071014,
+              -0.4176271259784698,
+              0.7766269445419312
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12526655197143555,
+              -0.06349980831146246,
+              0.03416645526885986
+            ],
+            "min_contact_pad_to_button": 0.020935462825316206,
+            "closest_contact_pad": [
+              0.1472596079111099,
+              -0.4177495114098501,
+              0.7896140624560825
+            ],
+            "closest_contact_pad_button": [
+              0.1472596079111099,
+              -0.41760733723640436,
+              0.7686790823936462
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00014217417344575267,
+              0.020934980062436215
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b27435f5cf1b3a5a16aa1f04f06c054647d7dab31aceb285f8184f1de60886e8",
+    "visual_seed": 3732070619622460919,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..515a032be8c3d3a6233e55207bfee30ed939cf32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_109_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1968034936493271,
+              0.23404354108152767,
+              1.0486223700154682
+            ],
+            "current_z": 1.0486223700154682,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1875157427914127,
+            "gripper_z": 1.0542441846343062,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19227557196468553,
+              0.22944879914916141,
+              1.0542441846343062
+            ],
+            "object_minus_gripper": [
+              0.004527921684641556,
+              0.004594741932366253,
+              -0.005621814618838039
+            ],
+            "object_to_gripper_xy": 0.006450870344945091,
+            "object_to_gripper_z": -0.005621814618838039,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1968034936493271,
+              0.20995436030989967,
+              1.0486223700154682
+            ],
+            "finger_b": [
+              0.18537016309142068,
+              0.23404354108152767,
+              1.0486223700154682
+            ],
+            "finger_midpoint": [
+              0.19108682837037388,
+              0.22199895069571368,
+              1.0486223700154682
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057166652789532035,
+              0.012044590385813986,
+              0.0
+            ],
+            "finger_gap": 0.026664764726029903,
+            "fingertip_max_gap": 0.09458304031231107,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01333238236301494,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486223700154682,
+            "object_top_z": 1.100606468004722,
+            "finger_top_clearance": 0.05198409798925385,
+            "fingertip_min_top_clearance": 0.015595229396776171,
+            "object_projection_between_fingers": 0.8161473019137333,
+            "object_to_finger_line_xy": 0.010328970439492538,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04979152015615554,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.704890457058637,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19657754566112973,
+              0.2342688776879013,
+              1.2431141830459411
+            ],
+            "held_position": [
+              0.2013539419025206,
+              0.23845684402033307,
+              1.2373585844488662
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008572043995862724,
+            "max_held_gripper_dist": 0.008586082215610413,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0057555985970749735,
+            "max_held_gripper_z_dist": 0.005803172891233999,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668754415999241,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2013539419025206,
+              0.21351324055810222,
+              1.2373585844488662
+            ],
+            "held_grasp_finger_b": [
+              0.19180199035398748,
+              0.23845684402033307,
+              1.2373585844488662
+            ],
+            "held_grasp_midpoint": [
+              0.19657796612825404,
+              0.22598504228921765,
+              1.2373585844488662
+            ],
+            "held_grasp_object_position": [
+              0.2013539419025206,
+              0.23845684402033307,
+              1.2373585844488662
+            ],
+            "held_grasp_finger_gap": 0.02670998188068533,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02437407680362764,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.053858890244820795,
+              -0.9977922536889949,
+              0.03885663932757133
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00412647362973199,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03701875415820495,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2930137632162543,
+              -0.36029116499467023,
+              0.8515395740670222
+            ],
+            "target_position": [
+              0.2882695289638462,
+              -0.3606975691439266,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004761609284081861,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18144966028966994,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395740670222,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753946696291252,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527330016726213,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14969122703494325,
+            "release_required_pad_clearance": 0.05263665008363107,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3333780523900009,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008026719093322754,
+            "max_z_decrease": 0.008026719093322754,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035132981251559975,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008026719093322754,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021047586210812597,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008026719093322754,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00802674935923687,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14396946132183075,
+              -0.41695901751518244,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14396946132183075,
+              -0.41695901751518244,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14422419789830843,
+              -0.41601563393974395,
+              0.8080911438945708
+            ],
+            "closest_button": [
+              0.14396196603775024,
+              -0.41695898771286,
+              0.7729718089103699
+            ],
+            "closest_ee_minus_button": [
+              0.00026223186055818193,
+              0.0009433537731160513,
+              0.035119334984200945
+            ],
+            "button_min_z_position": [
+              0.1439475417137146,
+              -0.4169566929340362,
+              0.7687821388244629
+            ],
+            "min_active_finger_to_button": 0.1455241617865476,
+            "closest_active_finger": [
+              0.01789240539073944,
+              -0.48107007145881653,
+              0.8105106353759766
+            ],
+            "closest_active_finger_button": [
+              0.14396870136260986,
+              -0.4169588983058929,
+              0.7762789726257324
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12607629597187042,
+              -0.06411117315292364,
+              0.03423166275024414
+            ],
+            "min_contact_pad_to_button": 0.021047586210812597,
+            "closest_contact_pad": [
+              0.1439475417137146,
+              -0.4169566929340362,
+              0.7898297250352755
+            ],
+            "closest_contact_pad_button": [
+              0.1439475417137146,
+              -0.4169566929340362,
+              0.7687821388244629
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021047586210812597
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea65caff92d08733fd4101001855095ff51ac462603c7626e7566b635576df36",
+    "visual_seed": 6811161458023127613,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dd5d72e86ea8c9e01b9f29427bba36e68a83ca5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1993718971136353,
+              0.23581831801731745,
+              1.0490149328608402
+            ],
+            "current_z": 1.0490149328608402,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.18790818642749507,
+            "gripper_z": 1.0543546810174929,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19436504884694275,
+              0.23094744435934517,
+              1.0543546810174929
+            ],
+            "object_minus_gripper": [
+              0.005006848266692537,
+              0.0048708736579722856,
+              -0.005339748156652613
+            ],
+            "object_to_gripper_xy": 0.006985265904574455,
+            "object_to_gripper_z": -0.005339748156652613,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1993718971136353,
+              0.21143971418169816,
+              1.0490149328608402
+            ],
+            "finger_b": [
+              0.18748493877927747,
+              0.23581831801731745,
+              1.0490149328608402
+            ],
+            "finger_midpoint": [
+              0.19342841794645638,
+              0.2236290160995078,
+              1.0490149328608402
+            ],
+            "object_minus_finger_midpoint": [
+              0.005943479167178911,
+              0.012189301917809647,
+              0.0
+            ],
+            "finger_gap": 0.02712224370174471,
+            "fingertip_max_gap": 0.09094203577113175,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013561121850872356,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490149328608402,
+            "object_top_z": 1.0989666837452852,
+            "finger_top_clearance": 0.04995175088444492,
+            "fingertip_min_top_clearance": 0.014985525265333493,
+            "object_projection_between_fingers": 0.8079164148440445,
+            "object_to_finger_line_xy": 0.010684493924268557,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047971017885565875,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6276354343066853,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19843279134674005,
+              0.23594098723157578,
+              1.2414144738531838
+            ],
+            "held_position": [
+              0.2036640940365408,
+              0.24040388749266056,
+              1.2359119226434885
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00880693342702366,
+            "max_held_gripper_dist": 0.008823488530658749,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005502551209695339,
+            "max_held_gripper_z_dist": 0.005560242376892344,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08680767956037516,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2036640940365408,
+              0.21525882089697604,
+              1.2359119226434885
+            ],
+            "held_grasp_finger_b": [
+              0.19357476353964617,
+              0.24040388749266056,
+              1.2359119226434885
+            ],
+            "held_grasp_midpoint": [
+              0.19861942878809347,
+              0.22783135419481831,
+              1.2359119226434885
+            ],
+            "held_grasp_object_position": [
+              0.2036640940365408,
+              0.24040388749266056,
+              1.2359119226434885
+            ],
+            "held_grasp_finger_gap": 0.027093707091813357,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024554548419263116,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05450478452745178,
+              -0.9983853138146436,
+              0.015999800712879653
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00435665148797303,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03689305907570402,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29461758927339254,
+              -0.3594580816839782,
+              0.851539605760462
+            ],
+            "target_position": [
+              0.2880603838268658,
+              -0.3613516012254697,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006825127070023724,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18510321892806347,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539605760462,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07541482937949726,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08514747705514673,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15361776600685279,
+            "release_required_pad_clearance": 0.05257373852757337,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.21306235372985355,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008067071437835693,
+            "max_z_decrease": 0.008067071437835693,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515792944033089,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008067071437835693,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021182849648923942,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008067071437835693,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008067080157965893,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14376030862331388,
+              -0.4176130592823028,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14376030862331388,
+              -0.4176130592823028,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1433039568056171,
+              -0.41948527661339136,
+              0.803846287199232
+            ],
+            "closest_button": [
+              0.14375741779804227,
+              -0.41760155558586115,
+              0.76874178647995
+            ],
+            "closest_ee_minus_button": [
+              -0.0004534609924251587,
+              -0.0018837210275302052,
+              0.03510450071928206
+            ],
+            "button_min_z_position": [
+              0.14375741779804227,
+              -0.41760155558586115,
+              0.76874178647995
+            ],
+            "min_active_finger_to_button": 0.14602097900521682,
+            "closest_active_finger": [
+              0.0023224279284477234,
+              -0.40577811002731323,
+              0.810563862323761
+            ],
+            "closest_active_finger_button": [
+              0.14376021921634674,
+              -0.4176130294799804,
+              0.776250422000885
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14143779128789902,
+              0.01183491945266718,
+              0.03431344032287598
+            ],
+            "min_contact_pad_to_button": 0.021182849648923942,
+            "closest_contact_pad": [
+              0.14375741779804227,
+              -0.4204510725760819,
+              0.7897321026321988
+            ],
+            "closest_contact_pad_button": [
+              0.14375741779804227,
+              -0.41760155558586115,
+              0.76874178647995
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002849516990220735,
+              0.02099031615224889
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "239e7c7cb0b8363ebd36674868b047a7b3e5988438e9ceca6c18d17845f2087c",
+    "visual_seed": 5869069101800608361,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..08099295012883b94ea403c39ffe25a4707be7c4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_110_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1903738117812105,
+              0.22909446085774554,
+              1.046802198474213
+            ],
+            "current_z": 1.046802198474213,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18569545204086801,
+            "gripper_z": 1.052767456687304,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18649904383801463,
+              0.22498616023168017,
+              1.052767456687304
+            ],
+            "object_minus_gripper": [
+              0.003874767943195856,
+              0.004108300626065375,
+              -0.005965258213090907
+            ],
+            "object_to_gripper_xy": 0.005647296755771508,
+            "object_to_gripper_z": -0.005965258213090907,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1903738117812105,
+              0.2051472686153121,
+              1.046802198474213
+            ],
+            "finger_b": [
+              0.18007874355273687,
+              0.22909446085774554,
+              1.046802198474213
+            ],
+            "finger_midpoint": [
+              0.1852262776669737,
+              0.2171208647365288,
+              1.046802198474213
+            ],
+            "object_minus_finger_midpoint": [
+              0.005147534114236796,
+              0.011973596121216734,
+              0.0
+            ],
+            "finger_gap": 0.02606638536746112,
+            "fingertip_max_gap": 0.09876433770816437,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013033192683730568,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046802198474213,
+            "object_top_z": 1.1006799407823205,
+            "finger_top_clearance": 0.05387774230810738,
+            "fingertip_min_top_clearance": 0.01616332269243223,
+            "object_projection_between_fingers": 0.8440099723339302,
+            "object_to_finger_line_xy": 0.009458080763433432,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051882168854082186,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.859314802533549,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19001243893977346,
+              0.23101852208453866,
+              1.2413342274181998
+            ],
+            "held_position": [
+              0.19398664014734426,
+              0.23491045806237992,
+              1.2352712701543698
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008228055157623907,
+            "max_held_gripper_dist": 0.008242703271487174,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006062957263829993,
+            "max_held_gripper_z_dist": 0.006102632592779544,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08558164480620109,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19398664014734426,
+              0.2105532445520599,
+              1.2352712701543698
+            ],
+            "held_grasp_finger_b": [
+              0.18475923129340135,
+              0.23491045806237992,
+              1.2352712701543698
+            ],
+            "held_grasp_midpoint": [
+              0.1893729357203728,
+              0.2227318513072199,
+              1.2352712701543698
+            ],
+            "held_grasp_object_position": [
+              0.19398664014734426,
+              0.23491045806237992,
+              1.2352712701543698
+            ],
+            "held_grasp_finger_gap": 0.026046476232787046,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02422992187615199,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.009965692176955289,
+              -0.9985493366093064,
+              0.05291415062673255
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004538267608485179,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03751333161578976,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2910505428535286,
+              -0.36033487415943904,
+              0.8515395730511288
+            ],
+            "target_position": [
+              0.2888160837510092,
+              -0.3593517843433477,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0024411622369958025,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17935039309088271,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395730511288,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583221083375342,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08947852801511956,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14660174595197545,
+            "release_required_pad_clearance": 0.05473926400755978,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.5276421693265805,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007930457592010498,
+            "max_z_decrease": 0.007930457592010498,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035146022244904096,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007930457592010498,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02103636102857533,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007930457592010498,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007930479999900555,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14451600611209867,
+              -0.4156132340431212,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14451600611209867,
+              -0.4156132340431212,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14356439014942682,
+              -0.41501602620534267,
+              0.8081223200864934
+            ],
+            "closest_button": [
+              0.14450405538082123,
+              -0.415615826845169,
+              0.7729939818382263
+            ],
+            "closest_ee_minus_button": [
+              -0.0009396652313944098,
+              0.0005998006398263422,
+              0.03512833824826711
+            ],
+            "button_min_z_position": [
+              0.1444973051548004,
+              -0.41561084985733027,
+              0.7688784003257751
+            ],
+            "min_active_finger_to_button": 0.14670293413682609,
+            "closest_active_finger": [
+              0.015941917896270752,
+              -0.4774612784385681,
+              0.8104268312454224
+            ],
+            "closest_active_finger_button": [
+              0.1445156782865524,
+              -0.41561406850814814,
+              0.7762879729270935
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12857376039028165,
+              -0.06184720993041998,
+              0.03413885831832886
+            ],
+            "min_contact_pad_to_button": 0.02103636102857533,
+            "closest_contact_pad": [
+              0.1444973051548004,
+              -0.41615828514006503,
+              0.7899076371149641
+            ],
+            "closest_contact_pad_button": [
+              0.1444973051548004,
+              -0.41561084985733027,
+              0.7688784003257751
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000547435282734765,
+              0.021029236789189
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f48528b80a866efad33a4518c1b88ef28dbd876c7bef3aeeefd359b610feef0",
+    "visual_seed": 4465745820317121049,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b671b51aa678b9edb073e07937f8d0234119837
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_112_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1914972303664648,
+              0.23022046702606141,
+              1.0498717737201657
+            ],
+            "current_z": 1.0498717737201657,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18876508689146565,
+            "gripper_z": 1.0555038827526233,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18714557511395763,
+              0.22583819742611197,
+              1.0555038827526233
+            ],
+            "object_minus_gripper": [
+              0.004351655252507164,
+              0.004382269599949445,
+              -0.005632109032457588
+            ],
+            "object_to_gripper_xy": 0.00617585542927571,
+            "object_to_gripper_z": -0.005632109032457588,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1914972303664648,
+              0.2060435727085101,
+              1.0498717737201657
+            ],
+            "finger_b": [
+              0.18065467100788105,
+              0.23022046702606141,
+              1.0498717737201657
+            ],
+            "finger_midpoint": [
+              0.18607595068717292,
+              0.21813201986728575,
+              1.0498717737201657
+            ],
+            "object_minus_finger_midpoint": [
+              0.005421279679291874,
+              0.012088447158775661,
+              0.0
+            ],
+            "finger_gap": 0.026496854762149743,
+            "fingertip_max_gap": 0.0940819371933947,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013248427381074871,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498717737201657,
+            "object_top_z": 1.1011939179322137,
+            "finger_top_clearance": 0.05132214421204795,
+            "fingertip_min_top_clearance": 0.01539664326361435,
+            "object_projection_between_fingers": 0.8325539271663449,
+            "object_to_finger_line_xy": 0.009893227482935732,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04954096859669735,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5959167497865812,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19105728903418917,
+              0.23130544208004988,
+              1.2424731816676768
+            ],
+            "held_position": [
+              0.19553832360374998,
+              0.2354113218922336,
+              1.23670139128122
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008381615841285817,
+            "max_held_gripper_dist": 0.00839609440159713,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005771790386456921,
+            "max_held_gripper_z_dist": 0.005814505368997969,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08510206873445436,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19553832360374998,
+              0.21070588573658394,
+              1.23670139128122
+            ],
+            "held_grasp_finger_b": [
+              0.18607776142497023,
+              0.2354113218922336,
+              1.23670139128122
+            ],
+            "held_grasp_midpoint": [
+              0.19080804251436012,
+              0.22305860381440878,
+              1.23670139128122
+            ],
+            "held_grasp_object_position": [
+              0.19553832360374998,
+              0.2354113218922336,
+              1.23670139128122
+            ],
+            "held_grasp_finger_gap": 0.0264548825810934,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024464614877810254,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02376030993166787,
+              -0.9993509368447189,
+              0.02707679263749118
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004448148929877834,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03726315674169431,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29451311408300285,
+              -0.3629866432216352,
+              0.851539521202185
+            ],
+            "target_position": [
+              0.2893032732515798,
+              -0.3638948640388772,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005288412478394126,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1807480414790278,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539521202185,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559373561043173,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08640188865585628,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14874949109196112,
+            "release_required_pad_clearance": 0.05320094432792814,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4243377099130898,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008127570152282715,
+            "max_z_decrease": 0.008127570152282715,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508517150774739,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008127570152282715,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020930920019667676,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008127570152282715,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008127609475886225,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14500319957733152,
+              -0.420156329870224,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14500319957733152,
+              -0.420156329870224,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1451453852258109,
+              -0.41870732609341893,
+              0.8037371048491426
+            ],
+            "closest_button": [
+              0.14501908421516413,
+              -0.4201366603374481,
+              0.7686812877655029
+            ],
+            "closest_ee_minus_button": [
+              0.00012630101064678434,
+              0.00142933424402919,
+              0.035055817083639695
+            ],
+            "button_min_z_position": [
+              0.14501908421516413,
+              -0.4201366603374481,
+              0.7686812877655029
+            ],
+            "min_active_finger_to_button": 0.1450298645059805,
+            "closest_active_finger": [
+              0.019060656428337097,
+              -0.48341643810272217,
+              0.8109148144721985
+            ],
+            "closest_active_finger_button": [
+              0.14500592648982996,
+              -0.4201548397541046,
+              0.776718020439148
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12594527006149286,
+              -0.06326159834861755,
+              0.03419679403305054
+            ],
+            "min_contact_pad_to_button": 0.020930920019667676,
+            "closest_contact_pad": [
+              0.14501908421516413,
+              -0.4201366603374481,
+              0.7896122077851706
+            ],
+            "closest_contact_pad_button": [
+              0.14501908421516413,
+              -0.4201366603374481,
+              0.7686812877655029
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020930920019667676
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7ce29f079a936b07acd7c8d0e81713d27cf6b667055d489ee37c4cdc5e904e30",
+    "visual_seed": 9134810183597982527,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_114_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..01b2de87a1a6f241f6762f870e7962fd43194a6d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_114_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19415072673813838,
+              0.23780816254705275,
+              1.0477352722652595
+            ],
+            "current_z": 1.0477352722652595,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.1866286450412038,
+            "gripper_z": 1.0533495992279007,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18989099300062873,
+              0.23342001797440678,
+              1.0533495992279007
+            ],
+            "object_minus_gripper": [
+              0.004259733737509652,
+              0.004388144572645969,
+              -0.005614326962641192
+            ],
+            "object_to_gripper_xy": 0.006115647496783985,
+            "object_to_gripper_z": -0.005614326962641192,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19415072673813838,
+              0.21378623282441758,
+              1.0477352722652595
+            ],
+            "finger_b": [
+              0.1831783772860227,
+              0.23780816254705275,
+              1.0477352722652595
+            ],
+            "finger_midpoint": [
+              0.18866455201208054,
+              0.22579719768573517,
+              1.0477352722652595
+            ],
+            "object_minus_finger_midpoint": [
+              0.005486174726057835,
+              0.012010964861317586,
+              0.0
+            ],
+            "finger_gap": 0.02640919461283449,
+            "fingertip_max_gap": 0.09677463138955109,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013204597306417244,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477352722652595,
+            "object_top_z": 1.1007870484184528,
+            "finger_top_clearance": 0.05305177615319323,
+            "fingertip_min_top_clearance": 0.01591553284595797,
+            "object_projection_between_fingers": 0.8273808604038877,
+            "object_to_finger_line_xy": 0.009980501537249546,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050887315694775545,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3188441389981436,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1939247018565946,
+              0.23850337679275901,
+              1.2404985270905877
+            ],
+            "held_position": [
+              0.19835628070341838,
+              0.2425587277094802,
+              1.2347387037035302
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008322278989763664,
+            "max_held_gripper_dist": 0.008337148606793809,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005759823387057494,
+            "max_held_gripper_z_dist": 0.005807288718860937,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668297663779442,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19835628070341838,
+              0.21781848733425793,
+              1.2347387037035302
+            ],
+            "held_grasp_finger_b": [
+              0.18907590992918322,
+              0.2425587277094802,
+              1.2347387037035302
+            ],
+            "held_grasp_midpoint": [
+              0.1937160953163008,
+              0.23018860752186907,
+              1.2347387037035302
+            ],
+            "held_grasp_object_position": [
+              0.19835628070341838,
+              0.2425587277094802,
+              1.2347387037035302
+            ],
+            "held_grasp_finger_gap": 0.026423564777127557,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024336581352131965,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.038454077894125846,
+              -0.9981087118903519,
+              0.04796126710060189
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004203759210646944,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03719509129339027,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2913069681675986,
+              -0.3619531523668621,
+              0.851539652645999
+            ],
+            "target_position": [
+              0.28746756870372536,
+              -0.3619237459897272,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038395120755385457,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18334749077718285,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539652645999,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587639861110754,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08809919198141063,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15045008907076937,
+            "release_required_pad_clearance": 0.054049595990705315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.1113993676077687,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00808626413345337,
+            "max_z_decrease": 0.00808626413345337,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516336592264671,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00808626413345337,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021095863493839233,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00808626413345337,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008086277287686692,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1431674957275391,
+              -0.41818520426750183,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1431674957275391,
+              -0.41818520426750183,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1445715398293858,
+              -0.4191625048755318,
+              0.8038439380445624
+            ],
+            "closest_button": [
+              0.14316809177398684,
+              -0.41817063093185425,
+              0.7687225937843323
+            ],
+            "closest_ee_minus_button": [
+              0.0014034480553989648,
+              -0.000991873943677557,
+              0.03512134426023017
+            ],
+            "button_min_z_position": [
+              0.14316809177398684,
+              -0.41817063093185425,
+              0.7687225937843323
+            ],
+            "min_active_finger_to_button": 0.1442305953864037,
+            "closest_active_finger": [
+              0.0038802921772003174,
+              -0.4030190110206604,
+              0.811033308506012
+            ],
+            "closest_active_finger_button": [
+              0.14316561818122867,
+              -0.41818660497665405,
+              0.7767987251281738
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13928532600402835,
+              0.015167593955993652,
+              0.034234583377838135
+            ],
+            "min_contact_pad_to_button": 0.021095863493839233,
+            "closest_contact_pad": [
+              0.14316809177398684,
+              -0.42034477487343525,
+              0.7897061243421766
+            ],
+            "closest_contact_pad_button": [
+              0.14316809177398684,
+              -0.41817063093185425,
+              0.7687225937843323
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002174143941580997,
+              0.0209835305578443
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "69c50311afc7d322962bd56090bf98eae258283e178a3bb5c27dd639f065b7ca",
+    "visual_seed": 3778596085296557367,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_115_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c50b61d0ab88c3ad63d67acf0e480818d95b7156
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_115_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19389481531638497,
+              0.22908538185102414,
+              1.0496370156375123
+            ],
+            "current_z": 1.0496370156375123,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.18853032880881193,
+            "gripper_z": 1.0552553315212139,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18924104968773459,
+              0.2245023800179924,
+              1.0552553315212139
+            ],
+            "object_minus_gripper": [
+              0.004653765628650386,
+              0.004583001833031758,
+              -0.005618315883701541
+            ],
+            "object_to_gripper_xy": 0.006531572576951142,
+            "object_to_gripper_z": -0.005618315883701541,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19389481531638497,
+              0.20477768964932058,
+              1.0496370156375123
+            ],
+            "finger_b": [
+              0.1826507698987731,
+              0.22908538185102414,
+              1.0496370156375123
+            ],
+            "finger_midpoint": [
+              0.18827279260757904,
+              0.21693153575017238,
+              1.0496370156375123
+            ],
+            "object_minus_finger_midpoint": [
+              0.005622022708805935,
+              0.012153846100851767,
+              0.0
+            ],
+            "finger_gap": 0.02678231613445855,
+            "fingertip_max_gap": 0.0926343423687227,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013391158067229262,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496370156375123,
+            "object_top_z": 1.1004531296596896,
+            "finger_top_clearance": 0.05081611402217723,
+            "fingertip_min_top_clearance": 0.015244834206653185,
+            "object_projection_between_fingers": 0.823741967412613,
+            "object_to_finger_line_xy": 0.010205121683319664,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04881717118436135,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.010038113356111,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1933189423300996,
+              0.22957357911213028,
+              1.2425799195305627
+            ],
+            "held_position": [
+              0.19814198883203976,
+              0.2338197069941502,
+              1.2368143315264954
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008633271951177498,
+            "max_held_gripper_dist": 0.008646036241323565,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005765588004067235,
+            "max_held_gripper_z_dist": 0.005810912078334729,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08647297616195762,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19814198883203976,
+              0.20889727091655658,
+              1.2368143315264954
+            ],
+            "held_grasp_finger_b": [
+              0.18845120189870987,
+              0.2338197069941502,
+              1.2368143315264954
+            ],
+            "held_grasp_midpoint": [
+              0.1932965953653748,
+              0.22135848895535337,
+              1.2368143315264954
+            ],
+            "held_grasp_object_position": [
+              0.19814198883203976,
+              0.2338197069941502,
+              1.2368143315264954
+            ],
+            "held_grasp_finger_gap": 0.026740216368401685,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0244994825081863,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04076461637500619,
+              -0.9988800309242926,
+              0.024019364531207458
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004343877213938476,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0370754676042928,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29731675384164613,
+              -0.36105292844995895,
+              0.8515395961570471
+            ],
+            "target_position": [
+              0.2910865466321313,
+              -0.3626019801287755,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006419894311991044,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1823717841576225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395961570471,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559236403980991,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600314330392082,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1504260225831789,
+            "release_required_pad_clearance": 0.053001571651960414,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0362659173899391,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008143901824951172,
+            "max_z_decrease": 0.008143901824951172,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503747193130455,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008143901824951172,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020946337278561895,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008143901824951172,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008143962130468418,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14678646624088285,
+              -0.418863445520401,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14678646624088285,
+              -0.418863445520401,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1460649400948985,
+              -0.41920958929733776,
+              0.8036925621781401
+            ],
+            "closest_button": [
+              0.1468130499124527,
+              -0.41884684562683105,
+              0.7686649560928345
+            ],
+            "closest_ee_minus_button": [
+              -0.0007481098175541878,
+              -0.0003627436705067044,
+              0.03502760608530564
+            ],
+            "button_min_z_position": [
+              0.1468130499124527,
+              -0.41884684562683105,
+              0.7686649560928345
+            ],
+            "min_active_finger_to_button": 0.1463184236526539,
+            "closest_active_finger": [
+              0.005504630506038666,
+              -0.402155339717865,
+              0.8108271360397339
+            ],
+            "closest_active_finger_button": [
+              0.14678680896759033,
+              -0.41886407136917114,
+              0.7766329050064087
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14128217846155167,
+              0.016708731651306152,
+              0.034194231033325195
+            ],
+            "min_contact_pad_to_button": 0.020946337278561895,
+            "closest_contact_pad": [
+              0.1468130499124527,
+              -0.4204723562991969,
+              0.7895481254031019
+            ],
+            "closest_contact_pad_button": [
+              0.1468130499124527,
+              -0.41884684562683105,
+              0.7686649560928345
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016255106723658264,
+              0.020883169310267458
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0a5b154576efdfd1c9e389cf88d72faf8984a77a22de456dbf9f5662bb6abaad",
+    "visual_seed": 6555558896581452895,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_119_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..509e3cca438ad4e7883415ee34e28863301aec13
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_119_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19614594004572242,
+              0.23705586946369606,
+              1.0480289706425832
+            ],
+            "current_z": 1.0480289706425832,
+            "required_z": 0.8611069252472796,
+            "initial_z": 0.7611069252472796,
+            "lift_margin": 0.18692204539530355,
+            "gripper_z": 1.0536309720965076,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19124522165571634,
+              0.23225967073852022,
+              1.0536309720965076
+            ],
+            "object_minus_gripper": [
+              0.004900718390006081,
+              0.0047961987251758376,
+              -0.005602001453924421
+            ],
+            "object_to_gripper_xy": 0.006857154143631462,
+            "object_to_gripper_z": -0.005602001453924421,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19614594004572242,
+              0.21273505323573666,
+              1.0480289706425832
+            ],
+            "finger_b": [
+              0.18438933029864776,
+              0.23705586946369606,
+              1.0480289706425832
+            ],
+            "finger_midpoint": [
+              0.1902676351721851,
+              0.22489546134971636,
+              1.0480289706425832
+            ],
+            "object_minus_finger_midpoint": [
+              0.005878304873537327,
+              0.012160408113979698,
+              0.0
+            ],
+            "finger_gap": 0.027013329575214972,
+            "fingertip_max_gap": 0.09298761037516892,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013506664787607486,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480289706425832,
+            "object_top_z": 1.0987551106287323,
+            "finger_top_clearance": 0.050726139986149166,
+            "fingertip_min_top_clearance": 0.015217841995844732,
+            "object_projection_between_fingers": 0.8105877904816673,
+            "object_to_finger_line_xy": 0.010584787200197005,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04899380518758446,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.404057373719741,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19525379056061026,
+              0.23733028247006513,
+              1.2432023389045423
+            ],
+            "held_position": [
+              0.2003967841268726,
+              0.24173557737945708,
+              1.237479590201073
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008866050912576107,
+            "max_held_gripper_dist": 0.008880136960827921,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005722748703469449,
+            "max_held_gripper_z_dist": 0.005778716588304089,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08533546318492655,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2003967841268726,
+              0.21667520046958472,
+              1.237479590201073
+            ],
+            "held_grasp_finger_b": [
+              0.19029188316276974,
+              0.24173557737945708,
+              1.237479590201073
+            ],
+            "held_grasp_midpoint": [
+              0.19534433364482118,
+              0.22920538892452091,
+              1.237479590201073
+            ],
+            "held_grasp_object_position": [
+              0.2003967841268726,
+              0.24173557737945708,
+              1.237479590201073
+            ],
+            "held_grasp_finger_gap": 0.027020945845014212,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024623485022454022,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04056925551708067,
+              -0.9989248534318632,
+              0.022433740279333647
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004548786789857199,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699855924968057,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2925385586734758,
+              -0.3622879717329598,
+              0.8515395805046274
+            ],
+            "target_position": [
+              0.28591126517942483,
+              -0.36402611363420656,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006851434618031447,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1846262879297823,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395805046274,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758239733982581,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08663060380412978,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.152030402693063,
+            "release_required_pad_clearance": 0.05331530190206489,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6484898717090533,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007978379726409912,
+            "max_z_decrease": 0.007978379726409912,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518443070674945,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007978379726409912,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021040747903658286,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007978379726409912,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00797840358921655,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14161118865013123,
+              -0.4202875792980193,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14161118865013123,
+              -0.4202875792980193,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14166283114458694,
+              -0.41840727380129966,
+              0.8081214038691604
+            ],
+            "closest_button": [
+              0.14160093665122986,
+              -0.4202886819839477,
+              0.7729873657226562
+            ],
+            "closest_ee_minus_button": [
+              6.189449335708419e-05,
+              0.0018814081826480367,
+              0.035134038146504176
+            ],
+            "button_min_z_position": [
+              0.14159172773361206,
+              -0.42028614878654474,
+              0.7688304781913757
+            ],
+            "min_active_finger_to_button": 0.14530036760496712,
+            "closest_active_finger": [
+              0.01384764164686203,
+              -0.48047494888305664,
+              0.8104441165924072
+            ],
+            "closest_active_finger_button": [
+              0.14161041378974915,
+              -0.4202877283096313,
+              0.7762919664382935
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12776277214288712,
+              -0.06018722057342535,
+              0.03415215015411377
+            ],
+            "min_contact_pad_to_button": 0.021040747903658286,
+            "closest_contact_pad": [
+              0.14159172773361206,
+              -0.42028614878654474,
+              0.789871226095034
+            ],
+            "closest_contact_pad_button": [
+              0.14159172773361206,
+              -0.42028614878654474,
+              0.7688304781913757
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021040747903658286
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 119,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a88c4b4ecb15c15dcceee67b7a5df9b3f89f72172e18fe3787a84ab2eb57570a",
+    "visual_seed": 4175766922716244808,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_11_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..be8100a51213b01df74eb77f07292bb6ef01dfcb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_11_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 11,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.192067676841713,
+              0.235692747626641,
+              1.0473962537170118
+            ],
+            "current_z": 1.0473962537170118,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18628956688831178,
+            "gripper_z": 1.0528832578836846,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1874570570956954,
+              0.23110144579309208,
+              1.0528832578836846
+            ],
+            "object_minus_gripper": [
+              0.004610619746017591,
+              0.004591301833548916,
+              -0.005487004166672804
+            ],
+            "object_to_gripper_xy": 0.006506755487116214,
+            "object_to_gripper_z": -0.005487004166672804,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.192067676841713,
+              0.21148097571884816,
+              1.0473962537170118
+            ],
+            "finger_b": [
+              0.1807311730704157,
+              0.235692747626641,
+              1.0473962537170118
+            ],
+            "finger_midpoint": [
+              0.18639942495606435,
+              0.22358686167274458,
+              1.0473962537170118
+            ],
+            "object_minus_finger_midpoint": [
+              0.005668251885648651,
+              0.012105885953896417,
+              0.0
+            ],
+            "finger_gap": 0.026734363966094726,
+            "fingertip_max_gap": 0.0927857654577855,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013367181983047363,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473962537170118,
+            "object_top_z": 1.0979612969369554,
+            "finger_top_clearance": 0.050565043219943595,
+            "fingertip_min_top_clearance": 0.01516951296598306,
+            "object_projection_between_fingers": 0.8201880457734996,
+            "object_to_finger_line_xy": 0.010266817788917026,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04889288272889275,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4002146665884285,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19126344635892162,
+              0.2366481294384777,
+              1.2403202483274998
+            ],
+            "held_position": [
+              0.19605325911355873,
+              0.2409139507462444,
+              1.2346996087294655
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008528254636516863,
+            "max_held_gripper_dist": 0.008540680500665532,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005620639598034272,
+            "max_held_gripper_z_dist": 0.005669354186279563,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665061361578391,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19605325911355873,
+              0.21606366858015816,
+              1.2346996087294655
+            ],
+            "held_grasp_finger_b": [
+              0.1862314321200152,
+              0.2409139507462444,
+              1.2346996087294655
+            ],
+            "held_grasp_midpoint": [
+              0.19114234561678695,
+              0.2284888096632013,
+              1.2346996087294655
+            ],
+            "held_grasp_object_position": [
+              0.19605325911355873,
+              0.2409139507462444,
+              1.2346996087294655
+            ],
+            "held_grasp_finger_gap": 0.02672086842198815,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02452389162883003,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03148390743474509,
+              -0.999309422515338,
+              0.01973427588492116
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00452401964231763,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03714907476377524,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29140096649604375,
+              -0.3625165516793406,
+              0.8515395732108016
+            ],
+            "target_position": [
+              0.2855901163611705,
+              -0.3639762972510365,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005991396867512806,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1832122914428132,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395732108016,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752988865591919,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561329122184162,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15208994417366425,
+            "release_required_pad_clearance": 0.05280664561092081,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6596759869926871,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0080794095993042,
+            "max_z_decrease": 0.0080794095993042,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511513167130435,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0080794095993042,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021011915589614304,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0080794095993042,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008079421637424485,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1412900388240814,
+              -0.4202377498149871,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1412900388240814,
+              -0.4202377498149871,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14107086365482005,
+              -0.41999560019850135,
+              0.8038431268474049
+            ],
+            "closest_button": [
+              0.1412938684225082,
+              -0.42022433876991266,
+              0.7687294483184814
+            ],
+            "closest_ee_minus_button": [
+              -0.0002230047676881619,
+              0.00022873857141131326,
+              0.03511367852892344
+            ],
+            "button_min_z_position": [
+              0.1412938684225082,
+              -0.42022433876991266,
+              0.7687294483184814
+            ],
+            "min_active_finger_to_button": 0.14589282175709697,
+            "closest_active_finger": [
+              0.014839358627796173,
+              -0.4844517707824707,
+              0.8110355138778687
+            ],
+            "closest_active_finger_button": [
+              0.14128923416137693,
+              -0.42023813724517817,
+              0.7768046259880066
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12644987553358075,
+              -0.06421363353729254,
+              0.03423088788986206
+            ],
+            "min_contact_pad_to_button": 0.021011915589614304,
+            "closest_contact_pad": [
+              0.1412938684225082,
+              -0.42103232933449053,
+              0.7897258229577526
+            ],
+            "closest_contact_pad_button": [
+              0.1412938684225082,
+              -0.42022433876991266,
+              0.7687294483184814
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008079905645778651,
+              0.020996374639271176
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 11,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37ed0324d09ebc57e1eb8fa748500ebcf46c80fbad31042dc00c3cf85442d0f4",
+    "visual_seed": 3873536207185519416,
+    "episode_index": 11,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_121_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1aabc5577521547f0148a1c76a1e7af6af56e124
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_121_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19584008508196618,
+              0.2369686981507867,
+              1.0490928910891908
+            ],
+            "current_z": 1.0490928910891908,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.18798632346978017,
+            "gripper_z": 1.0544713868360849,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19104137663330656,
+              0.23221410138322815,
+              1.0544713868360849
+            ],
+            "object_minus_gripper": [
+              0.004798708448659622,
+              0.004754596767558544,
+              -0.005378495746894085
+            ],
+            "object_to_gripper_xy": 0.006755278913362156,
+            "object_to_gripper_z": -0.005378495746894085,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19584008508196618,
+              0.2127430521518425,
+              1.0490928910891908
+            ],
+            "finger_b": [
+              0.18410962555270402,
+              0.2369686981507867,
+              1.0490928910891908
+            ],
+            "finger_midpoint": [
+              0.1899748553173351,
+              0.2248558751513146,
+              1.0490928910891908
+            ],
+            "object_minus_finger_midpoint": [
+              0.00586522976463108,
+              0.012112822999472084,
+              0.0
+            ],
+            "finger_gap": 0.026916270262311946,
+            "fingertip_max_gap": 0.09171840488654609,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01345813513115596,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490928910891908,
+            "object_top_z": 1.0992517349047726,
+            "finger_top_clearance": 0.05015884381558178,
+            "fingertip_min_top_clearance": 0.015047653144674532,
+            "object_projection_between_fingers": 0.8100670602016712,
+            "object_to_finger_line_xy": 0.010557850593391887,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04835920244327305,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0703083327711649,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19514054814145115,
+              0.23724661645511835,
+              1.2452251344051923
+            ],
+            "held_position": [
+              0.20021129725073936,
+              0.24160136384208802,
+              1.2397462254754705
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00864261328498803,
+            "max_held_gripper_dist": 0.008655498037741342,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005478908929721804,
+            "max_held_gripper_z_dist": 0.005535116486047542,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08549799028700844,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20021129725073936,
+              0.21657652425782048,
+              1.2397462254754705
+            ],
+            "held_grasp_finger_b": [
+              0.1901702302682935,
+              0.24160136384208802,
+              1.2397462254754705
+            ],
+            "held_grasp_midpoint": [
+              0.19519076375951644,
+              0.22908894404995425,
+              1.2397462254754705
+            ],
+            "held_grasp_object_position": [
+              0.20021129725073936,
+              0.24160136384208802,
+              1.2397462254754705
+            ],
+            "held_grasp_finger_gap": 0.026964154397352946,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024502389429416314,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.048695319775039374,
+              -0.9986614424781569,
+              0.017438151835949326
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044107870753680506,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03698010238779412,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29815945466928706,
+              -0.3646339741686142,
+              0.8515395096317481
+            ],
+            "target_position": [
+              0.29137512822483946,
+              -0.36647646998757855,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0070300694269496405,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18485493014033852,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395096317481,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582788410213237,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08645954711986702,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15226899743584502,
+            "release_required_pad_clearance": 0.05322977355993351,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.480913757913848,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008153557777404785,
+            "max_z_decrease": 0.008153557777404785,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035083862308717635,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008153557777404785,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020856754751728768,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008153557777404785,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008153659854414939,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14707505702972412,
+              -0.4227379262447357,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14707505702972412,
+              -0.4227379262447357,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14496810971074303,
+              -0.4211542547075726,
+              0.8036389659369413
+            ],
+            "closest_button": [
+              0.1471090316772461,
+              -0.42271533608436584,
+              0.7686553001403809
+            ],
+            "closest_ee_minus_button": [
+              -0.002140921966503062,
+              0.0015610813767932274,
+              0.034983665796560426
+            ],
+            "button_min_z_position": [
+              0.1471090316772461,
+              -0.42271533608436584,
+              0.7686553001403809
+            ],
+            "min_active_finger_to_button": 0.14691755864652167,
+            "closest_active_finger": [
+              0.01868431270122528,
+              -0.48545005917549133,
+              0.8108309507369995
+            ],
+            "closest_active_finger_button": [
+              0.14707460999488828,
+              -0.42273905873298645,
+              0.7766544818878174
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.128390297293663,
+              -0.06271100044250488,
+              0.03417646884918213
+            ],
+            "min_contact_pad_to_button": 0.020856754751728768,
+            "closest_contact_pad": [
+              0.1471090316772461,
+              -0.42271533608436584,
+              0.7895120548921096
+            ],
+            "closest_contact_pad_button": [
+              0.1471090316772461,
+              -0.42271533608436584,
+              0.7686553001403809
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020856754751728768
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 121,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "41a6f6de44404820c8db671dabaf4e51648967dbf01a0b8fa49b8f0cf00aa810",
+    "visual_seed": 6573086049259464151,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_122_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_122_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..772924ba5ed738ad3b081f93aef9435aeafb28d2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_122_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 122,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19389469187219907,
+              0.23122472737733163,
+              1.0473670939223472
+            ],
+            "current_z": 1.0473670939223472,
+            "required_z": 0.8611068656426347,
+            "initial_z": 0.7611068656426347,
+            "lift_margin": 0.18626022827971245,
+            "gripper_z": 1.0531437935720913,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1893831119977201,
+              0.2266116226188425,
+              1.0531437935720913
+            ],
+            "object_minus_gripper": [
+              0.004511579874478977,
+              0.004613104758489139,
+              -0.005776699649744144
+            ],
+            "object_to_gripper_xy": 0.006452525743970254,
+            "object_to_gripper_z": -0.005776699649744144,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19389469187219907,
+              0.20720054811750074,
+              1.0473670939223472
+            ],
+            "finger_b": [
+              0.18237234881485465,
+              0.23122472737733163,
+              1.0473670939223472
+            ],
+            "finger_midpoint": [
+              0.18813352034352687,
+              0.21921263774741617,
+              1.0473670939223472
+            ],
+            "object_minus_finger_midpoint": [
+              0.005761171528672199,
+              0.012012089629915457,
+              0.0
+            ],
+            "finger_gap": 0.026644428660408948,
+            "fingertip_max_gap": 0.09378594043035468,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01332221433020448,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473670939223472,
+            "object_top_z": 1.0988291898257423,
+            "finger_top_clearance": 0.05146209590339512,
+            "fingertip_min_top_clearance": 0.015438628771018537,
+            "object_projection_between_fingers": 0.8129882997235571,
+            "object_to_finger_line_xy": 0.010389220149210052,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04939297021517734,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4226766664813544,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19349674506394457,
+              0.23169139230415703,
+              1.2420370270431202
+            ],
+            "held_position": [
+              0.1982711197934613,
+              0.23590057041029733,
+              1.2361377956138102
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008678292795453381,
+            "max_held_gripper_dist": 0.008690841629541835,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005899231429310037,
+            "max_held_gripper_z_dist": 0.005946347189208723,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655905185881874,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1982711197934613,
+              0.2110076266055031,
+              1.2361377956138102
+            ],
+            "held_grasp_finger_b": [
+              0.1885982249627284,
+              0.23590057041029733,
+              1.2361377956138102
+            ],
+            "held_grasp_midpoint": [
+              0.19343467237809486,
+              0.2234540985079002,
+              1.2361377956138102
+            ],
+            "held_grasp_object_position": [
+              0.1982711197934613,
+              0.23590057041029733,
+              1.2361377956138102
+            ],
+            "held_grasp_finger_gap": 0.026706245443249087,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02432446532362845,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05374534487190236,
+              -0.9980474220743213,
+              0.0318242234061088
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0041797225579792265,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037038144339693456,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2969009842982711,
+              -0.36108155926848007,
+              0.8515395738521494
+            ],
+            "target_position": [
+              0.2916325199154993,
+              -0.3620580403104723,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005358192995582103,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1811924563700173,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395738521494,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07540966885185638,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498256237159017,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14960828605256218,
+            "release_required_pad_clearance": 0.05249128118579509,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05595290725327676,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008150935173034668,
+            "max_z_decrease": 0.008150935173034668,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503077384929511,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008150935173034668,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02102064119897794,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008150935173034668,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008151010712323362,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14733244478702545,
+              -0.4183194935321808,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14733244478702545,
+              -0.4183194935321808,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1466116271272294,
+              -0.41984050453870414,
+              0.8036467350549157
+            ],
+            "closest_button": [
+              0.14736077189445493,
+              -0.41829878091812134,
+              0.768657922744751
+            ],
+            "closest_ee_minus_button": [
+              -0.0007491447672255402,
+              -0.0015417236205828022,
+              0.03498881231016471
+            ],
+            "button_min_z_position": [
+              0.14736077189445493,
+              -0.41829878091812134,
+              0.768657922744751
+            ],
+            "min_active_finger_to_button": 0.14628284696587715,
+            "closest_active_finger": [
+              0.0056405216455459595,
+              -0.40620553493499756,
+              0.810867965221405
+            ],
+            "closest_active_finger_button": [
+              0.14733240008354184,
+              -0.41831982135772705,
+              0.7765849232673645
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14169187843799588,
+              0.012114286422729492,
+              0.03428304195404053
+            ],
+            "min_contact_pad_to_button": 0.02102064119897794,
+            "closest_contact_pad": [
+              0.14736077189445493,
+              -0.4208011958966043,
+              0.789529081689372
+            ],
+            "closest_contact_pad_button": [
+              0.14736077189445493,
+              -0.41829878091812134,
+              0.768657922744751
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025024149784829697,
+              0.020871158944620993
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 122,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05b2039b0b6c6cdb54a40f361238a5a04317b512c324914bd731d2da81db184d",
+    "visual_seed": 6379089935901382857,
+    "episode_index": 122,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_123_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cc6db2f50bf4c6682b7d9a1a8e5c16d09ede64e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_123_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1934537762503919,
+              0.22865297302073231,
+              1.04873999989622
+            ],
+            "current_z": 1.04873999989622,
+            "required_z": 0.861107044456569,
+            "initial_z": 0.7611070444565691,
+            "lift_margin": 0.18763295543965086,
+            "gripper_z": 1.05468332932863,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18888291537011928,
+              0.22406736660306936,
+              1.05468332932863
+            ],
+            "object_minus_gripper": [
+              0.004570860880272615,
+              0.004585606417662952,
+              -0.005943329432410049
+            ],
+            "object_to_gripper_xy": 0.006474608513610548,
+            "object_to_gripper_z": -0.005943329432410049,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1934537762503919,
+              0.20448438470141442,
+              1.04873999989622
+            ],
+            "finger_b": [
+              0.1821032811271837,
+              0.22865297302073231,
+              1.04873999989622
+            ],
+            "finger_midpoint": [
+              0.1877785286887878,
+              0.21656867886107337,
+              1.04873999989622
+            ],
+            "object_minus_finger_midpoint": [
+              0.005675247561604091,
+              0.012084294159658948,
+              0.0
+            ],
+            "finger_gap": 0.026701205981952244,
+            "fingertip_max_gap": 0.09373682659440971,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013350602990976122,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04873999989622,
+            "object_top_z": 1.1000657666466924,
+            "finger_top_clearance": 0.05132576675047251,
+            "fingertip_min_top_clearance": 0.015397730025141769,
+            "object_projection_between_fingers": 0.8192959614513493,
+            "object_to_finger_line_xy": 0.010273897143022858,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04936841329720486,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3828033078020097,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19294764846479903,
+              0.22936865944771823,
+              1.2428157398348993
+            ],
+            "held_position": [
+              0.19771563560382116,
+              0.23359095551347955,
+              1.2367369152509333
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008804180469950268,
+            "max_held_gripper_dist": 0.008818709395346203,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006078824583966025,
+            "max_held_gripper_z_dist": 0.006121631017385942,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649884884266312,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19771563560382116,
+              0.2087152457432404,
+              1.2367369152509333
+            ],
+            "held_grasp_finger_b": [
+              0.1880273125632665,
+              0.23359095551347955,
+              1.2367369152509333
+            ],
+            "held_grasp_midpoint": [
+              0.19287147408354383,
+              0.22115310062835997,
+              1.2367369152509333
+            ],
+            "held_grasp_object_position": [
+              0.19771563560382116,
+              0.23359095551347955,
+              1.2367369152509333
+            ],
+            "held_grasp_finger_gap": 0.026695777567085657,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024433785943275135,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.042217360211697696,
+              -0.9986770868603317,
+              0.029355930864432337
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00433042401753288,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03709434167480711,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2961398696019133,
+              -0.3669937612379216,
+              0.8515396089182168
+            ],
+            "target_position": [
+              0.2903890533968023,
+              -0.3681147520907047,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005859053465961069,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18133810076230578,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396089182168,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550837605311571,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08520838015464986,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1496203149373079,
+            "release_required_pad_clearance": 0.05260419007732493,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2712418509606376,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008042216300964355,
+            "max_z_decrease": 0.008042216300964355,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035148561875366455,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008042216300964355,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02110435468545733,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008042216300964355,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008042229536369348,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14608897268772122,
+              -0.42437621951103205,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14608897268772122,
+              -0.42437621951103205,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1451361436416609,
+              -0.4253902566697605,
+              0.8082118008003899
+            ],
+            "closest_button": [
+              0.14607793092727658,
+              -0.42437872290611267,
+              0.7730904221534729
+            ],
+            "closest_ee_minus_button": [
+              -0.0009417872856156972,
+              -0.0010115337636478205,
+              0.035121378646917
+            ],
+            "button_min_z_position": [
+              0.14607557654380793,
+              -0.42437043786048884,
+              0.7687666416168213
+            ],
+            "min_active_finger_to_button": 0.14695483643250443,
+            "closest_active_finger": [
+              0.004010334610939026,
+              -0.4089130163192749,
+              0.810658872127533
+            ],
+            "closest_active_finger_button": [
+              0.14608781039714808,
+              -0.4243771731853485,
+              0.776445209980011
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14207747578620905,
+              0.015464156866073608,
+              0.03421366214752197
+            ],
+            "min_contact_pad_to_button": 0.02110435468545733,
+            "closest_contact_pad": [
+              0.14607557654380793,
+              -0.42656291599050705,
+              0.7897568018434364
+            ],
+            "closest_contact_pad_button": [
+              0.14607557654380793,
+              -0.42437043786048884,
+              0.7687666416168213
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002192478130018216,
+              0.02099016022661515
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f8ac6af7420ceac851efbe3ae6e50e77e971a44dc2e660ac596dd79f0d6ab44b",
+    "visual_seed": 7752967574697233715,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_124_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9ea5e91a8ad6a521228ccfaede8c4e588eecd3b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_124_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19005873532772238,
+              0.2325684536787949,
+              1.0468727354988432
+            ],
+            "current_z": 1.0468727354988432,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.185766048670143,
+            "gripper_z": 1.0526091596566374,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18551988942016323,
+              0.22804152274701806,
+              1.0526091596566374
+            ],
+            "object_minus_gripper": [
+              0.0045388459075591525,
+              0.004526930931776835,
+              -0.005736424157794184
+            ],
+            "object_to_gripper_xy": 0.006410477816328854,
+            "object_to_gripper_z": -0.005736424157794184,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19005873532772238,
+              0.20835140520002024,
+              1.0468727354988432
+            ],
+            "finger_b": [
+              0.17888680218230701,
+              0.2325684536787949,
+              1.0468727354988432
+            ],
+            "finger_midpoint": [
+              0.1844727687550147,
+              0.22045992943940756,
+              1.0468727354988432
+            ],
+            "object_minus_finger_midpoint": [
+              0.005585966572707685,
+              0.012108524239387325,
+              0.0
+            ],
+            "finger_gap": 0.026669786786342183,
+            "fingertip_max_gap": 0.09217342927929803,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013334893393171092,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468727354988432,
+            "object_top_z": 1.0972334546459979,
+            "finger_top_clearance": 0.050360719147154676,
+            "fingertip_min_top_clearance": 0.015108215744146402,
+            "object_projection_between_fingers": 0.8245240634947617,
+            "object_to_finger_line_xy": 0.010144484796657785,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04858671463964902,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0883166131169626,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18933817834249367,
+              0.23342407004054977,
+              1.242253186144553
+            ],
+            "held_position": [
+              0.19406086385960786,
+              0.2376315798930522,
+              1.2364055653776194
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008614033102231375,
+            "max_held_gripper_dist": 0.008627151747986533,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00584762076693357,
+            "max_held_gripper_z_dist": 0.0058925320579548135,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08640679592479611,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19406086385960786,
+              0.21282009163472965,
+              1.2364055653776194
+            ],
+            "held_grasp_finger_b": [
+              0.18429671215080018,
+              0.2376315798930522,
+              1.2364055653776194
+            ],
+            "held_grasp_midpoint": [
+              0.18917878800520402,
+              0.22522583576389094,
+              1.2364055653776194
+            ],
+            "held_grasp_object_position": [
+              0.19406086385960786,
+              0.2376315798930522,
+              1.2364055653776194
+            ],
+            "held_grasp_finger_gap": 0.02666361956272047,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024456253152824816,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.034452467186030636,
+              -0.9992408359807157,
+              0.01818733662074024
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004457560561827301,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03715572437733554,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29428724054437255,
+              -0.3610690865178453,
+              0.851539560378148
+            ],
+            "target_position": [
+              0.2880871531148086,
+              -0.36269342590258125,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006409334019306637,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18375799775742138,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539560378148,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07562004368788944,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863715930713188,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15179303801858404,
+            "release_required_pad_clearance": 0.0531857965356594,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3949091516628824,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008130192756652832,
+            "max_z_decrease": 0.008130192756652832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513005123821014,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008130192756652832,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020970251713709427,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008130192756652832,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00813022849694691,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14378708600997925,
+              -0.4189548790454864,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14378708600997925,
+              -0.4189548790454864,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14575134382716767,
+              -0.4188030325173301,
+              0.803754315552081
+            ],
+            "closest_button": [
+              0.14380155503749847,
+              -0.4189355969429016,
+              0.7686786651611328
+            ],
+            "closest_ee_minus_button": [
+              0.001949788789669199,
+              0.00013256442557152415,
+              0.035075650390948176
+            ],
+            "button_min_z_position": [
+              0.14380155503749847,
+              -0.4189355969429016,
+              0.7686786651611328
+            ],
+            "min_active_finger_to_button": 0.14380167288539344,
+            "closest_active_finger": [
+              0.005218423902988434,
+              -0.4013887047767639,
+              0.8107835054397583
+            ],
+            "closest_active_finger_button": [
+              0.14378692209720612,
+              -0.418955773115158,
+              0.7765915393829346
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13856849819421768,
+              0.01756706833839411,
+              0.03419196605682373
+            ],
+            "min_contact_pad_to_button": 0.020970251713709427,
+            "closest_contact_pad": [
+              0.14380155503749847,
+              -0.4201003960307204,
+              0.7896165423224247
+            ],
+            "closest_contact_pad_button": [
+              0.14380155503749847,
+              -0.4189355969429016,
+              0.7686786651611328
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001164799087818802,
+              0.020937877161291918
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 124,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7c3597049793f4407a646c2ca8d8edd078364710743e929c84067d94c9f86baa",
+    "visual_seed": 7564384676755459344,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_125_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_125_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..dde1dba463c91b75a61ee3f9186b0a048521f4a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_125_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 125,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19630533905573108,
+              0.2305963483428571,
+              1.0488141780953288
+            ],
+            "current_z": 1.0488141780953288,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18770743166198378,
+            "gripper_z": 1.05435733179597,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19160035735563874,
+              0.22584781887885025,
+              1.05435733179597
+            ],
+            "object_minus_gripper": [
+              0.004704981700092342,
+              0.004748529464006862,
+              -0.005543153700641179
+            ],
+            "object_to_gripper_xy": 0.006684712773840408,
+            "object_to_gripper_z": -0.005543153700641179,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19630533905573108,
+              0.2064996470539837,
+              1.0488141780953288
+            ],
+            "finger_b": [
+              0.18451033169038453,
+              0.2305963483428571,
+              1.0488141780953288
+            ],
+            "finger_midpoint": [
+              0.1904078353730578,
+              0.2185479976984204,
+              1.0488141780953288
+            ],
+            "object_minus_finger_midpoint": [
+              0.005897503682673277,
+              0.012048350644436712,
+              0.0
+            ],
+            "finger_gap": 0.02682858944770995,
+            "fingertip_max_gap": 0.09315738521290806,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013414294723854974,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488141780953288,
+            "object_top_z": 1.0997045748923,
+            "finger_top_clearance": 0.05089039679697116,
+            "fingertip_min_top_clearance": 0.01526711903909133,
+            "object_projection_between_fingers": 0.8067138419758644,
+            "object_to_finger_line_xy": 0.01059395126742596,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04907869260645403,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.400627334739573,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19569057976719526,
+              0.23099230048505887,
+              1.2437391354265352
+            ],
+            "held_position": [
+              0.20066851144876277,
+              0.2353086933671999,
+              1.2380616765153045
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008697389897438457,
+            "max_held_gripper_dist": 0.008713816678265344,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005677458911230726,
+            "max_held_gripper_z_dist": 0.005723803846345854,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08658962492830174,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20066851144876277,
+              0.21031885818005883,
+              1.2380616765153045
+            ],
+            "held_grasp_finger_b": [
+              0.1907839280017308,
+              0.2353086933671999,
+              1.2380616765153045
+            ],
+            "held_grasp_midpoint": [
+              0.1957262197252468,
+              0.22281377577362937,
+              1.2380616765153045
+            ],
+            "held_grasp_object_position": [
+              0.20066851144876277,
+              0.2353086933671999,
+              1.2380616765153045
+            ],
+            "held_grasp_finger_gap": 0.026873720483063232,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024441846231801765,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.051282782235378827,
+              -0.9983561310176678,
+              0.025595153948197447
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004307145725072782,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699241801379261,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2936157765376133,
+              -0.3573568063113293,
+              0.8515395618654564
+            ],
+            "target_position": [
+              0.2874503040237555,
+              -0.3588097269299752,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006334353135342415,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1826571981974502,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395618654564,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515426383425208,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08563989704892859,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15178388846332683,
+            "release_required_pad_clearance": 0.0528199485244643,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6852814125177027,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007992148399353027,
+            "max_z_decrease": 0.007992148399353027,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513248327420913,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007992148399353027,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021070104425416056,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007992148399353027,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007992173042488483,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14315022528171537,
+              -0.41507118940353394,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14315022528171537,
+              -0.41507118940353394,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14382057530234796,
+              -0.4151571541345772,
+              0.8080915442476795
+            ],
+            "closest_button": [
+              0.14314137399196625,
+              -0.41507238149642944,
+              0.7729657292366028
+            ],
+            "closest_ee_minus_button": [
+              0.0006792013103817107,
+              -8.477263814776759e-05,
+              0.0351258150110767
+            ],
+            "button_min_z_position": [
+              0.14313042163848877,
+              -0.4150698781013489,
+              0.7688167095184326
+            ],
+            "min_active_finger_to_button": 0.14550923670021265,
+            "closest_active_finger": [
+              0.0025426819920539856,
+              -0.39995867013931274,
+              0.8105308413505554
+            ],
+            "closest_active_finger_button": [
+              0.14314965903759,
+              -0.4150717258453369,
+              0.7762640714645386
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.140606977045536,
+              0.01511305570602417,
+              0.034266769886016846
+            ],
+            "min_contact_pad_to_button": 0.021070104425416056,
+            "closest_contact_pad": [
+              0.14313042163848877,
+              -0.4161130496000325,
+              0.7898609746213596
+            ],
+            "closest_contact_pad_button": [
+              0.14313042163848877,
+              -0.4150698781013489,
+              0.7688167095184326
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010431714986836038,
+              0.021044265102927007
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 125,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a6a2ba6710603fd3e90106cbf73648e6e5f0e3d14304b5aac71fc6c6becdbc22",
+    "visual_seed": 3472807619585799553,
+    "episode_index": 125,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_126_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_126_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..867c78dbb6c380c54e019955a1dcea7eaf3b5557
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_126_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 126,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19233752069109475,
+              0.2321485748593234,
+              1.0465438738923556
+            ],
+            "current_z": 1.0465438738923556,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18543736587758952,
+            "gripper_z": 1.0525137770625739,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18765126734720597,
+              0.22749277889960934,
+              1.0525137770625739
+            ],
+            "object_minus_gripper": [
+              0.00468625334388878,
+              0.004655795959714049,
+              -0.0059699031702182825
+            ],
+            "object_to_gripper_xy": 0.0066058615200137545,
+            "object_to_gripper_z": -0.0059699031702182825,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19233752069109475,
+              0.2079208944326654,
+              1.0465438738923556
+            ],
+            "finger_b": [
+              0.18085370072799448,
+              0.2321485748593234,
+              1.0465438738923556
+            ],
+            "finger_midpoint": [
+              0.1865956107095446,
+              0.22003473464599438,
+              1.0465438738923556
+            ],
+            "object_minus_finger_midpoint": [
+              0.005741909981550136,
+              0.012113840213329008,
+              0.0
+            ],
+            "finger_gap": 0.026811538930116768,
+            "fingertip_max_gap": 0.09271922104805955,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013405769465058396,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465438738923556,
+            "object_top_z": 1.0972781562502234,
+            "finger_top_clearance": 0.05073428235786781,
+            "fingertip_min_top_clearance": 0.015220284707360358,
+            "object_projection_between_fingers": 0.816545121234858,
+            "object_to_finger_line_xy": 0.010377111170994505,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048859610524029776,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.215449957603672,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1916921516539516,
+              0.23249397072977582,
+              1.2399497239081487
+            ],
+            "held_position": [
+              0.19658208345861627,
+              0.2367667796829696,
+              1.2338326210953485
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008921170115356637,
+            "max_held_gripper_dist": 0.008934862427546236,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006117102812800201,
+            "max_held_gripper_z_dist": 0.006161874726645644,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08648915697897278,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19658208345861627,
+              0.21180824976395882,
+              1.2338326210953485
+            ],
+            "held_grasp_finger_b": [
+              0.1868337582194303,
+              0.2367667796829696,
+              1.2338326210953485
+            ],
+            "held_grasp_midpoint": [
+              0.19170792083902327,
+              0.2242875147234642,
+              1.2338326210953485
+            ],
+            "held_grasp_object_position": [
+              0.19658208345861627,
+              0.2367667796829696,
+              1.2338326210953485
+            ],
+            "held_grasp_finger_gap": 0.026794739421892262,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024496695607361698,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044148496289295756,
+              -0.9987394926262833,
+              0.023881711496215312
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043289180075315285,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03704152836576516,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2946059377242448,
+              -0.3590796358504402,
+              0.8515396095109077
+            ],
+            "target_position": [
+              0.28833469546469215,
+              -0.36069259007760107,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006475345613703973,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1814909132645011,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396095109077,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755691460955984,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08572500751445915,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14968150421985,
+            "release_required_pad_clearance": 0.052862503757229576,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7671890701564174,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00806039571762085,
+            "max_z_decrease": 0.00806039571762085,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514979175420085,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00806039571762085,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021083701409156854,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00806039571762085,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008060403291735126,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14403462409973145,
+              -0.41695404052734375,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14403462409973145,
+              -0.41695404052734375,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1449952705145357,
+              -0.4177436991225674,
+              0.8080616526569919
+            ],
+            "closest_button": [
+              0.14402401447296143,
+              -0.4169548451900483,
+              0.7729341387748718
+            ],
+            "closest_ee_minus_button": [
+              0.0009712560415742755,
+              -0.0007888539325191513,
+              0.0351275138821201
+            ],
+            "button_min_z_position": [
+              0.1440281718969345,
+              -0.41694507002830505,
+              0.7687484622001648
+            ],
+            "min_active_finger_to_button": 0.14514765690700682,
+            "closest_active_finger": [
+              0.003737635910511017,
+              -0.40240180492401123,
+              0.8104857802391052
+            ],
+            "closest_active_finger_button": [
+              0.1440337598323822,
+              -0.4169541895389557,
+              0.7762356996536255
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14029612392187119,
+              0.014552384614944458,
+              0.034250080585479736
+            ],
+            "min_contact_pad_to_button": 0.021083701409156854,
+            "closest_contact_pad": [
+              0.1440281718969345,
+              -0.41872517788644986,
+              0.7897568814915787
+            ],
+            "closest_contact_pad_button": [
+              0.1440281718969345,
+              -0.41694507002830505,
+              0.7687484622001648
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017801078581448082,
+              0.02100841929141395
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 126,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "43bd309bb2a4fdd95cff886600fca5937ee855aaa4655193e869020159d72544",
+    "visual_seed": 7908446063793683463,
+    "episode_index": 126,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_127_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_127_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..428ea0a5fc33c6a8e9223759fde5a9f68bb56d8e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_127_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 127,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19277359167946206,
+              0.23320697154670458,
+              1.0480960812009363
+            ],
+            "current_z": 1.0480960812009363,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.1869892751629465,
+            "gripper_z": 1.0537593633976103,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18851925667179822,
+              0.22886830247829465,
+              1.0537593633976103
+            ],
+            "object_minus_gripper": [
+              0.00425433500766384,
+              0.004338669068409934,
+              -0.005663282196674002
+            ],
+            "object_to_gripper_xy": 0.0060764640739998784,
+            "object_to_gripper_z": -0.005663282196674002,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19277359167946206,
+              0.20909854759733448,
+              1.0480960812009363
+            ],
+            "finger_b": [
+              0.18199057688123937,
+              0.23320697154670458,
+              1.0480960812009363
+            ],
+            "finger_midpoint": [
+              0.18738208428035072,
+              0.22115275957201952,
+              1.0480960812009363
+            ],
+            "object_minus_finger_midpoint": [
+              0.005391507399111345,
+              0.012054211974685064,
+              0.0
+            ],
+            "finger_gap": 0.02641002675994955,
+            "fingertip_max_gap": 0.0956798175273964,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013205013379974788,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480960812009363,
+            "object_top_z": 1.1005137121664812,
+            "finger_top_clearance": 0.05241763096554486,
+            "fingertip_min_top_clearance": 0.01572528928966349,
+            "object_projection_between_fingers": 0.8332972669916004,
+            "object_to_finger_line_xy": 0.009843287724422606,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050339908763698205,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9439848900131256,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1924474540503921,
+              0.23419930617818852,
+              1.242336875973498
+            ],
+            "held_position": [
+              0.19687241461763194,
+              0.23825601842941777,
+              1.2365595329859689
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00833155941624698,
+            "max_held_gripper_dist": 0.008347398308925108,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005777342987529188,
+            "max_held_gripper_z_dist": 0.0058209462576352955,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08506069014360304,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19687241461763194,
+              0.21357370513171123,
+              1.2365595329859689
+            ],
+            "held_grasp_finger_b": [
+              0.1874531519340627,
+              0.23825601842941777,
+              1.2365595329859689
+            ],
+            "held_grasp_midpoint": [
+              0.19216278327584732,
+              0.2259148617805645,
+              1.2365595329859689
+            ],
+            "held_grasp_object_position": [
+              0.19687241461763194,
+              0.23825601842941777,
+              1.2365595329859689
+            ],
+            "held_grasp_finger_gap": 0.026418537038000817,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02436551137098907,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03036139060154846,
+              -0.9987513320639237,
+              0.03967319827387472
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043606602131002255,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037251512471086094,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2904834109629068,
+              -0.359068397857746,
+              0.8515395794504292
+            ],
+            "target_position": [
+              0.28634179946269966,
+              -0.359352725910511,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004151359808573231,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18015937692050607,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395794504292,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07559425165037387,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08684347828158055,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14809812566324285,
+            "release_required_pad_clearance": 0.05342173914079028,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8578760294886423,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007795572280883789,
+            "max_z_decrease": 0.007795572280883789,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519497868379458,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007795572280883789,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021043991193878453,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007795572280883789,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00779559791529826,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14204172790050507,
+              -0.41561418771743774,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14204172790050507,
+              -0.41561418771743774,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14269244233466344,
+              -0.41380130030534507,
+              0.8082130252649711
+            ],
+            "closest_button": [
+              0.14202927052974695,
+              -0.4156169891357422,
+              0.7730711698532104
+            ],
+            "closest_ee_minus_button": [
+              0.0006631718049164848,
+              0.001815688830397122,
+              0.035141855411760625
+            ],
+            "button_min_z_position": [
+              0.14202176034450528,
+              -0.415613204240799,
+              0.7690132856369019
+            ],
+            "min_active_finger_to_button": 0.14479591123158422,
+            "closest_active_finger": [
+              0.014349892735481262,
+              -0.4747506380081177,
+              0.8104946613311768
+            ],
+            "closest_active_finger_button": [
+              0.14204114675521848,
+              -0.4156150817871094,
+              0.7763803601264954
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12769125401973722,
+              -0.0591355562210083,
+              0.034114301204681396
+            ],
+            "min_contact_pad_to_button": 0.021043991193878453,
+            "closest_contact_pad": [
+              0.14202176034450528,
+              -0.415613204240799,
+              0.7900572768307803
+            ],
+            "closest_contact_pad_button": [
+              0.14202176034450528,
+              -0.415613204240799,
+              0.7690132856369019
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021043991193878453
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 127,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "54d26ed5427e3e8935f0ad7bf96a100a31e14c6fbaf8dc9ccb998a5873c65659",
+    "visual_seed": 7416607846213382661,
+    "episode_index": 127,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_128_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_128_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ac6d2a616ec5105ef3db9fa7e245392334aad92
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_128_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 128,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1938915973530932,
+              0.2316996414946542,
+              1.0471799500114947
+            ],
+            "current_z": 1.0471799500114947,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1860734419967287,
+            "gripper_z": 1.0529515953718405,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18915539277861032,
+              0.2269776026244708,
+              1.0529515953718405
+            ],
+            "object_minus_gripper": [
+              0.004736204574482872,
+              0.0047220388701833815,
+              -0.005771645360345801
+            ],
+            "object_to_gripper_xy": 0.006687995578861818,
+            "object_to_gripper_z": -0.005771645360345801,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1938915973530932,
+              0.2075113868656345,
+              1.0471799500114947
+            ],
+            "finger_b": [
+              0.18222252884172183,
+              0.2316996414946542,
+              1.0471799500114947
+            ],
+            "finger_midpoint": [
+              0.1880570630974075,
+              0.21960551418014435,
+              1.0471799500114947
+            ],
+            "object_minus_finger_midpoint": [
+              0.005834534255685697,
+              0.012094127314509845,
+              0.0
+            ],
+            "finger_gap": 0.02685588989256121,
+            "fingertip_max_gap": 0.09237523156039029,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01342794494628061,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0471799500114947,
+            "object_top_z": 1.0977264520458072,
+            "finger_top_clearance": 0.050546502034312546,
+            "fingertip_min_top_clearance": 0.015163950610293797,
+            "object_projection_between_fingers": 0.8112037846765775,
+            "object_to_finger_line_xy": 0.010509962677301116,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04868761578019515,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0750385170837702,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1930773022067182,
+              0.23240708459791393,
+              1.2433863525097906
+            ],
+            "held_position": [
+              0.19807082478005666,
+              0.23674029706344002,
+              1.237515791154248
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008841690369551566,
+            "max_held_gripper_dist": 0.008854702767763059,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005870561355542536,
+            "max_held_gripper_z_dist": 0.005924754909765406,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08638944712485269,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19807082478005666,
+              0.211793155668682,
+              1.237515791154248
+            ],
+            "held_grasp_finger_b": [
+              0.18802553282864493,
+              0.23674029706344002,
+              1.237515791154248
+            ],
+            "held_grasp_midpoint": [
+              0.1930481788043508,
+              0.22426672636606101,
+              1.237515791154248
+            ],
+            "held_grasp_object_position": [
+              0.19807082478005666,
+              0.23674029706344002,
+              1.237515791154248
+            ],
+            "held_grasp_finger_gap": 0.02689363780077262,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024441907037460332,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04701238629224831,
+              -0.9986779562781318,
+              0.020788823421303722
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004438405469920643,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03702704340572671,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2883193449051512,
+              -0.3632537408985034,
+              0.8515395782131081
+            ],
+            "target_position": [
+              0.28325040591255213,
+              -0.3643049649894484,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005176795785046444,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18199176863832225,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395782131081,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576534356581832,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600306541243811,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1497374927099288,
+            "release_required_pad_clearance": 0.05300153270621906,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0362659197183839,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007952988147735596,
+            "max_z_decrease": 0.007952988147735596,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512167296450486,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007952988147735596,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106567191369473,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007952988147735596,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007953010009234214,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1389503329992294,
+              -0.4205664098262787,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1389503329992294,
+              -0.4205664098262787,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1383987957285697,
+              -0.42071445346881126,
+              0.8081358274375385
+            ],
+            "closest_button": [
+              0.13894142210483548,
+              -0.4205664992332458,
+              0.7730186581611633
+            ],
+            "closest_ee_minus_button": [
+              -0.0005426263762657868,
+              -0.00014795423556546172,
+              0.035117169276375204
+            ],
+            "button_min_z_position": [
+              0.13893179595470423,
+              -0.4205643832683563,
+              0.76885586977005
+            ],
+            "min_active_finger_to_button": 0.1466856872932719,
+            "closest_active_finger": [
+              -0.002801470458507538,
+              -0.40483760833740234,
+              0.8106170296669006
+            ],
+            "closest_active_finger_button": [
+              0.13894996047019956,
+              -0.42056646943092346,
+              0.7763267159461975
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1417514309287071,
+              0.015728861093521118,
+              0.034290313720703125
+            ],
+            "min_contact_pad_to_button": 0.02106567191369473,
+            "closest_contact_pad": [
+              0.13893179595470423,
+              -0.4217346547004056,
+              0.7898890102381484
+            ],
+            "closest_contact_pad_button": [
+              0.13893179595470423,
+              -0.4205643832683563,
+              0.76885586977005
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011702714320492857,
+              0.021033140468098344
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 128,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a6584f8e9435d7e77ea84183464a8c450992399f976d0e115a98ba623f813e80",
+    "visual_seed": 8750306405958264112,
+    "episode_index": 128,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_129_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_129_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f5d2aff65185710b67b8bbea44f68664000be31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_129_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 129,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19911556722849916,
+              0.2358780464848868,
+              1.0499634305172179
+            ],
+            "current_z": 1.0499634305172179,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.18885656487458324,
+            "gripper_z": 1.0555154027721914,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19426351015574192,
+              0.23108383033003496,
+              1.0555154027721914
+            ],
+            "object_minus_gripper": [
+              0.004852057072757238,
+              0.004794216154851844,
+              -0.005551972254973503
+            ],
+            "object_to_gripper_xy": 0.006821067832585741,
+            "object_to_gripper_z": -0.005551972254973503,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19911556722849916,
+              0.21162135802971938,
+              1.0499634305172179
+            ],
+            "finger_b": [
+              0.18732575942526988,
+              0.2358780464848868,
+              1.0499634305172179
+            ],
+            "finger_midpoint": [
+              0.19322066332688453,
+              0.2237497022573031,
+              1.0499634305172179
+            ],
+            "object_minus_finger_midpoint": [
+              0.005894903901614623,
+              0.012128344227583715,
+              0.0
+            ],
+            "finger_gap": 0.026970103871660166,
+            "fingertip_max_gap": 0.09291683656467406,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013485051935830078,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499634305172179,
+            "object_top_z": 1.1008650332570675,
+            "finger_top_clearance": 0.05090160273984967,
+            "fingertip_min_top_clearance": 0.015270480821954901,
+            "object_projection_between_fingers": 0.808905489044927,
+            "object_to_finger_line_xy": 0.01060365566962981,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895841828233703,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1920930010275115,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19829950714576425,
+              0.23624609698550347,
+              1.2432700336348783
+            ],
+            "held_position": [
+              0.2033872841520354,
+              0.2406402298838065,
+              1.2375733865573646
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008811677860614073,
+            "max_held_gripper_dist": 0.00883065625781479,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005696647077513717,
+            "max_held_gripper_z_dist": 0.005753266646439492,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08531127761750945,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2033872841520354,
+              0.21559813990871046,
+              1.2375733865573646
+            ],
+            "held_grasp_finger_b": [
+              0.1933665093904382,
+              0.2406402298838065,
+              1.2375733865573646
+            ],
+            "held_grasp_midpoint": [
+              0.19837689677123682,
+              0.2281191848962585,
+              1.2375733865573646
+            ],
+            "held_grasp_object_position": [
+              0.2033872841520354,
+              0.2406402298838065,
+              1.2375733865573646
+            ],
+            "held_grasp_finger_gap": 0.02697261939714921,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02451889441813224,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04850133863669609,
+              -0.9985155166007911,
+              0.024786755695411222
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004408354530836704,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03697478187091466,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2908160296364591,
+              -0.36724058403517545,
+              0.8515396076264944
+            ],
+            "target_position": [
+              0.285378686818115,
+              -0.36853352917642984,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005588953753833643,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18241836940703757,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396076264944,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569169157856889,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535660034314406,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15011433871031826,
+            "release_required_pad_clearance": 0.05267830017157203,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.413067625096778,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008190453052520752,
+            "max_z_decrease": 0.008190453052520752,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035063853841210524,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008190453052520752,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020889661705810525,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008190453052520752,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008190580507787669,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1410786062479019,
+              -0.424795001745224,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1410786062479019,
+              -0.424795001745224,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.142892056339774,
+              -0.42381073742436753,
+              0.8036241312809509
+            ],
+            "closest_button": [
+              0.14111511409282684,
+              -0.4247675240039826,
+              0.7686184048652649
+            ],
+            "closest_ee_minus_button": [
+              0.0017769422469471607,
+              0.0009567865796150654,
+              0.035005726415686
+            ],
+            "button_min_z_position": [
+              0.14111511409282684,
+              -0.4247675240039826,
+              0.7686184048652649
+            ],
+            "min_active_finger_to_button": 0.14378328882951932,
+            "closest_active_finger": [
+              0.01629992574453354,
+              -0.48752182722091675,
+              0.8107390403747559
+            ],
+            "closest_active_finger_button": [
+              0.14107804000377652,
+              -0.4247947633266449,
+              0.7765429615974426
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12477811425924298,
+              -0.06272706389427185,
+              0.03419607877731323
+            ],
+            "min_contact_pad_to_button": 0.020889661705810525,
+            "closest_contact_pad": [
+              0.14111511409282684,
+              -0.424922836199762,
+              0.7895074891990754
+            ],
+            "closest_contact_pad_button": [
+              0.14111511409282684,
+              -0.4247675240039826,
+              0.7686184048652649
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00015531219577941124,
+              0.020889084333810537
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 129,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62e964f3f81b5fba36d744bb930379dcc7367defc8e5c717e787c140ec33a66c",
+    "visual_seed": 7001739932350716966,
+    "episode_index": 129,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b040ae7b8768dfe447e6cf2c6a277d7eae36fa42
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1956334492343919,
+              0.23075809350488177,
+              1.0192471759060218
+            ],
+            "current_z": 1.0192471759060218,
+            "required_z": 0.8611069848519242,
+            "initial_z": 0.7611069848519242,
+            "lift_margin": 0.1581401910540976,
+            "gripper_z": 1.0542443406342614,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19138596411305064,
+              0.22652787610507436,
+              1.0542443406342614
+            ],
+            "object_minus_gripper": [
+              0.004247485121341266,
+              0.004230217399807418,
+              -0.03499716472823966
+            ],
+            "object_to_gripper_xy": 0.005994653376605595,
+            "object_to_gripper_z": -0.03499716472823966,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1956334492343919,
+              0.2064723540763833,
+              1.0406983617488768
+            ],
+            "finger_b": [
+              0.1851340898342711,
+              0.23075809350488177,
+              1.0407585040899108
+            ],
+            "finger_midpoint": [
+              0.1903837695343315,
+              0.21861522379063253,
+              1.0407284329193938
+            ],
+            "object_minus_finger_midpoint": [
+              0.005249679700060406,
+              0.012142869714249244,
+              -0.021481257013372
+            ],
+            "finger_gap": 0.02645821809009471,
+            "fingertip_max_gap": 0.10365018636846554,
+            "finger_z_skew": 6.014234103401961e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013229074867520322,
+            "object_to_finger_midpoint_z": 0.021481257013372,
+            "finger_midpoint_minus_object_z": 0.021481257013372,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0192471759060218,
+            "object_top_z": 1.0738981743859255,
+            "finger_top_clearance": 0.03316974146653173,
+            "fingertip_min_top_clearance": 0.016395299543971138,
+            "object_projection_between_fingers": 0.8425267957860036,
+            "object_to_finger_line_xy": 0.009637284130257731,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05432509318423277,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 5.415826843567788,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 190,
+            "max_stable_success_frames": 190,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19818002123747888,
+              0.22502361893549738,
+              1.2144948702864766
+            ],
+            "held_position": [
+              0.2023827868411152,
+              0.22784779928139873,
+              1.1793111297293821
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.035546235144304945,
+            "max_held_gripper_dist": 0.03557036683351582,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0351837405570945,
+            "max_held_gripper_z_dist": 0.035230982457115534,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08715772539982697,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2023827868411152,
+              0.2029223256992568,
+              1.2012170108570852
+            ],
+            "held_grasp_finger_b": [
+              0.1957300750020212,
+              0.23213917525188402,
+              1.1998264107269418
+            ],
+            "held_grasp_midpoint": [
+              0.1990564309215682,
+              0.2175307504755704,
+              1.2005217107920134
+            ],
+            "held_grasp_object_position": [
+              0.2023827868411152,
+              0.22784779928139873,
+              1.1793111297293821
+            ],
+            "held_grasp_finger_gap": 0.02999694386628126,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.028950746520942244,
+            "held_grasp_world_z_skew": 0.0013906001301433601,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0403661562087061,
+              -0.9967989702912263,
+              0.06901004462601933
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.02064490345315453,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037838211095670884,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28981034427216723,
+              -0.3674838098070978,
+              0.8515395631796288
+            ],
+            "target_position": [
+              0.28471405478477363,
+              -0.3667226214029379,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005152821976931292,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18064518592345122,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395631796288,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527770675287294,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08808015668563511,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14898674291266373,
+            "release_required_pad_clearance": 0.05404007834281756,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.092219887297455,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008134424686431885,
+            "max_z_decrease": 0.008134424686431885,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035064733169820825,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008134424686431885,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021094626522940137,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008134424686431885,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008134477013512963,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1404139846563339,
+              -0.42298409342765814,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1404139846563339,
+              -0.42298409342765814,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13987879638643874,
+              -0.42468307805197497,
+              0.8036926400000622
+            ],
+            "closest_button": [
+              0.14043658971786493,
+              -0.4229656457901001,
+              0.7686744332313538
+            ],
+            "closest_ee_minus_button": [
+              -0.0005577933314261929,
+              -0.0017174322618748739,
+              0.03501820676870848
+            ],
+            "button_min_z_position": [
+              0.14043658971786493,
+              -0.4229656457901001,
+              0.7686744332313538
+            ],
+            "min_active_finger_to_button": 0.14604096348259318,
+            "closest_active_finger": [
+              -0.0007726401090621948,
+              -0.40814024209976196,
+              0.8109281659126282
+            ],
+            "closest_active_finger_button": [
+              0.14041505753993985,
+              -0.42298385500907904,
+              0.7766693830490112
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14118769764900205,
+              0.014843612909317072,
+              0.03425878286361694
+            ],
+            "min_contact_pad_to_button": 0.021094626522940137,
+            "closest_contact_pad": [
+              0.14043658971786493,
+              -0.4259011008326788,
+              0.7895638174213037
+            ],
+            "closest_contact_pad_button": [
+              0.14043658971786493,
+              -0.4229656457901001,
+              0.7686744332313538
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002935455042578694,
+              0.0208893841899499
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6d155fe8c89b3cfc7b43bbcfe4b201dbe39e4908ddf8a90c513419e5ea405f43",
+    "visual_seed": 3647433261688286545,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_130_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_130_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e0b333302dd3ffafd56610ed5423c877ad575e8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_130_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 130,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19538167017313562,
+              0.2312543956548499,
+              1.0476822859222312
+            ],
+            "current_z": 1.0476822859222312,
+            "required_z": 0.8611071636658585,
+            "initial_z": 0.7611071636658585,
+            "lift_margin": 0.18657512225637274,
+            "gripper_z": 1.0534939780056296,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19074317782055333,
+              0.2265987108041258,
+              1.0534939780056296
+            ],
+            "object_minus_gripper": [
+              0.004638492352582291,
+              0.0046556848507240955,
+              -0.005811692083398379
+            ],
+            "object_to_gripper_xy": 0.006571986970028641,
+            "object_to_gripper_z": -0.005811692083398379,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19538167017313562,
+              0.20710857867350554,
+              1.0476822859222312
+            ],
+            "finger_b": [
+              0.18383968934393427,
+              0.2312543956548499,
+              1.0476822859222312
+            ],
+            "finger_midpoint": [
+              0.18961067975853496,
+              0.21918148716417774,
+              1.0476822859222312
+            ],
+            "object_minus_finger_midpoint": [
+              0.005770990414600663,
+              0.012072908490672163,
+              0.0
+            ],
+            "finger_gap": 0.026762619437533185,
+            "fingertip_max_gap": 0.09410482592408012,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013381309718766572,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476822859222312,
+            "object_top_z": 1.0992624690240347,
+            "finger_top_clearance": 0.051580183101803456,
+            "fingertip_min_top_clearance": 0.015474054930541003,
+            "object_projection_between_fingers": 0.8140040617540465,
+            "object_to_finger_line_xy": 0.010413425985994176,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04955241296204006,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4835328434901485,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19482451136403484,
+              0.23174406743031284,
+              1.243277037629864
+            ],
+            "held_position": [
+              0.19971810454522226,
+              0.2360067224220857,
+              1.2373576246791154
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00878390183707342,
+            "max_held_gripper_dist": 0.008796955308919711,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005919412950748715,
+            "max_held_gripper_z_dist": 0.005967723068897701,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08654690870935233,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19971810454522226,
+              0.2110743819206469,
+              1.2373576246791154
+            ],
+            "held_grasp_finger_b": [
+              0.1898762258631726,
+              0.2360067224220857,
+              1.2373576246791154
+            ],
+            "held_grasp_midpoint": [
+              0.19479716520419743,
+              0.2235405521713663,
+              1.2373576246791154
+            ],
+            "held_grasp_object_position": [
+              0.19971810454522226,
+              0.2360067224220857,
+              1.2373576246791154
+            ],
+            "held_grasp_finger_gap": 0.026804555188845596,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0244147034868005,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04831331382596,
+              -0.9983096957450512,
+              0.032304412834436746
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043320288912787564,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03703740455329192,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2882440895985059,
+              -0.36219055968013103,
+              0.8515395567583028
+            ],
+            "target_position": [
+              0.28357945779112503,
+              -0.3629813693111015,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00473119115771756,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18151425591698708,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395567583028,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584889952907314,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08604432537719996,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14880861571067935,
+            "release_required_pad_clearance": 0.05302216268859998,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0762796625544613,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007774651050567627,
+            "max_z_decrease": 0.007774651050567627,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035213678704457727,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007774651050567627,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021033224407499773,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007774651050567627,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00777467307543674,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13927938044071198,
+              -0.41924282908439636,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13927938044071198,
+              -0.41924282908439636,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13783132345007976,
+              -0.4173293625021305,
+              0.8077115102061738
+            ],
+            "closest_button": [
+              0.13926896452903748,
+              -0.4192405045032501,
+              0.7725791335105896
+            ],
+            "closest_ee_minus_button": [
+              -0.0014376410789577188,
+              0.0019111420011196367,
+              0.03513237669558422
+            ],
+            "button_min_z_position": [
+              0.13926099240779877,
+              -0.4192407429218292,
+              0.769034206867218
+            ],
+            "min_active_finger_to_button": 0.14657538674698772,
+            "closest_active_finger": [
+              0.009994037449359894,
+              -0.47925323247909546,
+              0.8105809092521667
+            ],
+            "closest_active_finger_button": [
+              0.13927927613258362,
+              -0.41924455761909485,
+              0.7763956785202026
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12928523868322372,
+              -0.06000867486000061,
+              0.03418523073196411
+            ],
+            "min_contact_pad_to_button": 0.021033224407499773,
+            "closest_contact_pad": [
+              0.13926099240779877,
+              -0.4192407429218292,
+              0.7900674312747178
+            ],
+            "closest_contact_pad_button": [
+              0.13926099240779877,
+              -0.4192407429218292,
+              0.769034206867218
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021033224407499773
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 130,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e16bdae0055198c36263e5421a7e26ad7068c3218eb603fceff6a95873534fdc",
+    "visual_seed": 1474397168081635339,
+    "episode_index": 130,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_131_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_131_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d164183a617b23128c4cf7b45be50c869745bb4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_131_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 131,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1908161562009197,
+              0.23177821560650871,
+              1.0481390891260145
+            ],
+            "current_z": 1.0481390891260145,
+            "required_z": 0.8611066272240558,
+            "initial_z": 0.7611066272240559,
+            "lift_margin": 0.18703246190195866,
+            "gripper_z": 1.053976225358721,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18638057174584666,
+              0.22737997870207505,
+              1.053976225358721
+            ],
+            "object_minus_gripper": [
+              0.004435584455073055,
+              0.004398236904433667,
+              -0.005837136232706541
+            ],
+            "object_to_gripper_xy": 0.006246510812094059,
+            "object_to_gripper_z": -0.005837136232706541,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1908161562009197,
+              0.20748601764087257,
+              1.0481390891260145
+            ],
+            "finger_b": [
+              0.18001394621681885,
+              0.23177821560650871,
+              1.0481390891260145
+            ],
+            "finger_midpoint": [
+              0.18541505120886928,
+              0.21963211662369064,
+              1.0481390891260145
+            ],
+            "object_minus_finger_midpoint": [
+              0.005401104992050432,
+              0.012146098982818071,
+              0.0
+            ],
+            "finger_gap": 0.02658568454153974,
+            "fingertip_max_gap": 0.10083987924091878,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01329284227076987,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481390891260145,
+            "object_top_z": 1.1029282203700843,
+            "finger_top_clearance": 0.05478913124406981,
+            "fingertip_min_top_clearance": 0.016436739373220925,
+            "object_projection_between_fingers": 0.8349066667378364,
+            "object_to_finger_line_xy": 0.009870327882290893,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05291993962045939,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.816143685349351,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1904067852127924,
+              0.23240832364310593,
+              1.2425943346622754
+            ],
+            "held_position": [
+              0.1949933121912712,
+              0.2365158365133617,
+              1.2366344185367906
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008569042649353839,
+            "max_held_gripper_dist": 0.008582483760531156,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005959916125484854,
+            "max_held_gripper_z_dist": 0.006001559665589129,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08643245609147002,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1949933121912712,
+              0.21171591980190405,
+              1.2366344185367906
+            ],
+            "held_grasp_finger_b": [
+              0.18552830582312774,
+              0.2365158365133617,
+              1.2366344185367906
+            ],
+            "held_grasp_midpoint": [
+              0.19026080900719947,
+              0.22411587815763287,
+              1.2366344185367906
+            ],
+            "held_grasp_object_position": [
+              0.1949933121912712,
+              0.2365158365133617,
+              1.2366344185367906
+            ],
+            "held_grasp_finger_gap": 0.026544721027809515,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02466722236530941,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.00815865831375967,
+              -0.9977631943728518,
+              0.06634790312739536
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004703911080890755,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037309417134545116,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2859092325247885,
+              -0.3674369272506185,
+              0.8515395865785107
+            ],
+            "target_position": [
+              0.28379298646135853,
+              -0.36636222237255156,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0023734969930302666,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17951290632685818,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395865785107,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0751609996752055,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08828613737453166,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1482319991340394,
+            "release_required_pad_clearance": 0.05414306868726583,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.300861579354808,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008042573928833008,
+            "max_z_decrease": 0.008042573928833008,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515114599009377,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008042573928833008,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021029492332591087,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008042573928833008,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008042584955775289,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13949291408061978,
+              -0.4226236939430237,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13949291408061978,
+              -0.4226236939430237,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14011167832996435,
+              -0.42178809521458877,
+              0.8080787980393425
+            ],
+            "closest_button": [
+              0.1394822001457214,
+              -0.4226251542568207,
+              0.7729432582855225
+            ],
+            "closest_ee_minus_button": [
+              0.0006294781842429431,
+              0.0008370590422319135,
+              0.03513553975382
+            ],
+            "button_min_z_position": [
+              0.13948021829128263,
+              -0.42261967062950134,
+              0.7687662839889526
+            ],
+            "min_active_finger_to_button": 0.14524022241155737,
+            "closest_active_finger": [
+              0.011849291622638702,
+              -0.4829232394695282,
+              0.8103914856910706
+            ],
+            "closest_active_finger_button": [
+              0.1394924074411392,
+              -0.42262423038482666,
+              0.7762449383735657
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1276431158185005,
+              -0.06029900908470154,
+              0.03414654731750488
+            ],
+            "min_contact_pad_to_button": 0.021029492332591087,
+            "closest_contact_pad": [
+              0.13948021829128263,
+              -0.4229987271945238,
+              0.7897923597970301
+            ],
+            "closest_contact_pad_button": [
+              0.13948021829128263,
+              -0.42261967062950134,
+              0.7687662839889526
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.000379056565022462,
+              0.02102607580807747
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 131,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b7f73a5eec3e9c585d3c14b3a6ffe5b69ecb72cfbf73b6a54b1f081100df20fc",
+    "visual_seed": 3661159211768694343,
+    "episode_index": 131,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_132_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_132_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f96c09cf05ac3ea76a7a7f11110032306a9ed033
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_132_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 132,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19381527281665423,
+              0.2319526810259461,
+              1.048176389720119
+            ],
+            "current_z": 1.048176389720119,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.1870696432867741,
+            "gripper_z": 1.0539274647810384,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18913051111057883,
+              0.22738525874172832,
+              1.0539274647810384
+            ],
+            "object_minus_gripper": [
+              0.004684761706075402,
+              0.004567422284217776,
+              -0.0057510750609193195
+            ],
+            "object_to_gripper_xy": 0.006542808155912845,
+            "object_to_gripper_z": -0.0057510750609193195,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19381527281665423,
+              0.20751881340440784,
+              1.048176389720119
+            ],
+            "finger_b": [
+              0.18274347711529654,
+              0.2319526810259461,
+              1.048176389720119
+            ],
+            "finger_midpoint": [
+              0.18827937496597538,
+              0.21973574721517697,
+              1.048176389720119
+            ],
+            "object_minus_finger_midpoint": [
+              0.005535897850678845,
+              0.012216933810769132,
+              0.0
+            ],
+            "finger_gap": 0.026825334051963984,
+            "fingertip_max_gap": 0.09736655916996134,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013412667025981992,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048176389720119,
+            "object_top_z": 1.1007123988358016,
+            "finger_top_clearance": 0.05253600911568257,
+            "fingertip_min_top_clearance": 0.01576080273470477,
+            "object_projection_between_fingers": 0.8296485442282377,
+            "object_to_finger_line_xy": 0.010084750108820506,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05118327958498067,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8637511020792195,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19272008114461547,
+              0.23333249002626175,
+              1.2422884281483264
+            ],
+            "held_position": [
+              0.19752072450536207,
+              0.23765912644420709,
+              1.2364222639519964
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008727991850848361,
+            "max_held_gripper_dist": 0.008741549224087224,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005866164196330015,
+            "max_held_gripper_z_dist": 0.005912979922054085,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08622464219847861,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19752072450536207,
+              0.2128424616997054,
+              1.2364222639519964
+            ],
+            "held_grasp_finger_b": [
+              0.18751842274519953,
+              0.23765912644420709,
+              1.2364222639519964
+            ],
+            "held_grasp_midpoint": [
+              0.1925195736252808,
+              0.22525079407195625,
+              1.2364222639519964
+            ],
+            "held_grasp_object_position": [
+              0.19752072450536207,
+              0.23765912644420709,
+              1.2364222639519964
+            ],
+            "held_grasp_finger_gap": 0.0267565485356827,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0248510855531456,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.00516241846920092,
+              -0.9993063024836528,
+              0.03688174686751089
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005085730541113915,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03734634336086345,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29569049517621226,
+              -0.3652205440615802,
+              0.8515395701430362
+            ],
+            "target_position": [
+              0.2914921964454339,
+              -0.3659501291132461,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004261221254578266,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17918898467233152,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395701430362,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568166724761476,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0887032678140564,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1470072936715082,
+            "release_required_pad_clearance": 0.0543516339070282,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.726392728688468,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008067309856414795,
+            "max_z_decrease": 0.008067309856414795,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515252372092072,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008067309856414795,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021011321079505173,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008067309856414795,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008067315788604442,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14719212055206302,
+              -0.42221158742904663,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14719212055206302,
+              -0.42221158742904663,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1480396912267322,
+              -0.42184915609167734,
+              0.8081816138454935
+            ],
+            "closest_button": [
+              0.1471804976463318,
+              -0.42221409082412725,
+              0.7730414867401123
+            ],
+            "closest_ee_minus_button": [
+              0.0008591935804004025,
+              0.0003649347324499175,
+              0.03514012710538117
+            ],
+            "button_min_z_position": [
+              0.14718890190124514,
+              -0.42220234870910645,
+              0.7687415480613708
+            ],
+            "min_active_finger_to_button": 0.14522573202993286,
+            "closest_active_finger": [
+              0.020309656858444214,
+              -0.48407721519470215,
+              0.8105107545852661
+            ],
+            "closest_active_finger_button": [
+              0.1471913456916809,
+              -0.42221239209175115,
+              0.7763890027999878
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1268816888332367,
+              -0.061864823102950994,
+              0.03412175178527832
+            ],
+            "min_contact_pad_to_button": 0.021011321079505173,
+            "closest_contact_pad": [
+              0.14718890190124514,
+              -0.42296039812764813,
+              0.7897391901810258
+            ],
+            "closest_contact_pad_button": [
+              0.14718890190124514,
+              -0.42220234870910645,
+              0.7687415480613708
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007580494185416842,
+              0.020997642119654936
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 132,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "411a64b03166637946604a1df64d359c641e1211dd682aec7b01836cdb594d07",
+    "visual_seed": 2652178119866859983,
+    "episode_index": 132,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_133_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_133_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b6c01d3e503419f4554730b543ffb39ab897a8b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_133_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 133,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1899477902570885,
+              0.23493263746240642,
+              1.0468717443259936
+            ],
+            "current_z": 1.0468717443259936,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18576499789264855,
+            "gripper_z": 1.0524530172786593,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18555472951803673,
+              0.2304959498629348,
+              1.0524530172786593
+            ],
+            "object_minus_gripper": [
+              0.004393060739051768,
+              0.004436687599471606,
+              -0.005581272952665639
+            ],
+            "object_to_gripper_xy": 0.006243651136338672,
+            "object_to_gripper_z": -0.005581272952665639,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1899477902570885,
+              0.21078707433162847,
+              1.0468717443259936
+            ],
+            "finger_b": [
+              0.17894738426710954,
+              0.23493263746240642,
+              1.0468717443259936
+            ],
+            "finger_midpoint": [
+              0.18444758726209903,
+              0.22285985589701746,
+              1.0468717443259936
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055002029949894615,
+              0.012072781565388963,
+              0.0
+            ],
+            "finger_gap": 0.02653332151930377,
+            "fingertip_max_gap": 0.09275720481991853,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013266660759651865,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468717443259936,
+            "object_top_z": 1.09744140678409,
+            "finger_top_clearance": 0.050569662458096465,
+            "fingertip_min_top_clearance": 0.015170898737428922,
+            "object_projection_between_fingers": 0.8281165000045486,
+            "object_to_finger_line_xy": 0.010010469179366963,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04887860240995927,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3387760431064708,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18937338808677437,
+              0.23595865881998987,
+              1.2395860010839617
+            ],
+            "held_position": [
+              0.19391388681087263,
+              0.24009331724669586,
+              1.2338647994087482
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008393073190288201,
+            "max_held_gripper_dist": 0.008406869785440215,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005721201675213505,
+            "max_held_gripper_z_dist": 0.005765218600839228,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08632189910746796,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19391388681087263,
+              0.21535541307249273,
+              1.2338647994087482
+            ],
+            "held_grasp_finger_b": [
+              0.18438917898487636,
+              0.24009331724669586,
+              1.2338647994087482
+            ],
+            "held_grasp_midpoint": [
+              0.1891515328978745,
+              0.2277243651595943,
+              1.2338647994087482
+            ],
+            "held_grasp_object_position": [
+              0.19391388681087263,
+              0.24009331724669586,
+              1.2338647994087482
+            ],
+            "held_grasp_finger_gap": 0.026508186699633965,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02444407398264116,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.029216921805957807,
+              -0.9993715090948789,
+              0.020073821001715172
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004406018559432487,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03721993043499775,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2984238794826121,
+              -0.36579431409375773,
+              0.8515395778557291
+            ],
+            "target_position": [
+              0.2923235154707389,
+              -0.36718908240855463,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006257780735158352,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18525875143086099,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395778557291,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542340102537624,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08603376707734921,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15362005769589127,
+            "release_required_pad_clearance": 0.053016883538674606,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.066049950400661,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00815969705581665,
+            "max_z_decrease": 0.00815969705581665,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507640276279361,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00815969705581665,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021000827623567624,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00815969705581665,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008159771140868957,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14802344143390656,
+              -0.4234505295753479,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14802344143390656,
+              -0.4234505295753479,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.149671357088512,
+              -0.424404262760905,
+              0.8036742743357094
+            ],
+            "closest_button": [
+              0.14804741740226746,
+              -0.4234253466129303,
+              0.768649160861969
+            ],
+            "closest_ee_minus_button": [
+              0.001623939686244552,
+              -0.0009789161479746844,
+              0.03502511347374038
+            ],
+            "button_min_z_position": [
+              0.14804741740226746,
+              -0.4234253466129303,
+              0.768649160861969
+            ],
+            "min_active_finger_to_button": 0.1439964431861463,
+            "closest_active_finger": [
+              0.009064063429832458,
+              -0.40744727849960327,
+              0.810428261756897
+            ],
+            "closest_active_finger_button": [
+              0.14802248775959015,
+              -0.42345190048217773,
+              0.7762320041656494
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1389584243297577,
+              0.016004621982574463,
+              0.03419625759124756
+            ],
+            "min_contact_pad_to_button": 0.021000827623567624,
+            "closest_contact_pad": [
+              0.14804741740226746,
+              -0.42565844063018343,
+              0.7895309244844437
+            ],
+            "closest_contact_pad_button": [
+              0.14804741740226746,
+              -0.4234253466129303,
+              0.768649160861969
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022330940172531344,
+              0.020881763622474736
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 133,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "332e9b77122497f878f3e2a94a333acdeb682fc772328bd2efad73cb89eb71d7",
+    "visual_seed": 8750147670784023441,
+    "episode_index": 133,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_134_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_134_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ef7ffbf2fc0ab2cc82277d7ed85d7b7ec0688a8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_134_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 134,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19188296498187163,
+              0.23710046603229223,
+              1.0470509719306063
+            ],
+            "current_z": 1.0470509719306063,
+            "required_z": 0.8611070444565693,
+            "initial_z": 0.7611070444565693,
+            "lift_margin": 0.18594392747403699,
+            "gripper_z": 1.052786505084774,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18707271214069313,
+              0.23241457866546483,
+              1.052786505084774
+            ],
+            "object_minus_gripper": [
+              0.004810252841178503,
+              0.0046858873668274015,
+              -0.005735533154167749
+            ],
+            "object_to_gripper_xy": 0.00671536095907424,
+            "object_to_gripper_z": -0.005735533154167749,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19188296498187163,
+              0.21273744828180807,
+              1.0470509719306063
+            ],
+            "finger_b": [
+              0.18041578618732418,
+              0.23710046603229223,
+              1.0470509719306063
+            ],
+            "finger_midpoint": [
+              0.1861493755845979,
+              0.22491895715705015,
+              1.0470509719306063
+            ],
+            "object_minus_finger_midpoint": [
+              0.005733589397273725,
+              0.01218150887524208,
+              0.0
+            ],
+            "finger_gap": 0.02692680492402552,
+            "fingertip_max_gap": 0.09384636629517973,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01346340246201276,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470509719306063,
+            "object_top_z": 1.0984565342673622,
+            "finger_top_clearance": 0.05140556233675597,
+            "fingertip_min_top_clearance": 0.015421668701026807,
+            "object_projection_between_fingers": 0.8186391594387635,
+            "object_to_finger_line_xy": 0.010375352044470073,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049423183147589866,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4877447151003325,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19103169837629708,
+              0.2375272932085301,
+              1.2400309651309218
+            ],
+            "held_position": [
+              0.19602772948044353,
+              0.2418595520440764,
+              1.2341509845617997
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008848896253489525,
+            "max_held_gripper_dist": 0.0088614767091987,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00587998056912209,
+            "max_held_gripper_z_dist": 0.005927686750548444,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649396138142201,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19602772948044353,
+              0.21686100127417476,
+              1.2341509845617997
+            ],
+            "held_grasp_finger_b": [
+              0.18613047318709017,
+              0.2418595520440764,
+              1.2341509845617997
+            ],
+            "held_grasp_midpoint": [
+              0.19107910133376685,
+              0.22936027665912556,
+              1.2341509845617997
+            ],
+            "held_grasp_object_position": [
+              0.19602772948044353,
+              0.2418595520440764,
+              1.2341509845617997
+            ],
+            "held_grasp_finger_gap": 0.02688648773513699,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024598922383698076,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.037418721671924664,
+              -0.9988285037834228,
+              0.030683208733896954
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044940934089502255,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03705044619968933,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2944891697550417,
+              -0.3579544298796109,
+              0.8515395648132824
+            ],
+            "target_position": [
+              0.2885818642526497,
+              -0.3593011817558798,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0060588776943279205,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18519712462409404,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395648132824,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574629823044271,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08613353007083817,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15278760708874803,
+            "release_required_pad_clearance": 0.053066765035419086,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1629643795855362,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008063793182373047,
+            "max_z_decrease": 0.008063793182373047,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521219166289035,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008063793182373047,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021125260257583482,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008063793182373047,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00806380150071884,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1442817896604538,
+              -0.415562629699707,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1442817896604538,
+              -0.415562629699707,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14607775928653913,
+              -0.41657943414049126,
+              0.8038961075548803
+            ],
+            "closest_button": [
+              0.14427517354488373,
+              -0.4155531227588653,
+              0.7687450647354126
+            ],
+            "closest_ee_minus_button": [
+              0.0018025857416553992,
+              -0.001026311381625955,
+              0.03515104281946768
+            ],
+            "button_min_z_position": [
+              0.14427517354488373,
+              -0.4155531227588653,
+              0.7687450647354126
+            ],
+            "min_active_finger_to_button": 0.14383370817470797,
+            "closest_active_finger": [
+              0.005411095917224884,
+              -0.40030014514923096,
+              0.8104342222213745
+            ],
+            "closest_active_finger_button": [
+              0.1442809104919434,
+              -0.4155634343624114,
+              0.7762239575386047
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1388698145747185,
+              0.015263289213180431,
+              0.034210264682769775
+            ],
+            "min_contact_pad_to_button": 0.021125260257583482,
+            "closest_contact_pad": [
+              0.14427517354488373,
+              -0.41777406448156684,
+              0.7897532545387964
+            ],
+            "closest_contact_pad_button": [
+              0.14427517354488373,
+              -0.4155531227588653,
+              0.7687450647354126
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022209417227015416,
+              0.021008189803383814
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 134,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0c04112dcea5f01df69166015a81d2aeb42b6de394d7074ce019ba345350bc8e",
+    "visual_seed": 2672311774751212784,
+    "episode_index": 134,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_135_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_135_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..98744991f96bee5a5f7e8c847329468be4b58a4f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_135_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 135,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19806579917127148,
+              0.2295000512423336,
+              1.049426366345803
+            ],
+            "current_z": 1.049426366345803,
+            "required_z": 0.8611068656426344,
+            "initial_z": 0.7611068656426344,
+            "lift_margin": 0.1883195007031686,
+            "gripper_z": 1.0549197815071767,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1932739918414314,
+              0.224722250537488,
+              1.0549197815071767
+            ],
+            "object_minus_gripper": [
+              0.004791807329840081,
+              0.004777800704845597,
+              -0.005493415161373694
+            ],
+            "object_to_gripper_xy": 0.006766741982781094,
+            "object_to_gripper_z": -0.005493415161373694,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19806579917127148,
+              0.20531207412141506,
+              1.049426366345803
+            ],
+            "finger_b": [
+              0.1862675751595605,
+              0.2295000512423336,
+              1.049426366345803
+            ],
+            "finger_midpoint": [
+              0.192166687165416,
+              0.21740606268187435,
+              1.049426366345803
+            ],
+            "object_minus_finger_midpoint": [
+              0.005899112005855495,
+              0.012093988560459262,
+              0.0
+            ],
+            "finger_gap": 0.026912010832202658,
+            "fingertip_max_gap": 0.09260437480357042,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013456005416101315,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049426366345803,
+            "object_top_z": 1.1001051000497808,
+            "finger_top_clearance": 0.050678733703977796,
+            "fingertip_min_top_clearance": 0.015203620111193354,
+            "object_projection_between_fingers": 0.807805490079965,
+            "object_to_finger_line_xy": 0.01060400778827199,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880218740178521,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1452469662748421,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19737877450852453,
+              0.22993633080310708,
+              1.2430175890743382
+            ],
+            "held_position": [
+              0.20242034643930445,
+              0.2342959014778037,
+              1.2373729708537846
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008734129542015539,
+            "max_held_gripper_dist": 0.00874776482864657,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005644618220553621,
+            "max_held_gripper_z_dist": 0.005695611345547746,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08694168558586671,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20242034643930445,
+              0.20926340160033224,
+              1.2373729708537846
+            ],
+            "held_grasp_finger_b": [
+              0.19250349672912764,
+              0.2342959014778037,
+              1.2373729708537846
+            ],
+            "held_grasp_midpoint": [
+              0.19746192158421605,
+              0.22177965153906798,
+              1.2373729708537846
+            ],
+            "held_grasp_object_position": [
+              0.20242034643930445,
+              0.2342959014778037,
+              1.2373729708537846
+            ],
+            "held_grasp_finger_gap": 0.02692526616934068,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024477351984843198,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0519197849594596,
+              -0.9983914036393615,
+              0.022780278066546034
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004311528864882139,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036966693373245804,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2917995943793358,
+              -0.3603492743804233,
+              0.8515395627452657
+            ],
+            "target_position": [
+              0.28498046936617144,
+              -0.36222131487226067,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007071421465889461,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18317583511121552,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395627452657,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553690131562484,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08535653689294413,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15142749392338878,
+            "release_required_pad_clearance": 0.05267826844647207,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.41306762880438885,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008001327514648438,
+            "max_z_decrease": 0.008001327514648438,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514070798393799,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008001327514648438,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02116752449200978,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008001327514648438,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00800135030704318,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14068040251731873,
+              -0.41848278045654297,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14068040251731873,
+              -0.41848278045654297,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14055866369250258,
+              -0.4198342620474847,
+              0.8081113780585945
+            ],
+            "closest_button": [
+              0.14067372679710385,
+              -0.4184831380844116,
+              0.7729968428611755
+            ],
+            "closest_ee_minus_button": [
+              -0.00011506310460127067,
+              -0.0013511239630730754,
+              0.03511453519741892
+            ],
+            "button_min_z_position": [
+              0.14066156744956967,
+              -0.4184796214103698,
+              0.7688075304031372
+            ],
+            "min_active_finger_to_button": 0.14616875951814876,
+            "closest_active_finger": [
+              -0.0007803887128829956,
+              -0.40518635511398315,
+              0.8106231093406677
+            ],
+            "closest_active_finger_button": [
+              0.14068002998828888,
+              -0.4184827804565429,
+              0.7763089537620544
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14146041870117188,
+              0.013296425342559759,
+              0.03431415557861328
+            ],
+            "min_contact_pad_to_button": 0.02116752449200978,
+            "closest_contact_pad": [
+              0.14066156744956967,
+              -0.42081778173301837,
+              0.7898455222137979
+            ],
+            "closest_contact_pad_button": [
+              0.14066156744956967,
+              -0.4184796214103698,
+              0.7688075304031372
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023381603226485526,
+              0.021037991810660683
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 135,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e89d13b49979dcaacced32ded4287bee88dd4dc744fc6579a1cafc3c20771971",
+    "visual_seed": 5909519771123387201,
+    "episode_index": 135,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_137_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_137_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87cd294c7b56bf996325f445ebfb9b1bc4f3bf19
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_137_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 137,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19202090837276825,
+              0.2292955221338234,
+              1.0484430552383723
+            ],
+            "current_z": 1.0484430552383723,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.1873365472236065,
+            "gripper_z": 1.054114187847112,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18736914002697413,
+              0.2246788206610829,
+              1.054114187847112
+            ],
+            "object_minus_gripper": [
+              0.004651768345794116,
+              0.0046167014727404865,
+              -0.0056711326087397484
+            ],
+            "object_to_gripper_xy": 0.006553844767107038,
+            "object_to_gripper_z": -0.0056711326087397484,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19202090837276825,
+              0.20506227741538496,
+              1.0484430552383723
+            ],
+            "finger_b": [
+              0.1806307645072992,
+              0.2292955221338234,
+              1.0484430552383723
+            ],
+            "finger_midpoint": [
+              0.18632583644003373,
+              0.2171788997746042,
+              1.0484430552383723
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056950719327345245,
+              0.012116622359219203,
+              0.0
+            ],
+            "finger_gap": 0.026776585421965336,
+            "fingertip_max_gap": 0.09201791619266739,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013388292710982656,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0484430552383723,
+            "object_top_z": 1.0988856479927676,
+            "finger_top_clearance": 0.05044259275439522,
+            "fingertip_min_top_clearance": 0.015132777826318533,
+            "object_projection_between_fingers": 0.8190543987069218,
+            "object_to_finger_line_xy": 0.010308265199628748,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048508958096333696,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9490227061432125,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1914918613929005,
+              0.2298847121958501,
+              1.2444870031163684
+            ],
+            "held_position": [
+              0.19637360900442746,
+              0.2341321146134049,
+              1.2387069890987603
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008676430664913165,
+            "max_held_gripper_dist": 0.008688523855126392,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005780014017608082,
+            "max_held_gripper_z_dist": 0.005823966421830695,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08654535139573424,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19637360900442746,
+              0.20920849260290503,
+              1.2387069890987603
+            ],
+            "held_grasp_finger_b": [
+              0.1865547618061394,
+              0.2341321146134049,
+              1.2387069890987603
+            ],
+            "held_grasp_midpoint": [
+              0.19146418540528343,
+              0.22167030360815498,
+              1.2387069890987603
+            ],
+            "held_grasp_object_position": [
+              0.19637360900442746,
+              0.2341321146134049,
+              1.2387069890987603
+            ],
+            "held_grasp_finger_gap": 0.026787995341675044,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02444319094295615,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.045708625714060154,
+              -0.9987311211829358,
+              0.0211392789850503
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004342821647936425,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03704984858708689,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2961196146546131,
+              -0.36589031959072627,
+              0.851539555627994
+            ],
+            "target_position": [
+              0.2899775666011037,
+              -0.36717088001108505,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006274120598283752,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18479805987118178,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539555627994,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557790017318153,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08590332612684103,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527699195144618,
+            "release_required_pad_clearance": 0.052951663063420515,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9396117654710698,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008044958114624023,
+            "max_z_decrease": 0.008044958114624023,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035261073083774526,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008044958114624023,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210308051838054,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008044958114624023,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00804497310282313,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14567749202251434,
+              -0.4234323501586914,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14567749202251434,
+              -0.4234323501586914,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14802658010031847,
+              -0.42177211110898016,
+              0.8082392679504302
+            ],
+            "closest_button": [
+              0.14566741883754733,
+              -0.42343452572822576,
+              0.77309650182724
+            ],
+            "closest_ee_minus_button": [
+              0.0023591612627711367,
+              0.0016624146192456002,
+              0.03514276612319023
+            ],
+            "button_min_z_position": [
+              0.14566291868686676,
+              -0.4234269857406616,
+              0.7687638998031616
+            ],
+            "min_active_finger_to_button": 0.14337193008899854,
+            "closest_active_finger": [
+              0.02076812833547592,
+              -0.48497700691223145,
+              0.810604453086853
+            ],
+            "closest_active_finger_button": [
+              0.14567649364471436,
+              -0.42343300580978394,
+              0.7764614224433899
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12490836530923843,
+              -0.06154400110244751,
+              0.034143030643463135
+            ],
+            "min_contact_pad_to_button": 0.0210308051838054,
+            "closest_contact_pad": [
+              0.14566291868686676,
+              -0.4234269857406616,
+              0.789794704986967
+            ],
+            "closest_contact_pad_button": [
+              0.14566291868686676,
+              -0.4234269857406616,
+              0.7687638998031616
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0210308051838054
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 137,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4f17c1fd6ba1f48d5ab3ddb714a62504c6a32c8991eeb7a12cf7ba810281fdf2",
+    "visual_seed": 8951637058437210447,
+    "episode_index": 137,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_138_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_138_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4d2e04d9480b1df54854bee978a65f5fc5401b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_138_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 138,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19489456005202518,
+              0.2300793914478501,
+              1.0480668021921935
+            ],
+            "current_z": 1.0480668021921935,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.1869601749681381,
+            "gripper_z": 1.0538287075086428,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1904830095206356,
+              0.22553301142649307,
+              1.0538287075086428
+            ],
+            "object_minus_gripper": [
+              0.004411550531389585,
+              0.004546380021357044,
+              -0.005761905316449267
+            ],
+            "object_to_gripper_xy": 0.006334930890672621,
+            "object_to_gripper_z": -0.005761905316449267,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19489456005202518,
+              0.20611758498771493,
+              1.0480668021921935
+            ],
+            "finger_b": [
+              0.18347471859440084,
+              0.2300793914478501,
+              1.0480668021921935
+            ],
+            "finger_midpoint": [
+              0.189184639323213,
+              0.21809848821778252,
+              1.0480668021921935
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057099207288121845,
+              0.011980903230067591,
+              0.0
+            ],
+            "finger_gap": 0.02654394371132993,
+            "fingertip_max_gap": 0.09443450662416747,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013271971855664972,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480668021921935,
+            "object_top_z": 1.099902589048734,
+            "finger_top_clearance": 0.051835786856540444,
+            "fingertip_min_top_clearance": 0.015550736056962132,
+            "object_projection_between_fingers": 0.8149073157120023,
+            "object_to_finger_line_xy": 0.010308944058535765,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04971725331208374,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6574802243993005,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19459984419487128,
+              0.23057672698927106,
+              1.243792783531987
+            ],
+            "held_position": [
+              0.19928895025402707,
+              0.2347274164587556,
+              1.2379267736836344
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008580560019431869,
+            "max_held_gripper_dist": 0.008596623943389756,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005866009848352727,
+            "max_held_gripper_z_dist": 0.005909306680803805,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0870053166109867,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19928895025402707,
+              0.20988725661117394,
+              1.2379267736836344
+            ],
+            "held_grasp_finger_b": [
+              0.18967791039234538,
+              0.2347274164587556,
+              1.2379267736836344
+            ],
+            "held_grasp_midpoint": [
+              0.1944834303231862,
+              0.22230733653496476,
+              1.2379267736836344
+            ],
+            "held_grasp_object_position": [
+              0.19928895025402707,
+              0.2347274164587556,
+              1.2379267736836344
+            ],
+            "held_grasp_finger_gap": 0.026634669670867764,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02428012864865961,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.052963714210584635,
+              -0.9979470812291741,
+              0.036006500013076585
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004165532232704119,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037071149377264606,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2941970534863715,
+              -0.3622483467595593,
+              0.8515395910905609
+            ],
+            "target_position": [
+              0.2895146798983181,
+              -0.3628874512892806,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004725788507541402,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18143879842533725,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395910905609,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580009623908601,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08612317816258606,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14877220997847673,
+            "release_required_pad_clearance": 0.053061589081293034,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1528249149551357,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008104801177978516,
+            "max_z_decrease": 0.008104801177978516,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514779046289837,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008104801177978516,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020958314211115603,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008104801177978516,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008104821181690975,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1452146023511886,
+              -0.41914892196655273,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1452146023511886,
+              -0.41914892196655273,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14591151593593,
+              -0.41742013213668927,
+              0.8038033225223062
+            ],
+            "closest_button": [
+              0.14522425830364227,
+              -0.419133722782135,
+              0.7687040567398071
+            ],
+            "closest_ee_minus_button": [
+              0.0006872576322877189,
+              0.0017135906454457395,
+              0.03509926578249911
+            ],
+            "button_min_z_position": [
+              0.14522425830364227,
+              -0.419133722782135,
+              0.7687040567398071
+            ],
+            "min_active_finger_to_button": 0.14441193503009023,
+            "closest_active_finger": [
+              0.018941745162010193,
+              -0.48033660650253296,
+              0.8108739852905273
+            ],
+            "closest_active_finger_button": [
+              0.14521794021129608,
+              -0.41914746165275574,
+              0.776741623878479
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1262761950492859,
+              -0.06118914484977722,
+              0.03413236141204834
+            ],
+            "min_contact_pad_to_button": 0.020958314211115603,
+            "closest_contact_pad": [
+              0.14522425830364227,
+              -0.419133722782135,
+              0.7896623709509227
+            ],
+            "closest_contact_pad_button": [
+              0.14522425830364227,
+              -0.419133722782135,
+              0.7687040567398071
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020958314211115603
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 138,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bd3fc3d657ea740d503b3427f1fe3d4c87b4f4266ff60b6501af58e145152ec1",
+    "visual_seed": 5553222139425273688,
+    "episode_index": 138,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_139_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_139_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..33fcc126693aace73a0f0e6314746c354050ca15
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_139_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 139,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1987821092941468,
+              0.23385714396666515,
+              1.0493680175496913
+            ],
+            "current_z": 1.0493680175496913,
+            "required_z": 0.8611071040612139,
+            "initial_z": 0.761107104061214,
+            "lift_margin": 0.1882609134884774,
+            "gripper_z": 1.0548928970539242,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19394356297331056,
+              0.22914261444125106,
+              1.0548928970539242
+            ],
+            "object_minus_gripper": [
+              0.004838546320836246,
+              0.004714529525414096,
+              -0.00552487950423286
+            ],
+            "object_to_gripper_xy": 0.006755613898446183,
+            "object_to_gripper_z": -0.00552487950423286,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1987821092941468,
+              0.2094930486653553,
+              1.0493680175496913
+            ],
+            "finger_b": [
+              0.18725205969464012,
+              0.23385714396666515,
+              1.0493680175496913
+            ],
+            "finger_midpoint": [
+              0.19301708449439348,
+              0.22167509631601023,
+              1.0493680175496913
+            ],
+            "object_minus_finger_midpoint": [
+              0.005765024799753327,
+              0.01218204765065492,
+              0.0
+            ],
+            "finger_gap": 0.026954613401389983,
+            "fingertip_max_gap": 0.09347612682663639,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013477306700694984,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493680175496913,
+            "object_top_z": 1.1004896941312317,
+            "finger_top_clearance": 0.05112167658154032,
+            "fingertip_min_top_clearance": 0.015336502974462112,
+            "object_projection_between_fingers": 0.8170231543702094,
+            "object_to_finger_line_xy": 0.010421934942562532,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0492380634133182,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.407560489575012,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19806466643449938,
+              0.23412745238352556,
+              1.24306306477186
+            ],
+            "held_position": [
+              0.20310779105097526,
+              0.23847186048970612,
+              1.2373953916887537
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00874239703212564,
+            "max_held_gripper_dist": 0.008756484650740436,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005667673083106228,
+            "max_held_gripper_z_dist": 0.0057198721690725485,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08704865673181497,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20310779105097526,
+              0.21342583871681972,
+              1.2373953916887537
+            ],
+            "held_grasp_finger_b": [
+              0.19321545420558092,
+              0.23847186048970612,
+              1.2373953916887537
+            ],
+            "held_grasp_midpoint": [
+              0.19816162262827808,
+              0.22594884960326292,
+              1.2373953916887537
+            ],
+            "held_grasp_object_position": [
+              0.20310779105097526,
+              0.23847186048970612,
+              1.2373953916887537
+            ],
+            "held_grasp_finger_gap": 0.02692882349659275,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024626273863125103,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03950663033670108,
+              -0.998844726116325,
+              0.027357618117138882
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004460946372009933,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037016300243615394,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2976351431944236,
+              -0.3667267541110657,
+              0.8515395974809342
+            ],
+            "target_position": [
+              0.29181244013128643,
+              -0.3679617434512135,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005952232323401486,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18138634503331727,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395974809342,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07590612997933621,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08634850385660663,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14877617102951082,
+            "release_required_pad_clearance": 0.053174251928303315,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3722811127327994,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008075356483459473,
+            "max_z_decrease": 0.008075356483459473,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513908572902752,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008075356483459473,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021076924058842053,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008075356483459473,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008075366385751915,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14751236140727994,
+              -0.4242232143878937,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14751236140727994,
+              -0.4242232143878937,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1463777856925929,
+              -0.425150110966749,
+              0.8038417409458809
+            ],
+            "closest_button": [
+              0.14751103520393372,
+              -0.4242106378078461,
+              0.7687335014343262
+            ],
+            "closest_ee_minus_button": [
+              -0.0011332495113408059,
+              -0.0009394731589028593,
+              0.03510823951155473
+            ],
+            "button_min_z_position": [
+              0.14751103520393372,
+              -0.4242106378078461,
+              0.7687335014343262
+            ],
+            "min_active_finger_to_button": 0.14667904024616796,
+            "closest_active_finger": [
+              0.005796156823635101,
+              -0.4080245792865753,
+              0.8105784058570862
+            ],
+            "closest_active_finger_button": [
+              0.14751185476779935,
+              -0.42422375082969677,
+              0.7763879299163818
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14171569794416425,
+              0.01619917154312145,
+              0.034190475940704346
+            ],
+            "min_contact_pad_to_button": 0.021076924058842053,
+            "closest_contact_pad": [
+              0.14751103520393372,
+              -0.4264166744612143,
+              0.7896946590852335
+            ],
+            "closest_contact_pad_button": [
+              0.14751103520393372,
+              -0.4242106378078461,
+              0.7687335014343262
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0022060366533681597,
+              0.020961157650907336
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 139,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c9be0c67e44ed3af6fdda449ff4aa24e2e8753a8832cc06e26569a5afc2b0894",
+    "visual_seed": 7464650420475622510,
+    "episode_index": 139,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b41fa59836a1c606eb008a4ff8dee022f4bfb82e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19535531025715863,
+              0.23730113012754983,
+              1.049193148602682
+            ],
+            "current_z": 1.049193148602682,
+            "required_z": 0.8611069252472793,
+            "initial_z": 0.7611069252472793,
+            "lift_margin": 0.1880862233554027,
+            "gripper_z": 1.054708090310067,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19079287411791865,
+              0.23268871418421583,
+              1.054708090310067
+            ],
+            "object_minus_gripper": [
+              0.004562436139239984,
+              0.004612415943334003,
+              -0.005514941707384979
+            ],
+            "object_to_gripper_xy": 0.006487696383075024,
+            "object_to_gripper_z": -0.005514941707384979,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19535531025715863,
+              0.21331998337663602,
+              1.049193148602682
+            ],
+            "finger_b": [
+              0.1837290483291511,
+              0.23730113012754983,
+              1.049193148602682
+            ],
+            "finger_midpoint": [
+              0.18954217929315487,
+              0.22531055675209294,
+              1.049193148602682
+            ],
+            "object_minus_finger_midpoint": [
+              0.005813130964003765,
+              0.011990573375456892,
+              0.0
+            ],
+            "finger_gap": 0.026650804226279957,
+            "fingertip_max_gap": 0.09385441286258839,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013325402113139964,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049193148602682,
+            "object_top_z": 1.100648051309883,
+            "finger_top_clearance": 0.0514549027072011,
+            "fingertip_min_top_clearance": 0.015436470812160312,
+            "object_projection_between_fingers": 0.8096908945490652,
+            "object_to_finger_line_xy": 0.010461639021954149,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049427206431294196,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4400606053547218,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1948296798721569,
+              0.2377542582937149,
+              1.2428206741204582
+            ],
+            "held_position": [
+              0.1996418725716634,
+              0.24196579845179356,
+              1.2371706680397114
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008533278255908909,
+            "max_held_gripper_dist": 0.008549163236174254,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005650006080746728,
+            "max_held_gripper_z_dist": 0.005701220810773178,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0852891620073587,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1996418725716634,
+              0.21709915157418752,
+              1.2371706680397114
+            ],
+            "held_grasp_finger_b": [
+              0.18990499603393832,
+              0.24196579845179356,
+              1.2371706680397114
+            ],
+            "held_grasp_midpoint": [
+              0.19477343430280086,
+              0.22953247501299054,
+              1.2371706680397114
+            ],
+            "held_grasp_object_position": [
+              0.1996418725716634,
+              0.24196579845179356,
+              1.2371706680397114
+            ],
+            "held_grasp_finger_gap": 0.026704997503210058,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024307061310452342,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05270796808087198,
+              -0.9981350686474078,
+              0.03079374671943224
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004224083251410214,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03705350843711108,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29582303633416807,
+              -0.36080495287659886,
+              0.8515395943975831
+            ],
+            "target_position": [
+              0.29016145387409037,
+              -0.3619110138419586,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005768612208439044,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18460541469606664,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395943975831,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547908428089951,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551649345540206,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15280158025143,
+            "release_required_pad_clearance": 0.05275824672770103,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.56648060784937,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008085012435913086,
+            "max_z_decrease": 0.008085012435913086,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511857438097293,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008085012435913086,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021109882513968562,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008085012435913086,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008085022205195642,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1458613872528076,
+              -0.41817247867584223,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1458613872528076,
+              -0.41817247867584223,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14488365885996485,
+              -0.41963411363393666,
+              0.803797747807755
+            ],
+            "closest_button": [
+              0.14586594700813293,
+              -0.41816076636314387,
+              0.7687238454818726
+            ],
+            "closest_ee_minus_button": [
+              -0.0009822881481680867,
+              -0.0014733472707927908,
+              0.03507390232588248
+            ],
+            "button_min_z_position": [
+              0.14586594700813293,
+              -0.41816076636314387,
+              0.7687238454818726
+            ],
+            "min_active_finger_to_button": 0.1464375183167352,
+            "closest_active_finger": [
+              0.004408113658428192,
+              -0.40185606479644775,
+              0.8109382390975952
+            ],
+            "closest_active_finger_button": [
+              0.14586402475833893,
+              -0.418172389268875,
+              0.7767629623413086
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14145591109991074,
+              0.016316324472427257,
+              0.03417527675628662
+            ],
+            "min_contact_pad_to_button": 0.021109882513968562,
+            "closest_contact_pad": [
+              0.14586594700813293,
+              -0.4209601474735708,
+              0.7896472917838597
+            ],
+            "closest_contact_pad_button": [
+              0.14586594700813293,
+              -0.41816076636314387,
+              0.7687238454818726
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002799381110426935,
+              0.02092344630198717
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4b0dfd60481de4b5a88aba565fd725a2d1842646b4f098dd99f430f6b572c91",
+    "visual_seed": 1826423310404763467,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_142_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_142_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa477ff8afe671b2d0fe3fdb4023e52c5fdb22b6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_142_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 142,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19219603078475356,
+              0.23051728329286303,
+              1.047888226346998
+            ],
+            "current_z": 1.047888226346998,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.18678147991365313,
+            "gripper_z": 1.0536499788253055,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18757674096040008,
+              0.22586246682106625,
+              1.0536499788253055
+            ],
+            "object_minus_gripper": [
+              0.004619289824353473,
+              0.004654816471796774,
+              -0.005761752478307569
+            ],
+            "object_to_gripper_xy": 0.006557831567483729,
+            "object_to_gripper_z": -0.005761752478307569,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19219603078475356,
+              0.2064038593562403,
+              1.047888226346998
+            ],
+            "finger_b": [
+              0.1806323621763925,
+              0.23051728329286303,
+              1.047888226346998
+            ],
+            "finger_midpoint": [
+              0.18641419648057303,
+              0.21846057132455166,
+              1.047888226346998
+            ],
+            "object_minus_finger_midpoint": [
+              0.005781834304180528,
+              0.012056711968311373,
+              0.0
+            ],
+            "finger_gap": 0.02674276809964302,
+            "fingertip_max_gap": 0.09203443557979135,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013371384049821522,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047888226346998,
+            "object_top_z": 1.098202569079042,
+            "finger_top_clearance": 0.05031434273204405,
+            "fingertip_min_top_clearance": 0.01509430281961323,
+            "object_projection_between_fingers": 0.8130271458475605,
+            "object_to_finger_line_xy": 0.010426730784826588,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04851721778989568,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0710493381529798,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19153644400294925,
+              0.23124250496197413,
+              1.2437474914853568
+            ],
+            "held_position": [
+              0.19640142708788172,
+              0.235516972469906,
+              1.2378802950575656
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00873859982007016,
+            "max_held_gripper_dist": 0.00875156766824257,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00586719642779121,
+            "max_held_gripper_z_dist": 0.00591950493283,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08518336132130772,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19640142708788172,
+              0.21063494023005142,
+              1.2378802950575656
+            ],
+            "held_grasp_finger_b": [
+              0.18649034668543402,
+              0.235516972469906,
+              1.2378802950575656
+            ],
+            "held_grasp_midpoint": [
+              0.19144588688665787,
+              0.2230759563499787,
+              1.2378802950575656
+            ],
+            "held_grasp_object_position": [
+              0.19640142708788172,
+              0.235516972469906,
+              1.2378802950575656
+            ],
+            "held_grasp_finger_gap": 0.026783297838932112,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024393370636682645,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04619697719132576,
+              -0.9987621731383609,
+              0.018438026096167626
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004381631440637568,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037065702796460466,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2886096673773242,
+              -0.36448815383771505,
+              0.8515395562957594
+            ],
+            "target_position": [
+              0.2830990814656706,
+              -0.36575886787930095,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005655198605283347,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18328159682583253,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395562957594,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752325459395059,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08500709092296725,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15214129698009207,
+            "release_required_pad_clearance": 0.05250354546148363,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.07912926082958921,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008070170879364014,
+            "max_z_decrease": 0.008070170879364014,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035184144401182546,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008070170879364014,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021020273141614598,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008070170879364014,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008070181833008729,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13879901170730585,
+              -0.42202031612396235,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13879901170730585,
+              -0.42202031612396235,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1405663841304285,
+              -0.42143356891574596,
+              0.8038733571067496
+            ],
+            "closest_button": [
+              0.13879214227199552,
+              -0.42200893163681025,
+              0.7687386870384216
+            ],
+            "closest_ee_minus_button": [
+              0.0017742418584329733,
+              0.0005753627210642875,
+              0.03513467006832793
+            ],
+            "button_min_z_position": [
+              0.13879214227199552,
+              -0.42200893163681025,
+              0.7687386870384216
+            ],
+            "min_active_finger_to_button": 0.14401198651498737,
+            "closest_active_finger": [
+              0.013916723430156708,
+              -0.48505449295043945,
+              0.8104526996612549
+            ],
+            "closest_active_finger_button": [
+              0.13879805803298947,
+              -0.4220201373100281,
+              0.7762361168861389
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12488133460283277,
+              -0.06303435564041138,
+              0.03421658277511597
+            ],
+            "min_contact_pad_to_button": 0.021020273141614598,
+            "closest_contact_pad": [
+              0.13879214227199552,
+              -0.42255190842189116,
+              0.7897519461659094
+            ],
+            "closest_contact_pad_button": [
+              0.13879214227199552,
+              -0.42200893163681025,
+              0.7687386870384216
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005429767850809175,
+              0.02101325912748775
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 142,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8daf17c5c7848b239a0f44c48d75c9e2fb04f6b334fef8d50eab6ffa65dacdb0",
+    "visual_seed": 2786385338004551794,
+    "episode_index": 142,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_143_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_143_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..290455d0a1a975b3e26a0ca1a65ad23e9f3a4713
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_143_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 143,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19442097503868658,
+              0.23259995193010927,
+              1.0495812908904063
+            ],
+            "current_z": 1.0495812908904063,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18847460406170624,
+            "gripper_z": 1.0552151707246809,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1896988185798618,
+              0.2278830916311002,
+              1.0552151707246809
+            ],
+            "object_minus_gripper": [
+              0.004722156458824789,
+              0.004716860299009057,
+              -0.005633879834274547
+            ],
+            "object_to_gripper_xy": 0.006674393807829178,
+            "object_to_gripper_z": -0.005633879834274547,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19442097503868658,
+              0.20850534602768186,
+              1.0495812908904063
+            ],
+            "finger_b": [
+              0.18264730052289763,
+              0.23259995193010927,
+              1.0495812908904063
+            ],
+            "finger_midpoint": [
+              0.1885341377807921,
+              0.22055264897889557,
+              1.0495812908904063
+            ],
+            "object_minus_finger_midpoint": [
+              0.005886837257894489,
+              0.012047302951213701,
+              0.0
+            ],
+            "finger_gap": 0.026817334789218477,
+            "fingertip_max_gap": 0.09227698771373347,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013408667394609244,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495812908904063,
+            "object_top_z": 1.1001157106905253,
+            "finger_top_clearance": 0.05053441980011897,
+            "fingertip_min_top_clearance": 0.015160325940035673,
+            "object_projection_between_fingers": 0.8072506937975358,
+            "object_to_finger_line_xy": 0.0105783087585362,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048638493856866735,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9978465519252817,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19377987368548177,
+              0.23290118801285636,
+              1.243565512547353
+            ],
+            "held_position": [
+              0.19876547302521894,
+              0.23719360988244975,
+              1.2378006000529664
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008747302575702177,
+            "max_held_gripper_dist": 0.008761209754464629,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005764912494386598,
+            "max_held_gripper_z_dist": 0.005812739908281683,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655056941426167,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19876547302521894,
+              0.21222814231742898,
+              1.2378006000529664
+            ],
+            "held_grasp_finger_b": [
+              0.18887010201048038,
+              0.23719360988244975,
+              1.2378006000529664
+            ],
+            "held_grasp_midpoint": [
+              0.19381778751784967,
+              0.22471087609993937,
+              1.2378006000529664
+            ],
+            "held_grasp_object_position": [
+              0.19876547302521894,
+              0.23719360988244975,
+              1.2378006000529664
+            ],
+            "held_grasp_finger_gap": 0.026855035622010113,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024371592140250028,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05555586829445225,
+              -0.9982323785510423,
+              0.021110753429907758
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004254903589739379,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03698470807115049,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2899931401963617,
+              -0.3622017042934772,
+              0.8515395778290992
+            ],
+            "target_position": [
+              0.2834097692847672,
+              -0.3638686209861886,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006791125372135941,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851370310174253,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395778290992,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574131428773302,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569578006878885,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15271091415235388,
+            "release_required_pad_clearance": 0.052847890034394426,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7391305346599704,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00781923532485962,
+            "max_z_decrease": 0.00781923532485962,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512974577336814,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00781923532485962,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107001487519288,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00781923532485962,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007819256415168119,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1391097009181976,
+              -0.4201300740242004,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1391097009181976,
+              -0.4201300740242004,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13770390436806668,
+              -0.42046314846354105,
+              0.8082393394079529
+            ],
+            "closest_button": [
+              0.1391031742095947,
+              -0.42012932896614075,
+              0.7731390595436096
+            ],
+            "closest_ee_minus_button": [
+              -0.0013992698415280225,
+              -0.0003338194974003006,
+              0.035100279864343276
+            ],
+            "button_min_z_position": [
+              0.13909193873405454,
+              -0.42012628912925715,
+              0.768989622592926
+            ],
+            "min_active_finger_to_button": 0.14750850808280827,
+            "closest_active_finger": [
+              -0.003599323332309723,
+              -0.40545397996902466,
+              0.8107877969741821
+            ],
+            "closest_active_finger_button": [
+              0.13910938799381253,
+              -0.42013075947761536,
+              0.7764719724655151
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14270871132612226,
+              0.014676779508590698,
+              0.03431582450866699
+            ],
+            "min_contact_pad_to_button": 0.02107001487519288,
+            "closest_contact_pad": [
+              0.13909193873405454,
+              -0.42150765765480186,
+              0.7900143068435274
+            ],
+            "closest_contact_pad_button": [
+              0.13909193873405454,
+              -0.42012628912925715,
+              0.768989622592926
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013813685255447128,
+              0.021024684250601333
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 143,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a485e8fc2dc849459b74ed727a3fa16257b4cf49b8f4530cdcc8e5dd4fa2080f",
+    "visual_seed": 5031870087759729872,
+    "episode_index": 143,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..994005d2d8256fa4188d4aec9bdc85e81f2b8242
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19605825473211502,
+              0.234879425184482,
+              1.0488155290405166
+            ],
+            "current_z": 1.0488155290405166,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.18770890181646083,
+            "gripper_z": 1.0543809448244355,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19137905568092198,
+              0.23015434251508582,
+              1.0543809448244355
+            ],
+            "object_minus_gripper": [
+              0.004679199051193045,
+              0.004725082669396169,
+              -0.005565415783918892
+            ],
+            "object_to_gripper_xy": 0.006649910525211141,
+            "object_to_gripper_z": -0.005565415783918892,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19605825473211502,
+              0.21077864484943817,
+              1.0488155290405166
+            ],
+            "finger_b": [
+              0.1843207655064119,
+              0.234879425184482,
+              1.0488155290405166
+            ],
+            "finger_midpoint": [
+              0.19018951011926347,
+              0.22282903501696008,
+              1.0488155290405166
+            ],
+            "object_minus_finger_midpoint": [
+              0.005868744612851556,
+              0.012050390167521907,
+              0.0
+            ],
+            "finger_gap": 0.026807018970440025,
+            "fingertip_max_gap": 0.09289446621606293,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013403509485220013,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488155290405166,
+            "object_top_z": 1.0997663464324696,
+            "finger_top_clearance": 0.05095081739195306,
+            "fingertip_min_top_clearance": 0.015285245217585935,
+            "object_projection_between_fingers": 0.8082862024892351,
+            "object_to_finger_line_xy": 0.010552559007980236,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048947233108031465,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.202386001919089,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19557139089388798,
+              0.23502892524042446,
+              1.2440844080787627
+            ],
+            "held_position": [
+              0.20052772891435278,
+              0.23932095236770184,
+              1.238394290859382
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008681256671973493,
+            "max_held_gripper_dist": 0.008697995416337066,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005690117219380841,
+            "max_held_gripper_z_dist": 0.00574126068039571,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08657564509588064,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20052772891435278,
+              0.21431975096370237,
+              1.238394290859382
+            ],
+            "held_grasp_finger_b": [
+              0.19069953327943423,
+              0.23932095236770184,
+              1.238394290859382
+            ],
+            "held_grasp_midpoint": [
+              0.1956136310968935,
+              0.2268203516657021,
+              1.238394290859382
+            ],
+            "held_grasp_object_position": [
+              0.20052772891435278,
+              0.23932095236770184,
+              1.238394290859382
+            ],
+            "held_grasp_finger_gap": 0.026863609234084262,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02439089876373806,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.057013812830862376,
+              -0.9980017066756209,
+              0.027240018704756785
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004207509758642867,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696445778183169,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29015890482268136,
+              -0.3577807248631991,
+              0.8515395887101137
+            ],
+            "target_position": [
+              0.2848086634333843,
+              -0.3588311856504894,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005452389456869524,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1819733211279088,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395887101137,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538498966866895,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08522309309057684,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1504271721164001,
+            "release_required_pad_clearance": 0.05261154654528842,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2853050469170606,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008076786994934082,
+            "max_z_decrease": 0.008076786994934082,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035112135419224935,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008076786994934082,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021073332051336668,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008076786994934082,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008076799704680632,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14050859212875366,
+              -0.415092647075653,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14050859212875366,
+              -0.415092647075653,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13958075264288977,
+              -0.41589133443392406,
+              0.8038224617830746
+            ],
+            "closest_button": [
+              0.1405113190412521,
+              -0.41507858037948603,
+              0.7687320709228516
+            ],
+            "closest_ee_minus_button": [
+              -0.0009305663983623369,
+              -0.0008127540544380363,
+              0.03509039086022303
+            ],
+            "button_min_z_position": [
+              0.1405113190412521,
+              -0.41507858037948603,
+              0.7687320709228516
+            ],
+            "min_active_finger_to_button": 0.14656405318566662,
+            "closest_active_finger": [
+              -0.0013578236103057861,
+              -0.4018140733242035,
+              0.8108778595924377
+            ],
+            "closest_active_finger_button": [
+              0.14050839841365814,
+              -0.41509294509887695,
+              0.7765461206436157
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14186622202396393,
+              0.013278871774673462,
+              0.03433173894882202
+            ],
+            "min_contact_pad_to_button": 0.021073332051336668,
+            "closest_contact_pad": [
+              0.1405113190412521,
+              -0.41689426286564335,
+              0.7897270374828477
+            ],
+            "closest_contact_pad_button": [
+              0.1405113190412521,
+              -0.41507858037948603,
+              0.7687320709228516
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018156824861573218,
+              0.02099496655999611
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "732ab2d0c92866aca5e73a60e74291f1983c60ad2f5caaebff33cc6baf082681",
+    "visual_seed": 3037802211783653009,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a57e3d6acba2c46d594f541e1eda4bdf8f2746d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19740094430498295,
+              0.2388155903342222,
+              1.0477536036340669
+            ],
+            "current_z": 1.0477536036340669,
+            "required_z": 0.8611069848519243,
+            "initial_z": 0.7611069848519243,
+            "lift_margin": 0.18664661878214261,
+            "gripper_z": 1.0531564532453537,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19272681547828285,
+              0.23422424860004598,
+              1.0531564532453537
+            ],
+            "object_minus_gripper": [
+              0.004674128826700097,
+              0.004591341734176219,
+              -0.005402849611286786
+            ],
+            "object_to_gripper_xy": 0.00655193858400528,
+            "object_to_gripper_z": -0.005402849611286786,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19740094430498295,
+              0.21443647775144603,
+              1.0477536036340669
+            ],
+            "finger_b": [
+              0.18622958256559768,
+              0.2388155903342222,
+              1.0477536036340669
+            ],
+            "finger_midpoint": [
+              0.19181526343529032,
+              0.2266260340428341,
+              1.0477536036340669
+            ],
+            "object_minus_finger_midpoint": [
+              0.005585680869692633,
+              0.012189556291388098,
+              0.0
+            ],
+            "finger_gap": 0.0268167942423377,
+            "fingertip_max_gap": 0.0967335794454508,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013408397121168862,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477536036340669,
+            "object_top_z": 1.100137798680958,
+            "finger_top_clearance": 0.05238419504689107,
+            "fingertip_min_top_clearance": 0.015715258514067354,
+            "object_projection_between_fingers": 0.8264604327069343,
+            "object_to_finger_line_xy": 0.010155870350730276,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0508667897227254,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.526923168749552,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19651582680443577,
+              0.23966457568566554,
+              1.2434920739465758
+            ],
+            "held_position": [
+              0.20136855129797804,
+              0.24397061923113927,
+              1.2379971199836208
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008502085925273602,
+            "max_held_gripper_dist": 0.008515068685598681,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005494953962954963,
+            "max_held_gripper_z_dist": 0.005548231587233499,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08678858624348648,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20136855129797804,
+              0.2190723475799197,
+              1.2379971199836208
+            ],
+            "held_grasp_finger_b": [
+              0.1914217480885734,
+              0.24397061923113927,
+              1.2379971199836208
+            ],
+            "held_grasp_midpoint": [
+              0.1963951496932757,
+              0.23152148340552947,
+              1.2379971199836208
+            ],
+            "held_grasp_object_position": [
+              0.20136855129797804,
+              0.24397061923113927,
+              1.2379971199836208
+            ],
+            "held_grasp_finger_gap": 0.026811617357118664,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02477539731921213,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.010553659598514583,
+              -0.9992811084603497,
+              0.03641272501933369
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00486300388485876,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03722757623532353,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2898886126620649,
+              -0.36070213977824994,
+              0.851539597867917
+            ],
+            "target_position": [
+              0.2855550208686,
+              -0.3614692182947581,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004400957541589608,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18138054231170145,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539597867917,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526768119068787,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08707116322211482,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1502594288009294,
+            "release_required_pad_clearance": 0.05353558161105741,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.08272494287953,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008033990859985352,
+            "max_z_decrease": 0.008033990859985352,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035162094253223884,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008033990859985352,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021129396100956484,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008033990859985352,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00803401155020577,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14125494658946994,
+              -0.4177306890487671,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14125494658946994,
+              -0.4177306890487671,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14230638113176594,
+              -0.418514021856046,
+              0.8080577999561799
+            ],
+            "closest_button": [
+              0.141243577003479,
+              -0.4177339375019074,
+              0.7729204297065735
+            ],
+            "closest_ee_minus_button": [
+              0.0010628041282869372,
+              -0.0007800843541386215,
+              0.03513737024960639
+            ],
+            "button_min_z_position": [
+              0.14123691618442538,
+              -0.4177279770374298,
+              0.7687748670578003
+            ],
+            "min_active_finger_to_button": 0.1450284015338823,
+            "closest_active_finger": [
+              0.0014163702726364136,
+              -0.4001733064651489,
+              0.8110208511352539
+            ],
+            "closest_active_finger_button": [
+              0.14125365018844604,
+              -0.4177321195602417,
+              0.7768088579177856
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13983727991580963,
+              0.017558813095092773,
+              0.03421199321746826
+            ],
+            "min_contact_pad_to_button": 0.021129396100956484,
+            "closest_contact_pad": [
+              0.14123691618442538,
+              -0.4197541940904647,
+              0.7898068860775023
+            ],
+            "closest_contact_pad_button": [
+              0.14123691618442538,
+              -0.4177279770374298,
+              0.7687748670578003
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020262170530349066,
+              0.021032019019701975
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cfe6f1b6a578c92ad5fd34c7fb6a7c81b3daf332089b0ca1acb49ea966c4767b",
+    "visual_seed": 5976467242324898278,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cbab0561df4cb42769ddb75d8d08e5937bff380a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1976337305665506,
+              0.23308890472728028,
+              1.0460659749234993
+            ],
+            "current_z": 1.0460659749234993,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18495940730408844,
+            "gripper_z": 1.0518779066965962,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1924162179612389,
+              0.2281496657516775,
+              1.0518779066965962
+            ],
+            "object_minus_gripper": [
+              0.005217512605311697,
+              0.004939238975602778,
+              -0.005811931773096912
+            ],
+            "object_to_gripper_xy": 0.0071846029427310755,
+            "object_to_gripper_z": -0.005811931773096912,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1976337305665506,
+              0.20848745852171793,
+              1.0460659749234993
+            ],
+            "finger_b": [
+              0.18574537776582695,
+              0.23308890472728028,
+              1.0460659749234993
+            ],
+            "finger_midpoint": [
+              0.19168955416618877,
+              0.2207881816244991,
+              1.0460659749234993
+            ],
+            "object_minus_finger_midpoint": [
+              0.0059441764003618225,
+              0.012300723102781186,
+              0.0
+            ],
+            "finger_gap": 0.02732332497555251,
+            "fingertip_max_gap": 0.09565522058587028,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013661662487776267,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460659749234993,
+            "object_top_z": 1.0979278497301728,
+            "finger_top_clearance": 0.05186187480667348,
+            "fingertip_min_top_clearance": 0.015558562442002077,
+            "object_projection_between_fingers": 0.8106888147457385,
+            "object_to_finger_line_xy": 0.010704065927607162,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05032761029293514,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.3299447050698006,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19634877248926008,
+              0.23336674829384868,
+              1.2418131798421186
+            ],
+            "held_position": [
+              0.2018008001111831,
+              0.2379338154516075,
+              1.235899371369049
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009249639899468582,
+            "max_held_gripper_dist": 0.009264768589256013,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005913808473069659,
+            "max_held_gripper_z_dist": 0.005968077994877419,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08542301576484271,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2018008001111831,
+              0.21272810007898774,
+              1.235899371369049
+            ],
+            "held_grasp_finger_b": [
+              0.19133453907328474,
+              0.2379338154516075,
+              1.235899371369049
+            ],
+            "held_grasp_midpoint": [
+              0.19656766959223393,
+              0.2253309577652976,
+              1.235899371369049
+            ],
+            "held_grasp_object_position": [
+              0.2018008001111831,
+              0.2379338154516075,
+              1.235899371369049
+            ],
+            "held_grasp_finger_gap": 0.027292319570878347,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024967039990528354,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.020952581310182287,
+              -0.9992311189587463,
+              0.033138500884802295
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0049855955888305796,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037017434889420726,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2940577233059524,
+              -0.3578784988293791,
+              0.8515396036469653
+            ],
+            "target_position": [
+              0.2883427977586015,
+              -0.35905789090287615,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005835352575019946,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18364573270307535,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396036469653,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534633007742836,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08677163164733447,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522285883839435,
+            "release_required_pad_clearance": 0.053385815823667235,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7870107364069352,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008082032203674316,
+            "max_z_decrease": 0.008082032203674316,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035163884310995125,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008082032203674316,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021031812489744228,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008082032203674316,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008082043356404528,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1440427303314209,
+              -0.41531935334205633,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1440427303314209,
+              -0.41531935334205633,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14569833461204165,
+              -0.4154287214045944,
+              0.8038515508648973
+            ],
+            "closest_button": [
+              0.14404383301734922,
+              -0.41530597209930425,
+              0.7687268257141113
+            ],
+            "closest_ee_minus_button": [
+              0.0016545015946924368,
+              -0.0001227493052901596,
+              0.03512472515078602
+            ],
+            "button_min_z_position": [
+              0.14404383301734922,
+              -0.41530597209930425,
+              0.7687268257141113
+            ],
+            "min_active_finger_to_button": 0.14410636470924015,
+            "closest_active_finger": [
+              0.004733681678771973,
+              -0.4017454981803894,
+              0.8110800385475159
+            ],
+            "closest_active_finger_button": [
+              0.1440410166978836,
+              -0.4153206646442414,
+              0.7767897248268127
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13930733501911163,
+              0.013575166463851984,
+              0.034290313720703125
+            ],
+            "min_contact_pad_to_button": 0.021031812489744228,
+            "closest_contact_pad": [
+              0.14404383301734922,
+              -0.41639260276571716,
+              0.7897305484888618
+            ],
+            "closest_contact_pad_button": [
+              0.14404383301734922,
+              -0.41530597209930425,
+              0.7687268257141113
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010866306664129022,
+              0.02100372277475049
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b758277f7cc77fd5b34a31f6db7fb0d0535c2b246811cb04c4abce6ea8ad6194",
+    "visual_seed": 7183363717004792085,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd2df74bca52c59e08a661acc1371fdc1c32397
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19839124554963983,
+              0.22951534942683827,
+              1.0477864510620205
+            ],
+            "current_z": 1.0477864510620205,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.1866798238379651,
+            "gripper_z": 1.0534058655441547,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1937625394108033,
+              0.22491973289648515,
+              1.0534058655441547
+            ],
+            "object_minus_gripper": [
+              0.004628706138836536,
+              0.004595616530353119,
+              -0.005619414482134211
+            ],
+            "object_to_gripper_xy": 0.006522623077701017,
+            "object_to_gripper_z": -0.005619414482134211,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19839124554963983,
+              0.2052805805003735,
+              1.0477864510620205
+            ],
+            "finger_b": [
+              0.18705277892894367,
+              0.22951534942683827,
+              1.0477864510620205
+            ],
+            "finger_midpoint": [
+              0.19272201223929175,
+              0.2173979649636059,
+              1.0477864510620205
+            ],
+            "object_minus_finger_midpoint": [
+              0.005669233310348076,
+              0.012117384463232378,
+              0.0
+            ],
+            "finger_gap": 0.026756024559485336,
+            "fingertip_max_gap": 0.0950537623085056,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013378012279742668,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477864510620205,
+            "object_top_z": 1.099800277776419,
+            "finger_top_clearance": 0.05201382671439858,
+            "fingertip_min_top_clearance": 0.015604148014319573,
+            "object_projection_between_fingers": 0.8204168934881986,
+            "object_to_finger_line_xy": 0.010270027893048492,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0500268811542528,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8921170600913717,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1979441141088552,
+              0.22968924465124088,
+              1.2423478760343927
+            ],
+            "held_position": [
+              0.20278611480847802,
+              0.23391067165514307,
+              1.2365919523424638
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00862531589402561,
+            "max_held_gripper_dist": 0.008638699674434258,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005755923691928899,
+            "max_held_gripper_z_dist": 0.005801973296237328,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663231342221517,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20278611480847802,
+              0.2089495808578258,
+              1.2365919523424638
+            ],
+            "held_grasp_finger_b": [
+              0.19314899757929258,
+              0.23391067165514307,
+              1.2365919523424638
+            ],
+            "held_grasp_midpoint": [
+              0.19796755619388529,
+              0.22143012625648445,
+              1.2365919523424638
+            ],
+            "held_grasp_object_position": [
+              0.20278611480847802,
+              0.23391067165514307,
+              1.2365919523424638
+            ],
+            "held_grasp_finger_gap": 0.026756869814703276,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02453808406341975,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03996421421481052,
+              -0.9984829622693745,
+              0.03787658432287321
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004342142593340877,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037066068221024775,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29675583339564876,
+              -0.3665527038244841,
+              0.8515395746055227
+            ],
+            "target_position": [
+              0.292030036601151,
+              -0.3670863270070598,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004755828954437637,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18305001050483768,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395746055227,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566253034485354,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08643340193208358,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15076786375290088,
+            "release_required_pad_clearance": 0.053216700966041794,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4553233414270226,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0080832839012146,
+            "max_z_decrease": 0.0080832839012146,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513557768884456,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0080832839012146,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02110328761963536,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0080832839012146,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008083301339957763,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1477299630641937,
+              -0.4233477711677551,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1477299630641937,
+              -0.4233477711677551,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14650127372121505,
+              -0.424872217067797,
+              0.8038056546898283
+            ],
+            "closest_button": [
+              0.14773620665073395,
+              -0.42333218455314636,
+              0.768725574016571
+            ],
+            "closest_ee_minus_button": [
+              -0.0012349329295189004,
+              -0.0015400325146506244,
+              0.0350800806732573
+            ],
+            "button_min_z_position": [
+              0.14773620665073395,
+              -0.42333218455314636,
+              0.768725574016571
+            ],
+            "min_active_finger_to_button": 0.1468007219504013,
+            "closest_active_finger": [
+              0.0055000633001327515,
+              -0.4112596809864044,
+              0.8107177019119263
+            ],
+            "closest_active_finger_button": [
+              0.14772926270961761,
+              -0.4233484864234924,
+              0.776436984539032
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14222919940948486,
+              0.012088805437087957,
+              0.03428071737289429
+            ],
+            "min_contact_pad_to_button": 0.02110328761963536,
+            "closest_contact_pad": [
+              0.14773620665073395,
+              -0.4258278690672249,
+              0.789680771633469
+            ],
+            "closest_contact_pad_button": [
+              0.14773620665073395,
+              -0.42333218455314636,
+              0.768725574016571
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024956845140785555,
+              0.020955197616897903
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9e954002a68c847de3fa0bfa8b5a687919a0d53c047065039acd3a88d065d108",
+    "visual_seed": 4758621521869717365,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_21_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b486b2934dc9e67f07483f51fb77078b802085c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_21_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 21,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19413643689462592,
+              0.23510774977732535,
+              1.046872192754809
+            ],
+            "current_z": 1.046872192754809,
+            "required_z": 0.8611068656426345,
+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.18576532711217453,
+            "gripper_z": 1.052639442485513,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18946754288787193,
+              0.23046687564064405,
+              1.052639442485513
+            ],
+            "object_minus_gripper": [
+              0.004668894006753993,
+              0.0046408741366812944,
+              -0.005767249730703972
+            ],
+            "object_to_gripper_xy": 0.006583030001361128,
+            "object_to_gripper_z": -0.005767249730703972,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19413643689462592,
+              0.21088567170152955,
+              1.046872192754809
+            ],
+            "finger_b": [
+              0.18268556388050433,
+              0.23510774977732535,
+              1.046872192754809
+            ],
+            "finger_midpoint": [
+              0.18841100038756514,
+              0.22299671073942745,
+              1.046872192754809
+            ],
+            "object_minus_finger_midpoint": [
+              0.005725436507060783,
+              0.012111039037897897,
+              0.0
+            ],
+            "finger_gap": 0.026792378750224576,
+            "fingertip_max_gap": 0.09405839597299925,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013396189375112283,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.046872192754809,
+            "object_top_z": 1.098394643420107,
+            "finger_top_clearance": 0.051522450665298036,
+            "fingertip_min_top_clearance": 0.01545673519958941,
+            "object_projection_between_fingers": 0.8173352910942491,
+            "object_to_finger_line_xy": 0.010352344701074795,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04952919798649963,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4889195992197601,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19341151249816046,
+              0.23573836975900847,
+              1.2395549239059385
+            ],
+            "held_position": [
+              0.19826793513943838,
+              0.2400206720034708,
+              1.2336403275764454
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008769572573649017,
+            "max_held_gripper_dist": 0.00878682569234702,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005914596329493094,
+            "max_held_gripper_z_dist": 0.005962968244261013,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08520075855850373,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19826793513943838,
+              0.21510462713954062,
+              1.2336403275764454
+            ],
+            "held_grasp_finger_b": [
+              0.1884674271874212,
+              0.2400206720034708,
+              1.2336403275764454
+            ],
+            "held_grasp_midpoint": [
+              0.19336768116342978,
+              0.2275626495715057,
+              1.2336403275764454
+            ],
+            "held_grasp_object_position": [
+              0.19826793513943838,
+              0.2400206720034708,
+              1.2336403275764454
+            ],
+            "held_grasp_finger_gap": 0.02677422730498367,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024485468826050513,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0405883047622965,
+              -0.9986839791597362,
+              0.03135122463634665
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004408180525123024,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03707972965348802,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29185395201179487,
+              -0.36336131911514896,
+              0.8515395803996184
+            ],
+            "target_position": [
+              0.2866222756823089,
+              -0.3643159367375768,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005318057166066702,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18268319478161982,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395803996184,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525834088499835,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509509106294087,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15144121936624655,
+            "release_required_pad_clearance": 0.05254754553147044,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16312937301819821,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008133888244628906,
+            "max_z_decrease": 0.008133888244628906,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035111500066704486,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008133888244628906,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021151847286011327,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008133888244628906,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008133936294191065,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14232219755649564,
+              -0.42057740688323975,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14232219755649564,
+              -0.42057740688323975,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14344496188363015,
+              -0.42252846905167313,
+              0.8037134528545772
+            ],
+            "closest_button": [
+              0.14233808219432828,
+              -0.42055439949035645,
+              0.7686749696731567
+            ],
+            "closest_ee_minus_button": [
+              0.0011068796893018706,
+              -0.0019740695613166825,
+              0.03503848318142044
+            ],
+            "button_min_z_position": [
+              0.14233808219432828,
+              -0.42055439949035645,
+              0.7686749696731567
+            ],
+            "min_active_finger_to_button": 0.14440213984799039,
+            "closest_active_finger": [
+              0.0028316080570220947,
+              -0.4056617319583893,
+              0.8109248280525208
+            ],
+            "closest_active_finger_button": [
+              0.14232458174228668,
+              -0.42057603597640986,
+              0.7767012715339661
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1394929736852646,
+              0.014914304018020574,
+              0.03422355651855469
+            ],
+            "min_contact_pad_to_button": 0.021151847286011327,
+            "closest_contact_pad": [
+              0.14233808219432828,
+              -0.42377622488013866,
+              0.7895800045874662
+            ],
+            "closest_contact_pad_button": [
+              0.14233808219432828,
+              -0.42055439949035645,
+              0.7686749696731567
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.003221825389782218,
+              0.020905034914309506
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 21,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba6dbc595c8aca7011e0cd35dc5231522368f8aca3762f5a005bd2c3f6c28ac5",
+    "visual_seed": 8677824288453611590,
+    "episode_index": 21,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..268c2a21d17c62c85bae1a4d6376e2094beb8783
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19415756418545452,
+              0.23798249652117098,
+              1.04796561106747
+            ],
+            "current_z": 1.04796561106747,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18685892423876993,
+            "gripper_z": 1.05352914394666,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18938631038978374,
+              0.23322590166122087,
+              1.05352914394666
+            ],
+            "object_minus_gripper": [
+              0.004771253795670782,
+              0.004756594859950114,
+              -0.005563532879190092
+            ],
+            "object_to_gripper_xy": 0.006737214368298421,
+            "object_to_gripper_z": -0.005563532879190092,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19415756418545452,
+              0.21380147399422336,
+              1.04796561106747
+            ],
+            "finger_b": [
+              0.18239739029946292,
+              0.23798249652117098,
+              1.04796561106747
+            ],
+            "finger_midpoint": [
+              0.18827747724245872,
+              0.22589198525769716,
+              1.04796561106747
+            ],
+            "object_minus_finger_midpoint": [
+              0.005880086942995799,
+              0.012090511263473824,
+              0.0
+            ],
+            "finger_gap": 0.026889097052104724,
+            "fingertip_max_gap": 0.09206412122592236,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013444548526052374,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04796561106747,
+            "object_top_z": 1.098324140172076,
+            "finger_top_clearance": 0.05035852910460603,
+            "fingertip_min_top_clearance": 0.015107558731381825,
+            "object_projection_between_fingers": 0.8087175836962701,
+            "object_to_finger_line_xy": 0.01057577460139089,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048532060612961184,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0457385777052586,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19332935069272197,
+              0.2384761623852577,
+              1.2423100786923744
+            ],
+            "held_position": [
+              0.1983456872251324,
+              0.24283698205761575,
+              1.236617196451872
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008751530644718602,
+            "max_held_gripper_dist": 0.008764538659321894,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0056928822405024615,
+            "max_held_gripper_z_dist": 0.005751674283713815,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651600870080056,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1983456872251324,
+              0.21784830446834047,
+              1.236617196451872
+            ],
+            "held_grasp_finger_b": [
+              0.18834684097911994,
+              0.24283698205761575,
+              1.236617196451872
+            ],
+            "held_grasp_midpoint": [
+              0.1933462641021262,
+              0.2303426432629781,
+              1.236617196451872
+            ],
+            "held_grasp_object_position": [
+              0.1983456872251324,
+              0.24283698205761575,
+              1.236617196451872
+            ],
+            "held_grasp_finger_gap": 0.026914883130196687,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02446282688190583,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.049141724878171575,
+              -0.9986197686562024,
+              0.018537759439340547
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004385630561226415,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699747607782146,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29114433042219034,
+              -0.3589815348399362,
+              0.8515395844163544
+            ],
+            "target_position": [
+              0.28528682612452566,
+              -0.3605073453491305,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006052970700996981,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18164356966026574,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395844163544,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514193261144139,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08548085745786764,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1508872147957361,
+            "release_required_pad_clearance": 0.05274042872893382,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5322888321265028,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007917463779449463,
+            "max_z_decrease": 0.007917463779449463,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035142778130460954,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007917463779449463,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021075769793852422,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007917463779449463,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007917489940152405,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.140986755490303,
+              -0.4167687892913818,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.140986755490303,
+              -0.4167687892913818,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14220876820293973,
+              -0.41685349941140676,
+              0.8081798025577076
+            ],
+            "closest_button": [
+              0.14097890257835383,
+              -0.41676905751228327,
+              0.7730586528778076
+            ],
+            "closest_ee_minus_button": [
+              0.0012298656245859074,
+              -8.444189912348854e-05,
+              0.03512114967989999
+            ],
+            "button_min_z_position": [
+              0.14096654951572413,
+              -0.416766345500946,
+              0.7688913941383362
+            ],
+            "min_active_finger_to_button": 0.14498935299613247,
+            "closest_active_finger": [
+              0.0008573159575462341,
+              -0.40230873227119446,
+              0.8106846213340759
+            ],
+            "closest_active_finger_button": [
+              0.14098595082759857,
+              -0.4167688786983489,
+              0.7763803601264954
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14012863487005234,
+              0.01446014642715443,
+              0.034304261207580566
+            ],
+            "min_contact_pad_to_button": 0.021075769793852422,
+            "closest_contact_pad": [
+              0.14096654951572413,
+              -0.41778098194272323,
+              0.7899427262884515
+            ],
+            "closest_contact_pad_button": [
+              0.14096654951572413,
+              -0.416766345500946,
+              0.7688913941383362
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001014636441777239,
+              0.021051332150115343
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "607ee0e09843d9068942c6eaa9f524ba18b03eaaca2c06562615b03e67b6151c",
+    "visual_seed": 7212962272099174012,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb317e73138505b7ae1ac151860714e797cea2b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19351850292802322,
+              0.23247340372769193,
+              1.0476698576776953
+            ],
+            "current_z": 1.0476698576776953,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18656305163970544,
+            "gripper_z": 1.0535479208277274,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18894650721125544,
+              0.22793016034469232,
+              1.0535479208277274
+            ],
+            "object_minus_gripper": [
+              0.004571995716767779,
+              0.004543243382999607,
+              -0.005878063150032142
+            ],
+            "object_to_gripper_xy": 0.006445479444642782,
+            "object_to_gripper_z": -0.005878063150032142,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19351850292802322,
+              0.20823940643151856,
+              1.0476698576776953
+            ],
+            "finger_b": [
+              0.18230747500647954,
+              0.23247340372769193,
+              1.0476698576776953
+            ],
+            "finger_midpoint": [
+              0.1879129889672514,
+              0.22035640507960524,
+              1.0476698576776953
+            ],
+            "object_minus_finger_midpoint": [
+              0.00560551396077183,
+              0.012116998648086685,
+              0.0
+            ],
+            "finger_gap": 0.02670156871812161,
+            "fingertip_max_gap": 0.09534716430820145,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013350784359060798,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0476698576776953,
+            "object_top_z": 1.0996956179686135,
+            "finger_top_clearance": 0.05202576029091821,
+            "fingertip_min_top_clearance": 0.015607728087275445,
+            "object_projection_between_fingers": 0.8237142066200419,
+            "object_to_finger_line_xy": 0.010174983470301756,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050173582154100727,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.044375243127846,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19300660805248332,
+              0.23294245077115777,
+              1.2398393188628964
+            ],
+            "held_position": [
+              0.19774785256115926,
+              0.2371387530663327,
+              1.233803907065551
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008747259456942814,
+            "max_held_gripper_dist": 0.008761036779534487,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006035411797345347,
+            "max_held_gripper_z_dist": 0.0060804575541311134,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666331961512178,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19774785256115926,
+              0.21224121812594354,
+              1.233803907065551
+            ],
+            "held_grasp_finger_b": [
+              0.18819676757699816,
+              0.2371387530663327,
+              1.233803907065551
+            ],
+            "held_grasp_midpoint": [
+              0.19297231006907872,
+              0.22468998559613812,
+              1.233803907065551
+            ],
+            "held_grasp_object_position": [
+              0.19774785256115926,
+              0.2371387530663327,
+              1.233803907065551
+            ],
+            "held_grasp_finger_gap": 0.02666665465487875,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02457174004812892,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03107971522314924,
+              -0.9988372386684173,
+              0.03685406288184779
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004410544207816119,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03713753504465078,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2946067106436858,
+              -0.3627734846704642,
+              0.8515395703307846
+            ],
+            "target_position": [
+              0.2897452027085481,
+              -0.363416868222916,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004903896593421667,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18237997842555578,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395703307846,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752492347993987,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587797907586035,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15122227175870623,
+            "release_required_pad_clearance": 0.05293898953793018,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9151361746640497,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008107781410217285,
+            "max_z_decrease": 0.008107781410217285,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035126111471452115,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008107781410217285,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02095790298528455,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008107781410217285,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008107804991419018,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14544512331485743,
+              -0.41967833042144775,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14544512331485743,
+              -0.41967833042144775,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14544495331848956,
+              -0.41784612779592073,
+              0.8037802527147897
+            ],
+            "closest_button": [
+              0.14545480906963343,
+              -0.41966134309768677,
+              0.7687010765075684
+            ],
+            "closest_ee_minus_button": [
+              -9.855751143872382e-06,
+              0.0018152153017660377,
+              0.03507917620722134
+            ],
+            "button_min_z_position": [
+              0.14545480906963343,
+              -0.41966134309768677,
+              0.7687010765075684
+            ],
+            "min_active_finger_to_button": 0.1449875554733615,
+            "closest_active_finger": [
+              0.0196341872215271,
+              -0.48309844732284546,
+              0.8109879493713379
+            ],
+            "closest_active_finger_button": [
+              0.14544734358787534,
+              -0.41967707872390747,
+              0.7767801880836487
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12581315636634824,
+              -0.06342136859893799,
+              0.03420776128768921
+            ],
+            "min_contact_pad_to_button": 0.02095790298528455,
+            "closest_contact_pad": [
+              0.14545480906963343,
+              -0.41966134309768677,
+              0.7896589794928529
+            ],
+            "closest_contact_pad_button": [
+              0.14545480906963343,
+              -0.41966134309768677,
+              0.7687010765075684
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02095790298528455
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b41bf09723cf54648f81b8f727c23693c834b117bb25d9049fbfadd739059869",
+    "visual_seed": 947035559467554734,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d8dbd79a754b1e2f80b90b385a9e79cfef39f84d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1987938925890792,
+              0.2340820104411433,
+              1.0480893940659644
+            ],
+            "current_z": 1.0480893940659644,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.1869826476326194,
+            "gripper_z": 1.0534968929164623,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19375903509117554,
+              0.22925936344581777,
+              1.0534968929164623
+            ],
+            "object_minus_gripper": [
+              0.0050348574979036664,
+              0.00482264699532553,
+              -0.00540749885049796
+            ],
+            "object_to_gripper_xy": 0.006971923268777356,
+            "object_to_gripper_z": -0.00540749885049796,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1987938925890792,
+              0.20959670265213043,
+              1.0480893940659644
+            ],
+            "finger_b": [
+              0.18709126850435545,
+              0.2340820104411433,
+              1.0480893940659644
+            ],
+            "finger_midpoint": [
+              0.1929425805467173,
+              0.22183935654663686,
+              1.0480893940659644
+            ],
+            "object_minus_finger_midpoint": [
+              0.005851312042361889,
+              0.012242653894506433,
+              0.0
+            ],
+            "finger_gap": 0.02713819647638823,
+            "fingertip_max_gap": 0.0929891970094138,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01356909823819412,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480893940659644,
+            "object_top_z": 1.0988024078648846,
+            "finger_top_clearance": 0.05071301379892024,
+            "fingertip_min_top_clearance": 0.015213904139676104,
+            "object_projection_between_fingers": 0.8140464196430245,
+            "object_to_finger_line_xy": 0.010558636529250737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0489945985047069,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3855199200015098,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19765032053474518,
+              0.23459320223724478,
+              1.2430701243346296
+            ],
+            "held_position": [
+              0.20289380941328117,
+              0.23906950175669212,
+              1.2375433014602337
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008836130606327664,
+            "max_held_gripper_dist": 0.008849441402050654,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005526822874395876,
+            "max_held_gripper_z_dist": 0.005581000870860775,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08662947931125492,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20289380941328117,
+              0.2139778281678294,
+              1.2375433014602337
+            ],
+            "held_grasp_finger_b": [
+              0.1926273691471918,
+              0.23906950175669212,
+              1.2375433014602337
+            ],
+            "held_grasp_midpoint": [
+              0.1977605892802365,
+              0.22652366496226076,
+              1.2375433014602337
+            ],
+            "held_grasp_object_position": [
+              0.20289380941328117,
+              0.23906950175669212,
+              1.2375433014602337
+            ],
+            "held_grasp_finger_gap": 0.02711073365342981,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024744867288411083,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.031978570790307574,
+              -0.9992626951098932,
+              0.021247050899412256
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004737001170752944,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03701951033907592,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28949008448193536,
+              -0.36090206722276774,
+              0.8515395866628587
+            ],
+            "target_position": [
+              0.2841858676077193,
+              -0.3621309298081046,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0054447056763758245,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18371333219221553,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395866628587,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589951379483986,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0874231759441391,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15095156015252265,
+            "release_required_pad_clearance": 0.053711587972069555,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.432549755909809,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007876574993133545,
+            "max_z_decrease": 0.007876574993133545,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035181590949381274,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007876574993133545,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021054534899974296,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007876574993133545,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007876599799792064,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1398857980966568,
+              -0.4183923900127411,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1398857980966568,
+              -0.4183923900127411,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14145367095400102,
+              -0.4178302013710253,
+              0.8082049354132526
+            ],
+            "closest_button": [
+              0.13987511396408078,
+              -0.4183942079544067,
+              0.7730633020401001
+            ],
+            "closest_ee_minus_button": [
+              0.0015785569899202379,
+              0.0005640065833814045,
+              0.03514163337315246
+            ],
+            "button_min_z_position": [
+              0.13986608386039734,
+              -0.41839092969894404,
+              0.7689322829246521
+            ],
+            "min_active_finger_to_button": 0.14451659594465358,
+            "closest_active_finger": [
+              0.013195186853408813,
+              -0.47897303104400635,
+              0.8105124831199646
+            ],
+            "closest_active_finger_button": [
+              0.13988491892814633,
+              -0.41839283704757685,
+              0.7763833403587341
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12668973207473752,
+              -0.0605801939964295,
+              0.03412914276123047
+            ],
+            "min_contact_pad_to_button": 0.021054534899974296,
+            "closest_contact_pad": [
+              0.13986608386039734,
+              -0.4190696318454351,
+              0.7899758758510177
+            ],
+            "closest_contact_pad_button": [
+              0.13986608386039734,
+              -0.41839092969894404,
+              0.7689322829246521
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006787021464910725,
+              0.021043592926365595
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2146ebb0ae3c6efc799a9de300c17caa80e6972f66920e6d79be263eec32cc8b",
+    "visual_seed": 3534119876055923211,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_27_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..290eb66a5c556128681c11c40a733c0001597ce3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_27_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 27,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1981773444268599,
+              0.232380344198394,
+              1.0475914018753105
+            ],
+            "current_z": 1.0475914018753105,
+            "required_z": 0.8611068656426348,
+            "initial_z": 0.7611068656426349,
+            "lift_margin": 0.1864845362326757,
+            "gripper_z": 1.0529671869879151,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1934436637420527,
+              0.22771462503966344,
+              1.0529671869879151
+            ],
+            "object_minus_gripper": [
+              0.004733680684807201,
+              0.004665719158730569,
+              -0.005375785112604614
+            ],
+            "object_to_gripper_xy": 0.006646553098701782,
+            "object_to_gripper_z": -0.005375785112604614,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1981773444268599,
+              0.20808989841640754,
+              1.0475914018753105
+            ],
+            "finger_b": [
+              0.18672270893593187,
+              0.232380344198394,
+              1.0475914018753105
+            ],
+            "finger_midpoint": [
+              0.19245002668139588,
+              0.22023512130740078,
+              1.0475914018753105
+            ],
+            "object_minus_finger_midpoint": [
+              0.005727317745464033,
+              0.012145222890993235,
+              0.0
+            ],
+            "finger_gap": 0.02685580813376601,
+            "fingertip_max_gap": 0.09257003547897025,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01342790406688301,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0475914018753105,
+            "object_top_z": 1.0982761480835455,
+            "finger_top_clearance": 0.05068474620823493,
+            "fingertip_min_top_clearance": 0.01520542386247048,
+            "object_projection_between_fingers": 0.8180776337371254,
+            "object_to_finger_line_xy": 0.01036044795073489,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048785017739485126,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0477239581612245,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19745507227573292,
+              0.2329352086462429,
+              1.2415523677891103
+            ],
+            "held_position": [
+              0.2023921867765316,
+              0.2372540767711788,
+              1.2360447030760198
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008565167369433366,
+            "max_held_gripper_dist": 0.008580845738892522,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005507664713090499,
+            "max_held_gripper_z_dist": 0.0055563493390311525,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08531551088613287,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2023921867765316,
+              0.21229216117498806,
+              1.2360447030760198
+            ],
+            "held_grasp_finger_b": [
+              0.19250748816486546,
+              0.2372540767711788,
+              1.2360447030760198
+            ],
+            "held_grasp_midpoint": [
+              0.19744983747069852,
+              0.22477311897308344,
+              1.2360447030760198
+            ],
+            "held_grasp_object_position": [
+              0.2023921867765316,
+              0.2372540767711788,
+              1.2360447030760198
+            ],
+            "held_grasp_finger_gap": 0.02684780245895043,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02452312170368046,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04163491795580158,
+              -0.9989085262030174,
+              0.02117285728779483
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004426445599132528,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03704714060254029,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2936892567956853,
+              -0.3656945895414433,
+              0.851539555972361
+            ],
+            "target_position": [
+              0.28778380388534225,
+              -0.3671045420569557,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00607143641754396,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18357563298212176,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539555972361,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577911071975274,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626154872758683,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15119494466892644,
+            "release_required_pad_clearance": 0.05313077436379342,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.287531734908714,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008168339729309082,
+            "max_z_decrease": 0.008168339729309082,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505578109252838,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008168339729309082,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02087962249548303,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008168339729309082,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008168436744067734,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14348372817039487,
+              -0.4233660101890564,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14348372817039487,
+              -0.4233660101890564,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14444036294973978,
+              -0.42189426563453125,
+              0.8036541966874506
+            ],
+            "closest_button": [
+              0.14351482689380646,
+              -0.423341155052185,
+              0.7686405181884766
+            ],
+            "closest_ee_minus_button": [
+              0.0009255360559333181,
+              0.0014468894176537517,
+              0.03501367849897408
+            ],
+            "button_min_z_position": [
+              0.14351482689380646,
+              -0.423341155052185,
+              0.7686405181884766
+            ],
+            "min_active_finger_to_button": 0.14428943867705316,
+            "closest_active_finger": [
+              0.017545044422149658,
+              -0.4849472641944885,
+              0.8107892274856567
+            ],
+            "closest_active_finger_button": [
+              0.14348398149013514,
+              -0.42336589097976685,
+              0.7766342759132385
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12593893706798548,
+              -0.06158137321472168,
+              0.03415495157241821
+            ],
+            "min_contact_pad_to_button": 0.02087962249548303,
+            "closest_contact_pad": [
+              0.14351482689380646,
+              -0.423341155052185,
+              0.7895201406839596
+            ],
+            "closest_contact_pad_button": [
+              0.14351482689380646,
+              -0.423341155052185,
+              0.7686405181884766
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02087962249548303
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 27,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f26d04c6c3ef6764b2b114660be8fa16c31b65689714f6928e9f45a24848991e",
+    "visual_seed": 6255693027569407041,
+    "episode_index": 27,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c76ac22648f9062be3b74b621a0013c160f18931
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19067618184012217,
+              0.23407572453146364,
+              1.0492934969369032
+            ],
+            "current_z": 1.0492934969369032,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.18818675050355804,
+            "gripper_z": 1.0551857085768395,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1859231791066961,
+              0.22952459795777755,
+              1.0551857085768395
+            ],
+            "object_minus_gripper": [
+              0.004753002733426076,
+              0.004551126573686087,
+              -0.005892211639936251
+            ],
+            "object_to_gripper_xy": 0.0065805613798267555,
+            "object_to_gripper_z": -0.005892211639936251,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19067618184012217,
+              0.209513695332216,
+              1.0492934969369032
+            ],
+            "finger_b": [
+              0.17972570720369951,
+              0.23407572453146364,
+              1.0492934969369032
+            ],
+            "finger_midpoint": [
+              0.18520094452191083,
+              0.2217947099318398,
+              1.0492934969369032
+            ],
+            "object_minus_finger_midpoint": [
+              0.00547523731821134,
+              0.01228101459962383,
+              0.0
+            ],
+            "finger_gap": 0.02689249287715122,
+            "fingertip_max_gap": 0.09345849037853546,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013446246438575627,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492934969369032,
+            "object_top_z": 1.1001843318793858,
+            "finger_top_clearance": 0.05089083494248259,
+            "fingertip_min_top_clearance": 0.015267250482744743,
+            "object_projection_between_fingers": 0.8341926559600068,
+            "object_to_finger_line_xy": 0.010001522692377697,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04922924518926773,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5566842991239123,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18968193598519037,
+              0.23516442974097396,
+              1.2434676373587084
+            ],
+            "held_position": [
+              0.19453461247212406,
+              0.23947749681955827,
+              1.237454597071717
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008849162118765134,
+            "max_held_gripper_dist": 0.008862835993661968,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006013040286991345,
+            "max_held_gripper_z_dist": 0.006062881005618914,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08638642347930214,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19453461247212406,
+              0.21460000289625028,
+              1.237454597071717
+            ],
+            "held_grasp_finger_b": [
+              0.1846010650186155,
+              0.23947749681955827,
+              1.237454597071717
+            ],
+            "held_grasp_midpoint": [
+              0.18956783874536978,
+              0.2270387498579043,
+              1.237454597071717
+            ],
+            "held_grasp_object_position": [
+              0.19453461247212406,
+              0.23947749681955827,
+              1.237454597071717
+            ],
+            "held_grasp_finger_gap": 0.02678740504258171,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024772952797899955,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.009786460499829182,
+              -0.9997054825677507,
+              0.022207505822716134
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004852703835633643,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03723655940136814,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29882230308086255,
+              -0.36592688539904694,
+              0.8515395893085497
+            ],
+            "target_position": [
+              0.2925549846781352,
+              -0.36744162189487733,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006447767568156108,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18539051925426678,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395893085497,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07528003477510574,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08681856112124768,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15410870383229097,
+            "release_required_pad_clearance": 0.05340928056062384,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8332780199145855,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008153855800628662,
+            "max_z_decrease": 0.008153855800628662,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507932065269619,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008153855800628662,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020933986316089573,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008153855800628662,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008153929628027258,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14825491607189178,
+              -0.42370307445526123,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14825491607189178,
+              -0.42370307445526123,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1499972915474075,
+              -0.4238285662145763,
+              0.803691881125278
+            ],
+            "closest_button": [
+              0.14827881753444666,
+              -0.423677921295166,
+              0.768655002117157
+            ],
+            "closest_ee_minus_button": [
+              0.0017184740129608522,
+              -0.00015064491941030322,
+              0.035036879008121025
+            ],
+            "button_min_z_position": [
+              0.14827881753444666,
+              -0.423677921295166,
+              0.768655002117157
+            ],
+            "min_active_finger_to_button": 0.14402435710635497,
+            "closest_active_finger": [
+              0.009083211421966553,
+              -0.4095047116279602,
+              0.810541033744812
+            ],
+            "closest_active_finger_button": [
+              0.14825399219989774,
+              -0.42370346188545227,
+              0.7762933373451233
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13917078077793119,
+              0.014198750257492065,
+              0.03424769639968872
+            ],
+            "min_contact_pad_to_button": 0.020933986316089573,
+            "closest_contact_pad": [
+              0.14827881753444666,
+              -0.42484840364196885,
+              0.7895562402182372
+            ],
+            "closest_contact_pad_button": [
+              0.14827881753444666,
+              -0.423677921295166,
+              0.768655002117157
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001170482346802837,
+              0.020901238101080244
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "afa1bbca3acfe510b822b11ef030b5ec5a3a2ae36bbaaf221f36646d211c11e2",
+    "visual_seed": 1673096777127687658,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6ab7e97eed11f8a5d376ead42de87525ab5f68a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19378253696475303,
+              0.2295368011759414,
+              1.0495604138109837
+            ],
+            "current_z": 1.0495604138109837,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.18845366737763858,
+            "gripper_z": 1.0552695503684335,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18906471117949264,
+              0.22478689113868927,
+              1.0552695503684335
+            ],
+            "object_minus_gripper": [
+              0.004717825785260393,
+              0.004749910037252142,
+              -0.0057091365574497566
+            ],
+            "object_to_gripper_xy": 0.006694738643297174,
+            "object_to_gripper_z": -0.0057091365574497566,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19378253696475303,
+              0.20543569157419678,
+              1.0495604138109837
+            ],
+            "finger_b": [
+              0.1819768611746579,
+              0.2295368011759414,
+              1.0495604138109837
+            ],
+            "finger_midpoint": [
+              0.18787969906970547,
+              0.21748624637506908,
+              1.0495604138109837
+            ],
+            "object_minus_finger_midpoint": [
+              0.005902837895047558,
+              0.012050554800872332,
+              0.0
+            ],
+            "finger_gap": 0.02683724026229497,
+            "fingertip_max_gap": 0.09197108885411279,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01341862013114749,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495604138109837,
+            "object_top_z": 1.099999954153328,
+            "finger_top_clearance": 0.050439540342344324,
+            "fingertip_min_top_clearance": 0.015131862102703297,
+            "object_projection_between_fingers": 0.8064888489507616,
+            "object_to_finger_line_xy": 0.010602054583812673,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048485544427056396,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9154548502882275,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19320226488520248,
+              0.23000985149092723,
+              1.24564783660606
+            ],
+            "held_position": [
+              0.1982096687757361,
+              0.23432888830860157,
+              1.2398326214509843
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00880595821334506,
+            "max_held_gripper_dist": 0.008821604874756549,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005815215155075659,
+            "max_held_gripper_z_dist": 0.005861089096974581,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08656154501899446,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1982096687757361,
+              0.20935151644946465,
+              1.2398326214509843
+            ],
+            "held_grasp_finger_b": [
+              0.18823171423050383,
+              0.23432888830860157,
+              1.2398326214509843
+            ],
+            "held_grasp_midpoint": [
+              0.19322069150311996,
+              0.22184020237903312,
+              1.2398326214509843
+            ],
+            "held_grasp_object_position": [
+              0.1982096687757361,
+              0.23432888830860157,
+              1.2398326214509843
+            ],
+            "held_grasp_finger_gap": 0.026896629563875216,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024352036403572145,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.057914886753382515,
+              -0.9980997461096014,
+              0.021041927390144544
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0042656127874355155,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696635976079146,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2973933520917381,
+              -0.36633380323583276,
+              0.851539590585166
+            ],
+            "target_position": [
+              0.2905266679915443,
+              -0.36801400845508103,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007069260223718152,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18326350931586496,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539590585166,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753764067759663,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08548697566072076,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15199530542380235,
+            "release_required_pad_clearance": 0.05274348783036038,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5381383448155045,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008113384246826172,
+            "max_z_decrease": 0.008113384246826172,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511809320521141,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008113384246826172,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021086177343471384,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008113384246826172,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00811341687338777,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14622659981250763,
+              -0.42427545785903925,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14622659981250763,
+              -0.42427545785903925,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1472945260575809,
+              -0.4256491836728634,
+              0.8037700280923556
+            ],
+            "closest_button": [
+              0.14623868465423578,
+              -0.42425587773323054,
+              0.7686954736709595
+            ],
+            "closest_ee_minus_button": [
+              0.0010558414033451091,
+              -0.0013933059396328829,
+              0.035074554421396176
+            ],
+            "button_min_z_position": [
+              0.14623868465423578,
+              -0.42425587773323054,
+              0.7686954736709595
+            ],
+            "min_active_finger_to_button": 0.1445270135329416,
+            "closest_active_finger": [
+              0.006558090448379517,
+              -0.4097927510738373,
+              0.8105794191360474
+            ],
+            "closest_active_finger_button": [
+              0.14622563123703003,
+              -0.42427596449851984,
+              0.7763555645942688
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1396675407886505,
+              0.014483213424682562,
+              0.034223854541778564
+            ],
+            "min_contact_pad_to_button": 0.021086177343471384,
+            "closest_contact_pad": [
+              0.14623868465423578,
+              -0.42680489066844834,
+              0.7896270146561908
+            ],
+            "closest_contact_pad_button": [
+              0.14623868465423578,
+              -0.42425587773323054,
+              0.7686954736709595
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025490129352178093,
+              0.02093154098523131
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1ad5b1c2761413a5eff260afcb89e6113882a3e9fe7f69cf6ac527b9b55909d8",
+    "visual_seed": 1576899629572149078,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fc56a9731f3b38feffdf85c199db47d7077b4f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19270400867537268,
+              0.23973761775984997,
+              1.0460581579469972
+            ],
+            "current_z": 1.0460581579469972,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.18495135190900747,
+            "gripper_z": 1.051865266298556,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18747887666474042,
+              0.23482523382677284,
+              1.051865266298556
+            ],
+            "object_minus_gripper": [
+              0.005225132010632266,
+              0.004912383933077136,
+              -0.005807108351558732
+            ],
+            "object_to_gripper_xy": 0.007171716700657408,
+            "object_to_gripper_z": -0.005807108351558732,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19270400867537268,
+              0.21497596729856674,
+              1.0460581579469972
+            ],
+            "finger_b": [
+              0.18106028488052903,
+              0.23973761775984997,
+              1.0460581579469972
+            ],
+            "finger_midpoint": [
+              0.18688214677795084,
+              0.22735679252920837,
+              1.0460581579469972
+            ],
+            "object_minus_finger_midpoint": [
+              0.005821861897421843,
+              0.012380825230641601,
+              0.0
+            ],
+            "finger_gap": 0.027362668681570085,
+            "fingertip_max_gap": 0.09281051386461153,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013681334340785035,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0460581579469972,
+            "object_top_z": 1.096362811683837,
+            "finger_top_clearance": 0.0503046537368399,
+            "fingertip_min_top_clearance": 0.015091396121052002,
+            "object_projection_between_fingers": 0.8189215009779826,
+            "object_to_finger_line_xy": 0.01053690420444404,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04890525693230577,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6093610651963892,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19120287354135654,
+              0.24035260582924278,
+              1.240812778326721
+            ],
+            "held_position": [
+              0.19659744872031423,
+              0.24496646897133034,
+              1.234890563064615
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009244555590511813,
+            "max_held_gripper_dist": 0.009258152583072953,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005922215262106123,
+            "max_held_gripper_z_dist": 0.005976250830397323,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649621863196438,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19659744872031423,
+              0.2197696243809416,
+              1.234890563064615
+            ],
+            "held_grasp_finger_b": [
+              0.1861138697849616,
+              0.24496646897133034,
+              1.234890563064615
+            ],
+            "held_grasp_midpoint": [
+              0.19135565925263792,
+              0.23236804667613598,
+              1.234890563064615
+            ],
+            "held_grasp_object_position": [
+              0.19659744872031423,
+              0.24496646897133034,
+              1.234890563064615
+            ],
+            "held_grasp_finger_gap": 0.027290775082543392,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025024412266119313,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01588373284338883,
+              -0.9997652897688643,
+              0.014733377221083362
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005044456977888536,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037041525569983684,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29290883283951197,
+              -0.36488390719964114,
+              0.8515395812240171
+            ],
+            "target_position": [
+              0.28607537488878276,
+              -0.367000162052636,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071536481718916375,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185495994432507,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395812240171,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569845904056947,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0879502993154601,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533400458258471,
+            "release_required_pad_clearance": 0.05397514965773005,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.9610964065689678,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008096516132354736,
+            "max_z_decrease": 0.008096516132354736,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513189408940958,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008096516132354736,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020963226350216586,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008096516132354736,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008096532107616352,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14177529513835907,
+              -0.4232616126537323,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14177529513835907,
+              -0.4232616126537323,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14126251427657438,
+              -0.421977090261404,
+              0.803817434406709
+            ],
+            "closest_button": [
+              0.14178197085857389,
+              -0.42324697971343994,
+              0.7687123417854309
+            ],
+            "closest_ee_minus_button": [
+              -0.0005194565819995056,
+              0.0012698894520359327,
+              0.035105092621278144
+            ],
+            "button_min_z_position": [
+              0.14178197085857389,
+              -0.42324697971343994,
+              0.7687123417854309
+            ],
+            "min_active_finger_to_button": 0.1456812764051766,
+            "closest_active_finger": [
+              0.013807207345962524,
+              -0.48393213748931885,
+              0.810914933681488
+            ],
+            "closest_active_finger_button": [
+              0.14177823066711426,
+              -0.4232597351074219,
+              0.7767782807350159
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12797102332115173,
+              -0.06067240238189697,
+              0.03413665294647217
+            ],
+            "min_contact_pad_to_button": 0.020963226350216586,
+            "closest_contact_pad": [
+              0.14178197085857389,
+              -0.42326021835639815,
+              0.7896755639554301
+            ],
+            "closest_contact_pad_button": [
+              0.14178197085857389,
+              -0.42324697971343994,
+              0.7687123417854309
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -1.3238642958213198e-05,
+              0.02096322216999924
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "baac8932053156858998c9ce464db90bf74060a382fbe6aefeb8c1c9f4e2c653",
+    "visual_seed": 5082244032796283837,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_31_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f8a6465480d08b56e5cdf809bc86e0503dcef64
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_31_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 31,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1958590458779012,
+              0.23201548333134422,
+              1.0464690795833769
+            ],
+            "current_z": 1.0464690795833769,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18536245235932125,
+            "gripper_z": 1.0522419315199047,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1911313292285525,
+              0.22724510488633332,
+              1.0522419315199047
+            ],
+            "object_minus_gripper": [
+              0.004727716649348707,
+              0.004770378445010909,
+              -0.0057728519365278785
+            ],
+            "object_to_gripper_xy": 0.006716235197277836,
+            "object_to_gripper_z": -0.0057728519365278785,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1958590458779012,
+              0.2079055819163651,
+              1.0464690795833769
+            ],
+            "finger_b": [
+              0.18402813536685392,
+              0.23201548333134422,
+              1.0464690795833769
+            ],
+            "finger_midpoint": [
+              0.18994359062237756,
+              0.21996053262385468,
+              1.0464690795833769
+            ],
+            "object_minus_finger_midpoint": [
+              0.005915455255523644,
+              0.012054950707489548,
+              0.0
+            ],
+            "finger_gap": 0.02685624303137767,
+            "fingertip_max_gap": 0.09288651036571569,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013428121515688823,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464690795833769,
+            "object_top_z": 1.0974197660215237,
+            "finger_top_clearance": 0.05095068643814682,
+            "fingertip_min_top_clearance": 0.015285205931444062,
+            "object_projection_between_fingers": 0.8059356231467492,
+            "object_to_finger_line_xy": 0.010621071820713198,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048943255182857845,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.176314173083008,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19519955599223293,
+              0.23235724506482824,
+              1.2416179385326598
+            ],
+            "held_position": [
+              0.20021681487365361,
+              0.2366924815959972,
+              1.2357303392783128
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00886741154137802,
+            "max_held_gripper_dist": 0.008880923848567436,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005887599254347009,
+            "max_held_gripper_z_dist": 0.005937052285153399,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08656811112221438,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20021681487365361,
+              0.21168465738133732,
+              1.2357303392783128
+            ],
+            "held_grasp_finger_b": [
+              0.19026440873952952,
+              0.2366924815959972,
+              1.2357303392783128
+            ],
+            "held_grasp_midpoint": [
+              0.19524061180659158,
+              0.22418856948866728,
+              1.2357303392783128
+            ],
+            "held_grasp_object_position": [
+              0.20021681487365361,
+              0.2366924815959972,
+              1.2357303392783128
+            ],
+            "held_grasp_finger_gap": 0.026915453921676304,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024386870983966382,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.057378187033790315,
+              -0.9980045361137722,
+              0.02635696395736631
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004263601649140256,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03695576355751186,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2949767880491752,
+              -0.3663995051077136,
+              0.8515395756394397
+            ],
+            "target_position": [
+              0.2890055358099266,
+              -0.3677520994444969,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006122529276747457,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829630289110583,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395756394397,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752683786831426,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08574160420997622,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15189865940005995,
+            "release_required_pad_clearance": 0.05287080210498811,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7833422605508027,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008066892623901367,
+            "max_z_decrease": 0.008066892623901367,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035155052329266,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008066892623901367,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021159855682947596,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008066892623901367,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008066902320880686,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14470545947551725,
+              -0.42401355504989624,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14470545947551725,
+              -0.42401355504989624,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14415990707589105,
+              -0.425778425045391,
+              0.8038478719673753
+            ],
+            "closest_button": [
+              0.14470292627811432,
+              -0.42400130629539495,
+              0.7687419652938843
+            ],
+            "closest_ee_minus_button": [
+              -0.0005430192022232716,
+              -0.0017771187499960317,
+              0.035105906673491005
+            ],
+            "button_min_z_position": [
+              0.14470292627811432,
+              -0.42400130629539495,
+              0.7687419652938843
+            ],
+            "min_active_finger_to_button": 0.14612865709872383,
+            "closest_active_finger": [
+              0.0031390786170959473,
+              -0.41240954399108887,
+              0.8107936978340149
+            ],
+            "closest_active_finger_button": [
+              0.1447051763534546,
+              -0.42401367425918585,
+              0.7764721512794495
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14156609773635864,
+              0.01160413026809698,
+              0.03432154655456543
+            ],
+            "min_contact_pad_to_button": 0.021159855682947596,
+            "closest_contact_pad": [
+              0.14470292627811432,
+              -0.42671375614994234,
+              0.7897272484301618
+            ],
+            "closest_contact_pad_button": [
+              0.14470292627811432,
+              -0.42400130629539495,
+              0.7687419652938843
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002712449854547383,
+              0.020985283136277566
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 31,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6864f4b7ce82f141d1cb1afeb0f1a7a560785d44636d07645a3e6eba6a309c17",
+    "visual_seed": 496080504897789318,
+    "episode_index": 31,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_33_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87c9fddc6739f2f79ab497193c43b376528b9105
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_33_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 33,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19527935866310037,
+              0.23443518060941054,
+              1.0003910570831307
+            ],
+            "current_z": 1.0003910570831307,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.1392844298590752,
+            "gripper_z": 1.0518514132746406,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19324933195745655,
+              0.22813968751599903,
+              1.0518514132746406
+            ],
+            "object_minus_gripper": [
+              0.0020300267056438115,
+              0.006295493093411514,
+              -0.051460356191509904
+            ],
+            "object_to_gripper_xy": 0.006614698913391231,
+            "object_to_gripper_z": -0.051460356191509904,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19527935866310037,
+              0.20819417579226482,
+              1.0382991805463961
+            ],
+            "finger_b": [
+              0.1866439616492019,
+              0.23443518060941054,
+              1.0383589115493832
+            ],
+            "finger_midpoint": [
+              0.19096166015615113,
+              0.22131467820083767,
+              1.0383290460478896
+            ],
+            "object_minus_finger_midpoint": [
+              0.004317698506949241,
+              0.013120502408572876,
+              -0.03793798896475886
+            ],
+            "finger_gap": 0.027625422769503985,
+            "fingertip_max_gap": 0.10716656097900246,
+            "finger_z_skew": 5.9731002987062354e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01381267909749149,
+            "object_to_finger_midpoint_z": 0.03793798896475886,
+            "finger_midpoint_minus_object_z": 0.03793798896475886,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0003910570831307,
+            "object_top_z": 1.0558944060588313,
+            "finger_top_clearance": 0.017565360010941777,
+            "fingertip_min_top_clearance": 0.01665100469271021,
+            "object_projection_between_fingers": 0.9022878020364136,
+            "object_to_finger_line_xy": 0.008202662678264496,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05608328048950123,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9263455018728672,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 184,
+            "max_stable_success_frames": 184,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.20313656074285674,
+              0.21868370520498032,
+              1.1957024137617867
+            ],
+            "held_position": [
+              0.2043079252093325,
+              0.22186674379839544,
+              1.1438100741997994
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.05200306466562407,
+            "max_held_gripper_dist": 0.05203945338216454,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.051892339561987244,
+            "max_held_gripper_z_dist": 0.0519160919576922,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08810595175000721,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2043079252093325,
+              0.19429902726495174,
+              1.1826272730156833
+            ],
+            "held_grasp_finger_b": [
+              0.2043079252093325,
+              0.23430312739582304,
+              1.1798662508323012
+            ],
+            "held_grasp_midpoint": [
+              0.2043079252093325,
+              0.2143010773303874,
+              1.1812467619239921
+            ],
+            "held_grasp_object_position": [
+              0.2043079252093325,
+              0.22186674379839544,
+              1.1438100741997994
+            ],
+            "held_grasp_finger_gap": 0.04009926770874881,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.03896349263841255,
+            "held_grasp_world_z_skew": 0.0027610221833820336,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.23631306477867167,
+              -0.9692712090156942,
+              0.06833343828731142
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0368904579638042,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.039828889795356925,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.294627268083843,
+              -0.3675569580282154,
+              0.8515395041627973
+            ],
+            "target_position": [
+              0.28896881760053533,
+              -0.3666652348753091,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005728283517204241,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841683365493849,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395041627973,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538285368672643,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08623057683307671,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1521497955457461,
+            "release_required_pad_clearance": 0.053115288416538356,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.2573915676852716,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008152663707733154,
+            "max_z_decrease": 0.008152663707733154,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03503102154937389,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008152663707733154,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02100767123802787,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008152663707733154,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0081527392849734,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1446687430143356,
+              -0.4229266941547394,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1446687430143356,
+              -0.4229266941547394,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14384029017235397,
+              -0.42395797672265284,
+              0.8036609475389607
+            ],
+            "closest_button": [
+              0.14469791948795319,
+              -0.42290717363357544,
+              0.7686561942100525
+            ],
+            "closest_ee_minus_button": [
+              -0.0008576293155992121,
+              -0.0010508030890774012,
+              0.03500475332890818
+            ],
+            "button_min_z_position": [
+              0.14469791948795319,
+              -0.42290717363357544,
+              0.7686561942100525
+            ],
+            "min_active_finger_to_button": 0.14636225035112693,
+            "closest_active_finger": [
+              0.003397628664970398,
+              -0.4057392477989197,
+              0.8107578158378601
+            ],
+            "closest_active_finger_button": [
+              0.14466859400272367,
+              -0.4229280352592468,
+              0.7765676379203796
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14127096533775327,
+              0.01718878746032715,
+              0.03419017791748047
+            ],
+            "min_contact_pad_to_button": 0.02100767123802787,
+            "closest_contact_pad": [
+              0.14469791948795319,
+              -0.42532537766023537,
+              0.7895242209526678
+            ],
+            "closest_contact_pad_button": [
+              0.14469791948795319,
+              -0.42290717363357544,
+              0.7686561942100525
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024182040266599314,
+              0.020868026742615342
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 33,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86ba11efcfbb069d5012b563c3b56bd9b5e2052696b826a348d0c63c0aa4b1b6",
+    "visual_seed": 1037889174643514480,
+    "episode_index": 33,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9525f3391e0de990da2576e050f1118c90e97564
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1994836600842348,
+              0.23458443423186298,
+              1.050235141084027
+            ],
+            "current_z": 1.050235141084027,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.18912839465068199,
+            "gripper_z": 1.0556479924529931,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19463748140823706,
+              0.22982959340476183,
+              1.0556479924529931
+            ],
+            "object_minus_gripper": [
+              0.0048461786759977366,
+              0.004754840827101148,
+              -0.005412851368966187
+            ],
+            "object_to_gripper_xy": 0.006789253202728788,
+            "object_to_gripper_z": -0.005412851368966187,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1994836600842348,
+              0.21030741063907396,
+              1.050235141084027
+            ],
+            "finger_b": [
+              0.1877804647413137,
+              0.23458443423186298,
+              1.050235141084027
+            ],
+            "finger_midpoint": [
+              0.19363206241277425,
+              0.22244592243546846,
+              1.050235141084027
+            ],
+            "object_minus_finger_midpoint": [
+              0.00585159767146054,
+              0.012138511796394524,
+              0.0
+            ],
+            "finger_gap": 0.026950670784962005,
+            "fingertip_max_gap": 0.09272410109595253,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013475335392481014,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050235141084027,
+            "object_top_z": 1.1009253533067591,
+            "finger_top_clearance": 0.05069021222273218,
+            "fingertip_min_top_clearance": 0.01520706366681962,
+            "object_projection_between_fingers": 0.8114312378275258,
+            "object_to_finger_line_xy": 0.010542177288204899,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048862050547976266,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2760168667301854,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1985978951186538,
+              0.23507028120648715,
+              1.2443872562483456
+            ],
+            "held_position": [
+              0.20367066839334558,
+              0.2394524383822803,
+              1.2388482667479455
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00869578834237156,
+            "max_held_gripper_dist": 0.008710875505479804,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005538989500400104,
+            "max_held_gripper_z_dist": 0.005593527554770494,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865937886654059,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20367066839334558,
+              0.2144456249731723,
+              1.2388482667479455
+            ],
+            "held_grasp_finger_b": [
+              0.19360546526785638,
+              0.2394524383822803,
+              1.2388482667479455
+            ],
+            "held_grasp_midpoint": [
+              0.19863806683060098,
+              0.2269490316777263,
+              1.2388482667479455
+            ],
+            "held_grasp_object_position": [
+              0.20367066839334558,
+              0.2394524383822803,
+              1.2388482667479455
+            ],
+            "held_grasp_finger_gap": 0.026956428376832528,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024560993969818225,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04154039075502935,
+              -0.9988920232268326,
+              0.02211609978555773
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00451747447127674,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037021640614324385,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29367951553377675,
+              -0.3618860434141019,
+              0.8515396006682165
+            ],
+            "target_position": [
+              0.28775473278634445,
+              -0.3635862658381641,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0061639116553983304,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18215103344834446,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396006682165,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583167029455881,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0865416706741423,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1498561218529444,
+            "release_required_pad_clearance": 0.05327083533707115,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5611884956859656,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008109867572784424,
+            "max_z_decrease": 0.008109867572784424,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035180842711006334,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008109867572784424,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020977130607776284,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008109867572784424,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008109890154168214,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1434546560049057,
+              -0.4198477268218994,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1434546560049057,
+              -0.4198477268218994,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1449404889527429,
+              -0.4180825544376127,
+              0.8038053216043269
+            ],
+            "closest_button": [
+              0.14346396923065186,
+              -0.4198310077190399,
+              0.7686989903450012
+            ],
+            "closest_ee_minus_button": [
+              0.0014765197220910353,
+              0.001748453281427198,
+              0.03510633125932572
+            ],
+            "button_min_z_position": [
+              0.14346396923065186,
+              -0.4198310077190399,
+              0.7686989903450012
+            ],
+            "min_active_finger_to_button": 0.14371888085628345,
+            "closest_active_finger": [
+              0.018675051629543304,
+              -0.4824311137199402,
+              0.8109563589096069
+            ],
+            "closest_active_finger_button": [
+              0.14345517754554749,
+              -0.4198473393917083,
+              0.7767758369445801
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12478012591600418,
+              -0.06258377432823187,
+              0.034180521965026855
+            ],
+            "min_contact_pad_to_button": 0.020977130607776284,
+            "closest_contact_pad": [
+              0.14346396923065186,
+              -0.4198310077190399,
+              0.7896761209527775
+            ],
+            "closest_contact_pad_button": [
+              0.14346396923065186,
+              -0.4198310077190399,
+              0.7686989903450012
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020977130607776284
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7f6b44b7b0ad9029a78ae473327d0e5249198ab389c892eabc4516dd4c19c9b6",
+    "visual_seed": 2885117776744676807,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ef5ec61cf0c35828686d5bea17fd1a49d8f5a5a7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18946925570305953,
+              0.2343631956531986,
+              1.050297922380699
+            ],
+            "current_z": 1.050297922380699,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.1891912355519989,
+            "gripper_z": 1.0557496876128087,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18502518736262297,
+              0.22991211752714275,
+              1.0557496876128087
+            ],
+            "object_minus_gripper": [
+              0.004444068340436563,
+              0.004451078126055857,
+              -0.005451765232109773
+            ],
+            "object_to_gripper_xy": 0.006289820339145111,
+            "object_to_gripper_z": -0.005451765232109773,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18946925570305953,
+              0.21014612115041803,
+              1.050297922380699
+            ],
+            "finger_b": [
+              0.17849561782610526,
+              0.2343631956531986,
+              1.050297922380699
+            ],
+            "finger_midpoint": [
+              0.1839824367645824,
+              0.2222546584018083,
+              1.050297922380699
+            ],
+            "object_minus_finger_midpoint": [
+              0.005486818938477134,
+              0.0121085372513903,
+              0.0
+            ],
+            "finger_gap": 0.026587354620716788,
+            "fingertip_max_gap": 0.09180728600663024,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013293677310358406,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050297922380699,
+            "object_top_z": 1.1006092793111477,
+            "finger_top_clearance": 0.05031135693044875,
+            "fingertip_min_top_clearance": 0.015093407079134607,
+            "object_projection_between_fingers": 0.8296465266296814,
+            "object_to_finger_line_xy": 0.009995330856484132,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04840364300331512,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7759691196604349,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1889200810829306,
+              0.23522507543674837,
+              1.2455142250393507
+            ],
+            "held_position": [
+              0.19354202515388294,
+              0.2393830898218541,
+              1.2399609072149032
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008336113571748219,
+            "max_held_gripper_dist": 0.008350954935289137,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005553317824447568,
+            "max_held_gripper_z_dist": 0.0055969581849675265,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08633537336266933,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19354202515388294,
+              0.21461226730130936,
+              1.2399609072149032
+            ],
+            "held_grasp_finger_b": [
+              0.18388325728255503,
+              0.2393830898218541,
+              1.2399609072149032
+            ],
+            "held_grasp_midpoint": [
+              0.18871264121821898,
+              0.22699767856158173,
+              1.2399609072149032
+            ],
+            "held_grasp_object_position": [
+              0.19354202515388294,
+              0.2393830898218541,
+              1.2399609072149032
+            ],
+            "held_grasp_finger_gap": 0.026587317373825494,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024396071007750122,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03671040639300801,
+              -0.9991855652364505,
+              0.016749695089016577
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004376445273903163,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03716763727240782,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29162402599729276,
+              -0.3613525597545528,
+              0.8515396584624167
+            ],
+            "target_position": [
+              0.2857929768082393,
+              -0.3628745755336681,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006026414081112995,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18469547973137293,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396584624167,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758257953531533,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08680162169577431,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15216759423795032,
+            "release_required_pad_clearance": 0.053400810847887156,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8165507193548824,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008098185062408447,
+            "max_z_decrease": 0.008098185062408447,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513411356732094,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008098185062408447,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021174146626130073,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008098185062408447,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008098201351341455,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1414929032325744,
+              -0.4191360473632812,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1414929032325744,
+              -0.4191360473632812,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.141613370001457,
+              -0.4209083539879289,
+              0.8037991602632764
+            ],
+            "closest_button": [
+              0.1415009200572967,
+              -0.41912192106246937,
+              0.7687106728553772
+            ],
+            "closest_ee_minus_button": [
+              0.00011244994416029219,
+              -0.0017864329254595468,
+              0.03508848740789916
+            ],
+            "button_min_z_position": [
+              0.1415009200572967,
+              -0.41912192106246937,
+              0.7687106728553772
+            ],
+            "min_active_finger_to_button": 0.14537265693469087,
+            "closest_active_finger": [
+              0.001065075397491455,
+              -0.4035850167274475,
+              0.8109315633773804
+            ],
+            "closest_active_finger_button": [
+              0.14149595797061915,
+              -0.4191353917121886,
+              0.7767180800437927
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1404308825731277,
+              0.0155503749847411,
+              0.034213483333587646
+            ],
+            "min_contact_pad_to_button": 0.021174146626130073,
+            "closest_contact_pad": [
+              0.1415009200572967,
+              -0.4221954457977419,
+              0.7896605638108577
+            ],
+            "closest_contact_pad_button": [
+              0.1415009200572967,
+              -0.41912192106246937,
+              0.7687106728553772
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0030735247352725037,
+              0.0209498909554805
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ab1db1052d67336e854281d13d4766569f5546ecf64a4edc21e286bdc3c9a976",
+    "visual_seed": 5517726501844177994,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5520f0df0f9a6c62b2108b9dc38d3780c1bd4057
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1897210143131748,
+              0.22819028828789342,
+              1.0491158994610046
+            ],
+            "current_z": 1.0491158994610046,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1880092126323044,
+            "gripper_z": 1.0548110325292914,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18533341828945185,
+              0.22363818771566996,
+              1.0548110325292914
+            ],
+            "object_minus_gripper": [
+              0.004387596023722962,
+              0.004552100572223466,
+              -0.0056951330682868395
+            ],
+            "object_to_gripper_xy": 0.006322390251085957,
+            "object_to_gripper_z": -0.0056951330682868395,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1897210143131748,
+              0.2042715660830813,
+              1.0491158994610046
+            ],
+            "finger_b": [
+              0.17826856253750964,
+              0.22819028828789342,
+              1.0491158994610046
+            ],
+            "finger_midpoint": [
+              0.18399478842534223,
+              0.21623092718548736,
+              1.0491158994610046
+            ],
+            "object_minus_finger_midpoint": [
+              0.005726225887832587,
+              0.011959361102406058,
+              0.0
+            ],
+            "finger_gap": 0.02651912373335342,
+            "fingertip_max_gap": 0.09208507681114986,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01325956186667671,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491158994610046,
+            "object_top_z": 1.0994172551933759,
+            "finger_top_clearance": 0.05030135573237127,
+            "fingertip_min_top_clearance": 0.015090406719711395,
+            "object_projection_between_fingers": 0.8135000996420357,
+            "object_to_finger_line_xy": 0.010329451883118597,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04854253840557493,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1349273237664406,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18934306245971055,
+              0.22893318299524582,
+              1.2427022391833746
+            ],
+            "held_position": [
+              0.19396944447997685,
+              0.23308813193030478,
+              1.2368638656052533
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008529573101163755,
+            "max_held_gripper_dist": 0.00854188121336549,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005838373578121336,
+            "max_held_gripper_z_dist": 0.005879520477098499,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.086753098348848,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19396944447997685,
+              0.20828643707373554,
+              1.2368638656052533
+            ],
+            "held_grasp_finger_b": [
+              0.18443100377735697,
+              0.23308813193030478,
+              1.2368638656052533
+            ],
+            "held_grasp_midpoint": [
+              0.1892002241286669,
+              0.22068728450202016,
+              1.2368638656052533
+            ],
+            "held_grasp_object_position": [
+              0.19396944447997685,
+              0.23308813193030478,
+              1.2368638656052533
+            ],
+            "held_grasp_finger_gap": 0.02657265358965433,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024274184729387336,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05140682590400513,
+              -0.9985013457023157,
+              0.018772343517522546
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004132118985983457,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037092816744806134,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2899138714562147,
+              -0.36641843401446583,
+              0.8515395876041135
+            ],
+            "target_position": [
+              0.2834120028269806,
+              -0.36784200939564243,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0066558893123091385,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18337542791318323,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395876041135,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523111198090168,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08515871745704927,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1523102239460131,
+            "release_required_pad_clearance": 0.052579358728524636,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.22381166854847395,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008087396621704102,
+            "max_z_decrease": 0.008087396621704102,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511032869263084,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008087396621704102,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021005823698283816,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008087396621704102,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008087410272757556,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13911193609237665,
+              -0.4241034686565399,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13911193609237665,
+              -0.4241034686565399,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1386584542315001,
+              -0.42393183029258935,
+              0.8038284359392287
+            ],
+            "closest_button": [
+              0.13911737501621246,
+              -0.42408964037895197,
+              0.7687214612960815
+            ],
+            "closest_ee_minus_button": [
+              -0.0004589207847123522,
+              0.00015781008636261973,
+              0.03510697464314716
+            ],
+            "button_min_z_position": [
+              0.13911737501621246,
+              -0.42408964037895197,
+              0.7687214612960815
+            ],
+            "min_active_finger_to_button": 0.1461056514156848,
+            "closest_active_finger": [
+              0.011497557163238525,
+              -0.4864951968193054,
+              0.8109881281852722
+            ],
+            "closest_active_finger_button": [
+              0.13911171257495877,
+              -0.4241038560867309,
+              0.776800274848938
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12761415541172025,
+              -0.06239134073257452,
+              0.03418785333633423
+            ],
+            "min_contact_pad_to_button": 0.021005823698283816,
+            "closest_contact_pad": [
+              0.13911737501621246,
+              -0.4251540808788552,
+              0.7897002981481462
+            ],
+            "closest_contact_pad_button": [
+              0.13911737501621246,
+              -0.42408964037895197,
+              0.7687214612960815
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010644404999032298,
+              0.020978836852064697
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "48fe523bec1dcc0414545a3761b74b7f98b7da8f9529d5050ac4952a425eaebe",
+    "visual_seed": 4138037784759110643,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_37_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2cb60077c74b4a615a7014ef17c06eab4504552
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_37_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 37,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19410268701531525,
+              0.23139916005465344,
+              1.0496335866587048
+            ],
+            "current_z": 1.0496335866587048,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.1885270190392938,
+            "gripper_z": 1.0553172921174205,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1896799749921786,
+              0.226976633327218,
+              1.0553172921174205
+            ],
+            "object_minus_gripper": [
+              0.004422712023136655,
+              0.004422526727435427,
+              -0.005683705458715771
+            ],
+            "object_to_gripper_xy": 0.00625452830311593,
+            "object_to_gripper_z": -0.005683705458715771,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19410268701531525,
+              0.2071881731043838,
+              1.0496335866587048
+            ],
+            "finger_b": [
+              0.18317372331656656,
+              0.23139916005465344,
+              1.0496335866587048
+            ],
+            "finger_midpoint": [
+              0.1886382051659409,
+              0.21929366657951863,
+              1.0496335866587048
+            ],
+            "object_minus_finger_midpoint": [
+              0.005464481849374342,
+              0.012105493475134815,
+              0.0
+            ],
+            "finger_gap": 0.026563398439105882,
+            "fingertip_max_gap": 0.0955394684286866,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013281699219552941,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496335866587048,
+            "object_top_z": 1.1018135272426297,
+            "finger_top_clearance": 0.052179940583924944,
+            "fingertip_min_top_clearance": 0.015653982175177498,
+            "object_projection_between_fingers": 0.8307258297031489,
+            "object_to_finger_line_xy": 0.00996111239670436,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0502697342143433,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.047065196560733,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1937930098532368,
+              0.23198809323311181,
+              1.2450359512939542
+            ],
+            "held_position": [
+              0.19840716061788768,
+              0.2360977104311401,
+              1.239248605278831
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008465973936412794,
+            "max_held_gripper_dist": 0.008479911742218496,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005787346015123207,
+            "max_held_gripper_z_dist": 0.005830991115868045,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08647412547261035,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19840716061788768,
+              0.21129624404490185,
+              1.239248605278831
+            ],
+            "held_grasp_finger_b": [
+              0.18887939440949925,
+              0.2360977104311401,
+              1.239248605278831
+            ],
+            "held_grasp_midpoint": [
+              0.19364327751369348,
+              0.22369697723802098,
+              1.239248605278831
+            ],
+            "held_grasp_object_position": [
+              0.19840716061788768,
+              0.2360977104311401,
+              1.239248605278831
+            ],
+            "held_grasp_finger_gap": 0.026568610498658277,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02450856492711958,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02784186644851698,
+              -0.9988859261641333,
+              0.0381016664187378
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044422462989234315,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037200696812208625,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2950531440489189,
+              -0.3599919726156275,
+              0.8515395817306805
+            ],
+            "target_position": [
+              0.29056574708977745,
+              -0.3604915972018287,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004515125269142465,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18106579035430248,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395817306805,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556582394981141,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08657399510679258,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14903600531651695,
+            "release_required_pad_clearance": 0.05328699755339629,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5929519727433121,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008050620555877686,
+            "max_z_decrease": 0.008050620555877686,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513139271309605,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008050620555877686,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021017994637131037,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008050620555877686,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008050627446794365,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1462656706571579,
+              -0.4167530536651611,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1462656706571579,
+              -0.4167530536651611,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14569760132261333,
+              -0.4159708959294706,
+              0.8080600858552217
+            ],
+            "closest_button": [
+              0.14625804126262662,
+              -0.4167537093162536,
+              0.7729418873786926
+            ],
+            "closest_ee_minus_button": [
+              -0.0005604399400132853,
+              0.0007828133867829878,
+              0.03511819847652908
+            ],
+            "button_min_z_position": [
+              0.14625850319862366,
+              -0.41674533486366266,
+              0.768758237361908
+            ],
+            "min_active_finger_to_button": 0.14630220189111096,
+            "closest_active_finger": [
+              0.019533880054950714,
+              -0.4813443422317505,
+              0.8104690909385681
+            ],
+            "closest_active_finger_button": [
+              0.1462656557559967,
+              -0.41675290465354914,
+              0.7762442827224731
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.126731775701046,
+              -0.06459143757820135,
+              0.03422480821609497
+            ],
+            "min_contact_pad_to_button": 0.021017994637131037,
+            "closest_contact_pad": [
+              0.14625850319862366,
+              -0.4168563839765019,
+              0.789775938631576
+            ],
+            "closest_contact_pad_button": [
+              0.14625850319862366,
+              -0.41674533486366266,
+              0.768758237361908
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00011104911283921215,
+              0.021017701269668065
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 37,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "180ee2e8ade2715661a04f97e7f388f7226b794dd8430ef542c7747c393f3bf5",
+    "visual_seed": 7491335605748377492,
+    "episode_index": 37,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..73b8a8e7eff3155669acc27376df4ddc4acb3d52
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19950039093491845,
+              0.23581902108329356,
+              1.0465147919156346
+            ],
+            "current_z": 1.0465147919156346,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.1854080454822895,
+            "gripper_z": 1.0519507507923096,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19441651388065767,
+              0.2308556809064225,
+              1.0519507507923096
+            ],
+            "object_minus_gripper": [
+              0.005083877054260777,
+              0.004963340176871056,
+              -0.005435958876675029
+            ],
+            "object_to_gripper_xy": 0.0071049666863526985,
+            "object_to_gripper_z": -0.005435958876675029,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19950039093491845,
+              0.211490434743787,
+              1.0465147919156346
+            ],
+            "finger_b": [
+              0.18734957758266066,
+              0.23581902108329356,
+              1.0465147919156346
+            ],
+            "finger_midpoint": [
+              0.19342498425878957,
+              0.2236547279135403,
+              1.0465147919156346
+            ],
+            "object_minus_finger_midpoint": [
+              0.0060754066761288805,
+              0.01216429316975326,
+              0.0
+            ],
+            "finger_gap": 0.02719416074086918,
+            "fingertip_max_gap": 0.090736947180097,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013597080370434573,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465147919156346,
+            "object_top_z": 1.096267928707803,
+            "finger_top_clearance": 0.04975313679216842,
+            "fingertip_min_top_clearance": 0.014925941037650508,
+            "object_projection_between_fingers": 0.8003545674428505,
+            "object_to_finger_line_xy": 0.010870425991538969,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.047868473590048505,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.7588276375963551,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19845779512997802,
+              0.23589207021463285,
+              1.2420236981009969
+            ],
+            "held_position": [
+              0.2038360031623277,
+              0.24040963933567217,
+              1.236470717023789
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008953722759077798,
+            "max_held_gripper_dist": 0.00896849805521653,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005552981077207919,
+            "max_held_gripper_z_dist": 0.0056122295884448725,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08549702150833965,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2038360031623277,
+              0.2152296787291491,
+              1.236470717023789
+            ],
+            "held_grasp_finger_b": [
+              0.19349191054201137,
+              0.24040963933567217,
+              1.236470717023789
+            ],
+            "held_grasp_midpoint": [
+              0.19866395685216953,
+              0.22781965903241064,
+              1.236470717023789
+            ],
+            "held_grasp_object_position": [
+              0.2038360031623277,
+              0.24040963933567217,
+              1.236470717023789
+            ],
+            "held_grasp_finger_gap": 0.027221878485580962,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02453688646495332,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05789494957001002,
+              -0.9982444999950653,
+              0.012493720178077702
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004437330132396493,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036852936117017676,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29141560753712376,
+              -0.3603611218280343,
+              0.8515395754672272
+            ],
+            "target_position": [
+              0.28427913122673243,
+              -0.3624671619034389,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007440745858311976,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466318702772855,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395754672272,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589141978994428,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08601158816240416,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15221461627224311,
+            "release_required_pad_clearance": 0.05300579408120208,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.044541190067967,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00805896520614624,
+            "max_z_decrease": 0.00805896520614624,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515430554343797,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00805896520614624,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02111531298492375,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00805896520614624,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008058976602070863,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13997906446456904,
+              -0.41872861981391907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13997906446456904,
+              -0.41872861981391907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14072046256528087,
+              -0.41975787619909816,
+              0.8038808159933137
+            ],
+            "closest_button": [
+              0.13997006416320792,
+              -0.41871848702430725,
+              0.7687498927116394
+            ],
+            "closest_ee_minus_button": [
+              0.0007503984020729437,
+              -0.0010393891747909056,
+              0.03513092328167433
+            ],
+            "button_min_z_position": [
+              0.13997006416320792,
+              -0.41871848702430725,
+              0.7687498927116394
+            ],
+            "min_active_finger_to_button": 0.1449177854196993,
+            "closest_active_finger": [
+              -0.00021471083164215088,
+              -0.4057304263114929,
+              0.8105666041374207
+            ],
+            "closest_active_finger_button": [
+              0.1399782001972198,
+              -0.41872808337211603,
+              0.7762420773506165
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14019291102886194,
+              0.012997657060623113,
+              0.0343245267868042
+            ],
+            "min_contact_pad_to_button": 0.02111531298492375,
+            "closest_contact_pad": [
+              0.13997006416320792,
+              -0.42075443259994666,
+              0.7897668232216907
+            ],
+            "closest_contact_pad_button": [
+              0.13997006416320792,
+              -0.41871848702430725,
+              0.7687498927116394
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020359455756394085,
+              0.021016930510051268
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ac884723a554a570856c292d2da0663d350d5aac5aebf83cf70e594c6050db04",
+    "visual_seed": 4359154787833092773,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a8dcb4cdbe059b5e8af8912860cdea6da23320d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19483420573943339,
+              0.23540444951614822,
+              1.0491982218897362
+            ],
+            "current_z": 1.0491982218897362,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.1880913562471016,
+            "gripper_z": 1.0548457299138505,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1900716878588265,
+              0.230760446952674,
+              1.0548457299138505
+            ],
+            "object_minus_gripper": [
+              0.004762517880606887,
+              0.00464400256347422,
+              -0.005647508024114289
+            ],
+            "object_to_gripper_xy": 0.006651942300761142,
+            "object_to_gripper_z": -0.005647508024114289,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19483420573943339,
+              0.2110412544549496,
+              1.0491982218897362
+            ],
+            "finger_b": [
+              0.18347635862554948,
+              0.23540444951614822,
+              1.0491982218897362
+            ],
+            "finger_midpoint": [
+              0.18915528218249145,
+              0.22322285198554892,
+              1.0491982218897362
+            ],
+            "object_minus_finger_midpoint": [
+              0.005678923556941939,
+              0.012181597530599303,
+              0.0
+            ],
+            "finger_gap": 0.026880587133698817,
+            "fingertip_max_gap": 0.09428502345631415,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013440293566849391,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491982218897362,
+            "object_top_z": 1.1007348918871283,
+            "finger_top_clearance": 0.05153666999739204,
+            "fingertip_min_top_clearance": 0.01546100099921761,
+            "object_projection_between_fingers": 0.8214686307229776,
+            "object_to_finger_line_xy": 0.010294174131484061,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04964251172815708,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.60745501211668,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19406475880951987,
+              0.23594215239518584,
+              1.2431695212142075
+            ],
+            "held_position": [
+              0.1990100747241951,
+              0.2402548241439178,
+              1.2373849140571076
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008747397731338315,
+            "max_held_gripper_dist": 0.008761559511182014,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005784607157099941,
+            "max_held_gripper_z_dist": 0.00583487926137094,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08664251660352237,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1990100747241951,
+              0.2152848997951164,
+              1.2373849140571076
+            ],
+            "held_grasp_finger_b": [
+              0.1891466286181193,
+              0.2402548241439178,
+              1.2373849140571076
+            ],
+            "held_grasp_midpoint": [
+              0.1940783516711572,
+              0.2277698619695171,
+              1.2373849140571076
+            ],
+            "held_grasp_object_position": [
+              0.1990100747241951,
+              0.2402548241439178,
+              1.2373849140571076
+            ],
+            "held_grasp_finger_gap": 0.026847433603090026,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024626783031201242,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03229498919986087,
+              -0.9990147574422981,
+              0.030439252373984586
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0045420790225126975,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708831866902531,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2975734961172336,
+              -0.3589966868618101,
+              0.8515395926266867
+            ],
+            "target_position": [
+              0.2916646342657063,
+              -0.3602040278131722,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00603094690353599,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18238613778062854,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395926266867,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514316503336672,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506172892912182,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15159991724536354,
+            "release_required_pad_clearance": 0.052530864464560914,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1312211744358119,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00796353816986084,
+            "max_z_decrease": 0.00796353816986084,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519518763706907,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00796353816986084,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021027900999651128,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00796353816986084,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007963557223242728,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14736455678939814,
+              -0.41646549105644226,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14736455678939814,
+              -0.41646549105644226,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1458629535071314,
+              -0.4149778422804071,
+              0.8074468029498044
+            ],
+            "closest_button": [
+              0.14735381305217737,
+              -0.41646218299865717,
+              0.7723145484924316
+            ],
+            "closest_ee_minus_button": [
+              -0.0014908595450459639,
+              0.0014843407182500434,
+              0.03513225445737278
+            ],
+            "button_min_z_position": [
+              0.14734746515750882,
+              -0.41646212339401245,
+              0.7688453197479248
+            ],
+            "min_active_finger_to_button": 0.1467518711558699,
+            "closest_active_finger": [
+              0.018832772970199585,
+              -0.47849810123443604,
+              0.8104562759399414
+            ],
+            "closest_active_finger_button": [
+              0.1473648846149444,
+              -0.4164671599864959,
+              0.7762836217880249
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12853211164474482,
+              -0.06203094124794012,
+              0.034172654151916504
+            ],
+            "min_contact_pad_to_button": 0.021027900999651128,
+            "closest_contact_pad": [
+              0.14734746515750882,
+              -0.41646212339401245,
+              0.7898732207475759
+            ],
+            "closest_contact_pad_button": [
+              0.14734746515750882,
+              -0.41646212339401245,
+              0.7688453197479248
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021027900999651128
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8106d1430418522838381b2b75c1ac521c5b80729d13c87ef08f89bdc1e1e84f",
+    "visual_seed": 6143231560450314131,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5df16d243955dc9d444aa55a3894cf29071d35b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1953877951428939,
+              0.23263917118180705,
+              1.0465485021568615
+            ],
+            "current_z": 1.0465485021568615,
+            "required_z": 0.861106984851924,
+            "initial_z": 0.7611069848519241,
+            "lift_margin": 0.1854415173049374,
+            "gripper_z": 1.0522597540525631,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19068023471908338,
+              0.22795947498486668,
+              1.0522597540525631
+            ],
+            "object_minus_gripper": [
+              0.004707560423810514,
+              0.004679696196940364,
+              -0.005711251895701652
+            ],
+            "object_to_gripper_xy": 0.006637822055424892,
+            "object_to_gripper_z": -0.005711251895701652,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1953877951428939,
+              0.20842298114516056,
+              1.0465485021568615
+            ],
+            "finger_b": [
+              0.18384127117424218,
+              0.23263917118180705,
+              1.0465485021568615
+            ],
+            "finger_midpoint": [
+              0.18961453315856802,
+              0.2205310761634838,
+              1.0465485021568615
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057732619843258726,
+              0.012108095018323245,
+              0.0
+            ],
+            "finger_gap": 0.026828083711842435,
+            "fingertip_max_gap": 0.09295336603894339,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013414041855921223,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465485021568615,
+            "object_top_z": 1.0974219018399527,
+            "finger_top_clearance": 0.050873399683091236,
+            "fingertip_min_top_clearance": 0.015262019904927386,
+            "object_projection_between_fingers": 0.8147649285363381,
+            "object_to_finger_line_xy": 0.01042239250819606,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048976683019471695,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1687232346167167,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19463181519397438,
+              0.2332266421797141,
+              1.2406739208844866
+            ],
+            "held_position": [
+              0.19955357181116287,
+              0.23753416928234072,
+              1.2348355194661012
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008767292002717073,
+            "max_held_gripper_dist": 0.00878312317040519,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0058384014183854305,
+            "max_held_gripper_z_dist": 0.005885475391196993,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08520385278354875,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19955357181116287,
+              0.21259592596075907,
+              1.2348355194661012
+            ],
+            "held_grasp_finger_b": [
+              0.1896512274547556,
+              0.23753416928234072,
+              1.2348355194661012
+            ],
+            "held_grasp_midpoint": [
+              0.19460239963295922,
+              0.22506504762154989,
+              1.2348355194661012
+            ],
+            "held_grasp_object_position": [
+              0.19955357181116287,
+              0.23753416928234072,
+              1.2348355194661012
+            ],
+            "held_grasp_finger_gap": 0.02683230149873996,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024472371926842536,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0438813429123662,
+              -0.998743166228868,
+              0.02421808529473512
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00440977372673587,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03704953593833395,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2901909607894626,
+              -0.3632891977128888,
+              0.8515395897895484
+            ],
+            "target_position": [
+              0.2842721310459316,
+              -0.3648449848064904,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006119887173267568,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18271651646799877,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395897895484,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585932377935088,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08641352973932824,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15015342159778733,
+            "release_required_pad_clearance": 0.05320676486966412,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.435831266039117,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008117854595184326,
+            "max_z_decrease": 0.008117854595184326,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512775257317113,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008117854595184326,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021092046624977285,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008117854595184326,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008117891543568546,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13997206091880796,
+              -0.4211064577102661,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13997206091880796,
+              -0.4211064577102661,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14160396956904883,
+              -0.42253803864261097,
+              0.8037513267593172
+            ],
+            "closest_button": [
+              0.1399845480918884,
+              -0.421085387468338,
+              0.7686910033226013
+            ],
+            "closest_ee_minus_button": [
+              0.001619421477160432,
+              -0.0014526511742729564,
+              0.035060323436715835
+            ],
+            "button_min_z_position": [
+              0.1399845480918884,
+              -0.421085387468338,
+              0.7686910033226013
+            ],
+            "min_active_finger_to_button": 0.14401074965063948,
+            "closest_active_finger": [
+              0.0007110238075256348,
+              -0.4081127643585205,
+              0.8110828399658203
+            ],
+            "closest_active_finger_button": [
+              0.13997097313404078,
+              -0.42110633850097656,
+              0.7767764329910278
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13925994932651514,
+              0.012993574142456055,
+              0.03430640697479248
+            ],
+            "min_contact_pad_to_button": 0.021092046624977285,
+            "closest_contact_pad": [
+              0.1399845480918884,
+              -0.42357102505562044,
+              0.789636075215887
+            ],
+            "closest_contact_pad_button": [
+              0.1399845480918884,
+              -0.421085387468338,
+              0.7686910033226013
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00248563758728243,
+              0.02094507189328565
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff7a0ae8e23c27cfb1f13cec0d76cd37b5d61444f8fcbbe604c5c45efbbf2be7",
+    "visual_seed": 1916358538143795771,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0523e5805d6856fafa3f0d8fe8b7b4094ef6d6f6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19094080536736752,
+              0.23183274792294478,
+              1.0482308642096854
+            ],
+            "current_z": 1.0482308642096854,
+            "required_z": 0.8611066868287005,
+            "initial_z": 0.7611066868287005,
+            "lift_margin": 0.18712417738098486,
+            "gripper_z": 1.0542800539523112,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18620527489511599,
+              0.22723935077973773,
+              1.0542800539523112
+            ],
+            "object_minus_gripper": [
+              0.004735530472251531,
+              0.004593397143207056,
+              -0.0060491897426258046
+            ],
+            "object_to_gripper_xy": 0.006597313556959799,
+            "object_to_gripper_z": -0.0060491897426258046,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19094080536736752,
+              0.20736474594555193,
+              1.0482308642096854
+            ],
+            "finger_b": [
+              0.17982361796506063,
+              0.23183274792294478,
+              1.0482308642096854
+            ],
+            "finger_midpoint": [
+              0.18538221166621408,
+              0.21959874693424836,
+              1.0482308642096854
+            ],
+            "object_minus_finger_midpoint": [
+              0.005558593701153441,
+              0.012234000988696425,
+              0.0
+            ],
+            "finger_gap": 0.026875173980901244,
+            "fingertip_max_gap": 0.09442667638499777,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013437586990450622,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0482308642096854,
+            "object_top_z": 1.0994376605012892,
+            "finger_top_clearance": 0.05120679629160385,
+            "fingertip_min_top_clearance": 0.015362038887481139,
+            "object_projection_between_fingers": 0.8288853140997945,
+            "object_to_finger_line_xy": 0.010121436368597964,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04971333819249889,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9893320034907227,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1898949923444676,
+              0.2330803428239164,
+              1.2416375828682609
+            ],
+            "held_position": [
+              0.19473699043784753,
+              0.2374161299591323,
+              1.2354532758486427
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008971602361401043,
+            "max_held_gripper_dist": 0.008984900304001819,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0061843070196181404,
+            "max_held_gripper_z_dist": 0.006231936625827661,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0859766304078482,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19473699043784753,
+              0.21255064958337067,
+              1.2354532758486427
+            ],
+            "held_grasp_finger_b": [
+              0.18478890844020734,
+              0.2374161299591323,
+              1.2354532758486427
+            ],
+            "held_grasp_midpoint": [
+              0.18976294943902744,
+              0.22498338977125149,
+              1.2354532758486427
+            ],
+            "held_grasp_object_position": [
+              0.19473699043784753,
+              0.2374161299591323,
+              1.2354532758486427
+            ],
+            "held_grasp_finger_gap": 0.026781643895570712,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024783745401445206,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.007387624050747598,
+              -0.9996685250247611,
+              0.024662990201988692
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00489170503172857,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03725488467954788,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29238517815020315,
+              -0.35781042202375485,
+              0.8515395882789728
+            ],
+            "target_position": [
+              0.2866462279585459,
+              -0.35930786566097556,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005931094903049163,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18516613383390845,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395882789728,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572275200257184,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08777934664471464,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15288195337117189,
+            "release_required_pad_clearance": 0.05388967332235732,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.789028137744993,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00797271728515625,
+            "max_z_decrease": 0.00797271728515625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522583473982444,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00797271728515625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02124633332613779,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00797271728515625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007972740638996448,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14234615862369535,
+              -0.4155693352222443,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14234615862369535,
+              -0.4155693352222443,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14409492360728227,
+              -0.41743364322772214,
+              0.8081557221882697
+            ],
+            "closest_button": [
+              0.14233699440956116,
+              -0.4155708551406861,
+              0.7730231285095215
+            ],
+            "closest_ee_minus_button": [
+              0.0017579291977211087,
+              -0.0018627880870360491,
+              0.035132593678748214
+            ],
+            "button_min_z_position": [
+              0.14232692122459412,
+              -0.4155678153038026,
+              0.7688361406326294
+            ],
+            "min_active_finger_to_button": 0.14427505589408662,
+            "closest_active_finger": [
+              0.002907991409301758,
+              -0.4014136493206024,
+              0.8105795979499817
+            ],
+            "closest_active_finger_button": [
+              0.14234501123428345,
+              -0.4155697226524354,
+              0.77634197473526
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1394370198249817,
+              0.014156073331832997,
+              0.03423762321472168
+            ],
+            "min_contact_pad_to_button": 0.02124633332613779,
+            "closest_contact_pad": [
+              0.14232692122459412,
+              -0.41849536428923906,
+              0.7898798127633014
+            ],
+            "closest_contact_pad_button": [
+              0.14232692122459412,
+              -0.4155678153038026,
+              0.7688361406326294
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029275489854364567,
+              0.021043672130672042
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d2c75cc819e0d991c3838f39bcbe36958a2d6ad58073450e09d9aa406b0b22f8",
+    "visual_seed": 6144868651285201507,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b3a4d63af8334e732f1a025709ce26c730edc61
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1924901235172715,
+              0.23228200780693128,
+              1.0472160168477407
+            ],
+            "current_z": 1.0472160168477407,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18610927041439562,
+            "gripper_z": 1.052960071373661,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18782291593417907,
+              0.2275625087394943,
+              1.052960071373661
+            ],
+            "object_minus_gripper": [
+              0.004667207583092414,
+              0.0047194990674369885,
+              -0.005744054525920417
+            ],
+            "object_to_gripper_xy": 0.00663750691684867,
+            "object_to_gripper_z": -0.005744054525920417,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1924901235172715,
+              0.20819896842493632,
+              1.0472160168477407
+            ],
+            "finger_b": [
+              0.1807522777438035,
+              0.23228200780693128,
+              1.0472160168477407
+            ],
+            "finger_midpoint": [
+              0.1866212006305375,
+              0.2202404881159338,
+              1.0472160168477407
+            ],
+            "object_minus_finger_midpoint": [
+              0.00586892288673399,
+              0.012041519690997482,
+              0.0
+            ],
+            "finger_gap": 0.026791226348871013,
+            "fingertip_max_gap": 0.09213439720484437,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013395613174435507,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472160168477407,
+            "object_top_z": 1.097684923252511,
+            "finger_top_clearance": 0.05046890640477031,
+            "fingertip_min_top_clearance": 0.015140671921431108,
+            "object_projection_between_fingers": 0.808048455617535,
+            "object_to_finger_line_xy": 0.01055132745105282,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856719860242219,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0141429452921378,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19183277374775845,
+              0.23264723485524863,
+              1.2419827637395673
+            ],
+            "held_position": [
+              0.1967617229663151,
+              0.23694367564298957,
+              1.2361118542736007
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00878757769804912,
+            "max_held_gripper_dist": 0.008804006569859671,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005870909465966578,
+            "max_held_gripper_z_dist": 0.00591505218865751,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08648819413614445,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1967617229663151,
+              0.2119911149547833,
+              1.2361118542736007
+            ],
+            "held_grasp_finger_b": [
+              0.18688716752739953,
+              0.23694367564298957,
+              1.2361118542736007
+            ],
+            "held_grasp_midpoint": [
+              0.19182444524685732,
+              0.22446739529888643,
+              1.2361118542736007
+            ],
+            "held_grasp_object_position": [
+              0.1967617229663151,
+              0.23694367564298957,
+              1.2361118542736007
+            ],
+            "held_grasp_finger_gap": 0.026835370875298793,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02436587557422605,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05500231643454569,
+              -0.9982542196120529,
+              0.02152343405605739
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004252252177689754,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699418886008034,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29796371007541833,
+              -0.3584302122591868,
+              0.8515397089891554
+            ],
+            "target_position": [
+              0.2910229886224487,
+              -0.3603884155542519,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0072116693235697365,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18411028007349275,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515397089891554,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07574755140045517,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085731245114313,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1517162213590321,
+            "release_required_pad_clearance": 0.0528656225571565,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7732860617683309,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008103668689727783,
+            "max_z_decrease": 0.008103668689727783,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035109710533358915,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008103668689727783,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020959200099499645,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008103668689727783,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00810368867076705,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14672291278839109,
+              -0.4166498780250549,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14672291278839109,
+              -0.4166498780250549,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14710013278084783,
+              -0.4158116965639401,
+              0.8038033287402022
+            ],
+            "closest_button": [
+              0.1467324048280716,
+              -0.41663458943367,
+              0.7687051892280579
+            ],
+            "closest_ee_minus_button": [
+              0.00036772795277623116,
+              0.0008228928697298632,
+              0.035098139512144355
+            ],
+            "button_min_z_position": [
+              0.1467324048280716,
+              -0.41663458943367,
+              0.7687051892280579
+            ],
+            "min_active_finger_to_button": 0.14506797139897737,
+            "closest_active_finger": [
+              0.020059406757354736,
+              -0.47858214378356934,
+              0.8108454346656799
+            ],
+            "closest_active_finger_button": [
+              0.14672589302062988,
+              -0.41664916276931757,
+              0.7767188549041748
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12666648626327515,
+              -0.061932981014251764,
+              0.03412657976150513
+            ],
+            "min_contact_pad_to_button": 0.020959200099499645,
+            "closest_contact_pad": [
+              0.1467324048280716,
+              -0.41701354473665264,
+              0.7896609631743765
+            ],
+            "closest_contact_pad_button": [
+              0.1467324048280716,
+              -0.41663458943367,
+              0.7687051892280579
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003789553029826531,
+              0.020955773946318645
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "50f2630503480294a3cf0fdeed235c3b35fc14bb82818aee993414b1e0f2cd69",
+    "visual_seed": 6787296338788910024,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a594076665bc8b9c1588b0902ddca3cd0833672
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19595863949791062,
+              0.2389387661496611,
+              1.0478138631640528
+            ],
+            "current_z": 1.0478138631640528,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1867071167307076,
+            "gripper_z": 1.0532066350591627,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19153570006508028,
+              0.23445306324280313,
+              1.0532066350591627
+            ],
+            "object_minus_gripper": [
+              0.004422939432830342,
+              0.004485702906857986,
+              -0.0053927718951098935
+            ],
+            "object_to_gripper_xy": 0.0062995177430561905,
+            "object_to_gripper_z": -0.0053927718951098935,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19595863949791062,
+              0.21483649247288192,
+              1.0478138631640528
+            ],
+            "finger_b": [
+              0.18480051735024947,
+              0.2389387661496611,
+              1.0478138631640528
+            ],
+            "finger_midpoint": [
+              0.19037957842408004,
+              0.22688762931127152,
+              1.0478138631640528
+            ],
+            "object_minus_finger_midpoint": [
+              0.005579061073830577,
+              0.012051136838389598,
+              0.0
+            ],
+            "finger_gap": 0.026559805839886888,
+            "fingertip_max_gap": 0.09488586094492452,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013279902919943444,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478138631640528,
+            "object_top_z": 1.0996546036579615,
+            "finger_top_clearance": 0.051840740493908744,
+            "fingertip_min_top_clearance": 0.015552222148172623,
+            "object_projection_between_fingers": 0.8235049901406811,
+            "object_to_finger_line_xy": 0.010125680712544152,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04994293047246226,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.811188733297858,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19561751620824347,
+              0.23945334988654393,
+              1.2433773070074683
+            ],
+            "held_position": [
+              0.20026362797286476,
+              0.24359081335854493,
+              1.2378812290850028
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008301315018797205,
+            "max_held_gripper_dist": 0.008315572262181138,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0054960779224655365,
+            "max_held_gripper_z_dist": 0.005546257455186554,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.086476504444719,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20026362797286476,
+              0.21876084779132404,
+              1.2378812290850028
+            ],
+            "held_grasp_finger_b": [
+              0.1906921066187518,
+              0.24359081335854493,
+              1.2378812290850028
+            ],
+            "held_grasp_midpoint": [
+              0.1954778672958083,
+              0.2311758305749345,
+              1.2378812290850028
+            ],
+            "held_grasp_object_position": [
+              0.20026362797286476,
+              0.24359081335854493,
+              1.2378812290850028
+            ],
+            "held_grasp_finger_gap": 0.02661092277809275,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02443830707712171,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.037542008656531255,
+              -0.9986981716716687,
+              0.03453345458680467
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004337850914655424,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03714176239400192,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2896843748654713,
+              -0.36679811216374647,
+              0.8515395449890198
+            ],
+            "target_position": [
+              0.28495037301521675,
+              -0.36743381573383666,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004776493750361099,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18131690476682985,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395449890198,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575823255529295,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863548977515116,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1489341194600654,
+            "release_required_pad_clearance": 0.0531774488757558,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.378540848875131,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008149206638336182,
+            "max_z_decrease": 0.008149206638336182,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03501164787874839,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008149206638336182,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020970409840195298,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008149206638336182,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008149290753535238,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14065030217170715,
+              -0.42369526624679565,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14065030217170715,
+              -0.42369526624679565,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1402105126207971,
+              -0.4245445466006704,
+              0.8036573214877956
+            ],
+            "closest_button": [
+              0.14068078994750977,
+              -0.42367425560951233,
+              0.7686596512794495
+            ],
+            "closest_ee_minus_button": [
+              -0.00047027732671267586,
+              -0.0008702909911580958,
+              0.0349976702083461
+            ],
+            "button_min_z_position": [
+              0.14068078994750977,
+              -0.42367425560951233,
+              0.7686596512794495
+            ],
+            "min_active_finger_to_button": 0.146094144013527,
+            "closest_active_finger": [
+              -0.0007728487253189087,
+              -0.4109351336956024,
+              0.8110620975494385
+            ],
+            "closest_active_finger_button": [
+              0.1406533271074295,
+              -0.4236933290958404,
+              0.7767202258110046
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1414261758327484,
+              0.012758195400237982,
+              0.03434187173843384
+            ],
+            "min_contact_pad_to_button": 0.020970409840195298,
+            "closest_contact_pad": [
+              0.14068078994750977,
+              -0.42550410053007287,
+              0.7895500738800686
+            ],
+            "closest_contact_pad_button": [
+              0.14068078994750977,
+              -0.42367425560951233,
+              0.7686596512794495
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018298449205605416,
+              0.02089042260061913
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "14ebeb2357a35a4c6e4c84372cf744905bb9d5d80292bac997e2e152289c60c7",
+    "visual_seed": 5177376422247901945,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..72406cd79288fcf59e467c82a5cb3e2f4853103c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19160882683213087,
+              0.2317530460424659,
+              1.0495723947194038
+            ],
+            "current_z": 1.0495723947194038,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.18846582709999316,
+            "gripper_z": 1.055357771401851,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18694537201456687,
+              0.2271431068465971,
+              1.055357771401851
+            ],
+            "object_minus_gripper": [
+              0.004663454817564,
+              0.004609939195868801,
+              -0.005785376682447163
+            ],
+            "object_to_gripper_xy": 0.006557388979240774,
+            "object_to_gripper_z": -0.005785376682447163,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19160882683213087,
+              0.20746557297527243,
+              1.0495723947194038
+            ],
+            "finger_b": [
+              0.1802954300837237,
+              0.2317530460424659,
+              1.0495723947194038
+            ],
+            "finger_midpoint": [
+              0.1859521284579273,
+              0.21960930950886917,
+              1.0495723947194038
+            ],
+            "object_minus_finger_midpoint": [
+              0.005656698374203573,
+              0.012143736533596738,
+              0.0
+            ],
+            "finger_gap": 0.026793176257706337,
+            "fingertip_max_gap": 0.09161219555349462,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013396588128853162,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495723947194038,
+            "object_top_z": 1.099620077358505,
+            "finger_top_clearance": 0.0500476826391012,
+            "fingertip_min_top_clearance": 0.015014304791730375,
+            "object_projection_between_fingers": 0.8217056286026357,
+            "object_to_finger_line_xy": 0.010255365626775292,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04830609777674731,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9853317000598409,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19080405609458684,
+              0.23272129481620174,
+              1.2424147613523024
+            ],
+            "held_position": [
+              0.19562305679922207,
+              0.23700797854030042,
+              1.2364832363123517
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008762500467405992,
+            "max_held_gripper_dist": 0.008775677169541122,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005931525039950758,
+            "max_held_gripper_z_dist": 0.005979036702139062,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08642562383685992,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19562305679922207,
+              0.21213680241224722,
+              1.2364832363123517
+            ],
+            "held_grasp_finger_b": [
+              0.1857955380519047,
+              0.23700797854030042,
+              1.2364832363123517
+            ],
+            "held_grasp_midpoint": [
+              0.1907092974255634,
+              0.2245723904762738,
+              1.2364832363123517
+            ],
+            "held_grasp_object_position": [
+              0.19562305679922207,
+              0.23700797854030042,
+              1.2364832363123517
+            ],
+            "held_grasp_finger_gap": 0.026742391940915038,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02451105816095408,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03484731481581551,
+              -0.9992901289684845,
+              0.014314426159556911
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004481013981242228,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037122258349971925,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29504274753590326,
+              -0.3599701866081723,
+              0.8515396023231259
+            ],
+            "target_position": [
+              0.28828653063481946,
+              -0.362173169356575,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071063070440454705,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18411489060935413,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396023231259,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07552476614067756,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08587190707887037,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15246863304836475,
+            "release_required_pad_clearance": 0.052935953539435185,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9091295539793179,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008067429065704346,
+            "max_z_decrease": 0.008067429065704346,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514179206539242,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008067429065704346,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02102327282592378,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008067429065704346,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008067435841967919,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14398646354675287,
+              -0.4184346199035644,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14398646354675287,
+              -0.4184346199035644,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1448526167399914,
+              -0.4183308445140077,
+              0.8080574012369107
+            ],
+            "closest_button": [
+              0.1439765095710754,
+              -0.41843566298484797,
+              0.7729266881942749
+            ],
+            "closest_ee_minus_button": [
+              0.0008761071689159794,
+              0.00010481847084026219,
+              0.03513071304263582
+            ],
+            "button_min_z_position": [
+              0.14398317039012906,
+              -0.4184246957302093,
+              0.7687414288520813
+            ],
+            "min_active_finger_to_button": 0.14533105642001615,
+            "closest_active_finger": [
+              0.0036314353346824646,
+              -0.4026452898979187,
+              0.8104714155197144
+            ],
+            "closest_active_finger_button": [
+              0.14398565888404846,
+              -0.4184348881244659,
+              0.7762296795845032
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.140354223549366,
+              0.015789598226547186,
+              0.03424173593521118
+            ],
+            "min_contact_pad_to_button": 0.02102327282592378,
+            "closest_contact_pad": [
+              0.14398317039012906,
+              -0.4193423009476628,
+              0.789744666720994
+            ],
+            "closest_contact_pad_button": [
+              0.14398317039012906,
+              -0.4184246957302093,
+              0.7687414288520813
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009176052174534877,
+              0.021003237868912672
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1f0f4b4a0cc566fdb3b9cb4e5b68defcfefe93d721c085579cf7ad76f0546f33",
+    "visual_seed": 5807358970031787406,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e2845a0a16ac77f389b4d904817767207af849d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19301668600546598,
+              0.22994433590454894,
+              1.0462831614523922
+            ],
+            "current_z": 1.0462831614523922,
+            "required_z": 0.8611068060379896,
+            "initial_z": 0.7611068060379896,
+            "lift_margin": 0.18517635541440258,
+            "gripper_z": 1.0522083631789951,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1883221210402679,
+              0.22534358357399664,
+              1.0522083631789951
+            ],
+            "object_minus_gripper": [
+              0.0046945649651980725,
+              0.0046007523305522935,
+              -0.0059252017266029355
+            ],
+            "object_to_gripper_xy": 0.006573116629084527,
+            "object_to_gripper_z": -0.0059252017266029355,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19301668600546598,
+              0.2055090970973686,
+              1.0462831614523922
+            ],
+            "finger_b": [
+              0.18188843557325096,
+              0.22994433590454894,
+              1.0462831614523922
+            ],
+            "finger_midpoint": [
+              0.18745256078935846,
+              0.21772671650095876,
+              1.0462831614523922
+            ],
+            "object_minus_finger_midpoint": [
+              0.005564125216107524,
+              0.012217619403590174,
+              0.0
+            ],
+            "finger_gap": 0.026849932090156695,
+            "fingertip_max_gap": 0.09590589282725498,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013424966045078352,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0462831614523922,
+            "object_top_z": 1.0981305258000476,
+            "finger_top_clearance": 0.051847364347655356,
+            "fingertip_min_top_clearance": 0.015554209304296622,
+            "object_projection_between_fingers": 0.8282220569978188,
+            "object_to_finger_line_xy": 0.0101274541739705,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05045294641362749,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4033992383208065,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19193513366187395,
+              0.2311880472431463,
+              1.2416450118869364
+            ],
+            "held_position": [
+              0.19676737546109682,
+              0.23553204465723393,
+              1.2356148539434124
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00886474360394042,
+            "max_held_gripper_dist": 0.008878943327920882,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006030157943524017,
+            "max_held_gripper_z_dist": 0.0060794515572479835,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0864098249284947,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19676737546109682,
+              0.21067787044316588,
+              1.2356148539434124
+            ],
+            "held_grasp_finger_b": [
+              0.1867456891708617,
+              0.23553204465723393,
+              1.2356148539434124
+            ],
+            "held_grasp_midpoint": [
+              0.19175653231597928,
+              0.2231049575501999,
+              1.2356148539434124
+            ],
+            "held_grasp_object_position": [
+              0.19676737546109682,
+              0.23553204465723393,
+              1.2356148539434124
+            ],
+            "held_grasp_finger_gap": 0.026798585260478427,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02481251972329941,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0030156058020092934,
+              -0.9995399953606419,
+              0.030177869310061722
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004987481873989917,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03728376875312261,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29738966901574304,
+              -0.366544013842738,
+              0.851539555118629
+            ],
+            "target_position": [
+              0.2923309849907812,
+              -0.3677279919882358,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005195391064532161,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18238177987938708,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539555118629,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583173922466412,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08800355015163806,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14985019419525483,
+            "release_required_pad_clearance": 0.05400177507581903,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0148014740122338,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008131027221679688,
+            "max_z_decrease": 0.008131027221679688,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514088301637107,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008131027221679688,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02093385328043862,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008131027221679688,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008131064431350404,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14803090691566462,
+              -0.4239894449710846,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14803090691566462,
+              -0.4239894449710846,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14937215644461657,
+              -0.4222671034664949,
+              0.8037523660268614
+            ],
+            "closest_button": [
+              0.14804571866989133,
+              -0.4239698052406311,
+              0.768677830696106
+            ],
+            "closest_ee_minus_button": [
+              0.001326437774725242,
+              0.0017027017741362283,
+              0.03507453533075544
+            ],
+            "button_min_z_position": [
+              0.14804571866989133,
+              -0.4239698052406311,
+              0.768677830696106
+            ],
+            "min_active_finger_to_button": 0.14385709481953673,
+            "closest_active_finger": [
+              0.023072220385074615,
+              -0.4865504503250122,
+              0.810457170009613
+            ],
+            "closest_active_finger_button": [
+              0.14802974462509152,
+              -0.42398980259895325,
+              0.7763009667396545
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12495752424001691,
+              -0.06256064772605896,
+              0.034156203269958496
+            ],
+            "min_contact_pad_to_button": 0.02093385328043862,
+            "closest_contact_pad": [
+              0.14804571866989133,
+              -0.4239698052406311,
+              0.7896116839765446
+            ],
+            "closest_contact_pad_button": [
+              0.14804571866989133,
+              -0.4239698052406311,
+              0.768677830696106
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02093385328043862
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4fea0b158b2377ec557bd4c58cf79e6c27d8d44ed511be4b81a6e3d78418a56f",
+    "visual_seed": 709663399628803862,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_49_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b367281559873488127555eb4ba5818688e87bbc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_49_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 49,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1951267607082586,
+              0.23664179601772484,
+              1.047578433676745
+            ],
+            "current_z": 1.047578433676745,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18647186605733435,
+            "gripper_z": 1.0531401621947374,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19048568055853538,
+              0.2320280074964435,
+              1.0531401621947374
+            ],
+            "object_minus_gripper": [
+              0.004641080149723226,
+              0.004613788521281331,
+              -0.005561728517992304
+            ],
+            "object_to_gripper_xy": 0.0065442088502172925,
+            "object_to_gripper_z": -0.005561728517992304,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1951267607082586,
+              0.21242043579970996,
+              1.047578433676745
+            ],
+            "finger_b": [
+              0.18373695473826124,
+              0.23664179601772484,
+              1.047578433676745
+            ],
+            "finger_midpoint": [
+              0.18943185772325993,
+              0.22453111590871738,
+              1.047578433676745
+            ],
+            "object_minus_finger_midpoint": [
+              0.005694902984998668,
+              0.012110680109007455,
+              0.0
+            ],
+            "finger_gap": 0.026765686444494962,
+            "fingertip_max_gap": 0.09506345202688452,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013382843222247488,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.047578433676745,
+            "object_top_z": 1.0994231320593497,
+            "finger_top_clearance": 0.05184469838260464,
+            "fingertip_min_top_clearance": 0.015553409514781407,
+            "object_projection_between_fingers": 0.8189177510481034,
+            "object_to_finger_line_xy": 0.010307099494148911,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05003172601344226,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.982395167994083,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19454719139171436,
+              0.23707727725653022,
+              1.243044511718176
+            ],
+            "held_position": [
+              0.19941463399494846,
+              0.24132340276553366,
+              1.2373661713175004
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008600298194826397,
+            "max_held_gripper_dist": 0.008614234596281087,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005678340400675719,
+            "max_held_gripper_z_dist": 0.005728367723327743,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08695060701890342,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19941463399494846,
+              0.21638334824206507,
+              1.2373661713175004
+            ],
+            "held_grasp_finger_b": [
+              0.18964232477749127,
+              0.24132340276553366,
+              1.2373661713175004
+            ],
+            "held_grasp_midpoint": [
+              0.19452847938621987,
+              0.22885337550379936,
+              1.2373661713175004
+            ],
+            "held_grasp_object_position": [
+              0.19941463399494846,
+              0.24132340276553366,
+              1.2373661713175004
+            ],
+            "held_grasp_finger_gap": 0.026786271615795748,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024571790160771823,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03458826167555208,
+              -0.9987868040031558,
+              0.03505099575512016
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004473609088559901,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03709634780132133,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2892129931596229,
+              -0.36594472381777277,
+              0.8515395639215562
+            ],
+            "target_position": [
+              0.2842020703380673,
+              -0.36668135241403976,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005064777311237363,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18291453880974815,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395639215562,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530242297774814,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08542772224718768,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15158270166250581,
+            "release_required_pad_clearance": 0.052713861123593844,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.48132548231006,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008084714412689209,
+            "max_z_decrease": 0.008084714412689209,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035104902885330365,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008084714412689209,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02099781357435442,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008084714412689209,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008084728007354873,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13990199565887446,
+              -0.4229428172111511,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13990199565887446,
+              -0.4229428172111511,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13993610892532593,
+              -0.4223849746509371,
+              0.8038248283991964
+            ],
+            "closest_button": [
+              0.13990472257137296,
+              -0.4229282438755036,
+              0.7687241435050964
+            ],
+            "closest_ee_minus_button": [
+              3.13863539529724e-05,
+              0.0005432692245664894,
+              0.03510068489410001
+            ],
+            "button_min_z_position": [
+              0.13990472257137296,
+              -0.4229282438755036,
+              0.7687241435050964
+            ],
+            "min_active_finger_to_button": 0.14555864739386842,
+            "closest_active_finger": [
+              0.014056220650672913,
+              -0.487560510635376,
+              0.8105229139328003
+            ],
+            "closest_active_finger_button": [
+              0.13990138471126554,
+              -0.42294216156005865,
+              0.7762477993965149
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12584516406059262,
+              -0.06461834907531733,
+              0.0342751145362854
+            ],
+            "min_contact_pad_to_button": 0.02099781357435442,
+            "closest_contact_pad": [
+              0.13990472257137296,
+              -0.42335085618345325,
+              0.7897177037972554
+            ],
+            "closest_contact_pad_button": [
+              0.13990472257137296,
+              -0.4229282438755036,
+              0.7687241435050964
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00042261230794965465,
+              0.02099356029215893
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 49,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "770f2f0ee0112893ccc9171a56c1a517765f589f9a2850d41a37c43c1ee42679",
+    "visual_seed": 8438724007298529689,
+    "episode_index": 49,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e022c4321cbeba391d88ca05ff0675620fea62f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19595939843760793,
+              0.2362257452107857,
+              1.0487146506758958
+            ],
+            "current_z": 1.0487146506758958,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.18760802345184002,
+            "gripper_z": 1.054500450069738,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19111607539367154,
+              0.23144655850199825,
+              1.054500450069738
+            ],
+            "object_minus_gripper": [
+              0.004843323043936393,
+              0.004779186708787464,
+              -0.0057857993938421615
+            ],
+            "object_to_gripper_xy": 0.006804293034943162,
+            "object_to_gripper_z": -0.0057857993938421615,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19595939843760793,
+              0.2119676181895419,
+              1.0487146506758958
+            ],
+            "finger_b": [
+              0.18419661447477742,
+              0.2362257452107857,
+              1.0487146506758958
+            ],
+            "finger_midpoint": [
+              0.19007800645619266,
+              0.2240966817001638,
+              1.0487146506758958
+            ],
+            "object_minus_finger_midpoint": [
+              0.005881391981415268,
+              0.012129063510621901,
+              0.0
+            ],
+            "finger_gap": 0.02695959593790347,
+            "fingertip_max_gap": 0.09228922964561492,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013479797968951742,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487146506758958,
+            "object_top_z": 1.0992838917897365,
+            "finger_top_clearance": 0.05056924111384076,
+            "fingertip_min_top_clearance": 0.015170772334152226,
+            "object_projection_between_fingers": 0.8096322031186581,
+            "object_to_finger_line_xy": 0.010584101785168751,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048644614822807464,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.030832878763603,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1952064313325805,
+              0.23646486571880956,
+              1.2451004458923915
+            ],
+            "held_position": [
+              0.2003221940298544,
+              0.2408409582116381,
+              1.2392123516360853
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008943761370461283,
+            "max_held_gripper_dist": 0.008958574040221408,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005888094256306209,
+            "max_held_gripper_z_dist": 0.005940161079304396,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08548683594171128,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2003221940298544,
+              0.21579572856265206,
+              1.2392123516360853
+            ],
+            "held_grasp_finger_b": [
+              0.190240851925299,
+              0.2408409582116381,
+              1.2392123516360853
+            ],
+            "held_grasp_midpoint": [
+              0.1952815229775767,
+              0.22831834338714507,
+              1.2392123516360853
+            ],
+            "held_grasp_object_position": [
+              0.2003221940298544,
+              0.2408409582116381,
+              1.2392123516360853
+            ],
+            "held_grasp_finger_gap": 0.026998092280743298,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02449812509278669,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05054820174085861,
+              -0.9985022759940562,
+              0.020930459513716082
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004409187806812906,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036961593809182035,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29382844394647045,
+              -0.3605732416519273,
+              0.8515395646279701
+            ],
+            "target_position": [
+              0.2874958779108465,
+              -0.3622872406733551,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006560425690532082,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18407098614123943,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395646279701,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755905892761882,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08556493814563658,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15215631092637227,
+            "release_required_pad_clearance": 0.05278246907281829,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6129341279485968,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008018970489501953,
+            "max_z_decrease": 0.008018970489501953,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351425436019685,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008018970489501953,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021126620088015798,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008018970489501953,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008019000729711005,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14319580793380737,
+              -0.41854870319366455,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14319580793380737,
+              -0.41854870319366455,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14182930950216213,
+              -0.41969949127783135,
+              0.8081025064992468
+            ],
+            "closest_button": [
+              0.14318884909152985,
+              -0.4185488224029541,
+              0.7730051279067993
+            ],
+            "closest_ee_minus_button": [
+              -0.0013595395893677142,
+              -0.0011506688748772476,
+              0.03509737859244744
+            ],
+            "button_min_z_position": [
+              0.14317387342453003,
+              -0.41854673624038696,
+              0.7687898874282837
+            ],
+            "min_active_finger_to_button": 0.14739236369096625,
+            "closest_active_finger": [
+              0.0004393383860588074,
+              -0.40555906295776367,
+              0.8106187582015991
+            ],
+            "closest_active_finger_button": [
+              0.14319531619548795,
+              -0.4185488820075989,
+              0.7763185501098633
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14275597780942914,
+              0.012989819049835205,
+              0.03430020809173584
+            ],
+            "min_contact_pad_to_button": 0.021126620088015798,
+            "closest_contact_pad": [
+              0.14317680895328522,
+              -0.4206801134828061,
+              0.7898925141362141
+            ],
+            "closest_contact_pad_button": [
+              0.14317680895328522,
+              -0.41854453086853033,
+              0.7688741087913513
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002135582614275766,
+              0.021018405344862767
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "89f8015d6e82fadd7127f7b0389dbe24ee5db5a332d6efebfc9ca29148c632b3",
+    "visual_seed": 1135525541805451975,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b67fcfd22ce1f42923eeccc374b2675df7a7104
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1975790176012725,
+              0.23536358027996276,
+              1.0472447058169505
+            ],
+            "current_z": 1.0472447058169505,
+            "required_z": 0.8611069252472794,
+            "initial_z": 0.7611069252472794,
+            "lift_margin": 0.18613778056967112,
+            "gripper_z": 1.0527323832987687,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1926860565056036,
+              0.23055731014463998,
+              1.0527323832987687
+            ],
+            "object_minus_gripper": [
+              0.004892961095668891,
+              0.004806270135322782,
+              -0.005487677481818221
+            ],
+            "object_to_gripper_xy": 0.006858666116485405,
+            "object_to_gripper_z": -0.005487677481818221,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1975790176012725,
+              0.21107258099273243,
+              1.0472447058169505
+            ],
+            "finger_b": [
+              0.18577425684710844,
+              0.23536358027996276,
+              1.0472447058169505
+            ],
+            "finger_midpoint": [
+              0.19167663722419048,
+              0.2232180806363476,
+              1.0472447058169505
+            ],
+            "object_minus_finger_midpoint": [
+              0.005902380377082017,
+              0.012145499643615165,
+              0.0
+            ],
+            "finger_gap": 0.027007499381380657,
+            "fingertip_max_gap": 0.0922633271977216,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013503749690690322,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472447058169505,
+            "object_top_z": 1.0977571057051234,
+            "finger_top_clearance": 0.05051239988817291,
+            "fingertip_min_top_clearance": 0.015153719966451856,
+            "object_projection_between_fingers": 0.8089506212592636,
+            "object_to_finger_line_xy": 0.010617400412235616,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0486316635988608,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.072949145735024,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1967664994965504,
+              0.23567208998541084,
+              1.2409527617538527
+            ],
+            "held_position": [
+              0.2019023715205542,
+              0.2400715363106705,
+              1.2353224396654632
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008799592958472161,
+            "max_held_gripper_dist": 0.008812599749387114,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005630322088389539,
+            "max_held_gripper_z_dist": 0.0056848108015916665,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08660810300237015,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2019023715205542,
+              0.21498991558288238,
+              1.2353224396654632
+            ],
+            "held_grasp_finger_b": [
+              0.1918861567440583,
+              0.2400715363106705,
+              1.2353224396654632
+            ],
+            "held_grasp_midpoint": [
+              0.19689426413230626,
+              0.22753072594677642,
+              1.2353224396654632
+            ],
+            "held_grasp_object_position": [
+              0.2019023715205542,
+              0.2400715363106705,
+              1.2353224396654632
+            ],
+            "held_grasp_finger_gap": 0.027007633305817545,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024548676890836937,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.049572765748754,
+              -0.9985482450060977,
+              0.02106996182392129
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004388387611569021,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03694938015587215,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2992367306072884,
+              -0.3666038652205944,
+              0.8515395627813157
+            ],
+            "target_position": [
+              0.2925127373029153,
+              -0.36836482161881207,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006950759195489191,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829952405960545,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395627813157,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571226133799497,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0860100403715267,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15081423176768266,
+            "release_required_pad_clearance": 0.05300502018576335,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0430414787475277,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008104324340820312,
+            "max_z_decrease": 0.008104324340820312,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035124290540462,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008104324340820312,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020941786668012496,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008104324340820312,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00810434401053361,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14821265637874603,
+              -0.4246262907981872,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14821265637874603,
+              -0.4246262907981872,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14760688452295054,
+              -0.42323118258235004,
+              0.803796302623804
+            ],
+            "closest_button": [
+              0.14822235703468323,
+              -0.4246113002300262,
+              0.7687045335769653
+            ],
+            "closest_ee_minus_button": [
+              -0.0006154725117326898,
+              0.001380117647676149,
+              0.03509176904683864
+            ],
+            "button_min_z_position": [
+              0.14822235703468323,
+              -0.4246113002300262,
+              0.7687045335769653
+            ],
+            "min_active_finger_to_button": 0.14569619628411334,
+            "closest_active_finger": [
+              0.019868753850460052,
+              -0.48456189036369324,
+              0.8104013204574585
+            ],
+            "closest_active_finger_button": [
+              0.1482120156288147,
+              -0.42462715506553644,
+              0.7762953639030457
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12834326177835464,
+              -0.059934735298156794,
+              0.03410595655441284
+            ],
+            "min_contact_pad_to_button": 0.020941786668012496,
+            "closest_contact_pad": [
+              0.14822235703468323,
+              -0.4246113002300262,
+              0.7896463202449778
+            ],
+            "closest_contact_pad_button": [
+              0.14822235703468323,
+              -0.4246113002300262,
+              0.7687045335769653
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020941786668012496
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "267bd8256a421aa82bba6469da7ad79cbf5de32398f14c298bd29f0994188786",
+    "visual_seed": 1098653082523634484,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6097b06a537ba0efb24c35cda7341411cb2ca675
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19254730760294808,
+              0.2363856892231361,
+              1.048929594676421
+            ],
+            "current_z": 1.048929594676421,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.18782272903378638,
+            "gripper_z": 1.054475053763717,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1877801023247552,
+              0.23170729342702967,
+              1.054475053763717
+            ],
+            "object_minus_gripper": [
+              0.004767205278192882,
+              0.004678395796106433,
+              -0.00554545908729609
+            ],
+            "object_to_gripper_xy": 0.006679343784344119,
+            "object_to_gripper_z": -0.00554545908729609,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19254730760294808,
+              0.21207560508109427,
+              1.048929594676421
+            ],
+            "finger_b": [
+              0.18106027683726497,
+              0.2363856892231361,
+              1.048929594676421
+            ],
+            "finger_midpoint": [
+              0.1868037922201065,
+              0.2242306471521152,
+              1.048929594676421
+            ],
+            "object_minus_finger_midpoint": [
+              0.005743515382841569,
+              0.012155042071020916,
+              0.0
+            ],
+            "finger_gap": 0.026887396058467693,
+            "fingertip_max_gap": 0.09098006081706297,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013443698029233854,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048929594676421,
+            "object_top_z": 1.0986880291951213,
+            "finger_top_clearance": 0.04975843451870032,
+            "fingertip_min_top_clearance": 0.014927530355610112,
+            "object_projection_between_fingers": 0.8174767977924544,
+            "object_to_finger_line_xy": 0.010385932644750642,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04799003040853149,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9768391263519466,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1919482701172158,
+              0.23650392152641928,
+              1.2431959221340805
+            ],
+            "held_position": [
+              0.1969331835047633,
+              0.24079781277297696,
+              1.2375076796006206
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008697296513174498,
+            "max_held_gripper_dist": 0.008709913908897271,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005688242533459897,
+            "max_held_gripper_z_dist": 0.0057360060850535355,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08662909371821603,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1969331835047633,
+              0.21576872106532813,
+              1.2375076796006206
+            ],
+            "held_grasp_finger_b": [
+              0.18714913522765125,
+              0.24079781277297696,
+              1.2375076796006206
+            ],
+            "held_grasp_midpoint": [
+              0.19204115936620728,
+              0.22828326691915254,
+              1.2375076796006206
+            ],
+            "held_grasp_object_position": [
+              0.1969331835047633,
+              0.24079781277297696,
+              1.2375076796006206
+            ],
+            "held_grasp_finger_gap": 0.02687346334953414,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02455385998384584,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0456389435260684,
+              -0.9988534103689116,
+              0.014455152307022767
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004319633276488629,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0369967864513967,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2937645313904218,
+              -0.3644163536839188,
+              0.8515395993850363
+            ],
+            "target_position": [
+              0.2866287150571314,
+              -0.3662082148858995,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007357352873800332,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18328164070113698,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395993850363,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548303185729753,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08588251366928255,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15165721280109196,
+            "release_required_pad_clearance": 0.05294125683464128,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9194025860367423,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008155643939971924,
+            "max_z_decrease": 0.008155643939971924,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0350719664041974,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008155643939971924,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020914609228520852,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008155643939971924,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008155710466090423,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1423286348581314,
+              -0.4224696755409241,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1423286348581314,
+              -0.4224696755409241,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14380213064862776,
+              -0.42197809993960117,
+              0.8036920654718256
+            ],
+            "closest_button": [
+              0.14235226809978485,
+              -0.42244672775268555,
+              0.7686532139778137
+            ],
+            "closest_ee_minus_button": [
+              0.0014498625488429118,
+              0.00046862781308437684,
+              0.03503885149401187
+            ],
+            "button_min_z_position": [
+              0.14235226809978485,
+              -0.42244672775268555,
+              0.7686532139778137
+            ],
+            "min_active_finger_to_button": 0.1442578539483168,
+            "closest_active_finger": [
+              0.01644115149974823,
+              -0.4840901792049408,
+              0.8107967972755432
+            ],
+            "closest_active_finger_button": [
+              0.14232933521270752,
+              -0.4224695563316345,
+              0.7766589522361755
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1258881837129593,
+              -0.061620622873306274,
+              0.034137845039367676
+            ],
+            "min_contact_pad_to_button": 0.020914609228520852,
+            "closest_contact_pad": [
+              0.14235226809978485,
+              -0.4232459515166648,
+              0.7895525469948461
+            ],
+            "closest_contact_pad_button": [
+              0.14235226809978485,
+              -0.42244672775268555,
+              0.7686532139778137
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0007992237639792288,
+              0.020899333017032395
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c8571d8a204ec2007f68f9cd5a236e00a4d07a0104e0bbddfbf7e7a883c2b3fb",
+    "visual_seed": 5058994667436845655,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..97fbfce2a9db4814c853960079359409fe921f6e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19358432377859192,
+              0.2381082026759015,
+              1.0497674565031296
+            ],
+            "current_z": 1.0497674565031296,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.18866082927907402,
+            "gripper_z": 1.0554572331567356,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18893505564773141,
+              0.23349649925281424,
+              1.0554572331567356
+            ],
+            "object_minus_gripper": [
+              0.004649268130860501,
+              0.0046117034230872544,
+              -0.005689776653605927
+            ],
+            "object_to_gripper_xy": 0.006548549657378327,
+            "object_to_gripper_z": -0.005689776653605927,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19358432377859192,
+              0.2138689910180209,
+              1.0497674565031296
+            ],
+            "finger_b": [
+              0.18221447234243812,
+              0.2381082026759015,
+              1.0497674565031296
+            ],
+            "finger_midpoint": [
+              0.18789939806051503,
+              0.2259885968469612,
+              1.0497674565031296
+            ],
+            "object_minus_finger_midpoint": [
+              0.005684925718076883,
+              0.012119605828940283,
+              0.0
+            ],
+            "finger_gap": 0.026773361826183558,
+            "fingertip_max_gap": 0.0951038908712594,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01338668091309176,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497674565031296,
+            "object_top_z": 1.101668516356922,
+            "finger_top_clearance": 0.05190105985379234,
+            "fingertip_min_top_clearance": 0.015570317956137718,
+            "object_projection_between_fingers": 0.8196551414554955,
+            "object_to_finger_line_xy": 0.010293673139324036,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0500519454356297,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9440733499747307,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.192932456018179,
+              0.23873441968027037,
+              1.2449126782135593
+            ],
+            "held_position": [
+              0.1977858467547405,
+              0.24300229204708831,
+              1.2391046388724685
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00868927253392645,
+            "max_held_gripper_dist": 0.008702647954219963,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005808039341090865,
+            "max_held_gripper_z_dist": 0.005858682726406217,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0851743761017627,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1977858467547405,
+              0.21809955566690972,
+              1.2391046388724685
+            ],
+            "held_grasp_finger_b": [
+              0.18794116329429916,
+              0.24300229204708831,
+              1.2391046388724685
+            ],
+            "held_grasp_midpoint": [
+              0.19286350502451982,
+              0.23055092385699902,
+              1.2391046388724685
+            ],
+            "held_grasp_object_position": [
+              0.1977858467547405,
+              0.24300229204708831,
+              1.2391046388724685
+            ],
+            "held_grasp_finger_gap": 0.026778052051203382,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024565651588451403,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.031452736492051936,
+              -0.9988980103800918,
+              0.03483518660572471
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004549260033675267,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037127782041140436,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2880611939703259,
+              -0.3629933176099023,
+              0.8515395671749547
+            ],
+            "target_position": [
+              0.28308714811942226,
+              -0.3637669989289817,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005033856862325784,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18447051889016144,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395671749547,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532375350717484,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08539257058616566,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15297412894910753,
+            "release_required_pad_clearance": 0.05269628529308283,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.44762356199206266,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008092701435089111,
+            "max_z_decrease": 0.008092701435089111,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512008151361133,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008092701435089111,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02097288514409168,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008092701435089111,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008092715729714994,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13878707587718958,
+              -0.4200284481048584,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13878707587718958,
+              -0.4200284481048584,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13751154636229643,
+              -0.41906239748218066,
+              0.8037998185706793
+            ],
+            "closest_button": [
+              0.1387953162193298,
+              -0.4200156629085541,
+              0.7687161564826965
+            ],
+            "closest_ee_minus_button": [
+              -0.0012837698570333789,
+              0.0009532654263734175,
+              0.03508366208798275
+            ],
+            "button_min_z_position": [
+              0.1387953162193298,
+              -0.4200156629085541,
+              0.7687161564826965
+            ],
+            "min_active_finger_to_button": 0.1464783365293419,
+            "closest_active_finger": [
+              0.010301001369953156,
+              -0.4814930856227875,
+              0.8106877207756042
+            ],
+            "closest_active_finger_button": [
+              0.1387868672609329,
+              -0.42002871632575983,
+              0.7764909863471985
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12848586589097974,
+              -0.06146436929702764,
+              0.03419673442840576
+            ],
+            "min_contact_pad_to_button": 0.02097288514409168,
+            "closest_contact_pad": [
+              0.1387953162193298,
+              -0.4202984335483651,
+              0.789687135287524
+            ],
+            "closest_contact_pad_button": [
+              0.1387953162193298,
+              -0.4200156629085541,
+              0.7687161564826965
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00028277063981102524,
+              0.020970978804827456
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e4c56843094b0b759d26f36a5063546186c4ec30aab9f557585c3553c146449b",
+    "visual_seed": 700600106468732769,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_56_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b17d9ac8a716334b92791946536c46874e940b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_56_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 56,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19716474444505988,
+              0.2342594250934004,
+              1.0500802109715996
+            ],
+            "current_z": 1.0500802109715996,
+            "required_z": 0.8611066272240558,
+            "initial_z": 0.7611066272240559,
+            "lift_margin": 0.1889735837475438,
+            "gripper_z": 1.0557345002771936,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1924319906469072,
+              0.22955688917209238,
+              1.0557345002771936
+            ],
+            "object_minus_gripper": [
+              0.004732753798152689,
+              0.00470253592130801,
+              -0.005654289305593974
+            ],
+            "object_to_gripper_xy": 0.006671791558878385,
+            "object_to_gripper_z": -0.005654289305593974,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19716474444505988,
+              0.21012340287618256,
+              1.0500802109715996
+            ],
+            "finger_b": [
+              0.1854529769996965,
+              0.2342594250934004,
+              1.0500802109715996
+            ],
+            "finger_midpoint": [
+              0.19130886072237818,
+              0.22219141398479147,
+              1.0500802109715996
+            ],
+            "object_minus_finger_midpoint": [
+              0.005855883722681698,
+              0.012068011108608917,
+              0.0
+            ],
+            "finger_gap": 0.026827468482216246,
+            "fingertip_max_gap": 0.09341935840379481,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01341373424110813,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500802109715996,
+            "object_top_z": 1.1012586950764547,
+            "finger_top_clearance": 0.05117848410485504,
+            "fingertip_min_top_clearance": 0.01535354523145651,
+            "object_projection_between_fingers": 0.8094164142164639,
+            "object_to_finger_line_xy": 0.010536792893878986,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04920967920189741,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2981725463490388,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 214,
+            "max_stable_success_frames": 214,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19657629201497948,
+              0.23450334693586777,
+              1.243597562160168
+            ],
+            "held_position": [
+              0.2015506291435217,
+              0.23878791557966858,
+              1.2377954748961977
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008761608011692935,
+            "max_held_gripper_dist": 0.008776298725274644,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005802087263970357,
+            "max_held_gripper_z_dist": 0.005853514765407297,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08697948850837947,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2015506291435217,
+              0.21380321591801582,
+              1.2377954748961977
+            ],
+            "held_grasp_finger_b": [
+              0.19173612726140637,
+              0.23878791557966858,
+              1.2377954748961977
+            ],
+            "held_grasp_midpoint": [
+              0.19664337820246403,
+              0.2262955657488422,
+              1.2377954748961977
+            ],
+            "held_grasp_object_position": [
+              0.2015506291435217,
+              0.23878791557966858,
+              1.2377954748961977
+            ],
+            "held_grasp_finger_gap": 0.026843242434121794,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024425080369772326,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05249854626760268,
+              -0.9982240246499008,
+              0.028154915228831845
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004259500839857119,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699246280405719,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29494201687589194,
+              -0.3573092773799781,
+              0.851539527223602
+            ],
+            "target_position": [
+              0.2890436890176307,
+              -0.35861672202340816,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006041496753220546,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18255323019036,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539527223602,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544654714774535,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498261867026739,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1508955766206573,
+            "release_required_pad_clearance": 0.0524913093351337,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.055952888793228836,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00805211067199707,
+            "max_z_decrease": 0.00805211067199707,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035186633365531704,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00805211067199707,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021105565483727606,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00805211067199707,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008052117732374874,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14474362134933474,
+              -0.4148781895637512,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14474362134933474,
+              -0.4148781895637512,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1464986733345608,
+              -0.4157233454326262,
+              0.8080646930135399
+            ],
+            "closest_button": [
+              0.14473366737365723,
+              -0.41488024592399597,
+              0.7729324698448181
+            ],
+            "closest_ee_minus_button": [
+              0.001765005960903565,
+              -0.0008430995086302073,
+              0.03513222316872178
+            ],
+            "button_min_z_position": [
+              0.14473530650138855,
+              -0.4148715138435364,
+              0.7687567472457886
+            ],
+            "min_active_finger_to_button": 0.14437310632380546,
+            "closest_active_finger": [
+              0.005248107016086578,
+              -0.4002933204174042,
+              0.8104711174964905
+            ],
+            "closest_active_finger_button": [
+              0.14474265277385712,
+              -0.4148786664009094,
+              0.7762346863746643
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13949454575777054,
+              0.014585345983505249,
+              0.03423643112182617
+            ],
+            "min_contact_pad_to_button": 0.021105565483727606,
+            "closest_contact_pad": [
+              0.14473530650138855,
+              -0.41673866812221205,
+              0.7897795593623332
+            ],
+            "closest_contact_pad_button": [
+              0.14473530650138855,
+              -0.4148715138435364,
+              0.7687567472457886
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018671542786756756,
+              0.021022812116544665
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 56,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a578e83763ef2a0cf6cce35b49eba83e34f5518e850fa3f31985bd9f53ca51f9",
+    "visual_seed": 4535269168691589747,
+    "episode_index": 56,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_58_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1da61e617153ddf18bf703aec360aac6da31adac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_58_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 58,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.197493100827174,
+              0.23672381672179843,
+              1.0477840616623784
+            ],
+            "current_z": 1.0477840616623784,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.1866773152290334,
+            "gripper_z": 1.0538049839496153,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19229570311942007,
+              0.23185293951648817,
+              1.0538049839496153
+            ],
+            "object_minus_gripper": [
+              0.005197397707753931,
+              0.0048708772053102645,
+              -0.0060209222872369406
+            ],
+            "object_to_gripper_xy": 0.007123088352798732,
+            "object_to_gripper_z": -0.0060209222872369406,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.197493100827174,
+              0.2119167652426354,
+              1.0477840616623784
+            ],
+            "finger_b": [
+              0.18600043925912724,
+              0.23672381672179843,
+              1.0477840616623784
+            ],
+            "finger_midpoint": [
+              0.1917467700431506,
+              0.2243202909822169,
+              1.0477840616623784
+            ],
+            "object_minus_finger_midpoint": [
+              0.005746330784023396,
+              0.012403525739581533,
+              0.0
+            ],
+            "finger_gap": 0.02733991720922915,
+            "fingertip_max_gap": 0.0930524723121964,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013669958604614594,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0477840616623784,
+            "object_top_z": 1.0981124840872845,
+            "finger_top_clearance": 0.050328422424906094,
+            "fingertip_min_top_clearance": 0.015098526727471862,
+            "object_projection_between_fingers": 0.8232958107847297,
+            "object_to_finger_line_xy": 0.010427941129788553,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049026236156098205,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7546401997086227,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19593917336641267,
+              0.23769986194309203,
+              1.241313805134804
+            ],
+            "held_position": [
+              0.20124539476393805,
+              0.24231777574086036,
+              1.2351668970128586
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009341605473515438,
+            "max_held_gripper_dist": 0.009357901538109073,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006146908121945405,
+            "max_held_gripper_z_dist": 0.0062018526424039155,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08641130655327015,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20124539476393805,
+              0.2171851960798955,
+              1.2351668970128586
+            ],
+            "held_grasp_finger_b": [
+              0.19077380268124203,
+              0.24231777574086036,
+              1.2351668970128586
+            ],
+            "held_grasp_midpoint": [
+              0.19600959872259005,
+              0.22975148591037792,
+              1.2351668970128586
+            ],
+            "held_grasp_object_position": [
+              0.20124539476393805,
+              0.24231777574086036,
+              1.2351668970128586
+            ],
+            "held_grasp_finger_gap": 0.027226839720414234,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025079882511260213,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.004790192150846272,
+              -0.9998990867019041,
+              0.013374246590223349
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0051782745233485625,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037130147876263564,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.297546690215885,
+              -0.362695136757999,
+              0.8515395602265308
+            ],
+            "target_position": [
+              0.29084336010837253,
+              -0.36493259124571537,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007066883125882646,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18545945824047977,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395602265308,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585477765190574,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08859007607558005,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15300027100253363,
+            "release_required_pad_clearance": 0.054295038037790025,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.610521409476559,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008171141147613525,
+            "max_z_decrease": 0.008171141147613525,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512829361191907,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008171141147613525,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020901082029588958,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008171141147613525,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00817122404630854,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14654327929019928,
+              -0.42119404673576355,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14654327929019928,
+              -0.42119404673576355,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14830372627054073,
+              -0.41935426853449986,
+              0.8036762224007138
+            ],
+            "closest_button": [
+              0.146572545170784,
+              -0.4211717247962951,
+              0.7686377167701721
+            ],
+            "closest_ee_minus_button": [
+              0.001731181099756729,
+              0.0018174562617952472,
+              0.03503850563054167
+            ],
+            "button_min_z_position": [
+              0.146572545170784,
+              -0.4211717247962951,
+              0.7686377167701721
+            ],
+            "min_active_finger_to_button": 0.14341863806979166,
+            "closest_active_finger": [
+              0.020616523921489716,
+              -0.4807628095149994,
+              0.8106548190116882
+            ],
+            "closest_active_finger_button": [
+              0.14654307067394257,
+              -0.42119503021240234,
+              0.7765507102012634
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12592654675245285,
+              -0.059567779302597046,
+              0.034104108810424805
+            ],
+            "min_contact_pad_to_button": 0.020901082029588958,
+            "closest_contact_pad": [
+              0.146572545170784,
+              -0.4211717247962951,
+              0.7895387987997611
+            ],
+            "closest_contact_pad_button": [
+              0.146572545170784,
+              -0.4211717247962951,
+              0.7686377167701721
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020901082029588958
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 58,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d343104f155cb8356c034cd16276f685e7168b60ef74bbdd22de3152e93a3dca",
+    "visual_seed": 8418962380187540169,
+    "episode_index": 58,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87913dfc3328fcb723d05332316156b85590503b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19509090706657467,
+              0.23610151347225503,
+              1.050026017205893
+            ],
+            "current_z": 1.050026017205893,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.1889195091911272,
+            "gripper_z": 1.0555352309591137,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1905894470812496,
+              0.2315541005716881,
+              1.0555352309591137
+            ],
+            "object_minus_gripper": [
+              0.004501459985325057,
+              0.004547412900566927,
+              -0.005509213753220665
+            ],
+            "object_to_gripper_xy": 0.006398601885390681,
+            "object_to_gripper_z": -0.005509213753220665,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19509090706657467,
+              0.2119822034357736,
+              1.050026017205893
+            ],
+            "finger_b": [
+              0.18379737630315734,
+              0.23610151347225503,
+              1.050026017205893
+            ],
+            "finger_midpoint": [
+              0.189444141684866,
+              0.2240418584540143,
+              1.050026017205893
+            ],
+            "object_minus_finger_midpoint": [
+              0.005646765381708663,
+              0.012059655018240717,
+              0.0
+            ],
+            "finger_gap": 0.026632404205031275,
+            "fingertip_max_gap": 0.09416277750915639,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013316202102515638,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050026017205893,
+            "object_top_z": 1.1015974772565262,
+            "finger_top_clearance": 0.05157146005063318,
+            "fingertip_min_top_clearance": 0.015471438015189985,
+            "object_projection_between_fingers": 0.8201796944490427,
+            "object_to_finger_line_xy": 0.010227847542128543,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049581388754578196,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4783584733067427,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19457358665100535,
+              0.23687473327034145,
+              1.2432925103007453
+            ],
+            "held_position": [
+              0.19926108559611921,
+              0.24107679971604276,
+              1.237641784042805
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008459356714118951,
+            "max_held_gripper_dist": 0.008475235694622503,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005650726257940386,
+            "max_held_gripper_z_dist": 0.005701240897782123,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08636820436524079,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19926108559611921,
+              0.21624708510628862,
+              1.237641784042805
+            ],
+            "held_grasp_finger_b": [
+              0.18961913948241632,
+              0.24107679971604276,
+              1.237641784042805
+            ],
+            "held_grasp_midpoint": [
+              0.19444011253926777,
+              0.2286619424111657,
+              1.237641784042805
+            ],
+            "held_grasp_object_position": [
+              0.19926108559611921,
+              0.24107679971604276,
+              1.237641784042805
+            ],
+            "held_grasp_finger_gap": 0.026636100549092927,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024401965387020694,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04093984912721878,
+              -0.9986705685480288,
+              0.03132130695545143
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00432645784660581,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037124527557396945,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28966801436227174,
+              -0.36195797254098794,
+              0.8515395187497777
+            ],
+            "target_position": [
+              0.2847854189640545,
+              -0.3628323148873905,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004960263335893039,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18167439422220819,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395187497777,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570272776027859,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859296206535806,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14938659703571108,
+            "release_required_pad_clearance": 0.052964810326790304,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9650891746057021,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007936298847198486,
+            "max_z_decrease": 0.007936298847198486,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351342676717642,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007936298847198486,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104120612467065,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007936298847198486,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00793632202986363,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14048534631729126,
+              -0.4190937876701355,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14048534631729126,
+              -0.4190937876701355,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13985609292941656,
+              -0.41832464757731974,
+              0.8081254831292322
+            ],
+            "closest_button": [
+              0.14047680795192716,
+              -0.4190941452980041,
+              0.7730051279067993
+            ],
+            "closest_ee_minus_button": [
+              -0.0006207150225105984,
+              0.0007694977206843534,
+              0.03512035522243284
+            ],
+            "button_min_z_position": [
+              0.14046639204025266,
+              -0.41909083724021906,
+              0.7688725590705872
+            ],
+            "min_active_finger_to_button": 0.1463719947870901,
+            "closest_active_finger": [
+              0.012697108089923859,
+              -0.48173993825912476,
+              0.8105194568634033
+            ],
+            "closest_active_finger_button": [
+              0.14048515260219574,
+              -0.41909381747245783,
+              0.7763077616691589
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12778804451227188,
+              -0.06264612078666693,
+              0.034211695194244385
+            ],
+            "min_contact_pad_to_button": 0.02104120612467065,
+            "closest_contact_pad": [
+              0.14046639204025266,
+              -0.4193870275859663,
+              0.7899116804034747
+            ],
+            "closest_contact_pad_button": [
+              0.14046639204025266,
+              -0.41909083724021906,
+              0.7688725590705872
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002961903457472381,
+              0.021039121332887545
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4301f0b7fcdb556739da208a1ee8b574cf225399d5d10652c4e7cee2454b8918",
+    "visual_seed": 2151577437772368344,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a596488441cf478ef82032fb085792a1c2abdd9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.18984088721729733,
+              0.23680326829097464,
+              1.0491281545514741
+            ],
+            "current_z": 1.0491281545514741,
+            "required_z": 0.8611066272240556,
+            "initial_z": 0.7611066272240556,
+            "lift_margin": 0.1880215273274185,
+            "gripper_z": 1.054791161979662,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1855143633559047,
+              0.2324083719959662,
+              1.054791161979662
+            ],
+            "object_minus_gripper": [
+              0.004326523861392623,
+              0.004394896295008444,
+              -0.005663007428187816
+            ],
+            "object_to_gripper_xy": 0.006167164840271312,
+            "object_to_gripper_z": -0.005663007428187816,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.18984088721729733,
+              0.21269067271187456,
+              1.0491281545514741
+            ],
+            "finger_b": [
+              0.17891538272142551,
+              0.23680326829097464,
+              1.0491281545514741
+            ],
+            "finger_midpoint": [
+              0.18437813496936142,
+              0.22474697050142461,
+              1.0491281545514741
+            ],
+            "object_minus_finger_midpoint": [
+              0.005462752247935909,
+              0.01205629778955003,
+              0.0
+            ],
+            "finger_gap": 0.026472323548388275,
+            "fingertip_max_gap": 0.09413808508136065,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013236161774194125,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491281545514741,
+            "object_top_z": 1.100563311378193,
+            "finger_top_clearance": 0.05143515682671884,
+            "fingertip_min_top_clearance": 0.015430547048015652,
+            "object_projection_between_fingers": 0.8296669685247591,
+            "object_to_finger_line_xy": 0.00995161119593661,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04956904254068033,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5812810870717209,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18947956670973265,
+              0.23758042079541153,
+              1.2416592397737773
+            ],
+            "held_position": [
+              0.19395735765454208,
+              0.24166628333051804,
+              1.2358548638561664
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00839259579594695,
+            "max_held_gripper_dist": 0.008405963662886725,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00580437591761096,
+            "max_held_gripper_z_dist": 0.005848619286523027,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08515071238574937,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19395735765454208,
+              0.21693624347142063,
+              1.2358548638561664
+            ],
+            "held_grasp_finger_b": [
+              0.18455852840918027,
+              0.24166628333051804,
+              1.2358548638561664
+            ],
+            "held_grasp_midpoint": [
+              0.18925794303186116,
+              0.22930126340096935,
+              1.2358548638561664
+            ],
+            "held_grasp_object_position": [
+              0.19395735765454208,
+              0.24166628333051804,
+              1.2358548638561664
+            ],
+            "held_grasp_finger_gap": 0.02645586631762444,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02441208615268598,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03136296533645191,
+              -0.9990627370308345,
+              0.029833066918477646
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004325246719007758,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03721943183792656,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28824304735464124,
+              -0.36728710838255413,
+              0.8515396016587122
+            ],
+            "target_position": [
+              0.28326244845938015,
+              -0.36804738181650754,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005038291481231638,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18153559443613185,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396016587122,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544400305058863,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568479837583091,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1497873643012234,
+            "release_required_pad_clearance": 0.05284239918791546,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7284642712740067,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008138954639434814,
+            "max_z_decrease": 0.008138954639434814,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506764708835436,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008138954639434814,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020946369431972773,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008138954639434814,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008139010492161673,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13896237313747406,
+              -0.4243088364601135,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13896237313747406,
+              -0.4243088364601135,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.140399346118888,
+              -0.4239468076749638,
+              0.8037072444288313
+            ],
+            "closest_button": [
+              0.13898168504238123,
+              -0.42428568005561823,
+              0.7686699032783508
+            ],
+            "closest_ee_minus_button": [
+              0.0014176610765067599,
+              0.0003388723806544425,
+              0.03503734115048052
+            ],
+            "button_min_z_position": [
+              0.13898168504238123,
+              -0.42428568005561823,
+              0.7686699032783508
+            ],
+            "min_active_finger_to_button": 0.14440420254676417,
+            "closest_active_finger": [
+              -0.0005529746413230896,
+              -0.40985405445098877,
+              0.8109915256500244
+            ],
+            "closest_active_finger_button": [
+              0.13896298408508298,
+              -0.4243077039718628,
+              0.7766554951667786
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13951595872640607,
+              0.014453649520874023,
+              0.03433603048324585
+            ],
+            "min_contact_pad_to_button": 0.020946369431972773,
+            "closest_contact_pad": [
+              0.13898168504238123,
+              -0.4249512561402354,
+              0.7896056956172204
+            ],
+            "closest_contact_pad_button": [
+              0.13898168504238123,
+              -0.42428568005561823,
+              0.7686699032783508
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006655760846171477,
+              0.020935792338869552
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "abf6354d920e63887406cc3452dffaa00bfc17908de3584753a12de4f748a1ca",
+    "visual_seed": 4857214849438489938,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_62_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d12fe96059bdd56176626de417b28d064fd79b4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_62_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 62,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19605132452447221,
+              0.23737733155101562,
+              1.0464751377415005
+            ],
+            "current_z": 1.0464751377415005,
+            "required_z": 0.8611066868287002,
+            "initial_z": 0.7611066868287002,
+            "lift_margin": 0.1853684509128003,
+            "gripper_z": 1.051970991995699,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19140972352518515,
+              0.23278265458949787,
+              1.051970991995699
+            ],
+            "object_minus_gripper": [
+              0.0046416009992870655,
+              0.004594676961517746,
+              -0.005495854254198518
+            ],
+            "object_to_gripper_xy": 0.006531119063168626,
+            "object_to_gripper_z": -0.005495854254198518,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19605132452447221,
+              0.2131203541697191,
+              1.0464751377415005
+            ],
+            "finger_b": [
+              0.18473503871396954,
+              0.23737733155101562,
+              1.0464751377415005
+            ],
+            "finger_midpoint": [
+              0.19039318161922086,
+              0.22524884286036737,
+              1.0464751377415005
+            ],
+            "object_minus_finger_midpoint": [
+              0.005658142905251351,
+              0.012128488690648254,
+              0.0
+            ],
+            "finger_gap": 0.026766756923873213,
+            "fingertip_max_gap": 0.09451322244123736,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013383378461936612,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0464751377415005,
+            "object_top_z": 1.0980840214716094,
+            "finger_top_clearance": 0.05160888373010897,
+            "fingertip_min_top_clearance": 0.015482665119032723,
+            "object_projection_between_fingers": 0.8212622422584763,
+            "object_to_finger_line_xy": 0.010255216563080358,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04975661122061868,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7615686177028769,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19541604865997997,
+              0.2378226441442738,
+              1.2388950487651442
+            ],
+            "held_position": [
+              0.20023706459491974,
+              0.24206589193810704,
+              1.233241378246635
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008556362358892658,
+            "max_held_gripper_dist": 0.008570060529595492,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005653670518509291,
+            "max_held_gripper_z_dist": 0.005704313667846961,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0868190596260969,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20023706459491974,
+              0.21712822452555236,
+              1.233241378246635
+            ],
+            "held_grasp_finger_b": [
+              0.19058579961506159,
+              0.24206589193810704,
+              1.233241378246635
+            ],
+            "held_grasp_midpoint": [
+              0.19541143210499068,
+              0.2295970582318297,
+              1.233241378246635
+            ],
+            "held_grasp_object_position": [
+              0.20023706459491974,
+              0.24206589193810704,
+              1.233241378246635
+            ],
+            "held_grasp_finger_gap": 0.026740122880993426,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024577367246139268,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.034442645119127625,
+              -0.9988818091402785,
+              0.03238573089868701
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004412075484415971,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0370991513523735,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28988996723782406,
+              -0.36615000940833886,
+              0.8515395950170032
+            ],
+            "target_position": [
+              0.28482639597424314,
+              -0.366998624619336,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005134189489851175,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18320334254830378,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395950170032,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544053591881965,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08612323112029939,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15143434620342713,
+            "release_required_pad_clearance": 0.0530616155601497,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1528249127248684,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008119523525238037,
+            "max_z_decrease": 0.008119523525238037,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508948121632773,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008119523525238037,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021081761330869135,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008119523525238037,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008119562159687883,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14052632451057434,
+              -0.42326009273529047,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14052632451057434,
+              -0.42326009273529047,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14036341026214302,
+              -0.4244387738553941,
+              0.8037579803483759
+            ],
+            "closest_button": [
+              0.140545055270195,
+              -0.42324346303939814,
+              0.7686893343925476
+            ],
+            "closest_ee_minus_button": [
+              -0.0001816450080519838,
+              -0.0011953108159959425,
+              0.03506864595582826
+            ],
+            "button_min_z_position": [
+              0.140545055270195,
+              -0.42324346303939814,
+              0.7686893343925476
+            ],
+            "min_active_finger_to_button": 0.14570491892389204,
+            "closest_active_finger": [
+              -0.00011789798736572266,
+              -0.4065972566604614,
+              0.8109456896781921
+            ],
+            "closest_active_finger_button": [
+              0.14052969217300415,
+              -0.4232590794563293,
+              0.7767322063446045
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14064759016036987,
+              0.016661822795867864,
+              0.034213483333587646
+            ],
+            "min_contact_pad_to_button": 0.021081761330869135,
+            "closest_contact_pad": [
+              0.140545055270195,
+              -0.4257715313067442,
+              0.7896189672523798
+            ],
+            "closest_contact_pad_button": [
+              0.140545055270195,
+              -0.42324346303939814,
+              0.7686893343925476
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002528068267346084,
+              0.02092963285983218
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 62,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbbf2c97347e6d23968ddb78ccca179c3b43edaa7bc393e1059d952d76d7a38e",
+    "visual_seed": 1523985016473066250,
+    "episode_index": 62,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_64_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..803f1cfca12129f63a800216f2f3ff81d25c87cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_64_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 64,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1946878627189646,
+              0.2383205429146214,
+              1.0480344878990313
+            ],
+            "current_z": 1.0480344878990313,
+            "required_z": 0.8611066868287004,
+            "initial_z": 0.7611066868287004,
+            "lift_margin": 0.1869278010703309,
+            "gripper_z": 1.0537473599180363,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18984435961048896,
+              0.2335340878901903,
+              1.0537473599180363
+            ],
+            "object_minus_gripper": [
+              0.004843503108475644,
+              0.004786455024431091,
+              -0.005712872019004944
+            ],
+            "object_to_gripper_xy": 0.006809528182092711,
+            "object_to_gripper_z": -0.005712872019004944,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1946878627189646,
+              0.21406844358138297,
+              1.0480344878990313
+            ],
+            "finger_b": [
+              0.1829046600390104,
+              0.2383205429146214,
+              1.0480344878990313
+            ],
+            "finger_midpoint": [
+              0.1887962613789875,
+              0.22619449324800217,
+              1.0480344878990313
+            ],
+            "object_minus_finger_midpoint": [
+              0.005891601339977098,
+              0.012126049666619232,
+              0.0
+            ],
+            "finger_gap": 0.026963089353153582,
+            "fingertip_max_gap": 0.09245345855193648,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013481544676576803,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480344878990313,
+            "object_top_z": 1.0988256693759229,
+            "finger_top_clearance": 0.050791181476891545,
+            "fingertip_min_top_clearance": 0.01523735444306748,
+            "object_projection_between_fingers": 0.8090202176666056,
+            "object_to_finger_line_xy": 0.010598466596874126,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048726729275968245,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.0275726700327137,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19398786750442853,
+              0.23848938119918708,
+              1.2428887306563765
+            ],
+            "held_position": [
+              0.19908945598522704,
+              0.24285660620450406,
+              1.2370459608483024
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00890150651882162,
+            "max_held_gripper_dist": 0.008915530469945816,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0058427698080740775,
+            "max_held_gripper_z_dist": 0.005893567534782651,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08656192502276117,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19908945598522704,
+              0.21778767857726547,
+              1.2370459608483024
+            ],
+            "held_grasp_finger_b": [
+              0.1891121763930184,
+              0.24285660620450406,
+              1.2370459608483024
+            ],
+            "held_grasp_midpoint": [
+              0.19410081618912273,
+              0.23032214239088478,
+              1.2370459608483024
+            ],
+            "held_grasp_object_position": [
+              0.19908945598522704,
+              0.24285660620450406,
+              1.2370459608483024
+            ],
+            "held_grasp_finger_gap": 0.02698142398838188,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024473494245695438,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05506972916056276,
+              -0.9981655658620578,
+              0.02515607396753483
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004302624009171457,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0369340568623452,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29891591625628433,
+              -0.36064454069065927,
+              0.8515395652899406
+            ],
+            "target_position": [
+              0.292511889432981,
+              -0.3621547167939864,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006579680191061631,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1830525038975429,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395652899406,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568620262194363,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.085614521985924,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15095890319697455,
+            "release_required_pad_clearance": 0.052807260992962,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6608613928272075,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008137762546539307,
+            "max_z_decrease": 0.008137762546539307,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035094480567662054,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008137762546539307,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020899290183830077,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008137762546539307,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008137819997211287,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14821182191371912,
+              -0.4184161722660064,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14821182191371912,
+              -0.4184161722660064,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14708486180081065,
+              -0.41662203061920805,
+              0.8037018640742132
+            ],
+            "closest_button": [
+              0.14823456108570093,
+              -0.4183957278728484,
+              0.7686710953712463
+            ],
+            "closest_ee_minus_button": [
+              -0.001149699284890282,
+              0.0017736972536403495,
+              0.03503076870296684
+            ],
+            "button_min_z_position": [
+              0.14823456108570093,
+              -0.4183957278728484,
+              0.7686710953712463
+            ],
+            "min_active_finger_to_button": 0.1459607734382795,
+            "closest_active_finger": [
+              0.020895428955554962,
+              -0.4810851216316223,
+              0.8108090162277222
+            ],
+            "closest_active_finger_button": [
+              0.14821219444274897,
+              -0.4184162020683288,
+              0.776638925075531
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.127316765487194,
+              -0.06266891956329351,
+              0.03417009115219116
+            ],
+            "min_contact_pad_to_button": 0.020899290183830077,
+            "closest_contact_pad": [
+              0.14823456108570093,
+              -0.4183957278728484,
+              0.7895703855550764
+            ],
+            "closest_contact_pad_button": [
+              0.14823456108570093,
+              -0.4183957278728484,
+              0.7686710953712463
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020899290183830077
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 64,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d760f5a2a45c2a49d9ecb7f9f518420d9131c457ea687a2d7f10e216c96afb99",
+    "visual_seed": 2330021126031029149,
+    "episode_index": 64,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f073f244c582f37ca81bfe51ca2c25d00a2d9073
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1925020812070209,
+              0.22917275029164128,
+              1.0480867077749019
+            ],
+            "current_z": 1.0480867077749019,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.1869799613415567,
+            "gripper_z": 1.0537721349186948,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1880189545594053,
+              0.22457249542197205,
+              1.0537721349186948
+            ],
+            "object_minus_gripper": [
+              0.004483126647615604,
+              0.004600254869669224,
+              -0.005685427143792943
+            ],
+            "object_to_gripper_xy": 0.006423454631619697,
+            "object_to_gripper_z": -0.005685427143792943,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1925020812070209,
+              0.20517924337920634,
+              1.0480867077749019
+            ],
+            "finger_b": [
+              0.18098238386296048,
+              0.22917275029164128,
+              1.0480867077749019
+            ],
+            "finger_midpoint": [
+              0.18674223253499067,
+              0.21717599683542382,
+              1.0480867077749019
+            ],
+            "object_minus_finger_midpoint": [
+              0.005759848672030221,
+              0.011996753456217452,
+              0.0
+            ],
+            "finger_gap": 0.026615630761937906,
+            "fingertip_max_gap": 0.09272578637548531,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013307815380968946,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480867077749019,
+            "object_top_z": 1.0989832338010168,
+            "finger_top_clearance": 0.05089652602611494,
+            "fingertip_min_top_clearance": 0.015268957807834514,
+            "object_projection_between_fingers": 0.8126694482651659,
+            "object_to_finger_line_xy": 0.01038479757726196,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04886289318774266,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1433005875350832,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19211200174426452,
+              0.22983795990945416,
+              1.2408385212365738
+            ],
+            "held_position": [
+              0.1968237245018371,
+              0.23403796133056046,
+              1.23500177527827
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008596973110537073,
+            "max_held_gripper_dist": 0.008610459020495226,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005836745958303746,
+            "max_held_gripper_z_dist": 0.005878182125995668,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0864328089141565,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1968237245018371,
+              0.20917451798918843,
+              1.23500177527827
+            ],
+            "held_grasp_finger_b": [
+              0.18723302336719294,
+              0.23403796133056046,
+              1.23500177527827
+            ],
+            "held_grasp_midpoint": [
+              0.19202837393451502,
+              0.22160623965987444,
+              1.23500177527827
+            ],
+            "held_grasp_object_position": [
+              0.1968237245018371,
+              0.23403796133056046,
+              1.23500177527827
+            ],
+            "held_grasp_finger_gap": 0.026649059327557546,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024292636554671596,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0547153969618316,
+              -0.9981479730565129,
+              0.02658663608815314
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004121515606284595,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03704917277303492,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29246818370789257,
+              -0.3637810680084891,
+              0.8515395104391241
+            ],
+            "target_position": [
+              0.2866952314711061,
+              -0.3650014609616982,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005900536966112534,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18226232583902202,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395104391241,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520497830074696,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566891072467896,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1511709184807938,
+            "release_required_pad_clearance": 0.05283445536233948,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7132635970412445,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008123576641082764,
+            "max_z_decrease": 0.008123576641082764,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03509780506909963,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008123576641082764,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.020944533930905673,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008123576641082764,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008123611634384914,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14239515364170072,
+              -0.42126291990280146,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14239515364170072,
+              -0.42126291990280146,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1432530026858746,
+              -0.4199341529492087,
+              0.803748497885402
+            ],
+            "closest_button": [
+              0.14240905642509455,
+              -0.42124354839324946,
+              0.7686852812767029
+            ],
+            "closest_ee_minus_button": [
+              0.0008439462607800485,
+              0.0013093954440407396,
+              0.035063216608699155
+            ],
+            "button_min_z_position": [
+              0.14240905642509455,
+              -0.42124354839324946,
+              0.7686852812767029
+            ],
+            "min_active_finger_to_button": 0.14446950611855053,
+            "closest_active_finger": [
+              0.017070911824703217,
+              -0.48445820808410645,
+              0.8109434247016907
+            ],
+            "closest_active_finger_button": [
+              0.14239820837974543,
+              -0.42126119136810297,
+              0.7767287492752075
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1253272965550422,
+              -0.06319701671600347,
+              0.034214675426483154
+            ],
+            "min_contact_pad_to_button": 0.020944533930905673,
+            "closest_contact_pad": [
+              0.14240905642509455,
+              -0.42124354839324946,
+              0.7896298152076086
+            ],
+            "closest_contact_pad_button": [
+              0.14240905642509455,
+              -0.42124354839324946,
+              0.7686852812767029
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020944533930905673
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37fd75eb67b016624c392000afceba2221b4e9e71b703503c38d26d6920bffac",
+    "visual_seed": 2397684103731217731,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_67_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..00473ab0ad1ac7001467843ca152dcc08e35f3d4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_67_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 67,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19237355810142417,
+              0.2377662879466409,
+              1.048253620925057
+            ],
+            "current_z": 1.048253620925057,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.18714699370100163,
+            "gripper_z": 1.0538878802838216,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18790543923017286,
+              0.2332502308320642,
+              1.0538878802838216
+            ],
+            "object_minus_gripper": [
+              0.004468118871251314,
+              0.004516057114576699,
+              -0.005634259358764604
+            ],
+            "object_to_gripper_xy": 0.006352862198234032,
+            "object_to_gripper_z": -0.005634259358764604,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19237355810142417,
+              0.21364564197118197,
+              1.048253620925057
+            ],
+            "finger_b": [
+              0.1811499388097096,
+              0.2377662879466409,
+              1.048253620925057
+            ],
+            "finger_midpoint": [
+              0.18676174845556687,
+              0.22570596495891143,
+              1.048253620925057
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056118096458573075,
+              0.012060322987729466,
+              0.0
+            ],
+            "finger_gap": 0.02660404466014089,
+            "fingertip_max_gap": 0.09441847562475336,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013302022330070452,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048253620925057,
+            "object_top_z": 1.1000519058730736,
+            "finger_top_clearance": 0.051798284948016526,
+            "fingertip_min_top_clearance": 0.015539485484404958,
+            "object_projection_between_fingers": 0.8220202807620696,
+            "object_to_finger_line_xy": 0.010175931929041688,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04970923781237668,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.602799993538041,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19203905629392246,
+              0.23818885393491124,
+              1.2445258178851244
+            ],
+            "held_position": [
+              0.19674618718407458,
+              0.24234599828922598,
+              1.2387912493594717
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008504363972399209,
+            "max_held_gripper_dist": 0.008518578291503256,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0057345685256526835,
+            "max_held_gripper_z_dist": 0.005783283116941096,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0864901507859307,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19674618718407458,
+              0.21748333720247195,
+              1.2387912493594717
+            ],
+            "held_grasp_finger_b": [
+              0.18713462094743114,
+              0.24234599828922598,
+              1.2387912493594717
+            ],
+            "held_grasp_midpoint": [
+              0.19194040406575286,
+              0.22991466774584896,
+              1.2387912493594717
+            ],
+            "held_grasp_object_position": [
+              0.19674618718407458,
+              0.24234599828922598,
+              1.2387912493594717
+            ],
+            "held_grasp_finger_gap": 0.02665584592235214,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02439056083557703,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.044959269959879776,
+              -0.9983923181083872,
+              0.034517288231198144
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004264042896715392,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03709284065113602,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2930041270700543,
+              -0.36266246288401893,
+              0.85153958331174
+            ],
+            "target_position": [
+              0.2881279462713851,
+              -0.3632932183357292,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0049168070555160445,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18288850740309562,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153958331174,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548877033930129,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0856279692559385,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15087959263337594,
+            "release_required_pad_clearance": 0.052813984627969254,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6737632228051373,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00810474157333374,
+            "max_z_decrease": 0.00810474157333374,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511722298252431,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00810474157333374,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021134081241674776,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00810474157333374,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008104768120877405,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1438278704881668,
+              -0.41955468058586115,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1438278704881668,
+              -0.41955468058586115,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14258868787915016,
+              -0.42146211759532487,
+              0.8037462433632707
+            ],
+            "closest_button": [
+              0.14383897185325623,
+              -0.4195371568202972,
+              0.7687041163444519
+            ],
+            "closest_ee_minus_button": [
+              -0.0012502839741060645,
+              -0.0019249607750276843,
+              0.035042127018818814
+            ],
+            "button_min_z_position": [
+              0.14383897185325623,
+              -0.4195371568202972,
+              0.7687041163444519
+            ],
+            "min_active_finger_to_button": 0.14676591174919001,
+            "closest_active_finger": [
+              0.0016430020332336426,
+              -0.4074099361896515,
+              0.8110817074775696
+            ],
+            "closest_active_finger_button": [
+              0.14382870495319366,
+              -0.41955515742301935,
+              0.7767895460128784
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14218570291996002,
+              0.012145221233367864,
+              0.03429216146469116
+            ],
+            "min_contact_pad_to_button": 0.021134081241674776,
+            "closest_contact_pad": [
+              0.14383897185325623,
+              -0.422459626159047,
+              0.7896351593880696
+            ],
+            "closest_contact_pad_button": [
+              0.14383897185325623,
+              -0.4195371568202972,
+              0.7687041163444519
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002922469338749789,
+              0.020931043043617703
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 67,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "896c3dcd431f92d74895ea281786f44b70abfb7d33c11578098e9e6d2987287d",
+    "visual_seed": 8475968548779590187,
+    "episode_index": 67,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1863534fd964fa0389466db8e4bb37cd371fa31
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19938817498128383,
+              0.23483032481863308,
+              1.0487108478640876
+            ],
+            "current_z": 1.0487108478640876,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1876042802446768,
+            "gripper_z": 1.0542345636010912,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19447706267457934,
+              0.22994720795270002,
+              1.0542345636010912
+            ],
+            "object_minus_gripper": [
+              0.00491111230670449,
+              0.004883116865933068,
+              -0.005523715737003609
+            ],
+            "object_to_gripper_xy": 0.0069255941561301645,
+            "object_to_gripper_z": -0.005523715737003609,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19938817498128383,
+              0.2106162106026587,
+              1.0487108478640876
+            ],
+            "finger_b": [
+              0.18736381648518086,
+              0.23483032481863308,
+              1.0487108478640876
+            ],
+            "finger_midpoint": [
+              0.19337599573323233,
+              0.22272326771064588,
+              1.0487108478640876
+            ],
+            "object_minus_finger_midpoint": [
+              0.006012179248051502,
+              0.012107057107987207,
+              0.0
+            ],
+            "finger_gap": 0.027035319944603148,
+            "fingertip_max_gap": 0.0923463835120415,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013517659972301591,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487108478640876,
+            "object_top_z": 1.09927799686626,
+            "finger_top_clearance": 0.05056714900217241,
+            "fingertip_min_top_clearance": 0.015170144700651755,
+            "object_projection_between_fingers": 0.8021842783400074,
+            "object_to_finger_line_xy": 0.010769585512398617,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04867319175602075,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1153759985122182,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19860042973273723,
+              0.23501634348573197,
+              1.2415532850968112
+            ],
+            "held_position": [
+              0.20378345776754894,
+              0.2394527962945507,
+              1.2358748232570826
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008876419435773247,
+            "max_held_gripper_dist": 0.008890477057608957,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0056784618397285325,
+            "max_held_gripper_z_dist": 0.0057346231420318805,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08695330832308745,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20378345776754894,
+              0.21433084445235262,
+              1.2358748232570826
+            ],
+            "held_grasp_finger_b": [
+              0.19374650448690653,
+              0.2394527962945507,
+              1.2358748232570826
+            ],
+            "held_grasp_midpoint": [
+              0.19876498112722774,
+              0.22689182037345168,
+              1.2358748232570826
+            ],
+            "held_grasp_object_position": [
+              0.20378345776754894,
+              0.2394527962945507,
+              1.2358748232570826
+            ],
+            "held_grasp_finger_gap": 0.027052779811315483,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024508108308204435,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0565503659810943,
+              -0.998158974552268,
+              0.021925273730768576
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043091273311856755,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036898602534637365,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2958307099020542,
+              -0.3666140528343198,
+              0.8515396419233411
+            ],
+            "target_position": [
+              0.2891237986749896,
+              -0.3684784301727983,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006961218360887479,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1829213355872848,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396419233411,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585327034049948,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08593573679017495,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1503684029001707,
+            "release_required_pad_clearance": 0.05296786839508748,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.970749583918525,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008142530918121338,
+            "max_z_decrease": 0.008142530918121338,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03511236668964239,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008142530918121338,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021058444674571113,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008142530918121338,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00814258991830972,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14482372999191281,
+              -0.42473989725112915,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14482372999191281,
+              -0.42473989725112915,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1465540731963689,
+              -0.42594860766627424,
+              0.8037154144747181
+            ],
+            "closest_button": [
+              0.14484450221061704,
+              -0.42471688985824585,
+              0.7686663269996643
+            ],
+            "closest_ee_minus_button": [
+              0.0017095709857518626,
+              -0.0012317178080283875,
+              0.03504908747505375
+            ],
+            "button_min_z_position": [
+              0.14484450221061704,
+              -0.42471688985824585,
+              0.7686663269996643
+            ],
+            "min_active_finger_to_button": 0.14387749094652622,
+            "closest_active_finger": [
+              0.006035462021827698,
+              -0.40831756591796875,
+              0.8104400038719177
+            ],
+            "closest_active_finger_button": [
+              0.14482247829437256,
+              -0.424740731716156,
+              0.7762467861175537
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13878701627254486,
+              0.016423165798187256,
+              0.034193217754364014
+            ],
+            "min_contact_pad_to_button": 0.021058444674571113,
+            "closest_contact_pad": [
+              0.14484450221061704,
+              -0.4272632103989937,
+              0.7895702583001575
+            ],
+            "closest_contact_pad_button": [
+              0.14484450221061704,
+              -0.42471688985824585,
+              0.7686663269996643
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002546320540747826,
+              0.020903931300493173
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ad8353692b191ab348bfd47133a79e2cb3a2e1f9bd3119ec48a7e631f537d00f",
+    "visual_seed": 248896488035758670,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc8871c63c3bc6469d16f771c7958f5336019bc8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19538102522614834,
+              0.23345849160253052,
+              1.0467310849140588
+            ],
+            "current_z": 1.0467310849140588,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18562439808535847,
+            "gripper_z": 1.0524885107704436,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19016073416612644,
+              0.2285350261466468,
+              1.0524885107704436
+            ],
+            "object_minus_gripper": [
+              0.005220291060021892,
+              0.004923465455883708,
+              -0.005757425856384835
+            ],
+            "object_to_gripper_xy": 0.007175789214199694,
+            "object_to_gripper_z": -0.005757425856384835,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19538102522614834,
+              0.2088393268590562,
+              1.0467310849140588
+            ],
+            "finger_b": [
+              0.18352003990162283,
+              0.23345849160253052,
+              1.0467310849140588
+            ],
+            "finger_midpoint": [
+              0.18945053256388558,
+              0.22114890923079336,
+              1.0467310849140588
+            ],
+            "object_minus_finger_midpoint": [
+              0.005930492662262754,
+              0.012309582371737154,
+              0.0
+            ],
+            "finger_gap": 0.027327390024203518,
+            "fingertip_max_gap": 0.09298991813371812,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013663695012101759,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467310849140588,
+            "object_top_z": 1.0972433233015593,
+            "finger_top_clearance": 0.05051223838750052,
+            "fingertip_min_top_clearance": 0.015153671516250154,
+            "object_projection_between_fingers": 0.8116154740265262,
+            "object_to_finger_line_xy": 0.010685526552875982,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048994959066859065,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.873602472949838,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19445738763969622,
+              0.23314811361963733,
+              1.2403301681977803
+            ],
+            "held_position": [
+              0.1999010216959167,
+              0.2376502449983635,
+              1.234407157796973
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009218697895984274,
+            "max_held_gripper_dist": 0.009231742199412321,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005923010400807227,
+            "max_held_gripper_z_dist": 0.005972505982683618,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08588749186571287,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1999010216959167,
+              0.21234764304951068,
+              1.234407157796973
+            ],
+            "held_grasp_finger_b": [
+              0.18978744726460262,
+              0.2376502449983635,
+              1.234407157796973
+            ],
+            "held_grasp_midpoint": [
+              0.19484423448025967,
+              0.2249989440239371,
+              1.234407157796973
+            ],
+            "held_grasp_object_position": [
+              0.1999010216959167,
+              0.2376502449983635,
+              1.234407157796973
+            ],
+            "held_grasp_finger_gap": 0.02724896425847818,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024959176065149098,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03200912988773672,
+              -0.9992214569022453,
+              0.02306286343853303
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004658502409346463,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03691693531991928,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28990545382167465,
+              -0.35970883996223296,
+              0.8515395717503476
+            ],
+            "target_position": [
+              0.28316467462233247,
+              -0.3612824197876967,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00692201254559617,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18491915992084176,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395717503476,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548067099677545,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08705848571508633,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15312913079290977,
+            "release_required_pad_clearance": 0.053529242857543166,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0702858142863656,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007769525051116943,
+            "max_z_decrease": 0.007769525051116943,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513850229288665,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007769525051116943,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021046407917017344,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007769525051116943,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007769545817858581,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13886460661888123,
+              -0.417543888092041,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13886460661888123,
+              -0.417543888092041,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13866455612210668,
+              -0.41674244590839055,
+              0.8082476749846814
+            ],
+            "closest_button": [
+              0.13885562121868134,
+              -0.41754478216171265,
+              0.7731188535690308
+            ],
+            "closest_ee_minus_button": [
+              -0.0001910650965746552,
+              0.0008023362533221001,
+              0.03512882141565066
+            ],
+            "button_min_z_position": [
+              0.13884668052196503,
+              -0.4175427258014679,
+              0.7690393328666687
+            ],
+            "min_active_finger_to_button": 0.14598040292625938,
+            "closest_active_finger": [
+              0.010871648788452148,
+              -0.4788621962070465,
+              0.8106157183647156
+            ],
+            "closest_active_finger_button": [
+              0.1388641744852066,
+              -0.41754427552223206,
+              0.7764352560043335
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12799252569675446,
+              -0.06131792068481445,
+              0.03418046236038208
+            ],
+            "min_contact_pad_to_button": 0.021046407917017344,
+            "closest_contact_pad": [
+              0.13884668052196503,
+              -0.41785130800452386,
+              0.7900834784476479
+            ],
+            "closest_contact_pad_button": [
+              0.13884668052196503,
+              -0.4175427258014679,
+              0.7690393328666687
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003085822030559626,
+              0.021044145580979223
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "05501efcf560d44d4585107e50e801c657bb2f73d521b3273bed0a83d61b1be4",
+    "visual_seed": 6255261520553577015,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fac7a7fc97111c856c4f7a02d9c09fc946bb0e73
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1952246404563225,
+              0.23992651302645032,
+              1.0489883835659477
+            ],
+            "current_z": 1.0489883835659477,
+            "required_z": 0.861107044456569,
+            "initial_z": 0.7611070444565691,
+            "lift_margin": 0.18788133910937865,
+            "gripper_z": 1.054894511841397,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19026031701614587,
+              0.2350347330540548,
+              1.054894511841397
+            ],
+            "object_minus_gripper": [
+              0.004964323440176638,
+              0.00489177997239551,
+              -0.0059061282754493405
+            ],
+            "object_to_gripper_xy": 0.0069695063323751295,
+            "object_to_gripper_z": -0.0059061282754493405,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1952246404563225,
+              0.21566578186995716,
+              1.0489883835659477
+            ],
+            "finger_b": [
+              0.1831951376197773,
+              0.23992651302645032,
+              1.0489883835659477
+            ],
+            "finger_midpoint": [
+              0.18920988903804992,
+              0.22779614744820376,
+              1.0489883835659477
+            ],
+            "object_minus_finger_midpoint": [
+              0.006014751418272596,
+              0.012130365578246566,
+              0.0
+            ],
+            "finger_gap": 0.027079365109656604,
+            "fingertip_max_gap": 0.09243072958142415,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013539682554828283,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489883835659477,
+            "object_top_z": 1.0994873650666466,
+            "finger_top_clearance": 0.05049898150069887,
+            "fingertip_min_top_clearance": 0.01514969445020966,
+            "object_projection_between_fingers": 0.8026585104089176,
+            "object_to_finger_line_xy": 0.010777377279041983,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048715364790712076,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2603882943108178,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19435812717738993,
+              0.2399554149818078,
+              1.2451266015509745
+            ],
+            "held_position": [
+              0.19961119942856573,
+              0.24439977096627336,
+              1.2391083745890414
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009141450867234724,
+            "max_held_gripper_dist": 0.009159326716939373,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006018226961933104,
+            "max_held_gripper_z_dist": 0.00607360838338078,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0854970032988579,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19961119942856573,
+              0.21927867822853941,
+              1.2391083745890414
+            ],
+            "held_grasp_finger_b": [
+              0.18940420364446872,
+              0.24439977096627336,
+              1.2391083745890414
+            ],
+            "held_grasp_midpoint": [
+              0.19450770153651722,
+              0.23183922459740638,
+              1.2391083745890414
+            ],
+            "held_grasp_object_position": [
+              0.19961119942856573,
+              0.24439977096627336,
+              1.2391083745890414
+            ],
+            "held_grasp_finger_gap": 0.027115531771927378,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024559896204670112,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05119248955983125,
+              -0.9984604567821562,
+              0.021355216108354558
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0044620384642928765,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036917780442645376,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2896656868964532,
+              -0.35761981441630386,
+              0.8515395781208641
+            ],
+            "target_position": [
+              0.28299960334742713,
+              -0.3593529950766231,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006887712616239222,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18365845528330493,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395781208641,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542906886004877,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08509508092786226,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15214096370639626,
+            "release_required_pad_clearance": 0.05254754046393113,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.16312937427829244,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0080375075340271,
+            "max_z_decrease": 0.0080375075340271,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035120859141469965,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0080375075340271,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02111192280439488,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0080375075340271,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008037522916101708,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13869953155517578,
+              -0.4156144559383392,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13869953155517578,
+              -0.4156144559383392,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1386829416823328,
+              -0.41627792991373186,
+              0.8078745164697239
+            ],
+            "closest_button": [
+              0.13869075477123258,
+              -0.41561505198478693,
+              0.7727599143981934
+            ],
+            "closest_ee_minus_button": [
+              -7.813088899771836e-06,
+              -0.0006628779289449271,
+              0.0351146020715305
+            ],
+            "button_min_z_position": [
+              0.13868458569049832,
+              -0.41560956835746765,
+              0.7687713503837585
+            ],
+            "min_active_finger_to_button": 0.14611546833969213,
+            "closest_active_finger": [
+              -0.0025471746921539307,
+              -0.4006896913051605,
+              0.8109015226364136
+            ],
+            "closest_active_finger_button": [
+              0.1386997103691101,
+              -0.4156144261360168,
+              0.7766042947769165
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14124688506126404,
+              0.014924734830856268,
+              0.03429722785949707
+            ],
+            "min_contact_pad_to_button": 0.02111192280439488,
+            "closest_contact_pad": [
+              0.13868458569049832,
+              -0.4173483817464383,
+              0.789811545546757
+            ],
+            "closest_contact_pad_button": [
+              0.13868458569049832,
+              -0.41560956835746765,
+              0.7687713503837585
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017388133889706392,
+              0.021040195162998487
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "113876e062b6b49b5d17a453be08512cfd82b0cd9b071988089ee5ecee83ae39",
+    "visual_seed": 3214968624081209513,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_71_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8cfa28df5c72be19a7737c158a46998df980126b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_71_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 71,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1994595602697063,
+              0.23412166732546233,
+              1.0468541585529403
+            ],
+            "current_z": 1.0468541585529403,
+            "required_z": 0.8611069252472793,
+            "initial_z": 0.7611069252472793,
+            "lift_margin": 0.185747233305661,
+            "gripper_z": 1.0520938021455404,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19451474498638335,
+              0.22927112804313715,
+              1.0520938021455404
+            ],
+            "object_minus_gripper": [
+              0.00494481528332294,
+              0.004850539282325178,
+              -0.005239643592600096
+            ],
+            "object_to_gripper_xy": 0.006926682432128946,
+            "object_to_gripper_z": -0.005239643592600096,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1994595602697063,
+              0.2098243603031582,
+              1.0468541585529403
+            ],
+            "finger_b": [
+              0.1875553689162488,
+              0.23412166732546233,
+              1.0468541585529403
+            ],
+            "finger_midpoint": [
+              0.19350746459297755,
+              0.22197301381431028,
+              1.0468541585529403
+            ],
+            "object_minus_finger_midpoint": [
+              0.005952095676728747,
+              0.012148653511152047,
+              0.0
+            ],
+            "finger_gap": 0.027056771801451874,
+            "fingertip_max_gap": 0.09052998896836506,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013528385900725925,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468541585529403,
+            "object_top_z": 1.0965967497490068,
+            "finger_top_clearance": 0.0497425911960665,
+            "fingertip_min_top_clearance": 0.014922777358819965,
+            "object_projection_between_fingers": 0.8064256360042157,
+            "object_to_finger_line_xy": 0.010690107241533292,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04776499448418253,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.5705564472376716,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.198546739337219,
+              0.23443703346790518,
+              1.2390491731996087
+            ],
+            "held_position": [
+              0.2037334203436969,
+              0.23887636525487901,
+              1.233650182804749
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008703931517514495,
+            "max_held_gripper_dist": 0.00871771657094749,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005398990394859693,
+            "max_held_gripper_z_dist": 0.005457797385101992,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08683990043740292,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2037334203436969,
+              0.21376351619770895,
+              1.233650182804749
+            ],
+            "held_grasp_finger_b": [
+              0.19368522567706514,
+              0.23887636525487901,
+              1.233650182804749
+            ],
+            "held_grasp_midpoint": [
+              0.19870932301038102,
+              0.22631994072629397,
+              1.233650182804749
+            ],
+            "held_grasp_object_position": [
+              0.2037334203436969,
+              0.23887636525487901,
+              1.233650182804749
+            ],
+            "held_grasp_finger_gap": 0.027048500953412085,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024488025585473333,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05781215002977264,
+              -0.9982512643626742,
+              0.01233565998467023
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004292640719573859,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03689532953976272,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29300080764773695,
+              -0.3635979603517796,
+              0.8515395874548298
+            ],
+            "target_position": [
+              0.2852334598703114,
+              -0.3659266566074211,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008108915941512541,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18618182229433594,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395874548298,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553054180569178,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08517293497668647,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1544884819737412,
+            "release_required_pad_clearance": 0.05258646748834324,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.23738812832878695,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008026838302612305,
+            "max_z_decrease": 0.008026838302612305,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035161755309121565,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008026838302612305,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021028880010693703,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008026838302612305,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008026869690503464,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14093337953090662,
+              -0.4221881031990051,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14093337953090662,
+              -0.4221881031990051,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13971528916089596,
+              -0.4210892842793365,
+              0.808069742257521
+            ],
+            "closest_button": [
+              0.1409239917993545,
+              -0.4221896529197693,
+              0.7729460000991821
+            ],
+            "closest_ee_minus_button": [
+              -0.001208702638458542,
+              0.0011003686404327806,
+              0.03512374215833891
+            ],
+            "button_min_z_position": [
+              0.1409111469984054,
+              -0.4221850037574768,
+              0.7687820196151733
+            ],
+            "min_active_finger_to_button": 0.1467456870953348,
+            "closest_active_finger": [
+              0.011913798749446869,
+              -0.48318782448768616,
+              0.8104072213172913
+            ],
+            "closest_active_finger_button": [
+              0.14093337953090665,
+              -0.42218872904777527,
+              0.7762406468391418
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12901958078145978,
+              -0.06099909543991089,
+              0.034166574478149414
+            ],
+            "min_contact_pad_to_button": 0.021028880010693703,
+            "closest_contact_pad": [
+              0.1409111469984054,
+              -0.4222804557272465,
+              0.7898106829922313
+            ],
+            "closest_contact_pad_button": [
+              0.1409111469984054,
+              -0.4221850037574768,
+              0.7687820196151733
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -9.545196976967762e-05,
+              0.021028663377058
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 71,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1b4d08e9343b574f59e52fc3d426fa4543da0172b832d477d7fac173a5517298",
+    "visual_seed": 3716817957326453878,
+    "episode_index": 71,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_72_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a2dd564b2f5ace9e1b95fa67c358d95b4b2132f2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_72_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 72,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19508379894341893,
+              0.23241128888268317,
+              1.0473750820839416
+            ],
+            "current_z": 1.0473750820839416,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.18626833565059675,
+            "gripper_z": 1.054152320776762,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18974046531000466,
+              0.2275772933238424,
+              1.054152320776762
+            ],
+            "object_minus_gripper": [
+              0.005343333633414271,
+              0.004833995558840759,
+              -0.006777238692820431
+            ],
+            "object_to_gripper_xy": 0.007205465105103788,
+            "object_to_gripper_z": -0.006777238692820431,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19508379894341893,
+              0.2075927059727033,
+              1.0473750820839416
+            ],
+            "finger_b": [
+              0.18350128577694186,
+              0.23241128888268317,
+              1.0473750820839416
+            ],
+            "finger_midpoint": [
+              0.1892925423601804,
+              0.22000199742769322,
+              1.0473750820839416
+            ],
+            "object_minus_finger_midpoint": [
+              0.005791256583238535,
+              0.012409291454989951,
+              0.0
+            ],
+            "finger_gap": 0.027388257865573706,
+            "fingertip_max_gap": 0.09337294198593876,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013694128932786863,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473750820839416,
+            "object_top_z": 1.0979206894675748,
+            "finger_top_clearance": 0.05054560738363323,
+            "fingertip_min_top_clearance": 0.015163682215090001,
+            "object_projection_between_fingers": 0.8211550058654898,
+            "object_to_finger_line_xy": 0.010495795853064305,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04918647099296938,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.294586416907576,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19364728624302183,
+              0.23288510855142924,
+              1.2403066001506886
+            ],
+            "held_position": [
+              0.1990958973068808,
+              0.23741830840503123,
+              1.2333762517182527
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009912970938768561,
+            "max_held_gripper_dist": 0.009929692426798649,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0069303484324358955,
+            "max_held_gripper_z_dist": 0.006976315706854752,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0853439029847303,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1990958973068808,
+              0.21224850662379716,
+              1.2333762517182527
+            ],
+            "held_grasp_finger_b": [
+              0.18870313245390527,
+              0.23741830840503123,
+              1.2333762517182527
+            ],
+            "held_grasp_midpoint": [
+              0.19389951488039303,
+              0.2248334075144142,
+              1.2333762517182527
+            ],
+            "held_grasp_object_position": [
+              0.1990958973068808,
+              0.23741830840503123,
+              1.2333762517182527
+            ],
+            "held_grasp_finger_gap": 0.02723102060143646,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02515065864066487,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0012192745881254487,
+              -0.9997428860767419,
+              0.022642330013179723
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005188868154090547,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03713224911567703,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2994866132510804,
+              -0.35885092161569654,
+              0.8515396101156311
+            ],
+            "target_position": [
+              0.2926241656461046,
+              -0.36104231670011,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007203846163476103,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18518383124658985,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396101156311,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583548678193004,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0889005214174478,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1527042196815118,
+            "release_required_pad_clearance": 0.0544502607087239,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.9288677235039615,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008054912090301514,
+            "max_z_decrease": 0.008054912090301514,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520259217263168,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008054912090301514,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.020997602955783123,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008054912090301514,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008054919592372577,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14832408726215365,
+              -0.41730377078056335,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14832408726215365,
+              -0.41730377078056335,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14726474036222117,
+              -0.4154664202784556,
+              0.8080281344073106
+            ],
+            "closest_button": [
+              0.14831192791461945,
+              -0.41730743646621704,
+              0.7728893160820007
+            ],
+            "closest_ee_minus_button": [
+              -0.001047187552398271,
+              0.0018410161877614462,
+              0.03513881832530985
+            ],
+            "button_min_z_position": [
+              0.14831490814685824,
+              -0.41729772090911865,
+              0.7687539458274841
+            ],
+            "min_active_finger_to_button": 0.14627710923016912,
+            "closest_active_finger": [
+              0.019215360283851624,
+              -0.4770132005214691,
+              0.8108950257301331
+            ],
+            "closest_active_finger_button": [
+              0.14832466840744019,
+              -0.4173045754432678,
+              0.7767972350120544
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12910930812358856,
+              -0.059708625078201294,
+              0.03409779071807861
+            ],
+            "min_contact_pad_to_button": 0.020997602955783123,
+            "closest_contact_pad": [
+              0.14831490814685824,
+              -0.41729772090911865,
+              0.7897515487832673
+            ],
+            "closest_contact_pad_button": [
+              0.14831490814685824,
+              -0.41729772090911865,
+              0.7687539458274841
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.020997602955783123
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 72,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "93cc8ddb8af6ac68e7b9236d2849c587569a9359e950149053de57802d85018d",
+    "visual_seed": 8257521267247787094,
+    "episode_index": 72,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_73_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..62565acb322d827866dc51af212c4bb5465c6349
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_73_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 73,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1902636375225925,
+              0.23275943162806684,
+              1.0494460428657666
+            ],
+            "current_z": 1.0494460428657666,
+            "required_z": 0.8611068656426347,
+            "initial_z": 0.7611068656426347,
+            "lift_margin": 0.18833917722313187,
+            "gripper_z": 1.0550702688410618,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18550499125331663,
+              0.22812530148687565,
+              1.0550702688410618
+            ],
+            "object_minus_gripper": [
+              0.004758646269275885,
+              0.004634130141191184,
+              -0.005624225975295216
+            ],
+            "object_to_gripper_xy": 0.006642279464279557,
+            "object_to_gripper_z": -0.005624225975295216,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1902636375225925,
+              0.20838273071011865,
+              1.0494460428657666
+            ],
+            "finger_b": [
+              0.178940340266763,
+              0.23275943162806684,
+              1.0494460428657666
+            ],
+            "finger_midpoint": [
+              0.18460198889467777,
+              0.22057108116909274,
+              1.0494460428657666
+            ],
+            "object_minus_finger_midpoint": [
+              0.005661648627914739,
+              0.012188350458974095,
+              0.0
+            ],
+            "finger_gap": 0.026878255307719884,
+            "fingertip_max_gap": 0.09068473378277964,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013439127653859937,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494460428657666,
+            "object_top_z": 1.099216103802186,
+            "finger_top_clearance": 0.049770060936419336,
+            "fingertip_min_top_clearance": 0.014931018280925783,
+            "object_projection_between_fingers": 0.8225223509650815,
+            "object_to_finger_line_xy": 0.01026944001574018,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04784236689138982,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.6702707307642385,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18947946476681257,
+              0.23353399748095838,
+              1.2419364742083925
+            ],
+            "held_position": [
+              0.19439261770699545,
+              0.23784212705967372,
+              1.236155560687592
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008724563795147772,
+            "max_held_gripper_dist": 0.008736987673793746,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005780913520800457,
+            "max_held_gripper_z_dist": 0.005828581241926534,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668673410498362,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19439261770699545,
+              0.21289647924850713,
+              1.236155560687592
+            ],
+            "held_grasp_finger_b": [
+              0.18456368452687516,
+              0.23784212705967372,
+              1.236155560687592
+            ],
+            "held_grasp_midpoint": [
+              0.1894781511169353,
+              0.22536930315409043,
+              1.236155560687592
+            ],
+            "held_grasp_object_position": [
+              0.19439261770699545,
+              0.23784212705967372,
+              1.236155560687592
+            ],
+            "held_grasp_finger_gap": 0.026812185143662393,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024529572396815223,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04009698760817043,
+              -0.9991194936049438,
+              0.012347837193255606
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00441312243087171,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03706135325976263,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29383036881047553,
+              -0.36547131238321606,
+              0.8515396034059933
+            ],
+            "target_position": [
+              0.28665118066178324,
+              -0.3672402824324887,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007393916249833191,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18461492885768307,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396034059933,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513849153830147,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08496542930974076,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15373630209285738,
+            "release_required_pad_clearance": 0.05248271465487038,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.03956462105783574,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008148133754730225,
+            "max_z_decrease": 0.008148133754730225,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03505973656395106,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008148133754730225,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107031315675114,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008148133754730225,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00814820163041781,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14235110580921173,
+              -0.42350172996521,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14235110580921173,
+              -0.42350172996521,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1425866627364443,
+              -0.42473504562710584,
+              0.8036974118124957
+            ],
+            "closest_button": [
+              0.1423773616552353,
+              -0.42348131537437445,
+              0.7686607241630554
+            ],
+            "closest_ee_minus_button": [
+              0.0002093010812090068,
+              -0.0012537302527313998,
+              0.035036687649440235
+            ],
+            "button_min_z_position": [
+              0.1423773616552353,
+              -0.42348131537437445,
+              0.7686607241630554
+            ],
+            "min_active_finger_to_button": 0.1453268798453509,
+            "closest_active_finger": [
+              0.0021243318915367126,
+              -0.40658754110336304,
+              0.8108088970184326
+            ],
+            "closest_active_finger_button": [
+              0.1423511952161789,
+              -0.4235022962093353,
+              0.7766004204750061
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14022686332464218,
+              0.01691475510597229,
+              0.034208476543426514
+            ],
+            "min_contact_pad_to_button": 0.02107031315675114,
+            "closest_contact_pad": [
+              0.1423773616552353,
+              -0.4260964025240075,
+              0.7895681251426938
+            ],
+            "closest_contact_pad_button": [
+              0.1423773616552353,
+              -0.42348131537437445,
+              0.7686607241630554
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002615087149633044,
+              0.02090740097963839
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 73,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "95cb561bdb22a628ddb231c2a3fa96109e81e76219fb27eb78488f5002efe10e",
+    "visual_seed": 5839930061671068667,
+    "episode_index": 73,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b9b1aa8ce2690d94edbe3f52128fdc4c693220d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19625965782857666,
+              0.23010256576362398,
+              1.0481024700217603
+            ],
+            "current_z": 1.0481024700217603,
+            "required_z": 0.8611066272240557,
+            "initial_z": 0.7611066272240558,
+            "lift_margin": 0.18699584279770454,
+            "gripper_z": 1.0542764917747351,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19100812676532786,
+              0.2251625844806539,
+              1.0542764917747351
+            ],
+            "object_minus_gripper": [
+              0.005251531063248799,
+              0.004939981282970074,
+              -0.006174021752974879
+            ],
+            "object_to_gripper_xy": 0.007209853922539743,
+            "object_to_gripper_z": -0.006174021752974879,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19625965782857666,
+              0.20523686101267888,
+              1.0481024700217603
+            ],
+            "finger_b": [
+              0.1846834597070402,
+              0.23010256576362398,
+              1.0481024700217603
+            ],
+            "finger_midpoint": [
+              0.1904715587678084,
+              0.21766971338815144,
+              1.0481024700217603
+            ],
+            "object_minus_finger_midpoint": [
+              0.0057880990607682425,
+              0.012432852375472536,
+              0.0
+            ],
+            "finger_gap": 0.02742829990557632,
+            "fingertip_max_gap": 0.0938938110576781,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013714149952788152,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0481024700217603,
+            "object_top_z": 1.0987350555611466,
+            "finger_top_clearance": 0.05063258553938632,
+            "fingertip_min_top_clearance": 0.015189775661815912,
+            "object_projection_between_fingers": 0.8218712079036896,
+            "object_to_finger_line_xy": 0.01049464697482213,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049446905528839055,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.841249970108189,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19496759307413433,
+              0.23039561620505616,
+              1.2440338556272632
+            ],
+            "held_position": [
+              0.20044760178882218,
+              0.23505112041376897,
+              1.2377012948427093
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009581520810417694,
+            "max_held_gripper_dist": 0.009597574824840943,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006332560784553909,
+            "max_held_gripper_z_dist": 0.006384528875911899,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663601821491715,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20044760178882218,
+              0.20977696727204212,
+              1.2377012948427093
+            ],
+            "held_grasp_finger_b": [
+              0.1899301258734515,
+              0.23505112041376897,
+              1.2377012948427093
+            ],
+            "held_grasp_midpoint": [
+              0.19518886383113684,
+              0.22241404384290553,
+              1.2377012948427093
+            ],
+            "held_grasp_object_position": [
+              0.20044760178882218,
+              0.23505112041376897,
+              1.2377012948427093
+            ],
+            "held_grasp_finger_gap": 0.02737517336313805,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025137547782333517,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.012468467777363396,
+              -0.9997836307387761,
+              0.016650195736855892
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00510512461741003,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03702033936937831,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2913068466002625,
+              -0.3585746002408233,
+              0.8515395778519149
+            ],
+            "target_position": [
+              0.2845410954774306,
+              -0.3607282881244761,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0071002647666332745,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18382285284115046,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395778519149,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07557557754277891,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08767206749425648,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15208895229671088,
+            "release_required_pad_clearance": 0.05383603374712824,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6814259558753974,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008098483085632324,
+            "max_z_decrease": 0.008098483085632324,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507291145687226,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008098483085632324,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021009886529593593,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008098483085632324,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008098501211862357,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1402410268783569,
+              -0.41698974370956415,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1402410268783569,
+              -0.41698974370956415,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1393417537772966,
+              -0.4173876390006734,
+              0.8037691193731259
+            ],
+            "closest_button": [
+              0.1402488797903061,
+              -0.41697451472282404,
+              0.7687103748321533
+            ],
+            "closest_ee_minus_button": [
+              -0.0009071260130094905,
+              -0.0004131242778493416,
+              0.035058744540972575
+            ],
+            "button_min_z_position": [
+              0.1402488797903061,
+              -0.41697451472282404,
+              0.7687103748321533
+            ],
+            "min_active_finger_to_button": 0.14657876581299625,
+            "closest_active_finger": [
+              -0.0015860795974731445,
+              -0.40313565731048584,
+              0.8108404278755188
+            ],
+            "closest_active_finger_button": [
+              0.14024108648300168,
+              -0.4169896841049194,
+              0.7765117883682251
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14182716608047483,
+              0.013854026794433538,
+              0.0343286395072937
+            ],
+            "min_contact_pad_to_button": 0.021009886529593593,
+            "closest_contact_pad": [
+              0.1402488797903061,
+              -0.4184053175873256,
+              0.7896714848969694
+            ],
+            "closest_contact_pad_button": [
+              0.1402488797903061,
+              -0.41697451472282404,
+              0.7687103748321533
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014308028645015347,
+              0.020961110064816046
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b7f12f246b427f3fbd629d3b17973bb4fb4d99677d394096a535c4ef1e43a8b1",
+    "visual_seed": 6651809571014870023,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_76_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..539565321db753539d412217fc5462ccd7336b6c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_76_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 76,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.189711478978597,
+              0.2320227119378277,
+              1.0480996696802647
+            ],
+            "current_z": 1.0480996696802647,
+            "required_z": 0.8611068656426345,
+            "initial_z": 0.7611068656426345,
+            "lift_margin": 0.1869928040376302,
+            "gripper_z": 1.0536475921402264,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18539800482721855,
+              0.22764955298124157,
+              1.0536475921402264
+            ],
+            "object_minus_gripper": [
+              0.004313474151378449,
+              0.004373158956586132,
+              -0.005547922459961718
+            ],
+            "object_to_gripper_xy": 0.006142522162286396,
+            "object_to_gripper_z": -0.005547922459961718,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.189711478978597,
+              0.20789178702298733,
+              1.0480996696802647
+            ],
+            "finger_b": [
+              0.17884864144820517,
+              0.2320227119378277,
+              1.0480996696802647
+            ],
+            "finger_midpoint": [
+              0.1842800602134011,
+              0.2199572494804075,
+              1.0480996696802647
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054314187651959,
+              0.012065462457420184,
+              0.0
+            ],
+            "finger_gap": 0.026463234429248306,
+            "fingertip_max_gap": 0.09260856879894233,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013231617214624148,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480996696802647,
+            "object_top_z": 1.0988447844090705,
+            "finger_top_clearance": 0.05074511472880583,
+            "fingertip_min_top_clearance": 0.015223534418641748,
+            "object_projection_between_fingers": 0.8314996838815543,
+            "object_to_finger_line_xy": 0.009905452695467849,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04880428439947117,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1135830849579593,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18937916415006062,
+              0.23278204608941827,
+              1.2406113239787668
+            ],
+            "held_position": [
+              0.19383614234224567,
+              0.23684797020553605,
+              1.2349152724946393
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008297071533587795,
+            "max_held_gripper_dist": 0.008309335262879459,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005696051484127551,
+            "max_held_gripper_z_dist": 0.005736252417564591,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08632527747994634,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19383614234224567,
+              0.21211441826979469,
+              1.2349152724946393
+            ],
+            "held_grasp_finger_b": [
+              0.18450662431056647,
+              0.23684797020553605,
+              1.2349152724946393
+            ],
+            "held_grasp_midpoint": [
+              0.18917138332640607,
+              0.22448119423766538,
+              1.2349152724946393
+            ],
+            "held_grasp_object_position": [
+              0.19383614234224567,
+              0.23684797020553605,
+              1.2349152724946393
+            ],
+            "held_grasp_finger_gap": 0.026434607961183056,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024370869503969373,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03636741046167283,
+              -0.9990542393520708,
+              0.023833553846785094
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00422236711932235,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03719552490644272,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2920547169945607,
+              -0.3657344720132695,
+              0.8515394992569881
+            ],
+            "target_position": [
+              0.2863044428061518,
+              -0.36682174526087635,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005852163391160848,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18334611472791662,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394992569881,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554727400408476,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0863756161294834,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15143512747543247,
+            "release_required_pad_clearance": 0.0531878080647417,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3988314269096203,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008133113384246826,
+            "max_z_decrease": 0.008133113384246826,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351094703345672,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008133113384246826,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02092298344534338,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008133113384246826,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00813315935865365,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1420043706893921,
+              -0.4230832159519196,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1420043706893921,
+              -0.4230832159519196,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14209734591280423,
+              -0.42115623149171494,
+              0.8037332569885914
+            ],
+            "closest_button": [
+              0.14202402532100677,
+              -0.42306420207023626,
+              0.7686757445335388
+            ],
+            "closest_ee_minus_button": [
+              7.332059179745998e-05,
+              0.001907970578521323,
+              0.03505751245505262
+            ],
+            "button_min_z_position": [
+              0.14202402532100677,
+              -0.42306420207023626,
+              0.7686757445335388
+            ],
+            "min_active_finger_to_button": 0.14486382859728197,
+            "closest_active_finger": [
+              0.014935329556465149,
+              -0.4836806654930115,
+              0.8108152747154236
+            ],
+            "closest_active_finger_button": [
+              0.1420051008462906,
+              -0.4230831563472748,
+              0.7766576409339905
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12706977128982544,
+              -0.060597509145736694,
+              0.034157633781433105
+            ],
+            "min_contact_pad_to_button": 0.02092298344534338,
+            "closest_contact_pad": [
+              0.14202402532100677,
+              -0.42306420207023626,
+              0.7895987279788822
+            ],
+            "closest_contact_pad_button": [
+              0.14202402532100677,
+              -0.42306420207023626,
+              0.7686757445335388
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02092298344534338
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 76,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1501048b7a268e1738f9bc043e77736a00eccf5c64a16cb172e35b5738951b68",
+    "visual_seed": 4118626257193494750,
+    "episode_index": 76,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5178b2a64b003fce036d0582be3dacb71c602c0f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19000052514389204,
+              0.23203110767071097,
+              1.0480182092478538
+            ],
+            "current_z": 1.0480182092478538,
+            "required_z": 0.8611066868287003,
+            "initial_z": 0.7611066868287003,
+            "lift_margin": 0.18691152241915354,
+            "gripper_z": 1.053873102422491,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18549484298309474,
+              0.22755932557585368,
+              1.053873102422491
+            ],
+            "object_minus_gripper": [
+              0.004505682160797303,
+              0.004471782094857296,
+              -0.005854893174637166
+            ],
+            "object_to_gripper_xy": 0.00634807111160653,
+            "object_to_gripper_z": -0.005854893174637166,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19000052514389204,
+              0.20776874184691896,
+              1.0480182092478538
+            ],
+            "finger_b": [
+              0.1789922088231457,
+              0.23203110767071097,
+              1.0480182092478538
+            ],
+            "finger_midpoint": [
+              0.18449636698351887,
+              0.21989992475881498,
+              1.0480182092478538
+            ],
+            "object_minus_finger_midpoint": [
+              0.005504158160373168,
+              0.012131182911895994,
+              0.0
+            ],
+            "finger_gap": 0.026642924456319,
+            "fingertip_max_gap": 0.09264769999249253,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013321462228159487,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0480182092478538,
+            "object_top_z": 1.098757038655534,
+            "finger_top_clearance": 0.050738829407680264,
+            "fingertip_min_top_clearance": 0.015221648822304078,
+            "object_projection_between_fingers": 0.8292825111056329,
+            "object_to_finger_line_xy": 0.010024717748828857,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04882384999624627,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.1228642550774344,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18947759945736226,
+              0.2327837344565133,
+              1.241373086999262
+            ],
+            "held_position": [
+              0.19412756824483504,
+              0.2369409643579708,
+              1.2353727122226268
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008655014017211322,
+            "max_held_gripper_dist": 0.008667812479333894,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006000374776635287,
+            "max_held_gripper_z_dist": 0.006041804207663981,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08680093065764921,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19412756824483504,
+              0.21211881165444654,
+              1.2353727122226268
+            ],
+            "held_grasp_finger_b": [
+              0.18458936681306842,
+              0.2369409643579708,
+              1.2353727122226268
+            ],
+            "held_grasp_midpoint": [
+              0.18935846752895175,
+              0.22452988800620866,
+              1.2353727122226268
+            ],
+            "held_grasp_object_position": [
+              0.19412756824483504,
+              0.2369409643579708,
+              1.2353727122226268
+            ],
+            "held_grasp_finger_gap": 0.026591663193377565,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02447399939870135,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03425474070637578,
+              -0.9991368722838646,
+              0.02349730158880714
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00435107672239831,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03715652175389404,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2938640278170398,
+              -0.3650428251854655,
+              0.8515395762588631
+            ],
+            "target_position": [
+              0.28782823969653965,
+              -0.36626034668098234,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00615736119028406,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18307904500751662,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395762588631,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516797495669361,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527084671772055,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15220638646828966,
+            "release_required_pad_clearance": 0.052635423358860275,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3310219922863596,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008129596710205078,
+            "max_z_decrease": 0.008129596710205078,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03506930945612333,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008129596710205078,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.02092593609704252,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008129596710205078,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00812964547959109,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14352816343307492,
+              -0.42252179980278015,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14352816343307492,
+              -0.42252179980278015,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14341507814927232,
+              -0.42126897044253536,
+              0.8037266539982174
+            ],
+            "closest_button": [
+              0.14354768395423886,
+              -0.4225015044212341,
+              0.7686792612075806
+            ],
+            "closest_ee_minus_button": [
+              -0.00013260580496654573,
+              0.0012325339786987133,
+              0.035047392790636844
+            ],
+            "button_min_z_position": [
+              0.14354768395423886,
+              -0.4225015044212341,
+              0.7686792612075806
+            ],
+            "min_active_finger_to_button": 0.1453517368387371,
+            "closest_active_finger": [
+              0.017225220799446106,
+              -0.4857931435108185,
+              0.8109542727470398
+            ],
+            "closest_active_finger_button": [
+              0.14353203773498535,
+              -0.42251983284950256,
+              0.7767460346221924
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12630681693553925,
+              -0.06327331066131592,
+              0.03420823812484741
+            ],
+            "min_contact_pad_to_button": 0.02092593609704252,
+            "closest_contact_pad": [
+              0.14354768395423886,
+              -0.4225015044212341,
+              0.7896051973046231
+            ],
+            "closest_contact_pad_button": [
+              0.14354768395423886,
+              -0.4225015044212341,
+              0.7686792612075806
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02092593609704252
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f0f33d6e0edd70e3169fc087bdde7020e408b3350e28ba78358bfd59d659932d",
+    "visual_seed": 2154473577350427655,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..745bab79972bcdee641297b63a3e43fd562c039b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19114866641348954,
+              0.23588105789970737,
+              1.0490152565524493
+            ],
+            "current_z": 1.0490152565524493,
+            "required_z": 0.8611067464333452,
+            "initial_z": 0.7611067464333452,
+            "lift_margin": 0.18790851011910414,
+            "gripper_z": 1.0545825209835349,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18689147681725268,
+              0.23149202842859357,
+              1.0545825209835349
+            ],
+            "object_minus_gripper": [
+              0.00425718959623686,
+              0.004389029471113803,
+              -0.005567264431085572
+            ],
+            "object_to_gripper_xy": 0.006114510851786337,
+            "object_to_gripper_z": -0.005567264431085572,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19114866641348954,
+              0.2118745862045069,
+              1.0490152565524493
+            ],
+            "finger_b": [
+              0.1801596193651453,
+              0.23588105789970737,
+              1.0490152565524493
+            ],
+            "finger_midpoint": [
+              0.18565414288931742,
+              0.22387782205210713,
+              1.0490152565524493
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054945235241721235,
+              0.012003235847600241,
+              0.0
+            ],
+            "finger_gap": 0.026402080188560623,
+            "fingertip_max_gap": 0.0945367442680406,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013201040094280312,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490152565524493,
+            "object_top_z": 1.1006196087588507,
+            "finger_top_clearance": 0.05160435220640136,
+            "fingertip_min_top_clearance": 0.015481305661920408,
+            "object_projection_between_fingers": 0.8267617555679336,
+            "object_to_finger_line_xy": 0.00999194931002459,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0497683721340203,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7138894037307484,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1907794052137827,
+              0.23697469056445525,
+              1.242794614910481
+            ],
+            "held_position": [
+              0.1952289361780814,
+              0.24105684138828143,
+              1.2371120027680114
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008291825004934698,
+            "max_held_gripper_dist": 0.008306185415398981,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0056826121424695675,
+            "max_held_gripper_z_dist": 0.005728871069694774,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08631625759887598,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1952289361780814,
+              0.21637353778702928,
+              1.2371120027680114
+            ],
+            "held_grasp_finger_b": [
+              0.18575398066004714,
+              0.24105684138828143,
+              1.2371120027680114
+            ],
+            "held_grasp_midpoint": [
+              0.19049145841906429,
+              0.22871518958765535,
+              1.2371120027680114
+            ],
+            "held_grasp_object_position": [
+              0.1952289361780814,
+              0.24105684138828143,
+              1.2371120027680114
+            ],
+            "held_grasp_finger_gap": 0.02643936948454549,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02435390986638431,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.032214754915541086,
+              -0.9990211859235292,
+              0.030313027590080144
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004353738606358696,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03723806176705378,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2923508940761423,
+              -0.3629748007135649,
+              0.8515395030044391
+            ],
+            "target_position": [
+              0.2873839555633686,
+              -0.3638527915829059,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005043941529827704,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18020384405310635,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395030044391,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530135001162454,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08544439671628566,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1489167359047921,
+            "release_required_pad_clearance": 0.05272219835814283,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.497320729381948,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008068680763244629,
+            "max_z_decrease": 0.008068680763244629,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516518481073892,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008068680763244629,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021010579136952923,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008068680763244629,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0080686878510762,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14308388531208033,
+              -0.4201142489910125,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14308388531208033,
+              -0.4201142489910125,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14365115871983658,
+              -0.41845926359801516,
+              0.8080494780721744
+            ],
+            "closest_button": [
+              0.14307560026645655,
+              -0.4201135039329528,
+              0.7729279398918152
+            ],
+            "closest_ee_minus_button": [
+              0.0005755584533800318,
+              0.0016542403349376622,
+              0.035121538180359235
+            ],
+            "button_min_z_position": [
+              0.14308074116706843,
+              -0.42010402679443354,
+              0.768740177154541
+            ],
+            "min_active_finger_to_button": 0.14494209435156072,
+            "closest_active_finger": [
+              0.017135493457317352,
+              -0.4831528961658478,
+              0.8104583024978638
+            ],
+            "closest_active_finger_button": [
+              0.14308334887027735,
+              -0.42011398077011103,
+              0.7762319445610046
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12594785541296,
+              -0.06303891539573675,
+              0.03422635793685913
+            ],
+            "min_contact_pad_to_button": 0.021010579136952923,
+            "closest_contact_pad": [
+              0.14308074116706843,
+              -0.42010402679443354,
+              0.7897507562914939
+            ],
+            "closest_contact_pad_button": [
+              0.14308074116706843,
+              -0.42010402679443354,
+              0.768740177154541
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021010579136952923
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "298eefa3d53cf59ffd743472dad1f380fb695dfd45f87647a58235bd9e26c375",
+    "visual_seed": 5370327630328868729,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_7_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0773aac2a0b381d8a10fa3854fe9a62888a02c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_7_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 7,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19731420280920856,
+              0.23610349332414443,
+              1.0472813583859004
+            ],
+            "current_z": 1.0472813583859004,
+            "required_z": 0.8611066868287001,
+            "initial_z": 0.7611066868287001,
+            "lift_margin": 0.18617467155720036,
+            "gripper_z": 1.0525959657043764,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19255998218045425,
+              0.2314407562078295,
+              1.0525959657043764
+            ],
+            "object_minus_gripper": [
+              0.004754220628754302,
+              0.00466273711631493,
+              -0.0053146073184759945
+            ],
+            "object_to_gripper_xy": 0.0066591088895387365,
+            "object_to_gripper_z": -0.0053146073184759945,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19731420280920856,
+              0.21178487110948632,
+              1.0472813583859004
+            ],
+            "finger_b": [
+              0.1858755487491676,
+              0.23610349332414443,
+              1.0472813583859004
+            ],
+            "finger_midpoint": [
+              0.19159487577918807,
+              0.2239441822168154,
+              1.0472813583859004
+            ],
+            "object_minus_finger_midpoint": [
+              0.005719327030020482,
+              0.01215931110732904,
+              0.0
+            ],
+            "finger_gap": 0.02687448963468059,
+            "fingertip_max_gap": 0.09228136474922558,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013437244817340283,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0472813583859004,
+            "object_top_z": 1.0979372729301504,
+            "finger_top_clearance": 0.05065591454425,
+            "fingertip_min_top_clearance": 0.015196774363275,
+            "object_projection_between_fingers": 0.8188370430269852,
+            "object_to_finger_line_xy": 0.010350794024803715,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04864068237461279,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9508388071946959,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1966255255531268,
+              0.23647070043671642,
+              1.2430556717163057
+            ],
+            "held_position": [
+              0.20160859944586615,
+              0.24077795805362923,
+              1.2376367724842767
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008529241612584223,
+            "max_held_gripper_dist": 0.008541604914871936,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005418899232028984,
+            "max_held_gripper_z_dist": 0.005473481923348178,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08654886764266001,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20160859944586615,
+              0.21578523126822755,
+              1.2376367724842767
+            ],
+            "held_grasp_finger_b": [
+              0.19168719228215048,
+              0.24077795805362923,
+              1.2376367724842767
+            ],
+            "held_grasp_midpoint": [
+              0.19664789586400833,
+              0.2282815946609284,
+              1.2376367724842767
+            ],
+            "held_grasp_object_position": [
+              0.20160859944586615,
+              0.24077795805362923,
+              1.2376367724842767
+            ],
+            "held_grasp_finger_gap": 0.02688997419630527,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024511349872522802,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04529221825666376,
+              -0.9987190523674535,
+              0.02255813386888283
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004398829484081272,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03701521259516142,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2970131019632496,
+              -0.36364251028146266,
+              0.8515394991220177
+            ],
+            "target_position": [
+              0.2905551831955096,
+              -0.3653183039004728,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006671806281978184,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18439374984296292,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394991220177,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07525084745242304,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498258717508177,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15326055745492195,
+            "release_required_pad_clearance": 0.052491293587540885,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0559529028890458,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008162081241607666,
+            "max_z_decrease": 0.008162081241607666,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035065758437876605,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008162081241607666,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02089678533898398,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008162081241607666,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008162168782821397,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14625510573387146,
+              -0.42157974839210505,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14625510573387146,
+              -0.42157974839210505,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1470683225558631,
+              -0.4200712683527958,
+              0.8036723076644718
+            ],
+            "closest_button": [
+              0.14628489315509793,
+              -0.42155647277832026,
+              0.768646776676178
+            ],
+            "closest_ee_minus_button": [
+              0.0007834294007651732,
+              0.0014852044255244667,
+              0.03502553098829386
+            ],
+            "button_min_z_position": [
+              0.14628489315509793,
+              -0.42155647277832026,
+              0.768646776676178
+            ],
+            "min_active_finger_to_button": 0.14441138505036874,
+            "closest_active_finger": [
+              0.02051234245300293,
+              -0.4838409423828125,
+              0.8107514977455139
+            ],
+            "closest_active_finger_button": [
+              0.14625488221645355,
+              -0.42158016562461853,
+              0.7765892744064331
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12574253976345062,
+              -0.06226077675819397,
+              0.03416222333908081
+            ],
+            "min_contact_pad_to_button": 0.02089678533898398,
+            "closest_contact_pad": [
+              0.14628489315509793,
+              -0.42155647277832026,
+              0.789543562015162
+            ],
+            "closest_contact_pad_button": [
+              0.14628489315509793,
+              -0.42155647277832026,
+              0.768646776676178
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02089678533898398
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 7,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "554b464e9f3987fe9abf896ba43e09e0db1f99398fff62edeeffabb378555729",
+    "visual_seed": 6149814768009253516,
+    "episode_index": 7,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..91fdbdb421a5ade46eafb9e1d36e390314ef9ade
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19670777686074134,
+              0.2283067181707353,
+              1.0467363677300643
+            ],
+            "current_z": 1.0467363677300643,
+            "required_z": 0.861106746433345,
+            "initial_z": 0.761106746433345,
+            "lift_margin": 0.18562962129671934,
+            "gripper_z": 1.0529312871460696,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19143307455971417,
+              0.22340192233341782,
+              1.0529312871460696
+            ],
+            "object_minus_gripper": [
+              0.005274702301027168,
+              0.004904795837317483,
+              -0.006194919416005362
+            ],
+            "object_to_gripper_xy": 0.0072027429893220685,
+            "object_to_gripper_z": -0.006194919416005362,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19670777686074134,
+              0.2033879923937968,
+              1.0467363677300643
+            ],
+            "finger_b": [
+              0.18523606675427326,
+              0.2283067181707353,
+              1.0467363677300643
+            ],
+            "finger_midpoint": [
+              0.1909719218075073,
+              0.21584735528226606,
+              1.0467363677300643
+            ],
+            "object_minus_finger_midpoint": [
+              0.00573585505323404,
+              0.012459362888469244,
+              0.0
+            ],
+            "finger_gap": 0.02743251769548508,
+            "fingertip_max_gap": 0.0932218805105583,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013716258847742526,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0467363677300643,
+            "object_top_z": 1.097250510680093,
+            "finger_top_clearance": 0.05051414295002865,
+            "fingertip_min_top_clearance": 0.015154242885008612,
+            "object_projection_between_fingers": 0.8251261017304419,
+            "object_to_finger_line_xy": 0.01042049444782315,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911094025527915,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.493420888379825,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19523404516896842,
+              0.22891346285513658,
+              1.2398396404573964
+            ],
+            "held_position": [
+              0.20068408320563644,
+              0.23357799451878317,
+              1.233431688486133
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009618867849612477,
+            "max_held_gripper_dist": 0.009628147631432056,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006407951971263426,
+            "max_held_gripper_z_dist": 0.006447905749257021,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08661159706055613,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20068408320563644,
+              0.20832631993908926,
+              1.233431688486133
+            ],
+            "held_grasp_finger_b": [
+              0.19022652846792354,
+              0.23357799451878317,
+              1.233431688486133
+            ],
+            "held_grasp_midpoint": [
+              0.19545530583678,
+              0.2209521572289362,
+              1.233431688486133
+            ],
+            "held_grasp_object_position": [
+              0.20068408320563644,
+              0.23357799451878317,
+              1.233431688486133
+            ],
+            "held_grasp_finger_gap": 0.02733143831142117,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025110959552367997,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.012924955901782118,
+              -0.9997801494913545,
+              0.016510548082417698
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005069462985267499,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03702960686008565,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2993522633513316,
+              -0.3567199176976379,
+              0.8515396123885314
+            ],
+            "target_position": [
+              0.29251950372210095,
+              -0.35897471152477334,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007195185845670149,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.183838949526153,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396123885314,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07587250526252357,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08845915718467821,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15140035722571174,
+            "release_required_pad_clearance": 0.05422957859233911,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.476876267213,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008102059364318848,
+            "max_z_decrease": 0.008102059364318848,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523172948457902,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008102059364318848,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02098753917457441,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008102059364318848,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00810207129603696,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14821943640708926,
+              -0.41523617506027216,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14821943640708926,
+              -0.41523617506027216,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15002408902906247,
+              -0.413165272027626,
+              0.8038323256527198
+            ],
+            "closest_button": [
+              0.1482253670692444,
+              -0.4152235984802246,
+              0.7687067985534668
+            ],
+            "closest_ee_minus_button": [
+              0.0017987219598180615,
+              0.0020583264525986245,
+              0.035125527099252984
+            ],
+            "button_min_z_position": [
+              0.1482253670692444,
+              -0.4152235984802246,
+              0.7687067985534668
+            ],
+            "min_active_finger_to_button": 0.14327453382303384,
+            "closest_active_finger": [
+              0.02229158580303192,
+              -0.47445642948150635,
+              0.8101997375488281
+            ],
+            "closest_active_finger_button": [
+              0.1482188850641251,
+              -0.4152374267578125,
+              0.7760967016220093
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12592729926109317,
+              -0.05921900272369385,
+              0.03410303592681885
+            ],
+            "min_contact_pad_to_button": 0.02098753917457441,
+            "closest_contact_pad": [
+              0.1482253670692444,
+              -0.4152235984802246,
+              0.7896943377280412
+            ],
+            "closest_contact_pad_button": [
+              0.1482253670692444,
+              -0.4152235984802246,
+              0.7687067985534668
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02098753917457441
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8f2b5735e890d4a0b0d98024548db1729766a622cf195dc1cfea9350c207ac3c",
+    "visual_seed": 5886792548716711453,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..38e0410d24efebfc2dd4ed67142889c9ab89bcfa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19113475963087467,
+              0.23524120449755928,
+              1.0478868687542422
+            ],
+            "current_z": 1.0478868687542422,
+            "required_z": 0.8611068656426346,
+            "initial_z": 0.7611068656426346,
+            "lift_margin": 0.18678000311160758,
+            "gripper_z": 1.0536096712381118,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18645421410292032,
+              0.23051770918290335,
+              1.0536096712381118
+            ],
+            "object_minus_gripper": [
+              0.004680545527954355,
+              0.004723495314655934,
+              -0.005722802483869582
+            ],
+            "object_to_gripper_xy": 0.006649730402567466,
+            "object_to_gripper_z": -0.005722802483869582,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19113475963087467,
+              0.21115385308070472,
+              1.0478868687542422
+            ],
+            "finger_b": [
+              0.1793835991400302,
+              0.23524120449755928,
+              1.0478868687542422
+            ],
+            "finger_midpoint": [
+              0.18525917938545244,
+              0.22319752878913202,
+              1.0478868687542422
+            ],
+            "object_minus_finger_midpoint": [
+              0.0058755802454222295,
+              0.012043675708427265,
+              0.0
+            ],
+            "finger_gap": 0.026800937878377125,
+            "fingertip_max_gap": 0.09192474911392184,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013400468939188543,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0478868687542422,
+            "object_top_z": 1.098205317293564,
+            "finger_top_clearance": 0.05031844853932177,
+            "fingertip_min_top_clearance": 0.01509553456179653,
+            "object_projection_between_fingers": 0.8077521324930995,
+            "object_to_finger_line_xy": 0.010561359217477063,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048462374556960924,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.9800787657167002,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19041518254300607,
+              0.23578926095094163,
+              1.2417112918810245
+            ],
+            "held_position": [
+              0.19534183972186814,
+              0.24010436015932277,
+              1.2358531597390745
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008786907552077235,
+            "max_held_gripper_dist": 0.0088022052134493,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005858132141949968,
+            "max_held_gripper_z_dist": 0.005907901935660487,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08639283111622917,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19534183972186814,
+              0.21517227753864698,
+              1.2358531597390745
+            ],
+            "held_grasp_finger_b": [
+              0.18542287364616186,
+              0.24010436015932277,
+              1.2358531597390745
+            ],
+            "held_grasp_midpoint": [
+              0.190382356684015,
+              0.2276383188489849,
+              1.2358531597390745
+            ],
+            "held_grasp_object_position": [
+              0.19534183972186814,
+              0.24010436015932277,
+              1.2358531597390745
+            ],
+            "held_grasp_finger_gap": 0.02683271569959357,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024371616723718022,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.052577795860837745,
+              -0.9984378150806222,
+              0.018907797318815978
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004303780966756861,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03701292433475699,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2948504353214919,
+              -0.3642358672363488,
+              0.8515396068742742
+            ],
+            "target_position": [
+              0.28885091635289034,
+              -0.3656135124578625,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006155658714627503,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18492509865558243,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396068742742,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075423304440246,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852288581418285,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15329088166829904,
+            "release_required_pad_clearance": 0.05261442907091425,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.2907399063952291,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008042871952056885,
+            "max_z_decrease": 0.008042871952056885,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03525496145744745,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008042871952056885,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021188435037585822,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008042871952056885,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008042883101609983,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14455084502696985,
+              -0.4218749701976776,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14455084502696985,
+              -0.4218749701976776,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14649016832110143,
+              -0.423202847065329,
+              0.8039416516660618
+            ],
+            "closest_button": [
+              0.1445381194353103,
+              -0.42187079787254333,
+              0.7687659859657288
+            ],
+            "closest_ee_minus_button": [
+              0.001952048885791119,
+              -0.0013320491927856781,
+              0.035175665700333036
+            ],
+            "button_min_z_position": [
+              0.1445381194353103,
+              -0.42187079787254333,
+              0.7687659859657288
+            ],
+            "min_active_finger_to_button": 0.143658901145635,
+            "closest_active_finger": [
+              0.005944840610027313,
+              -0.40585023164749146,
+              0.8106618523597717
+            ],
+            "closest_active_finger_button": [
+              0.14455029368400568,
+              -0.42187610268592834,
+              0.776462733745575
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13860545307397837,
+              0.01602587103843689,
+              0.03419911861419678
+            ],
+            "min_contact_pad_to_button": 0.021188435037585822,
+            "closest_contact_pad": [
+              0.1445381194353103,
+              -0.4244909990122414,
+              0.7897917873851639
+            ],
+            "closest_contact_pad_button": [
+              0.1445381194353103,
+              -0.42187079787254333,
+              0.7687659859657288
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002620201139698075,
+              0.02102580141943511
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a7a5f062887b328ebdcfbffbb61ba40ba684987fcc98849bd46c27b6d9f4b643",
+    "visual_seed": 3797865419822946561,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4294761edb2185a47b71ea05fa2e6c24f90965e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19795379972932167,
+              0.22900593386860316,
+              1.0488088477434214
+            ],
+            "current_z": 1.0488088477434214,
+            "required_z": 0.8611067464333451,
+            "initial_z": 0.7611067464333451,
+            "lift_margin": 0.18770210131007636,
+            "gripper_z": 1.054481023223797,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1928551824214964,
+              0.22407452908999392,
+              1.054481023223797
+            ],
+            "object_minus_gripper": [
+              0.005098617307825265,
+              0.004931404778609233,
+              -0.005672175480375685
+            ],
+            "object_to_gripper_xy": 0.007093282141727152,
+            "object_to_gripper_z": -0.005672175480375685,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19795379972932167,
+              0.20459809147366886,
+              1.0488088477434214
+            ],
+            "finger_b": [
+              0.18593675446345168,
+              0.22900593386860316,
+              1.0488088477434214
+            ],
+            "finger_midpoint": [
+              0.19194527709638667,
+              0.21680201267113602,
+              1.0488088477434214
+            ],
+            "object_minus_finger_midpoint": [
+              0.006008522632934998,
+              0.012203921197467132,
+              0.0
+            ],
+            "finger_gap": 0.027205737396694844,
+            "fingertip_max_gap": 0.09103394660479919,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01360286869834741,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488088477434214,
+            "object_top_z": 1.0985913234553861,
+            "finger_top_clearance": 0.0497824757119647,
+            "fingertip_min_top_clearance": 0.01493474271358941,
+            "object_projection_between_fingers": 0.8048923083596189,
+            "object_to_finger_line_xy": 0.010781187167445774,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048016973302399596,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.924953019961086,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.196902216595858,
+              0.22936917021425485,
+              1.2440404173128075
+            ],
+            "held_position": [
+              0.2022683832846295,
+              0.23388399155517284,
+              1.2382492252861965
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009094903064968404,
+            "max_held_gripper_dist": 0.009111672122533433,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005791192026610936,
+            "max_held_gripper_z_dist": 0.005843576028009334,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08554532354625266,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.2022683832846295,
+              0.2087289990275707,
+              1.2382492252861965
+            ],
+            "held_grasp_finger_b": [
+              0.19191319173160273,
+              0.23388399155517284,
+              1.2382492252861965
+            ],
+            "held_grasp_midpoint": [
+              0.19709078750811612,
+              0.22130649529137175,
+              1.2382492252861965
+            ],
+            "held_grasp_object_position": [
+              0.2022683832846295,
+              0.23388399155517284,
+              1.2382492252861965
+            ],
+            "held_grasp_finger_gap": 0.027203007943306504,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024617836741186096,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04877789499923748,
+              -0.9987258457695686,
+              0.012938390599433247
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004560891309798865,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036906227253231484,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.292297220417448,
+              -0.3585011903478197,
+              0.8515395691376603
+            ],
+            "target_position": [
+              0.28458477490793693,
+              -0.3608194158941882,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008053321390644536,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18411089516100917,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534564865426618,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1530131102310502,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0077781081199646,
+            "max_z_decrease": 0.0077781081199646,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035146111754164225,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0077781081199646,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021043876708666653,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0077781081199646,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007778129180265794,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14028470218181605,
+              -0.41708087921142584,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14028470218181605,
+              -0.41708087921142584,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14013005613340818,
+              -0.41619092804783775,
+              0.8082411739844952
+            ],
+            "closest_button": [
+              0.14027303457260126,
+              -0.4170837104320526,
+              0.7731066942214966
+            ],
+            "closest_ee_minus_button": [
+              -0.00014297843919308661,
+              0.000892782384214863,
+              0.03513447976299866
+            ],
+            "button_min_z_position": [
+              0.14026662707328794,
+              -0.4170799255371094,
+              0.769030749797821
+            ],
+            "min_active_finger_to_button": 0.14588808954202734,
+            "closest_active_finger": [
+              0.011843353509902954,
+              -0.47725817561149597,
+              0.8105536699295044
+            ],
+            "closest_active_finger_button": [
+              0.14028391242027283,
+              -0.4170816242694855,
+              0.7764195203781128
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12844055891036987,
+              -0.0601765513420105,
+              0.0341341495513916
+            ],
+            "min_contact_pad_to_button": 0.021043876708666653,
+            "closest_contact_pad": [
+              0.14026662707328794,
+              -0.4174291922417464,
+              0.7900717279048054
+            ],
+            "closest_contact_pad_button": [
+              0.14026662707328794,
+              -0.4170799255371094,
+              0.769030749797821
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00034926670463703013,
+              0.021040978106984354
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "754efef04ac03b4d4a55683f7a798d1e5f5f2a3146fc6c89519efc2a343b43ff",
+    "visual_seed": 4375616212099868831,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_8_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7457d210b1886a80209e28b18b8a8280d7886f5f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_8_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 8,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19881335344115458,
+              0.2356226929974656,
+              1.0473933433455667
+            ],
+            "current_z": 1.0473933433455667,
+            "required_z": 0.8611067464333448,
+            "initial_z": 0.7611067464333449,
+            "lift_margin": 0.18628659691222182,
+            "gripper_z": 1.0531908367678868,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19341664507414774,
+              0.23059652175693335,
+              1.0531908367678868
+            ],
+            "object_minus_gripper": [
+              0.005396708367006842,
+              0.005026171240532257,
+              -0.005797493422320166
+            ],
+            "object_to_gripper_xy": 0.007374744642201194,
+            "object_to_gripper_z": -0.005797493422320166,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19881335344115458,
+              0.21080211299453525,
+              1.0473933433455667
+            ],
+            "finger_b": [
+              0.18693036380491154,
+              0.2356226929974656,
+              1.0473933433455667
+            ],
+            "finger_midpoint": [
+              0.19287185862303308,
+              0.22321240299600043,
+              1.0473933433455667
+            ],
+            "object_minus_finger_midpoint": [
+              0.005941494818121507,
+              0.01241029000146518,
+              0.0
+            ],
+            "finger_gap": 0.027518478053426682,
+            "fingertip_max_gap": 0.09407265262316,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013759239026713334,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0473933433455667,
+            "object_top_z": 1.0982339563795152,
+            "finger_top_clearance": 0.05084061303394849,
+            "fingertip_min_top_clearance": 0.015252183910184514,
+            "object_projection_between_fingers": 0.8135327290482798,
+            "object_to_finger_line_xy": 0.010717987178205723,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04953632631158,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.972108001565698,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1971418572892643,
+              0.23635467088942302,
+              1.24292167960117
+            ],
+            "held_position": [
+              0.20273416023753918,
+              0.241073696180483,
+              1.237009098411411
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.009407532529225621,
+            "max_held_gripper_dist": 0.009417362069750626,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005912581189758903,
+            "max_held_gripper_z_dist": 0.005966046085840615,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08676597522035862,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20273416023753918,
+              0.2158175791985229,
+              1.237009098411411
+            ],
+            "held_grasp_finger_b": [
+              0.19195787425620064,
+              0.241073696180483,
+              1.237009098411411
+            ],
+            "held_grasp_midpoint": [
+              0.1973460172468699,
+              0.22844563768950293,
+              1.237009098411411
+            ],
+            "held_grasp_object_position": [
+              0.20273416023753918,
+              0.241073696180483,
+              1.237009098411411
+            ],
+            "held_grasp_finger_gap": 0.027459056512525087,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02513324365716352,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.010782809893549876,
+              -0.9997357201938034,
+              0.020303220911399023
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.005257947415362852,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037037429598418,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29674659131767667,
+              -0.3577191132632497,
+              0.8515395598027214
+            ],
+            "target_position": [
+              0.2902238076373283,
+              -0.3598031067671422,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006847608039665039,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18258233087231227,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395598027214,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556042879127683,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08766536252870154,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15090254455066204,
+            "release_required_pad_clearance": 0.05383268126435077,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6747034426033425,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008090853691101074,
+            "max_z_decrease": 0.008090853691101074,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516947756169294,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008090853691101074,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02099259653919694,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 122,
+            "max_z_decrease_with_contact_point": 0.008090853691101074,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008090866831780098,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1459237337112427,
+              -0.4160645604133606,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1459237337112427,
+              -0.4160645604133606,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14738021481658276,
+              -0.4149640471957141,
+              0.8038406496928373
+            ],
+            "closest_button": [
+              0.14592698216438296,
+              -0.41605034470558167,
+              0.7687180042266846
+            ],
+            "closest_ee_minus_button": [
+              0.001453232652199793,
+              0.001086297509867551,
+              0.035122645466152735
+            ],
+            "button_min_z_position": [
+              0.14592698216438296,
+              -0.41605034470558167,
+              0.7687180042266846
+            ],
+            "min_active_finger_to_button": 0.14402566103649309,
+            "closest_active_finger": [
+              0.021347500383853912,
+              -0.47975343465805054,
+              0.8109688758850098
+            ],
+            "closest_active_finger_button": [
+              0.14592270553112033,
+              -0.41606539487838745,
+              0.7767893075942993
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12457520514726642,
+              -0.06368803977966309,
+              0.03417956829071045
+            ],
+            "min_contact_pad_to_button": 0.02099259653919694,
+            "closest_contact_pad": [
+              0.14592698216438296,
+              -0.41605034470558167,
+              0.7897106007658815
+            ],
+            "closest_contact_pad_button": [
+              0.14592698216438296,
+              -0.41605034470558167,
+              0.7687180042266846
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02099259653919694
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 8,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2fe59b9a74c3ebfb9b22e1f7ebb02e10fafd460892b0493823e6b3bed53b9ef9",
+    "visual_seed": 5152319413928037661,
+    "episode_index": 8,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_90_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf6c585122aa5cda98debb5614502cfd850addb2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_90_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 90,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19882304782175317,
+              0.23730471575583417,
+              1.049281199111086
+            ],
+            "current_z": 1.049281199111086,
+            "required_z": 0.8611068656426347,
+            "initial_z": 0.7611068656426347,
+            "lift_margin": 0.18817433346845125,
+            "gripper_z": 1.05450278290824,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19426629136368623,
+              0.23269873111781733,
+              1.05450278290824
+            ],
+            "object_minus_gripper": [
+              0.004556756458066941,
+              0.004605984638016841,
+              -0.005221583797154095
+            ],
+            "object_to_gripper_xy": 0.006479129872427462,
+            "object_to_gripper_z": -0.005221583797154095,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19882304782175317,
+              0.21320351436324406,
+              1.049281199111086
+            ],
+            "finger_b": [
+              0.18736920763444065,
+              0.23730471575583417,
+              1.049281199111086
+            ],
+            "finger_midpoint": [
+              0.19309612772809692,
+              0.22525411505953913,
+              1.049281199111086
+            ],
+            "object_minus_finger_midpoint": [
+              0.005726920093656246,
+              0.012050600696295044,
+              0.0
+            ],
+            "finger_gap": 0.02668442174008429,
+            "fingertip_max_gap": 0.09326858493133652,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013342210870042125,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049281199111086,
+            "object_top_z": 1.1004231875555006,
+            "finger_top_clearance": 0.05114198844441464,
+            "fingertip_min_top_clearance": 0.015342596533324409,
+            "object_projection_between_fingers": 0.8157588454228207,
+            "object_to_finger_line_xy": 0.010345036207334698,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049134292465668264,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2295541810755177,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19840626070294698,
+              0.23767026717353074,
+              1.2414480560885603
+            ],
+            "held_position": [
+              0.20318861642381736,
+              0.24189336379325752,
+              1.2360770330694
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008339865680743304,
+            "max_held_gripper_dist": 0.008353623413266942,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00537102301916037,
+            "max_held_gripper_z_dist": 0.005425657058592437,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08690507069187584,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20318861642381736,
+              0.21696651011097384,
+              1.2360770330694
+            ],
+            "held_grasp_finger_b": [
+              0.19358247980949206,
+              0.24189336379325752,
+              1.2360770330694
+            ],
+            "held_grasp_midpoint": [
+              0.1983855481166547,
+              0.22942993695211567,
+              1.2360770330694
+            ],
+            "held_grasp_object_position": [
+              0.20318861642381736,
+              0.24189336379325752,
+              1.2360770330694
+            ],
+            "held_grasp_finger_gap": 0.02671377725352707,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0243947470071472,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05102953788055198,
+              -0.9983186821961494,
+              0.027491726789005244
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004175168955431693,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03703267985427499,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2910023554415359,
+              -0.36212494550664187,
+              0.8515395750376333
+            ],
+            "target_position": [
+              0.28593653678387404,
+              -0.363082863015395,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005155591588352485,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18402421776438097,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395750376333,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756762620500777,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08575393104160788,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15176974242945768,
+            "release_required_pad_clearance": 0.05287696552080394,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7952418590598976,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007991194725036621,
+            "max_z_decrease": 0.007991194725036621,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517855411277595,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007991194725036621,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021052485806128396,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007991194725036621,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007991218483389594,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.141636461019516,
+              -0.41934433579444885,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.141636461019516,
+              -0.41934433579444885,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14270492775488236,
+              -0.41770467627689195,
+              0.8081399672344833
+            ],
+            "closest_button": [
+              0.1416287124156952,
+              -0.41934359073638916,
+              0.773016095161438
+            ],
+            "closest_ee_minus_button": [
+              0.0010762153391871698,
+              0.0016389144594972094,
+              0.03512387207304535
+            ],
+            "button_min_z_position": [
+              0.1416170597076416,
+              -0.4193425178527832,
+              0.768817663192749
+            ],
+            "min_active_finger_to_button": 0.14451715114426142,
+            "closest_active_finger": [
+              0.016111060976982117,
+              -0.48225152492523193,
+              0.8105607032775879
+            ],
+            "closest_active_finger_button": [
+              0.1416356861591339,
+              -0.41934406757354736,
+              0.7763345837593079
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1255246251821518,
+              -0.06290745735168457,
+              0.03422611951828003
+            ],
+            "min_contact_pad_to_button": 0.021052485806128396,
+            "closest_contact_pad": [
+              0.1416170597076416,
+              -0.4193425178527832,
+              0.7898701489988774
+            ],
+            "closest_contact_pad_button": [
+              0.1416170597076416,
+              -0.4193425178527832,
+              0.768817663192749
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021052485806128396
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 90,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4d6d927f966cea24c558b75ba6e7ba5b73dd3915a6c25a30adc71feeccaafb84",
+    "visual_seed": 1579934943490047932,
+    "episode_index": 90,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_91_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..340d70a50b7db935f0b7414e5c5075361bfe0adf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_91_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 91,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19257941511851745,
+              0.23424599524269107,
+              1.0470127012700885
+            ],
+            "current_z": 1.0470127012700885,
+            "required_z": 0.8611068060379897,
+            "initial_z": 0.7611068060379897,
+            "lift_margin": 0.18590589523209877,
+            "gripper_z": 1.0526576334319613,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18798682439130374,
+              0.22966902733489813,
+              1.0526576334319613
+            ],
+            "object_minus_gripper": [
+              0.004592590727213713,
+              0.004576967907792939,
+              -0.005644932161872784
+            ],
+            "object_to_gripper_xy": 0.00648386650206926,
+            "object_to_gripper_z": -0.005644932161872784,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19257941511851745,
+              0.2100357183283126,
+              1.0470127012700885
+            ],
+            "finger_b": [
+              0.1812686759176551,
+              0.23424599524269107,
+              1.0470127012700885
+            ],
+            "finger_midpoint": [
+              0.18692404551808628,
+              0.22214085678550183,
+              1.0470127012700885
+            ],
+            "object_minus_finger_midpoint": [
+              0.00565536960043117,
+              0.012105138457189246,
+              0.0
+            ],
+            "finger_gap": 0.026722094407826847,
+            "fingertip_max_gap": 0.09302120052947321,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013361047203913436,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0470127012700885,
+            "object_top_z": 1.0980229998580147,
+            "finger_top_clearance": 0.05101029858792616,
+            "fingertip_min_top_clearance": 0.015303089576377847,
+            "object_projection_between_fingers": 0.8208400265668615,
+            "object_to_finger_line_xy": 0.010247554850303464,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04901060026473661,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2198602782148835,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19209284912839897,
+              0.23457313943173214,
+              1.2421112616124568
+            ],
+            "held_position": [
+              0.19690904055442032,
+              0.23877889949823933,
+              1.2363499395731634
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008606796688057385,
+            "max_held_gripper_dist": 0.008619918553392444,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0057613220392933595,
+            "max_held_gripper_z_dist": 0.005806319531324267,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08654279193825504,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19690904055442032,
+              0.21385559285926178,
+              1.2363499395731634
+            ],
+            "held_grasp_finger_b": [
+              0.18722476487343254,
+              0.23877889949823933,
+              1.2363499395731634
+            ],
+            "held_grasp_midpoint": [
+              0.19206690271392643,
+              0.22631724617875054,
+              1.2363499395731634
+            ],
+            "held_grasp_object_position": [
+              0.19690904055442032,
+              0.23877889949823933,
+              1.2363499395731634
+            ],
+            "held_grasp_finger_gap": 0.026738668801678845,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02444920280754422,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04533314272933944,
+              -0.9985922742810552,
+              0.027538625900198066
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004286237209104087,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037056630014646465,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2985267194037141,
+              -0.36594551106720075,
+              0.8515395620348578
+            ],
+            "target_position": [
+              0.29225692949189863,
+              -0.3670817480000563,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006371914932411459,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18375518858184556,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395620348578,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535252841256385,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08551208563834138,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15240537914937577,
+            "release_required_pad_clearance": 0.05275604281917069,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.5623203467588481,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008125662803649902,
+            "max_z_decrease": 0.008125662803649902,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03508719299258721,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008125662803649902,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021040317461557725,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008125662803649902,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008125700517638302,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14795684814453122,
+              -0.4233432114124298,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14795684814453122,
+              -0.4233432114124298,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14880512314682817,
+              -0.42425096829550335,
+              0.8037482200650964
+            ],
+            "closest_button": [
+              0.1479716449975967,
+              -0.4233233630657196,
+              0.7686831951141357
+            ],
+            "closest_ee_minus_button": [
+              0.0008334781492314591,
+              -0.0009276052297837456,
+              0.035065024950960644
+            ],
+            "button_min_z_position": [
+              0.1479716449975967,
+              -0.4233233630657196,
+              0.7686831951141357
+            ],
+            "min_active_finger_to_button": 0.1447497515853619,
+            "closest_active_finger": [
+              0.008329905569553375,
+              -0.4063677191734314,
+              0.8104767203330994
+            ],
+            "closest_active_finger_button": [
+              0.14795637130737302,
+              -0.4233446717262268,
+              0.7762901186943054
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13962646573781964,
+              0.01697695255279541,
+              0.034186601638793945
+            ],
+            "min_contact_pad_to_button": 0.021040317461557725,
+            "closest_contact_pad": [
+              0.1479716449975967,
+              -0.4255871904573853,
+              0.789601370092462
+            ],
+            "closest_contact_pad_button": [
+              0.1479716449975967,
+              -0.4233233630657196,
+              0.7686831951141357
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002263827391665696,
+              0.020918174978326265
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 91,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ddd4bc12fbe9f3f3790a0b3734f469a8aa074127cd6dfd1ef39c3d18893d2456",
+    "visual_seed": 1590474024209515079,
+    "episode_index": 91,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_93_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..52289589fc5b65efba22e0b285ce5bf9b1a74419
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_93_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 93,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19140995662924806,
+              0.23767803309957494,
+              1.0474964631746229
+            ],
+            "current_z": 1.0474964631746229,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.18638989555521224,
+            "gripper_z": 1.0535461822870584,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18668188028535576,
+              0.23305946915858794,
+              1.0535461822870584
+            ],
+            "object_minus_gripper": [
+              0.004728076343892301,
+              0.004618563940987003,
+              -0.00604971911243557
+            ],
+            "object_to_gripper_xy": 0.006609526366590831,
+            "object_to_gripper_z": -0.00604971911243557,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19140995662924806,
+              0.2132336507864201,
+              1.0474964631746229
+            ],
+            "finger_b": [
+              0.1802394171862613,
+              0.23767803309957494,
+              1.0474964631746229
+            ],
+            "finger_midpoint": [
+              0.18582468690775467,
+              0.2254558419429975,
+              1.0474964631746229
+            ],
+            "object_minus_finger_midpoint": [
+              0.005585269721493397,
+              0.012222191156577439,
+              0.0
+            ],
+            "finger_gap": 0.026875802836734027,
+            "fingertip_max_gap": 0.09828177685278464,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01343790141836703,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0474964631746229,
+            "object_top_z": 1.1004745133809715,
+            "finger_top_clearance": 0.052978050206348604,
+            "fingertip_min_top_clearance": 0.01589341506190458,
+            "object_projection_between_fingers": 0.827247078773885,
+            "object_to_finger_line_xy": 0.01015995460479149,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05164088842639232,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.073205693175322,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1902009443425044,
+              0.23913941159534557,
+              1.243164457110317
+            ],
+            "held_position": [
+              0.1950662373238827,
+              0.2435090760795594,
+              1.2370220697713363
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008971842938957406,
+            "max_held_gripper_dist": 0.00898738950627958,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.006142387338980759,
+            "max_held_gripper_z_dist": 0.006191571224210213,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08574685473890956,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1950662373238827,
+              0.21867211513884524,
+              1.2370220697713363
+            ],
+            "held_grasp_finger_b": [
+              0.18491964067967137,
+              0.2435090760795594,
+              1.2370220697713363
+            ],
+            "held_grasp_midpoint": [
+              0.18999293900177705,
+              0.2310905956092023,
+              1.2370220697713363
+            ],
+            "held_grasp_object_position": [
+              0.1950662373238827,
+              0.2435090760795594,
+              1.2370220697713363
+            ],
+            "held_grasp_finger_gap": 0.02682961148117657,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02487839527873753,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.006170930177985047,
+              -0.9991472547119273,
+              0.04082502936137821
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00517466800638159,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0373436663701619,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2880972518260484,
+              -0.3579817760282008,
+              0.8515395662704102
+            ],
+            "target_position": [
+              0.2842884612368213,
+              -0.3586211050685222,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0038620755267580295,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18260842444792919,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395662704102,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075363264537625,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08779209680561649,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15109373708685783,
+            "release_required_pad_clearance": 0.05389604840280825,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8019086074719355,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00782930850982666,
+            "max_z_decrease": 0.00782930850982666,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515259024641413,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00782930850982666,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021129887321127725,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00782930850982666,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007829332321781715,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13998839259147644,
+              -0.4148825705051422,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13998839259147644,
+              -0.4148825705051422,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14101402410859917,
+              -0.4156899405793788,
+              0.8082091002284615
+            ],
+            "closest_button": [
+              0.13998039066791534,
+              -0.4148843884468078,
+              0.7730809450149536
+            ],
+            "closest_ee_minus_button": [
+              0.0010336334406838288,
+              -0.0008055521325709969,
+              0.03512815521350787
+            ],
+            "button_min_z_position": [
+              0.13996915519237518,
+              -0.4148809015750885,
+              0.768979549407959
+            ],
+            "min_active_finger_to_button": 0.14509039132645213,
+            "closest_active_finger": [
+              -0.0001667216420173645,
+              -0.3995852768421173,
+              0.8106589317321777
+            ],
+            "closest_active_finger_button": [
+              0.1399876922369003,
+              -0.41488325595855713,
+              0.7763962149620056
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14015441387891767,
+              0.01529797911643982,
+              0.03426271677017212
+            ],
+            "min_contact_pad_to_button": 0.021129887321127725,
+            "closest_contact_pad": [
+              0.13996915519237518,
+              -0.41675029115914397,
+              0.7900265805712033
+            ],
+            "closest_contact_pad_button": [
+              0.13996915519237518,
+              -0.4148809015750885,
+              0.768979549407959
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018693895840554697,
+              0.021047031163244356
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 93,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ca1f068d82db90d8bee6bf2ab0716797e8d1fa91fa78635cb3a6710996428817",
+    "visual_seed": 6170578105008287504,
+    "episode_index": 93,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_94_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..04ef07a09f5a8ec15d99c3b1f199a560df177645
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_94_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 94,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19633484795098904,
+              0.23380310231614987,
+              1.0465498491835148
+            ],
+            "current_z": 1.0465498491835148,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.18544304314552496,
+            "gripper_z": 1.0520233088122577,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1915820850729148,
+              0.22915167294553168,
+              1.0520233088122577
+            ],
+            "object_minus_gripper": [
+              0.004752762878074246,
+              0.0046514293706181875,
+              -0.005473459628742905
+            ],
+            "object_to_gripper_xy": 0.006650154145961588,
+            "object_to_gripper_z": -0.005473459628742905,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19633484795098904,
+              0.20946872267436087,
+              1.0465498491835148
+            ],
+            "finger_b": [
+              0.18493554352191074,
+              0.23380310231614987,
+              1.0465498491835148
+            ],
+            "finger_midpoint": [
+              0.19063519573644988,
+              0.22163591249525538,
+              1.0465498491835148
+            ],
+            "object_minus_finger_midpoint": [
+              0.005699652214539164,
+              0.012167189820894486,
+              0.0
+            ],
+            "finger_gap": 0.026872033306348797,
+            "fingertip_max_gap": 0.09342665996288885,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013436016653174393,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0465498491835148,
+            "object_top_z": 1.0975357146439206,
+            "finger_top_clearance": 0.050985865460405844,
+            "fingertip_min_top_clearance": 0.01529575963812172,
+            "object_projection_between_fingers": 0.8200484275825461,
+            "object_to_finger_line_xy": 0.010322814000233504,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049213329981444426,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5075895552556766,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19561431144956284,
+              0.23430961630573421,
+              1.242106485366909
+            ],
+            "held_position": [
+              0.20057917450936502,
+              0.2386109501613423,
+              1.2365172245103482
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00862503188763218,
+            "max_held_gripper_dist": 0.008638809766342005,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005589260856560863,
+            "max_held_gripper_z_dist": 0.0056384030939002905,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655655154956637,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20057917450936502,
+              0.21363148192892326,
+              1.2365172245103482
+            ],
+            "held_grasp_finger_b": [
+              0.19068684727052146,
+              0.2386109501613423,
+              1.2365172245103482
+            ],
+            "held_grasp_midpoint": [
+              0.19563301088994323,
+              0.22612121604513277,
+              1.2365172245103482
+            ],
+            "held_grasp_object_position": [
+              0.20057917450936502,
+              0.2386109501613423,
+              1.2365172245103482
+            ],
+            "held_grasp_finger_gap": 0.026866930814196062,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024620814782168977,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03396892733925132,
+              -0.9990943880451256,
+              0.025622563340863207
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0045305154249979575,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0370738109338182,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2893671594420079,
+              -0.3642853850731744,
+              0.8515395763083847
+            ],
+            "target_position": [
+              0.28356407946031004,
+              -0.36564074867582486,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005959257316929044,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1840552573029089,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395763083847,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07563593396371264,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08623441310022904,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15192137491251903,
+            "release_required_pad_clearance": 0.053117206550114524,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.261120901286688,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008040964603424072,
+            "max_z_decrease": 0.008040964603424072,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03512944421169546,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008040964603424072,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105278159425734,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008040964603424072,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00804098080996003,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.13926400244235987,
+              -0.42190220952033997,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.13926400244235987,
+              -0.42190220952033997,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.13902584153806494,
+              -0.42172718418019123,
+              0.8080429739004731
+            ],
+            "closest_button": [
+              0.13925205171108246,
+              -0.42190492153167725,
+              0.772914707660675
+            ],
+            "closest_ee_minus_button": [
+              -0.00022621017301752144,
+              0.0001777373514860181,
+              0.035128266239798034
+            ],
+            "button_min_z_position": [
+              0.13924881815910334,
+              -0.4218967258930206,
+              0.7687678933143616
+            ],
+            "min_active_finger_to_button": 0.14626437504778605,
+            "closest_active_finger": [
+              0.010842740535736084,
+              -0.4830155372619629,
+              0.8109645843505859
+            ],
+            "closest_active_finger_button": [
+              0.1392633020877838,
+              -0.42190325260162354,
+              0.7768073678016663
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12842056155204773,
+              -0.061112284660339355,
+              0.03415721654891968
+            ],
+            "min_contact_pad_to_button": 0.02105278159425734,
+            "closest_contact_pad": [
+              0.13924881815910334,
+              -0.42301397994234496,
+              0.7897910081227045
+            ],
+            "closest_contact_pad_button": [
+              0.13924881815910334,
+              -0.4218967258930206,
+              0.7687678933143616
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011172540493243899,
+              0.021023114808342958
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 94,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "10cde9912f301e0c24cb75dd138708748248fbe13f775242880381bbdf537115",
+    "visual_seed": 5966631611833384360,
+    "episode_index": 94,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f28f1e99a834f0dfa34c3286246567fd99ed48a2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19521729387353282,
+              0.22826872449877883,
+              1.0176922827477954
+            ],
+            "current_z": 1.0176922827477954,
+            "required_z": 0.8611071636658585,
+            "initial_z": 0.7611071636658585,
+            "lift_margin": 0.15658511908193695,
+            "gripper_z": 1.053025030818435,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1929984086871149,
+              0.22526687932490536,
+              1.053025030818435
+            ],
+            "object_minus_gripper": [
+              0.0022188851864179127,
+              0.003001845173873474,
+              -0.035332748070639575
+            ],
+            "object_to_gripper_xy": 0.0037328977910481725,
+            "object_to_gripper_z": -0.035332748070639575,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19521729387353282,
+              0.20547856779170645,
+              1.0394788287506929
+            ],
+            "finger_b": [
+              0.1864143362638577,
+              0.22826872449877883,
+              1.039541311389395
+            ],
+            "finger_midpoint": [
+              0.19081581506869527,
+              0.21687364614524263,
+              1.039510070070044
+            ],
+            "object_minus_finger_midpoint": [
+              0.004401478804837544,
+              0.011395078353536203,
+              -0.021817787322248483
+            ],
+            "finger_gap": 0.02443127523259464,
+            "fingertip_max_gap": 0.110575100545306,
+            "finger_z_skew": 6.248263870212156e-05,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.012215597666617195,
+            "object_to_finger_midpoint_z": 0.021817787322248483,
+            "finger_midpoint_minus_object_z": 0.021817787322248483,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0176922827477954,
+            "object_top_z": 1.0756636171954848,
+            "finger_top_clearance": 0.03615354712544083,
+            "fingertip_min_top_clearance": 0.017391400334306778,
+            "object_projection_between_fingers": 0.5,
+            "object_to_finger_line_xy": 0.012215597666617195,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.057787550272653004,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 7.662163613864231,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 186,
+            "max_stable_success_frames": 186,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19888827348372357,
+              0.22562938154965326,
+              1.2133449435962695
+            ],
+            "held_position": [
+              0.20096140307850616,
+              0.22757019297007036,
+              1.177906533079305
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.03555201197197263,
+            "max_held_gripper_dist": 0.03557615180734829,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0354384105169645,
+            "max_held_gripper_z_dist": 0.03546382577432139,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867250156735441,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.20096140307850616,
+              0.20390445161622003,
+              1.2000352386236133
+            ],
+            "held_grasp_finger_b": [
+              0.19575242610514088,
+              0.23147849073271887,
+              1.1988497700147729
+            ],
+            "held_grasp_midpoint": [
+              0.19835691459182353,
+              0.21769147117446946,
+              1.199442504319193
+            ],
+            "held_grasp_object_position": [
+              0.20096140307850616,
+              0.22757019297007036,
+              1.177906533079305
+            ],
+            "held_grasp_finger_gap": 0.028086765747052534,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.027506890328482147,
+            "held_grasp_world_z_skew": 0.0011854686088403898,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.007611190729789455,
+              -0.9945197388520195,
+              0.10427156280302785
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.020542700589644882,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03763025361345242,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.28900338748874566,
+              -0.36615766423812146,
+              0.851539585689777
+            ],
+            "target_position": [
+              0.29004629472294186,
+              -0.36132941906661903,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004939595827117368,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18005069764921763,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539585689777,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538003852506557,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0894757014302107,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14737613453527612,
+            "release_required_pad_clearance": 0.054737850715105354,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.524528673763155,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008121848106384277,
+            "max_z_decrease": 0.008121848106384277,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03507906666830251,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008121848106384277,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104074891903376,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008121848106384277,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008121880542292714,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14574621617794037,
+              -0.4175908863544463,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14574621617794037,
+              -0.4175908863544463,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1463420627215703,
+              -0.41842072851043866,
+              0.8037509525042525
+            ],
+            "closest_button": [
+              0.14575889706611633,
+              -0.41757175326347346,
+              0.7686870098114014
+            ],
+            "closest_ee_minus_button": [
+              0.0005831656554539655,
+              -0.0008489752469652001,
+              0.03506394269285118
+            ],
+            "button_min_z_position": [
+              0.14575889706611633,
+              -0.41757175326347346,
+              0.7686870098114014
+            ],
+            "min_active_finger_to_button": 0.14500453393130697,
+            "closest_active_finger": [
+              0.005859076976776123,
+              -0.4005928337574005,
+              0.810772716999054
+            ],
+            "closest_active_finger_button": [
+              0.14574627578258514,
+              -0.4175924658775329,
+              0.7765835523605347
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13988719880580902,
+              0.01699963212013239,
+              0.03418916463851929
+            ],
+            "min_contact_pad_to_button": 0.02104074891903376,
+            "closest_contact_pad": [
+              0.14575889706611633,
+              -0.41975434944397516,
+              0.7896142501690472
+            ],
+            "closest_contact_pad_button": [
+              0.14575889706611633,
+              -0.41757175326347346,
+              0.7686870098114014
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002182596180501706,
+              0.020927240357645815
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e3eac9181993c9c4e12ccc732f2c3b6ea75de8c6ecbb40373f47b06141693cf1",
+    "visual_seed": 2096662001489518430,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_96_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fb9f85fa47382585198f78461598194dc4ec9d0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_96_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 96,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.1904825479421392,
+              0.23427125265377952,
+              1.0463406205798091
+            ],
+            "current_z": 1.0463406205798091,
+            "required_z": 0.8611068060379898,
+            "initial_z": 0.7611068060379899,
+            "lift_margin": 0.1852338145418193,
+            "gripper_z": 1.052036889467688,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1858752056713258,
+              0.22972325961079565,
+              1.052036889467688
+            ],
+            "object_minus_gripper": [
+              0.004607342270813414,
+              0.004547993042983867,
+              -0.005696268887878775
+            ],
+            "object_to_gripper_xy": 0.006473935705539078,
+            "object_to_gripper_z": -0.005696268887878775,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.1904825479421392,
+              0.20998734988929288,
+              1.0463406205798091
+            ],
+            "finger_b": [
+              0.17929562779120195,
+              0.23427125265377952,
+              1.0463406205798091
+            ],
+            "finger_midpoint": [
+              0.18488908786667058,
+              0.22212930127153618,
+              1.0463406205798091
+            ],
+            "object_minus_finger_midpoint": [
+              0.005593460075468626,
+              0.012141951382243332,
+              0.0
+            ],
+            "finger_gap": 0.02673677459864012,
+            "fingertip_max_gap": 0.09322845895563225,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013368387299320073,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463406205798091,
+            "object_top_z": 1.0974094488232407,
+            "finger_top_clearance": 0.05106882824343151,
+            "fingertip_min_top_clearance": 0.015320648473029434,
+            "object_projection_between_fingers": 0.8249335009666284,
+            "object_to_finger_line_xy": 0.010160615304482288,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911422947781613,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3127805618417334,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18989510668861065,
+              0.23470577860449696,
+              1.239044664499787
+            ],
+            "held_position": [
+              0.19466825904578938,
+              0.23891090549246008,
+              1.2331942289852216
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008642550044911504,
+            "max_held_gripper_dist": 0.008655547186732731,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005850435514565433,
+            "max_held_gripper_z_dist": 0.005894206276130687,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08657070933922684,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19466825904578938,
+              0.21400091176090014,
+              1.2331942289852216
+            ],
+            "held_grasp_finger_b": [
+              0.18507652819983722,
+              0.23891090549246008,
+              1.2331942289852216
+            ],
+            "held_grasp_midpoint": [
+              0.1898723936228133,
+              0.2264559086266801,
+              1.2331942289852216
+            ],
+            "held_grasp_object_position": [
+              0.19466825904578938,
+              0.23891090549246008,
+              1.2331942289852216
+            ],
+            "held_grasp_finger_gap": 0.026692865869508014,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024520518363101904,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.037749769209282975,
+              -0.9989004516419817,
+              0.02780004737569252
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004336321441894293,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03709790526279185,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2967869104828319,
+              -0.3662926797105365,
+              0.8515395691376603
+            ],
+            "target_position": [
+              0.29076041243883055,
+              -0.36743040102141233,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006132951039717598,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1818513880390501,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395691376603,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07520464064205457,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08492371967336886,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15081240516638364,
+            "release_required_pad_clearance": 0.05246185983668443,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.0,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008154451847076416,
+            "max_z_decrease": 0.008154451847076416,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035102269982039976,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008154451847076416,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 79,
+            "contact_point_distance": 0.021034293601768297,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008154451847076416,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 79,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008154529858367678,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14646033942699432,
+              -0.42369186878204346,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14646033942699432,
+              -0.42369186878204346,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14832497895713453,
+              -0.4247235146569068,
+              0.8036926162480552
+            ],
+            "closest_button": [
+              0.1464867889881134,
+              -0.42366793751716614,
+              0.7686544060707092
+            ],
+            "closest_ee_minus_button": [
+              0.0018381899690211312,
+              -0.0010555771397406377,
+              0.035038210177345985
+            ],
+            "button_min_z_position": [
+              0.1464867889881134,
+              -0.42366793751716614,
+              0.7686544060707092
+            ],
+            "min_active_finger_to_button": 0.14375872658910477,
+            "closest_active_finger": [
+              0.007870987057685852,
+              -0.4066515266895294,
+              0.810408890247345
+            ],
+            "closest_active_finger_button": [
+              0.1464598923921585,
+              -0.4236935079097748,
+              0.7762144804000854
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13858890533447266,
+              0.01704198122024536,
+              0.03419440984725952
+            ],
+            "min_contact_pad_to_button": 0.021034293601768297,
+            "closest_contact_pad": [
+              0.1464867889881134,
+              -0.42607700892195405,
+              0.7895502880164904
+            ],
+            "closest_contact_pad_button": [
+              0.1464867889881134,
+              -0.42366793751716614,
+              0.7686544060707092
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024090714047879103,
+              0.02089588194578118
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 96,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0cd9da7cff62b46cac3273b598861b5a85bdc6cd340019e2aff7c5d841ee239d",
+    "visual_seed": 2030688171652607244,
+    "episode_index": 96,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..153ec9705a91fb8ae5a37d9cf5e427f5c130aadf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19147718533198088,
+              0.2367368129649874,
+              1.0463629095159628
+            ],
+            "current_z": 1.0463629095159628,
+            "required_z": 0.8611068656426347,
+            "initial_z": 0.7611068656426347,
+            "lift_margin": 0.18525604387332806,
+            "gripper_z": 1.0521137112279522,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.18697729062526766,
+              0.23219184688057476,
+              1.0521137112279522
+            ],
+            "object_minus_gripper": [
+              0.00449989470671322,
+              0.004544966084412627,
+              -0.005750801711989384
+            ],
+            "object_to_gripper_xy": 0.006395761806068665,
+            "object_to_gripper_z": -0.005750801711989384,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19147718533198088,
+              0.21262098219864436,
+              1.0463629095159628
+            ],
+            "finger_b": [
+              0.18017696209850828,
+              0.2367368129649874,
+              1.0463629095159628
+            ],
+            "finger_midpoint": [
+              0.1858270737152446,
+              0.22467889758181586,
+              1.0463629095159628
+            ],
+            "object_minus_finger_midpoint": [
+              0.005650111616736286,
+              0.012057915383171525,
+              0.0
+            ],
+            "finger_gap": 0.02663209226998905,
+            "fingertip_max_gap": 0.09428911216782748,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013316046134994533,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0463629095159628,
+            "object_top_z": 1.097910599553456,
+            "finger_top_clearance": 0.051547690037493155,
+            "fingertip_min_top_clearance": 0.015464307011247978,
+            "object_projection_between_fingers": 0.81996229330571,
+            "object_to_finger_line_xy": 0.010232552078809494,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04964455608391374,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.674356955288446,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.19103359320767868,
+              0.23716336982966235,
+              1.2412992461516628
+            ],
+            "held_position": [
+              0.1957611186310822,
+              0.24133494939926103,
+              1.2354338515802517
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008611296430431287,
+            "max_held_gripper_dist": 0.00862521079555919,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005865394571411109,
+            "max_held_gripper_z_dist": 0.005910950637330048,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08647091728677814,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.1957611186310822,
+              0.2164660395526597,
+              1.2354338515802517
+            ],
+            "held_grasp_finger_b": [
+              0.18613492577307827,
+              0.24133494939926103,
+              1.2354338515802517
+            ],
+            "held_grasp_midpoint": [
+              0.19094802220208024,
+              0.22890049447596036,
+              1.2354338515802517
+            ],
+            "held_grasp_object_position": [
+              0.1957611186310822,
+              0.24133494939926103,
+              1.2354338515802517
+            ],
+            "held_grasp_finger_gap": 0.026666950817404503,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02443859792090947,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04114346813368844,
+              -0.9986224982598292,
+              0.03256257052552425
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004316759427949585,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0371048961505383,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2915989222657954,
+              -0.3597704438922271,
+              0.8515395763202354
+            ],
+            "target_position": [
+              0.2861533560854653,
+              -0.3606104463116579,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005509972331056162,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18038470548199023,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395763202354,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514059333990668,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507359678511843,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14954399544617553,
+            "release_required_pad_clearance": 0.05253679839255922,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14265249692765786,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008050799369812012,
+            "max_z_decrease": 0.008050799369812012,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035229207523373614,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008050799369812012,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021168207937728646,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.008050799369812012,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008050807474541451,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14185328781604767,
+              -0.4168719053268432,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14185328781604767,
+              -0.4168719053268432,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14364315377870748,
+              -0.41798339334961065,
+              0.803923521301828
+            ],
+            "closest_button": [
+              0.1418435424566269,
+              -0.41686594486236567,
+              0.7687580585479736
+            ],
+            "closest_ee_minus_button": [
+              0.001799611322080591,
+              -0.0011174484872449875,
+              0.03516546275385435
+            ],
+            "button_min_z_position": [
+              0.1418435424566269,
+              -0.41686594486236567,
+              0.7687580585479736
+            ],
+            "min_active_finger_to_button": 0.1438172241181863,
+            "closest_active_finger": [
+              0.003190368413925171,
+              -0.3999354839324951,
+              0.8104089498519897
+            ],
+            "closest_active_finger_button": [
+              0.1418519765138626,
+              -0.41687309741973877,
+              0.7762114405632019
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13866160809993744,
+              0.016937613487243652,
+              0.03419750928878784
+            ],
+            "min_contact_pad_to_button": 0.021168207937728646,
+            "closest_contact_pad": [
+              0.1418435424566269,
+              -0.41933417905517456,
+              0.7897818747397207
+            ],
+            "closest_contact_pad_button": [
+              0.1418435424566269,
+              -0.41686594486236567,
+              0.7687580585479736
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024682341928088936,
+              0.02102381619174709
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "320fe374d12e112ad26df577eacceb1b1bcf7bbd5d6c9c0fd1ff0a6a417e76e9",
+    "visual_seed": 2692258672966688671,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_99_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6eb13f7dd22b9b21033c3809e5328cb49ab2581
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/episode_99_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 99,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.19122467056747278,
+              0.2344771381296193,
+              1.0479831706066323
+            ],
+            "current_z": 1.0479831706066323,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18687654338257675,
+            "gripper_z": 1.053676670983114,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1868529144348352,
+              0.22999687577144906,
+              1.053676670983114
+            ],
+            "object_minus_gripper": [
+              0.004371756132637572,
+              0.004480262358170228,
+              -0.005693500376481753
+            ],
+            "object_to_gripper_xy": 0.006259792527016472,
+            "object_to_gripper_z": -0.005693500376481753,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.19122467056747278,
+              0.21045185568510777,
+              1.0479831706066323
+            ],
+            "finger_b": [
+              0.18002395101161028,
+              0.2344771381296193,
+              1.0479831706066323
+            ],
+            "finger_midpoint": [
+              0.18562431078954153,
+              0.22246449690736353,
+              1.0479831706066323
+            ],
+            "object_minus_finger_midpoint": [
+              0.005600359777931246,
+              0.01201264122225576,
+              0.0
+            ],
+            "finger_gap": 0.026507929287434617,
+            "fingertip_max_gap": 0.09447720409391269,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013253964643717309,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0479831706066323,
+            "object_top_z": 1.0994919520319129,
+            "finger_top_clearance": 0.05150878142528059,
+            "fingertip_min_top_clearance": 0.015452634427584211,
+            "object_projection_between_fingers": 0.8214580638007124,
+            "object_to_finger_line_xy": 0.010151696422357661,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04973860204695635,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7676552214197514,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.1907627052468123,
+              0.23538411445364893,
+              1.2404066763992836
+            ],
+            "held_position": [
+              0.19531550189222646,
+              0.23952370870191483,
+              1.2345684161689272
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008482303953062023,
+            "max_held_gripper_dist": 0.008494989890874627,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005838260230356385,
+            "max_held_gripper_z_dist": 0.005883069097470273,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08511763641610695,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.19531550189222646,
+              0.21477178799945573,
+              1.2345684161689272
+            ],
+            "held_grasp_finger_b": [
+              0.1857991428876992,
+              0.23952370870191483,
+              1.2345684161689272
+            ],
+            "held_grasp_midpoint": [
+              0.1905573223899628,
+              0.2271477483506853,
+              1.2345684161689272
+            ],
+            "held_grasp_object_position": [
+              0.19531550189222646,
+              0.23952370870191483,
+              1.2345684161689272
+            ],
+            "held_grasp_finger_gap": 0.026518270440657903,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024399483694867725,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03431256205678784,
+              -0.9989533600642438,
+              0.030246198132269253
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043470868277611366,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037193977563763685,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29568817944303966,
+              -0.36435105337481,
+              0.8515395664746719
+            ],
+            "target_position": [
+              0.2901974251975164,
+              -0.3653159959745988,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005574898779854107,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827418669165667,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395664746719,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536294173929128,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498255373539364,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15126522788903096,
+            "release_required_pad_clearance": 0.05249127686769682,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.055952908744931744,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.008080005645751953,
+            "max_z_decrease": 0.008080005645751953,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519382589722043,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.008080005645751953,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021151810860981616,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.008080005645751953,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.008080018758730186,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14589735865592954,
+              -0.42157745361328125,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14589735865592954,
+              -0.42157745361328125,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.147465015076337,
+              -0.4231889975496071,
+              0.8038500952960084
+            ],
+            "closest_button": [
+              0.1458967328071594,
+              -0.42156291007995605,
+              0.7687288522720337
+            ],
+            "closest_ee_minus_button": [
+              0.001568282269177601,
+              -0.0016260874696510386,
+              0.03512124302397468
+            ],
+            "button_min_z_position": [
+              0.1458967328071594,
+              -0.42156291007995605,
+              0.7687288522720337
+            ],
+            "min_active_finger_to_button": 0.14406347593568755,
+            "closest_active_finger": [
+              0.006523065268993378,
+              -0.4091346263885498,
+              0.8107072710990906
+            ],
+            "closest_active_finger_button": [
+              0.14589628577232355,
+              -0.4215776026248932,
+              0.776435375213623
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13937322050333018,
+              0.012442976236343384,
+              0.03427189588546753
+            ],
+            "min_contact_pad_to_button": 0.021151810860981616,
+            "closest_contact_pad": [
+              0.1458967328071594,
+              -0.42418490402972436,
+              0.789717521844594
+            ],
+            "closest_contact_pad_button": [
+              0.1458967328071594,
+              -0.42156291007995605,
+              0.7687288522720337
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026219939497683087,
+              0.020988669572560292
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 99,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 613915801507398911,
+    "physical_seed": 8286748418787565008,
+    "layout_id": "layout_00006",
+    "step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "workflow_spec_digest": "4c786cb8ac427037e30bd48482d10142a7fc79e98fda077de5ba3f48ecb252c9",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "37aa72e458ca64b0f35503a9a23c4efe31f224002aed3561baa5ba4ca6e369bc",
+    "visual_seed": 6431250778099170869,
+    "episode_index": 99,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      103325174323403004,
+      3963008736894911500,
+      627831696969887324,
+      1233641523371953434
+    ],
+    "runtime_workflow_digest": "dea3d489c8bfa245db160a20db98cfa44e0822e22d26980fe0b3c7f7ce93997b"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..810d87f2e2446f61ab3dadede113a6fea3b4a7dd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00006/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s04_pslr_htb_00006",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..805560d21a5a028690bfce67fc3de7c201290b08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06c8efacfea5b43f40d60a6a4b5957c8e52286cc35dce2b2737f92d28c6f6e3b
+size 6607993
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c15e83fdd454b82256b4faf3467e292d643bed78
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9982418da0dc2dd5939d0701f0b5f1383d6e9f4da33c1e6f7b78b402c686645
+size 8000685
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c12853e60c4f510637f87b1e64fc04af1c480d28
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85ecba6822c2fc622cbf251767e5fbf4f4bb35e783bde7641feb429099611c8d
+size 6292813
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c7f367cc2f2562d5f7472dc5e6b1c3e1a16668ec
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c5ee7a650c06405414c65345d637967c2d122eb7e1ca0551db5fd7c351769bc
+size 6715072
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0005.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b7eeb6f7be6fecdcff844fc2645a808926a84671
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0005.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95e9bf8409d5eb8052ddaa8090a99bff25554d486dad9565dccc729cb23f837a
+size 5356501
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8b4512029ea6316c757a38ad5c350089df033aae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07893a010b50fdeaaf8b7a7611b77a4fc72ebaabe79ae6efe1ded90fb9f07639
+size 7540004
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2a50ef18a2981914f1a24f2dfe37e2238a3c8452
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ea6ea6b548df93ea0d67c666e76903daac23da495127ffc6819234406f6dfca
+size 8509805
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..43ff6fda17d0c7860bc3b9f465d74e9a815fbe01
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bb9930cb06756ff0ab285dd2ff5aa3480b7699bad086183c70e617d8f0215d7
+size 5604286
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dc160b24f4bfc3870ffc72424189631d50385e24
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faa1f754d0d5aec348933918d3b030646d5f0c73c7801d7f21ec4f0214870d85
+size 5611382
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..91bf9d705de07550fecff871762cf3a89a37dd12
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dfe86ab1a10a7c54e7fa0be3568723963355fca2ce375d8d30b48dd42c7512b
+size 6512133
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0014.h5
new file mode 100644
index 0000000000000000000000000000000000000000..be0a9fb48d3ec49bc99201985f10c627f5ef8c22
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0014.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62d8b814a332b5bad23fa93df36c32142433d98aa95c246ed847af11fa6838c0
+size 5106361
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0015.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3c0052d02f85078de8d0ce51be00d3b0250246a3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0015.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6bf94953baafc7bdb11f5fd377348f411cf4c6c8186ee5a33984a4fc6d011f42
+size 5840976
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1fec4611eed08860ca5275042dfaff95fcc6d62d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8ad97e923d2af320e84aac4b250445c908e9d9a61edc039f7720c6a0b0dbf49
+size 5799305
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..90769e53eb867ec78bbb55fbc6de16c8032c5c11
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:787150189a3289bccd9a287609e48201e937a5c0815342dd9e0f3cbc54b981ab
+size 7659011
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e4ad2762124247f19b56295955510bcfd656275f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbd2250d30ce4f901f36284c1cff8ffcdd6e31b0b717c5036430798356a5467b
+size 5970912
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..957ebd10c609ddaae24ce11606558bc38f0cf3b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:773c7d26f13d681afc8fe966198a2bfefaa78b15ba83f6218a35069e163e22fd
+size 7795370
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..44aa3257c71bc1f9554c16d4506f3955dc582026
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce2196589343ab2ac7095e38ee7d3141ed8612f10a699ffee232a94a48774d1
+size 8329405
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9ffa2426130c8e4e1a8348c934e0005cf1bab064
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46894b7bdb54cc0a7fa891265df8af5dfd20336128d00679268d4305d4195401
+size 6282566
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5a359cad4815940795058e64ecedfe5131ea49d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d501befacbe83b901bbf6dfd3f837f4fbc65f0d29a8fbe6c0f159373444ddc56
+size 5289372
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7fc73fbe56b96231165c32e51b850a60c93e78be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62e4b644ca4d5f58d10bd91964e52f5a1a6bd2db40b8c9bd677845a6daaa6f3e
+size 5924907
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..782257c9a8ddab5ca64833f7f2ba2c1d257533e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cafe1a0e63a5269ac098e284ed32254a79d3923b698761bf786bf0b87d4ab17
+size 8468049
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5e3ae578f8701a655bd08f634b1417b8ce93c8c0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ab67dc8eaa93770ca636b5c5a8be125e427bdd990cc3df6d2489561cefb1324
+size 6849718
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..36e6cb9d0aa0b0b645eae4e670fa3fdfa31a3212
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ccd0cfd4ae5b48ab25ba4bf1d68e45d4e05470873cbb4778da3bb5fe6382fcd
+size 7640961
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6bb3f30f62dd70da1cdda925b48ccfe9f449059b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2fd5319903f4eb5b4a2b4402da24c33eb1eabbaf970217a266cf5f3ac61e3f5b
+size 5687287
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e084ca5ff551c1742543f96c581b977e27a4aa24
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:756cc13b152732755b1474f4c264e571b085224d49962a5256e5e002ef54f64c
+size 5880181
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a174b345842bbd7d0650ab62ef6b6eb12304d7b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f895e3f18aa71baab9476f10d4588066e465a6be03101d0d3124469034ee56a3
+size 5148647
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eacec9b3339b98d1bd0637bb492f270df32cf2c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:606af857f0c40c9c1dc43efc075adcdce687986061a3e67594577cc0ca797435
+size 5232076
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5cda45f6ef4c2dfc454a663a5f2c25f872e183c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:485a0465caa3d9ba75c22413d8bae91d7ff832586727a8fbcaf7b9b91eca3875
+size 5392473
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3e7e2b9031821e1c10fcddc6b6aa8c2ff97abcc3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4a3889efddba0cae84cb6a67745ca6300d770309261b0aa6fbbe98c1b0f6b7c
+size 6952231
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0d1d9cfdbcfba9219feb94d3465b82353d94ae42
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94b2ae64821a110ac77a5e0f1ee7490e408b15a411b690b97378852a867e62ee
+size 7339879
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b3a3bd40bdb305ac4eccc9757e1704bb1e949af0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa386bc12244a7d8f645bc52e6deaba7e2199f899159ecc16a49fac543a1186e
+size 6441458
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..74092b06ad10be517247e9767f6022e138df6eab
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1be2f12d3ba5f103992c560bee7ae4c4ea7927e8d894383ab17a7a50e49a71e3
+size 5548972
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..905a441ee67d80793db698baad14256258bb648f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b0b37bd8896c1e5aa4ce95baf78aa892f1ad878b5af4ef436ad19b2acf7786d
+size 6368983
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..374d9a517c65d5eb23c86aca7f7d702e7656461d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4cd3b43e65fcd8bf81cf7f92c50e39d8d03ec36ad5541ada3dd8b3507ddff07
+size 6393590
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4e22a7a105d69e0f3803903001139b666b16a9c9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad14426d42deb2e766d48570325523589809627da9ba91b4b5a906f9fd11f415
+size 6519648
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..db4ad10cc4f924e0aea294e7450251754808a76f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87452e530b68cac52736e20dbd67da98d7348b1718f12f3b959b38c8beaefdff
+size 7406155
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..477cfb5efcfd41f9bcd627ad9fc752ae72039924
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08ef01613af60603dc229b9c63783992634129edf688cfaf5e3f539cf7145f84
+size 6390571
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..36cb71a15d91aabb3e2f885a13677d625eba26b0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e4af6c2e22862eb40816c7c06928070783bb129ea4d31d3db4613aa593f478e
+size 6197152
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..52fb5c284817301569244c37401860316952ffcc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ff56a451635374160fef0daa4a2467888c54bae8fad4b19beae39514588a254
+size 6327786
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9a030065fe42b96317296af0e266ec277ea8145a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c89eb3b17d02404f0021778a2043356d47206db33a25bce04fbde83017489a02
+size 5560091
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b3adb2a1131e374f8a7d15768aae8c53bc1365e6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3d8a64ba13bf62c64386a42c695fd8ef5fd4b6c988989b3010ac9494a5498b4
+size 6059581
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b63a41975ac598ef3c98e92454f7e4b877c37e4a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0e0a400331fef31ad486083eaf2d2f5e742e00d8ff7aad4dafe51bd62f7081f
+size 8335227
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7a00d39f90f1b503977d3e99af440ff962569772
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:293237b1217e00cf7b4c04ef64fb723bd31cdb20ec0b8c625b842b972a71c11b
+size 5900325
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e4cb22e644315e7d9ae21a82a78de0b38116dfd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd641da021804494ee9cc3766e6a586f875b9d1df17d1f60f9b6c526ab595ff6
+size 7413168
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0059.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fae5c182b3f4ed12ba06f57b5370141c06cc717d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0059.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20f439272531b693ad7924288e5e19286e9b0493a16630d71f3ba50ca0241e84
+size 6238342
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..860f2d5c5349919e6baa0897c4268f46f8a866dc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc413fc8558b010805e86202395fb4e8ba8458ba81c0a00b6eeb6027a879cbd
+size 5683746
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aaef6a76e0c128f7a1f1b2d76a72c6ee35733599
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68f17758436a9278e0ea0d0e190e0e4d40ed404940ff7d7c9dcea6fbcfc0dfa1
+size 6925703
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a5c24faac5f8e49ff0327b62cfcda25ac9c06d13
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8b70ddd95a815d0d8c5b9728778c3fe6008d29895d322f3006be1e3b3966922c
+size 5931815
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..266c1e908c6062c87d6c6e4215eab50abee652f9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8163a2b9e3e27dfae4efc66b9b115cd8df9a46286569821668dc3763c9bc5cc5
+size 5310708
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0069.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5fd64441bdb597a07e7cbbb4fa3949c0d463935a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0069.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93dc7671736e2d76d777aebda2f769db57409e2a54a0f93450356741905b2449
+size 7108110
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0070.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d85c8c2066f4a564c3cc6badc2d25e41c34ee904
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0070.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b474f0a908048ef244b7b2fa51124d05441646232513231d4e03a66fb4bd1a4d
+size 6789281
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0075.h5
new file mode 100644
index 0000000000000000000000000000000000000000..efe25c637b030bebcd8fd3f96f563f567874bcca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0075.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0de9468ff78d6687a2e77c5b56c305592dbe481548c792361e80a86c1349a91b
+size 7019768
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..41ba6387a0d95a81c769c84d7d66be5850960a2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a86ec78c2e55287aee464a8f7edce42b0e5ad160fc05e5575a5e8b7389edf09
+size 5722624
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7e5d7e1442a6859a774f1bb603fce712ef85a728
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b262c9500493dc1fcfd200d3118505fa9b235140a4d5aa0b26b125b4c88e86a0
+size 5621629
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..7214af362d2dea4f09dff93ffb0ab02398341851
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6085977c0d16b6c4dfb9124d0b51f26d5a8db48b1b56b22c653db06c4f8824d
+size 7147000
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bb7629e3cb6b52ba4319022f6b01ec4bd2b9b169
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fbec93541994dba06e7536005098bdb2b2799c83a43aad5bc79bcca2d68715d
+size 5260834
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..01517b5167dc4b1efffacc66e29ca530c201750e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:011f22f8e88040647e90851ce298b888038d4e0b727291896642ca152b337cf5
+size 7468936
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c2d3c35b2ad13ede72ac408ff43cc1179c424e96
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b5dae369e502c60dd608bf269356461e619bb2be9c59a6a626d702d5a3f7557
+size 7549319
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dcfc71abaf5f3249c543721d31db3d6b3ab8a767
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bffa218f01371c235604d7c0e4d16cb4cc545506845e4f87d245fa6ced0a6c2
+size 5793350
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5989955d47986ff045cfb6eda8403bd769ec3ca2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2d48dca03ca8ea71bf1c23f9d0e51caee35add5407cd567bf83f154b73668643
+size 5973225
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0086.h5
new file mode 100644
index 0000000000000000000000000000000000000000..60ea1f3cdd68a8cb85281cc66e16f7821a56dc8f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0086.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17aeca69ce4cebde815dbc311c52daa27ab816e8b0f51172eea838e91dbddae8
+size 7308606
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0087.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f4a9d51c5bc222155257657f82314e996d9780f1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0087.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04a0c7a5d6d94dc0efc23958fcd34e76ad6616ebdd25cf5ec1ecde166e0137f3
+size 7768139
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0088.h5
new file mode 100644
index 0000000000000000000000000000000000000000..932d49b5163d782f07e3a6dfc95d8f61110afa8a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0088.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2a1aae5bd7e3507d8782a61c2708b7ef4f47091acb80f43543380b6f001fa59
+size 6122682
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0092.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4556e4d0d63b84939c813f9e650f17acab903ad0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0092.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e5d06dc9c12f5ce30503e56e0e6a551a42c61b7d66a774c2211fe9846fa5bb1
+size 5760024
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0095.h5
new file mode 100644
index 0000000000000000000000000000000000000000..f84a92c73aa51a72d06ba0976fe39dad9f968f45
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0095.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:574fdda5dc659dde6845bf7ade9939391f8ef59020d8d4071e5246a63aa44276
+size 6145634
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0097.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4e2b8ea174eaad2b54b3b1df3ce7a3f602230dd5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0097.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9db2980ccf37a89b1567e9ea06748f03faf51c5e191a86b9f39ea3ec59ad43ba
+size 6529506
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0100.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d63efd46e0f242097c8ef394cd39335ea981b785
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0100.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7254edc3d9a42a303b2422c2efb600c9065ed93f64e727541e48aa24dec93bc5
+size 6529437
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0102.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0102.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b62771aaba145f996a62177381250d2e40667d8d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0102.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e7cd96b0c8b48c42731983db152f09158e851ef7ad54dc26655a2091f80edf1
+size 5861284
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0103.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0103.h5
new file mode 100644
index 0000000000000000000000000000000000000000..02444c591319bb692253ee78e2c05901ca76e011
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0103.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35b34933e653328af60f211e9bec14cb28b4b74774838ca31be3e0135b1e27e3
+size 5850964
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0104.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0104.h5
new file mode 100644
index 0000000000000000000000000000000000000000..042c29b1998d31346d087caee9e122c638f07934
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0104.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74023498ede8a616e510fd3c1778e61ab0c9be0abba6f85d688445dada60481a
+size 5871684
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0106.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0106.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d28b1a96405cfca9df3cb091549af1ffc62e78ad
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0106.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:614272b7a727f46c62a5bc3ba535ca33e1c65e278ef6964d0e104a4979f6ae4d
+size 5445050
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0108.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0108.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1aa0c63b5ed6c28c56ed1449c1fca1c622c65b99
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0108.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cc93649d44160ab0f8ddeb8ed96c7490a1bfe0e8b8d4971a19ce1e6111de1aa
+size 6172575
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0109.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0109.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6154c6d000405319222f6fe127ec8ffd09c5bca0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0109.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ecab65b514362938e95ddea611d75143a6af2b44662a9219ce1b105abb9c2af
+size 5345827
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0110.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0110.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b3c6ced9091506a9271eb5601a2aa3e61845da9d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0110.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecb7d9d63fe52a52e2fc2f980afafe992f1d43a6cb0df850d9014dbad488fcf2
+size 5940968
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0111.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0111.h5
new file mode 100644
index 0000000000000000000000000000000000000000..eeb98f7456cae4a772b82309f60364730cedcc54
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0111.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9485a3d358882ab5d52210d2d056cd0c2ab1edcc8ad18c522efdc3d8d4b3ab2d
+size 5957858
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0112.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0112.h5
new file mode 100644
index 0000000000000000000000000000000000000000..8ed29c444c8a146e71fbb1cf253ba311952021be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0112.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:313fbb43920dbe4e4b45d24cc1ee2f0443a7fabbcde5c2350e5c1db5ac6e6ca7
+size 6127103
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0113.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0113.h5
new file mode 100644
index 0000000000000000000000000000000000000000..fd23a1d417b1fc8152bd0385ea59b84790b879af
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0113.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb186024e57f43f33c0c18ee9ea0623bc3e4dbe84e4a6325b08f8712b08b8018
+size 5385070
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0114.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0114.h5
new file mode 100644
index 0000000000000000000000000000000000000000..988acd6d77948df6f0a6f790e71ce8f2e749d6f7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0114.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d7dcd3e812d0b5391baae27c14b031d2b23965f5461a1bbebf2c0142a5f65482
+size 7171804
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0115.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0115.h5
new file mode 100644
index 0000000000000000000000000000000000000000..baddd9ced90012ae264cf9ee15af8e7ca6ea9297
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0115.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e6fc5c62cf43a6ed7406d52f4dfe6d03f7bf969686f84d79809ef44596961b6
+size 5699837
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0116.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0116.h5
new file mode 100644
index 0000000000000000000000000000000000000000..582a31625ba9c732154010d577dd4d3ab861fb38
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0116.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e42872003da81fe8302b82eb7cbc8cc50a152708bb6b19ec917024b01298bd8
+size 7388785
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0117.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0117.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4e95fa742ea10c583882b50f5d5553fc2407d73e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0117.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d63bf4f0f697192cbae8133a67fd5616ed02c9444a5c1d9fab367dc0be070e90
+size 6595051
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0118.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0118.h5
new file mode 100644
index 0000000000000000000000000000000000000000..867fb8675d80b8873a81adc79ee7617d72ff4b60
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0118.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80026b64bccdb2bda400ef9974f3fc1a3a97f56b6da456b7c8bb7365e2cfa00b
+size 6962179
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0119.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0119.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b0681a8518e698ddf0a47ed17c908bb870c2844d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0119.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:439a626d5c948bb4a81caa2a45f240d5541ff226b41bf2e92e261759e9a21e00
+size 6417196
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0120.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0120.h5
new file mode 100644
index 0000000000000000000000000000000000000000..070ba769b9f38a314bad29653a834ac94fdabb9b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0120.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffc7dd108c4ecfdd4a2fcfa481f59b830ba3030c1222d94bb86d255a7b5b942a
+size 6812281
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0121.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0121.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1c6a7e358fc0cbcaf7caa3a6a4ad46a55d68aeb5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0121.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12c0ae10351d8069cdf355d8e571a9ec849c554ee32ccfcce67151bced0d83b9
+size 5434422
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0123.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0123.h5
new file mode 100644
index 0000000000000000000000000000000000000000..765bad5e4a1946f83508c40af6f114eaf7c3e1c8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0123.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa30013c6308762eea082754f954b976441374b57478c339bccfaa1f2e8ba90c
+size 6072471
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0124.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0124.h5
new file mode 100644
index 0000000000000000000000000000000000000000..256e66d370b6819db8cd53209e441322d77b8186
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0124.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9515fc1b3e90334d708c8d63f2f136bd7fd1173c422dff2807a0f7203a04ecac
+size 7789217
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0125.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0125.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ba21361fcbb7fb7caddaa37c75757d20422d6cd5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0125.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8c8bbb3c7c118a4da42d7834c9dc141529b4eb14a047c7c490162a09cca33a5
+size 5550977
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0126.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0126.h5
new file mode 100644
index 0000000000000000000000000000000000000000..bd1c0954cbb98b47fa15df5bc8b35d93c996c51f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0126.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cdc9be54332e62dc69268d8c3ffa1a26f0a9083e59981e3796d8ecba5df54b7
+size 5414764
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0128.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0128.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6e477f3635492277d6a4a018e4219d3bbe08d157
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0128.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a6f33a44a7f280a5b77acda23cb2172f25e10c48ce989b143992d2674da155d
+size 5631926
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0129.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0129.h5
new file mode 100644
index 0000000000000000000000000000000000000000..91bb41192b84d2c0089435cadb26508a93a1207e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0129.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9956f4ce427a3ac366fd7812613ce151f967e821c61b404ff3d8378c3822572
+size 5618313
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0130.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0130.h5
new file mode 100644
index 0000000000000000000000000000000000000000..565c48f0ecbc59f05529422b9467daf08e8c1af6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0130.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b7c973539e951cdc9281f32aea535fb6ab9b35d0bbce98043e2f94fac8ca5cd
+size 5530595
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0132.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0132.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e108a74712809bbc90d5f79730812fba2742cc32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0132.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:935c1605eed6935bdfbac3ac60009aadba31c8d6353908c8a9f15f5750ddea64
+size 8188302
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0133.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0133.h5
new file mode 100644
index 0000000000000000000000000000000000000000..02cbf85f4c8e288b9f23df7672cda7bdcb223137
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0133.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5fd650fa461de4ea3f79b2f4a413b416be8f3f4f5e33e8e52d61628b6b67343
+size 5177778
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0134.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0134.h5
new file mode 100644
index 0000000000000000000000000000000000000000..838a56ae2b0c99ebe890ffb2e348fa76ae425270
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0134.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d1a5c5c8f7b541d824d29bfc12677efc946cf830be1a0c8bbf6542136f1acba
+size 6707275
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0135.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0135.h5
new file mode 100644
index 0000000000000000000000000000000000000000..546683ebbf70a0fdf43f2f5509693ae6cc4066e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0135.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:addf2e866d1148f8b38a2ff5b81607f40db4a1ae997a86a245f8dac80dc4961c
+size 7738230
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0136.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0136.h5
new file mode 100644
index 0000000000000000000000000000000000000000..593c1ea2089003147f1699a06d2de44363f716e4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0136.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b23a447eef63d2cdf6df14ce57dead728c8079b6e195003b5cbeef06281e985
+size 6019069
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0137.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0137.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3c8e4205d2180430fe2b35a0041cc804fa1abc2a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0137.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b5df02f8d33e112d4546c77a3395d816125945bb4c4a94d787ec29daac52c0f
+size 6322352
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0139.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0139.h5
new file mode 100644
index 0000000000000000000000000000000000000000..87d39c39112173f18f883562673db81f8b15c266
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0139.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:560bd12895d42e1264e3beab0d2636f9938e829b37603e37a81c47d4c40e887c
+size 5004732
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0140.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0140.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a6a228008e35e321b75a6d9b328a59185307a7de
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0140.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac769497dd9f7f7dbc33907f87aa7283344b45b29ef00823275f48c307b29376
+size 5174088
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/meta/episode.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1f37d6f2851f79fc134dfe49f5e655962e73b49a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/meta/episode.jsonl
@@ -0,0 +1,100 @@
+{"episode_index":0,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":2,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":3,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":4,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":5,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":6,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":9,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":10,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":12,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"}
+{"episode_index":13,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"}
+{"episode_index":14,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":15,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":17,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":18,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":19,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":20,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":22,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":23,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"}
+{"episode_index":24,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":25,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":26,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":28,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":29,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":30,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":32,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"}
+{"episode_index":34,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":35,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":36,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":38,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":39,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"}
+{"episode_index":40,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":41,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":42,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":44,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":45,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":46,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":47,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"}
+{"episode_index":48,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"}
+{"episode_index":50,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":51,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":52,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":53,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":54,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":57,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":59,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":60,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":63,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":65,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":68,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":69,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":70,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":75,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":77,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":79,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":80,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"}
+{"episode_index":81,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":82,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":83,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":84,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":85,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":86,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":87,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":88,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":92,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"}
+{"episode_index":95,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":97,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":100,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":102,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":103,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":104,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":106,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":108,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":109,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":110,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":111,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":112,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":113,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":114,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":115,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":116,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":117,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":118,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":119,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":120,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":121,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":123,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":124,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":125,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":126,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":128,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":129,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":130,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":132,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":133,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1122,"success":true,"robot_type":"ur5e"}
+{"episode_index":134,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
+{"episode_index":135,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1124,"success":true,"robot_type":"ur5e"}
+{"episode_index":136,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1121,"success":true,"robot_type":"ur5e"}
+{"episode_index":137,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1126,"success":true,"robot_type":"ur5e"}
+{"episode_index":139,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1125,"success":true,"robot_type":"ur5e"}
+{"episode_index":140,"tasks":["Pick up beaker a from home. Shake the current contents of beaker a once. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1123,"success":true,"robot_type":"ur5e"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/meta/randomization_episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c4ab14f592cc686d9503fc2b10235c56b3a099f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/meta/randomization_episodes.jsonl
@@ -0,0 +1,100 @@
+{"episode_id":"ep_000000","started_at":"2026-09-04T17:58:16","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.2930155952873229,-0.7460086660909597,0.71338606911949],"aabb_xy":[[0.26468588533878273,-0.7504694082846768],[0.3213453052358632,-0.7415479238972427]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.30620152529810185,-1.0641887150198635,0.71338606911949],"aabb_xy":[[-0.38619534887666007,-1.1441887176127048],[-0.22620770171954363,-0.9841887124270217]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[-0.2028071179191554,1.418567552325587,0.71338606911949],"aabb_xy":[[-0.26780711607507446,1.3922713077756745],[-0.13780711976323634,1.444863796875499]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[-0.5984202880246908,0.12783320226341388,0.71338606911949],"aabb_xy":[[-0.6295672068682738,0.057833203576606707],[-0.5672733691811076,0.19783320095022106]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.1577637446354524,-1.4929520484271652,0.71338606911949],"aabb_xy":[[0.12072963520739266,-1.5273292557608746],[0.19479785406351208,-1.4585748410934558]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_5","position":[0.5651946700452952,-0.8103987198239615,0.71338606911949],"aabb_xy":[[0.5475190394566968,-0.8280789361033641],[0.5828703006338934,-0.7927185035445586]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_6","position":[-0.056643061666102335,-0.3266230761682207,0.71338606911949],"aabb_xy":[[-0.07670147327934262,-0.34668816307737826],[-0.03658465005286204,-0.3065579892590632]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_7","position":[-0.47498699255179233,1.5998340834722318,0.71338606911949],"aabb_xy":[[-0.5299869907535371,1.559312116845794],[-0.41998699435004744,1.6403560500986691]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_8","position":[0.5534812850117632,1.2649002145062802,0.71338606911949],"aabb_xy":[[0.5084886982933128,1.2199002152318315],[0.5984738717302136,1.309900213780729]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_9","position":[0.1918490646109654,1.1223382481337998,0.71338606911949],"aabb_xy":[[0.1418702561006495,1.072338248128081],[0.24182787312128126,1.1723382481395186]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.4018189111959442,0.5030927857632577,0.71338606911949],"aabb_xy":[[-0.45181392215539634,0.45309278672766595],[-0.35182390023649224,0.5530927847988494]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[-0.6139016875984002,-2.0693039771594144,0.71338606911949],"aabb_xy":[[-0.651401689114032,-2.080530750175559],[-0.5764016860827685,-2.058077204143269]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_12","position":[-0.10733719240674344,-0.7769907071797553,0.71338606911949],"aabb_xy":[[-0.18733718956631873,-0.7885383081375722],[-0.027337195247168142,-0.7654431062219381]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[0.15457202122303715,0.5611825951084284,0.71338606911949],"aabb_xy":[[0.13670291346858165,0.5473496871312173],[0.17244112897749264,0.5750155030856392]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.2551473968327969,0.9868513820089722,0.71338606911949],"aabb_xy":[[-0.3251473989642264,0.9640894163832764],[-0.18514739470136732,1.0096133476346676]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[0.39514704813728607,1.041586186388793,0.71338606911949],"aabb_xy":[[0.3401733261009532,0.9865861868245598],[0.45012077017361896,1.0965861859530261]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_16","position":[-0.169152689301022,1.2150882079458833,0.71338606911949],"aabb_xy":[[-0.21925015328209563,1.1510882074360715],[-0.11905522531994839,1.2790882084556952]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[0.1633960219044337,-2.5015158776837967,0.71338606911949],"aabb_xy":[[0.0733960221812595,-2.524589230218976],[0.2533960216276078,-2.4784425251486164]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_18","position":[-0.4093907078401087,-2.1393091277950766,0.71338606911949],"aabb_xy":[[-0.44439070697006433,-2.1450543488707408],[-0.374390708710153,-2.1335639067194125]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[0.5614215435316421,-2.394662925778359,0.71338606911949],"aabb_xy":[[0.553718352857565,-2.402372296477097],[0.569124734205719,-2.3869535550796206]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[-0.3343846911996327,-2.3498445616828363,0.71338606911949],"aabb_xy":[[-0.36897577405367793,-2.4148445619678673],[-0.2997936083455875,-2.2848445613978052]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.37028725155850295,-1.5667453008096663,0.71338606911949],"aabb_xy":[[0.3578198934487673,-1.57921062544299],[0.3827546096682386,-1.554279976176343]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_22","position":[-0.08620964580085222,0.5497684575718216,0.71338606911949],"aabb_xy":[[-0.12183880170081196,0.5141357908149686],[-0.05058048990089248,0.5854011243286745]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[-0.633219743875617,1.7820070594810384,0.71338606911949],"aabb_xy":[[-0.6831971607408704,1.7320070579917899],[-0.5832423270103633,1.832007060970287]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[-0.1096942668045201,0.7359249993188719,0.71338606911949],"aabb_xy":[[-0.12997856952791884,0.7156423741761629],[-0.08940996408112133,0.7562076244615806]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[0.3055259840345528,-2.0827368063729272,0.71338606911949],"aabb_xy":[[0.29610850946469,-2.092152983510646],[0.31494345860441547,-2.0733206292352078]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6607608849696744,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6931.png","name":"6931"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6931.png","name":"6931"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1768.png","name":"1768"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6535.png","name":"6535"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8781.png","name":"8781"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3655.png","name":"3655"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":590.547306966409,"rotation_z_degrees":225.36306033029487,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01321499783124553,0.009547212049188389,0.012492216898193114]},{"name":"camera_2","offset_m":[-0.000848076044944808,-0.010347821874244776,-0.018614207292433405]},{"name":"camera_3","offset_m":[-0.014765532783795377,-0.012212658112777969,0.0043151647203618845]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015464312594402284,-0.00021490143013357956,-0.0008296841212948839],"end_effector_yaw_offset_degrees":0.8004679953934777},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00018209857585228112,0.0004705554507850678,0.0011451356767249094],"end_effector_yaw_offset_degrees":0.5309075547992854},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00026521971779381584,-0.0013581319124844195,0.0007090116395177567],"end_effector_yaw_offset_degrees":-0.8635017716314304},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001900642903880511,-7.292596152333117e-06,0.0017190236483789032],"end_effector_yaw_offset_degrees":0.7922212060346137}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017481229946895802,-0.002673141307006257],"position_m":[0.29274812299468955,-0.07967314130700626,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026969636071393684,-0.0007619267870054023],"position_m":[0.24649696360713935,-0.3349619267870054,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006186640408365083,-0.004278982347069026],"position_m":[0.1975186640408365,0.30342101765293095,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002649942645823249,0.0013841150062431527],"position_m":[0.32795005735417676,0.08228411500624315,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bebb85224bc6e974f1dc437715f117d437523eaa8dfbf5e73e006e1e7199db0a","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0000.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6931/tex_ceiling_textures_3655/tex_floor_textures_8781/tex_table_textures_1768/tex_wall_textures_6535","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5967980730838484418,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5967980730838484418,"visual_seed":5967980730838484418,"scene_id":"lab_003","finished_at":"2026-09-04T18:01:37"}
+{"episode_id":"ep_000001","started_at":"2026-09-04T18:06:03","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_0","position":[0.5038692313924573,1.8088013395836495,0.71338606911949],"aabb_xy":[[0.4788692314599394,1.8019186713627264],[0.5288692313249752,1.815684007804573]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[-0.6094556669521896,-1.4523750987149062,0.71338606911949],"aabb_xy":[[-0.6213884013140176,-1.4647572515227656],[-0.5975229325903615,-1.4399929459070469]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.4289592159008175,-0.40885872863786066,0.71338606911949],"aabb_xy":[[-0.46599332532887716,-0.4432359359715701],[-0.3919251064727577,-0.3744815213041512]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_3","position":[0.4726787049179879,-1.2868966696937791,0.71338606911949],"aabb_xy":[[0.4687182211482535,-1.2945645342792997],[0.4766391886877222,-1.2792288051082585]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_4","position":[-0.18920312253864602,0.12869017020671158,0.71338606911949],"aabb_xy":[[-0.23919623464783793,0.07869016953251597],[-0.13921001042945413,0.17869017088090725]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[-0.596381927709729,0.4991403769669467,0.71338606911949],"aabb_xy":[[-0.6663819303463151,0.47903551197108113],[-0.5263819250731424,0.5192452419628122]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.29770386268362853,-2.2686433624043305,0.71338606911949],"aabb_xy":[[-0.3475865595613248,-2.3186433616506053],[-0.2478211658059324,-2.2186433631580558]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_7","position":[-0.20681254590875475,1.5402657216049414,0.71338606911949],"aabb_xy":[[-0.2246060528436712,1.5224659760091437],[-0.18901903897383832,1.558065467200739]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_8","position":[0.5673678063461265,0.29056237559544273,0.71338606911949],"aabb_xy":[[0.532776723492081,0.2255623753104117],[0.6019588892001715,0.3555623758804738]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_9","position":[-0.44708752894820114,0.1455932566122078,0.71338606911949],"aabb_xy":[[-0.49708752989873384,0.11404410960868636],[-0.3970875279976682,0.17714240361572917]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_10","position":[0.03796861265235385,-1.2695938618264764,0.71338606911949],"aabb_xy":[[-0.04703138576506937,-1.3544681572887614],[0.12296861106977708,-1.1847195663641914]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[-0.24608335870384646,0.6135607814016049,0.71338606911949],"aabb_xy":[[-0.2555008332737092,0.6041446042638857],[-0.23666588413398368,0.6229769585393238]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.6181916043166282,-1.6290837710281187,0.71338606911949],"aabb_xy":[[-0.6821916045906065,-1.6791498712254067],[-0.55419160404265,-1.5790176708308308]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.15688851411600302,0.9796658570897736,0.71338606911949],"aabb_xy":[[0.12188851584588312,0.9725917293947856],[0.19188851238612292,0.9867399847847619]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[-0.2840880160445496,-0.8221494734065291,0.71338606911949],"aabb_xy":[[-0.3016663182334965,-0.839723962980634],[-0.2665097138556028,-0.8045749838324242]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[0.2257549507214659,-2.032033514747426,0.71338606911949],"aabb_xy":[[0.14575494929133867,-2.1115506697600357],[0.3057549521515931,-1.9525163597348167]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_16","position":[-0.4709067227419708,-1.4916237563190258,0.71338606911949],"aabb_xy":[[-0.47794817369271847,-1.4986505080568202],[-0.4638652717912233,-1.4845970045812313]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[0.2808096609186741,-1.5496434828801227,0.71338606911949],"aabb_xy":[[0.26389892848233226,-1.563115688472737],[0.2977203933550158,-1.5361712772875078]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_18","position":[0.23134168389259968,-2.4456492937992893,0.71338606911949],"aabb_xy":[[0.18353551627883105,-2.510649296506348],[0.27914785150636834,-2.38064929109223]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[0.05012501998412555,1.1487737432824896,0.71338606911949],"aabb_xy":[[0.02762501997397726,1.1346775236428863],[0.07262501999427384,1.1628699629220929]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_20","position":[-0.5676571527969637,-1.1021938582195185,0.71338606911949],"aabb_xy":[[-0.5865415365654739,-1.1210797829998713],[-0.5487727690284535,-1.0833079334391658]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[0.4337488161192027,0.06289732979333529,0.71338606911949],"aabb_xy":[[0.42841124045319806,0.0378973288641955],[0.4390863917852072,0.08789733072247508]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_22","position":[-0.23810080580870063,-1.3435396556004147,0.71338606911949],"aabb_xy":[[-0.3181008029682759,-1.3550872565582317],[-0.15810080864912532,-1.3319920546425976]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_23","position":[-0.2954526800361544,-2.444543414697436,0.71338606911949],"aabb_xy":[[-0.35045267823789916,-2.4850653813238726],[-0.24045268183440952,-2.4040214480709974]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[-0.4527582766282878,-2.2783907182424166,0.71338606911949],"aabb_xy":[[-0.4902582767338808,-2.2852128800953975],[-0.41525827652269487,-2.271568556389435]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[0.2505332994021571,-0.7597860762276729,0.71338606911949],"aabb_xy":[[0.24045159232358354,-0.8397860741197873],[0.2606150064807305,-0.679786078335558]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_26","position":[-0.642010703850755,-0.6646543819737654,0.71338606911949],"aabb_xy":[[-0.6620691154639952,-0.6847194688829228],[-0.6219522922375146,-0.6445892950646077]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6565437502871695,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6080.png","name":"6080"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6080.png","name":"6080"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6747.png","name":"6747"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4925.png","name":"4925"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5041.png","name":"5041"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6218.png","name":"6218"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":560.7751401458495,"rotation_z_degrees":78.74584153286956,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00966942587135481,-0.015492041941383846,-4.001147184179085e-05]},{"name":"camera_2","offset_m":[-0.003094642264489283,0.017514722555305683,-0.004970736191234733]},{"name":"camera_3","offset_m":[0.005656665567018399,-0.019070241042022946,0.00376697191485725]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017279185954150495,-0.0003815157390501555,-0.0017394229628381452],"end_effector_yaw_offset_degrees":0.169657363318497},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006706062305929391,2.6862978792483155e-05,-0.0015680069895564173],"end_effector_yaw_offset_degrees":0.432805173516982},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001551720144277779,0.00012258853359170974,0.0011595813668781791],"end_effector_yaw_offset_degrees":0.8843161306175606},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013749373410172159,0.0007967386935518721,0.0009992209029643746],"end_effector_yaw_offset_degrees":0.43939204424733336}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0045773855431454616,0.0012054100494196555],"position_m":[0.2864226144568545,-0.07579458995058035,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0044930519837319,-0.004596098224058573],"position_m":[0.2393069480162681,-0.3387960982240586,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036123576764815523,0.00020460857073393256],"position_m":[0.20051235767648154,0.30790460857073393,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004362983851572526,-0.002004509472266253],"position_m":[0.3349629838515725,0.07889549052773374,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b6795499bd37195b037d879ff9f697807d8dad4041d86a502ffecf6efdadaaaa","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6080/tex_ceiling_textures_6218/tex_floor_textures_5041/tex_table_textures_6747/tex_wall_textures_4925","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7470630142174115229,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7470630142174115229,"visual_seed":7470630142174115229,"scene_id":"lab_003","finished_at":"2026-09-04T18:09:44"}
+{"episode_id":"ep_000002","started_at":"2026-09-04T18:09:48","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[0.3227559942541516,0.5705768807864895,0.71338606911949],"aabb_xy":[[0.26776051643349214,0.5155768793525826],[0.3777514720748109,0.6255768822203964]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[0.03962762050265445,0.649438269157216,0.71338606911949],"aabb_xy":[[0.005852061311961476,0.6353997739440509],[0.07340317969334742,0.663476764370381]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_2","position":[-0.6328566134623391,-2.264403808906005,0.71338606911949],"aabb_xy":[[-0.650403308378458,-2.3019038104702565],[-0.6153099185462201,-2.2269038073417535]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_3","position":[0.5574973941342922,-1.4522444481509984,0.71338606911949],"aabb_xy":[[0.4934973919138852,-1.4966175322762865],[0.6214973963546992,-1.40787136402571]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[-0.5652158907906037,-0.1332538234330145,0.71338606911949],"aabb_xy":[[-0.6552158902089745,-0.16662932027720423],[-0.47521589137223275,-0.09987832658882478]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[0.140865093102705,-1.3242526273537851,0.71338606911949],"aabb_xy":[[0.07686509075990346,-1.3691934785979174],[0.20486509544550657,-1.2793117761096524]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[0.6306856397877125,-0.042000873056915466,0.71338606911949],"aabb_xy":[[0.5666856381097152,-0.09051826453622969],[0.6946856414657099,0.006516518422398761]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_7","position":[-0.5592375387769117,-1.1982204177143307,0.71338606911949],"aabb_xy":[[-0.6092375401377988,-1.2481983222897464],[-0.5092375374160244,-1.1482425131389151]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_8","position":[-0.32325085755741756,-1.929876337352673,0.71338606911949],"aabb_xy":[[-0.33137854575073084,-1.9387899457633808],[-0.3151231693641044,-1.9209627289419653]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_9","position":[0.5943740166242244,-0.7175022720328919,0.71338606911949],"aabb_xy":[[0.5444009510917089,-0.7675022718454249],[0.6443470821567399,-0.667502272220359]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[0.3920518840468503,-1.376346928823993,0.71338606911949],"aabb_xy":[[0.37199347243361003,-1.3964120157331508],[0.4121102956600906,-1.3562818419148355]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.04247821016923248,-1.632696401465073,0.71338606911949],"aabb_xy":[[-0.0703232469498396,-1.663480900203385],[-0.014633173388625353,-1.6019119027267616]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_12","position":[0.5069541568123943,1.3925101136280809,0.71338606911949],"aabb_xy":[[0.47015952368748803,1.3556042385314986],[0.5437487899373006,1.4294159887246631]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.530424610493716,0.08462173910467996,0.71338606911949],"aabb_xy":[[-0.5554246096593491,0.07766949339932339],[-0.5054246113280829,0.09157398481003654]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_14","position":[-0.4961550993620201,-0.727339882231973,0.71338606911949],"aabb_xy":[[-0.5025689130052051,-0.7337497024796411],[-0.4897412857188352,-0.7209300619843044]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[0.5075545092414329,-1.7455310302076725,0.71338606911949],"aabb_xy":[[0.4238322837413503,-1.8355310337423685],[0.5912767347415152,-1.6555310266729766]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.30964927713131996,-0.7368079802445988,0.71338606911949],"aabb_xy":[[0.30521864777647983,-0.7422563519792814],[0.3140799064861602,-0.7313596085099162]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[-0.10494698550935333,0.9999173414193887,0.71338606911949],"aabb_xy":[[-0.140860489934343,0.964003833202634],[-0.06903348108436362,1.0358308496361432]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[0.03786399726723222,-0.6241932445795861,0.71338606911949],"aabb_xy":[[0.0003639966026535157,-0.6398803025798082],[0.07536399793181091,-0.6085061865793638]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_19","position":[-0.2567383951880941,1.1255389283453372,0.71338606911949],"aabb_xy":[[-0.26920575329782975,1.113073603712014],[-0.24427103707835846,1.138004252978661]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_20","position":[-0.383980431658355,-1.8214742536718909,0.71338606911949],"aabb_xy":[[-0.43398043260888775,-1.853023400675412],[-0.33398043070782213,-1.7899251066683692]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[0.5840131245714164,-1.9728784195578666,0.71338606911949],"aabb_xy":[[0.5673359885783209,-1.9895783435317966],[0.6006902605645119,-1.956178495583936]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.4764428486547618,-0.31086977040093666,0.71338606911949],"aabb_xy":[[-0.5404428489152325,-0.3558785697538646],[-0.4124428483942909,-0.2658609710480086]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[0.11827478073523467,0.9366899365346373,0.71338606911949],"aabb_xy":[[0.10512353476394533,0.911689936777951],[0.13142602670652404,0.961689936291324]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[-0.004728523473961688,-1.7506132023233683,0.71338606911949],"aabb_xy":[[-0.03972852260391735,-1.7563584233990324],[0.030271475655993973,-1.7448679812477041]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_25","position":[0.1927543561972226,0.7092329201538745,0.71338606911949],"aabb_xy":[[0.15525435602535062,0.6765321847709674],[0.2302543563690945,0.7419336555367818]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_26","position":[-0.5628332396570614,1.2413342719171547,0.71338606911949],"aabb_xy":[[-0.6428332399306683,1.168384724091438],[-0.4828332393834544,1.3142838197428715]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_27","position":[0.6055193839351649,-0.278344264730753,0.71338606911949],"aabb_xy":[[0.5255193828620446,-0.28812231106813746],[0.6855193850082852,-0.2685662183933686]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_28","position":[-0.3354922206556168,-1.2971946443978197,0.71338606911949],"aabb_xy":[[-0.35299221993370367,-1.314532744464166],[-0.3179922213775299,-1.279856544331474]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_29","position":[0.6218330606307754,0.20616332775593094,0.71338606911949],"aabb_xy":[[0.5418330573667622,0.19260329544701757],[0.7018330638947885,0.21972336006484425]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_30","position":[0.2855099749424619,-0.6296322446759919,0.71338606911949],"aabb_xy":[[0.2805539547575807,-0.6521322448781135],[0.29046599512734306,-0.6071322444738703]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_31","position":[-0.17000688815217702,0.22190635145304372,0.71338606911949],"aabb_xy":[[-0.17412283826424962,0.2177907964201982],[-0.1658909380401043,0.22602190648588918]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6528203861548866,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/635.png","name":"635"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/635.png","name":"635"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3377.png","name":"3377"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4332.png","name":"4332"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/626.png","name":"626"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4539.png","name":"4539"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":823.7743633869625,"rotation_z_degrees":325.3584478734748,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005280198595393127,0.015779547667273432,-0.01480293346363974]},{"name":"camera_2","offset_m":[-0.01563867130200931,0.002077384649198929,0.014915995351816983]},{"name":"camera_3","offset_m":[-0.019737525449343034,0.0024061647702172013,0.0040102852750499365]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00047412771779382456,0.0018929740757359383,-0.0010990460240514126],"end_effector_yaw_offset_degrees":0.9158659810351113},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013475606586925738,0.0010321113834124468,-0.0004787370682573736],"end_effector_yaw_offset_degrees":-0.9997573287297328},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00193938748744347,0.0005398961037377369,-0.00018581846705949495],"end_effector_yaw_offset_degrees":-0.8281547618563305},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007308505553731606,0.0012462140669006559,0.0011764853351053624],"end_effector_yaw_offset_degrees":0.10839749364003115}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001782178779765867,-0.0018741362922011073],"position_m":[0.29278217877976587,-0.07887413629220111,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004226228341085969,0.003129768353111969],"position_m":[0.23957377165891403,-0.33107023164688804,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003594890510212406,0.0009351505784023348],"position_m":[0.2004948905102124,0.3086351505784023,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004171002212651187,-0.00442801530236504],"position_m":[0.3264289977873488,0.07647198469763496,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ea4f1c7e8f9fe73510328ab2b440ca346b5ef131d80da83c4d296bf700e88198","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_635/tex_ceiling_textures_4539/tex_floor_textures_626/tex_table_textures_3377/tex_wall_textures_4332","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":824385490003188011,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":824385490003188011,"visual_seed":824385490003188011,"scene_id":"lab_003","finished_at":"2026-09-04T18:13:12"}
+{"episode_id":"ep_000003","started_at":"2026-09-04T18:13:16","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[0.16091263486659935,-1.6294421370874177,0.71338606911949],"aabb_xy":[[0.15291914507131735,-1.6374402690278937],[0.1689061246618814,-1.6214440051469425]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_1","position":[-0.2518809692396531,-1.1012949345041974,0.71338606911949],"aabb_xy":[[-0.26938096949898976,-1.1153864766929702],[-0.23438096898031652,-1.087203392315425]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.21531503613113712,-2.318983067525746,0.71338606911949],"aabb_xy":[[0.17401049306740113,-2.3829830670938628],[0.2566195791948731,-2.2549830679576286]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_3","position":[-0.10498210097844096,0.7628792933341755,0.71338606911949],"aabb_xy":[[-0.11222586702468629,0.6828792951305731],[-0.09773833493219564,0.8428792915377779]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[0.40662473922285525,-0.8924234027128979,0.71338606911949],"aabb_xy":[[0.38841891556160757,-0.9034488032948896],[0.4248305628841029,-0.8813980021309064]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_5","position":[-0.6014562802258677,-0.8954512338610929,0.71338606911949],"aabb_xy":[[-0.6389562814106603,-0.8998694565571533],[-0.5639562790410747,-0.8910330111650323]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[-0.45802756208821316,1.3071319185963661,0.71338606911949],"aabb_xy":[[-0.5230275647260066,1.2556523198969192],[-0.3930275594504197,1.358611517295813]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[-0.5285330997119815,0.7125753176295078,0.71338606911949],"aabb_xy":[[-0.5925331016243239,0.6566641683714974],[-0.46453309779963925,0.7684864668875183]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_8","position":[-0.08431629827808107,-1.4517949754516306,0.71338606911949],"aabb_xy":[[-0.14431629852948225,-1.5060763004880953],[-0.024316298026679894,-1.397513650415166]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[0.2842489198670134,-1.0428622589484513,0.71338606911949],"aabb_xy":[[0.2202489175242118,-1.0878031101925836],[0.3482489222098149,-0.9979214077043187]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[0.6516239600161036,1.2535576594468485,0.71338606911949],"aabb_xy":[[0.6266239608504705,1.246605413741492],[0.6766239591817367,1.260509905152205]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_11","position":[-0.21111182733164252,-1.263000947589301,0.71338606911949],"aabb_xy":[[-0.30111182406725273,-1.3161844109065954],[-0.12111183059603231,-1.2098174842720064]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.4321503902508027,0.48419517736738715,0.71338606911949],"aabb_xy":[[-0.4861659865327027,0.42019517447512994],[-0.3781347939689027,0.5481951802596443]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_13","position":[-0.6663031154486009,-1.868140630961054,0.71338606911949],"aabb_xy":[[-0.6881928630375417,-1.9581406282503029],[-0.6444133678596601,-1.7781406336718046]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_14","position":[0.3386997790473665,1.1156683841544255,0.71338606911949],"aabb_xy":[[0.3036997790708707,1.1062037681068089],[0.37369977902386237,1.125133000202042]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.47845464039829766,-1.7082607322035448,0.71338606911949],"aabb_xy":[[0.41445463899030693,-1.7600496837274693],[0.5424546418062882,-1.6564717806796199]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[-0.6255796177361748,0.45579160983251565,0.71338606911949],"aabb_xy":[[-0.6630796178417677,0.4489694479795346],[-0.5880796176305818,0.46261377168549683]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_17","position":[0.3787248650538859,-1.4761181983027025,0.71338606911949],"aabb_xy":[[0.3416907556258262,-1.510495405636412],[0.41575897448194565,-1.441740990968993]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[0.6081461233303278,1.0120469427337468,0.71338606911949],"aabb_xy":[[0.5441461200406196,0.9687120237298291],[0.6721461266200358,1.0553818617376642]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.17807907070472995,-1.95725762688691,0.71338606911949],"aabb_xy":[[0.1405790691890982,-1.968484399903055],[0.21557907222036163,-1.946030853870765]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[-0.29785991000025436,0.5246438078373412,0.71338606911949],"aabb_xy":[[-0.3353599102924292,0.5206023324367375],[-0.26035990970807954,0.5286852832379447]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_21","position":[-0.00992397476387008,0.7282587442299175,0.71338606911949],"aabb_xy":[[-0.04424025193848802,0.6782587442567397],[0.024392302410747857,0.7782587442030952]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[-0.11813933476906147,-2.5432041075914102,0.71338606911949],"aabb_xy":[[-0.1263538798847454,-2.551880697889051],[-0.10992478965337746,-2.5345275172937685]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_23","position":[0.4347372613730087,-2.34326292990913,0.71338606911949],"aabb_xy":[[0.37073726426090303,-2.392295299703541],[0.4987372584851144,-2.2942305601147197]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_24","position":[-0.6359039459136013,1.1249934204117578,0.71338606911949],"aabb_xy":[[-0.6485307332007977,1.1154473467101849],[-0.623277158626405,1.1345394941133307]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[0.08969008158295633,1.4297162287605354,0.71338606911949],"aabb_xy":[[0.0256900824131864,1.3829495416415727],[0.15369008075272628,1.4764829158794976]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6533725852503877,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3133.png","name":"3133"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3133.png","name":"3133"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6966.png","name":"6966"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7050.png","name":"7050"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5339.png","name":"5339"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7231.png","name":"7231"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":788.0770577264741,"rotation_z_degrees":10.386406343044507,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01240305115979273,-0.0035305970848438332,0.0060205655230598926]},{"name":"camera_2","offset_m":[-0.01687310037230997,-0.015368783281358454,0.010444782045823796]},{"name":"camera_3","offset_m":[-0.014701564330101525,-0.019621878786650476,-0.019941235047123782]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011285159564045494,0.000705061154325004,0.001386599694285387],"end_effector_yaw_offset_degrees":0.2503174427364432},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0002863880610731225,-0.0015923950096372532,-0.0015730108539281683],"end_effector_yaw_offset_degrees":-0.7429533699300803},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014014642610448416,6.857889385603706e-05,-0.0002663014955462586],"end_effector_yaw_offset_degrees":0.5633589357863689},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008012113298541566,0.0016232251021163296,0.0007224947700352371],"end_effector_yaw_offset_degrees":0.1727612992612768}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004805210765459895,0.0023972045394707155],"position_m":[0.28619478923454006,-0.07460279546052928,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004057753216935906,0.0023278034401761046],"position_m":[0.23974224678306408,-0.3318721965598239,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015753518987194903,-0.002778876531888247],"position_m":[0.1953246481012805,0.30492112346811173,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018309305406671071,0.003946703889482575],"position_m":[0.3287690694593329,0.08484670388948258,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a6259c5891ed2a027343e46378acec1f6237c67b988e3e50384d9b3184ccc145","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0004.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3133/tex_ceiling_textures_7231/tex_floor_textures_5339/tex_table_textures_6966/tex_wall_textures_7050","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8680576923686014532,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8680576923686014532,"visual_seed":8680576923686014532,"scene_id":"lab_003","finished_at":"2026-09-04T18:17:04"}
+{"episode_id":"ep_000004","started_at":"2026-09-04T18:17:09","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_0","position":[-0.1326807340872309,-1.88133157562239,0.71338606911949],"aabb_xy":[[-0.21268073267455034,-1.9606471775605505],[-0.0526807354999115,-1.8020159736842287]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.45302003447860306,-1.4952547813097474,0.71338606911949],"aabb_xy":[[0.42802003531297,-1.5022070270151042],[0.47802003364423623,-1.488302535604391]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_2","position":[0.41061452270400056,0.6476314570392963,0.71338606911949],"aabb_xy":[[0.3628083550902319,0.5826314543322372],[0.45842069031776916,0.7126314597463551]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_3","position":[-0.10266341924819833,1.0468722594380324,0.71338606911949],"aabb_xy":[[-0.1676634203541416,1.0219068863699041],[-0.037663418142255045,1.0718376325061607]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_4","position":[-0.32815902866208696,-1.8746615557186197,0.71338606911949],"aabb_xy":[[-0.36670472148728805,-1.9132073267748084],[-0.289613335836886,-1.836115784662431]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_5","position":[-0.025230806191552713,-0.2968552951885255,0.71338606911949],"aabb_xy":[[-0.029346756303625373,-0.30097085022137093],[-0.021114856079480045,-0.29273974015567994]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.20863809813622358,-2.4362253758153556,0.71338606911949],"aabb_xy":[[0.2046776143664892,-2.443893240400876],[0.21259858190595796,-2.428557511229835]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_7","position":[0.09496872684798108,-1.282190744915318,0.71338606911949],"aabb_xy":[[0.07306004470863,-1.3040914117354088],[0.1168774089873321,-1.2602900780952273]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[-0.2676320194101674,-0.5028828558945846,0.71338606911949],"aabb_xy":[[-0.274673470360915,-0.5099096076323791],[-0.2605905684594198,-0.49585610415679005]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[0.6296766809134964,-1.499295189540841,0.71338606911949],"aabb_xy":[[0.6216831911182146,-1.507293321481317],[0.6376701707087786,-1.4912970576003655]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[-0.534735083098344,1.5170930794429416,0.71338606911949],"aabb_xy":[[-0.5473618703855403,1.5075470057413687],[-0.5221082958111476,1.5266391531445145]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.4029063728274196,1.5599978382165713,0.71338606911949],"aabb_xy":[[0.3534259516134608,1.4959978403037197],[0.4523867940413784,1.6239978361294234]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_12","position":[-0.3805670482822222,-1.2308416390277788,0.71338606911949],"aabb_xy":[[-0.46056705044498464,-1.3107968226539222],[-0.30056704611945967,-1.150886455401635]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_13","position":[-0.09451445103439171,0.8617593302838822,0.71338606911949],"aabb_xy":[[-0.11779629323252302,0.7767593289866542],[-0.07123260883626034,0.9467593315811104]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[0.2304986484492747,1.2295805126087007,0.71338606911949],"aabb_xy":[[0.21299864820422532,1.2120807247691336],[0.2479986486943241,1.2470803004482673]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.08055533634811529,1.5591111324980402,0.71338606911949],"aabb_xy":[[-0.1305553372986481,1.5275619854945186],[-0.03055533539758247,1.5906602795015614]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_16","position":[0.1139176789232329,1.3842488583950292,0.71338606911949],"aabb_xy":[[0.05232691969924008,1.3202488602859825],[0.17550843814722572,1.4482488565040763]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.06706837635753649,-2.517022234458556,0.71338606911949],"aabb_xy":[[-0.07196766866409997,-2.5446991537611243],[-0.062169084050972975,-2.489345315155987]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[-0.07344344180431639,0.40679924848239546,0.71338606911949],"aabb_xy":[[-0.11094344246889508,0.39111219048217327],[-0.03594344113973768,0.42248630648261765]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_19","position":[0.3921556839229916,0.49525372647156596,0.71338606911949],"aabb_xy":[[0.3281556866206452,0.45088729950370915],[0.456155681225338,0.5396201534394227]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[-0.6202289596382572,0.7372111020834726,0.71338606911949],"aabb_xy":[[-0.6577289601356154,0.7332424185353541],[-0.582728959140899,0.7411797856315909]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_21","position":[-0.5176364913146365,1.6612506201487984,0.71338606911949],"aabb_xy":[[-0.5217146492216862,1.657169639900535],[-0.5135583334075868,1.6653316003970615]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.5633094025254097,-1.1616532659272318,0.71338606911949],"aabb_xy":[[-0.5976256797000277,-1.2116532659004096],[-0.5289931253507918,-1.1116532659540541]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[0.7188981776721313,1.2566670774943134,0.71338606911949],"aabb_xy":[[0.7133165060380025,1.244167077676538],[0.7244798493062601,1.2691670773120889]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_24","position":[-0.40194518329453577,-1.9979316609559912,0.71338606911949],"aabb_xy":[[-0.481945180454111,-2.0094792619138078],[-0.3219451861349604,-1.9863840599981737]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_25","position":[-0.03100199138729487,-0.027683571279788488,0.71338606911949],"aabb_xy":[[-0.043604690524371326,-0.040278967504653984],[-0.018399292250218413,-0.015088175054922996]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_26","position":[0.7068424527192603,-0.9677100351029224,0.71338606911949],"aabb_xy":[[0.7008759137785244,-0.9736711797622865],[0.7128089916599959,-0.9617488904435584]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_27","position":[-0.2065550952328511,1.1602132281864268,0.71338606911949],"aabb_xy":[[-0.217395573459366,1.143026946895778],[-0.1957146170063362,1.1773995094770755]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_28","position":[0.32163859227765834,0.8422508631034229,0.71338606911949],"aabb_xy":[[0.2966385927259198,0.8321083792382881],[0.34663859182939677,0.8523933469685575]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_29","position":[-0.4223868651193307,-0.7725062143004688,0.71338606911949],"aabb_xy":[[-0.4863868615149038,-0.8364695027192023],[-0.35838686872375763,-0.7085429258817352]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_30","position":[0.6088857859456287,-2.0717126200897997,0.71338606911949],"aabb_xy":[[0.5713857873700078,-2.0844489157533577],[0.6463857845212494,-2.058976324426242]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_31","position":[0.5039387269077433,1.7026208189441694,0.71338606911949],"aabb_xy":[[0.4139387274893723,1.6692453220999797],[0.5939387263261141,1.7359963157883591]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6572930276242386,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/139.png","name":"139"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/139.png","name":"139"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9472.png","name":"9472"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9648.png","name":"9648"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8289.png","name":"8289"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6715.png","name":"6715"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":759.4033588110708,"rotation_z_degrees":23.826075927292667,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0031087026650996642,-0.008103988625195227,-0.015199004485639241]},{"name":"camera_2","offset_m":[0.0006025659905167652,-0.012375285965046206,-0.016836967199739643]},{"name":"camera_3","offset_m":[0.00041712908807898727,0.004057269727204885,-0.01978481168874005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014654562440855035,-0.0018280132275903386,0.0009737134217757334],"end_effector_yaw_offset_degrees":-0.49715162671496005},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006549285075378572,0.0015948360643008655,-0.0008834406415967129],"end_effector_yaw_offset_degrees":0.08982362512457542},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010813603036108474,-0.0006327239231930105,-0.0003717132648107292],"end_effector_yaw_offset_degrees":0.8846946394673483},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00016834374219021884,-0.0016261456102090626,-0.00025258721233461004],"end_effector_yaw_offset_degrees":-0.7833383356008263}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003062389677445783,-0.0038659668379547197],"position_m":[0.29406238967744575,-0.08086596683795472,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006015555202489413,0.002520550437417015],"position_m":[0.24440155552024892,-0.331679449562583,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00474182106809798,0.004707999550536533],"position_m":[0.20164182106809797,0.3124079995505365,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00044626083016883946,-0.00021947740977912213],"position_m":[0.33104626083016886,0.08068052259022088,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1831237a1181115318218dc6f96a100c2121d0c0ad18b6013d17f09c5d5fe1d6","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0005.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_139/tex_ceiling_textures_6715/tex_floor_textures_8289/tex_table_textures_9472/tex_wall_textures_9648","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8374729724729717711,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8374729724729717711,"visual_seed":8374729724729717711,"scene_id":"lab_003","finished_at":"2026-09-04T18:20:43"}
+{"episode_id":"ep_000005","started_at":"2026-09-04T18:20:48","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.5408308701626494,-1.539691977436354,0.71338606911949],"aabb_xy":[[-0.6048265675577459,-1.6036919757370625],[-0.4768351727675527,-1.475691979135645]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_1","position":[0.6405423073972876,-1.7860692513268372,0.71338606911949],"aabb_xy":[[0.633129851855899,-1.7919204617484652],[0.6479547629386759,-1.7802180409052093]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[0.2561122445550196,-1.8313616940432669,0.71338606911949],"aabb_xy":[[0.2311122450032811,-1.8415041779084016],[0.28111224410675806,-1.8212192101781322]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_3","position":[-0.44902465423581667,-2.021993397363854,0.71338606911949],"aabb_xy":[[-0.5040178655729535,-2.0769933977026476],[-0.3940314428986799,-1.9669933970250604]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.3171367988600382,-0.4537840478318458,0.71338606911949],"aabb_xy":[[0.29464037742617405,-0.4762840476385932],[0.33963322029390225,-0.43128404802509834]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_5","position":[-0.274142887843227,0.6833539197608092,0.71338606911949],"aabb_xy":[[-0.29664288808674244,0.6711492851010372],[-0.25164288759971165,0.6955585544205811]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.26999408202534814,0.828676469724233,0.71338606911949],"aabb_xy":[[0.24477324516550844,0.8034527188713463],[0.29521491888518775,0.8539002205771198]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_7","position":[0.26253099262085566,1.4549668334174757,0.71338606911949],"aabb_xy":[[0.2505982582590276,1.4425846806096165],[0.27446372698268373,1.4673489862253353]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_8","position":[0.274157329093328,-1.1455114004409288,0.71338606911949],"aabb_xy":[[0.21015732883285712,-1.1905201997938566],[0.3381573293537987,-1.1005026010880006]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.0820159206902229,1.2602535505333279,0.71338606911949],"aabb_xy":[[0.024385451802952034,1.2002535516066173],[0.13964638957749373,1.3202535494600385]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_10","position":[0.516059169575996,0.8409070687220286,0.71338606911949],"aabb_xy":[[0.4520591676636536,0.7849959194640183],[0.5800591714883383,0.8968182179800391]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[-0.06696645476606822,0.9227965040988244,0.71338606911949],"aabb_xy":[[-0.0713970841209084,0.9173481323641419],[-0.06253582541122804,0.9282448758335071]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_12","position":[0.46376079426623185,-0.8131842922024637,0.71338606911949],"aabb_xy":[[0.45583751402748346,-0.8356842924404672],[0.4716840745049801,-0.7906842919644604]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[0.4775014493075207,1.7284803282308654,0.71338606911949],"aabb_xy":[[0.44320453828978,1.694183442020924],[0.5117983603252612,1.7627772144408067]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_14","position":[0.02411952122695815,-1.6182532650629808,0.71338606911949],"aabb_xy":[[-0.01338047894491379,-1.650954000445888],[0.06161952139883009,-1.5855525296800737]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_15","position":[-0.5645761567696701,0.7846745075894073,0.71338606911949],"aabb_xy":[[-0.5990385041678118,0.7501806251915845],[-0.5301138093715282,0.8191683899872299]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[-0.19166295785566922,0.1007880586244454,0.71338606911949],"aabb_xy":[[-0.20772488531418684,0.015788056811853576],[-0.17560103039715155,0.1857880604370372]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_17","position":[0.5758134245234459,-0.660909098807984,0.71338606911949],"aabb_xy":[[0.5308208378049954,-0.7059090980824327],[0.6208060112418963,-0.6159090995335352]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_18","position":[0.23036182186881293,-1.2720410994662668,0.71338606911949],"aabb_xy":[[0.1663618245831643,-1.313547818419111],[0.2943618191544616,-1.230534380513423]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[0.06071979650254511,1.0102987211676293,0.71338606911949],"aabb_xy":[[0.03881111436319406,0.9883980543475384],[0.08262847864189615,1.0321993879877198]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6541362489805331,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/40.png","name":"40"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/40.png","name":"40"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3129.png","name":"3129"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5569.png","name":"5569"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3603.png","name":"3603"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3714.png","name":"3714"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":715.79029446805,"rotation_z_degrees":338.52827732526134,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005234357779140903,-0.009803264363701172,0.01112869109273219]},{"name":"camera_2","offset_m":[0.010502654961205424,-0.012251885848154469,0.006013554631912981]},{"name":"camera_3","offset_m":[-0.00048210024432669696,0.0035701958740237717,0.011313172774104052]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005210588368761151,-0.001765313744481162,-0.0014213392966800455],"end_effector_yaw_offset_degrees":-0.16075346100691656},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001672247174015708,0.0013775942675873375,0.0005100818322599974],"end_effector_yaw_offset_degrees":-0.6833356425071999},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007112647478822801,0.001209090349454961,0.0019971568775146624],"end_effector_yaw_offset_degrees":0.8180675133709838},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015308086366344607,0.0006850627987195685,4.8531948231039356e-05],"end_effector_yaw_offset_degrees":0.20379501046820137}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032591116899180093,0.0018402559830585892],"position_m":[0.294259111689918,-0.07515974401694141,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036111972036781447,0.00158191358315358],"position_m":[0.24018880279632185,-0.3326180864168464,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004609184188449299,-0.0009436720380847589],"position_m":[0.2015091841884493,0.3067563279619152,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004520613532994307,0.00026323158136399953],"position_m":[0.3351206135329943,0.081163231581364,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f55b9cc239cd8dbf19d8d593be2f5a067c26c8224bee8d282bcd6b0764b1d4d8","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_40/tex_ceiling_textures_3714/tex_floor_textures_3603/tex_table_textures_3129/tex_wall_textures_5569","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1660352582735679469,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1660352582735679469,"visual_seed":1660352582735679469,"scene_id":"lab_003","finished_at":"2026-09-04T18:24:09"}
+{"episode_id":"ep_000006","started_at":"2026-09-04T18:29:12","dimensions":{"distractor":{"count":24,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[0.3292603043722231,-1.627518344485976,0.71338606911949],"aabb_xy":[[0.23926030464904888,-1.6505916970211556],[0.4192603040953972,-1.604444991950796]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[0.5232820720248681,1.6789360445121901,0.71338606911949],"aabb_xy":[[0.5162406210741205,1.6719092927743957],[0.5303235229756157,1.6859627962499846]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_2","position":[0.6070532208244637,0.9437276472511988,0.71338606911949],"aabb_xy":[[0.5918903478475266,0.9285621899560802],[0.6222160938014007,0.9588931045463177]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_3","position":[-0.39967538938721786,-1.4828488193294287,0.71338606911949],"aabb_xy":[[-0.4232605128511127,-1.5478488215748605],[-0.376090265923323,-1.417848817083997]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_4","position":[-0.6304646867104937,1.4198212990278587,0.71338606911949],"aabb_xy":[[-0.6359226323475137,1.3398212957201994],[-0.6250067410734735,1.4998213023355176]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_5","position":[0.4515522402893919,0.5532697014451675,0.71338606911949],"aabb_xy":[[0.4015680045812147,0.5032697026316719],[0.5015364759975691,0.6032697002586631]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_6","position":[0.41161934881449924,-1.4190910204638556,0.71338606911949],"aabb_xy":[[0.361619347795364,-1.4555572362016835],[0.46161934983363456,-1.3826248047260277]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[0.0691855357556671,-1.2373659499461362,0.71338606911949],"aabb_xy":[[0.04418553582314921,-1.2442486181670598],[0.094185535688185,-1.2304832817252132]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[0.570136300344791,-2.3171756354702877,0.71338606911949],"aabb_xy":[[0.5201362990609509,-2.3671544898609094],[0.6201363016286309,-2.267196781079665]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_9","position":[0.5662723118246145,-0.92566703055992,0.71338606911949],"aabb_xy":[[0.516289361637135,-0.97566703020248],[0.6162552620120937,-0.8756670309173592]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.3646004542189456,-1.1952049492721004,0.71338606911949],"aabb_xy":[[0.3468069472840292,-1.2130046948678983],[0.3823939611538621,-1.177405203676303]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[-0.5461608926913888,-0.07653321652474565,0.71338606911949],"aabb_xy":[[-0.626160889654428,-0.1536088581685191],[-0.4661608957283496,0.0005424251190278007]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[-0.6353210459197356,-1.4964227435111448,0.71338606911949],"aabb_xy":[[-0.6444809248636122,-1.5029539615546819],[-0.626161166975859,-1.4898915254676077]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_13","position":[-0.6295381156111073,-1.7658680289335704,0.71338606911949],"aabb_xy":[[-0.666033936238386,-1.802351971360328],[-0.5930422949838285,-1.7293840865068129]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[-0.5837757798683686,-1.2173240407694812,0.71338606911949],"aabb_xy":[[-0.6250245908982832,-1.2723240402816984],[-0.5425269688384537,-1.1623240412572635]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_15","position":[0.38944701578704266,1.3946012388138502,0.71338606911949],"aabb_xy":[[0.3806449604780699,1.386789912658921],[0.3982490710960153,1.402412564968779]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_16","position":[-0.562734434361061,-1.6100992526854796,0.71338606911949],"aabb_xy":[[-0.5802344336391478,-1.6274373527518256],[-0.5452344350829741,-1.5927611526191336]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[-0.19982183070172815,-0.17776191885814407,0.71338606911949],"aabb_xy":[[-0.23482183059774703,-0.186136154370084],[-0.16482183080570928,-0.1693876833462041]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[-0.46103209476833606,-1.723106370064867,0.71338606911949],"aabb_xy":[[-0.49853209458536957,-1.7277445813760088],[-0.42353209495130245,-1.7184681587537252]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.025266391586811876,-2.285594833872489,0.71338606911949],"aabb_xy":[[-0.03973360697026096,-2.3153473672863716],[0.09026639014388471,-2.2558423004586063]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[0.3870475520758083,0.13363210100145428,0.71338606911949],"aabb_xy":[[0.3829116957431081,0.09613210155709728],[0.3911834084085085,0.17113210044581129]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[-0.32162765353247597,-2.1456990926794184,0.71338606911949],"aabb_xy":[[-0.3441276533463784,-2.150173709049899],[-0.29912765371857364,-2.141224476308938]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_22","position":[0.17738103647917303,1.6931586633142754,0.71338606911949],"aabb_xy":[[0.15216019961933333,1.6679349124613883],[0.20260187333901267,1.7183824141671618]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[-0.45626087765135304,-0.5092150354222023,0.71338606911949],"aabb_xy":[[-0.5202608795636954,-0.5651261846802127],[-0.39226087573901075,-0.4533038861641918]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.655509056039219,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/334.png","name":"334"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/334.png","name":"334"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6972.png","name":"6972"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2856.png","name":"2856"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9929.png","name":"9929"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1326.png","name":"1326"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":664.3788963169145,"rotation_z_degrees":174.36382312990892,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.001961643714784661,-0.01971249568963164,-0.014112854751207236]},{"name":"camera_2","offset_m":[-0.006071682144388198,-0.005693087485726438,0.004308114153070294]},{"name":"camera_3","offset_m":[-0.008570453926686152,-0.0037249980114296526,0.017437079253952856]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017894157336102437,0.0005741964989977562,0.0008160006210362067],"end_effector_yaw_offset_degrees":0.5967706268784148},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00012494086829964663,-0.0019756613863895394,-0.0010381244701029822],"end_effector_yaw_offset_degrees":0.35088906625694083},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009651057843218787,0.0019190742090394834,-0.0015525275284838714],"end_effector_yaw_offset_degrees":-0.07215593171175283},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012526786438094182,0.001478689790879072,0.0010730658542288233],"end_effector_yaw_offset_degrees":-0.1926718615902021}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00417167651884339,-0.001217613121153829],"position_m":[0.2868283234811566,-0.07821761312115383,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027095439509244425,0.0004094486836074508],"position_m":[0.24109045604907556,-0.33379055131639257,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003257104186470402,-0.002295719745460978],"position_m":[0.1936428958135296,0.305404280254539,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009147474756027148,-0.0037096491691268486],"position_m":[0.3296852525243973,0.07719035083087315,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f7c77fa3a8717d8ce97c9d2e77f482a4106ce7625b711b36ca74f20e1e322e6a","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_334/tex_ceiling_textures_1326/tex_floor_textures_9929/tex_table_textures_6972/tex_wall_textures_2856","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7956578488003395117,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7956578488003395117,"visual_seed":7956578488003395117,"scene_id":"lab_003","finished_at":"2026-09-04T18:32:42"}
+{"episode_id":"ep_000007","started_at":"2026-09-04T18:32:47","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_0","position":[-0.015561764645236287,0.7967908157728694,0.71338606911949],"aabb_xy":[[-0.02359809934652113,0.7887526964684525],[-0.007525429943951443,0.804828935077286]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[-0.429804162104687,-0.16313981766752006,0.71338606911949],"aabb_xy":[[-0.45171284424403807,-0.1850404844876108],[-0.407895479965336,-0.14123915084742933]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_2","position":[0.4812931369672151,-2.007341762141567,0.71338606911949],"aabb_xy":[[0.4313198429639546,-2.057341762696114],[0.5312664309704755,-1.9573417615870192]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_3","position":[-0.43250136218199214,-1.1127526117260735,0.71338606911949],"aabb_xy":[[-0.44941209461833387,-1.1262248173186877],[-0.4155906297456503,-1.099280406133459]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[-0.2505117758868455,-0.3911718645313118,0.71338606911949],"aabb_xy":[[-0.254425649082268,-0.39992087993786857],[-0.24659790269142295,-0.38242284912475505]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[-0.138056205925563,0.9149335050080571,0.71338606911949],"aabb_xy":[[-0.20205620232113608,0.8509702165893236],[-0.07405620952998992,0.9788967934267907]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_6","position":[0.5719175009822646,-0.14024605698802128,0.71338606911949],"aabb_xy":[[0.5674868716274244,-0.1456944287227039],[0.5763481303371047,-0.1347976852533387]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[-0.5066571210024626,-2.1125598880055105,0.71338606911949],"aabb_xy":[[-0.5518284388506317,-2.1765598851500494],[-0.46148580315429377,-2.0485598908609726]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.3707569036292315,0.8108884447735707,0.71338606911949],"aabb_xy":[[0.3614632853920809,0.7733884462854367],[0.38005052186638205,0.8483884432617045]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[-0.38708374122438716,1.2250640479896884,0.71338606911949],"aabb_xy":[[-0.46708374149799414,1.1521145001639714],[-0.30708374095078017,1.2980135958154049]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_10","position":[-0.5961763595483823,-2.4345426263028784,0.71338606911949],"aabb_xy":[[-0.6601763602518517,-2.4805610087757994],[-0.532176358844913,-2.3885242438299574]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.022360289589517413,-2.147698394109862,0.71338606911949],"aabb_xy":[[0.01357906244228119,-2.1564781413983924],[0.031141516736753645,-2.138918646821332]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[0.6364006749467797,-2.4818397024857184,0.71338606911949],"aabb_xy":[[0.5942162607859488,-2.5458397027629296],[0.6785850891076103,-2.417839702208507]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_13","position":[-0.5346920757692842,-1.9583023417716354,0.71338606911949],"aabb_xy":[[-0.5448450913234335,-1.9943718833443753],[-0.5245390602151347,-1.9222328001988946]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[-0.10606958572088121,0.14309920469820314,0.71338606911949],"aabb_xy":[[-0.11152753135790126,0.06309920139054404],[-0.10061164008386113,0.22309920800586225]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_15","position":[0.5598232505024885,-1.2025080284588172,0.71338606911949],"aabb_xy":[[0.5248232521917929,-1.210223043382363],[0.5948232488131838,-1.1947930135352718]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_16","position":[-0.09020381154163526,1.1033264756565506,0.71338606911949],"aabb_xy":[[-0.11266858151304038,1.08082647477769],[-0.06773904157023014,1.125826476535411]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[0.6835383019664403,1.3954529175457115,0.71338606911949],"aabb_xy":[[0.6552085920179,1.3909921753519945],[0.7118680119149805,1.3999136597394286]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[0.28444769890505883,1.7810664404499135,0.71338606911949],"aabb_xy":[[0.27623315378937474,1.772389850152272],[0.2926622440207427,1.7897430307475546]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_19","position":[0.1486417122725986,-0.6902512539486567,0.71338606911949],"aabb_xy":[[0.14101744418242038,-0.6978844774852004],[0.15626598036277686,-0.682618030412113]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.14079237718541648,-1.1694357740787995,0.71338606911949],"aabb_xy":[[0.11695615954481142,-1.2594357748872862],[0.16462859482602155,-1.0794357732703133]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_21","position":[-0.411459734965959,0.8953175276701124,0.71338606911949],"aabb_xy":[[-0.47545973139328096,0.8481479038480161],[-0.34745973853863715,0.942487151492209]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_22","position":[-0.41850888027728145,0.06368390973578864,0.71338606911949],"aabb_xy":[[-0.4785088819202033,0.011683760443844463],[-0.3585088786343596,0.11568405902773284]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[-0.3747762765473562,1.5232590416258298,0.71338606911949],"aabb_xy":[[-0.40526052667438633,1.4732590418443339],[-0.344292026420326,1.5732590414073258]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[-0.6569188524279661,1.2208218713492145,0.71338606911949],"aabb_xy":[[-0.6662658600102614,1.2065182491315705],[-0.647571844845671,1.2351254935668585]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_25","position":[0.6018747961537427,0.2152170295834659,0.71338606911949],"aabb_xy":[[0.5910231899048671,0.20435773885581487],[0.6127264024026183,0.2260763203111169]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_26","position":[0.5545669199027436,-0.5188125348144412,0.71338606911949],"aabb_xy":[[0.4645669213082737,-0.5350631211278624],[0.6445669184972136,-0.5025619485010203]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_27","position":[0.09465510707040292,-0.7585556903281556,0.71338606911949],"aabb_xy":[[0.08205240793332648,-0.7711510865530212],[0.10725780620747939,-0.7459602941032902]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_28","position":[0.21992689852296432,1.1012717061860475,0.71338606911949],"aabb_xy":[[0.19742689851281603,1.0871754865464442],[0.2424268985331126,1.1153679258256508]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_29","position":[0.49333667483144716,0.38673960166693666,0.71338606911949],"aabb_xy":[[0.4393210785495471,0.32273959877467945],[0.5473522711133472,0.45073960455919376]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6575854119271486,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5779.png","name":"5779"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5779.png","name":"5779"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2594.png","name":"2594"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9510.png","name":"9510"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6764.png","name":"6764"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8340.png","name":"8340"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":808.8749704822451,"rotation_z_degrees":141.5190998484123,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0046546241687418725,0.0011871572460396967,-0.009170842427032904]},{"name":"camera_2","offset_m":[-0.0026113780052694976,0.016196299292196254,0.0013764205965816206]},{"name":"camera_3","offset_m":[0.0011430236302076256,0.015282292093806892,0.01367190683498112]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001580854725034316,0.0008121077417323351,-0.000493970538411936],"end_effector_yaw_offset_degrees":0.24021481269313982},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004838185048202863,0.0006615218852889771,0.0012464496085100927],"end_effector_yaw_offset_degrees":-0.2848406710098099},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010528878158249763,-0.00038286465055273095,0.0018927497523099379],"end_effector_yaw_offset_degrees":0.9032054385041259},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00045398440931094207,0.0006600435797694845,-0.0010817668095817105],"end_effector_yaw_offset_degrees":0.4856761328248942}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0043586482088288775,-0.0014256290609678548],"position_m":[0.2866413517911711,-0.07842562906096785,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0002676384218360294,0.0013718899510578378],"position_m":[0.24406763842183601,-0.33282811004894214,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003973857707036744,0.0018073314946920717],"position_m":[0.19292614229296326,0.30950733149469206,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003932824200196726,0.004352340617436873],"position_m":[0.32666717579980326,0.08525234061743688,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"26a2b2bb3f666faf272c3a94552672e29131baa9f2719dafc69bf0f362ab639e","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0010.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5779/tex_ceiling_textures_8340/tex_floor_textures_6764/tex_table_textures_2594/tex_wall_textures_9510","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3298248541599578680,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3298248541599578680,"visual_seed":3298248541599578680,"scene_id":"lab_003","finished_at":"2026-09-04T18:36:00"}
+{"episode_id":"ep_000008","started_at":"2026-09-04T18:38:25","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[0.2140257782895162,-2.015354510159252,0.71338606911949],"aabb_xy":[[0.19581995462826854,-2.0263799107412437],[0.2322316019507639,-2.0043291095772604]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_1","position":[0.3370459878130305,1.3360867443679578,0.71338606911949],"aabb_xy":[[0.29954598752085576,1.3320452689673543],[0.3745459881052054,1.3401282197685613]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[-0.27375388721738525,1.2899985278191455,0.71338606911949],"aabb_xy":[[-0.2818815754106984,1.281084919408438],[-0.265626199024072,1.2989121362298535]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_3","position":[-0.04070994797593164,-0.34589603494201127,0.71338606911949],"aabb_xy":[[-0.06525616359868236,-0.37614493149104833],[-0.01616373235318092,-0.3156471383929742]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_4","position":[0.4867195958296229,1.22905357743352,0.71338606911949],"aabb_xy":[[0.47737258824732764,1.214749955215876],[0.4960666034119181,1.243357199651164]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[-0.05148220621436472,-0.9334712326646195,0.71338606911949],"aabb_xy":[[-0.09676082109551398,-0.9974712320128032],[-0.006203591333215457,-0.8694712333164358]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_6","position":[0.3758826491394234,-1.2125549501013562,0.71338606911949],"aabb_xy":[[0.3259038406291075,-1.2625549501070747],[0.42586145764973926,-1.1625549500956371]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_7","position":[-0.14855432277036695,-2.178086890702569,0.71338606911949],"aabb_xy":[[-0.18203349003140792,-2.2115660040736764],[-0.11507515550932604,-2.1446077773314625]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[0.07610956678395642,-1.043638152134883,0.71338606911949],"aabb_xy":[[0.053609566970054034,-1.0481127685053637],[0.0986095665978588,-1.0391635357644022]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_9","position":[-0.55594022930423,-0.9147674779171107,0.71338606911949],"aabb_xy":[[-0.5690914752755194,-0.9397674776737972],[-0.5427889833329407,-0.8897674781604241]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[0.024347839768862678,1.376680739614946,0.71338606911949],"aabb_xy":[[-0.00430149259155355,1.34803518033787],[0.0529971721292789,1.4053262988920217]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_11","position":[0.1509575337436232,0.6581289901748777,0.71338606911949],"aabb_xy":[[0.10147711252966443,0.5941289922620259],[0.20043795495758202,0.7221289880877295]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_12","position":[-0.13338890212448062,1.5210746666588357,0.71338606911949],"aabb_xy":[[-0.22338889862535238,1.4751630242403775],[-0.043388905623608885,1.566986309077294]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.39823828458801147,-1.8259941583157375,0.71338606911949],"aabb_xy":[[0.3863662015765103,-1.9109941580093879],[0.4101103675995125,-1.7409941586220872]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.19337674960345352,-1.1475301271452538,0.71338606911949],"aabb_xy":[[0.12937674819546285,-1.1993190786691783],[0.2573767510114442,-1.0957411756213289]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[-0.2364083012419032,-0.41339077980223893,0.71338606911949],"aabb_xy":[[-0.28640757641033937,-0.46339078107818604],[-0.18640902607346704,-0.3633907785262917]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[0.2807623877665667,-1.4312857236561585,0.71338606911949],"aabb_xy":[[0.24396775464166043,-1.4681915987527403],[0.317557020891473,-1.3943798485595758]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_17","position":[0.37246382918796406,0.4899969901946837,0.71338606911949],"aabb_xy":[[0.36712625352195954,0.4649969892655439],[0.3778014048539687,0.5149969911238235]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_18","position":[0.37378584171244733,-0.7089966475855431,0.71338606911949],"aabb_xy":[[0.36832789607542726,-0.7889966508932023],[0.3792437873494674,-0.628996644277884]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.5639635482001375,1.0434066747878532,0.71338606911949],"aabb_xy":[[0.5211968413207174,0.9794066713660508],[0.6067302550795578,1.1074066782096557]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_20","position":[-0.2523713566280934,-1.2427883496035166,0.71338606911949],"aabb_xy":[[-0.33237135521541283,-1.3221039515416775],[-0.172371358040774,-1.1634727476653557]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[0.7066355779471682,-0.7405987538105716,0.71338606911949],"aabb_xy":[[0.69901130985699,-0.7482319773471154],[0.7142598460373465,-0.732965530274028]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_22","position":[-0.23713838456098985,0.6409009687806284,0.71338606911949],"aabb_xy":[[-0.30113838623898714,0.5923835773013142],[-0.17313838288299246,0.6894183602599426]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[0.04395507294688439,-2.493386875833835,0.71338606911949],"aabb_xy":[[-0.0210449249347634,-2.5445105395403758],[0.1089550708285322,-2.442263212127294]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_24","position":[0.4396048894185507,-0.4210908062814198,0.71338606911949],"aabb_xy":[[0.38960488805766347,-0.4710687108568354],[0.4896048907794379,-0.37111290170600414]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[-0.10536892643568074,1.071054583189495,0.71338606911949],"aabb_xy":[[-0.1693689271391501,1.025036200716574],[-0.04136892573221141,1.117072965662416]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_26","position":[0.4672955657122755,-1.4376618034698754,0.71338606911949],"aabb_xy":[[0.41948939809850677,-1.5026618061769341],[0.5151017333260441,-1.3726618007628164]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[-0.3495975249211928,-0.26585516573722145,0.71338606911949],"aabb_xy":[[-0.40459073625832964,-0.32085516607601505],[-0.2946043135840561,-0.21085516539842786]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_28","position":[0.656006400248013,-0.6452632956642366,0.71338606911949],"aabb_xy":[[0.6256082891488693,-0.6756701976659061],[0.6864045113471565,-0.6148563936625671]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_29","position":[-0.613558638262701,-1.3491244094947328,0.71338606911949],"aabb_xy":[[-0.6485586396141827,-1.3694841454515534],[-0.5785586369112192,-1.3287646735379117]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_30","position":[0.6433612777978988,-1.5928886488487586,0.71338606911949],"aabb_xy":[[0.6325096715490232,-1.6037479395764096],[0.6542128840467744,-1.5820293581211076]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_31","position":[0.4916397850047882,0.11571238084875413,0.71338606911949],"aabb_xy":[[0.4741397847597389,0.09821259300918728],[0.5091397852498376,0.13321216868832098]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_32","position":[0.4367534691590387,1.7554993992169599,0.71338606911949],"aabb_xy":[[0.3992534690534456,1.7486772373639787],[0.4742534692646315,1.762321561069941]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_33","position":[0.279087994602391,-2.4514130135550602,0.71338606911949],"aabb_xy":[[0.19908799134454802,-2.5314095213470442],[0.35908799786023393,-2.3714165057630763]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_34","position":[-0.49684493103277116,0.5764194634181643,0.71338606911949],"aabb_xy":[[-0.5302851062287907,0.5429758375872341],[-0.4634047558367515,0.6098630892490943]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6571964837535043,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5516.png","name":"5516"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5516.png","name":"5516"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1019.png","name":"1019"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2938.png","name":"2938"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5041.png","name":"5041"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8416.png","name":"8416"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":712.8867114592229,"rotation_z_degrees":199.13918915263108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004662296332189104,-0.011178883718515947,0.004707683200457408]},{"name":"camera_2","offset_m":[-0.019660313340682696,-0.0013130313823217186,0.0007625798319879779]},{"name":"camera_3","offset_m":[0.007061381105141748,0.007452137836989815,0.008670672194201926]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019420071428465438,0.00010187427306150663,-0.0018132678585587882],"end_effector_yaw_offset_degrees":0.5648053324930999},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001981167617351118,-0.000272891601387582,-0.0011249852285614734],"end_effector_yaw_offset_degrees":0.05075474044072936},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007578457189381903,-0.0014120760218453037,-2.8860272000780316e-05],"end_effector_yaw_offset_degrees":-0.015286319672005444},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016957786848915003,-0.000190416016895123,-0.001464697900944473],"end_effector_yaw_offset_degrees":-0.41915799493306527}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003683875414675685,0.0012717916027316471],"position_m":[0.2873161245853243,-0.07572820839726835,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029279028728095005,-0.003257403813141906],"position_m":[0.2408720971271905,-0.3374574038131419,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017347171747229394,-0.0018457415853153102],"position_m":[0.19516528282527706,0.30585425841468467,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028859509693756813,-0.0019198130286171566],"position_m":[0.32771404903062434,0.07898018697138284,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"58666ba6c6f76a08f65b6a488c7361ed53f148ff7d01a070f5dd94cc67c8a0f4","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0012.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5516/tex_ceiling_textures_8416/tex_floor_textures_5041/tex_table_textures_1019/tex_wall_textures_2938","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2026639047102420247,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2026639047102420247,"visual_seed":2026639047102420247,"scene_id":"lab_003","finished_at":"2026-09-04T18:42:34"}
+{"episode_id":"ep_000009","started_at":"2026-09-04T18:42:39","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[-0.5354720300854143,-0.6990489315113755,0.71338606911949],"aabb_xy":[[-0.599472030462948,-0.7487941983621877],[-0.4714720297078807,-0.6493036646605632]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.2019160880630586,0.618925006600223,0.71338606911949],"aabb_xy":[[0.16745374066491678,0.5844311242024001],[0.23637843546120038,0.6534188889980455]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[0.008186036885488024,-2.1757007718271235,0.71338606911949],"aabb_xy":[[-0.04680717445164873,-2.230700772165917],[0.06317924822262479,-2.12070077148833]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[-0.37655338528820015,1.5556351988838792,0.71338606911949],"aabb_xy":[[-0.4365533858842163,1.5008227263386558],[-0.31655338469218397,1.6104476714291027]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_4","position":[-0.37268055577243514,0.7145723486396451,0.71338606911949],"aabb_xy":[[-0.45268055793519757,0.6346171650135014],[-0.2926805536096726,0.7945275322657886]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_5","position":[0.5352894082854993,0.9918241883396606,0.71338606911949],"aabb_xy":[[0.5002894090926809,0.9808571423419977],[0.5702894074783175,1.0027912343373229]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[0.08927024221357993,-1.176610184795909,0.71338606911949],"aabb_xy":[[0.07770126146664337,-1.2016101849128407],[0.10083922296051652,-1.1516101846789772]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[0.26509851129963335,-2.2866657869240132,0.71338606911949],"aabb_xy":[[0.21009851212304387,-2.3416554616989704],[0.32009851047622284,-2.231676112149055]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.22517817309732097,-1.4493943904811493,0.71338606911949],"aabb_xy":[[-0.27515698160763685,-1.4993943904868678],[-0.17519936458700508,-1.3993943904754302]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_9","position":[0.3718279165654972,-0.9414566314450246,0.71338606911949],"aabb_xy":[[0.30682791653119446,-0.9881573081253519],[0.4368279165997999,-0.8947559547646973]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[-0.1525063126985493,0.8977844213776636,0.71338606911949],"aabb_xy":[[-0.22250631609011126,0.8624686476742326],[-0.08250630930698731,0.9331001950810943]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_11","position":[0.3543304202009232,-1.6464073621353421,0.71338606911949],"aabb_xy":[[0.31683041868529144,-1.657634135151487],[0.39183042171655486,-1.6351805891191968]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[-0.44731110132224705,-2.4262446301237466,0.71338606911949],"aabb_xy":[[-0.4784580201658301,-2.4962446288105538],[-0.4161641824786639,-2.3562446314369394]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_13","position":[-0.40885416740948105,-0.9716391482703275,0.71338606911949],"aabb_xy":[[-0.4728541676834593,-1.0217052484676155],[-0.3448541671355028,-0.9215730480730395]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.11552799131461722,0.12247171337546536,0.71338606911949],"aabb_xy":[[-0.1405279905865795,0.106126349779303],[-0.09052799204265494,0.13881707697162768]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[0.5620002083609603,0.45410857934017823,0.71338606911949],"aabb_xy":[[0.544500209226593,0.4442289523025904],[0.5795002074953274,0.46398820637776605]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_16","position":[0.6469663607971514,-0.9917642540891123,0.71338606911949],"aabb_xy":[[0.6280819770286411,-1.010650178869465],[0.6658507445656615,-0.9728783293087595]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[-0.13677479647890523,0.5173044223310983,0.71338606911949],"aabb_xy":[[-0.1726883009038949,0.4813909141143437],[-0.10086129205391552,0.553217930547853]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_18","position":[-0.4136600808944411,-0.20896324375245223,0.71338606911949],"aabb_xy":[[-0.42092132846484853,-0.22175025401596174],[-0.4063988333240337,-0.19617623348894278]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[0.4763186304119924,1.7442472799939837,0.71338606911949],"aabb_xy":[[0.43952399728708613,1.7073414048974012],[0.5131132635368987,1.7811531550905657]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.6769514777210939,-0.39606884521061314,0.71338606911949],"aabb_xy":[[0.6544867077496888,-0.41856884608947365],[0.699416247692499,-0.37356884433175264]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[-0.29580019553161246,0.9375502784330001,0.71338606911949],"aabb_xy":[[-0.32031381962861827,0.9132856851309636],[-0.27128657143460655,0.9618148717350365]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.7018508104158263,0.14108316265153586,0.71338606911949],"aabb_xy":[[0.6977348603037535,0.13696760761869034],[0.7059667605278989,0.14519871768438133]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[-0.45653701805561064,-2.045375883095264,0.71338606911949],"aabb_xy":[[-0.46295083169879553,-2.051785703342932],[-0.45012320441242565,-2.038966062847596]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[0.5119701518837014,-2.4070978906908533,0.71338606911949],"aabb_xy":[[0.49909824838276123,-2.4870978911046895],[0.5248420553846415,-2.327097890277017]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_25","position":[0.25526642627339236,-2.438454898484113,0.71338606911949],"aabb_xy":[[0.21776642769777152,-2.4511911941476705],[0.2927664248490131,-2.4257186028205546]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[-0.4376113874663659,1.7272558558129218,0.71338606911949],"aabb_xy":[[-0.4726113857364858,1.7201817281179337],[-0.402611389196246,1.73432998350791]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_27","position":[-0.5709762895732252,0.016379474026324115,0.71338606911949],"aabb_xy":[[-0.5884762888513121,-0.0009586260400218372],[-0.5534762902951383,0.033717574092670066]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_28","position":[-0.6500387275774383,-1.0901847956949964,0.71338606911949],"aabb_xy":[[-0.6750387271291768,-1.100327279560131],[-0.6250387280256998,-1.0800423118298617]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[0.5006664263445779,1.2988823748830582,0.71338606911949],"aabb_xy":[[0.43066642370799146,1.2787775098871925],[0.5706664289811642,1.3189872398789235]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_30","position":[0.3424735072044327,-0.5677063165069134,0.71338606911949],"aabb_xy":[[0.3249735069593833,-0.5852061043464801],[0.3599735074494821,-0.5502065286673464]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_31","position":[0.14307161990254136,-0.9225731992952795,0.71338606911949],"aabb_xy":[[0.12118187231360057,-1.0125731965845284],[0.16496136749148216,-0.8325732020060302]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6589514978664562,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9909.png","name":"9909"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9909.png","name":"9909"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6480.png","name":"6480"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5449.png","name":"5449"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1260.png","name":"1260"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9108.png","name":"9108"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":823.7547937238764,"rotation_z_degrees":144.1472562902964,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01680541850669685,0.0016457573204220893,0.006076141735550284]},{"name":"camera_2","offset_m":[-0.014922136176676305,0.0017361188732083893,-0.010855041288762383]},{"name":"camera_3","offset_m":[-0.0101345968718043,0.0034181092028946966,0.01800635519789966]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012888826320291663,-0.0017428200592911583,-0.0019431807274904163],"end_effector_yaw_offset_degrees":-0.006184304077877512},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013795170780250181,0.00154857697569425,0.0003149021859480605],"end_effector_yaw_offset_degrees":0.5928756863693363},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017363995678921313,0.0008448787081058603,-7.018044816685083e-05],"end_effector_yaw_offset_degrees":0.4864580602226958},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011919379321084773,-0.0012354787608594461,-0.0002262279239600997],"end_effector_yaw_offset_degrees":-0.7781357028539355}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014972217215592307,-0.003858185186280335],"position_m":[0.29249722172155923,-0.08085818518628034,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008607807651843007,-0.00031441687769841273],"position_m":[0.2446607807651843,-0.3345144168776984,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00347385381962282,-0.001226716662290035],"position_m":[0.19342614618037718,0.30647328333770996,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003996058574407517,-0.004748232218168569],"position_m":[0.3266039414255925,0.07615176778183143,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"710f855bb451ead301ef5b6a14a611a846212476197409ab79a028b7442bfad5","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0013.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9909/tex_ceiling_textures_9108/tex_floor_textures_1260/tex_table_textures_6480/tex_wall_textures_5449","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2248711871763391724,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2248711871763391724,"visual_seed":2248711871763391724,"scene_id":"lab_003","finished_at":"2026-09-04T18:46:10"}
+{"episode_id":"ep_000010","started_at":"2026-09-04T18:46:13","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_0","position":[-0.5768844052910985,0.6809892045075698,0.71338606911949],"aabb_xy":[[-0.6268775174002905,0.6309892038333742],[-0.5268912931819068,0.7309892051817655]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[-0.07371098555809019,0.548363587306397,0.71338606911949],"aabb_xy":[[-0.07904856122409476,0.5233635863772572],[-0.06837340989208562,0.5733635882355368]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[0.3168607426361527,-0.8931620738149468,0.71338606911949],"aabb_xy":[[0.2818607443254572,-0.9008770887384925],[0.3518607409468481,-0.8854470588914012]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[-0.5471290946456866,-0.3784016402723305,0.71338606911949],"aabb_xy":[[-0.554753362735865,-0.38603486380887425],[-0.5395048265555085,-0.37076841673578675]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.17958370504540222,0.22316427375422876,0.71338606911949],"aabb_xy":[[-0.22486231992655148,0.15916427440604505],[-0.13430509016425296,0.28716427310241244]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_5","position":[-0.6442358655255728,0.17820782331777352,0.71338606911949],"aabb_xy":[[-0.6815671420508155,0.1435547685229212],[-0.6069045890003303,0.21286087811262583]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.4202634031443542,-1.7318530806967765,0.71338606911949],"aabb_xy":[[-0.4334146491156437,-1.7568530804534634],[-0.407112157173065,-1.7068530809400904]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.6531395434179559,-0.36953832843881695,0.71338606911949],"aabb_xy":[[0.615639542233163,-0.3739565511348774],[0.6906395446027486,-0.3651201057427564]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[-0.3916850164026956,-2.0692675277043424,0.71338606911949],"aabb_xy":[[-0.4141497863741007,-2.091767528583203],[-0.3692202464312905,-2.046767526825482]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.6021492562364714,-0.8684314464259362,0.71338606911949],"aabb_xy":[[-0.6140213392479726,-0.9534314461195863],[-0.5902771732249704,-0.7834314467322856]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_10","position":[0.31982444477802363,1.1598458239334617,0.71338606911949],"aabb_xy":[[0.25482444382089636,1.1078976119997561],[0.3848244457351508,1.2117940358671673]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_11","position":[0.1275282892711186,-1.0073251462993622,0.71338606911949],"aabb_xy":[[0.12048683832037099,-1.0143518980371566],[0.13456974022186619,-1.0002983945615678]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[-0.3077299973895951,0.4727534922155705,0.71338606911949],"aabb_xy":[[-0.3577142330977724,0.42275349340207496],[-0.25774576168141794,0.5227534910290661]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[0.6949807287352319,-1.3178250296700975,0.71338606911949],"aabb_xy":[[0.6900247085503507,-1.3403250298722191],[0.699936748920113,-1.295325029467976]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_14","position":[-0.6352604266075653,1.2486610252785284,0.71338606911949],"aabb_xy":[[-0.6432967613088502,1.2406229059741114],[-0.6272240919062805,1.256699144582945]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[0.04760316312657731,1.7056068708130048,0.71338606911949],"aabb_xy":[[-0.0423968336090329,1.65242340749571],[0.13760315986218752,1.758790334130299]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[0.502350759149758,0.10918777146303649,0.71338606911949],"aabb_xy":[[0.41735076045768327,0.07720190806815765],[0.5873507578418325,0.14117363485791534]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[0.43945046709751634,-0.8144104157065846,0.71338606911949],"aabb_xy":[[0.4069887662155888,-0.844543247821487],[0.47191216797944374,-0.7842775835916819]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_18","position":[0.10245731965005112,1.3166656125513483,0.71338606911949],"aabb_xy":[[0.038457316360343004,1.2733306935474307],[0.16645732293975923,1.360000531555266]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_19","position":[0.31732394050752055,-1.9725099207385963,0.71338606911949],"aabb_xy":[[0.23232394209009732,-2.057384216200881],[0.4023239389249438,-1.8876356252763111]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6577761102256049,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1822.png","name":"1822"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1822.png","name":"1822"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9676.png","name":"9676"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2068.png","name":"2068"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4613.png","name":"4613"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6040.png","name":"6040"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":763.5923463404729,"rotation_z_degrees":129.1671609213588,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0014873575732627757,-0.006006493303886425,-0.0023523468564700736]},{"name":"camera_2","offset_m":[0.006054106988899462,0.01192851231226624,-0.013139783028655616]},{"name":"camera_3","offset_m":[-0.009724285698977994,-0.00552381755661608,0.007337088432908364]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007084098387698998,-0.0009025529808421697,0.0019476439359551274],"end_effector_yaw_offset_degrees":0.9657085861515615},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006778891985993929,-0.0019605080626324935,0.00019368859655340088],"end_effector_yaw_offset_degrees":0.03894501692162722},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007765251283509346,0.001000205998704516,-0.00159151746902429],"end_effector_yaw_offset_degrees":-0.0695618521661805},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014075343423268155,-0.0003026790640048133,0.0015968682956364758],"end_effector_yaw_offset_degrees":0.6608331444331319}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005263396839117595,-0.001820529548230595],"position_m":[0.29047366031608823,-0.0788205295482306,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019270364808476551,0.003835841638776428],"position_m":[0.24572703648084765,-0.33036415836122357,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0019990851233570505,0.004952245066382098],"position_m":[0.19490091487664293,0.31265224506638206,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0045021786252886446,-0.0018769023506431714],"position_m":[0.3260978213747114,0.07902309764935683,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f4a0968aa16625f078e67fbc8f72fdfbdfb5346d5803df31ae9f9c970a0b355c","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0014.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_1822/tex_ceiling_textures_6040/tex_floor_textures_4613/tex_table_textures_9676/tex_wall_textures_2068","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":79957638558212363,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":79957638558212363,"visual_seed":79957638558212363,"scene_id":"lab_003","finished_at":"2026-09-04T18:49:56"}
+{"episode_id":"ep_000011","started_at":"2026-09-04T18:50:00","dimensions":{"distractor":{"count":31,"items":[{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_0","position":[-0.5043328917853364,-0.002563977498634795,0.71338606911949],"aabb_xy":[[-0.5122561720240848,-0.025063977736638154],[-0.49640961154658814,0.019936022739368564]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[0.4535094428412523,1.3736601084661504,0.71338606911949],"aabb_xy":[[0.4160094423438941,1.3696914249180319],[0.4910094433386106,1.377628792014269]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[0.7085795215588984,1.5321320713037916,0.71338606911949],"aabb_xy":[[0.7036802292523348,1.5044551520012226],[0.7134788138654617,1.5598089906063601]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_3","position":[0.37032187680203577,-0.9907862270766585,0.71338606911949],"aabb_xy":[[0.3632804258512882,-0.9978129788144532],[0.3773633277527834,-0.9837594753388641]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[0.5359862574475778,-1.2031031239598773,0.71338606911949],"aabb_xy":[[0.4984862570993499,-1.2148945195409608],[0.5734862577958054,-1.1913117283787937]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[-0.08977158347947123,0.3731908169922047,0.71338606911949],"aabb_xy":[[-0.09788523815284833,0.36508500053817555],[-0.08165792880609413,0.3812966334462337]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[-0.20271925082217818,1.3110837414279657,0.71338606911949],"aabb_xy":[[-0.24021925148675682,1.2953966834277433],[-0.16521925015759942,1.3267707994281877]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[0.21183096828581793,-0.8204117543893339,0.71338606911949],"aabb_xy":[[0.1768309683093221,-0.8298763704369507],[0.24683096826231377,-0.8109471383417175]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[-0.171312420468818,-0.6674693961122526,0.71338606911949],"aabb_xy":[[-0.18881241960318515,-0.6773490231498405],[-0.1538124213344508,-0.6575897690746648]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_9","position":[-0.3237072343184652,-0.8753729785598536,0.71338606911949],"aabb_xy":[[-0.4037072357485924,-0.954890133572463],[-0.243707232888338,-0.795855823547244]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[0.6520083153349852,0.013953623903410595,0.71338606911949],"aabb_xy":[[0.6295083148229444,-0.00853823446198776],[0.6745083158470256,0.03644548226880895]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.5899817776222805,-0.13183156482438818,0.71338606911949],"aabb_xy":[[-0.607850885376736,-0.1456644728015991],[-0.572112669867825,-0.11799865684717725]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[-0.5564523187726425,0.41332114613938353,0.71338606911949],"aabb_xy":[[-0.5666053343267917,0.3772516045666431],[-0.546299303218493,0.44939068771212376]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.4727958319557539,-1.3323182408335004,0.71338606911949],"aabb_xy":[[0.4635022137186033,-1.369818239321634],[0.48208945019290445,-1.2948182423453662]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[-0.4034621714905601,0.34209135904081256,0.71338606911949],"aabb_xy":[[-0.4834621700778795,0.2627757571026516],[-0.32346217290324064,0.4214069609789734]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_15","position":[-0.18584426832174017,-1.3895981753466962,0.71338606911949],"aabb_xy":[[-0.23583910124968177,-1.4395981742419397],[-0.13584943539379857,-1.3395981764514526]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[-0.10127443651065526,1.723604120636216,0.71338606911949],"aabb_xy":[[-0.15626991433131465,1.668604119202309],[-0.04627895868999586,1.778604122070123]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_17","position":[0.008084049443308428,-2.3914783439185876,0.71338606911949],"aabb_xy":[[-0.046915950178437416,-2.4464620367060603],[0.06308404906505427,-2.336494651131115]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[0.13466708354440593,0.9211053797773041,0.71338606911949],"aabb_xy":[[0.08858199228967444,0.8571053825247491],[0.18075217479913738,0.9851053770298593]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.5559406215574052,-1.7453956366167311,0.71338606911949],"aabb_xy":[[0.5479143509267792,-1.754147131594084],[0.5639668921880312,-1.7366441416393787]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.43258775456346044,-0.4917561913116164,0.71338606911949],"aabb_xy":[[0.3725877539674443,-0.5465686638568399],[0.49258775515947667,-0.436943718766393]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[-0.06175188436680579,0.7161945446883773,0.71338606911949],"aabb_xy":[[-0.09519205956282537,0.6827509188574471],[-0.02831170917078617,0.7496381705193073]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_22","position":[0.6160000283445854,0.60038642818186,0.71338606911949],"aabb_xy":[[0.5360000303638003,0.592784887220008],[0.6960000263253704,0.6079879691437119]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_23","position":[-0.4837182133354262,-2.2683134401466107,0.71338606911949],"aabb_xy":[[-0.5453089725594191,-2.332313438255658],[-0.42212745411143343,-2.2043134420375643]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_24","position":[0.6616761633621311,-2.0023804366345526,0.71338606911949],"aabb_xy":[[0.6066761651603861,-2.0429024032609897],[0.7166761615638758,-1.9618584700081148]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_25","position":[-0.5600302457661067,0.9404293229429279,0.71338606911949],"aabb_xy":[[-0.624030246469576,0.894410940470007],[-0.4960302450626374,0.986447705415849]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[-0.5409992870372423,1.4151568099723,0.71338606911949],"aabb_xy":[[-0.6049992892576492,1.3707837258470117],[-0.4769992848168352,1.4595298940975883]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_27","position":[0.5858380322598469,1.4901220141811247,0.71338606911949],"aabb_xy":[[0.5218380289701385,1.4467870951772068],[0.6498380355495548,1.533456933185042]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_28","position":[0.5734151194313968,0.3025908179117516,0.71338606911949],"aabb_xy":[[0.5134151177884749,0.2505906686198074],[0.6334151210743186,0.35459096720369576]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_29","position":[-0.2054607938826205,0.4859971569227155,0.71338606911949],"aabb_xy":[[-0.2400518767366657,0.42099715663768433],[-0.17086971102857526,0.5509971572077463]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_30","position":[0.3937135334393598,1.233359280057603,0.71338606911949],"aabb_xy":[[0.3778290401740346,1.2190063397587787],[0.4095980267046849,1.2477122203564268]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6545711763482774,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9668.png","name":"9668"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9668.png","name":"9668"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6689.png","name":"6689"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9407.png","name":"9407"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5522.png","name":"5522"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8561.png","name":"8561"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":775.159158688781,"rotation_z_degrees":277.7782047414979,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016286070475543472,0.013461677715897558,0.0132676268332769]},{"name":"camera_2","offset_m":[-0.00848298970950891,-0.011959769533885431,-0.002132412226700176]},{"name":"camera_3","offset_m":[-0.009917879983647557,-0.011871450948009038,0.015358264013789907]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004779081551701961,-0.0009125275869823067,-0.0012584575252077262],"end_effector_yaw_offset_degrees":-0.27659560293733243},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001483268385963024,-0.0013964925056018842,-0.001976911328962638],"end_effector_yaw_offset_degrees":-0.10298676118988315},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013661466504668626,-0.0005853110471594838,1.2129663865875513e-05],"end_effector_yaw_offset_degrees":0.9478361866260252},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019112815805922678,0.0012641182440521039,0.0005872342624446544],"end_effector_yaw_offset_degrees":0.927785254515157}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003649470512108381,0.0007132981410112342],"position_m":[0.2946494705121084,-0.07628670185898877,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002507555374625211,0.0025985491290247],"position_m":[0.24129244462537477,-0.3316014508709753,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0046671864624601295,-0.002141182534408069],"position_m":[0.19223281353753985,0.3055588174655919,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026546337161068327,-0.0001054701319382189],"position_m":[0.33325463371610686,0.08079452986806178,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"19eef453dbb26bc729d440219b991e47cbacb0a27417b16b93542106769faa12","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0015.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9668/tex_ceiling_textures_8561/tex_floor_textures_5522/tex_table_textures_6689/tex_wall_textures_9407","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":262417619289528028,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":262417619289528028,"visual_seed":262417619289528028,"scene_id":"lab_003","finished_at":"2026-09-04T18:53:32"}
+{"episode_id":"ep_000012","started_at":"2026-09-04T18:57:33","dimensions":{"distractor":{"count":25,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[-0.383197131422536,-0.3461949083938851,0.71338606911949],"aabb_xy":[[-0.4056971309462433,-0.36869085584450584],[-0.3606971318988285,-0.3236989609432643]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_1","position":[0.42251485698880464,-0.4970997118569578,0.71338606911949],"aabb_xy":[[0.3425148537247915,-0.5106597441658711],[0.5025148602528178,-0.48353967954804444]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_2","position":[-0.6595627349359001,0.8613930193349222,0.71338606911949],"aabb_xy":[[-0.6771410371248469,0.8438185297608173],[-0.6419844327469532,0.8789675089090271]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_3","position":[0.1431477559357518,1.6315450752124652,0.71338606911949],"aabb_xy":[[0.07314775380432223,1.6087831095867693],[0.2131477580671813,1.6543070408381606]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_4","position":[0.6059261912856815,-1.6592156124400985,0.71338606911949],"aabb_xy":[[0.6005936766310686,-1.664539940685334],[0.6112587059402946,-1.653891284194863]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_5","position":[0.12340804282552409,-1.9013814871820434,0.71338606911949],"aabb_xy":[[0.06340804118260224,-1.9533816364739875],[0.18340804446844594,-1.8493813378900992]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_6","position":[-0.08682322458630876,0.9801219118682596,0.71338606911949],"aabb_xy":[[-0.09240489622043752,0.9676219120504842],[-0.08124155295218,0.9926219116860352]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[0.5852634452601966,0.40205638101670127,0.71338606911949],"aabb_xy":[[0.5352634439763565,0.3520775266260791],[0.6352634465440364,0.4520352354073233]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[-0.4834550407066725,0.251454560589385,0.71338606911949],"aabb_xy":[[-0.4963269442076127,0.1714545601755488],[-0.4705831372057324,0.33145456100322107]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_9","position":[-0.5274565981167743,0.5741318563812894,0.71338606911949],"aabb_xy":[[-0.5382970763432892,0.5569455750906406],[-0.5166161198902594,0.5913181376719382]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[0.0014474784313844857,1.0205333088552844,0.71338606911949],"aabb_xy":[[-0.03355252076143378,1.0095662628576216],[0.03644747762420275,1.0315003548529467]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[-0.48997009275926673,1.2547110010385212,0.71338606911949],"aabb_xy":[[-0.5539700891865886,1.2075413772164247],[-0.4259700963319448,1.3018806248606176]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[0.23188937270738852,-1.3748271124666778,0.71338606911949],"aabb_xy":[[0.20998069056803742,-1.3967277792867683],[0.2537980548467395,-1.3529264456465868]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_13","position":[-0.5970315688970782,-1.8787157509553343,0.71338606911949],"aabb_xy":[[-0.6380495122834491,-1.9287157515862916],[-0.5560136255107073,-1.828715750324377]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_14","position":[-0.24090461586273954,-2.214942849820265,0.71338606911949],"aabb_xy":[[-0.29090461622330555,-2.264922837029868],[-0.19090461550217344,-2.164962862610662]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[-0.525675519268791,-1.2406039197665022,0.71338606911949],"aabb_xy":[[-0.5506755192013089,-1.2474865879874255],[-0.5006755193362731,-1.2337212515455789]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[-0.6111712014988016,1.5635093199289565,0.71338606911949],"aabb_xy":[[-0.6911712036615639,1.4835541363028126],[-0.531171199336039,1.6434645035550999]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.6573678071940461,0.9317235802680104,0.71338606911949],"aabb_xy":[[0.6223678058425642,0.9113638443111896],[0.6923678085455277,0.9520833162248312]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[-0.5238634549765763,0.9433285234683289,0.71338606911949],"aabb_xy":[[-0.5463634549867246,0.9292323038287255],[-0.501363454966428,0.957424743107932]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_19","position":[0.5645697476530294,1.283541144943599,0.71338606911949],"aabb_xy":[[0.5532080129997431,1.2721726785373109],[0.5759314823063154,1.294909611349887]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[-0.4031451688123295,0.5290037999563282,0.71338606911949],"aabb_xy":[[-0.4532426327934031,0.4650037994465164],[-0.35304770483125586,0.59300380046614]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[0.23509595062131128,-1.6156529494696326,0.71338606911949],"aabb_xy":[[0.1850959489598165,-1.665651391725335],[0.285095952282806,-1.5656545072139296]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_22","position":[0.1936066907256091,0.9523396213175856,0.71338606911949],"aabb_xy":[[0.17650461276724094,0.9352328157863158],[0.21070876868397725,0.9694464268488553]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_23","position":[-0.21806969838234752,-1.5065603786389823,0.71338606911949],"aabb_xy":[[-0.27319490401193824,-1.5665603800802694],[-0.16294449275275674,-1.4465603771976951]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[0.06986454087428096,1.7899828752082603,0.71338606911949],"aabb_xy":[[0.060704661930404344,1.7834516571647234],[0.07902441981815754,1.7965140932517976]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6615602120410973,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5347.png","name":"5347"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5347.png","name":"5347"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4368.png","name":"4368"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7398.png","name":"7398"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5546.png","name":"5546"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1147.png","name":"1147"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":769.1603554364324,"rotation_z_degrees":74.87138798657836,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01158159511911085,0.008707899868524917,-0.00046221195661357364]},{"name":"camera_2","offset_m":[-0.013974651723833494,-0.016223460686858218,-0.008985493836321572]},{"name":"camera_3","offset_m":[-0.004735919374382287,-0.0011958063527424158,0.01698530869295992]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014436196304107663,0.001660178449975304,0.0003495569026084567],"end_effector_yaw_offset_degrees":-0.2789557737679125},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0002646577534173638,-0.001787803550768747,0.000989677016367969],"end_effector_yaw_offset_degrees":0.5490908805890715},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005804472249059949,-0.0007307763576309635,0.001337421604545642],"end_effector_yaw_offset_degrees":-0.41567554341718593},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006186064474255578,-0.0010287817586209114,0.0017042016080263192],"end_effector_yaw_offset_degrees":-0.040316134424142724}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[7.981092602246578e-05,-0.00447903839143652],"position_m":[0.2910798109260224,-0.08147903839143653,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023664261191841075,-0.002894704298848674],"position_m":[0.2461664261191841,-0.3370947042988487,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017779576413046007,-0.0003249598077080208],"position_m":[0.19867795764130458,0.30737504019229195,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0047528679258742,-0.003658783881547151],"position_m":[0.3258471320741258,0.07724121611845285,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f5a6caadfea49367dee7d19d56fac29f43284408d683e849bafd43992a744d78","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0017.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_5347/tex_ceiling_textures_1147/tex_floor_textures_5546/tex_table_textures_4368/tex_wall_textures_7398","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6784831473864385700,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6784831473864385700,"visual_seed":6784831473864385700,"scene_id":"lab_003","finished_at":"2026-09-04T19:01:15"}
+{"episode_id":"ep_000013","started_at":"2026-09-04T19:01:19","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[-0.4679081726912755,0.5143635307825973,0.71338606911949],"aabb_xy":[[-0.4751694202616829,0.5015765205190879],[-0.4606469251208681,0.5271505410461068]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_1","position":[0.4239845887220972,-0.054537867070084456,0.71338606911949],"aabb_xy":[[0.404093548841757,-0.0671936783547813],[0.4438756286024375,-0.04188205578538761]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_2","position":[-0.6005411922257543,-2.106968340637637,0.71338606911949],"aabb_xy":[[-0.6255411921582722,-2.1138510088585605],[-0.5755411922932364,-2.1000856724167134]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[-0.15066584721139042,0.9962541997099281,0.71338606911949],"aabb_xy":[[-0.20066068013933203,0.9462542008146847],[-0.10067101428344882,1.0462541986051717]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[-0.6018365505859372,-1.6422928556662382,0.71338606911949],"aabb_xy":[[-0.6818365520160644,-1.7218100106788474],[-0.52183654915581,-1.5627757006536285]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[0.3755405838525254,-1.2290506048297587,0.71338606911949],"aabb_xy":[[0.3580405835931888,-1.2431421470185313],[0.3930405841118621,-1.214959062640986]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_6","position":[-0.2445426659754491,-1.5559117527281667,0.71338606911949],"aabb_xy":[[-0.2790051439885369,-1.5625754299110894],[-0.21008018796236133,-1.5492480755452436]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_7","position":[-0.39858792310408897,-2.0650622412705086,0.71338606911949],"aabb_xy":[[-0.4152650590971845,-2.081762165244439],[-0.38191078711099347,-2.0483623172965784]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_8","position":[-0.2407220292126448,-0.5193778652725687,0.71338606911949],"aabb_xy":[[-0.259606412981155,-0.5382637900529216],[-0.2218376454441346,-0.500491940492216]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[-0.13673949850782385,-0.6601139817725921,0.71338606911949],"aabb_xy":[[-0.196739498759225,-0.7143953068090566],[-0.07673949825642265,-0.6058326567361273]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[-0.389390747382751,-1.5096482895800658,0.71338606911949],"aabb_xy":[[-0.40682146246175743,-1.5269204042439164],[-0.3719600323037444,-1.4923761749162148]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.37668103588630036,-0.9993310333189311,0.71338606911949],"aabb_xy":[[-0.3948868595475481,-1.010356433900923],[-0.35847521222505274,-0.9883056327369396]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[0.08192512177208389,-2.5286046130566366,0.71338606911949],"aabb_xy":[[0.016925123215011065,-2.5583571464705193],[0.14692512032915672,-2.498852079642754]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[0.4461845488459575,-1.9248522968347797,0.71338606911949],"aabb_xy":[[0.4342518144841294,-1.9372344496426392],[0.45811728320778555,-1.9124701440269205]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_14","position":[0.37849212192232273,-1.0932550533851875,0.71338606911949],"aabb_xy":[[0.37478886059318384,-1.096957071693905],[0.38219538325146163,-1.0895530350764695]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_15","position":[0.0431177873922719,1.7224738696921889,0.71338606911949],"aabb_xy":[[-0.02088221482813512,1.6781007855669006],[0.10711778961267893,1.7668469538174771]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.32391772270482866,1.3931825367952348,0.71338606911949],"aabb_xy":[[0.2589177226705259,1.3464818601149076],[0.38891772273913133,1.4398832134755621]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_17","position":[-0.5816496311041941,-0.8573823983678677,0.71338606911949],"aabb_xy":[[-0.5918026466583434,-0.8934519399406076],[-0.5714966155500446,-0.8213128567951269]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_18","position":[-0.4830749970970408,-0.9254406896088694,0.71338606911949],"aabb_xy":[[-0.5135592472240709,-0.9754406893903653],[-0.45259074697001056,-0.8754406898273734]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[-0.4331025312910139,-1.9116221159327171,0.71338606911949],"aabb_xy":[[-0.5231025349679319,-1.973054522509821],[-0.3431025276140956,-1.8501897093556123]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[0.404645036734518,-1.552342380913619,0.71338606911949],"aabb_xy":[[0.3937392606469553,-1.6323423773124481],[0.41555081282208073,-1.4723423845147898]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[0.4890872275907088,0.5177982335622398,0.71338606911949],"aabb_xy":[[0.4666224576193037,0.49529823268337914],[0.5115519975621139,0.5402982344411001]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[0.6163097579332557,-2.484318930512472,0.71338606911949],"aabb_xy":[[0.6121739016005556,-2.521818929956829],[0.620445614265956,-2.446818931068115]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6575039702196356,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7538.png","name":"7538"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7538.png","name":"7538"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5344.png","name":"5344"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8066.png","name":"8066"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2890.png","name":"2890"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1187.png","name":"1187"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":744.9165970801047,"rotation_z_degrees":35.792280688694916,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01967726285293343,0.0010525508790715232,-0.006851368699186438]},{"name":"camera_2","offset_m":[-0.012437545984729681,-0.0026990959940219085,-0.0024762802450453807]},{"name":"camera_3","offset_m":[0.017209174871944535,-0.006900052236521775,0.003985465186051501]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-5.0934825821539065e-05,0.0017334180788847915,-0.0003819090029038455],"end_effector_yaw_offset_degrees":-0.4345103623151245},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001957958700223177,0.0011149739569797775,-0.0016158875705032463],"end_effector_yaw_offset_degrees":0.9077093790017818},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019019663648369594,9.653973976111096e-05,-0.001884452360358169],"end_effector_yaw_offset_degrees":-0.9329927296532867},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013121067559767434,-0.0013475713413204065,0.0017621505526361453],"end_effector_yaw_offset_degrees":-0.9302602535762496}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0031739685533855033,-0.004143151189300532],"position_m":[0.28782603144661445,-0.08114315118930053,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005069115707748064,0.00021590748798571823],"position_m":[0.24329308842922517,-0.3339840925120143,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004159741292626486,0.0006925668154244878],"position_m":[0.20105974129262646,0.3083925668154245,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011354843643264956,-0.0023196275862165027],"position_m":[0.3294645156356735,0.0785803724137835,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c12aafa142c2b8228c83c8073228b526fd8c5a242e8d967628d6be7de3feca3b","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7538/tex_ceiling_textures_1187/tex_floor_textures_2890/tex_table_textures_5344/tex_wall_textures_8066","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5289582305706416081,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5289582305706416081,"visual_seed":5289582305706416081,"scene_id":"lab_003","finished_at":"2026-09-04T19:04:49"}
+{"episode_id":"ep_000014","started_at":"2026-09-04T19:04:53","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.5270511465376692,1.1853149428865675,0.71338606911949],"aabb_xy":[[-0.5770242120701846,1.1353149430740346],[-0.4770780810051537,1.2353149426991004]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_1","position":[0.15435828269042062,1.4429014126808046,0.71338606911949],"aabb_xy":[[0.0903582804700136,1.3985283285555163],[0.21835828491082765,1.487274496806093]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_2","position":[0.23612295208137324,-0.7234045383644774,0.71338606911949],"aabb_xy":[[0.19393853792054253,-0.7874045386416886],[0.278307366242204,-0.6594045380872662]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_3","position":[0.42914940915768773,0.028529108451419205,0.71338606911949],"aabb_xy":[[0.4238118334916831,0.003529107522279421],[0.43448698482369225,0.05352910938055899]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[0.5523050740543665,-0.44335740226766474,0.71338606911949],"aabb_xy":[[0.47230507539748046,-0.45786226119192763],[0.6323050727112525,-0.42885254334340206]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_5","position":[-0.4604038784940663,-2.51689568627458,0.71338606911949],"aabb_xy":[[-0.4802949183744066,-2.529551497559278],[-0.4405128386137261,-2.504239874989884]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_6","position":[-0.6440365373242342,-0.36751721497648226,0.71338606911949],"aabb_xy":[[-0.6783528144988521,-0.41751721494966],[-0.6097202601496162,-0.31751721500330454]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[-0.6408287287131734,0.22460949183673318,0.71338606911949],"aabb_xy":[[-0.644742601908596,0.21586047643017642],[-0.6369148555177508,0.23335850724328994]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[0.1472367862813604,-1.7546880437545171,0.71338606911949],"aabb_xy":[[0.1122367870885421,-1.7656550897521792],[0.18223678547417863,-1.7437209977568542]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[-0.3034047983111857,0.5533871178708898,0.71338606911949],"aabb_xy":[[-0.34090479897576437,0.5377000598706675],[-0.26590479764660696,0.5690741758711119]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_10","position":[0.6776303148520633,1.456152660788264,0.71338606911949],"aabb_xy":[[0.6526303156864303,1.4492004150829076],[0.7026303140176965,1.4631049064936208]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_11","position":[-0.17977757103171854,0.17731318597088697,0.71338606911949],"aabb_xy":[[-0.24377757337452008,0.13237233472675444],[-0.11577756868891696,0.22225403721501943]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.5709548134913603,1.4215249688301976,0.71338606911949],"aabb_xy":[[-0.6259548126679497,1.3665352940552398],[-0.5159548143147707,1.476514643605155]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.060921148288754834,1.7913296461294297,0.71338606911949],"aabb_xy":[[0.051627530051604247,1.7538296476412956],[0.07021476652590541,1.8288296446175634]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_14","position":[-0.1318564250470574,-2.4103437791357556,0.71338606911949],"aabb_xy":[[-0.18684867568256838,-2.465343780879069],[-0.07686417441154648,-2.3553437773924433]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_15","position":[0.18766950888540468,-1.927252802740934,0.71338606911949],"aabb_xy":[[0.17075877644906287,-1.9407250083335483],[0.20458024132174643,-1.913780597148319]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_16","position":[0.20918790994047853,-2.094559759125004,0.71338606911949],"aabb_xy":[[0.17168790983488555,-2.101381920977985],[0.24668791004607146,-2.0877375972720222]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_17","position":[0.4105452467196147,-0.18629190668432027,0.71338606911949],"aabb_xy":[[0.39897626597267805,-0.211291906801252],[0.4221142274665512,-0.1612919065673886]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[-0.14410762441103175,-1.9418727210172069,0.71338606911949],"aabb_xy":[[-0.17275695677144795,-1.9705182802942824],[-0.1154582920506155,-1.9132271617401309]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[0.7126444945233754,-0.30231313983110253,0.71338606911949],"aabb_xy":[[0.7056041845898385,-0.382313139230774],[0.7196848044569125,-0.22231314043143113]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[-0.44571183007123094,1.574893227352121,0.71338606911949],"aabb_xy":[[-0.45297307764163836,1.5621062170886117],[-0.4384505825008235,1.5876802376156307]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_21","position":[0.11161426328747681,-2.429340247061528,0.71338606911949],"aabb_xy":[[0.061619252328024815,-2.47934024609712],[0.1616092742469289,-2.3793402480259367]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_22","position":[-0.3769921079206935,-1.3238966234592833,0.71338606911949],"aabb_xy":[[-0.41449210773772704,-1.3285348347704249],[-0.33949210810365993,-1.3192584121481412]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[-0.3164105064216941,-1.4118494997784616,0.71338606911949],"aabb_xy":[[-0.32656352197584343,-1.4479190413512015],[-0.30625749086754467,-1.3757799582057209]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[0.3165984216070399,-0.8821117948810904,0.71338606911949],"aabb_xy":[[0.31018460796385494,-0.8885216151287586],[0.3230122352502248,-0.8757019746334219]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_25","position":[0.3373031401941944,0.637698482658664,0.71338606911949],"aabb_xy":[[0.33318719008212166,0.6335829276258185],[0.341419090306267,0.6418140376915096]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_26","position":[0.6813626861868269,0.5202143752721855,0.71338606911949],"aabb_xy":[[0.6642606082284588,0.5031075697409157],[0.6984647641451951,0.5373211808034553]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_27","position":[-0.39434220707366613,0.14452256876309555,0.71338606911949],"aabb_xy":[[-0.44934220527541097,0.10400060213665797],[-0.3393422088719213,0.18504453538953314]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_28","position":[-0.33955844819461983,-1.6228528316610582,0.71338606911949],"aabb_xy":[[-0.34559546119528456,-1.6288795327300067],[-0.3335214351939551,-1.6168261305921106]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_29","position":[-0.15229879216699882,1.4965939619177298,0.71338606911949],"aabb_xy":[[-0.16979879130136596,1.4867143348801415],[-0.13479879303263162,1.5064735889553171]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_30","position":[0.06946635253814526,-2.07538978971003,0.71338606911949],"aabb_xy":[[0.06242490158739766,-2.0824165414478246],[0.07650780348889286,-2.0683630379722358]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_31","position":[0.011223505480576157,1.2494709144545664,0.71338606911949],"aabb_xy":[[-0.05277649656915584,1.2093764313652584],[0.07522350753030815,1.2895653975438743]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_32","position":[0.4709817743900919,1.438370107667501,0.71338606911949],"aabb_xy":[[0.4209817740295258,1.3883901204578977],[0.5209817747506579,1.4883500948771036]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_33","position":[-0.06588878368559836,-0.9748728149030981,0.71338606911949],"aabb_xy":[[-0.09217760800603901,-1.001144248557749],[-0.03959995936515769,-0.9486013812484467]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_34","position":[0.4104579494769489,-1.584495127590275,0.71338606911949],"aabb_xy":[[0.36045794781545415,-1.6344935698459773],[0.4604579511384437,-1.5344966853345718]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569240931144045,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9003.png","name":"9003"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9003.png","name":"9003"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8926.png","name":"8926"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4776.png","name":"4776"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3717.png","name":"3717"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7931.png","name":"7931"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":615.5686537831,"rotation_z_degrees":266.93017419912655,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0031344050743650487,-0.003933410018176799,-0.002934191843870511]},{"name":"camera_2","offset_m":[0.004384975672152094,-0.00889529530314067,-0.0023295872315489408]},{"name":"camera_3","offset_m":[0.0016976183834725538,-0.01972456301699676,0.012079270526093932]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001934661861936703,0.0011239473902441145,-0.0005070068499585627],"end_effector_yaw_offset_degrees":-0.291811635431388},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00029364904329725813,-0.0002417247481537239,0.0018560733224874662],"end_effector_yaw_offset_degrees":0.6214241091448605},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011671216308663259,0.0009417437292522563,0.00023251399004150424],"end_effector_yaw_offset_degrees":0.5394354964163399},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001083754490543187,-0.0007478661183646573,-0.0010952115058259914],"end_effector_yaw_offset_degrees":-0.40939460433216723}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015044344143192879,-0.0012881128364510366],"position_m":[0.2894955655856807,-0.07828811283645104,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00013037746410879836,0.0020004401680513394],"position_m":[0.2436696225358912,-0.33219955983194865,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000781841254751712,-0.0045498812121456],"position_m":[0.19768184125475172,0.30315011878785436,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003561039280566326,0.0010951442555464505],"position_m":[0.32703896071943367,0.08199514425554645,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9abd1a7ca6f18f2eb7e7721e74bcca412b278a27b6ed5d05303aca8ea6bda717","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9003/tex_ceiling_textures_7931/tex_floor_textures_3717/tex_table_textures_8926/tex_wall_textures_4776","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5299208413264425316,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5299208413264425316,"visual_seed":5299208413264425316,"scene_id":"lab_003","finished_at":"2026-09-04T19:08:18"}
+{"episode_id":"ep_000015","started_at":"2026-09-04T19:08:22","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_0","position":[0.12615317458438624,-2.1277172217134788,0.71338606911949],"aabb_xy":[[0.11639718507521232,-2.1374797557727128],[0.1359091640935601,-2.117954687654244]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.04055790966406736,1.3628004377216336,0.71338606911949],"aabb_xy":[[-0.0047207052170819,1.2988004383734502],[0.08583652454521662,1.4268004370698175]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[0.46348221771590703,1.083061061824417,0.71338606911949],"aabb_xy":[[0.4585829254093435,1.055384142521848],[0.46838151002247047,1.1107379811269855]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_3","position":[0.4381093639065725,1.6502090599347414,0.71338606911949],"aabb_xy":[[0.42294649092963554,1.6350436026396231],[0.4532722368835097,1.6653745172298606]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_4","position":[-0.3962548977665029,-2.0290572024722904,0.71338606911949],"aabb_xy":[[-0.4035161453369104,-2.0418442127358],[-0.38899365019609555,-2.016270192208781]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_5","position":[0.5948765523189399,-1.5666421042058118,0.71338606911949],"aabb_xy":[[0.5814300256848965,-1.5801119558589034],[0.6083230789529832,-1.5531722525527207]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_6","position":[0.18552020575532946,-1.3730010298065485,0.71338606911949],"aabb_xy":[[0.16363045816638863,-1.4630010270957976],[0.20740995334427023,-1.2830010325172994]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_7","position":[-0.20412034968606557,-0.2331890076741563,0.71338606911949],"aabb_xy":[[-0.2253983578295378,-0.29818901000022935],[-0.1828423415425933,-0.16818900534808323]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[-0.09695168665741483,1.7306062084664533,0.71338606911949],"aabb_xy":[[-0.14692498066067528,1.6806062079119055],[-0.04697839265415436,1.7806062090210002]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[0.005935892415317223,0.97183435335001,0.71338606911949],"aabb_xy":[[-0.07406410785828975,0.8988848055242934],[0.0859358926889242,1.0447839011757267]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[0.1641895097902567,-1.760192135866821,0.71338606911949],"aabb_xy":[[0.14717941250020602,-1.776326624365095],[0.18119960708030733,-1.7440576473685472]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[0.01735984289865866,-1.7011893366187052,0.71338606911949],"aabb_xy":[[-0.06764015551876457,-1.7860636320809902],[0.10235984131608189,-1.6163150411564202]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[0.48780733333259674,-0.669961030698498,0.71338606911949],"aabb_xy":[[0.42380733011395894,-0.7166841425975063],[0.5518073365512346,-0.6232379187994896]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[-0.5528129672322721,1.6395465718814521,0.71338606911949],"aabb_xy":[[-0.5832110783314156,1.6091396698797826],[-0.5224148561331284,1.6699534738831217]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[-0.6040816895186298,1.2969317305166896,0.71338606911949],"aabb_xy":[[-0.6690816906245731,1.2719663574485616],[-0.5390816884126866,1.3218971035848182]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_15","position":[-0.009520541286761608,1.5394573275229608,0.71338606911949],"aabb_xy":[[-0.040667460130344724,1.4694573288361537],[0.021626377556821508,1.609457326209768]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[-0.13205791713202997,0.4901230666745504,0.71338606911949],"aabb_xy":[[-0.19605791918176196,0.45002858358524245],[-0.06805791508229797,0.5302175497638584]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_17","position":[-0.03314730875361316,1.2482700283674513,0.71338606911949],"aabb_xy":[[-0.041361853869297124,1.2395934380698097],[-0.024932763637929168,1.2569466186650924]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_18","position":[0.3580929096819099,-2.4782280940225068,0.71338606911949],"aabb_xy":[[0.34801120260333634,-2.558228091914621],[0.3681746167604833,-2.3982280961303917]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.46952200514335707,0.428613918706632,0.71338606911949],"aabb_xy":[[0.405522008747784,0.36465063028789846],[0.5335220015389301,0.49257720712536557]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_20","position":[0.0818241131001749,0.6532783709936543,0.71338606911949],"aabb_xy":[[0.03182411208103964,0.6168121552558264],[0.1318241141193102,0.6897445867314823]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[0.5287588757133184,-1.7365681383129006,0.71338606911949],"aabb_xy":[[0.4987913188034927,-1.7665681386107863],[0.558726432623144,-1.7065681380150148]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[0.25370072780395725,-1.6027426922362493,0.71338606911949],"aabb_xy":[[0.17370072673083697,-1.6125207385736342],[0.33370072887707763,-1.5929646458988653]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[0.2992551962901384,1.4516154745009247,0.71338606911949],"aabb_xy":[[0.23525519900448977,1.4101087555480807],[0.36325519357578706,1.4931221934537686]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_24","position":[-0.6312125643132811,-2.5724374202817275,0.71338606911949],"aabb_xy":[[-0.6392388349439071,-2.5811889152590806],[-0.6231862936826551,-2.5636859253043753]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_25","position":[0.6599938754484498,-1.8959576575894292,0.71338606911949],"aabb_xy":[[0.6518661872551367,-1.9048712660001372],[0.6681215636417631,-1.8870440491787217]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_26","position":[-0.6462253648695128,1.538135133230297,0.71338606911949],"aabb_xy":[[-0.6812253639994684,1.532389912154633],[-0.6112253657395571,1.5438803543059612]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_27","position":[-0.5098713408113753,-1.8849472541126682,0.71338606911949],"aabb_xy":[[-0.5174956089015535,-1.8925804776492123],[-0.5022470727211971,-1.877314030576125]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_28","position":[0.47068687466095294,-0.23278920635987843,0.71338606911949],"aabb_xy":[[0.3806868760664831,-0.24903979267329945],[0.560686873255423,-0.2165386200464574]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[0.44121858039256123,-1.3496148502231022,0.71338606911949],"aabb_xy":[[0.37121857775597483,-1.3697197152189675],[0.5112185830291476,-1.3295099852272365]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_30","position":[-0.5329602718211987,-2.3174892870807047,0.71338606911949],"aabb_xy":[[-0.555460271635101,-2.3219639034511856],[-0.5104602720072963,-2.3130146707102246]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_31","position":[0.4953899896132372,-2.304721564970318,0.71338606911949],"aabb_xy":[[0.43038999145731816,-2.33101780952023],[0.5603899877691563,-2.2784253204204057]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_32","position":[-0.0017592672171689028,-1.373263634943321,0.71338606911949],"aabb_xy":[[-0.07175926902591434,-1.3946174037075083],[0.06824073459157654,-1.3519098661791336]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_33","position":[0.6646947419804463,-0.20703442183921306,0.71338606911949],"aabb_xy":[[0.6448037021001061,-0.21969023312390992],[0.6845857818607866,-0.19437861055451625]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_34","position":[-0.23547004771668206,0.692063111692562,0.71338606911949],"aabb_xy":[[-0.31547004467972123,0.6149874700487885],[-0.1554700507536429,0.7691387533363354]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555033477602494,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2845.png","name":"2845"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2845.png","name":"2845"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4778.png","name":"4778"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/674.png","name":"674"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2923.png","name":"2923"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8053.png","name":"8053"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":538.7853628909085,"rotation_z_degrees":75.66440878179091,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01373729859803786,-0.00011889535681947755,-0.010153159750140878]},{"name":"camera_2","offset_m":[-0.013981145157489983,0.015343797276384245,-0.0038309799513518393]},{"name":"camera_3","offset_m":[-0.0017334718673879743,-0.019259095708464,0.014860269879017247]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00026635275686864596,0.00030292584249317365,-0.0008653598800721608],"end_effector_yaw_offset_degrees":0.15842011076754714},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009965257185722103,-0.0010713536976974126,0.0018522571064534766],"end_effector_yaw_offset_degrees":0.851211879108575},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010096597875773722,-0.0005750836066743931,0.0018775087927458424],"end_effector_yaw_offset_degrees":-0.3627202788716015},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016222918725148703,-0.0008995643146382003,-0.00018722499315372153],"end_effector_yaw_offset_degrees":0.7906831691538259}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00038553240887045925,-0.0035321491600471414],"position_m":[0.29138553240887044,-0.08053214916004714,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004337005378773076,-0.0023148407706480045],"position_m":[0.23946299462122692,-0.336514840770648,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.000953989476897411,0.0030010768969964156],"position_m":[0.1959460105231026,0.3107010768969964,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019241078498546558,0.0011835340157593998],"position_m":[0.32867589215014537,0.0820835340157594,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5acc991e038ee5cbe653400c3a990c2b7cba18a91b30645f8430cfc3d7c9e44b","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0020.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2845/tex_ceiling_textures_8053/tex_floor_textures_2923/tex_table_textures_4778/tex_wall_textures_674","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3192705674884793228,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3192705674884793228,"visual_seed":3192705674884793228,"scene_id":"lab_003","finished_at":"2026-09-04T19:11:49"}
+{"episode_id":"ep_000016","started_at":"2026-09-04T19:15:50","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_0","position":[-0.25529126922151457,0.16754163122140664,0.71338606911949],"aabb_xy":[[-0.26328525779921796,0.15954155112631624],[-0.24729728064381118,0.17554171131649693]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.22740090067000118,0.25904553069130376,0.71338606911949],"aabb_xy":[[-0.26186337868308895,0.2523818535083809],[-0.1929384226569134,0.2657092078742265]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_2","position":[0.6004730659063295,-1.2611215326973408,0.71338606911949],"aabb_xy":[[0.5619273730811285,-1.2996673037535296],[0.6390187587315306,-1.2225757616411521]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[-0.14768167746166627,-2.1274097191256076,0.71338606911949],"aabb_xy":[[-0.20265539949799916,-2.1824097186898403],[-0.09270795542533339,-2.072409719561374]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[0.43065489926485045,-2.1153872319751885,0.71338606911949],"aabb_xy":[[0.35065490230181123,-2.1924628736189615],[0.5106548962278896,-2.0383115903314146]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_5","position":[-0.6083183278466623,-0.5052860600090576,0.71338606911949],"aabb_xy":[[-0.6496228709103983,-0.5692860595771747],[-0.5670137847829263,-0.44128606044094054]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_6","position":[0.4595715654886319,-2.450931356699406,0.71338606911949],"aabb_xy":[[0.3895715690786699,-2.471369292351087],[0.5295715618985934,-2.4304934210477236]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[-0.2920135635398663,-0.18581385816369256,0.71338606911949],"aabb_xy":[[-0.3560135638138446,-0.23587995836098052],[-0.22801356326588812,-0.1357477579664046]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[0.056807848341831946,-1.2501825695274742,0.71338606911949],"aabb_xy":[[-0.023192148672416035,-1.2703171212008855],[0.13680784535607993,-1.230048017854063]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.13026997099700277,-1.478473967493268,0.71338606911949],"aabb_xy":[[-0.1942699733398043,-1.5234148187374004],[-0.06626996865420119,-1.4335331162491354]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[0.45298524735576984,-1.7065755604399944,0.71338606911949],"aabb_xy":[[0.41798524816295146,-1.7175426064376569],[0.487985246548588,-1.6956085144423318]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_11","position":[-0.38099959838150604,1.6805221721707055,0.71338606911949],"aabb_xy":[[-0.4609995994546264,1.670744125833321],[-0.3009995973083857,1.69030021850809]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[0.5737372390885562,-1.7973022329170039,0.71338606911949],"aabb_xy":[[0.560865335587616,-1.8773022333308398],[0.5866091425894963,-1.7173022325031675]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_13","position":[0.47648217596502107,1.5194650800165834,0.71338606911949],"aabb_xy":[[0.4312035610838718,1.4554650806683995],[0.5217607908461703,1.5834650793647669]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.09984632596073506,1.6668525071059173,0.71338606911949],"aabb_xy":[[0.035846324552744384,1.6150635555819923],[0.1638463273687257,1.7186414586298417]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.2545385084558581,-1.094927369332215,0.71338606911949],"aabb_xy":[[0.22405425832882792,-1.144927369113711],[0.2850227585828882,-1.044927369550719]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_16","position":[-0.1319452583733126,0.9533249540562188,0.71338606911949],"aabb_xy":[[-0.1406432206640279,0.9411999797487441],[-0.12324729608259732,0.9654499283636936]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_17","position":[0.20096939307905448,-2.065014520434135,0.71338606911949],"aabb_xy":[[0.1599514496926836,-2.115014521065093],[0.24198733646542536,-2.015014519803178]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_18","position":[-0.6649533937730393,-1.1753758472028677,0.71338606911949],"aabb_xy":[[-0.671367207416224,-1.1817856674505358],[-0.6585395801298541,-1.1689660269551991]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_19","position":[-0.33996657858450396,-0.8215211084189049,0.71338606911949],"aabb_xy":[[-0.3749665768546238,-0.8285952361138931],[-0.304966580314384,-0.8144469807239167]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.4768316128571992,-1.8381865988426112,0.71338606911949],"aabb_xy":[[0.4591987772636716,-1.8558095448582344],[0.49446444845072673,-1.8205636528269884]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.463848478636229,-2.34182797162243,0.71338606911949],"aabb_xy":[[-0.49732764589727,-2.3753070849935374],[-0.43036931137518813,-2.3083488582513234]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.1411568578194008,-1.6174980504552416,0.71338606911949],"aabb_xy":[[0.06115685734918484,-1.62580875806959],[0.22115685828961676,-1.6091873428408934]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_23","position":[-0.5851567705725333,-2.439449510444214,0.71338606911949],"aabb_xy":[[-0.621652591199812,-2.4759334528709713],[-0.5486609499452545,-2.402965568017456]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_24","position":[-0.47270919804094413,0.4048064844848862,0.71338606911949],"aabb_xy":[[-0.5427092001723736,0.3820445188591905],[-0.4027091959095145,0.4275684501105818]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_25","position":[-0.2758083891383903,-0.29775052800384305,0.71338606911949],"aabb_xy":[[-0.2958668007516306,-0.3178156149130006],[-0.25574997752515,-0.2776854410946855]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[0.5806895669479701,-1.107948928197682,0.71338606911949],"aabb_xy":[[0.5577738540629203,-1.1308532253341055],[0.6036052798330201,-1.0850446310612585]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_27","position":[0.3028774909841906,-1.4293132822347,0.71338606911949],"aabb_xy":[[0.2987416346514904,-1.4668132816790573],[0.3070133473168908,-1.3918132827903433]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6602655949424627,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9757.png","name":"9757"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9757.png","name":"9757"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6408.png","name":"6408"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7248.png","name":"7248"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9979.png","name":"9979"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3524.png","name":"3524"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":843.8848889678393,"rotation_z_degrees":57.7208831677357,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004847632870722566,-0.01212097355863833,0.013190337420976788]},{"name":"camera_2","offset_m":[-0.007040084867683984,0.012578231154320958,-0.00949055020590678]},{"name":"camera_3","offset_m":[-0.016931965323258608,0.006151025026102569,0.019294425652144166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007194740213462476,-0.0012193288189523584,0.0009745250950236994],"end_effector_yaw_offset_degrees":0.6760541252899634},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018212754833698234,0.0012017775513640254,0.0010009882734124767],"end_effector_yaw_offset_degrees":0.01982160458257498},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017984470218366498,0.000608603915301997,-6.29208352158077e-05],"end_effector_yaw_offset_degrees":0.4092664754160167},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015486045511033135,0.0006631304560172509,-0.0005450725511202395],"end_effector_yaw_offset_degrees":-0.27107905837338264}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004952161411772488,-0.0009211503701166924],"position_m":[0.28604783858822747,-0.0779211503701167,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0023903202955713057,-0.0003062311108354143],"position_m":[0.2461903202955713,-0.33450623111083544,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003815363443758441,0.004651826445876668],"position_m":[0.20071536344375843,0.31235182644587667,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008044659264906228,-0.004153436255032212],"position_m":[0.32979553407350937,0.07674656374496779,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2caf8374945e703fec882628caeb1f20bfb6b246a8a1a7c1bcf4a1d06a3fb3c3","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0022.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_9757/tex_ceiling_textures_3524/tex_floor_textures_9979/tex_table_textures_6408/tex_wall_textures_7248","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6370286524383027395,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6370286524383027395,"visual_seed":6370286524383027395,"scene_id":"lab_003","finished_at":"2026-09-04T19:19:19"}
+{"episode_id":"ep_000017","started_at":"2026-09-04T19:19:23","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_0","position":[0.23820443655228518,-1.5261891751403593,0.71338606911949],"aabb_xy":[[0.20070443620405742,-1.5379805707214427],[0.27570443690051294,-1.5143977795592756]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_1","position":[0.30146204023686085,-0.8472721120276374,0.71338606911949],"aabb_xy":[[0.25146720730891925,-0.897272110922881],[0.35145687316480245,-0.7972721131323939]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[0.3864622078611455,0.5067576991602576,0.71338606911949],"aabb_xy":[[0.3264622062182237,0.4547575498683134],[0.4464622095040674,0.5587578484522018]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[-0.5882711372335679,-1.4216234305241857,0.71338606911949],"aabb_xy":[[-0.6041556304988931,-1.4359763708230098],[-0.5723866439682428,-1.4072704902253617]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[0.4169271596193962,-1.858474336729389,0.71338606911949],"aabb_xy":[[0.39925152903079775,-1.8761545530087915],[0.4346027902079944,-1.840794120449986]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_5","position":[-0.1359811873754827,0.6834237848221094,0.71338606911949],"aabb_xy":[[-0.2259811910524008,0.6219913782450049],[-0.045981183698564486,0.7448561913992137]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_6","position":[-0.31108926327359926,-2.4599797193280315,0.71338606911949],"aabb_xy":[[-0.33358568470746336,-2.482479719134779],[-0.28859284183973516,-2.437479719521284]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_7","position":[0.5260451352673885,1.7470049791366455,0.71338606911949],"aabb_xy":[[0.5180188646367625,1.7382534841592931],[0.5340714058980145,1.7557564741139984]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[0.21230934845037652,-2.1928615151983735,0.71338606911949],"aabb_xy":[[0.1773093484738807,-2.2023261312459903],[0.24730934842687236,-2.1833968991507566]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[-0.4177093141924801,-0.9800822634129649,0.71338606911949],"aabb_xy":[[-0.482709312074128,-1.031205927119506],[-0.35270931631083235,-0.9289585997064241]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[0.68548547365166,-0.28859378783819034,0.71338606911949],"aabb_xy":[[0.6723342276803708,-0.31359378759487694],[0.6986367196229495,-0.26359378808150385]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_11","position":[-0.19001627864139814,-1.9715510043571705,0.71338606911949],"aabb_xy":[[-0.20822210230264585,-1.982576404939162],[-0.1718104549801505,-1.9605256037751788]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_12","position":[-0.17164540552796959,-0.22870274402276092,0.71338606911949],"aabb_xy":[[-0.23564540787077115,-0.27364359526689336],[-0.10764540318516803,-0.1837618927786284]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[-0.38885144749012623,-0.08081610433316655,0.71338606911949],"aabb_xy":[[-0.40402361677175963,-0.0959849612613699],[-0.37367927820849295,-0.0656472474049632]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[0.5727551832154096,1.4520766123527964,0.71338606911949],"aabb_xy":[[0.5502551829718942,1.4398719776930244],[0.595255183458925,1.4642812470125683]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_15","position":[0.19090050694831906,0.6779501511582482,0.71338606911949],"aabb_xy":[[0.12590050839124622,0.6481976177443656],[0.2559005055053919,0.7077026845721308]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_16","position":[0.44238067419119487,-1.0792328238444355,0.71338606911949],"aabb_xy":[[0.36238685061263665,-1.1592328264372773],[0.5223744977697531,-0.9992328212515942]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_17","position":[0.609887380298745,0.8581194897934306,0.71338606911949],"aabb_xy":[[0.6034735666555598,0.851709669545762],[0.6163011939419297,0.8645293100410987]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_18","position":[-0.2703900533562136,-0.5579240803312242,0.71338606911949],"aabb_xy":[[-0.3038692206172545,-0.5914031937023312],[-0.23691088609517263,-0.5244449669601172]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_19","position":[-0.5699482455046336,-1.9847566111579513,0.71338606911949],"aabb_xy":[[-0.6199482468655209,-2.0347345157333665],[-0.5199482441437464,-1.9347787065825357]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_20","position":[0.5780928691612861,0.5282886714286152,0.71338606911949],"aabb_xy":[[0.5330928676950574,0.4832888145671346],[0.6230928706275151,0.5732885282900959]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[-0.2159320794763051,-0.11651689581723534,0.71338606911949],"aabb_xy":[[-0.2503945574893929,-0.12318057300015815],[-0.18146960146321733,-0.10985321863431251]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_22","position":[0.6713693554914246,0.9826772442484031,0.71338606911949],"aabb_xy":[[0.6408851053643944,0.9326772444669071],[0.7018536056184547,1.032677244029899]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[0.49452428765346856,-1.5103042485261144,0.71338606911949],"aabb_xy":[[0.4810777610194252,-1.523774100179206],[0.5079708142875119,-1.4968343968730233]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_24","position":[-0.1931676482649125,0.47408253055394933,0.71338606911949],"aabb_xy":[[-0.21026972622328066,0.4569757250226795],[-0.17606557030654435,0.49118933608521903]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_25","position":[-0.2048298466174192,-2.152021889664006,0.71338606911949],"aabb_xy":[[-0.23982984492811465,-2.1597369045875516],[-0.16982984830672376,-2.1443068747404603]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[-0.6237480178138406,0.2795276321143816,0.71338606911949],"aabb_xy":[[-0.6737268263241564,0.22952763210866284],[-0.5737692093035246,0.32952763212010044]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_27","position":[-0.2599082828001236,0.2587841962962263,0.71338606911949],"aabb_xy":[[-0.2636115441292624,0.2550821779875084],[-0.25620502147098473,0.2624862146049441]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_28","position":[0.09465900293299645,-1.3135574697710724,0.71338606911949],"aabb_xy":[[0.08703473484281819,-1.321190693307616],[0.1022832710231747,-1.3059242462345286]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[-0.5380761984524616,-1.2238357834441271,0.71338606911949],"aabb_xy":[[-0.6020762001304588,-1.2723531749234411],[-0.4740761967744641,-1.1753183919648127]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_30","position":[0.5498020300787716,-1.393140956854915,0.71338606911949],"aabb_xy":[[0.5434899305424332,-1.3989078961081338],[0.55611412961511,-1.387374017601696]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_31","position":[0.29064452027143717,0.8532188142237405,0.71338606911949],"aabb_xy":[[0.21064452286784371,0.7732262430255576],[0.37064451767503054,0.9332113854219233]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6562685604661214,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7050.png","name":"7050"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7050.png","name":"7050"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5697.png","name":"5697"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/308.png","name":"308"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6095.png","name":"6095"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6133.png","name":"6133"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":676.199620985907,"rotation_z_degrees":352.85866424475677,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019783706240503324,0.018033243749670583,-0.009776890813962229]},{"name":"camera_2","offset_m":[-0.01615135063653995,-0.009221525266743563,0.0019654781476413363]},{"name":"camera_3","offset_m":[0.015023118569332219,-0.012291817956700792,0.014699530577520162]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015488069106566074,0.0019743906054510004,-0.0014662743116346483],"end_effector_yaw_offset_degrees":0.819226074625107},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001764480291986777,0.0005350846249448562,0.0006470773954917711],"end_effector_yaw_offset_degrees":0.2640805376645423},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010824976661064469,0.0009316046624052643,-0.0004251135219986849],"end_effector_yaw_offset_degrees":-0.38401710848164305},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017593369049300769,-0.0006164767695924832,0.0011784863313419026],"end_effector_yaw_offset_degrees":-0.5236943783746548}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010819451207211084,-0.0048180363382574354],"position_m":[0.28991805487927885,-0.08181803633825743,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00043130725671115984,0.002783761833709906],"position_m":[0.24336869274328882,-0.33141623816629007,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025975055129247616,1.8279036283340433e-05],"position_m":[0.19430249448707523,0.3077182790362833,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0032409996522743062,0.002399434627695993],"position_m":[0.3338409996522743,0.083299434627696,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"28d1a1c72a12cae39476c7f2cd4ab8e4b61db1fa45dd46074d0920ab1c79386b","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7050/tex_ceiling_textures_6133/tex_floor_textures_6095/tex_table_textures_5697/tex_wall_textures_308","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3366405512655475901,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3366405512655475901,"visual_seed":3366405512655475901,"scene_id":"lab_003","finished_at":"2026-09-04T19:22:51"}
+{"episode_id":"ep_000018","started_at":"2026-09-04T19:22:55","dimensions":{"distractor":{"count":22,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.4993467507866969,-0.5915806956578527,0.71338606911949],"aabb_xy":[[-0.5046843264527014,-0.6165806965869924],[-0.4940091751206923,-0.5665806947287129]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_1","position":[0.48870508314557304,1.3270259866492076,0.71338606911949],"aabb_xy":[[0.4816636321948255,1.3199992349114134],[0.4957465340963207,1.3340527383870022]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.016979422213885043,1.0648573748100736,0.71338606911949],"aabb_xy":[[-0.001226401447362635,1.053831974228082],[0.03518524587513272,1.0758827753920652]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_3","position":[0.2676789561941848,-0.6219533819569261,0.71338606911949],"aabb_xy":[[0.22643014516427004,-0.6769533814691434],[0.3089277672240995,-0.5669533824447085]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_4","position":[-0.22683617811523976,-1.944924838471512,0.71338606911949],"aabb_xy":[[-0.3068361795453669,-2.024441993484121],[-0.14683617668511253,-1.8654076834589022]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.5121496072930614,-1.4804633859325624,0.71338606911949],"aabb_xy":[[-0.5182442351811798,-1.4890327804842312],[-0.5060549794049432,-1.4718939913808937]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[0.03914899722052423,-2.1014763359545583,0.71338606911949],"aabb_xy":[[0.024814572094360776,-2.113536551509097],[0.05348342234668768,-2.0894161204000197]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.18631854454959407,0.9373295547733527,0.71338606911949],"aabb_xy":[[-0.27631854396796496,0.903954057929163],[-0.09631854513122318,0.9707050516175424]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[0.7118605794381128,-0.5558817415584709,0.71338606911949],"aabb_xy":[[0.7064026338010926,-0.63588174486613],[0.7173185250751327,-0.4758817382508118]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_9","position":[0.14880769618685252,-0.7852202990946131,0.71338606911949],"aabb_xy":[[0.0872169369628597,-0.84922029720366],[0.21039845541084534,-0.7212203009855662]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[0.3552827391987108,1.0150245144695842,0.71338606911949],"aabb_xy":[[0.27528273892510374,0.9420749666438674],[0.4352827394723177,1.0879740622953007]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_11","position":[0.5715163725462216,1.6264802905436606,0.71338606911949],"aabb_xy":[[0.5670857431913814,1.6210319188089783],[0.5759470019010617,1.6319286622783433]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.39232761472743133,1.2706719514005824,0.71338606911949],"aabb_xy":[[-0.44745282035702205,1.2106719499592953],[-0.3372024090978405,1.3306719528418696]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_13","position":[-0.5330879146803029,-0.32280007857776205,0.71338606911949],"aabb_xy":[[-0.5505186297593093,-0.3400721932416128],[-0.5156571996012963,-0.3055279639139112]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[-0.25429112438974205,-2.103642652089139,0.71338606911949],"aabb_xy":[[-0.2624047790631191,-2.1117484685431682],[-0.2461774697163649,-2.0955368356351096]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[-0.2546786770434986,-0.5416563188342529,0.71338606911949],"aabb_xy":[[-0.26755058054443875,-0.621656319248089],[-0.2418067735425585,-0.4616563184204167]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[-0.34944841365386864,-2.2616974622297477,0.71338606911949],"aabb_xy":[[-0.413448415331866,-2.3102148537090614],[-0.2854484119758713,-2.213180070750433]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_17","position":[0.4744230246579553,-1.8621877797964181,0.71338606911949],"aabb_xy":[[0.44987680903520455,-1.8924366763454554],[0.498969240280706,-1.8319388832473813]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[-0.5119910236316352,1.366701623012215,0.71338606911949],"aabb_xy":[[-0.5168903159381986,1.3390247037096459],[-0.5070917313250716,1.3943785423147834]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_19","position":[-0.6078386097213084,-0.7746478318893193,0.71338606911949],"aabb_xy":[[-0.6491431527850444,-0.8386478314574364],[-0.5665340666575724,-0.7106478323212022]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.26060080309039824,-0.9608636876956185,0.71338606911949],"aabb_xy":[[-0.2856008026421367,-0.9710061715607532],[-0.23560080353865975,-0.9507212038304838]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[-0.12598330186360573,-1.3897971286717292,0.71338606911949],"aabb_xy":[[-0.16331457838884836,-1.4244501834665817],[-0.08865202533836311,-1.3551440738768772]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555234700633066,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6220.png","name":"6220"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6220.png","name":"6220"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8014.png","name":"8014"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/683.png","name":"683"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1858.png","name":"1858"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6133.png","name":"6133"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":607.4429587201996,"rotation_z_degrees":59.55614699161208,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005387985820251712,-0.0108849836519149,-0.009682667699285483]},{"name":"camera_2","offset_m":[-0.011996406282846933,-0.009189295945056597,0.011479675440370488]},{"name":"camera_3","offset_m":[0.00099345645137933,0.018334622314263287,0.009689378030288943]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001474917742954971,0.000827227375967781,0.0018570573312751545],"end_effector_yaw_offset_degrees":0.5869847013038956},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00040663984695925325,8.206058594466487e-05,-0.0018518737903294932],"end_effector_yaw_offset_degrees":-0.035531821151566945},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00043315378742483576,0.0013726973526084112,-0.0012248336001638178],"end_effector_yaw_offset_degrees":0.26579620213542077},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00010455040976447118,-0.0008781109250084911,6.864899836303865e-05],"end_effector_yaw_offset_degrees":0.4140963988184685}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003673548756443307,-0.0023780933829791405],"position_m":[0.2946735487564433,-0.07937809338297915,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004776830289352623,-0.003088067659756253],"position_m":[0.23902316971064735,-0.3372880676597563,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017867713377666939,0.0012198641445533244],"position_m":[0.1951132286622333,0.3089198641445533,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006044373236860348,-0.0014354342223181294],"position_m":[0.32999556267631397,0.07946456577768186,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1e8843de0a0ef62291ca244e2a06b7cedc10c61b8aaa5987da272fba2b2fa020","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6220/tex_ceiling_textures_6133/tex_floor_textures_1858/tex_table_textures_8014/tex_wall_textures_683","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4709446331923664038,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4709446331923664038,"visual_seed":4709446331923664038,"scene_id":"lab_003","finished_at":"2026-09-04T19:26:30"}
+{"episode_id":"ep_000019","started_at":"2026-09-04T19:26:35","dimensions":{"distractor":{"count":29,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.0730652384955418,-1.921576490961003,0.71338606911949],"aabb_xy":[[-0.0955652385056901,-1.9356727106006064],[-0.050565238485393516,-1.9074802713213999]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.16999213340972474,-0.6386235385853463,0.71338606911949],"aabb_xy":[[0.12471351852857548,-0.7026235379335299],[0.215270748290874,-0.5746235392371626]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_2","position":[-0.4586949930924693,-2.327458362969234,0.71338606911949],"aabb_xy":[[-0.5226949933664475,-2.377524463166522],[-0.3946949928184911,-2.2773922627719463]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[0.6414441129544894,1.05522052389877,0.71338606911949],"aabb_xy":[[0.6377408516253504,1.0515185055900518],[0.6451473742836282,1.0589225422074873]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.1480917702908986,1.4301881056242478,0.71338606911949],"aabb_xy":[[0.1314146342978031,1.4134881816503175],[0.1647689062839941,1.446888029598178]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[-0.6261527496666754,0.30704861136517847,0.71338606911949],"aabb_xy":[[-0.690148447061772,0.24304861306446973],[-0.5621570522715789,0.3710486096658871]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_6","position":[0.49148386223517204,-1.7961617551179958,0.71338606911949],"aabb_xy":[[0.4314838623886053,-1.8529803773110345],[0.5514838620817388,-1.7393431329249571]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[0.13215762100383932,-2.186246878753947,0.71338606911949],"aabb_xy":[[0.08218020413858569,-2.236246880243195],[0.18213503786909285,-2.136246877264698]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_8","position":[0.39203110662892904,-1.4153110225735328,0.71338606911949],"aabb_xy":[[0.3828712276850525,-1.4218422406170699],[0.4011909855728057,-1.4087798045299957]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_9","position":[0.6269434044680808,-1.1475018708924754,0.71338606911949],"aabb_xy":[[0.6192402137940037,-1.155211241591213],[0.6346465951421577,-1.1397925001937372]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_10","position":[0.5522320955089377,-2.1824663380477003,0.71338606911949],"aabb_xy":[[0.5289502533108064,-2.267466339344928],[0.575513937707069,-2.097466336750472]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_11","position":[0.43798158746842675,-1.1112690214040521,0.71338606911949],"aabb_xy":[[0.4045414122724071,-1.1447126472349818],[0.4714217626644463,-1.0778253955731216]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_12","position":[-0.2110480944072115,-2.39474101247093,0.71338606911949],"aabb_xy":[[-0.24837937093245413,-2.4293940672657826],[-0.17371681788196888,-2.360087957676078]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_13","position":[0.6041757259115377,-1.9087655662386243,0.71338606911949],"aabb_xy":[[0.5997450965566975,-1.9142139379733072],[0.6086063552663779,-1.9033171945039422]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_14","position":[0.22311722971141423,1.1161272313018737,0.71338606911949],"aabb_xy":[[0.13343015340329875,1.0261272310474232],[0.3128043060195297,1.2061272315563243]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_15","position":[0.6743430963589714,0.6567857596513509,0.71338606911949],"aabb_xy":[[0.6243642878486556,0.6067857596456321],[0.7243219048692874,0.7067857596570697]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[0.14489393293366482,-1.406172477518381,0.71338606911949],"aabb_xy":[[0.08489393129074296,-1.4581726268103252],[0.20489393457658667,-1.3541723282264368]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_17","position":[-0.3126370756523905,0.18007346553822723,0.71338606911949],"aabb_xy":[[-0.3213350379431058,0.1679484912307525],[-0.30393911336167523,0.19219843984570198]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[-0.5103110649072378,1.651807552554485,0.71338606911949],"aabb_xy":[[-0.5152103572138012,1.6241306332519163],[-0.5054117726006742,1.6794844718570539]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_19","position":[0.5015585242309759,0.695279037277682,0.71338606911949],"aabb_xy":[[0.4515585238704098,0.6452990500680791],[0.5515585245915419,0.745259024487285]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.2656141695105255,0.6031892279885254,0.71338606911949],"aabb_xy":[[0.18561416904030956,0.594878520374177],[0.34561416998074146,0.6114999356028737]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_21","position":[-0.06332788369412812,1.1570323562836946,0.71338606911949],"aabb_xy":[[-0.08961670801456877,1.1307609226290432],[-0.03703905937368745,1.1833037899383456]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_22","position":[-0.3204916293893893,1.4808457770161643,0.71338606911949],"aabb_xy":[[-0.37450722567128925,1.416845774123907],[-0.26647603310748924,1.5448457799084214]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_23","position":[0.04616760536483211,0.6367818691417249,0.71338606911949],"aabb_xy":[[0.04007297747671379,0.6282124745900561],[0.05226223325295043,0.6453512636933936]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[-0.4915153337072904,0.45491419457999926,0.71338606911949],"aabb_xy":[[-0.5290153338128833,0.44809203272701814],[-0.45401533360169744,0.4617363564329804]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_25","position":[-0.4154361282183845,-1.0024372464091225,0.71338606911949],"aabb_xy":[[-0.4233594084571328,-1.0249372466471256],[-0.40751284797963616,-0.9799372461711189]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_26","position":[0.10864492027126571,-2.473271040602679,0.71338606911949],"aabb_xy":[[0.07434800925352507,-2.5075679268126203],[0.14294183128900634,-2.4389741543927377]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_27","position":[0.20896955496316827,-1.876504921572657,0.71338606911949],"aabb_xy":[[0.12896955468956126,-1.9494544693983737],[0.2889695552367752,-1.8035553737469403]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[-0.2883782249952313,0.5760285578086464,0.71338606911949],"aabb_xy":[[-0.30587822524028063,0.5585287699690793],[-0.27087822475018186,0.593528345648213]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6572794973378668,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1536.png","name":"1536"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1536.png","name":"1536"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9324.png","name":"9324"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2213.png","name":"2213"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1080.png","name":"1080"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/697.png","name":"697"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":681.6440074139826,"rotation_z_degrees":195.38755677479384,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01716797640609438,0.005097829933667777,-0.009767211595836245]},{"name":"camera_2","offset_m":[0.0071131188613263695,-0.006503608733142522,0.01879757513742934]},{"name":"camera_3","offset_m":[-0.012281909291739876,0.005680331887831739,-0.007293807594081474]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013867729676663963,0.00012214989678109144,-0.0005109989836053353],"end_effector_yaw_offset_degrees":0.004452855530088229},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00035948849721463387,-0.0016929569594704215,-0.0018876796939783138],"end_effector_yaw_offset_degrees":0.25577116541976186},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0018123503087316617,0.001465280257048983,-5.187518101995581e-05],"end_effector_yaw_offset_degrees":-0.5881378793051601},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009186055957455049,0.0011933186427933173,0.0004645636655121431],"end_effector_yaw_offset_degrees":0.3537401762133934}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002720257007921928,0.001874274444976315],"position_m":[0.2937202570079219,-0.07512572555502368,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00010897482466634169,0.001705998600830442],"position_m":[0.24390897482466634,-0.33249400139916957,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0036549167231575393,0.004232630537395512],"position_m":[0.20055491672315753,0.3119326305373955,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037860633128600617,0.002750524074681014],"position_m":[0.3268139366871399,0.08365052407468102,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba715f63a4bca0c475eda5562aeb78ceed74abbb55335cbb6915f99d62aaa36b","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0025.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1536/tex_ceiling_textures_697/tex_floor_textures_1080/tex_table_textures_9324/tex_wall_textures_2213","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4063727203105481109,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4063727203105481109,"visual_seed":4063727203105481109,"scene_id":"lab_003","finished_at":"2026-09-04T19:30:16"}
+{"episode_id":"ep_000020","started_at":"2026-09-04T19:30:20","dimensions":{"distractor":{"count":33,"items":[{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_0","position":[0.4521519274847676,1.3806327996113668,0.71338606911949],"aabb_xy":[[0.44725263517820407,1.3529558803087978],[0.45705121979133106,1.4083097189139353]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.5618822810682156,-0.1590853748141785,0.71338606911949],"aabb_xy":[[0.4978822839561099,-0.20811774460858914],[0.6258822781803213,-0.11005300501976792]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_2","position":[-0.3135349549604845,-0.5748909754576186,0.71338606911949],"aabb_xy":[[-0.3503295880853908,-0.6117968505542009],[-0.27674032183557823,-0.5379851003610363]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[0.09086889119859842,-1.4936748769006298,0.71338606911949],"aabb_xy":[[0.06835519937514122,-1.5636748775016371],[0.1133825830220556,-1.423674876299622]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_4","position":[0.3998842833024492,-2.424864613866757,0.71338606911949],"aabb_xy":[[0.33488428326814645,-2.471565290547084],[0.4648842833367519,-2.3781639371864296]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[0.2362107119163246,-1.449284076863007,0.71338606911949],"aabb_xy":[[0.17121071095919738,-1.5012322887967127],[0.3012107128734518,-1.3973358649293015]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[0.626070980996112,-0.9974460877965936,0.71338606911949],"aabb_xy":[[0.6221104972263778,-1.0051139523821142],[0.6300314647658465,-0.9897782232110731]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[0.30739323342518343,-1.7096567424258589,0.71338606911949],"aabb_xy":[[0.2885088496566733,-1.7285426672062114],[0.3262776171936937,-1.6907708176455059]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[0.1772191411573112,-2.401218392937966,0.71338606911949],"aabb_xy":[[0.09721914375371775,-2.481210964136148],[0.25721913856090456,-2.3212258217397825]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[0.17384225701852452,-1.2081205283826444,0.71338606911949],"aabb_xy":[[0.14385059428465416,-1.238120527719445],[0.20383391975239482,-1.1781205290458439]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[0.3502413924198986,0.8444909692302422,0.71338606911949],"aabb_xy":[[0.3359069672937351,0.8324307536757034],[0.364575817546062,0.8565511847847811]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_11","position":[0.02560841054162588,-1.223231866490884,0.71338606911949],"aabb_xy":[[0.014246675888339718,-1.234600332897172],[0.03697014519491204,-1.2118634000845958]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[-0.3050253265597017,1.2501654478548074,0.71338606911949],"aabb_xy":[[-0.314372334141997,1.2358618256371632],[-0.29567831897740654,1.2644690700724512]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_13","position":[-0.6026655588110794,1.648895613713242,0.71338606911949],"aabb_xy":[[-0.6201655590704162,1.6348040715244696],[-0.5851655585517429,1.6629871559020148]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[-0.014225022400389253,-2.3464212356607286,0.71338606911949],"aabb_xy":[[-0.0782250231038586,-2.39243961813365],[0.0497749783030801,-2.300402853187808]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[-0.09583531084237973,1.2156349233515154,0.71338606911949],"aabb_xy":[[-0.17583530949926574,1.2011300644272527],[-0.015835312185493722,1.2301397822757785]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[-0.4852342713000701,0.9093428442499709,0.71338606911949],"aabb_xy":[[-0.5217300919273489,0.8728589018232131],[-0.4487384506727913,0.9458267866767283]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.10947036537461108,0.7537203291758998,0.71338606911949],"aabb_xy":[[0.10220911780420368,0.7409333189123904],[0.1167316129450185,0.7665073394394094]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[0.6399907860353868,0.3921197897208133,0.71338606911949],"aabb_xy":[[0.5859751897534867,0.3281197868285561],[0.6940063823172867,0.4561197926130704]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[-0.5334878005094661,1.5441523758044222,0.71338606911949],"aabb_xy":[[-0.5672633597001591,1.5301138805912573],[-0.4997122413187731,1.5581908710175871]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[0.5859839798569202,-1.653161150981029,0.71338606911949],"aabb_xy":[[0.5638114528802692,-1.6753368181371517],[0.6081565068335709,-1.6309854838249056]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[-0.26097492914560944,-2.378141319211143,0.71338606911949],"aabb_xy":[[-0.3259749317834029,-2.4296209179105897],[-0.19597492650781595,-2.3266617205116957]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_22","position":[-0.08073215843830117,-0.16918427840620964,0.71338606911949],"aabb_xy":[[-0.08894670355398514,-0.17786086870385087],[-0.07251761332261718,-0.1605076881085683]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_23","position":[-0.4934967008337121,0.43876879338754016,0.71338606911949],"aabb_xy":[[-0.5027903190708627,0.40126879489940626],[-0.48420308259656153,0.47626879187567406]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_24","position":[-0.3285228693147648,-2.1843991133802163,0.71338606911949],"aabb_xy":[[-0.35374370617460443,-2.2096228642331024],[-0.3033020324549251,-2.1591753625273284]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_25","position":[0.0059333437279232015,-0.6568476196841786,0.71338606911949],"aabb_xy":[[0.002230082398784333,-0.6605496379928963],[0.009636605057062068,-0.6531456013754606]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_26","position":[0.5355359535777418,1.730156281653144,0.71338606911949],"aabb_xy":[[0.47053595257724123,1.679369916498469],[0.6005359545782423,1.7809426468078189]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_27","position":[-0.5558359574183698,-1.4277112589659768,0.71338606911949],"aabb_xy":[[-0.605835956064291,-1.4776308026254392],[-0.5058359587724486,-1.3777917153065145]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_28","position":[-0.47810192715724703,1.1235147945032753,0.71338606911949],"aabb_xy":[[-0.5194064702209831,1.0595147949351582],[-0.43679738409351104,1.1875147940713924]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_29","position":[-0.045355413023067115,-2.089971388520603,0.71338606911949],"aabb_xy":[[-0.05822731652400725,-2.169971388934439],[-0.03248350952212697,-2.009971388106767]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_30","position":[-0.08052138454492086,0.2595177965419464,0.71338606911949],"aabb_xy":[[-0.09239346755642197,0.17451779684829605],[-0.06864930153341975,0.34451779623559675]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_31","position":[-0.6058123459857984,1.1231641819168283,0.71338606911949],"aabb_xy":[[-0.643143622511041,1.0885111271219758],[-0.5684810694605558,1.1578172367116804]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_32","position":[-0.4363687056620086,0.05479105398395401,0.71338606911949],"aabb_xy":[[-0.4609149212847593,0.02454215743491694],[-0.41182249003925786,0.08503995053299106]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6582826561933591,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1499.png","name":"1499"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1499.png","name":"1499"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7916.png","name":"7916"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8250.png","name":"8250"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3166.png","name":"3166"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3851.png","name":"3851"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":593.7062983134052,"rotation_z_degrees":151.17537462118742,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026181427761115574,-0.004308231463175195,-0.014282160258331329]},{"name":"camera_2","offset_m":[0.00035666938052337713,-0.008180702539317068,-0.009026700494017175]},{"name":"camera_3","offset_m":[0.019382052395741842,-0.006808657415535983,-0.018017541480334815]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00034014279952006895,-0.0008529747861539345,-0.00014939170189336875],"end_effector_yaw_offset_degrees":0.13655131133157905},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009509652219642536,-0.0005699983068798806,0.0017793960557433994],"end_effector_yaw_offset_degrees":0.07310334732523649},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001458630009266336,-0.0015921072055659962,-0.0014291707147399617],"end_effector_yaw_offset_degrees":-0.8529847246036031},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00045473120966845176,0.0008887435972404515,-0.00011972984945081552],"end_effector_yaw_offset_degrees":0.23069974116103875}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004225352343280875,0.004525923443217734],"position_m":[0.2867746476567191,-0.07247407655678227,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00012941964299524253,-0.0006764121092080995],"position_m":[0.24367058035700476,-0.3348764121092081,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014140702556539606,0.004873024098705097],"position_m":[0.19831407025565395,0.3125730240987051,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004518575760430114,-0.0005186362102357275],"position_m":[0.33511857576043014,0.08038136378976427,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7b3d2feb8297c14c2c47f70c895ba7f42f713cec385e32089b390bfc9ccd1d5f","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0026.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1499/tex_ceiling_textures_3851/tex_floor_textures_3166/tex_table_textures_7916/tex_wall_textures_8250","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7097447048982552533,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7097447048982552533,"visual_seed":7097447048982552533,"scene_id":"lab_003","finished_at":"2026-09-04T19:33:50"}
+{"episode_id":"ep_000021","started_at":"2026-09-04T19:38:07","dimensions":{"distractor":{"count":35,"items":[{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_0","position":[-0.4062665943064522,-0.7796190991534921,0.71338606911949],"aabb_xy":[[-0.4412665934992704,-0.7905861451511546],[-0.37126659511363386,-0.7686520531558293]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[0.34276074059846984,-2.520148179325116,0.71338606911949],"aabb_xy":[[0.308298262585382,-2.5268118565080386],[0.37722321861155755,-2.513484502142193]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[-0.2794465409325275,1.1208397368370964,0.71338606911949],"aabb_xy":[[-0.3444465394896004,1.0910872034232137],[-0.21444654237545474,1.150592270250979]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_3","position":[-0.0014120062152400692,-1.0114005795846985,0.71338606911949],"aabb_xy":[[-0.03891200773087178,-1.0226273526008434],[0.03608799530039164,-1.0001738065685533]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.4100000425667707,-1.294797357178274,0.71338606911949],"aabb_xy":[[0.40275627652052537,-1.3747973553818764],[0.417243808613016,-1.2147973589746717]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[0.1765686494952542,-1.9101702040824828,0.71338606911949],"aabb_xy":[[0.12656864854472136,-1.941719351086004],[0.22656865044578697,-1.8786210570789612]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.5424628088555853,1.2225037494915387,0.71338606911949],"aabb_xy":[[-0.5649628093676258,1.2000118911261404],[-0.5199628083435446,1.244995607856937]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_7","position":[-0.26340479305271713,-0.6615262534372981,0.71338606911949],"aabb_xy":[[-0.2804148903427678,-0.677660741935572],[-0.24639469576266648,-0.6453917649390242]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_8","position":[0.4151114252683321,-0.7141385531331745,0.71338606911949],"aabb_xy":[[0.3975647303522132,-0.7516385546974258],[0.43265812018445104,-0.6766385515689233]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[-0.401688854313749,-0.8985856409182458,0.71338606911949],"aabb_xy":[[-0.41305058896703517,-0.9099541073245337],[-0.39032711966046285,-0.8872171745119576]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_10","position":[0.10425015926323367,-0.8907655338854874,0.71338606911949],"aabb_xy":[[0.09828362032249789,-0.8967266785448513],[0.11021669820396947,-0.8848043892261233]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[0.6678662495893568,-0.8745960042650385,0.71338606911949],"aabb_xy":[[0.6178662500130222,-0.9245765832171445],[0.7178662491656916,-0.8246154253129326]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_12","position":[0.6104706089811329,0.12275661866871213,0.71338606911949],"aabb_xy":[[0.6008389727607033,0.11311930588900321],[0.6201022452015625,0.13239393144842104]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_13","position":[0.5168382943990113,-0.4427405797499917,0.71338606911949],"aabb_xy":[[0.5074912868167161,-0.45704420196763573],[0.5261853019813065,-0.4284369575323477]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_14","position":[0.42981873951761274,0.9495561395636907,0.71338606911949],"aabb_xy":[[0.4079100573782616,0.9276554727435997],[0.45172742165696367,0.9714568063837812]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[-0.6805242441448413,-0.6992454698949206,0.71338606911949],"aabb_xy":[[-0.6881485122350195,-0.7068786934314644],[-0.672899976054663,-0.6916122463583769]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[0.6708096997294268,-2.3421863788484556,0.71338606911949],"aabb_xy":[[0.6658536795445458,-2.364686379050578],[0.6757657199143081,-2.319686378646334]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[0.10864762050400878,1.5956810193635804,0.71338606911949],"aabb_xy":[[0.04364761950350826,1.5448946542089055],[0.1736476215045093,1.6464673845182554]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[-0.1570733672604432,-2.421733731502432,0.71338606911949],"aabb_xy":[[-0.22107336796391255,-2.467752113975353],[-0.09307336655697383,-2.375715349029511]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[-0.38593343163905586,1.3014381787293314,0.71338606911949],"aabb_xy":[[-0.47093343033113055,1.2694523153344526],[-0.30093343294698127,1.3334240421242103]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[-0.383506043925148,1.6738325306784554,0.71338606911949],"aabb_xy":[[-0.47319312023326343,1.5838325304240048],[-0.2938189676170325,1.763832530932906]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[-0.4903745312888859,0.5201139785907696,0.71338606911949],"aabb_xy":[[-0.5553745313231886,0.4734133019104423],[-0.4253745312545832,0.5668146552710969]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[0.5035299027993394,0.7231087315217541,0.71338606911949],"aabb_xy":[[0.42352990172621907,0.7133306851843696],[0.5835299038724597,0.7328867778591385]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[-0.22620269164777984,-0.29316205811612317,0.71338606911949],"aabb_xy":[[-0.2902026889334285,-0.3346687770689671],[-0.1622026943621312,-0.25165533916327915]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_24","position":[-0.43975006024678887,-2.399400525666754,0.71338606911949],"aabb_xy":[[-0.5037500625895903,-2.444341376910886],[-0.37575005790398724,-2.354459674422621]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_25","position":[0.6283586614455243,-1.864310872902993,0.71338606911949],"aabb_xy":[[0.6054429485604744,-1.8872151700394169],[0.6512743743305742,-1.8414065757665699]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[-0.4080539976784851,0.07685534350353418,0.71338606911949],"aabb_xy":[[-0.44149417287450465,0.04341171767260408],[-0.37461382248246544,0.11029896933446423]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_27","position":[-0.3355381581679418,0.8000165417772682,0.71338606911949],"aabb_xy":[[-0.3995381545635149,0.7360532533585347],[-0.2715381617723687,0.8639798301960018]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[0.32713875365424916,-1.6799362693674773,0.71338606911949],"aabb_xy":[[0.23713875393107495,-1.7030096219026567],[0.4171387533774233,-1.656862916832297]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_29","position":[0.27576764771090667,1.551516413965778,0.71338606911949],"aabb_xy":[[0.257561824049659,1.5404910133837866],[0.29397347137215435,1.5625418145477699]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_30","position":[-0.5481979355064042,0.24059531254406297,0.71338606911949],"aabb_xy":[[-0.6033231411359948,0.18059531110277582],[-0.49307272987681333,0.3005953139853501]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_31","position":[0.3914041522534193,-1.5246878104942707,0.71338606911949],"aabb_xy":[[0.3114041548498259,-1.6046803816924535],[0.47140414965701277,-1.444695239296088]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_32","position":[-0.24623510417099975,-1.176374860944307,0.71338606911949],"aabb_xy":[[-0.31123510205264754,-1.227498524650848],[-0.18123510628935194,-1.1252511972377663]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_33","position":[0.20269299394174167,-0.5253617420937489,0.71338606911949],"aabb_xy":[[0.18752082466010836,-0.5405305990219523],[0.21786516322337504,-0.5101928851655456]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_34","position":[0.6252159047729451,1.2033496191722937,0.71338606911949],"aabb_xy":[[0.5452159015151021,1.1233531113803097],[0.705215908030788,1.2833461269642776]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6596436443630248,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9312.png","name":"9312"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9312.png","name":"9312"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3063.png","name":"3063"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4798.png","name":"4798"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/668.png","name":"668"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/518.png","name":"518"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":695.1127974952683,"rotation_z_degrees":70.23983129794452,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015976963722953253,-0.0017708705657544996,-0.010884986964257744]},{"name":"camera_2","offset_m":[0.017577585970539236,-0.01088492432531484,0.008517565433599387]},{"name":"camera_3","offset_m":[0.013039125434093354,0.00807611702615861,0.014993317925011736]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014030303396934053,-0.0016890649416452898,-0.001115337573954065],"end_effector_yaw_offset_degrees":0.48328471287841546},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0011443504165463188,0.0005513538106916155,0.0001209361823482271],"end_effector_yaw_offset_degrees":-0.13404373540524173},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016975626596352498,0.001976152078619486,-0.0016378616315933497],"end_effector_yaw_offset_degrees":-0.5990848758676002},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00030974450185984733,-0.00025233393241923794,0.0007582521346734699],"end_effector_yaw_offset_degrees":-0.7498467910980209}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0021127062460090783,-0.0011965558821017464],"position_m":[0.29311270624600905,-0.07819655588210174,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002589555514880615,0.0012635886963952014],"position_m":[0.2463895555148806,-0.3329364113036048,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009699404691509116,0.0028428462358370083],"position_m":[0.19593005953084908,0.310542846235837,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012660292064111344,-0.004633752619195995],"position_m":[0.3293339707935889,0.07626624738080401,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6b2cd94ea2d24e570571025315868256fc40f56de7797ec3f57ba4b188262dd6","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0028.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9312/tex_ceiling_textures_518/tex_floor_textures_668/tex_table_textures_3063/tex_wall_textures_4798","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7346967324018861819,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7346967324018861819,"visual_seed":7346967324018861819,"scene_id":"lab_003","finished_at":"2026-09-04T19:41:38"}
+{"episode_id":"ep_000022","started_at":"2026-09-04T19:41:42","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[0.13455257635676054,1.2004896877677318,0.71338606911949],"aabb_xy":[[0.11705264292277714,1.1829896878474973],[0.1520525097907439,1.2179896876879663]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[0.11778098772997414,0.61645046296651,0.71338606911949],"aabb_xy":[[0.09278098845801187,0.6001050993703475],[0.14278098700193642,0.6327958265626722]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[-0.088154289214471,0.3318936137006836,0.71338606911949],"aabb_xy":[[-0.11065071064833508,0.30939361389393616],[-0.06565786778060688,0.35439361350743104]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_3","position":[-0.028689909271175873,-2.2819587449904413,0.71338606911949],"aabb_xy":[[-0.0629868202889165,-2.316255631200382],[0.005607001746564751,-2.2476618587804995]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_4","position":[0.3913658683291694,0.7152574003475451,0.71338606911949],"aabb_xy":[[0.38337237853388745,0.7072592684070695],[0.3993593581244515,0.7232555322880208]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_5","position":[-0.27039672285561867,0.6305335982476472,0.71338606911949],"aabb_xy":[[-0.27844008278157384,0.5455335971522808],[-0.2623533629296635,0.7155335993430136]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[-0.42674883880168984,-0.28531895756314096,0.71338606911949],"aabb_xy":[[-0.44019536543573323,-0.2987888092162322],[-0.41330231216764657,-0.27184910591004974]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[0.26451189131392416,0.5540072166298073,0.71338606911949],"aabb_xy":[[0.20051189103994588,0.5039411164325194],[0.32851189158790234,0.6040733168270953]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.2717838271626843,1.528402352093774,0.71338606911949],"aabb_xy":[[-0.28945945775128257,1.5107221358143712],[-0.2541081965740859,1.5460825683731767]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.3758620221032791,-1.9662979781438237,0.71338606911949],"aabb_xy":[[0.36570900654912974,-2.0023675197165636],[0.38601503765742845,-1.9302284365710827]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_10","position":[-0.3960805752087778,-0.7674795698952777,0.71338606911949],"aabb_xy":[[-0.4600805766167685,-0.8192685214192023],[-0.33208057380078715,-0.7156906183713528]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_11","position":[-0.4747774996261189,-1.216066936056601,0.71338606911949],"aabb_xy":[[-0.5248749636071925,-1.2800669365664128],[-0.4246800356450453,-1.1520669355467892]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[0.4070000926198596,-1.6351958284905188,0.71338606911949],"aabb_xy":[[0.3430000907075173,-1.6911069777485292],[0.471000094532202,-1.5792846792325084]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[-0.26739599189208113,1.121920681003492,0.71338606911949],"aabb_xy":[[-0.3313959882876542,1.0579573925847583],[-0.20339599549650805,1.1858839694222254]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[-0.6796575380257596,-1.5630577515287887,0.71338606911949],"aabb_xy":[[-0.688817416969636,-1.569588969572326],[-0.6704976590818829,-1.5565265334852518]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[0.6450506189839142,1.289300138844498,0.71338606911949],"aabb_xy":[[0.6373474283098374,1.2815907681457601],[0.6527538096579913,1.2970095095432363]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_16","position":[0.4996911618269506,1.3008109400123145,0.71338606911949],"aabb_xy":[[0.46972360491712495,1.2708109397144285],[0.5296587187367763,1.3308109403102]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_17","position":[0.39457402886621873,-0.30253356088740935,0.71338606911949],"aabb_xy":[[0.37165831598116883,-0.3254378580238329],[0.4174897417512687,-0.2796292637509859]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_18","position":[-0.001380834290396371,1.5352724739893042,0.71338606911949],"aabb_xy":[[-0.03597191714444158,1.470272473704273],[0.03321024856364884,1.600272474274335]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.17179186214940623,-0.6724364338022195,0.71338606911949],"aabb_xy":[[-0.25178568572796445,-0.752436436395061],[-0.09179803857084798,-0.5924364312093778]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[-0.47199416024337304,0.29835559109710186,0.71338606911949],"aabb_xy":[[-0.4972149971032127,0.27313184024421505],[-0.44677332338353337,0.32357934194998855]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.10415822914152795,-0.9012066283400724,0.71338606911949],"aabb_xy":[[0.04915822951978213,-0.9561903211275452],[0.15915822876327382,-0.8462229355525998]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_22","position":[-0.10790111293968152,-2.3904966270691927,0.71338606911949],"aabb_xy":[[-0.12223553806584497,-2.4025568426237314],[-0.09356668781351807,-2.378436411514654]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[0.5171482663780655,-1.4895457044022562,0.71338606911949],"aabb_xy":[[0.5045214790908692,-1.499091778103829],[0.5297750536652619,-1.4799996307006833]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_24","position":[-0.4301577311091534,-2.5114242068929338,0.71338606911949],"aabb_xy":[[-0.5201577305275242,-2.544799703737123],[-0.3401577316907825,-2.4780487100487436]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[-0.5256482566019445,0.9744737388044689,0.71338606911949],"aabb_xy":[[-0.5435173643564,0.9606408308272579],[-0.507779148847489,0.9883066467816798]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_26","position":[0.08099668124832204,-1.4190207010495293,0.71338606911949],"aabb_xy":[[0.016996683962673412,-1.4605274200023732],[0.1449966785339707,-1.3775139820966853]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_27","position":[-0.19630172500986487,-1.7429105546484356,0.71338606911949],"aabb_xy":[[-0.23380172358548565,-1.7556468503119933],[-0.15880172643424403,-1.7301742589848774]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_28","position":[-0.4571890840524352,-1.6748334400692324,0.71338606911949],"aabb_xy":[[-0.47607346782094545,-1.6937193648495852],[-0.43830470028392504,-1.6559475152888796]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_29","position":[0.19607948671583775,-2.5118996045646727,0.71338606911949],"aabb_xy":[[0.1785794864707883,-2.529399392404239],[0.21357948696088708,-2.4943998167251054]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_30","position":[0.5535582530900749,-0.6095719568846514,0.71338606911949],"aabb_xy":[[0.5447770259428386,-0.6183517041731816],[0.5623394802373112,-0.6007922095961213]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_31","position":[-0.6420205454764883,0.05578055973819085,0.71338606911949],"aabb_xy":[[-0.6645205452903907,0.051305943367710154],[-0.619520545662586,0.06025517610867153]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_32","position":[0.22503704621525267,1.4069588815949965,0.71338606911949],"aabb_xy":[[0.14003704779782947,1.3220845861327117],[0.3100370446326759,1.4918331770572817]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_33","position":[0.6861465214687557,-1.5535305078458925,0.71338606911949],"aabb_xy":[[0.6486465199531238,-1.5647572808620378],[0.7236465229843873,-1.5423037348297477]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_34","position":[0.656958484890928,-2.3256683073230673,0.71338606911949],"aabb_xy":[[0.6224960068778401,-2.3323319845059896],[0.6914209629040157,-2.319004630140144]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.656898874538525,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8712.png","name":"8712"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8712.png","name":"8712"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4498.png","name":"4498"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/236.png","name":"236"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/328.png","name":"328"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5350.png","name":"5350"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":790.429755832771,"rotation_z_degrees":184.12348687087314,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008061591290282073,0.019050076831402942,-0.018774139574754573]},{"name":"camera_2","offset_m":[-0.00023211643402939325,0.016283646471783316,0.007797829199891519]},{"name":"camera_3","offset_m":[-0.005881639336374018,0.015847696813946818,0.017629855450690676]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001616581057568591,0.0008566549152085557,0.0007719389193906307],"end_effector_yaw_offset_degrees":0.5141368399755062},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019069646342423962,-0.001506533580889085,-4.2223835790949123e-05],"end_effector_yaw_offset_degrees":-0.3983435678616378},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014868723962082045,0.0003183874288256597,-0.000356806612646551],"end_effector_yaw_offset_degrees":0.7120511944864374},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001257207168264864,-0.0008756742402469299,-0.0017410626831729941],"end_effector_yaw_offset_degrees":-0.8395155566708001}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0026483850945787425,0.0025030688890419527],"position_m":[0.2883516149054212,-0.07449693111095805,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001043059043918635,0.0004979564619020903],"position_m":[0.24275694095608136,-0.3337020435380979,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026718377088202835,-0.002774914805087093],"position_m":[0.19957183770882028,0.3049250851949129,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007700959210399424,-0.003598994071272288],"position_m":[0.33137009592103994,0.07730100592872771,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aca72d62d0e4cac51057c0131642985a6d5c15780a12ff4c06cd209f6185d7b5","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8712/tex_ceiling_textures_5350/tex_floor_textures_328/tex_table_textures_4498/tex_wall_textures_236","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6868349361862833988,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6868349361862833988,"visual_seed":6868349361862833988,"scene_id":"lab_003","finished_at":"2026-09-04T19:45:15"}
+{"episode_id":"ep_000023","started_at":"2026-09-04T19:45:20","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[0.6555403111622258,-0.08753595901865907,0.71338606911949],"aabb_xy":[[0.5915403089418187,-0.13190904314394736],[0.7195403133826328,-0.0431628748933708]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.6593127727188701,0.3596372947052138,0.71338606911949],"aabb_xy":[[0.5953127763232969,0.2956740062864802],[0.7233127691144431,0.4236005831239473]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[-0.5234360021746053,-1.57254294413538,0.71338606911949],"aabb_xy":[[-0.5705653811764408,-1.6365429451797817],[-0.4763066231727695,-1.5085429430909778]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[-0.10944496597525433,0.14245904068765158,0.71338606911949],"aabb_xy":[[-0.11358082230795453,0.10495904124329461],[-0.10530910964255415,0.1799590401320086]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_4","position":[0.13845429853978009,-2.2900323002469025,0.71338606911949],"aabb_xy":[[0.12761382031326518,-2.3072185815375508],[0.149294776766295,-2.2728460189562534]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_5","position":[-0.13228496265399592,0.5307850707893822,0.71338606911949],"aabb_xy":[[-0.19628496182376584,0.48401838367041966],[-0.06828496348422596,0.5775517579083446]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.0037083951365430856,-0.7632188633924806,0.71338606911949],"aabb_xy":[[-0.06770839842625119,-0.8065537823963981],[0.060291608153165026,-0.7198839443885628]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[0.11231471655650593,-1.6019492939680307,0.71338606911949],"aabb_xy":[[0.03231471796918651,-1.6812648959061915],[0.19231471514382537,-1.5226336920298698]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_8","position":[0.6022407014806646,0.12878052105989246,0.71338606911949],"aabb_xy":[[0.5522406998191698,0.07878207880418973],[0.6522407031421593,0.17877896331559515]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_9","position":[-0.08056910641468074,-0.3034798265640122,0.71338606911949],"aabb_xy":[[-0.14056910701069691,-0.35829229910923566],[-0.020569105818664557,-0.2486673540187887]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_10","position":[-0.0992145181871793,-0.8756963648194631,0.71338606911949],"aabb_xy":[[-0.10897050769635318,-0.8854588988786974],[-0.0894585286780054,-0.8659338307602286]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_11","position":[-0.32452166521222253,-1.1803202789244296,0.71338606911949],"aabb_xy":[[-0.35952166510824135,-1.1886945144363694],[-0.2895216653162036,-1.1719460434124898]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[-0.09248057219321093,-1.990248679271525,0.71338606911949],"aabb_xy":[[-0.14248057314374374,-2.0217978262750465],[-0.04248057124267812,-1.9586995322680036]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_13","position":[0.4661137020536097,1.1015086377558103,0.71338606911949],"aabb_xy":[[0.40211370064561897,1.0497196862318856],[0.5301137034616002,1.153297589279735]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_14","position":[-0.24154414484022424,1.1769727030430004,0.71338606911949],"aabb_xy":[[-0.279044143415845,1.1642364073794425],[-0.2040441462646034,1.1897089987065583]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_15","position":[-0.29399260641668085,1.0085003499589056,0.71338606911949],"aabb_xy":[[-0.37399260357625613,0.9969527490010883],[-0.21399260925710556,1.0200479509167224]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_16","position":[-0.45151534866800425,-0.8347974223254653,0.71338606911949],"aabb_xy":[[-0.47402904049146144,-0.9047974229264727],[-0.42900165684454705,-0.7647974217244576]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_17","position":[0.14283956488865224,0.9842045933302295,0.71338606911949],"aabb_xy":[[0.06283956381553191,0.974426546992845],[0.22283956596177257,0.9939826396676139]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[-0.4249147305936814,-0.0802390701909812,0.71338606911949],"aabb_xy":[[-0.43141636710168607,-0.09000689221729097],[-0.41841309408567684,-0.07047124816467143]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[0.4727239077742631,-2.220647225700486,0.71338606911949],"aabb_xy":[[0.4557138104842124,-2.23678171419876],[0.4897340050643137,-2.204512737202212]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[0.10470987335462845,-1.9431385933456666,0.71338606911949],"aabb_xy":[[0.09283779034312735,-2.028138593039317],[0.11658195636612957,-1.8581385936520163]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_21","position":[-0.6263319195142958,-1.3096634751717602,0.71338606911949],"aabb_xy":[[-0.6371835257631713,-1.3205227658994112],[-0.6154803132654201,-1.2988041844441092]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_22","position":[-0.33703016594819135,0.8053825814195079,0.71338606911949],"aabb_xy":[[-0.34879835274284887,0.7203825815142865],[-0.32526197915353383,0.8903825813247297]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[0.6644307855200473,-0.36998521314649535,0.71338606911949],"aabb_xy":[[0.6567275948459702,-0.3776945838452333],[0.6721339761941242,-0.3622758424477573]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[-0.35338704308603947,-0.7295915598941052,0.71338606911949],"aabb_xy":[[-0.3639545227441385,-0.7401365900071136],[-0.34281956342794045,-0.7190465297810965]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[-0.1123631149026183,-2.3201308575510278,0.71338606911949],"aabb_xy":[[-0.13015662183753474,-2.3379306031468254],[-0.09456960796770185,-2.30233111195523]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_26","position":[-0.5795074939655942,0.8247607368835732,0.71338606911949],"aabb_xy":[[-0.6273136615793629,0.7597607341765141],[-0.5317013263518255,0.8897607395906321]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_27","position":[-0.6336804192182305,0.41103280546734,0.71338606911949],"aabb_xy":[[-0.6711804198828091,0.39534574746711776],[-0.5961804185536517,0.42671986346756213]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6583996000544371,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8015.png","name":"8015"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8015.png","name":"8015"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8575.png","name":"8575"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1608.png","name":"1608"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3035.png","name":"3035"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5144.png","name":"5144"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":506.1247459546735,"rotation_z_degrees":263.0981622435033,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005653717842746273,-0.004631460664375017,0.018131219121841843]},{"name":"camera_2","offset_m":[0.016524794328772328,0.007094623426665069,-0.013318076184278195]},{"name":"camera_3","offset_m":[-0.016554699327464666,-0.017779065479664673,0.007328823946583744]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009027620860206631,0.0016315744571818022,-1.949671424715787e-05],"end_effector_yaw_offset_degrees":-0.6883962830208643},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008011876068810047,0.0017496038766475312,-0.0012047929451066992],"end_effector_yaw_offset_degrees":-0.9117612598270532},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006339089149646655,0.0009775792355275173,-0.0012483611273194496],"end_effector_yaw_offset_degrees":-0.1798685068978063},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007880266469958179,-0.0015960461816853823,0.0005659498914476584],"end_effector_yaw_offset_degrees":-0.38432309511873464}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021840911513242222,0.00292380454597252],"position_m":[0.28881590884867575,-0.07407619545402748,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028921729496047847,0.004257199571355212],"position_m":[0.24669217294960477,-0.32994280042864477,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002710247207350797,0.002526535570586301],"position_m":[0.1996102472073508,0.31022653557058627,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-5.88263258091996e-05,0.003545207899700159],"position_m":[0.3305411736741908,0.08444520789970016,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aad202025b50c5da782387d27287aea995bf7b49ae4abe4940b3aac75f357120","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0030.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8015/tex_ceiling_textures_5144/tex_floor_textures_3035/tex_table_textures_8575/tex_wall_textures_1608","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6940794995378230309,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6940794995378230309,"visual_seed":6940794995378230309,"scene_id":"lab_003","finished_at":"2026-09-04T19:48:53"}
+{"episode_id":"ep_000024","started_at":"2026-09-04T19:51:18","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_0","position":[0.08253988945232116,-0.9151882917748293,0.71338606911949],"aabb_xy":[[0.0327231099874864,-0.9651882902591327],[0.13235666891715592,-0.8651882932905259]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_1","position":[-0.41750426096144794,0.7244594910175417,0.71338606911949],"aabb_xy":[[-0.42308593259557664,0.7119594911997661],[-0.4119225893273191,0.7369594908353171]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_2","position":[0.005270817126576954,0.948356545370217,0.71338606911949],"aabb_xy":[[0.0003715248200134571,0.9206796260676481],[0.01017010943314045,0.9760334646727856]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[-0.15570900527513432,-0.04530752111896286,0.71338606911949],"aabb_xy":[[-0.2197090055356051,-0.09031632047189085],[-0.09170900501466349,-0.0002987217660348484]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[0.5229543973939048,1.5099587302643953,0.71338606911949],"aabb_xy":[[0.4689388011120048,1.4459587273721382],[0.5769699936758048,1.5739587331566525]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.23666260601587397,-0.6651889313090855,0.71338606911949],"aabb_xy":[[0.2278813788686378,-0.6739686785976158],[0.24544383316311025,-0.6564091840205555]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[0.39674728460453035,-1.7988977121401288,0.71338606911949],"aabb_xy":[[0.35924728431235553,-1.8029391875407321],[0.43424728489670517,-1.794856236739525]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[-0.12927581372118713,-1.177851440101591,0.71338606911949],"aabb_xy":[[-0.1408447944681237,-1.2028514402185229],[-0.11770683297425055,-1.1528514399846594]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.5860112380705425,-0.6321708567666535,0.71338606911949],"aabb_xy":[[-0.6660112402333049,-0.7121260403927971],[-0.50601123590778,-0.5522156731405099]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.5130828330881794,-1.4152383105500008,0.71338606911949],"aabb_xy":[[0.5029298175340299,-1.4513078521227412],[0.5232358486423286,-1.3791687689772605]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_10","position":[0.6197364443974736,-1.1726743594267792,0.71338606911949],"aabb_xy":[[0.597236443885433,-1.1951662177921774],[0.6422364449095141,-1.1501825010613806]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.5364295130967889,1.2590036450387365,0.71338606911949],"aabb_xy":[[0.5139295135730814,1.2365076975881157],[0.5589295126204962,1.2814995924893573]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[0.5297346236272875,-2.5202361434641243,0.71338606911949],"aabb_xy":[[0.49527227622914555,-2.5547300258619465],[0.5641969710254291,-2.485742261066301]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_13","position":[-0.1911078459864678,-1.5292330851744182,0.71338606911949],"aabb_xy":[[-0.25610784414238685,-1.5555293297243304],[-0.12610784783054876,-1.502936840624506]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[0.49063915656875356,-1.1792567655828499,0.71338606911949],"aabb_xy":[[0.44063915490725875,-1.2292552078385524],[0.5406391582302482,-1.129258323327147]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[-0.32283079266619946,-2.427737551403661,0.71338606911949],"aabb_xy":[[-0.3282887383032195,-2.50773755471132],[-0.31737284702917934,-2.347737548096002]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[-0.3362381502267603,-1.1296890726681623,0.71338606911949],"aabb_xy":[[-0.34938939619804965,-1.1546890724248489],[-0.32308690425547093,-1.1046890729114758]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[-0.04264028226455241,0.6096197029298134,0.71338606911949],"aabb_xy":[[-0.06622540572844726,0.5446197006843816],[-0.019055158800657557,0.6746197051752452]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[0.44032489817851883,0.466750388238355,0.71338606911949],"aabb_xy":[[0.4278575400687832,0.4542850636050315],[0.4527922562882545,0.4792157128716785]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[-0.4722452379573036,-1.2608998696097593,0.71338606911949],"aabb_xy":[[-0.5222383500664955,-1.3108998702839552],[-0.4222521258481118,-1.210899868935564]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6589315536231316,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3997.png","name":"3997"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3997.png","name":"3997"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3267.png","name":"3267"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2452.png","name":"2452"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8133.png","name":"8133"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/407.png","name":"407"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":742.6693328392075,"rotation_z_degrees":309.0684568954268,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0065954134112423575,0.018894685626210554,-0.011064552348579592]},{"name":"camera_2","offset_m":[0.013885944123193317,-0.008007930497083886,-0.017346873347307192]},{"name":"camera_3","offset_m":[-0.007522162769946123,0.017979687308841936,0.014639385952068113]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007143312977103892,-0.001656932749290661,-0.0009593962039921129],"end_effector_yaw_offset_degrees":0.9320790962830365},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00157346212904969,0.0011147962642192627,0.0007636783379705082],"end_effector_yaw_offset_degrees":-0.8517374470600818},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007973618182354411,0.001931707867805792,-0.0007845367542490061],"end_effector_yaw_offset_degrees":0.4829440324971095},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019276795261923773,0.0016980194671351433,-0.00012029843570661252],"end_effector_yaw_offset_degrees":0.5259435390674927}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003608634855908863,0.0022766969587522945],"position_m":[0.28739136514409114,-0.0747233030412477,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002699772552775045,0.002866037645985953],"position_m":[0.24649977255277503,-0.331333962354014,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020337037348261843,-0.0048252681285493116],"position_m":[0.1948662962651738,0.30287473187145064,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0010847856290414036,0.004861797053818849],"position_m":[0.3316847856290414,0.08576179705381885,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"67c703090f74b544c5568e4a09cde74c3e15e56b79e527201b67f543d04938e1","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0032.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3997/tex_ceiling_textures_407/tex_floor_textures_8133/tex_table_textures_3267/tex_wall_textures_2452","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6435232924913598712,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6435232924913598712,"visual_seed":6435232924913598712,"scene_id":"lab_003","finished_at":"2026-09-04T19:54:47"}
+{"episode_id":"ep_000025","started_at":"2026-09-04T19:57:17","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[0.4383556889572051,1.0301238686917462,0.71338606911949],"aabb_xy":[[0.42085568967911824,1.0127857686254003],[0.455855688235292,1.0474619687580922]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_1","position":[-0.24486523929652276,-1.4729775800096816,0.71338606911949],"aabb_xy":[[-0.27732694017845017,-1.503110412124584],[-0.21240353841459525,-1.4428447478947788]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_2","position":[0.1397031361364398,-1.9535469060215842,0.71338606911949],"aabb_xy":[[0.11720671470257571,-1.9760469058283314],[0.1621995575703039,-1.9310469062148365]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_3","position":[-0.6318684605134904,-1.197552311580469,0.71338606911949],"aabb_xy":[[-0.6818526962216676,-1.2475523103939645],[-0.5818842248053131,-1.1475523127669733]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.5223748425477506,0.7676634438874155,0.71338606911949],"aabb_xy":[[0.4583748392580424,0.7243285248834979],[0.5863748458374586,0.8109983628913331]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[0.036969840147187294,-1.4297992720285237,0.71338606911949],"aabb_xy":[[-0.01302943502124887,-1.479799273304471],[0.08696911531562346,-1.3797992707525766]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_6","position":[0.46833143561096224,-1.7774429617737724,0.71338606911949],"aabb_xy":[[0.3983314322194002,-1.812758735477203],[0.5383314390025241,-1.7421271880703413]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[0.6573952118869786,1.5324126217271465,0.71338606911949],"aabb_xy":[[0.6422230426053452,1.5172437647989432],[0.6725673811686119,1.54758147865535]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_8","position":[-0.4165508505305494,-1.5403464759565033,0.71338606911949],"aabb_xy":[[-0.480550847816198,-1.5818531949093473],[-0.3525508532449007,-1.4988397570036593]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[0.27999667934353556,1.0664027863696348,0.71338606911949],"aabb_xy":[[0.27275291329729023,0.9864027881660324],[0.2872404453897809,1.1464027845732372]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[0.4352011172407797,0.5451098368828657,0.71338606911949],"aabb_xy":[[0.41756828164725207,0.5274868908672428],[0.4528339528343072,0.5627327828984887]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_11","position":[0.2837174194612653,1.434130733997144,0.71338606911949],"aabb_xy":[[0.27550287434558124,1.4254541436995023],[0.2919319645769492,1.442807324294785]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_12","position":[0.32476773611004983,-1.3537378057626104,0.71338606911949],"aabb_xy":[[0.31673140140876493,-1.361775925067027],[0.3328040708113346,-1.3456996864581934]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_13","position":[-0.05387431735336379,0.29056128626816413,0.71338606911949],"aabb_xy":[[-0.09605873151419453,0.22656128599095293],[-0.011689903192533047,0.35456128654537533]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[-0.2077354029423002,0.5331697803377087,0.71338606911949],"aabb_xy":[[-0.2677354034501531,0.4763230466517872],[-0.14773540243444727,0.5900165140236298]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.13257915133533815,0.9908818624779525,0.71338606911949],"aabb_xy":[[-0.18257915228587096,0.959332715474431],[-0.08257915038480534,1.022431009481474]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[0.5366782435073962,1.7453812667925024,0.71338606911949],"aabb_xy":[[0.5312202978703762,1.6653812634848428],[0.5421361891444163,1.825381270100161]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_17","position":[-0.5454583260742014,-0.6587827575087724,0.71338606911949],"aabb_xy":[[-0.5534523146519047,-0.6667828376038626],[-0.5374643374964979,-0.6507826774136819]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_18","position":[-0.0818028806139024,0.13470561322778662,0.71338606911949],"aabb_xy":[[-0.1458028779162488,0.09033918625992984],[-0.017802883311555995,0.17907204019564335]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[0.3880755977596262,-0.36321723703226283,0.71338606911949],"aabb_xy":[[0.38311957757474513,-0.3857172372343845],[0.39303161794450747,-0.3407172368301412]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_20","position":[-0.5955399338183698,1.0455090200343968,0.71338606911949],"aabb_xy":[[-0.6063804120448847,1.0283227387437481],[-0.5846994555918549,1.0626953013250455]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6557957770521081,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8857.png","name":"8857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8857.png","name":"8857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7467.png","name":"7467"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8896.png","name":"8896"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1422.png","name":"1422"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2137.png","name":"2137"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":551.3604462792338,"rotation_z_degrees":130.56148457819725,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017159631931587215,-0.016609353482730516,0.008488214571009095]},{"name":"camera_2","offset_m":[0.014006914027428773,0.006795492684529551,0.01217621008494862]},{"name":"camera_3","offset_m":[-0.002934226497449323,0.007164973235750095,-0.01033275864724458]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014945869900710625,-9.741069542455391e-05,0.0007076283698616214],"end_effector_yaw_offset_degrees":-0.004454944849303644},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014374349133698021,-0.0018028629504104078,0.0010516201318094337],"end_effector_yaw_offset_degrees":0.7605262856506156},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007018951630915393,-0.0007078999391945406,0.0006988087397186804],"end_effector_yaw_offset_degrees":-0.993909705155281},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008006895409940801,0.0013033047694166718,-0.0011336884929764143],"end_effector_yaw_offset_degrees":0.4826556882932054}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029072404751040917,-0.0007153656766234048],"position_m":[0.2880927595248959,-0.0777153656766234,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019043287105678986,0.0012090952518444918],"position_m":[0.2418956712894321,-0.3329909047481555,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020328685409642085,-0.004722314549073734],"position_m":[0.1989328685409642,0.30297768545092624,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003460516482562075,-0.0024905354785758394],"position_m":[0.32713948351743793,0.07840946452142417,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d84ee56bde96c38dd02749af22869f29714e37b1a218ffadf98af54b08e49040","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8857/tex_ceiling_textures_2137/tex_floor_textures_1422/tex_table_textures_7467/tex_wall_textures_8896","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":558336855320391087,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":558336855320391087,"visual_seed":558336855320391087,"scene_id":"lab_003","finished_at":"2026-09-04T20:00:55"}
+{"episode_id":"ep_000026","started_at":"2026-09-04T20:01:00","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_0","position":[-0.44934969259211577,-1.2634107684365021,0.71338606911949],"aabb_xy":[[-0.513349691886284,-1.3273969088053565],[-0.38534969329794755,-1.1994246280676482]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.14257374390745037,-1.9564641483543563,0.71338606911949],"aabb_xy":[[-0.2225675674860086,-2.036464150947198],[-0.06257992032889215,-1.8764641457615148]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[-0.04010220380150442,0.27659817900595574,0.71338606911949],"aabb_xy":[[-0.050183910880077884,0.19659818111384103],[-0.03002049672293093,0.35659817689807033]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_3","position":[0.6617145567559206,-2.0237065630317117,0.71338606911949],"aabb_xy":[[0.6167145552896918,-2.0687064198931924],[0.7067145582221495,-1.978706706170231]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[0.4074777883313996,1.0575265907807552,0.71338606911949],"aabb_xy":[[0.3434777919040777,1.0103569669586587],[0.4714777847587215,1.1046962146028516]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_5","position":[-0.11554106928079089,-0.6323595267384348,0.71338606911949],"aabb_xy":[[-0.16551848614604445,-0.6823595282276832],[-0.06556365241553729,-0.5823595252491861]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_6","position":[0.21431214350989125,1.4751989010284574,0.71338606911949],"aabb_xy":[[0.20415912795574181,1.4391293594557166],[0.22446515906404058,1.511268442601197]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_7","position":[-0.07760281335626251,-1.7141584038984403,0.71338606911949],"aabb_xy":[[-0.14260281123791033,-1.7652820676049814],[-0.01260281547461473,-1.6630347401918997]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_8","position":[0.2575150449787945,0.5182579586895706,0.71338606911949],"aabb_xy":[[0.25217746931278995,0.4932579577604308],[0.2628526206447991,0.5432579596187104]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[-0.6522637403842895,0.962148962218369,0.71338606911949],"aabb_xy":[[-0.6891142883212771,0.9246489613953351],[-0.6154131924473019,0.9996489630414026]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[-0.2139998472561812,-0.09058029729817907,0.71338606911949],"aabb_xy":[[-0.2514998473617741,-0.09740245915116018],[-0.17649984715058822,-0.08375813544519793]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[-0.603499660304483,-0.5167526225121235,0.71338606911949],"aabb_xy":[[-0.6447484713343976,-0.5717526220243409],[-0.5622508492745681,-0.461752622999906]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_12","position":[-0.41761472378752684,-1.596708355494643,0.71338606911949],"aabb_xy":[[-0.446264056147943,-1.6253539147717184],[-0.38896539142711056,-1.5680627962175668]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.4732584269695893,-1.7363706757516468,0.71338606911949],"aabb_xy":[[-0.5070339861602823,-1.750409170964812],[-0.43948286777889634,-1.7223321805384817]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[0.5184117258406211,-0.9063264227640018,0.71338606911949],"aabb_xy":[[0.47313311095947197,-0.9703264221121853],[0.5636903407217705,-0.842326423415818]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[0.1254705789067807,-1.4906544987573205,0.71338606911949],"aabb_xy":[[0.060470578872478004,-1.5373551754376478],[0.19047057894108346,-1.4439538220769932]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[-0.5210029658925933,0.41352421803148465,0.71338606911949],"aabb_xy":[[-0.5318545721414689,0.40266492730383363],[-0.5101513596437177,0.42438350875913566]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[-0.0660036273343767,-2.5265615556870324,0.71338606911949],"aabb_xy":[[-0.12363409622164753,-2.586561554613742],[-0.008373158447105842,-2.466561556760321]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_18","position":[0.37207582772587466,-1.4366016210438501,0.71338606911949],"aabb_xy":[[0.32207582644203464,-1.486580475434472],[0.4220758290097146,-1.3866227666532278]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[0.2923003169250147,1.5629099593501068,0.71338606911949],"aabb_xy":[[0.28745672216378476,1.558058306871123],[0.2971439116862447,1.5677616118290911]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[0.1867744732383284,0.9443281952059368,0.71338606911949],"aabb_xy":[[0.16927447396024153,0.9269900951395909],[0.20427447251641528,0.9616662952722828]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[-0.3720674594281379,-1.0115935008155394,0.71338606911949],"aabb_xy":[[-0.4133720024918739,-1.0755935003836565],[-0.3307629163644019,-0.9475935012474224]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_22","position":[0.15403542643354085,-2.091140059178171,0.71338606911949],"aabb_xy":[[0.07031320093345839,-2.181140062712867],[0.2377576519336233,-2.001140055643475]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_23","position":[0.22494608893464174,0.7582806039242538,0.71338606911949],"aabb_xy":[[0.21948814329762165,0.6782806006165947],[0.23040403457166178,0.8382806072319129]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_24","position":[0.19627003614148286,-0.6985968423354432,0.71338606911949],"aabb_xy":[[0.126270039731521,-0.7190347779871248],[0.26627003255144455,-0.6781589066837613]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_25","position":[-0.3679355959767173,-0.6666412817903271,0.71338606911949],"aabb_xy":[[-0.4479355970498376,-0.6764193281277115],[-0.28793559490359694,-0.6568632354529427]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_26","position":[-0.07054420180424192,0.7247067627515165,0.71338606911949],"aabb_xy":[[-0.16054419830511366,0.6787951203330581],[0.019455794696629832,0.7706184051699746]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_27","position":[0.41726904704671997,-2.2640529760938413,0.71338606911949],"aabb_xy":[[0.40171327763645476,-2.2796034093382485],[0.4328248164569853,-2.248502542849434]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_28","position":[-0.45503373742526704,0.07098457223819343,0.71338606911949],"aabb_xy":[[-0.51503373793312,0.014137838552272129],[-0.39503373691741417,0.1278313059241147]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_29","position":[0.14238790381922295,1.1741780497507706,0.71338606911949],"aabb_xy":[[0.09240366811104572,1.1241780509372747],[0.19237213952740018,1.224178048564266]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_30","position":[0.16078045668033625,1.6519859003530102,0.71338606911949],"aabb_xy":[[0.10565525105074543,1.5919858989117228],[0.21590566230992697,1.711985901794297]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6610072242743587,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9024.png","name":"9024"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9024.png","name":"9024"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3492.png","name":"3492"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5230.png","name":"5230"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2697.png","name":"2697"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2993.png","name":"2993"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":807.0316667245712,"rotation_z_degrees":61.41167132616434,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-5.8516271139352066e-05,-0.005935090755013221,0.019976710597588546]},{"name":"camera_2","offset_m":[-0.008765251987239249,-0.0075489821035258815,-0.0062235697199586465]},{"name":"camera_3","offset_m":[-0.019568130761137777,-0.013616998025673017,-0.002516696823109888]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001851504495441194,0.0016400835234078389,-0.001089227287610357],"end_effector_yaw_offset_degrees":0.7837859656409418},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001557926500854258,-0.0009258384288383518,0.00047798731676034585],"end_effector_yaw_offset_degrees":0.8056736475681143},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006744373882335152,-0.0013196643739990038,-0.00044440974164820226],"end_effector_yaw_offset_degrees":-0.19078294782831517},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005397181591937908,7.602277044954989e-05,0.00032784015509935635],"end_effector_yaw_offset_degrees":-0.793889170549271}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004732258736043773,0.0035178683052633003],"position_m":[0.29573225873604375,-0.0734821316947367,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006618380770175118,-0.004679257080460084],"position_m":[0.2444618380770175,-0.3388792570804601,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031296340674285767,-0.004659918358154129],"position_m":[0.20002963406742857,0.30304008164184587,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001250967787646589,-0.003801142184666979],"position_m":[0.3318509677876466,0.07709885781533302,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"997a392cfcb126b39ad018f5b36dbd78d118c57b0d5e7015e1f0805ecb1bcb74","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9024/tex_ceiling_textures_2993/tex_floor_textures_2697/tex_table_textures_3492/tex_wall_textures_5230","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3282973002269074106,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3282973002269074106,"visual_seed":3282973002269074106,"scene_id":"lab_003","finished_at":"2026-09-04T20:04:37"}
+{"episode_id":"ep_000027","started_at":"2026-09-04T20:04:41","dimensions":{"distractor":{"count":29,"items":[{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_0","position":[0.03367078592356776,-2.559352415331346,0.71338606911949],"aabb_xy":[[-0.04632921734044537,-2.572912447640259],[0.11367078918758089,-2.5457923830224325]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[-0.22213415912520357,-1.073920912822354,0.71338606911949],"aabb_xy":[[-0.259634159917199,-1.0802887537805441],[-0.18463415833320812,-1.0675530718641637]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_2","position":[0.24318360433658237,1.2466993084960802,0.71338606911949],"aabb_xy":[[0.18318360408518117,1.1924179834596154],[0.30318360458798355,1.3009806335325447]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[0.48476878919827193,-2.483922542975674,0.71338606911949],"aabb_xy":[[0.47230143108853634,-2.4963878676089974],[0.49723614730800764,-2.4714572183423504]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_4","position":[-0.09959622434257964,-1.3620849280627225,0.71338606911949],"aabb_xy":[[-0.1495962247031457,-1.4120649152723252],[-0.04959622398201358,-1.3121049408531194]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_5","position":[-0.053436978814305425,-1.6523886357006567,0.71338606911949],"aabb_xy":[[-0.11843697977143264,-1.704336847634362],[0.01156302214282178,-1.600440423766951]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.353555325112337,-1.9170173915517237,0.71338606911949],"aabb_xy":[[-0.35959233811300173,-1.9230440926206722],[-0.3475183121116723,-1.9109906904827756]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[0.39021271677431413,-2.1420292327607906,0.71338606911949],"aabb_xy":[[0.37864373602737755,-2.1670292328777228],[0.4017816975212507,-2.1170292326438593]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[0.18072463794271731,-0.9702987306880289,0.71338606911949],"aabb_xy":[[0.12072463708190449,-1.021725160694515],[0.2407246388035301,-0.9188723006815424]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.6382364025267864,0.820840862099661,0.71338606911949],"aabb_xy":[[0.5732364046451386,0.7697171983931202],[0.7032364004084342,0.871964525806202]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[0.21979536294249713,-1.4038874492630067,0.71338606911949],"aabb_xy":[[0.16979536128100237,-1.4538858915187092],[0.2697953646039919,-1.3538890070073037]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[-0.5104134445682454,-0.006952507062120361,0.71338606911949],"aabb_xy":[[-0.5316914527117176,-0.07195250938819342],[-0.4891354364247731,0.0580474952639527]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_12","position":[0.6594869414461939,-2.373891531832731,0.71338606911949],"aabb_xy":[[0.6244869422533755,-2.3848585778303937],[0.6944869406390121,-2.3629244858350686]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[-0.2622829456089692,1.0923662614103637,0.71338606911949],"aabb_xy":[[-0.3422767691875274,1.0123662588175224],[-0.18228912203041098,1.1723662640032055]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[0.49310801103544555,0.25866383617390065,0.71338606911949],"aabb_xy":[[0.4760979137453949,0.24252934767562673],[0.5101181083254962,0.2747983246721746]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[-0.06707904143113008,-0.8924924292317902,0.71338606911949],"aabb_xy":[[-0.1570790381667403,-0.9456758925490846],[0.02292095530448013,-0.8393089659144956]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[0.5177886516628896,-0.698830207347227,0.71338606911949],"aabb_xy":[[0.4477886552529277,-0.7192681429989085],[0.5877886480728512,-0.6783922716955451]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_17","position":[-0.26119249154037455,-0.32448653439391295,0.71338606911949],"aabb_xy":[[-0.3161924897421194,-0.36500850102035054],[-0.20619249333862974,-0.28396456776747536]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.10196429526345985,-2.1075820770052105,0.71338606911949],"aabb_xy":[[-0.11959713085698741,-2.1252050230208335],[-0.08433145966993226,-2.0899591309895875]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[0.13857991742620968,0.8319636851003489,0.71338606911949],"aabb_xy":[[0.0745799210306366,0.7680003966816153],[0.20257991382178275,0.8959269735190825]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[0.28072163195701105,-1.9899756473061596,0.71338606911949],"aabb_xy":[[0.25287659517640393,-2.0207601460444717],[0.3085666687376182,-1.9591911485678482]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_21","position":[-0.2686301398624854,-1.637413800285846,0.71338606911949],"aabb_xy":[[-0.33263013844905787,-1.6844207636853545],[-0.20463014127591295,-1.590406836886337]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_22","position":[-0.05494696943597699,0.09853399902753068,0.71338606911949],"aabb_xy":[[-0.06294095801368038,0.09053391893244034],[-0.04695298085827359,0.10653407912262103]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_23","position":[-0.4864292458982663,1.5228802009676756,0.71338606911949],"aabb_xy":[[-0.49658226145241563,1.486810659394935],[-0.47627623034411687,1.5589497425404155]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_24","position":[-0.5192842213771034,1.1453799580764015,0.71338606911949],"aabb_xy":[[-0.5692842200230246,1.0954604144169389],[-0.4692842227311822,1.1952995017358636]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[0.6403525972888586,1.4217031418385662,0.71338606911949],"aabb_xy":[[0.5853571194681991,1.3667031404046592],[0.6953480751095179,1.476703143272473]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_26","position":[-0.12386023685715064,-2.560307589272934,0.71338606911949],"aabb_xy":[[-0.1501490611775913,-2.5865790229275847],[-0.09757141253670998,-2.534036155618282]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_27","position":[0.5218789439168132,0.693513686761444,0.71338606911949],"aabb_xy":[[0.5139556636780649,0.6710136865234406],[0.5298022241555616,0.7160136869994473]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_28","position":[0.08035915684039363,-0.7386064500110081,0.71338606911949],"aabb_xy":[[0.04285915689662721,-0.7468995400458448],[0.11785915678416002,-0.7303133599761716]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6612540904516138,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5914.png","name":"5914"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5914.png","name":"5914"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7018.png","name":"7018"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2804.png","name":"2804"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7480.png","name":"7480"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4091.png","name":"4091"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":509.109718018015,"rotation_z_degrees":140.52131078572083,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01969739685426405,0.015278170399923057,0.01965675535519745]},{"name":"camera_2","offset_m":[0.011128932738987067,-0.014037071752574235,0.01739309384852909]},{"name":"camera_3","offset_m":[0.0012601182792858316,0.014088951888239751,0.016246699299936166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012529588085521512,-0.0011336578706994747,-0.001670412195305857],"end_effector_yaw_offset_degrees":0.32254168098721614},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015653544673712378,0.0012329803041983309,-0.0008950019963865014],"end_effector_yaw_offset_degrees":0.8311351322942544},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006286260330604875,0.0006045366662076703,0.0008429449419011877],"end_effector_yaw_offset_degrees":0.444155783384641},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017950376117991523,-0.0016135152256561871,0.0017110187017108235],"end_effector_yaw_offset_degrees":0.6924699857564127}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00045175870243322706,-0.004505414819724896],"position_m":[0.29145175870243323,-0.0815054148197249,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025725540243342875,-0.0019446136227217847],"position_m":[0.24637255402433428,-0.3361446136227218,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028261131483916548,0.004868400414495602],"position_m":[0.19407388685160834,0.3125684004144956,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003531746827423612,0.002667500741593328],"position_m":[0.3270682531725764,0.08356750074159333,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a47eb61165f645f71d5fc4a9f3da69ad58482f4567aa74884ed0568abc2cdf6d","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0036.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5914/tex_ceiling_textures_4091/tex_floor_textures_7480/tex_table_textures_7018/tex_wall_textures_2804","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4737876535802510524,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4737876535802510524,"visual_seed":4737876535802510524,"scene_id":"lab_003","finished_at":"2026-09-04T20:08:10"}
+{"episode_id":"ep_000028","started_at":"2026-09-04T20:10:43","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_0","position":[0.5565303120152036,1.3879095400268078,0.71338606911949],"aabb_xy":[[0.4915303138592846,1.3616132954768954],[0.6215303101711227,1.4142057845767197]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_1","position":[-0.012015623408624165,1.343061719923151,0.71338606911949],"aabb_xy":[[-0.07601562662726202,1.2963386080241426],[0.05198437981001369,1.3897848318221593]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[-0.43475396040129266,0.6686468245263932,0.71338606911949],"aabb_xy":[[-0.4536383441698029,0.6497608997460403],[-0.4158695766327825,0.6875327493067459]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[-0.6441368806969046,-2.1421279250941354,0.71338606911949],"aabb_xy":[[-0.6791368805929234,-2.150502160606075],[-0.6091368808008857,-2.133753689582195]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.33018892237916875,-0.5962344272713065,0.71338606911949],"aabb_xy":[[0.2601889189876067,-0.6315502009747374],[0.4001889257707307,-0.5609186535678756]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_5","position":[0.15992745955427334,-2.1573607741097414,0.71338606911949],"aabb_xy":[[0.09592745814628269,-2.209149725633666],[0.223927460962264,-2.1055718225858167]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[0.4515053061134888,-0.2791470427416427,0.71338606911949],"aabb_xy":[[0.41471067298858255,-0.3160529178382249],[0.4882999392383951,-0.24224116764506037]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[-0.15251876976376677,-1.8230753989144473,0.71338606911949],"aabb_xy":[[-0.17001870319775012,-1.8405753988346818],[-0.13501883632978337,-1.8055753989942127]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.5376638296203913,-2.2361993824098167,0.71338606911949],"aabb_xy":[[-0.5926638278221361,-2.2767213490362543],[-0.4826638314186465,-2.195677415783379]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[0.5021032281804563,0.9909926335414894,0.71338606911949],"aabb_xy":[[0.45210322689661625,0.9410137791508671],[0.5521032294642961,1.0409714879321113]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_10","position":[0.6724270366794345,-2.350170902828673,0.71338606911949],"aabb_xy":[[0.6610653020261483,-2.361539369234961],[0.6837887713327206,-2.3388024364223843]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_11","position":[0.2561190772675993,-1.6530265484710376,0.71338606911949],"aabb_xy":[[0.20614026875728342,-1.7030265484767564],[0.3060978857779152,-1.6030265484653188]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_12","position":[0.5809250314462284,-1.8937926896388038,0.71338606911949],"aabb_xy":[[0.5259250318244826,-1.948776382426277],[0.6359250310679743,-1.8388089968513315]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[-0.45278979524650104,-0.2955792181346282,0.71338606911949],"aabb_xy":[[-0.4752897952566493,-0.30967543777423145],[-0.4302897952363527,-0.2814829984950249]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_14","position":[-0.013042629370686343,-2.111347229810687,0.71338606911949],"aabb_xy":[[-0.022336247607836923,-2.1488472282988207],[-0.0037490111335357623,-2.073847231322553]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[-0.40580663147688323,1.6226187724336376,0.71338606911949],"aabb_xy":[[-0.4698066318544169,1.5728735055828253],[-0.34180663109934967,1.6723640392844499]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[-0.19913932583783667,-2.007814923862557,0.71338606911949],"aabb_xy":[[-0.20877096205826626,-2.017452236642266],[-0.18950768961740702,-1.998177611082848]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[-0.019257546834189454,0.6653635130850528,0.71338606911949],"aabb_xy":[[-0.06925754785332473,0.6288972973472249],[0.03074245418494582,0.7018297288228807]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_18","position":[-0.3791255409794901,-0.01826444701569585,0.71338606911949],"aabb_xy":[[-0.41358788837763183,-0.05275832941351853],[-0.3446631935813482,0.016229435382126844]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.05260200758482103,-2.538469231931687,0.71338606911949],"aabb_xy":[[-0.011397994464910965,-2.5785637150209952],[0.11660200963455303,-2.4983747488423793]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_20","position":[0.5819174591139411,0.027479886887958216,0.71338606911949],"aabb_xy":[[0.5594174588704257,0.015275252228186265],[0.6044174593574565,0.03968452154773017]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[-0.25900897822187385,-1.2597965247120582,0.71338606911949],"aabb_xy":[[-0.2894070893210174,-1.2902034267137275],[-0.22861086712273024,-1.2293896227103884]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[0.5400833971594265,0.6321042620584132,0.71338606911949],"aabb_xy":[[0.5150833979937934,0.6251520163530566],[0.5650833963250597,0.6390565077637698]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[-0.5455151227681053,1.630971430415356,0.71338606911949],"aabb_xy":[[-0.5759993728951355,1.5809714306338598],[-0.5150308726410752,1.6809714301968517]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_24","position":[-0.10749258019897212,0.9417545914998238,0.71338606911949],"aabb_xy":[[-0.12999257972267947,0.9192586440492028],[-0.08499258067526468,0.9642505389504443]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[-0.052441184401066265,-0.6649083440334453,0.71338606911949],"aabb_xy":[[-0.05687181375590645,-0.6703567157681279],[-0.048010555046226096,-0.6594599722987627]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6587353501128731,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2493.png","name":"2493"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2493.png","name":"2493"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/611.png","name":"611"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5892.png","name":"5892"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4236.png","name":"4236"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4034.png","name":"4034"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":682.4177068750136,"rotation_z_degrees":139.07891424360295,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01456680746362515,-0.0056645664528720725,0.01045261830664503]},{"name":"camera_2","offset_m":[0.008429861850536999,-0.012999860762689908,-0.009361234783298337]},{"name":"camera_3","offset_m":[-0.01281154249996053,-0.0022859642546159097,0.01699923238361682]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00037846232156935793,0.0018365564610941395,0.0019057601094186376],"end_effector_yaw_offset_degrees":0.3084226495400604},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016690056394524306,-0.00041415568669061413,0.0005711347926368785],"end_effector_yaw_offset_degrees":-0.7932474409389472},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017069709777854805,-0.0005484133792470671,0.00021689072712507322],"end_effector_yaw_offset_degrees":0.4485351632661192},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008997022169379223,0.000105525428548484,-0.0013070280705130598],"end_effector_yaw_offset_degrees":0.7223712937392903}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00271289705871276,0.0016986189676150391],"position_m":[0.29371289705871273,-0.07530138103238496,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005431849382449795,-0.002262794409081995],"position_m":[0.243256815061755,-0.336462794409082,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013456654470603065,0.0026156740433221793],"position_m":[0.1982456654470603,0.31031567404332216,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001630873087357584,0.0018379621471797634],"position_m":[0.3289691269126424,0.08273796214717977,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c0801e9a700f45bac342eb9973b37ac1259147def8d0539d68520c03f1a97c59","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0038.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2493/tex_ceiling_textures_4034/tex_floor_textures_4236/tex_table_textures_611/tex_wall_textures_5892","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7299820952267185013,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7299820952267185013,"visual_seed":7299820952267185013,"scene_id":"lab_003","finished_at":"2026-09-04T20:14:23"}
+{"episode_id":"ep_000029","started_at":"2026-09-04T20:14:26","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_0","position":[0.19223027468199583,-2.095025867587111,0.71338606911949],"aabb_xy":[[0.15473027349720297,-2.0994440902831712],[0.22973027586678857,-2.09060764489105]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_1","position":[-0.6289102084025583,1.1643080345649452,0.71338606911949],"aabb_xy":[[-0.6342477840685629,1.1393080336358055],[-0.6235726327365537,1.189308035494085]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[0.4693469076723129,1.264507648336243,0.71338606911949],"aabb_xy":[[0.45224482971394475,1.2474008428049732],[0.48644898563068106,1.2816144538675127]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[-0.38234337647858896,1.0119275394151566,0.71338606911949],"aabb_xy":[[-0.39984337672363823,0.9944277515755898],[-0.36484337623353946,1.0294273272547234]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[-0.6105137620213902,-1.6266211892519,0.71338606911949],"aabb_xy":[[-0.6745137639337326,-1.6825323385099107],[-0.546513760109048,-1.5707100399938898]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_5","position":[-0.2923324501633472,0.7856759302850924,0.71338606911949],"aabb_xy":[[-0.3148324501734955,0.7715797106454891],[-0.2698324501531989,0.7997721499246957]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[0.018929660985382735,-2.5254207651093314,0.71338606911949],"aabb_xy":[[-0.031043633017877718,-2.5754207656638783],[0.06890295498864318,-2.4754207645547837]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[0.4502605434984297,0.8510855510568032,0.71338606911949],"aabb_xy":[[0.4394089372495541,0.8402262603291522],[0.4611121497473053,0.8619448417844542]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[0.6100189083499155,-0.14827772705048758,0.71338606911949],"aabb_xy":[[0.5725189078525572,-0.152246410598606],[0.6475189088472737,-0.14430904350236917]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_9","position":[-0.5999748141140191,-0.5295786669109219,0.71338606911949],"aabb_xy":[[-0.663974810541341,-0.5767482907330184],[-0.5359748176866972,-0.4824090430888255]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[0.2107625496386044,1.4534109944700906,0.71338606911949],"aabb_xy":[[0.13076254916838848,1.4451002868557425],[0.29076255010882035,1.461721702084439]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.4188498019254968,1.789607522277176,0.71338606911949],"aabb_xy":[[-0.4558839113535565,1.7552303149434665],[-0.381815692497437,1.8239847296108853]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.019225232906350365,-1.3262733655551886,0.71338606911949],"aabb_xy":[[-0.030757717281128968,-1.3762733651977488],[0.06920818309382969,-1.276273365912628]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.22510330588812805,-2.0416980013731187,0.71338606911949],"aabb_xy":[[-0.29510330769687354,-2.063051770137306],[-0.15510330407938264,-2.0203442326089314]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[-0.30284228163056715,-0.5063751477217466,0.71338606911949],"aabb_xy":[[-0.30830022726758716,-0.5863751510294056],[-0.297384335993547,-0.4263751444140874]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_15","position":[0.539834325887687,-1.239473228081783,0.71338606911949],"aabb_xy":[[0.5042051699877272,-1.275105894838636],[0.5754634817876467,-1.2038405613249301]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[-0.027970601742357215,-2.291021709584438,0.71338606911949],"aabb_xy":[[-0.10797059972314225,-2.29862325054629],[0.05202939623842783,-2.283420168622586]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_17","position":[-0.6642614316770732,0.6658924032545825,0.71338606911949],"aabb_xy":[[-0.6867614312007806,0.6433964558039617],[-0.6417614321533658,0.6883883507052032]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_18","position":[-0.25230168454213586,0.5370351836502119,0.71338606911949],"aabb_xy":[[-0.3021184640069706,0.4870351851659085],[-0.2024849050773011,0.5870351821345152]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_19","position":[0.13225698338219227,0.7026588777600566,0.71338606911949],"aabb_xy":[[0.05225698121942979,0.622703694133913],[0.21225698554495476,0.7826140613862003]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_20","position":[0.3111640649096321,0.5514802526754945,0.71338606911949],"aabb_xy":[[0.3003910909882643,0.5164802544564555],[0.32193703883099983,0.5864802508945335]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6599308589229682,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8128.png","name":"8128"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8128.png","name":"8128"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7873.png","name":"7873"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8923.png","name":"8923"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4705.png","name":"4705"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1432.png","name":"1432"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":709.4883739835717,"rotation_z_degrees":267.6691033433211,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013309255432665704,-0.01179419388460332,-0.009458546677849516]},{"name":"camera_2","offset_m":[0.012276949133842172,-0.00842666832437835,0.007913644710840089]},{"name":"camera_3","offset_m":[-0.011833630083676931,-0.013432240321549486,0.00897508910362374]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00023030897785513088,4.319287444717185e-05,-0.0005134440341681339],"end_effector_yaw_offset_degrees":-0.011650204933600916},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0013817894796354403,-0.0008914677271972481,0.00014583267322649564],"end_effector_yaw_offset_degrees":-0.5524982045235529},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007718893062701603,-0.0004818624828079874,0.0018164960772879316],"end_effector_yaw_offset_degrees":-0.7048900083944889},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015871216832378625,-0.0012465481069669983,0.00035836038514909215],"end_effector_yaw_offset_degrees":-0.18674787985491093}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0040815566473263966,-0.00399136212163497],"position_m":[0.2869184433526736,-0.08099136212163496,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004019581267331862,0.003148687293358981],"position_m":[0.24781958126733186,-0.331051312706641,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002858807357218212,0.0009183043786606983],"position_m":[0.1997588073572182,0.30861830437866067,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0006931194207357204,-0.0006707384982252342],"position_m":[0.33129311942073575,0.08022926150177477,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"456718c5c70016fd6e90b32e818ecc1e40679ede8a151d0eddbcb4f139459cc9","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0039.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8128/tex_ceiling_textures_1432/tex_floor_textures_4705/tex_table_textures_7873/tex_wall_textures_8923","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6269996144408930099,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6269996144408930099,"visual_seed":6269996144408930099,"scene_id":"lab_003","finished_at":"2026-09-04T20:18:02"}
+{"episode_id":"ep_000030","started_at":"2026-09-04T20:18:06","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[-0.5128250503300268,1.0686209154706696,0.71338606911949],"aabb_xy":[[-0.5627981158625424,1.018620915658137],[-0.46285198479751144,1.1186209152832027]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.03390487764999983,-2.1693983079926107,0.71338606911949],"aabb_xy":[[-0.06223458759854006,-2.173859050186328],[-0.005575167701459605,-2.164937565798894]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_2","position":[0.035802779905372395,-0.8213872956972219,0.71338606911949],"aabb_xy":[[0.005404668806228806,-0.8517941976988913],[0.06620089100451597,-0.7909803936955523]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_3","position":[-0.35352982733744764,1.062206854641889,0.71338606911949],"aabb_xy":[[-0.3594963662781834,1.0562457099825249],[-0.3475632883967118,1.0681679993012532]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[0.09254051239555927,-2.364122731717268,0.71338606911949],"aabb_xy":[[0.08720293672955472,-2.389122732646408],[0.09787808806156385,-2.3391227307881284]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_5","position":[-0.22627985880600138,-1.8047662740575445,0.71338606911949],"aabb_xy":[[-0.24539216616398027,-1.8239010529347865],[-0.20716755144802254,-1.7856314951803025]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[-0.4203855637797766,-1.8382116251141696,0.71338606911949],"aabb_xy":[[-0.47035885778303693,-1.8882116256687167],[-0.37041226977651603,-1.788211624559622]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[-0.15297946922051153,-0.4327146883488058,0.71338606911949],"aabb_xy":[[-0.17061230481403908,-0.4503376343644287],[-0.13534663362698393,-0.41509174233318274]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[-0.19620081931009892,1.101833254585399,0.71338606911949],"aabb_xy":[[-0.20907272281103906,1.0218332541715627],[-0.18332891580915878,1.181833254999235]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.27526017471513214,0.107030772565885,0.71338606911949],"aabb_xy":[[-0.32526017637662685,0.05703233031018228],[-0.22526017305363735,0.1570292148215877]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[0.4727791626770834,-2.531055064858271,0.71338606911949],"aabb_xy":[[0.4178054406407506,-2.586055064422504],[0.5277528847134163,-2.476055065294038]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[0.642106389729457,-1.0316967504749512,0.71338606911949],"aabb_xy":[[0.562106392715209,-1.0518313021483623],[0.722106386743705,-1.0115621988015397]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_12","position":[0.4611692863697485,0.11301375746534381,0.71338606911949],"aabb_xy":[[0.4311776236358782,0.08301375812854328],[0.49116094910361885,0.14301375680214434]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_13","position":[0.22558841650733508,-1.6773036679630258,0.71338606911949],"aabb_xy":[[0.18808841499170334,-1.6885304409791706],[0.2630884180229668,-1.6660768949468805]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[-0.3446856877381916,-0.29422640570431424,0.71338606911949],"aabb_xy":[[-0.36218562117217495,-0.3117264056245488],[-0.3271857543042082,-0.2767264057840797]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[-0.22211328801429836,1.624558947118214,0.71338606911949],"aabb_xy":[[-0.229395604390962,1.5345589435087046],[-0.21483097163763468,1.7145589507277226]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[-0.08250610236156586,0.398729578291777,0.71338606911949],"aabb_xy":[[-0.14250610322237864,0.3473031482852906],[-0.022506101500753047,0.45015600829826335]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.062399092520696975,-0.6611079463640626,0.71338606911949],"aabb_xy":[[-0.08489909233459936,-0.6655825627345433],[-0.0398990927067946,-0.6566333299935818]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_18","position":[-0.28748149245034854,-0.8029934336936313,0.71338606911949],"aabb_xy":[[-0.33265281029851757,-0.8669934308381699],[-0.24231017460217963,-0.738993436549093]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.4845195171994725,-1.678567748946214,0.71338606911949],"aabb_xy":[[-0.5195195170954914,-1.6869419844581541],[-0.44951951730345363,-1.670193513434274]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[-0.22177016527286036,-1.3187401166838393,0.71338606911949],"aabb_xy":[[-0.25225441539989046,-1.3687401164653352],[-0.19128591514583018,-1.2687401169023433]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[-0.32051092655522295,0.9109134658502676,0.71338606911949],"aabb_xy":[[-0.35801092672709484,0.8782127304673603],[-0.28301092638335096,0.9436142012331746]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_22","position":[-0.31120730986397793,0.4944532187670836,0.71338606911949],"aabb_xy":[[-0.3610240893288127,0.4444532202827802],[-0.2613905303991432,0.544453217251387]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_23","position":[-0.06561934034077233,1.3715299514994497,0.71338606911949],"aabb_xy":[[-0.12961934174876297,1.3197409999755247],[-0.0016193389327816552,1.4233189030233742]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_24","position":[0.13852349594574853,-1.3326131601877236,0.71338606911949],"aabb_xy":[[0.0735234949886213,-1.3845613721214292],[0.20352349690287572,-1.280664948254018]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_25","position":[0.5849888097755238,-0.913536384099807,0.71338606911949],"aabb_xy":[[0.5661044260070136,-0.9324223088801599],[0.603873193544034,-0.8946504593194543]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_26","position":[-0.11456990130562283,-1.076456659163266,0.71338606911949],"aabb_xy":[[-0.13647858344497388,-1.0983573259833568],[-0.09266121916627178,-1.0545559923431753]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_27","position":[0.12860641966749387,-1.7542992662278163,0.71338606911949],"aabb_xy":[[0.12464593589775949,-1.761967130813337],[0.13256690343722824,-1.7466314016422957]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_28","position":[-0.25527801149503765,0.7764129003888511,0.71338606911949],"aabb_xy":[[-0.3192780118725712,0.7266676335380388],[-0.19127801111750398,0.8261581672396633]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_29","position":[0.5779329889870775,0.28873047361997095,0.71338606911949],"aabb_xy":[[0.5654656308773418,0.27626514898664745],[0.5904003470968131,0.30119579825329446]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_30","position":[-0.5860873848872907,-0.9562727196556207,0.71338606911949],"aabb_xy":[[-0.6500830822823872,-1.0202727179563293],[-0.522091687492194,-0.8922727213549119]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_31","position":[0.6756436781223709,-2.2826617715380793,0.71338606911949],"aabb_xy":[[0.6610002725683379,-2.2973204911948635],[0.6902870836764039,-2.268003051881295]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_32","position":[0.43975136492359246,0.7768617482795501,0.71338606911949],"aabb_xy":[[0.4301197287031628,0.7672244354998412],[0.449383001144022,0.786499061059259]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6537085353937376,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6451.png","name":"6451"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6451.png","name":"6451"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8548.png","name":"8548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/972.png","name":"972"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5071.png","name":"5071"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3968.png","name":"3968"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":534.2454481859126,"rotation_z_degrees":151.6399929798191,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0033983808600707432,-0.0037448584794776037,0.013785703282336009]},{"name":"camera_2","offset_m":[-0.00010321787630805657,0.009853789150943086,0.019815648362668744]},{"name":"camera_3","offset_m":[-0.012975493675927142,-0.01090390842938004,-0.00184406349080447]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003047961318028451,0.0007682057347272037,-0.0004200379283881132],"end_effector_yaw_offset_degrees":0.9776593416860415},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005547740276829038,0.0005504864085039821,0.0005211375735057386],"end_effector_yaw_offset_degrees":-0.1457082643276364},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000834447355351231,0.0019071715745282549,-0.00061988458176564],"end_effector_yaw_offset_degrees":0.7849704773570718},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001251458155429781,0.0015908912908129229,0.00025297662507577003],"end_effector_yaw_offset_degrees":0.3116293484364796}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021896102852746956,0.0032782220074872035],"position_m":[0.2888103897147253,-0.0737217779925128,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003132553894249073,0.003237750805669585],"position_m":[0.24066744610575092,-0.3309622491943304,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003893178116641682,-0.0037745818765256454],"position_m":[0.20079317811664169,0.30392541812347434,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0025981789146894575,0.004268558918610378],"position_m":[0.33319817891468945,0.08516855891861037,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ff47a0230ce14c73a54dbc3cdd6cc30ba09a67c07008e15dfd10cbb93b04cdce","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0040.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6451/tex_ceiling_textures_3968/tex_floor_textures_5071/tex_table_textures_8548/tex_wall_textures_972","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7048745922223709572,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7048745922223709572,"visual_seed":7048745922223709572,"scene_id":"lab_003","finished_at":"2026-09-04T20:21:55"}
+{"episode_id":"ep_000031","started_at":"2026-09-04T20:21:59","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[0.3095712988672197,-0.8406507566563994,0.71338606911949],"aabb_xy":[[0.2445712988329169,-0.8873514333367266],[0.37457129890152235,-0.793950079976072]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[-0.4630909783435043,-1.2151537543996558,0.71338606911949],"aabb_xy":[[-0.47108496692120766,-1.2231538344947461],[-0.4550969897658009,-1.2071536743045654]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[-0.6281598324168423,0.5576796806294899,0.71338606911949],"aabb_xy":[[-0.6694643754805781,0.49367968106137283],[-0.5868552893531062,0.621679680197607]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[0.40058026307600736,-0.332700077020454,0.71338606911949],"aabb_xy":[[0.39246660840263015,-0.3408058934744831],[0.40869391774938435,-0.32459426056642493]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_4","position":[0.6115807193743918,-0.8826193817694263,0.71338606911949],"aabb_xy":[[0.5218936430662764,-0.972619382023877],[0.7012677956825073,-0.7926193815149759]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_5","position":[0.4707207050932982,-1.1965460438799929,0.71338606911949],"aabb_xy":[[0.45322070483396165,-1.2106375860687657],[0.4882207053526349,-1.1824545016912205]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.5065834751751739,1.5637800380243863,0.71338606911949],"aabb_xy":[[0.4465834746673209,1.506933304338465],[0.5665834756830267,1.6206267717103076]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[-0.5755435304183911,-2.4042736731527543,0.71338606911949],"aabb_xy":[[-0.6253603098832259,-2.4542736716370577],[-0.5257267509535564,-2.354273674668451]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.15140439792413618,-1.3416636747165773,0.71338606911949],"aabb_xy":[[0.11285870509893514,-1.3802094457727658],[0.18995009074933722,-1.3031179036603884]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[-0.1336720439660024,0.40160709445796083,0.71338606911949],"aabb_xy":[[-0.21867204265807705,0.369621231063082],[-0.048672045273927766,0.4335929578528397]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[-0.5707406352341088,-1.8984294330814189,0.71338606911949],"aabb_xy":[[-0.5957406345060711,-1.9147747966775812],[-0.5457406359621465,-1.8820840694852565]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_11","position":[0.3949550270968394,0.557357646555602,0.71338606911949],"aabb_xy":[[0.30495502341992115,0.4959252399784976],[0.48495503077375746,0.6187900531327063]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[0.14102426697433856,-2.148533337092009,0.71338606911949],"aabb_xy":[[0.07943350775034574,-2.212533335201056],[0.20261502619833138,-2.084533338982962]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_13","position":[-0.39611507416498776,-1.1100558908244553,0.71338606911949],"aabb_xy":[[-0.4239601109455949,-1.140840389562767],[-0.36827003738438063,-1.0792713920861436]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.10815793276466301,-0.9915422848815354,0.71338606911949],"aabb_xy":[[0.0581791242543471,-1.0415422848872542],[0.15813674127497887,-0.9415422848758166]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.209933116976259,-1.5308583823068416,0.71338606911949],"aabb_xy":[[-0.23990067388608466,-1.5608583826047273],[-0.17996556006643333,-1.5008583820089558]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[-0.3506377017305925,1.458415087312519,0.71338606911949],"aabb_xy":[[-0.3830994026125199,1.4282822551976162],[-0.318176000848665,1.4885479194274214]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_17","position":[-0.6575143330235675,-1.1558254012742728,0.71338606911949],"aabb_xy":[[-0.6950143342083602,-1.160243623970333],[-0.6200143318387746,-1.151407178578212]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[-0.4502116023878639,-2.1671708606452915,0.71338606911949],"aabb_xy":[[-0.4754324392477035,-2.1923946114981776],[-0.4249907655280242,-2.1419471097924037]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_19","position":[0.007947536251627363,-0.6755001337629825,0.71338606911949],"aabb_xy":[[-0.05205246460918544,-0.7269265637694687],[0.06794753711244016,-0.624073703756496]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[-0.3104472075877223,0.17143739784932777,0.71338606911949],"aabb_xy":[[-0.32600297699798764,0.1558869646049206],[-0.2948914381774571,0.18698783109373499]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_21","position":[0.11625688540193257,1.5803879574880404,0.71338606911949],"aabb_xy":[[0.1114132906407026,1.5755363050090563],[0.12110048016316255,1.5852396099670245]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_22","position":[-0.1820939228299322,1.3157590815808402,0.71338606911949],"aabb_xy":[[-0.21912803225799188,1.2813818742471306],[-0.14505981340187246,1.3501362889145494]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[0.3633732689035678,-1.4206779271417178,0.71338606911949],"aabb_xy":[[0.3466961329104723,-1.4373778511156479],[0.3800504048966633,-1.4039780031677873]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_24","position":[0.4959379255405356,-2.221133170117658,0.71338606911949],"aabb_xy":[[0.4850863192916599,-2.2319924608453094],[0.5067895317894111,-2.210273879390007]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_25","position":[-0.37913114020546457,0.9063817932909228,0.71338606911949],"aabb_xy":[[-0.391733839342541,0.8937863970660574],[-0.3665284410683881,0.9189771895157884]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_26","position":[0.5340685643723697,-0.38818794583529437,0.71338606911949],"aabb_xy":[[0.47907535303523296,-0.443187946174088],[0.5890617757095065,-0.33318794549650077]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_27","position":[-0.2702812233676053,-1.078537974402648,0.71338606911949],"aabb_xy":[[-0.28351216890228653,-1.0917653934246472],[-0.25705027783292395,-1.0653105553806483]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_28","position":[-0.6676240489659686,-1.3465376560743552,0.71338606911949],"aabb_xy":[[-0.6858298726272163,-1.357563056656347],[-0.6494182253047209,-1.3355122554923637]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_29","position":[-0.4958818460644296,-0.7820022710492345,0.71338606911949],"aabb_xy":[[-0.5608818470649302,-0.8327886362039093],[-0.43088184506392907,-0.7312159058945594]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[-0.43851967013448667,-0.3465453460667107,0.71338606911949],"aabb_xy":[[-0.4545815975930043,-0.4315453478793025],[-0.42245774267596903,-0.26154534425411885]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_31","position":[0.6052433839945786,-0.08352610291907991,0.71338606911949],"aabb_xy":[[0.5501181783649877,-0.14352610436036706],[0.6603685896241692,-0.02352610147779278]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6559114705569059,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7874.png","name":"7874"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7874.png","name":"7874"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6461.png","name":"6461"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7897.png","name":"7897"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8325.png","name":"8325"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3526.png","name":"3526"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":843.4749841697044,"rotation_z_degrees":64.03825127975638,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01635089775251777,0.006547096843719978,0.010263273774654275]},{"name":"camera_2","offset_m":[-0.014728650199701966,0.01968900945146022,-0.013990819695115075]},{"name":"camera_3","offset_m":[-0.01305842180310111,0.0013021808093499586,0.0133534067115578]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015964829202838862,-0.0003804678207916688,0.00045971387930282635],"end_effector_yaw_offset_degrees":0.958386552289012},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007627508504667547,-0.0019804554130758954,0.0005228695034867324],"end_effector_yaw_offset_degrees":0.25100852680266295},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016402805774895014,-0.000713372602933167,-0.0006729045105578421],"end_effector_yaw_offset_degrees":-0.35070600700009913},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000201152807877215,0.0006482711708930065,-0.0006706194647336115],"end_effector_yaw_offset_degrees":0.3888226675953079}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002317310775630632,-0.001318828350620279],"position_m":[0.28868268922436935,-0.07831882835062028,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004452100733996346,-0.0033009870776317773],"position_m":[0.23934789926600364,-0.33750098707763176,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00410152021213116,0.003123196273508682],"position_m":[0.20100152021213116,0.31082319627350863,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001724707424026729,-0.004659114753016813],"position_m":[0.32887529257597325,0.07624088524698319,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9951744a9578cd0fd90cccb723bd16c1747effc1dc832f93ae3f72f5c4803924","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0041.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7874/tex_ceiling_textures_3526/tex_floor_textures_8325/tex_table_textures_6461/tex_wall_textures_7897","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1576085052750168785,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1576085052750168785,"visual_seed":1576085052750168785,"scene_id":"lab_003","finished_at":"2026-09-04T20:25:38"}
+{"episode_id":"ep_000032","started_at":"2026-09-04T20:25:42","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[-0.3574951099972313,0.7242408338839446,0.71338606911949],"aabb_xy":[[-0.3718295351233947,0.7121806183294057],[-0.3431606848710678,0.7363010494384834]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_1","position":[0.4188332697315944,0.40141094336955296,0.71338606911949],"aabb_xy":[[0.3815019932063518,0.36675788857470065],[0.456164546256837,0.4360639981644053]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[0.5145240097428752,0.8229561901405171,0.71338606911949],"aabb_xy":[[0.49863951647755,0.8086032498416931],[0.5304085030082003,0.8373091304393412]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_3","position":[-0.21805022325541124,-2.3404605254545516,0.71338606911949],"aabb_xy":[[-0.29804404683396946,-2.420460528047393],[-0.13805639967685301,-2.26046052286171]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[0.28965557494046823,-1.6665271947950533,0.71338606911949],"aabb_xy":[[0.28094160589053363,-1.6890271954542415],[0.2983695439904026,-1.644027194135865]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.347786162470221,0.7580726999161991,0.71338606911949],"aabb_xy":[[0.3252861629465135,0.7355767524655783],[0.37028616199392833,0.7805686473668199]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[-0.5678691683360608,-0.7800054587298604,0.71338606911949],"aabb_xy":[[-0.5719851184481334,-0.7841210137627058],[-0.563753218223988,-0.7758899036970147]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.6844433721742673,-2.0776812248474013,0.71338606911949],"aabb_xy":[[0.6622708451976164,-2.099856892003524],[0.706615899150918,-2.0555055576912777]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[-0.3759398495691643,-2.4561238787664093,0.71338606911949],"aabb_xy":[[-0.41040232758225204,-2.4627875559493315],[-0.3414773715560765,-2.449460201583486]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_9","position":[-0.16945475011058353,-2.0829563884412385,0.71338606911949],"aabb_xy":[[-0.20695475045881126,-2.0947477840223216],[-0.13195474976235574,-2.0711649928601545]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_10","position":[0.6643340512387992,-1.6736945106469154,0.71338606911949],"aabb_xy":[[0.6430560430953269,-1.7386945129729883],[0.6856120593822714,-1.6086945083208422]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[0.5846040436925906,1.70614937048173,0.71338606911949],"aabb_xy":[[0.5791460980555704,1.6261493671740705],[0.5900619893296105,1.7861493737893888]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_12","position":[-0.44916805495257495,-0.10710299889330521,0.71338606911949],"aabb_xy":[[-0.48264722221361595,-0.14058211226441222],[-0.41568888769153406,-0.0736238855221982]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_13","position":[0.6229580725885204,-2.3413045456393102,0.71338606911949],"aabb_xy":[[0.6004933026171152,-2.3638045465181703],[0.6454228425599254,-2.3188045447604493]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_14","position":[-0.05998554490310226,0.3113150242936191,0.71338606911949],"aabb_xy":[[-0.07313679087439164,0.28631502453693264],[-0.04683429893181291,0.3363150240503057]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_15","position":[0.23613736284548748,1.605999189911452,0.71338606911949],"aabb_xy":[[0.23269668660543036,1.6021377569370878],[0.2395780390855447,1.6098606228858168]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.4949778579602909,-0.7609229807361424,0.71338606911949],"aabb_xy":[[-0.5075805570973675,-0.773518376961008],[-0.4823751588232145,-0.748327584511277]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_17","position":[-0.6570688514993185,1.6828671306435088,0.71338606911949],"aabb_xy":[[-0.6945688516049113,1.6760449687905274],[-0.6195688513937254,1.6896892924964897]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_18","position":[0.437463763801913,-1.512742103871996,0.71338606911949],"aabb_xy":[[0.4309621272939084,-1.522509925898306],[0.44396540030991766,-1.5029742818456864]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[-0.01567288776988085,0.4829296722848264,0.71338606911949],"aabb_xy":[[-0.023786542443257952,0.4748238558307973],[-0.007559233096503748,0.49103548873885544]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_20","position":[0.5013099038163533,1.5567852783703926,0.71338606911949],"aabb_xy":[[0.47679627971934746,1.5325206850683561],[0.5258235279133592,1.581049871672429]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_21","position":[-0.608946392173743,1.015971637243012,0.71338606911949],"aabb_xy":[[-0.6439463913665612,1.0050045912453494],[-0.5739463929809246,1.0269386832406744]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[-0.0789735645921762,0.9174941836484161,0.71338606911949],"aabb_xy":[[-0.08431114025818076,0.8924941827192763],[-0.07363598892617162,0.9424941845775558]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_23","position":[0.294967332355474,-1.825541917640686,0.71338606911949],"aabb_xy":[[0.25746733185811577,-1.8295106011888043],[0.33246733285283225,-1.8215732340925672]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[-0.4934924167909718,0.7101126893906891,0.71338606911949],"aabb_xy":[[-0.4999062304341567,0.7037028691430206],[-0.48707860314778684,0.7165225096383573]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_25","position":[0.48676297919002787,0.9240178784943844,0.71338606911949],"aabb_xy":[[0.41676297758774844,0.910585085292727],[0.5567629807923073,0.9374506716960421]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_26","position":[-0.44476969823837326,-1.2635405783616747,0.71338606911949],"aabb_xy":[[-0.4987852945202732,-1.3275405812539316],[-0.3907541019564732,-1.1995405754694173]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_27","position":[0.6204611100436808,-0.5443340314025282,0.71338606911949],"aabb_xy":[[0.5829611088588879,-0.5487522540985885],[0.6579611112284734,-0.5399158087064675]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_28","position":[-0.24096885576770222,1.3417020609082457,0.71338606911949],"aabb_xy":[[-0.2822733988314382,1.2777020613401284],[-0.19966431270396623,1.4057020604763626]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_29","position":[-0.6541714125996941,0.09578896927301139,0.71338606911949],"aabb_xy":[[-0.6879469717903871,0.08175047405984637],[-0.6203958534090012,0.10982746448617642]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_30","position":[0.22906822986230002,1.1165334318549291,0.71338606911949],"aabb_xy":[[0.22373571520768704,1.1112091036096936],[0.234400744516913,1.1218577601001647]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_31","position":[-0.2704395453106082,1.5618167455472336,0.71338606911949],"aabb_xy":[[-0.28100702496870716,1.551271715434225],[-0.25987206565250914,1.5723617756602422]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6584523972716647,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9453.png","name":"9453"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9453.png","name":"9453"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6629.png","name":"6629"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5406.png","name":"5406"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1989.png","name":"1989"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5081.png","name":"5081"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":834.2165732166909,"rotation_z_degrees":325.68507752440524,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0035639786324280637,0.01304768739958052,-0.01781905441809825]},{"name":"camera_2","offset_m":[-0.018884352733069,0.005726747024305392,0.013216225523905115]},{"name":"camera_3","offset_m":[-0.017550205022459693,0.009653478416624027,0.017579798508785844]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012673142105299041,-0.0008176048733519368,-6.150247180967787e-05],"end_effector_yaw_offset_degrees":0.8136101513447374},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008155476852242112,0.00028074659560612183,-3.2186216952789955e-05],"end_effector_yaw_offset_degrees":-0.09989210852537589},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001352151618249945,0.0011427630097777504,0.0005840104815052786],"end_effector_yaw_offset_degrees":0.6399487504470935},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007771074103138159,0.0017954970821315959,0.0006465532638655841],"end_effector_yaw_offset_degrees":-0.7989888688016866}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012524125364655725,-0.003799270077735695],"position_m":[0.2897475874635344,-0.0807992700777357,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008600670748710572,0.0006685865560968783],"position_m":[0.24466006707487103,-0.33353141344390314,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026760958593813455,-0.00025998012088173164],"position_m":[0.19957609585938133,0.30744001987911823,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007422489969273922,-0.00249636842769694],"position_m":[0.32985775100307263,0.07840363157230305,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4c8bfd825b9c1d8d4a9606aeb7d067eaaa815b04a3c8a9b554c6b042cfb1cc82","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0042.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9453/tex_ceiling_textures_5081/tex_floor_textures_1989/tex_table_textures_6629/tex_wall_textures_5406","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8434825454277381696,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8434825454277381696,"visual_seed":8434825454277381696,"scene_id":"lab_003","finished_at":"2026-09-04T20:29:23"}
+{"episode_id":"ep_000033","started_at":"2026-09-04T20:31:55","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.3907591234338703,-1.8421974060443627,0.71338606911949],"aabb_xy":[[0.3834978758634629,-1.8549844163078724],[0.39802037100427773,-1.8294103957808534]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_1","position":[-0.03468984929829433,-1.8706049844567953,0.71338606911949],"aabb_xy":[[-0.0681300244943139,-1.9040486102877254],[-0.0012496741022747155,-1.8371613586258653]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_2","position":[-0.13962580168301209,0.8518445905217291,0.71338606911949],"aabb_xy":[[-0.15149788469451317,0.7668445908280787],[-0.12775371867151095,0.9368445902153794]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[0.43515536284233547,0.3790024492887589,0.71338606911949],"aabb_xy":[[0.3711553655566869,0.33749573033591496],[0.49915536012798417,0.4205091682416029]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_4","position":[0.19277044629497941,-1.362902518438934,0.71338606911949],"aabb_xy":[[0.14277044463348462,-1.4129009606946366],[0.24277044795647415,-1.3129040761832311]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[-0.16410187470178017,0.636604088469463,0.71338606911949],"aabb_xy":[[-0.17213820940306496,0.6285659691650464],[-0.15606554000049527,0.6446422077738799]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_6","position":[-0.4185442918333833,-0.45072655978210774,0.71338606911949],"aabb_xy":[[-0.42344358413994676,-0.47840347908467645],[-0.41364499952681977,-0.4230496404795389]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_7","position":[-0.5268585383414395,-1.5849730138919873,0.71338606911949],"aabb_xy":[[-0.5768585396252793,-1.6349518682826094],[-0.47685853705759945,-1.5349941595013652]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_8","position":[0.015226755212550458,-2.5415518356669495,0.71338606911949],"aabb_xy":[[-0.05477324119741133,-2.56198977131863],[0.08522675162251224,-2.5211139000152665]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[-0.4002661542820582,-2.2533072401685015,0.71338606911949],"aabb_xy":[[-0.41203434107671577,-2.3383072400737235],[-0.38849796748740073,-2.1683072402632804]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[-0.17561931954436738,1.4439217574956342,0.71338606911949],"aabb_xy":[[-0.20939487873506032,1.429883262282469],[-0.14184376035367438,1.457960252708799]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[0.4281817809731261,-1.9871364219252587,0.71338606911949],"aabb_xy":[[0.37320805893679315,-2.042136421489492],[0.4831555030094589,-1.9321364223610256]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.5202907875945344,-0.2717530614124457,0.71338606911949],"aabb_xy":[[0.5031887096361661,-0.28885986694371546],[0.5373928655529024,-0.25464625588117595]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[0.21207565238520953,1.1695234218277202,0.71338606911949],"aabb_xy":[[0.20396199771183246,1.161417605373691],[0.22018930705858666,1.1776292382817493]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_14","position":[0.3671846350466592,-0.5405406425736237,0.71338606911949],"aabb_xy":[[0.34218463549492073,-0.5506831264387584],[0.3921846345983977,-0.5303981587084889]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_15","position":[0.09326613295879416,-1.9491296072864701,0.71338606911949],"aabb_xy":[[0.07571943804267522,-1.9866296088507214],[0.11081282787491309,-1.9116296057222188]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_16","position":[0.5235494597464134,0.9695872340703864,0.71338606911949],"aabb_xy":[[0.46854946056982394,0.9145975592954289],[0.5785494589230029,1.024576908845344]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_17","position":[-0.5397508506802877,0.4898472670054761,0.71338606911949],"aabb_xy":[[-0.6197508509538947,0.4168977191797593],[-0.4597508504066808,0.5627968148311927]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.1493946056488542,0.44348534499495074,0.71338606911949],"aabb_xy":[[-0.18439460554487305,0.4351111094830108],[-0.11439460575283532,0.4518595805068907]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[0.5248640706366821,-2.2268646264888505,0.71338606911949],"aabb_xy":[[0.519531555982069,-2.2321889547340867],[0.5301965852912951,-2.221540298243615]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_20","position":[0.060824229742250546,0.78787233029496,0.71338606911949],"aabb_xy":[[-0.004175768814822296,0.7581197968810773],[0.12582422829932338,0.8176248637088426]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[-0.40623519776760975,-1.8092397390364214,0.71338606911949],"aabb_xy":[[-0.4762352011591717,-1.8445555127398523],[-0.3362351943760477,-1.7739239653329906]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_22","position":[-0.551294925366315,1.2892834379650218,0.71338606911949],"aabb_xy":[[-0.6152949267743055,1.2374944864410968],[-0.48729492395832424,1.3410723894889462]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[0.6269531384978471,0.19707977649040265,0.71338606911949],"aabb_xy":[[0.6044531389741395,0.1745838290397818],[0.6494531380215544,0.21957572394102337]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_24","position":[0.43307674005666086,-1.2085410679708677,0.71338606911949],"aabb_xy":[[0.41701481259814316,-1.2935410697834595],[0.44913866751517845,-1.1235410661582759]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_25","position":[-0.2722593542819754,-2.4033923012134353,0.71338606911949],"aabb_xy":[[-0.2810405814292117,-2.412172048501966],[-0.2634781271347392,-2.3946125539249055]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_26","position":[0.49208163212818024,-1.7960712586030594,0.71338606911949],"aabb_xy":[[0.48566781848499524,-1.8024810788507273],[0.4984954457713651,-1.7896614383553906]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_27","position":[-0.34890499726578733,-1.4148888209846215,0.71338606911949],"aabb_xy":[[-0.4389049969889614,-1.4379621735198012],[-0.25890499754261304,-1.3918154684494415]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_28","position":[-0.07166870108966172,1.2763762423005827,0.71338606911949],"aabb_xy":[[-0.0891687013347111,1.2588764544610156],[-0.05416870084461233,1.2938760301401493]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_29","position":[-0.3819511860442931,-0.8354988119600324,0.71338606911949],"aabb_xy":[[-0.3923627447247767,-0.8408445452959308],[-0.3715396273638093,-0.8301530786241338]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6537174534500214,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4952.png","name":"4952"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4952.png","name":"4952"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4275.png","name":"4275"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4723.png","name":"4723"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8500.png","name":"8500"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4538.png","name":"4538"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":632.5465908037108,"rotation_z_degrees":71.66005003508147,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002832302750540347,-0.0017860046841611937,0.013820820966215782]},{"name":"camera_2","offset_m":[0.004775451586245927,-0.011494176301216914,-6.130182854484703e-05]},{"name":"camera_3","offset_m":[-0.010645360562253244,0.015927595072466067,0.009372219126248211]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011316206888635368,0.0009104813260869325,0.00134524866659345],"end_effector_yaw_offset_degrees":0.22579376807579576},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005900353983327431,-0.0011912925112936047,0.0010453677518966085],"end_effector_yaw_offset_degrees":-0.6538857126394066},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018363904274070447,0.0012796481016827373,-0.000724691540429928],"end_effector_yaw_offset_degrees":-0.9410052653429672},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001813154687794908,-4.9452534102103e-05,0.0013885244836697752],"end_effector_yaw_offset_degrees":-0.16600219263861127}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001339716131052209,0.0026714309375379967],"position_m":[0.28966028386894777,-0.074328569062462,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004781380090903636,0.00042777313195750503],"position_m":[0.23901861990909634,-0.3337722268680425,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008304011523221685,-0.0037825432626675793],"position_m":[0.19606959884767783,0.3039174567373324,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008879493746374563,-0.004388067531364761],"position_m":[0.3297120506253626,0.07651193246863523,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a0f2a04e90d408cf2cbacce36ac3fbad8f1160c326756112daa9f705c1606c6c","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4952/tex_ceiling_textures_4538/tex_floor_textures_8500/tex_table_textures_4275/tex_wall_textures_4723","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1450930796982231611,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1450930796982231611,"visual_seed":1450930796982231611,"scene_id":"lab_003","finished_at":"2026-09-04T20:35:31"}
+{"episode_id":"ep_000034","started_at":"2026-09-04T20:35:36","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_0","position":[0.17658017389400882,-1.4965334766470577,0.71338606911949],"aabb_xy":[[0.16533511832339096,-1.507775274371153],[0.18782522946462663,-1.4852916789229624]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[-0.41668770316404496,1.5384387705653864,0.71338606911949],"aabb_xy":[[-0.42397001954070845,1.448438766955877],[-0.40940538678738114,1.628438774174895]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_2","position":[0.3006056805136116,-1.0421433091070889,0.71338606911949],"aabb_xy":[[0.2873747349789303,-1.0553707281290883],[0.3138366260482929,-1.0289158900850894]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[-0.1480263823025122,0.0584707119064225,0.71338606911949],"aabb_xy":[[-0.185526382594687,0.05442923650581891],[-0.11052638201033738,0.0625121873070261]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.534992846004107,-2.575660243808875,0.71338606911949],"aabb_xy":[[-0.5724928461096999,-2.5824824056618554],[-0.497492845898514,-2.5688380819558936]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_5","position":[0.04147427793465652,-1.3580877413227987,0.71338606911949],"aabb_xy":[[-0.01351893340248023,-1.4130877416615923],[0.0964674892717933,-1.3030877409840051]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_6","position":[0.39594649421223505,1.378374473298778,0.71338606911949],"aabb_xy":[[0.3507751763640661,1.3143744761542395],[0.44111781206040407,1.4423744704433163]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[-0.10403500355746265,-2.5023641836232158,0.71338606911949],"aabb_xy":[[-0.14088555149445026,-2.5398641844462495],[-0.06718445562047504,-2.464864182800182]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_8","position":[0.23746586373826883,1.6688430416173978,0.71338606911949],"aabb_xy":[[0.2018367078383091,1.633210374860545],[0.2730950196382286,1.704475708374251]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[0.2687348396693322,-1.821738109768999,0.71338606911949],"aabb_xy":[[0.2648209664739097,-1.8304871251755555],[0.2726487128647547,-1.8129890943624418]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_10","position":[-0.3940465720309601,1.1132943499442605,0.71338606911949],"aabb_xy":[[-0.4033935796132553,1.0989907277266167],[-0.3846995644486648,1.1275979721619047]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_11","position":[0.07508976644956722,-1.6407579116859727,0.71338606911949],"aabb_xy":[[-0.00491023498055998,-1.7202750666985822],[0.15508976787969442,-1.5612407566733633]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.2081757662704078,-0.5597729090020174,0.71338606911949],"aabb_xy":[[0.19776420758992408,-0.5651186423379159],[0.2185873249508915,-0.5544271756661189]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.5947441597355431,1.1719810655217007,0.71338606911949],"aabb_xy":[[-0.6322441599074149,1.1392803301387933],[-0.557244159563671,1.2046818009046076]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.05674778806565217,1.4217826202264319,0.71338606911949],"aabb_xy":[[-0.07924778758935958,1.3992866727758106],[-0.03424778854194477,1.4442785676770522]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[-0.5009583200072123,1.7115674465954949,0.71338606911949],"aabb_xy":[[-0.5079986299407494,1.6315674471958237],[-0.4939180100736754,1.7915674459951665]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_16","position":[-0.5628445915531373,1.4870772106401406,0.71338606911949],"aabb_xy":[[-0.5953062924350645,1.4569443785252378],[-0.5303828906712096,1.517210042755043]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.12602823439167832,-1.0209837279192617,0.71338606911949],"aabb_xy":[[-0.1860282346430795,-1.0752650529557262],[-0.06602823414027714,-0.9667024028827969]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.6343668252528749,1.7227893153557274,0.71338606911949],"aabb_xy":[[-0.6478133518869182,1.7093194637026359],[-0.6209202986188316,1.7362591670088185]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_19","position":[-0.4819817466055569,-0.841587642480345,0.71338606911949],"aabb_xy":[[-0.5719817452000269,-0.857838228793766],[-0.39198174801108693,-0.825337056166924]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_20","position":[-0.4634502005619887,-2.440167827711755,0.71338606911949],"aabb_xy":[[-0.5134494757304249,-2.4901678289877025],[-0.41345092539355255,-2.390167826435808]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[0.5712082248041921,-1.0403461556204427,0.71338606911949],"aabb_xy":[[0.5212349308009316,-1.09034615617499],[0.6211815188074525,-0.9903461550658954]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[-0.08663779354750012,1.0686175520252568,0.71338606911949],"aabb_xy":[[-0.12110027156058789,1.0619538748423338],[-0.05217531553441235,1.0752812292081793]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_23","position":[-0.43222095227894497,-0.36172767879918455,0.71338606911949],"aabb_xy":[[-0.4972209501605928,-0.4128513425057255],[-0.3672209543972972,-0.31060401509264374]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_24","position":[0.435279997504042,-2.4861688140891833,0.71338606911949],"aabb_xy":[[0.3702799989469692,-2.5159213475030664],[0.5002799960611148,-2.456416280675301]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_25","position":[-0.6240442917767823,-2.5401167817882953,0.71338606911949],"aabb_xy":[[-0.6348847700032972,-2.557303063078944],[-0.6132038135502674,-2.5229305004976466]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_26","position":[0.5008181510258862,0.3101956727296109,0.71338606911949],"aabb_xy":[[0.4931149603518092,0.3024863020308729],[0.5085213416999632,0.3179050434283489]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_27","position":[-0.47139368878504734,-2.2395708995451935,0.71338606911949],"aabb_xy":[[-0.47602880393728075,-2.2434382346223423],[-0.4667585736328139,-2.2357035644680447]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_28","position":[0.6393217152778499,-2.4790185466631733,0.71338606911949],"aabb_xy":[[0.60228760584979,-2.5133957539968823],[0.6763558247059095,-2.4446413393294635]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_29","position":[0.44876486951886996,-0.6947088387746485,0.71338606911949],"aabb_xy":[[0.4265923425422191,-0.7168845059307717],[0.4709373964955208,-0.6725331716185253]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_30","position":[-0.469373279938592,0.7921384662959801,0.71338606911949],"aabb_xy":[[-0.5171794475523606,0.7271384635889211],[-0.42156711232482325,0.8571384690030389]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_31","position":[-0.16071992122369005,-0.42508997304859886,0.71338606911949],"aabb_xy":[[-0.18321992103759244,-0.4295645894190796],[-0.13821992140978767,-0.4206153566781182]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_32","position":[0.5901904637819804,-0.22435000920410175,0.71338606911949],"aabb_xy":[[0.5261904618696381,-0.2802611584621122],[0.6541904656943228,-0.1684388599460913]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_33","position":[0.42834323054605505,-0.33875305073385764,0.71338606911949],"aabb_xy":[[0.40945884677754485,-0.3576389755142104],[0.44722761431456526,-0.31986712595350486]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6591107491777235,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3845.png","name":"3845"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3845.png","name":"3845"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7765.png","name":"7765"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8638.png","name":"8638"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1506.png","name":"1506"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2810.png","name":"2810"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":846.8677430412502,"rotation_z_degrees":20.469578793442736,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016832916368915044,0.01763786109293738,0.01381785994214271]},{"name":"camera_2","offset_m":[0.00016372468243864777,0.0025839202909315566,0.01411030945918822]},{"name":"camera_3","offset_m":[-0.011354724055786946,-0.01119385438468918,0.002326978947214009]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005066101435103505,0.0014599926733105404,0.00022772019065200183],"end_effector_yaw_offset_degrees":0.5441257820548016},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011136237729472394,-0.0016409109551262444,0.0017930198842231473],"end_effector_yaw_offset_degrees":0.05934660646709777},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007787381105331624,0.0013180902402051536,0.0018980157324440662],"end_effector_yaw_offset_degrees":0.8705465934111134},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000523257838537944,0.0012704963492143184,-0.0006925506029222871],"end_effector_yaw_offset_degrees":0.7260942662105263}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00020032824487754494,0.0035553292376545127],"position_m":[0.2912003282448775,-0.07344467076234548,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004993483592323879,-0.0012400717598605626],"position_m":[0.24429934835923237,-0.33544007175986057,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0028927246508171625,0.001588258763695157],"position_m":[0.19400727534918283,0.30928825876369515,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000894714208150826,-0.0013083598252188154],"position_m":[0.33149471420815085,0.07959164017478118,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"932843b555d750195207da4da8143eb51dd2ce08ac9d915851e524beadf3bae5","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3845/tex_ceiling_textures_2810/tex_floor_textures_1506/tex_table_textures_7765/tex_wall_textures_8638","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7792856545226903516,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7792856545226903516,"visual_seed":7792856545226903516,"scene_id":"lab_003","finished_at":"2026-09-04T20:39:15"}
+{"episode_id":"ep_000035","started_at":"2026-09-04T20:39:20","dimensions":{"distractor":{"count":31,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[0.6110683975125943,0.19865113260178102,0.71338606911949],"aabb_xy":[[0.6040280875790575,0.1186511332021096],[0.6181087074461314,0.2786511320014524]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_1","position":[0.045409673128186556,-1.3091926921985866,0.71338606911949],"aabb_xy":[[0.02291053740195958,-1.3316926929768496],[0.06790880885441353,-1.2866926914203236]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_2","position":[-0.0763581084316699,-1.3073299655611323,0.71338606911949],"aabb_xy":[[-0.0843843790622959,-1.3160814605384852],[-0.0683318378010439,-1.29857847058378]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_3","position":[0.6832475917376024,-2.403035790305235,0.71338606911949],"aabb_xy":[[0.6726801120795034,-2.4135808204182436],[0.6938150713957014,-2.3924907601922265]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.011503133210101435,1.5624925127837979,0.71338606911949],"aabb_xy":[[-0.07650313431604472,1.5375271397156696],[0.05349686789584185,1.5874578858519262]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[-0.07504043328359711,0.06193584026713994,0.71338606911949],"aabb_xy":[[-0.1300404324601866,0.006946165492182299],[-0.020040434107007607,0.11692551504209758]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.3156479125548562,-0.37054871363119046,0.71338606911949],"aabb_xy":[[-0.3806479135553567,-0.4213350787858654],[-0.2506479115543557,-0.3197623484765155]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[0.0773661145221003,-0.604693791675665,0.71338606911949],"aabb_xy":[[0.07010486695169288,-0.6174808019391744],[0.08462736209250771,-0.5919067814121555]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_8","position":[-0.1892599438602578,-1.5502504717117174,0.71338606911949],"aabb_xy":[[-0.20675994313834467,-1.567588571778063],[-0.17175994458217092,-1.5329123716453712]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_9","position":[0.5737936717331531,0.8617772882524837,0.71338606911949],"aabb_xy":[[0.5238203777298927,0.8117772876979362],[0.6237669657364135,0.9117772888070309]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.4967860326284874,-0.997944737049544,0.71338606911949],"aabb_xy":[[0.45553722159857263,-1.0529447365617612],[0.538034843658402,-0.9429447375373264]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[-0.5029855253895485,0.6227048787512639,0.71338606911949],"aabb_xy":[[-0.5379855253660444,0.6132402627036473],[-0.4679855254130527,0.6321694947988805]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[-0.2736943970833476,-1.7760718345781799,0.71338606911949],"aabb_xy":[[-0.3105449450203352,-1.8135718354012138],[-0.23684384914635997,-1.7385718337551463]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[0.263452015679157,-2.1346854485907087,0.71338606911949],"aabb_xy":[[0.20186125645516423,-2.198685446699756],[0.32504277490314987,-2.0706854504816623]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.5705820936102629,-0.6038818629853293,0.71338606911949],"aabb_xy":[[-0.6205820930504584,-0.6538497874696456],[-0.5205820941700672,-0.553913938501013]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_15","position":[0.5498919657417938,0.6736912312554977,0.71338606911949],"aabb_xy":[[0.5426096493651299,0.5836912276459885],[0.5571742821184572,0.7636912348650065]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_16","position":[-0.4937585108586342,0.8884431718918764,0.71338606911949],"aabb_xy":[[-0.5477741071405342,0.8244431689996192],[-0.43974291457673415,0.9524431747841335]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_17","position":[-0.38678791107225363,-1.9807340000258575,0.71338606911949],"aabb_xy":[[-0.39613491865454886,-1.9950376222435016],[-0.3774409034899584,-1.9664303778082135]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_18","position":[-0.2722026423497803,-2.5744120324507906,0.71338606911949],"aabb_xy":[[-0.290408466011028,-2.5854374330327823],[-0.25399681868853263,-2.563386631868799]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[-0.6726225146149166,0.697673797240415,0.71338606911949],"aabb_xy":[[-0.6901692095310354,0.6601737956761637],[-0.6550758196987976,0.7351737988046663]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_20","position":[-0.15070671537422198,-2.038749278616439,0.71338606911949],"aabb_xy":[[-0.23070671403110798,-2.053254137540702],[-0.07070671671733597,-2.024244419692176]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_21","position":[0.4174641357586313,-0.40104118361371954,0.71338606911949],"aabb_xy":[[0.3999641354992948,-0.4151327258024923],[0.4349641360179681,-0.38694964142494703]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.5515532840751447,0.39132409688798786,0.71338606911949],"aabb_xy":[[0.47155328360492876,0.38301338927363954],[0.6315532845453606,0.3996348045023363]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_23","position":[0.6421753520572708,0.5500347065589475,0.71338606911949],"aabb_xy":[[0.6232909682887606,0.5311487817785947],[0.661059735825781,0.5689206313393003]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[0.4544789568391645,-2.031602482116294,0.71338606911949],"aabb_xy":[[0.4044858447299727,-2.08160248279049],[0.5044720689483564,-1.9816024814420987]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_25","position":[0.39331818877887637,-2.4508377021024583,0.71338606911949],"aabb_xy":[[0.33331818852747513,-2.5051190271389223],[0.4533181890302775,-2.3965563770659934]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_26","position":[0.573322569628705,-0.5739733592057905,0.71338606911949],"aabb_xy":[[0.4933225724691297,-0.5855209601636076],[0.6533225667882803,-0.5624257582479735]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_27","position":[-0.6734226504850442,-1.9561767443858433,0.71338606911949],"aabb_xy":[[-0.6933136903653845,-1.9688325556705406],[-0.653531610604704,-1.943520933101147]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_28","position":[-0.4820939481831107,0.04918034409714789,0.71338606911949],"aabb_xy":[[-0.5045587181545159,0.026680343218287383],[-0.4596291782117056,0.07168034497600839]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_29","position":[-0.6827970120202634,0.8467617338793083,0.71338606911949],"aabb_xy":[[-0.6867574957899978,0.8390938692937877],[-0.6788365282505291,0.8544295984648289]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_30","position":[-0.3004445515542906,-1.5161730029110838,0.71338606911949],"aabb_xy":[[-0.3347608287289085,-1.5661730028842615],[-0.2661282743796726,-1.466173002937906]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6558923001544429,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5849.png","name":"5849"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5849.png","name":"5849"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6570.png","name":"6570"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7069.png","name":"7069"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1004.png","name":"1004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9089.png","name":"9089"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":647.3451627378438,"rotation_z_degrees":110.4214428931678,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010166045767580283,0.017661345127762035,0.0036414031457031697]},{"name":"camera_2","offset_m":[0.01328700512482493,0.012900094631366026,0.01584133855341983]},{"name":"camera_3","offset_m":[0.010557457562078307,0.015899409078002583,0.0036677144841187476]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014201143587865657,-0.0019572963216716558,-0.0010229898858518563],"end_effector_yaw_offset_degrees":0.0005738091145461865},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006760490423157912,0.0007001261058754002,-0.0009430398484997506],"end_effector_yaw_offset_degrees":0.2603468448812303},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006264175884714254,-0.0018970007350070808,0.0007703084838530387],"end_effector_yaw_offset_degrees":0.7277277527687751},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002058580035488853,-0.0006978434402518086,0.00040467653340856653],"end_effector_yaw_offset_degrees":-0.013829751539903512}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0048764681800280716,0.0015009040714987296],"position_m":[0.29587646818002805,-0.07549909592850126,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011569418859082815,0.0022895879546216344],"position_m":[0.2426430581140917,-0.33191041204537836,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024054366534201235,0.0012696080892225419],"position_m":[0.19449456334657986,0.3089696080892225,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011262368868990534,-0.0010616582730385727],"position_m":[0.33172623688689906,0.07983834172696143,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2f60976352fa73f21f9c3d567a3e3c5be14810a527a462fdc6d97bdb80e8b305","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0046.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5849/tex_ceiling_textures_9089/tex_floor_textures_1004/tex_table_textures_6570/tex_wall_textures_7069","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3432301327917639377,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3432301327917639377,"visual_seed":3432301327917639377,"scene_id":"lab_003","finished_at":"2026-09-04T20:42:46"}
+{"episode_id":"ep_000036","started_at":"2026-09-04T20:42:51","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_0","position":[-0.46958976602556757,1.5099565188739903,0.71338606911949],"aabb_xy":[[-0.48745887378002306,1.4961236108967793],[-0.4517206582711121,1.5237894268512013]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_1","position":[0.20664210733737876,1.1852080121183262,0.71338606911949],"aabb_xy":[[0.14264210663390942,1.1391896296454052],[0.2706421080408481,1.2312263945912472]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[0.4691706674648317,-0.8833202487465048,0.71338606911949],"aabb_xy":[[0.45167073403084834,-0.9008202486667393],[0.4866706008988151,-0.8658202488262702]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[-0.15737526584053552,-1.924050995900759,0.71338606911949],"aabb_xy":[[-0.20737526712437548,-1.974029850291381],[-0.10737526455669556,-1.8740721415101367]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[0.5648800104329323,0.18121446961756016,0.71338606911949],"aabb_xy":[[0.5149025935676788,0.13121446812831156],[0.6148574272981859,0.23121447110680865]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[-0.2937007884951859,0.6535617459283882,0.71338606911949],"aabb_xy":[[-0.32747634768587885,0.6395232507152231],[-0.2599252293044929,0.6676002411415531]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_6","position":[-0.3946498671262654,0.1760415336023966,0.71338606911949],"aabb_xy":[[-0.41682239410291616,0.1538658664462734],[-0.37247734014961453,0.19821720075851973]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_7","position":[0.2841319026621133,-1.649617041029714,0.71338606911949],"aabb_xy":[[0.2241319028155465,-1.7064356632227524],[0.3441319025086801,-1.592798418836675]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.6560287194781522,-0.94295214878992,0.71338606911949],"aabb_xy":[[0.6335287189661115,-0.9654440071553182],[0.6785287199901927,-0.9204602904245215]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[-0.5905906354036216,-1.0433134532120791,0.71338606911949],"aabb_xy":[[-0.6087964590648693,-1.0543388537940708],[-0.572384811742374,-1.0322880526300875]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[-0.3247958891777125,0.8227426676371201,0.71338606911949],"aabb_xy":[[-0.40479589134047494,0.7427874840109766],[-0.24479588701494998,0.9026978512632639]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_11","position":[-0.1011084676098778,-1.3429204756348962,0.71338606911949],"aabb_xy":[[-0.15108176161313822,-1.3929204761894436],[-0.05113517360661732,-1.292920475080349]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[-0.18026182645140199,-0.8560259681061622,0.71338606911949],"aabb_xy":[[-0.2602618267250089,-0.9289755159318788],[-0.10026182617779499,-0.7830764202804453]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[-0.5214605484876336,1.6949542952699788,0.71338606911949],"aabb_xy":[[-0.5307541667247841,1.6574542967818449],[-0.512166930250483,1.7324542937581127]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[0.0037948523261106537,-1.6332438701240475,0.71338606911949],"aabb_xy":[[-0.013635862752895854,-1.650515984787898],[0.02122556740511716,-1.6159717554601964]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_15","position":[0.0747756072724477,0.6734964365540104,0.71338606911949],"aabb_xy":[[0.07034497791760752,0.6680480648193278],[0.07920623662728787,0.678944808288693]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.23337472013600458,0.7296540317096722,0.71338606911949],"aabb_xy":[[0.14337472154153466,0.7134034453962513],[0.3233747187304745,0.7459046180230934]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_17","position":[-0.49733062532674777,0.03961224791776896,0.71338606911949],"aabb_xy":[[-0.5143407226167984,0.023477759419495037],[-0.48032052803669706,0.055746736416042886]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.6059274655099227,-0.13140621644875683,0.71338606911949],"aabb_xy":[[0.541927468397817,-0.18043858624316744],[0.6699274626220284,-0.08237384665434622]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_19","position":[0.2993055878168942,0.4379668044891605,0.71338606911949],"aabb_xy":[[0.27679189599343695,0.36796680388815284],[0.32181927964035134,0.5079668050901679]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[-0.28769638096373773,0.42632719143834397,0.71338606911949],"aabb_xy":[[-0.31153259860434285,0.33632719062985755],[-0.2638601633231327,0.5163271922468305]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[0.2666846918762449,0.8741985053422332,0.71338606911949],"aabb_xy":[[0.21169148053910813,0.8191985050034397],[0.32167790321338163,0.9291985056810269]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6555395424024084,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9291.png","name":"9291"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9291.png","name":"9291"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5671.png","name":"5671"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3614.png","name":"3614"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8199.png","name":"8199"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2393.png","name":"2393"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":590.3071245099904,"rotation_z_degrees":247.76056322855203,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01177416922258554,0.009881084179930295,0.003331911325185368]},{"name":"camera_2","offset_m":[-0.0011676044934909556,-0.008767689575329914,0.01849484360855581]},{"name":"camera_3","offset_m":[0.015854611212619985,0.0057038723159819685,0.0069213625698522525]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011893536727477598,-0.0017215744669980646,-0.0015423227748945388],"end_effector_yaw_offset_degrees":0.003858358792306449},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0009055791341382393,0.0016366986136039474,-0.0014018866517482233],"end_effector_yaw_offset_degrees":-0.5546117276096529},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001518733852456964,-0.0006974283374593883,0.0016192219010144043],"end_effector_yaw_offset_degrees":-0.07962803136372876},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008244341647861816,-0.0005240957668675001,-0.0009217240055276021],"end_effector_yaw_offset_degrees":-0.9218433339764542}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003428503958466971,0.0010006634145349677],"position_m":[0.28757149604153304,-0.07599933658546504,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002239380700776529,0.001145347010466962],"position_m":[0.24156061929922346,-0.333054652989533,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018144184001462494,0.0028157088066670484],"position_m":[0.19871441840014625,0.310515708806667,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002804283213162474,-0.004866272670049416],"position_m":[0.33340428321316246,0.07603372732995059,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0ee14e33efaac17ea9befc20502fc525b6e4284367ec37c2383c45fcf6f98728","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0047.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9291/tex_ceiling_textures_2393/tex_floor_textures_8199/tex_table_textures_5671/tex_wall_textures_3614","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7160209589501190690,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7160209589501190690,"visual_seed":7160209589501190690,"scene_id":"lab_003","finished_at":"2026-09-04T20:46:28"}
+{"episode_id":"ep_000037","started_at":"2026-09-04T20:46:31","dimensions":{"distractor":{"count":34,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[0.03539150123547474,-0.690008649979623,0.71338606911949],"aabb_xy":[[0.011555283594869676,-0.7800086507881097],[0.05922771887607981,-0.6000086491711366]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.46291031723142706,0.7898291648258868,0.71338606911949],"aabb_xy":[[0.3829103158012998,0.7103120098132774],[0.5429103186615543,0.8693463198384963]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[-0.37165365631950165,-1.7694915424056963,0.71338606911949],"aabb_xy":[[-0.37927792440968,-1.77712476594224],[-0.36402938822932346,-1.7618583188691526]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[-0.4477991907189513,0.6586943468753486,0.71338606911949],"aabb_xy":[[-0.4542130043621362,0.6522845266276801],[-0.4413853770757663,0.6651041671230168]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[0.09858526962101655,-0.927814932958654,0.71338606911949],"aabb_xy":[[0.08801778996291752,-0.9383599630716626],[0.10915274927911554,-0.9172699028456455]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_5","position":[0.6367820433196025,-1.3061142774993628,0.71338606911949],"aabb_xy":[[0.6196799653612344,-1.3232210830306326],[0.6538841212779707,-1.289007471968093]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_6","position":[0.10254027266936139,-1.3907451580986305,0.71338606911949],"aabb_xy":[[0.022546449090803167,-1.4707451606914723],[0.1825340962479196,-1.3107451555057892]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_7","position":[-0.06202052507869715,1.6844174797873737,0.71338606911949],"aabb_xy":[[-0.0748924285796373,1.6044174793735373],[-0.04914862157775702,1.7644174802012096]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_8","position":[-0.5737767548983437,-2.0980673943545316,0.71338606911949],"aabb_xy":[[-0.6096902593233332,-2.1339809025712864],[-0.5378632504733539,-2.062153886137777]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[-0.2928598278927373,-0.6448797482775619,0.71338606911949],"aabb_xy":[[-0.3008860985233633,-0.6536312432549146],[-0.2848335572621113,-0.6361282533002094]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.5699586022588983,0.5755156517236326,0.71338606911949],"aabb_xy":[[0.56364650272256,0.5697487124704138],[0.5762707017952368,0.5812825909768514]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[0.17592174122108872,0.7556219962365693,0.71338606911949],"aabb_xy":[[0.1480767044404816,0.7248374974982578],[0.20376677800169585,0.7864064949748811]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.20117393773174796,1.6547147119020118,0.71338606911949],"aabb_xy":[[-0.21723586519026558,1.56971471008942],[-0.1851120102732303,1.7397147137146036]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[0.46605912128438387,1.3330289041752583,0.71338606911949],"aabb_xy":[[0.4481900135299283,1.3191959961980473],[0.4839282290388393,1.3468618121524694]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_14","position":[0.2832289630238878,-1.8097767600160075,0.71338606911949],"aabb_xy":[[0.24572896267565997,-1.8215681555970908],[0.3207289633721155,-1.7979853644349237]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[0.6204900321888915,-2.1775163155256902,0.71338606911949],"aabb_xy":[[0.5404900317186756,-2.1858270231400385],[0.7004900326591075,-2.169205607911342]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_16","position":[-0.30203221275679726,-2.509969931007116,0.71338606911949],"aabb_xy":[[-0.3395322134213759,-2.5256569890073384],[-0.2645322120922185,-2.494282873006894]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_17","position":[-0.28915460262949294,0.9927100404059082,0.71338606911949],"aabb_xy":[[-0.29878623884992256,0.9830727276261991],[-0.2795229664090633,1.002347353185617]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_18","position":[-0.23640696255861549,-0.21853181969580504,0.71338606911949],"aabb_xy":[[-0.24963790809329675,-0.23175923871780443],[-0.22317601702393416,-0.2053044006738056]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[0.505577838063791,1.7054171450204234,0.71338606911949],"aabb_xy":[[0.48803114314767204,1.667917143456172],[0.5231245329799099,1.7429171465846744]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.14032801157694286,-1.7023250467086886,0.71338606911949],"aabb_xy":[[0.11786324160553774,-1.724825047587549],[0.16279278154834798,-1.679825045829828]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_21","position":[0.2887509158291476,0.4496006992789656,0.71338606911949],"aabb_xy":[[0.2853102395890904,0.4457392663046012],[0.29219159206920475,0.45346213225333015]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[0.37054843885008015,-1.2705068450099957,0.71338606911949],"aabb_xy":[[0.32054844020415896,-1.320426388669458],[0.42054843749600135,-1.2205873013505333]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.40323644259317604,-0.5811068037284874,0.71338606911949],"aabb_xy":[[0.3803207297081262,-0.6040111008649109],[0.426152155478226,-0.5582025065920639]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_24","position":[0.003536500126968045,-1.6585328012481353,0.71338606911949],"aabb_xy":[[-0.011626372849969037,-1.6736982585432545],[0.01869937310390513,-1.643367343953017]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[-0.1333571325125873,-1.3381753372460223,0.71338606911949],"aabb_xy":[[-0.14311312202176116,-1.3479378713052568],[-0.12360114300341338,-1.328412803186788]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_26","position":[-0.10020686899594033,-1.1432030606582755,0.71338606911949],"aabb_xy":[[-0.15020686857227505,-1.1931836396103814],[-0.05020686941960563,-1.0932224817061695]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_27","position":[0.08880269835487775,0.9487962033014208,0.71338606911949],"aabb_xy":[[0.03880269891468213,0.8988282788171044],[0.13880269779507337,0.998764127785737]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_28","position":[0.22207761264605008,1.2255999215329068,0.71338606911949],"aabb_xy":[[0.2127839944088995,1.1880999230447729],[0.23137123088320066,1.2630999200210407]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_29","position":[-0.6692540636313316,0.03521116050130457,0.71338606911949],"aabb_xy":[[-0.678035290778568,0.026431413212774424],[-0.6604728364840954,0.04399090778983472]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_30","position":[-0.5650746375761039,-1.0296263604505744,0.71338606911949],"aabb_xy":[[-0.6150694705040455,-1.079626359345818],[-0.5150798046481623,-0.9796263615553309]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_31","position":[0.44420229166687264,0.3789728196028044,0.71338606911949],"aabb_xy":[[0.4334293177455048,0.3439728213837654],[0.45497526558824036,0.41397281782184336]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_32","position":[-0.0804966402870203,-0.7805675638565654,0.71338606911949],"aabb_xy":[[-0.12326334716644048,-0.8445675672783679],[-0.0377299334076001,-0.716567560434763]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_33","position":[0.6337616511593744,-0.016272653668915282,0.71338606911949],"aabb_xy":[[0.5537616478953612,-0.029832685977828618],[0.7137616544233875,-0.00271262136000194]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6537720182958708,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3415.png","name":"3415"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3415.png","name":"3415"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9998.png","name":"9998"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6865.png","name":"6865"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6103.png","name":"6103"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2846.png","name":"2846"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":756.1225052825878,"rotation_z_degrees":277.15150344596424,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005430547205529379,0.0036725731725771767,-0.012940625721834662]},{"name":"camera_2","offset_m":[-0.0142790134177096,0.00021891753283578147,-0.014025472724399943]},{"name":"camera_3","offset_m":[0.0026632112556367847,-0.013391811529465447,-0.017999951845790525]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014826594655697372,0.0016708941193897303,-0.00124781244884804],"end_effector_yaw_offset_degrees":0.7664334776462978},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0001821674125292278,0.00036494158934645676,-0.0018980064952640735],"end_effector_yaw_offset_degrees":-0.3609459448385721},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006720824161845296,-0.0006913747990819248,0.0003846880945907972],"end_effector_yaw_offset_degrees":-0.395088326059966},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00018527320869939946,-0.0008643817762025478,0.0013296126358780798],"end_effector_yaw_offset_degrees":-0.801734838546365}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004113208633971365,0.002115144799531104],"position_m":[0.29058867913660286,-0.07488485520046889,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002345867533671903,0.004455473436575977],"position_m":[0.24145413246632808,-0.329744526563424,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00014153710646817516,0.002646616602357382],"position_m":[0.19704153710646816,0.31034661660235735,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0034393153334732053,-0.0008842989730601823],"position_m":[0.3271606846665268,0.08001570102693982,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6e9127dcd32ca0a34dd6dcd296b531731352850c5eb18157b76d9b033b3f9e82","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0048.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3415/tex_ceiling_textures_2846/tex_floor_textures_6103/tex_table_textures_9998/tex_wall_textures_6865","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4415840196053459004,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4415840196053459004,"visual_seed":4415840196053459004,"scene_id":"lab_003","finished_at":"2026-09-04T20:49:56"}
+{"episode_id":"ep_000038","started_at":"2026-09-04T20:52:17","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.610818215190989,0.36698552185210565,0.71338606911949],"aabb_xy":[[-0.6748182116183109,0.3198158980300092],[-0.5468182187636671,0.4141551456742021]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_1","position":[0.12456910151859912,-0.7976463318154647,0.71338606911949],"aabb_xy":[[0.06056909946886714,-0.8377408149047727],[0.18856910356833112,-0.7575518487261568]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[-0.4447468398193126,0.28895552928446255,0.71338606911949],"aabb_xy":[[-0.46224684006436195,0.27145574144489565],[-0.4272468395742632,0.30645531712402935]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_3","position":[0.5178095543044572,-2.350711319843835,0.71338606911949],"aabb_xy":[[0.4538095571923515,-2.3997436896382456],[0.5818095514165629,-2.3016789500494244]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[-0.10679917045036691,-1.7333469742375378,0.71338606911949],"aabb_xy":[[-0.14179917042686274,-1.7428115902851542],[-0.07179917047387109,-1.723882358189921]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[0.6228432746291255,-1.8609252621056058,0.71338606911949],"aabb_xy":[[0.5328432778935153,-1.9141087254229001],[0.7128432713647357,-1.807741798788311]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.11554472395256044,-0.3594931657235714,0.71338606911949],"aabb_xy":[[-0.15054472226325588,-0.367208180647117],[-0.080544725641865,-0.3517781508000257]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.5863314833838353,-0.48438195884913204,0.71338606911949],"aabb_xy":[[-0.623831484899467,-0.49560873186527704],[-0.5488314818682036,-0.47315518583298694]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[0.617836908911364,-0.21298631425581327,0.71338606911949],"aabb_xy":[[0.5628414310907045,-0.2679863156897202],[0.6728323867320233,-0.1579863128219063]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_9","position":[-0.6456883498677685,1.0798766288866104,0.71338606911949],"aabb_xy":[[-0.6570500845210545,1.068508162480322],[-0.6343266152144822,1.0912450952928983]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_10","position":[0.23269001386497412,1.1500789555980027,0.71338606911949],"aabb_xy":[[0.1526900127918538,1.1403009092606182],[0.31269001493809445,1.159857001935387]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[0.028297894610268992,-2.32226505635414,0.71338606911949],"aabb_xy":[[-0.061702105112905185,-2.345338408889319],[0.11829789433344316,-2.2991917038189595]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_12","position":[-0.21120962501215995,-1.8503542001444573,0.71338606911949],"aabb_xy":[[-0.26620962418874944,-1.9053438749194147],[-0.15620962583557046,-1.7953645253694994]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.3890629160763341,1.114412614464606,0.71338606911949],"aabb_xy":[[-0.412648039540229,1.0494126122191743],[-0.3654777926124393,1.1794126167100378]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_14","position":[-0.6227514803438688,-0.051302955937139405,0.71338606911949],"aabb_xy":[[-0.6602514804494617,-0.05812511779012052],[-0.5852514802382758,-0.044480794084158275]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[0.0969697173182118,1.1926760246139954,0.71338606911949],"aabb_xy":[[0.0837387717835305,1.1794486055919957],[0.11020066285289308,1.2059034436359946]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.5889735481236729,-0.9843518331207644,0.71338606911949],"aabb_xy":[[0.5514735476263146,-0.9883205166688827],[0.6264735486210311,-0.9803831495726458]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[-0.5984084451416893,1.6101904238281874,0.71338606911949],"aabb_xy":[[-0.6160412807352168,1.5925674778125642],[-0.5807756095481617,1.6278133698438102]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[-0.25968861438065793,1.6774785267553036,0.71338606911949],"aabb_xy":[[-0.3246886170184514,1.6259989280558567],[-0.19468861174286445,1.7289581254547506]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[-0.20986024408878062,-1.120022730344717,0.71338606911949],"aabb_xy":[[-0.2511090551186953,-1.1750227298569342],[-0.16861143305886586,-1.0650227308324993]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_20","position":[0.6755940324475704,-1.40095430307669,0.71338606911949],"aabb_xy":[[0.6564817250895915,-1.420089081953932],[0.6947063398055492,-1.381819524199448]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_21","position":[-0.5323296845531983,-1.27227732763506,0.71338606911949],"aabb_xy":[[-0.6023296863619437,-1.2936310963992474],[-0.46232968274445285,-1.2509235588708727]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[0.5201559740482202,-2.204071470281933,0.71338606911949],"aabb_xy":[[0.46015597318740725,-2.2554979002884186],[0.5801559749090328,-2.1526450402754462]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[-0.034178701396539335,1.366407211413489,0.71338606911949],"aabb_xy":[[-0.05085583738963484,1.3497072874395586],[-0.01750156540344383,1.3831071353874191]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[-0.5986544701632281,0.6739684553828194,0.71338606911949],"aabb_xy":[[-0.6686544727998145,0.6538635903869537],[-0.5286544675266418,0.6940733203786847]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_25","position":[0.5754336633167385,-0.3787092161953747,0.71338606911949],"aabb_xy":[[0.5368879704915376,-0.4172549872515633],[0.6139793561419397,-0.34016344513918595]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569013209373283,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/294.png","name":"294"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/294.png","name":"294"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4581.png","name":"4581"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1096.png","name":"1096"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6117.png","name":"6117"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6068.png","name":"6068"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":699.2057056698382,"rotation_z_degrees":294.7250660565965,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008056763868791214,-0.014939470500094271,0.0026383489307027566]},{"name":"camera_2","offset_m":[-0.004576630963697209,0.00813277162162166,0.005928572895901773]},{"name":"camera_3","offset_m":[-0.011211648978987165,0.011835502898190447,0.011127508601498685]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019133783206238325,-0.0013088253841105927,0.0006811423889697293],"end_effector_yaw_offset_degrees":0.372329580257424},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0011556600694004378,-0.0018351973926580393,0.0014717981257822577],"end_effector_yaw_offset_degrees":-0.9933552533849443},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017959520390310236,0.0010918614097018297,-0.0007949822712303724],"end_effector_yaw_offset_degrees":0.6461918871903845},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017585695965992429,0.001412676341445158,-0.0018297627198764067],"end_effector_yaw_offset_degrees":0.1567236211976395}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019439803403638722,0.0013953936779292232],"position_m":[0.2890560196596361,-0.07560460632207078,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007713072000418118,0.003588733092049395],"position_m":[0.2445713072000418,-0.3306112669079506,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027721071600904836,0.004287660139876953],"position_m":[0.19967210716009048,0.31198766013987694,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001631406605168642,-0.0016077642353431341],"position_m":[0.33223140660516864,0.07929223576465687,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a7aff06a15f8df856fafde39f3324d00c51ab78d21af30a6530c85965a2f6bab","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0050.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_294/tex_ceiling_textures_6068/tex_floor_textures_6117/tex_table_textures_4581/tex_wall_textures_1096","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":849291700405256051,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":849291700405256051,"visual_seed":849291700405256051,"scene_id":"lab_003","finished_at":"2026-09-04T20:55:53"}
+{"episode_id":"ep_000039","started_at":"2026-09-04T20:55:56","dimensions":{"distractor":{"count":22,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.5431154741981956,-2.055784255591207,0.71338606911949],"aabb_xy":[[0.4631154755413096,-2.07028911451547],[0.6231154728550816,-2.041279396666944]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_1","position":[0.35282713506832675,-1.9652343347174837,0.71338606911949],"aabb_xy":[[0.34307114555915286,-1.9749968687767179],[0.36258312457750064,-1.955471800658249]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_2","position":[-0.2779585692335705,-1.7934968572448051,0.71338606911949],"aabb_xy":[[-0.3616807947336529,-1.883496860779501],[-0.19423634373348797,-1.7034968537101092]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_3","position":[0.1495843463314146,-1.2235794244704472,0.71338606911949],"aabb_xy":[[0.09961105232815412,-1.2735794250249945],[0.19955764033467502,-1.1735794239158999]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.4192919928539398,-2.141836374149018,0.71338606911949],"aabb_xy":[[-0.4417911285801667,-2.164336374927281],[-0.3967928571277128,-2.1193363733707553]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_5","position":[0.06573595117252617,1.0252252110727769,0.71338606911949],"aabb_xy":[[0.001735952585953715,0.9782182476732684],[0.12973594975909863,1.0722321744722858]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_6","position":[-0.42866702551759084,0.11086939853091726,0.71338606911949],"aabb_xy":[[-0.4477793328755697,0.09173461965367524],[-0.409554718159612,0.13000417740815928]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[-0.522430350283279,-0.6558768449311407,0.71338606911949],"aabb_xy":[[-0.5824303505346802,-0.7101581699676053],[-0.4624303500318778,-0.601595519894676]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[-0.23527168023669942,0.114258369527803,0.71338606911949],"aabb_xy":[[-0.2902671580573588,0.059258368093896036],[-0.18027620241604,0.1692583709617099]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[0.4902648235623115,0.38498605854163426,0.71338606911949],"aabb_xy":[[0.43527257292680066,0.32998605679832155],[0.5452570741978225,0.43998606028494713]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.023854908748777715,0.7950075284817939,0.71338606911949],"aabb_xy":[[-0.08885490690469677,0.7687112839318817],[0.041145089407141344,0.8213037730317061]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.6949244882300389,0.5762096480978056,0.71338606911949],"aabb_xy":[[0.6899684680451578,0.5537096478956841],[0.6998805084149201,0.5987096482999273]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[0.3377069729116837,1.597080253582059,0.71338606911949],"aabb_xy":[[0.27611621368769096,1.5330802554730123],[0.3992977321356766,1.661080251691106]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_13","position":[0.3150325609449607,-1.437991125804785,0.71338606911949],"aabb_xy":[[0.29802246365491003,-1.4541256143030588],[0.33204265823501133,-1.421856637306511]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[-0.43602393321604693,-0.500969560205951,0.71338606911949],"aabb_xy":[[-0.5000239365057549,-0.5443044792098685],[-0.37202392992633876,-0.4576346412020333]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[0.2967096483377597,-2.340704135700049,0.71338606911949],"aabb_xy":[[0.24670964889756403,-2.390672060184365],[0.34670964777795527,-2.2907362112157323]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_16","position":[-0.6090108821025786,1.7736144498614892,0.71338606911949],"aabb_xy":[[-0.6335570977253292,1.743365553312452],[-0.5844646664798278,1.803863346410526]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[0.25094590981927645,-0.6465764808661361,0.71338606911949],"aabb_xy":[[0.2009459084583892,-0.6965543854415516],[0.3009459111801636,-0.5965985762907203]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[0.24234100408125125,-1.7661792153746063,0.71338606911949],"aabb_xy":[[0.1723410022725058,-1.7875329841387937],[0.3123410058899967,-1.744825446610419]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[-0.40476144468449055,1.0421338548632657,0.71338606911949],"aabb_xy":[[-0.4283465681483854,0.9771338526178339],[-0.3811763212205957,1.1071338571086975]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[-0.2781926836574229,-0.3231827981916511,0.71338606911949],"aabb_xy":[[-0.3581926847305433,-0.33296084452903557],[-0.19819268258430262,-0.3134047518542667]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_21","position":[0.0021110665868471212,-0.7243806012993812,0.71338606911949],"aabb_xy":[[-0.011119878947834172,-0.7376080203213805],[0.015342012121528414,-0.7111531822773817]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6594058499213015,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3692.png","name":"3692"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3692.png","name":"3692"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1907.png","name":"1907"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7214.png","name":"7214"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1802.png","name":"1802"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8246.png","name":"8246"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":635.7601519224929,"rotation_z_degrees":247.0155998235523,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018960379296063184,-0.002124031996769603,-0.0019119172363687015]},{"name":"camera_2","offset_m":[-0.005420793773834167,0.019170907383037002,0.00664509324521095]},{"name":"camera_3","offset_m":[0.0037464770533958726,0.005452227908454163,-0.007461631275045507]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00041539096164810475,-0.00046348302731213454,-0.0010032378270033303],"end_effector_yaw_offset_degrees":-0.2526789092226902},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008468390434833099,-0.0014950995881117075,-0.0017389955630705556],"end_effector_yaw_offset_degrees":0.24778711485012672},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011179367035594173,-0.0007116695669973766,-0.00028738708470443623],"end_effector_yaw_offset_degrees":0.39182261246812766},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017511522998504092,-0.0004293694577971348,-0.0004706360913662561],"end_effector_yaw_offset_degrees":-0.4873406080159217}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004825831929871317,0.0027812240717510926],"position_m":[0.2958258319298713,-0.07421877592824891,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004031038253345413,-0.001981985603451213],"position_m":[0.24420310382533453,-0.3361819856034512,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020319079514599095,0.001051811882709374],"position_m":[0.1989319079514599,0.30875181188270934,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004537758973058559,-0.002623525115901383],"position_m":[0.3351377589730586,0.07827647488409861,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"661aefd448478fe9e99bf9296f51d6cabcbc3f6f3b8b12e2c9151cda1de4997a","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0051.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3692/tex_ceiling_textures_8246/tex_floor_textures_1802/tex_table_textures_1907/tex_wall_textures_7214","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2609481820319430039,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2609481820319430039,"visual_seed":2609481820319430039,"scene_id":"lab_003","finished_at":"2026-09-04T20:59:20"}
+{"episode_id":"ep_000040","started_at":"2026-09-04T20:59:23","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_0","position":[-0.21387150260974164,1.6768290221917606,0.71338606911949],"aabb_xy":[[-0.2738715028611428,1.622547697155296],[-0.15387150235834043,1.7311103472282252]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_1","position":[-0.15840448693325893,-2.165003290287691,0.71338606911949],"aabb_xy":[[-0.18839614966712923,-2.1950032896244913],[-0.12841282419938857,-2.1350032909508903]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_2","position":[0.37101608649781426,-1.011442276462608,0.71338606911949],"aabb_xy":[[0.29101608851702915,-1.01904381742446],[0.45101608447859926,-1.0038407355007561]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_3","position":[-0.5045391728204446,1.0974658859492603,0.71338606911949],"aabb_xy":[[-0.5545391722606402,1.047497961464944],[-0.45453917338024896,1.1474338104335766]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_4","position":[-0.27735824707943785,-1.766113996059087,0.71338606911949],"aabb_xy":[[-0.28613947422667413,-1.7748937433476177],[-0.2685770199322017,-1.7573342487705572]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_5","position":[-0.3141745362136946,1.4601739636621187,0.71338606911949],"aabb_xy":[[-0.35167453463709497,1.4470097496942878],[-0.2766745377902943,1.4733381776299492]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_6","position":[0.5930315682969676,-0.6320238617938878,0.71338606911949],"aabb_xy":[[0.5580315684009486,-0.6403980973058278],[0.6280315681929863,-0.6236496262819479]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[0.5366958912573707,-1.8938008930111923,0.71338606911949],"aabb_xy":[[0.499195889741739,-1.9050276660273373],[0.5741958927730024,-1.8825741199950472]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_8","position":[-0.22512733216795666,0.6297502010064688,0.71338606911949],"aabb_xy":[[-0.3051273343307191,0.5497950173803251],[-0.14512733000519412,0.7097053846326123]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.31181099629236125,-1.2842603724303168,0.71338606911949],"aabb_xy":[[-0.36181099493828245,-1.3341799160897791],[-0.26181099764644006,-1.2343408287708544]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[-0.3382191547660672,-1.8516747127427589,0.71338606911949],"aabb_xy":[[-0.3585034574894659,-1.8719573378854675],[-0.31793485204266836,-1.8313920876000498]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[0.2759279651491038,-0.7357369444264183,0.71338606911949],"aabb_xy":[[0.2109279641919766,-0.7876851563601238],[0.340927966106231,-0.6837887324927127]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[0.06827426523193958,1.459461766481748,0.71338606911949],"aabb_xy":[[0.004274263823948909,1.407672814957823],[0.13227426663993022,1.5112507180056725]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.18557818673872462,0.31069171241639326,0.71338606911949],"aabb_xy":[[-0.19021330189095798,0.30682437733924456],[-0.1809430715864912,0.31455904749354185]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[0.09610579136016695,-1.9541821126587284,0.71338606911949],"aabb_xy":[[0.08474405670688077,-1.9655505790650163],[0.1074675260134531,-1.9428136462524401]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[0.3772927514507489,1.1464415900512313,0.71338606911949],"aabb_xy":[[0.297292754436501,1.12630703837782],[0.45729274846499696,1.1665761417246425]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_16","position":[-0.15395166888264522,-0.9790501607199302,0.71338606911949],"aabb_xy":[[-0.18179670566325232,-1.009834659458242],[-0.12610663210203807,-0.9482656619816185]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_17","position":[0.11912759433216635,-2.3524916266750475,0.71338606911949],"aabb_xy":[[0.08321408990717666,-2.388405134891802],[0.15504109875715605,-2.3165781184582923]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[0.30010706935822196,1.0483077833890184,0.71338606911949],"aabb_xy":[[0.2966663931181648,1.044446350414654],[0.30354774559827913,1.052169216363383]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[0.4368403433599162,0.9464209460863775,0.71338606911949],"aabb_xy":[[0.3668403412284866,0.9236589804606817],[0.5068403454913457,0.969182911712073]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.5362244626464393,0.4824993879011208,0.71338606911949],"aabb_xy":[[-0.6012244652842327,0.43101978920167383],[-0.4712244600086457,0.5339789866005678]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_21","position":[-0.4300428160106286,-0.4326219984349984,0.71338606911949],"aabb_xy":[[-0.4519325635995694,-0.5226219957242475],[-0.4081530684216878,-0.34262200114574926]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[0.02159060913137434,1.1058921931559405,0.71338606911949],"aabb_xy":[[-0.0034093900342587746,1.0989399474505839],[0.04659060829700745,1.112844438861297]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_23","position":[0.49872107311780645,1.0258016528083664,0.71338606911949],"aabb_xy":[[0.46372107480711106,1.0180866378848208],[0.5337210714285019,1.033516667731912]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[0.03952549326809973,-1.0634541866534337,0.71338606911949],"aabb_xy":[[0.006046326007058796,-1.0969333000245407],[0.07300466052914067,-1.0299750732823267]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6554477293570128,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2248.png","name":"2248"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2248.png","name":"2248"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9249.png","name":"9249"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6752.png","name":"6752"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4775.png","name":"4775"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5887.png","name":"5887"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":628.9841203969689,"rotation_z_degrees":127.13954887354048,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009804335194641488,0.019786921226449258,0.010484594470600125]},{"name":"camera_2","offset_m":[-0.012527976495326124,-0.013025022939454067,-0.0027596290510098938]},{"name":"camera_3","offset_m":[-0.004769001854701674,0.008640228107828034,0.012349345198333198]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018059221505985295,0.0008310586792866165,-0.0018542587641863838],"end_effector_yaw_offset_degrees":0.2048004245183923},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00019374310235553737,-0.0014346017657065383,0.0017465086204363658],"end_effector_yaw_offset_degrees":-0.969022801052208},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011231971004145632,0.001774956253304707,0.0011576188892199885],"end_effector_yaw_offset_degrees":0.6761054428977389},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016725666808613832,-0.0009439117107745249,-0.00032633867781060345],"end_effector_yaw_offset_degrees":0.9638446912231913}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-8.266704831082303e-05,-0.003680809982133523],"position_m":[0.29091733295168914,-0.08068080998213352,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035689113586479092,-0.0009187982627271996],"position_m":[0.2402310886413521,-0.33511879826272717,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002227799767639972,-0.001852711481367376],"position_m":[0.19467220023236,0.3058472885186326,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004620199790286861,0.0040007479681269],"position_m":[0.3352201997902869,0.0849007479681269,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7a591e93c82e24c44d1841cd79c33005dc7914f5a986046151b0c32fcf737763","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0052.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2248/tex_ceiling_textures_5887/tex_floor_textures_4775/tex_table_textures_9249/tex_wall_textures_6752","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2786363525546320732,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2786363525546320732,"visual_seed":2786363525546320732,"scene_id":"lab_003","finished_at":"2026-09-04T21:02:57"}
+{"episode_id":"ep_000041","started_at":"2026-09-04T21:03:01","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[0.5101697532673282,0.22316226283728202,0.71338606911949],"aabb_xy":[[0.4501697534207614,0.16634364064424334],[0.570169753113895,0.2799808850303207]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_1","position":[-0.2127487749981009,-0.2249534629018215,0.71338606911949],"aabb_xy":[[-0.27774877287974875,-0.2760771266083624],[-0.14774877711645312,-0.17382979919528066]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[-0.5639068336637602,-2.049423275813318,0.71338606911949],"aabb_xy":[[-0.6139068323096812,-2.0993428194727803],[-0.5139068350178388,-1.9995037321538556]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[0.5075482517198644,1.3883369707021322,0.71338606911949],"aabb_xy":[[0.4966966454709888,1.3774776799744812],[0.51839985796874,1.3991962614297833]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[-0.24637021848048585,-1.7475190250520674,0.71338606911949],"aabb_xy":[[-0.25952146445177526,-1.7725190248087541],[-0.23321897250919651,-1.722519025295381]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[0.3360999407987051,-1.905235046113693,0.71338606911949],"aabb_xy":[[0.2720999387489731,-1.945329529203001],[0.4000999428484371,-1.8651405630243851]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_6","position":[-0.07585625421564757,0.6161423177368661,0.71338606911949],"aabb_xy":[[-0.11085625556712929,0.5957825817800452],[-0.040856252864165825,0.6365020536936868]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[0.654086244478278,-2.1568536648988754,0.71338606911949],"aabb_xy":[[0.6458716993625939,-2.165530255196516],[0.6623007895939619,-2.148177074601233]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_8","position":[0.19343899896305494,-1.593972153549969,0.71338606911949],"aabb_xy":[[0.12943899979328502,-1.6407388406689314],[0.2574389981328249,-1.5472054664310064]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[0.04548213528166134,-1.8550542591060823,0.71338606911949],"aabb_xy":[[-0.03451786499194563,-1.928003806931799],[0.1254821355552683,-1.7821047112803656]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_10","position":[-0.20698570802999616,-0.7855602837670415,0.71338606911949],"aabb_xy":[[-0.28698570601078116,-0.7931618247288934],[-0.12698571004921108,-0.7779587428051895]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.37155773292236804,-1.9606489747246925,0.71338606911949],"aabb_xy":[[-0.4085918423504277,-1.9950261820584019],[-0.33452362349430825,-1.926271767390983]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_12","position":[0.5585453913226346,1.6401489831432143,0.71338606911949],"aabb_xy":[[0.5124603000679031,1.5761489858906592],[0.6046304825773661,1.7041489803957695]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[-0.4937451762073697,-0.7749877903280329,0.71338606911949],"aabb_xy":[[-0.5200340005278103,-0.8012592239826841],[-0.467456351886929,-0.7487163566733817]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_14","position":[-0.1040321666157995,-2.4959066021516203,0.71338606911949],"aabb_xy":[[-0.15400546061905995,-2.5459066027061676],[-0.05405887261253904,-2.445906601597073]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[-0.4623703244413794,-0.20586841588502836,0.71338606911949],"aabb_xy":[[-0.5423703266041418,-0.285823599511172],[-0.38237032227861684,-0.12591323225888473]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_16","position":[0.03494911540495205,-2.263455356055554,0.71338606911949],"aabb_xy":[[-0.00255088577984075,-2.2678735787516136],[0.07244911658974483,-2.2590371333594925]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_17","position":[-0.2951393637209669,0.5790028535494813,0.71338606911949],"aabb_xy":[[-0.33263936438554553,0.563315795549259],[-0.2576393630563881,0.5946899115497034]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.12303269679751494,1.2877725679509657,0.71338606911949],"aabb_xy":[[-0.21303269353312515,1.234589104633671],[-0.033032700061904716,1.34095603126826]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_19","position":[-0.5250139056049958,0.08659694796576378,0.71338606911949],"aabb_xy":[[-0.5594763836180835,0.07993327078284095],[-0.49055142759190795,0.09326062514868659]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[0.35022201173947765,-1.6395060186971495,0.71338606911949],"aabb_xy":[[0.3408045371696149,-1.6489221958348685],[0.3596394863093404,-1.6300898415594305]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[-0.6461826295315084,0.3204720986939198,0.71338606911949],"aabb_xy":[[-0.6639761364664248,0.3026723530981221],[-0.628389122596592,0.33827184428971746]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_22","position":[-0.6049826315072444,-1.3512590113505614,0.71338606911949],"aabb_xy":[[-0.6549776424666965,-1.4012590103861533],[-0.5549876205477925,-1.3012590123149699]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_23","position":[-0.535012987341432,0.25463020654156443,0.71338606911949],"aabb_xy":[[-0.5762617983713466,0.19963020702934695],[-0.4937641763115172,0.30963020605378183]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6630579903332823,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9157.png","name":"9157"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9157.png","name":"9157"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6133.png","name":"6133"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2526.png","name":"2526"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7223.png","name":"7223"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3790.png","name":"3790"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":701.7509265818414,"rotation_z_degrees":351.65133313490963,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014004501560797505,0.010861305421912867,0.011990508105562656]},{"name":"camera_2","offset_m":[-0.009093968786254143,0.0008881791123671601,0.002197490128694978]},{"name":"camera_3","offset_m":[0.015701261722160426,-0.012024222936494291,-0.005524916301324243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010841965829557574,0.0012915268374041255,0.0015975625358950873],"end_effector_yaw_offset_degrees":0.16018340986945745},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00031278432456360275,-0.0004035145258049072,-0.00036146732470311387],"end_effector_yaw_offset_degrees":-0.329200895621069},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009807273763564935,-8.489638374380528e-05,-0.00025485106702292145],"end_effector_yaw_offset_degrees":0.7370878134602492},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00152727601977954,0.001859500116525691,0.001285928875134638],"end_effector_yaw_offset_degrees":-0.8215326042438931}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004903966739401719,-0.00390469098556372],"position_m":[0.28609603326059824,-0.08090469098556372,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004112418811343198,-0.002884603289106892],"position_m":[0.24791241881134318,-0.3370846032891069,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005953937339261443,-0.0004341237093139008],"position_m":[0.19630460626607385,0.3072658762906861,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004090430530001218,0.004500407361228397],"position_m":[0.32650956946999876,0.08540040736122839,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3cdf26870c0e0b1b14607c88599fa1995447751b5d78042695860abbd23bfa89","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9157/tex_ceiling_textures_3790/tex_floor_textures_7223/tex_table_textures_6133/tex_wall_textures_2526","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3674350557730959116,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3674350557730959116,"visual_seed":3674350557730959116,"scene_id":"lab_003","finished_at":"2026-09-04T21:06:28"}
+{"episode_id":"ep_000042","started_at":"2026-09-04T21:06:31","dimensions":{"distractor":{"count":23,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[-0.29752815124449933,-1.334750597980076,0.71338606911949],"aabb_xy":[[-0.3775281499013854,-1.3492554569043387],[-0.21752815258761338,-1.3202457390558133]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_1","position":[-0.09700115039573787,0.9391657670724198,0.71338606911949],"aabb_xy":[[-0.14700115205723258,0.8891673248167169],[-0.04700114873424308,0.9891642093281223]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_2","position":[-0.32644969704675403,0.5396787363325317,0.71338606911949],"aabb_xy":[[-0.3442432039816704,0.521878990736734],[-0.30865619011183754,0.5574784819283294]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_3","position":[0.0441720293611626,-0.7223977980187206,0.71338606911949],"aabb_xy":[[-0.019823668033933983,-0.7863977963194293],[0.10816772675625919,-0.6583977997180119]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_4","position":[0.05744968829848962,-2.2505675586123655,0.71338606911949],"aabb_xy":[[0.05374642696935075,-2.2542695769210828],[0.06115294962762849,-2.2468655403036473]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[0.392865049835617,-0.570779909451026,0.71338606911949],"aabb_xy":[[0.3868985108948812,-0.5767410541103899],[0.3988315887763528,-0.5648187647916618]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.6558282551708237,0.8451523332310447,0.71338606911949],"aabb_xy":[[0.6478342665931203,0.8371522531359542],[0.663822243748527,0.8531524133261349]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_7","position":[-0.40927547780712914,0.7078982407839551,0.71338606911949],"aabb_xy":[[-0.44677547775089554,0.6996051507491187],[-0.37177547786336274,0.7161913308187918]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_8","position":[-0.42434105200686406,-0.471317053182744,0.71338606911949],"aabb_xy":[[-0.4883410523843977,-0.5210623200335562],[-0.36034105162933044,-0.42157178633193165]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_9","position":[0.6800266347935437,1.021917042574247,0.71338606911949],"aabb_xy":[[0.6575266349796414,1.0174424262037662],[0.7025266346074461,1.0263916589447277]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[-0.5760066405767666,-1.3795275310907522,0.71338606911949],"aabb_xy":[[-0.6560066438346096,-1.459524038882736],[-0.4960066373189237,-1.299531023298768]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[-0.4374458968013655,-0.8128898144731824,0.71338606911949],"aabb_xy":[[-0.48021260368078567,-0.8768898178949849],[-0.3946791899219453,-0.74888981105138]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_12","position":[-0.47687988853428837,-2.3261940167562702,0.71338606911949],"aabb_xy":[[-0.5408798877040584,-2.3729607038752323],[-0.4128798893645184,-2.2794273296373073]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.1620633234482548,1.065560153403951,0.71338606911949],"aabb_xy":[[-0.17077729249818926,1.0430601527447625],[-0.1533493543983203,1.088060154063139]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_14","position":[-0.09217008691089601,-1.9063315353759038,0.71338606911949],"aabb_xy":[[-0.10974838909984284,-1.9239060249500086],[-0.07459178472194915,-1.8887570458017986]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[0.5354615703390004,1.6872979467512565,0.71338606911949],"aabb_xy":[[0.5135528881996494,1.6653972799311656],[0.5573702524783515,1.709198613571347]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[0.508727437385391,1.2827696557868435,0.71338606911949],"aabb_xy":[[0.5033949227307779,1.277445327541608],[0.514059952040004,1.288093984032079]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[-0.5273662643231283,-1.7036390530701928,0.71338606911949],"aabb_xy":[[-0.577183043787963,-1.753639051554496],[-0.4775494848582935,-1.6536390545858892]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[0.3824524823356441,-1.8577326707216477,0.71338606911949],"aabb_xy":[[0.3449524825186105,-1.8623708820327893],[0.4199524821526776,-1.8530944594105057]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[0.022655652252047687,-1.4822238253741975,0.71338606911949],"aabb_xy":[[0.014629381621421692,-1.4909753203515503],[0.030681922882673688,-1.473472330396845]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[-0.459835716227009,-1.1112813192883049,0.71338606911949],"aabb_xy":[[-0.5138513125089089,-1.1752813221805618],[-0.40582011994510886,-1.0472813163960475]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_21","position":[-0.2048883452932883,0.37295768698609777,0.71338606911949],"aabb_xy":[[-0.25097343654801973,0.3089576897335427],[-0.1588032540385568,0.43695768423865294]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_22","position":[-0.12262547336158258,-1.5471228086171096,0.71338606911949],"aabb_xy":[[-0.18262547320814937,-1.6039414308101483],[-0.0626254735150158,-1.490304186424071]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6567857869965249,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6059.png","name":"6059"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6059.png","name":"6059"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9798.png","name":"9798"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9820.png","name":"9820"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/730.png","name":"730"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1530.png","name":"1530"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":806.8500994345227,"rotation_z_degrees":304.23095531988304,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0073353047046231055,-0.0053523601213896176,0.009185269395069088]},{"name":"camera_2","offset_m":[-0.009574642931422286,-0.005248864222596366,-0.015523080546408507]},{"name":"camera_3","offset_m":[0.009874769566481912,-0.016101197386499587,0.00415700859120189]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000731972086587044,0.0018868064515510322,0.0017945757370881285],"end_effector_yaw_offset_degrees":0.1431807594292911},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004988010831399943,-0.001450051911830434,0.00014545990707512304],"end_effector_yaw_offset_degrees":0.8418167601956041},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001753304712596714,0.001224821354047266,-0.001256321351294999],"end_effector_yaw_offset_degrees":-0.958411943318056},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005250385095720014,-0.0012306562959996988,0.0013430587426169539],"end_effector_yaw_offset_degrees":-0.6028639225537114}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00428779786582809,-0.003087420420263263],"position_m":[0.28671220213417187,-0.08008742042026326,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0020830579862101016,-0.0010376682589645723],"position_m":[0.24171694201378988,-0.33523766825896456,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035612320693532455,-0.002521921959145376],"position_m":[0.20046123206935323,0.3051780780408546,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027294656442641563,-0.0018848004310073772],"position_m":[0.33332946564426413,0.07901519956899263,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"747bda31a1c619144caeaa06d0466b8dbe26f43e79d33b8d4eef13fe618ca746","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0054.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6059/tex_ceiling_textures_1530/tex_floor_textures_730/tex_table_textures_9798/tex_wall_textures_9820","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4957131237033144612,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4957131237033144612,"visual_seed":4957131237033144612,"scene_id":"lab_003","finished_at":"2026-09-04T21:09:49"}
+{"episode_id":"ep_000043","started_at":"2026-09-04T21:14:30","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_0","position":[-0.3527278854313637,-0.7844829939416333,0.71338606911949],"aabb_xy":[[-0.3752415772548208,-0.8544829945426408],[-0.33021419360790644,-0.7144829933406257]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[-0.343257323950216,1.749762508413013,0.71338606911949],"aabb_xy":[[-0.36075732308458314,1.739882881375425],[-0.3257573248158488,1.7596421354506007]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_2","position":[-0.13438409513668403,-0.6980712005527885,0.71338606911949],"aabb_xy":[[-0.1518840285706674,-0.715571200473023],[-0.11688416170270066,-0.6805712006325539]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_3","position":[0.5948390147419309,-1.1268964122235774,0.71338606911949],"aabb_xy":[[0.588425201098746,-1.1333062324712455],[0.6012528283851158,-1.1204865919759088]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.2553230222517995,-1.0428091527062842,0.71338606911949],"aabb_xy":[[-0.2926542987770421,-1.0774622075011366],[-0.21799174572655686,-1.0081560979114321]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_5","position":[-0.06032314911924497,1.2054033516745828,0.71338606911949],"aabb_xy":[[-0.09491423197329019,1.1404033513895515],[-0.025732066265199752,1.2704033519596136]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[-0.05091110021827505,1.7785678205790156,0.71338606911949],"aabb_xy":[[-0.06435762685231838,1.7650979689259245],[-0.03746457358423172,1.7920376722321072]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[0.2968498862812655,-0.6583854604347499,0.71338606911949],"aabb_xy":[[0.24684988763534432,-0.7083050040942123],[0.3468498849271867,-0.6084659167752875]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[-0.025436917676934123,0.9810342809892152,0.71338606911949],"aabb_xy":[[-0.07553438165800774,0.9170342804794034],[0.0246605463041395,1.045034281499027]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_9","position":[0.6432558183039376,-0.2627932875296115,0.71338606911949],"aabb_xy":[[0.6398151420638805,-0.26665472050397604],[0.6466964945439948,-0.2589318545552471]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[-0.15437597707035622,1.422889655703678,0.71338606911949],"aabb_xy":[[-0.1597084917249692,1.4175653274584425],[-0.14904346241574323,1.4282139839489136]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[-0.5222989328646868,-0.7364796727554692,0.71338606911949],"aabb_xy":[[-0.5862989292920088,-0.7836492965775658],[-0.45829893643736497,-0.6893100489333729]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_12","position":[0.17153797296785722,1.018987226218052,0.71338606911949],"aabb_xy":[[0.107537973673689,0.9550010858491975],[0.23553797226202544,1.082973366586906]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_13","position":[0.3316561831819771,1.1360511499136372,0.71338606911949],"aabb_xy":[[0.31732175805581364,1.1239909343590984],[0.34599060830814055,1.148111365468176]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[0.37244316422550217,0.848693290568364,0.71338606911949],"aabb_xy":[[0.2824431605485839,0.7872608839912593],[0.46244316790242024,0.910125697145468]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[-0.0755095323239735,0.28912099908279654,0.71338606911949],"aabb_xy":[[-0.11681407538770949,0.22512099951467945],[-0.03420498926023752,0.3531209986509136]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_16","position":[-0.5015258206491169,1.2225409791363768,0.71338606911949],"aabb_xy":[[-0.5465258221153457,1.1775411222748964],[-0.45652581918288804,1.2675408359978577]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[-0.09032031655356676,1.6134286219284264,0.71338606911949],"aabb_xy":[[-0.1278203149769671,1.6002644079605957],[-0.05282031813016641,1.6265928358962571]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[0.22507625842123657,-1.4200389823173911,0.71338606911949],"aabb_xy":[[0.15507626201127475,-1.4404769179690724],[0.2950762548311983,-1.399601046665709]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.2952110220327788,-1.332140077015975,0.71338606911949],"aabb_xy":[[-0.33271102282477427,-1.338507917974165],[-0.2577110212407834,-1.325772236057785]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.6307459031143394,-2.358470376745416,0.71338606911949],"aabb_xy":[[0.5829397355005708,-2.423470379452475],[0.6785520707281081,-2.293470374038357]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[-0.3628952917539729,-0.5856125086706778,0.71338606911949],"aabb_xy":[[-0.3912250017025131,-0.590073250864395],[-0.33456558180543267,-0.5811517664769609]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.4538563640281257,-1.7189285037728976,0.71338606911949],"aabb_xy":[[0.4485187883621212,-1.7439285047020379],[0.45919393969413036,-1.6939285028437583]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[0.5062112581924423,0.6547930213214332,0.71338606911949],"aabb_xy":[[0.4727710829964226,0.621349395490503],[0.5396514333884618,0.6882366471523632]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_24","position":[-0.5452044459189376,0.40317150517102984,0.71338606911949],"aabb_xy":[[-0.6092044478312799,0.3472603559130194],[-0.48120444400659523,0.4590826544290403]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_25","position":[0.43620797184284443,1.5878983409880187,0.71338606911949],"aabb_xy":[[0.42817163714155954,1.5798602216836015],[0.4442443065441292,1.595936460292435]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[0.2562632076993996,-2.3652630494539273,0.71338606911949],"aabb_xy":[[0.23298136550126822,-2.450263050751155],[0.2795450498975309,-2.280263048156699]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_27","position":[-0.6205060263498093,0.05964936816128663,0.71338606911949],"aabb_xy":[[-0.6297996445869598,0.02214936967315273],[-0.6112124081126586,0.09714936664942053]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_28","position":[0.703493270204089,-1.2647119855154745,0.71338606911949],"aabb_xy":[[0.6860625551250824,-1.281984100179325],[0.7209239852830954,-1.2474398708516234]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_29","position":[0.647426925567236,0.5971073039643815,0.71338606911949],"aabb_xy":[[0.5924337142300992,0.5421073036255879],[0.7024201369043727,0.6521073043031751]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_30","position":[0.1260355761450197,0.720250100963653,0.71338606911949],"aabb_xy":[[0.08478676511510495,0.6652501014514356],[0.1672843871749344,0.7752501004758705]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_31","position":[-0.32352263613673693,-0.39236963079573206,0.71338606911949],"aabb_xy":[[-0.3585226361132328,-0.4018342468433487],[-0.28852263616024115,-0.38290501474811545]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_32","position":[-0.24672940665090298,0.5511353797434522,0.71338606911949],"aabb_xy":[[-0.26964511953595294,0.5282310826070288],[-0.2238136937658531,0.5740396768798758]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_33","position":[0.6778945012426421,0.32548795621813387,0.71338606911949],"aabb_xy":[[0.6553945007306015,0.3029960978527355],[0.7003945017546827,0.3479798145835322]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6539182742716693,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1372.png","name":"1372"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1372.png","name":"1372"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5398.png","name":"5398"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8143.png","name":"8143"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8658.png","name":"8658"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6359.png","name":"6359"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":712.3282821958816,"rotation_z_degrees":39.43760058645361,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015440225523010286,-0.0093756036969067,0.015678129277389406]},{"name":"camera_2","offset_m":[-0.009563625065456894,-0.0025808777166779866,0.017531037638306348]},{"name":"camera_3","offset_m":[-0.002048834311926106,0.015605791105004107,-0.010026588695228269]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012628384161967215,-0.001558680455751477,0.0018174368972647542],"end_effector_yaw_offset_degrees":0.04536566373720374},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019211068140907966,-0.0005297749094124434,4.852089619891047e-05],"end_effector_yaw_offset_degrees":-0.15118785408962454},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[7.430122648304817e-05,-0.001646250495102431,0.00020158534723617623],"end_effector_yaw_offset_degrees":0.009145824340935915},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-2.5129353974411017e-05,-0.001901948568161529,0.0007400265851976256],"end_effector_yaw_offset_degrees":-0.9570476633012466}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035952745104526063,0.004968238079047894],"position_m":[0.2874047254895474,-0.0720317619209521,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029006190844568526,0.0032185528293647526],"position_m":[0.24089938091554314,-0.33098144717063527,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00022522474350504702,-0.004642621369599487],"position_m":[0.19712522474350505,0.3030573786304005,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025572332999200375,-0.002756687429308368],"position_m":[0.32804276670008,0.07814331257069163,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6c63577d5e49045929c91838298b1feb13e739ff75448b4cba8eaf79aa631682","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1372/tex_ceiling_textures_6359/tex_floor_textures_8658/tex_table_textures_5398/tex_wall_textures_8143","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1936460306526735621,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1936460306526735621,"visual_seed":1936460306526735621,"scene_id":"lab_003","finished_at":"2026-09-04T21:17:52"}
+{"episode_id":"ep_000044","started_at":"2026-09-04T21:21:50","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_0","position":[0.45073115377246875,-2.099134724536872,0.71338606911949],"aabb_xy":[[0.4458875590112388,-2.1039863770158562],[0.4555747485336987,-2.094283072057888]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[-0.5435226744389261,0.5815328057613871,0.71338606911949],"aabb_xy":[[-0.5985226736155155,0.5265431309864295],[-0.4885226752623365,0.6365224805363447]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[-0.4108732302992203,-1.299489991777449,0.71338606911949],"aabb_xy":[[-0.4287423380536758,-1.31332289975466],[-0.3930041225447648,-1.285657083800238]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_3","position":[0.04189708483333132,-1.2434138915244015,0.71338606911949],"aabb_xy":[[0.024397085555244447,-1.2607519915907475],[0.0593970841114182,-1.2260757914580556]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_4","position":[0.2799685563921551,1.303698371356349,0.71338606911949],"aabb_xy":[[0.2424685552073623,1.2992801486602883],[0.31746855757694786,1.3081165940524093]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_5","position":[0.252592236609148,-2.3359212840105155,0.71338606911949],"aabb_xy":[[0.21509223626092022,-2.3477126795915986],[0.29009223695737574,-2.3241298884294315]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_6","position":[-0.5002513766367411,-1.410761001723028,0.71338606911949],"aabb_xy":[[-0.5154142496136783,-1.425926459018147],[-0.48508850365980416,-1.3955955444279096]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[-0.24368094345785374,-0.8263704119637236,0.71338606911949],"aabb_xy":[[-0.26118094259222085,-0.8362500390013115],[-0.22618094432348654,-0.8164907849261358]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_8","position":[-0.3849387526813271,1.7510385215042779,0.71338606911949],"aabb_xy":[[-0.4549387542836066,1.7376057283026203],[-0.3149387510790476,1.7644713147059354]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[-0.07615320853300234,0.7763588609563046,0.71338606911949],"aabb_xy":[[-0.08802529154450345,0.6913588612626542],[-0.06428112552150123,0.8613588606499549]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_10","position":[0.13134223882037643,-1.9171178649595082,0.71338606911949],"aabb_xy":[[0.12576056718624767,-1.929617864777284],[0.1369239104545052,-1.904617865141733]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_11","position":[0.5436974948243962,-1.710061716652557,0.71338606911949],"aabb_xy":[[0.49656811582256044,-1.7740617176969584],[0.5908268738262318,-1.6460617156081545]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_12","position":[0.6472351125925164,-0.267450109995782,0.71338606911949],"aabb_xy":[[0.6250625856158656,-0.2896257771519052],[0.6694076395691673,-0.24527444283965882]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[0.2683196801266786,-0.9598905736663925,0.71338606911949],"aabb_xy":[[0.2033196791261781,-1.0106769388210675],[0.33331968112717913,-0.9091042085117176]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.41340862405727724,-1.9792767396412934,0.71338606911949],"aabb_xy":[[-0.4834086274488392,-2.0145925133447244],[-0.34340862066571526,-1.9439609659378625]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[-0.18186628974002272,0.1799633091448012,0.71338606911949],"aabb_xy":[[-0.19433364784975837,0.16749798451147768],[-0.16939893163028708,0.1924286337781247]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_16","position":[-0.17875072769458888,-1.2230073133302983,0.71338606911949],"aabb_xy":[[-0.186864382367966,-1.2311131297843272],[-0.17063707302121178,-1.214901496876269]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_17","position":[-0.21131179393726957,-1.4043015181951706,0.71338606911949],"aabb_xy":[[-0.2963117926293442,-1.4362873815900494],[-0.12631179524519492,-1.3723156548002917]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_18","position":[-0.36734058579013945,-1.7001257904488414,0.71338606911949],"aabb_xy":[[-0.43134058221746135,-1.747295414270938],[-0.30334058936281755,-1.6529561666267452]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[-0.5864215855569471,-1.7255144704901713,0.71338606911949],"aabb_xy":[[-0.6325066768116786,-1.7895144677427266],[-0.5403364943022156,-1.6615144732376164]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[0.252864021798902,1.6278778593277932,0.71338606911949],"aabb_xy":[[0.18886402039091135,1.5760889078038682],[0.31686402320689266,1.6796668108517177]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[-0.6043769619291478,-0.913519122820851,0.71338606911949],"aabb_xy":[[-0.6743769645657341,-0.9336239878167163],[-0.5343769592925615,-0.8934142578249853]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[-0.23026535612517257,-0.28456437474636775,0.71338606911949],"aabb_xy":[[-0.2802653571443079,-0.3210305904841957],[-0.1802653551060373,-0.24809815900853982]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_23","position":[-0.4931307183903856,1.2846683734783682,0.71338606911949],"aabb_xy":[[-0.5831307148912572,1.2387567310599097],[-0.4031307218895138,1.3305800158968262]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_24","position":[-0.6703063823471173,1.3747408065602622,0.71338606911949],"aabb_xy":[[-0.6816681170004033,1.3633723401539741],[-0.658944647693831,1.3861092729665503]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.43882108392831026,-0.6600800875307582,0.71338606911949],"aabb_xy":[[-0.5028210871469481,-0.7068031994297665],[-0.3748210807096724,-0.6133569756317498]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_26","position":[0.6058559419036125,1.740733516958819,0.71338606911949],"aabb_xy":[[0.5258559432467266,1.7262286580345558],[0.6858559405604986,1.7552383758830816]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_27","position":[-0.14058860836364184,0.2962203042254603,0.71338606911949],"aabb_xy":[[-0.19058861002513658,0.24622186196975757],[-0.09058860670214706,0.34621874648116296]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_28","position":[0.5637312969706831,-1.524377081900802,0.71338606911949],"aabb_xy":[[0.5087358191500237,-1.5793770833347087],[0.6187267747913425,-1.4693770804668949]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_29","position":[-0.2885180147938226,0.21145400255648283,0.71338606911949],"aabb_xy":[[-0.3235180146898415,0.20307976704454286],[-0.25351801489780373,0.21982823806842275]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[0.5909740575616116,1.0708302437842012,0.71338606911949],"aabb_xy":[[0.5109740570913957,1.0625195361698532],[0.6709740580318275,1.0791409513985497]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_31","position":[-0.5729966163366054,1.4533764075247553,0.71338606911949],"aabb_xy":[[-0.5800380672873531,1.446349655786961],[-0.5659551653858579,1.46040315926255]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_32","position":[0.5847091605377113,0.8462645838500609,0.71338606911949],"aabb_xy":[[0.5810058992085723,0.8425625655413429],[0.58841242186685,0.8499666021587786]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6547363096324912,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4600.png","name":"4600"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4600.png","name":"4600"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4664.png","name":"4664"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/290.png","name":"290"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9632.png","name":"9632"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8377.png","name":"8377"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":592.330768991672,"rotation_z_degrees":305.97275337029293,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015324025974420251,0.011770186323857398,0.013365001673065261]},{"name":"camera_2","offset_m":[-0.003583079818427346,-0.019972731963899447,-0.010951044012466672]},{"name":"camera_3","offset_m":[-0.007413520328501382,-0.016885193327039187,-0.004757778415833918]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006918926966974662,-0.000793801835330587,0.001413545919563951],"end_effector_yaw_offset_degrees":-0.00277486373298097},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00016391376234891133,-0.0009302865433096557,-0.0018600057168391318],"end_effector_yaw_offset_degrees":-0.4924989150448107},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00104474095261421,0.0016510816229064794,0.001755266147516725],"end_effector_yaw_offset_degrees":0.053552603641972674},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009858353522083098,-0.0019871233427103886,-0.0019337131666841527],"end_effector_yaw_offset_degrees":0.3683300227947097}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007853120116282242,0.002512504840416302],"position_m":[0.2917853120116282,-0.0744874951595837,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0022808248327968483,0.0026584971684226466],"position_m":[0.24151917516720314,-0.33154150283157735,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013742966984557218,-0.0018853113090023165],"position_m":[0.19827429669845573,0.30581468869099765,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011554808508778104,-0.0007102700347705725],"position_m":[0.3317554808508778,0.08018972996522943,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8403ec26a687cd1f88964e2743b09e034501f9f3f5a09e704a72a8bae7f6678b","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4600/tex_ceiling_textures_8377/tex_floor_textures_9632/tex_table_textures_4664/tex_wall_textures_290","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4245257250163806926,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4245257250163806926,"visual_seed":4245257250163806926,"scene_id":"lab_003","finished_at":"2026-09-04T21:25:23"}
+{"episode_id":"ep_000045","started_at":"2026-09-04T21:25:26","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.006719228781355446,1.3530871793430208,0.71338606911949],"aabb_xy":[[-0.07071492617645203,1.289087181042312],[0.05727646861374114,1.4170871776437293]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_1","position":[-0.4655683021075795,1.3801770821100323,0.71338606911949],"aabb_xy":[[-0.530568304745373,1.3286974834105854],[-0.400568299469786,1.4316566808094793]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_2","position":[0.4278472387552288,0.9512587425500865,0.71338606911949],"aabb_xy":[[0.4053481030290018,0.9287587417718236],[0.45034637448145576,0.9737587433283496]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[-0.4059125043071107,-2.330474415335476,0.71338606911949],"aabb_xy":[[-0.4108117966136741,-2.3581513346380443],[-0.4010132120005471,-2.3027974960329067]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_4","position":[0.15001589106921842,-2.4392375429897095,0.71338606911949],"aabb_xy":[[0.08501589318757065,-2.4903612066962504],[0.21501588895086626,-2.3881138792831687]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[0.09978009747584626,-0.5720611878232749,0.71338606911949],"aabb_xy":[[0.09374308447518155,-0.5780878888922232],[0.10581711047651102,-0.5660344867543268]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.12056242859184585,1.0731773747439348,0.71338606911949],"aabb_xy":[[0.09728058639371451,0.9881773734467069],[0.1438442707899772,1.1581773760411629]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[0.6129287487070196,-1.0699035119263032,0.71338606911949],"aabb_xy":[[0.6035112741371569,-1.0793196890640222],[0.6223462232768824,-1.0604873347885841]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.05754855247274315,-1.1505050327691217,0.71338606911949],"aabb_xy":[[-0.0950485529701014,-1.15447371631724],[-0.02004855197538491,-1.1465363492210034]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.06572074961894514,-1.7205071096781825,0.71338606911949],"aabb_xy":[[-0.10322074991111996,-1.724548585078786],[-0.028220749326770322,-1.716465634277579]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[0.35345438070762625,-2.0676951397622063,0.71338606911949],"aabb_xy":[[0.289454380433648,-2.117761239959494],[0.4174543809816045,-2.017629039564918]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_11","position":[-0.09433607070730587,-1.305092448501279,0.71338606911949],"aabb_xy":[[-0.15833607211529654,-1.3568814000252036],[-0.030336069299315215,-1.2533034969773542]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_12","position":[-0.574295941296327,-2.3893490677358016,0.71338606911949],"aabb_xy":[[-0.597211654181377,-2.4122533648722255],[-0.5513802284112772,-2.3664447705993785]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_13","position":[0.30255501851561994,-1.220877868938022,0.71338606911949],"aabb_xy":[[0.2893240729809386,-1.2341052879600212],[0.3157859640503012,-1.2076504499160223]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_14","position":[0.4394468921640744,0.3222342779638354,0.71338606911949],"aabb_xy":[[0.3818164232768035,0.2622342790371247],[0.4970773610513452,0.38223427689054584]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[0.0685466063395096,-2.1717471120521807,0.71338606911949],"aabb_xy":[[-0.02114046996860587,-2.261747112306631],[0.15823368264762505,-2.0817471117977298]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_16","position":[0.17353872253517388,1.4329479163436427,0.71338606911949],"aabb_xy":[[0.10953872324100566,1.3689617759747885],[0.2375387218293421,1.496934056712497]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_17","position":[-0.4103442010249165,1.6856159869639753,0.71338606911949],"aabb_xy":[[-0.43663302534535703,1.6593445533093238],[-0.3840553767044757,1.7118874206186263]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[0.2851864164150594,0.5147566454016026,0.71338606911949],"aabb_xy":[[0.28174574017500226,0.5108952124272382],[0.2886270926551166,0.5186180783759672]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_19","position":[0.1861124047061785,1.7740796584432226,0.71338606911949],"aabb_xy":[[0.17177797958001503,1.7620194428886835],[0.20044682983234194,1.7861398739977612]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[-0.5498563453317973,-2.2186429638864893,0.71338606911949],"aabb_xy":[[-0.6298563456054042,-2.291592511712206],[-0.46985634505819024,-2.1456934160607726]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[0.10721042513870638,0.8211995920742461,0.71338606911949],"aabb_xy":[[0.07721876240483605,0.7911995927374456],[0.1372020878725767,0.8511995914110466]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_22","position":[0.06542854733771541,-1.4871369321174674,0.71338606911949],"aabb_xy":[[0.057434558760011994,-1.4951370122125576],[0.07342253591541878,-1.4791368520223769]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.33580977864531386,1.150376599428304,0.71338606911949],"aabb_xy":[[-0.4258097809793329,1.0728942448431913],[-0.2458097763112948,1.2278589540134166]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_24","position":[-0.09005482651481,1.6311506009385996,0.71338606911949],"aabb_xy":[[-0.09883605366204627,1.6223708536500698],[-0.0812735993675738,1.6399303482271304]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[-0.37335709779953374,-2.0716391457135725,0.71338606911949],"aabb_xy":[[-0.42048647680136936,-2.135639146757974],[-0.326227718797698,-2.00763914466917]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6543678735816798,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/908.png","name":"908"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/908.png","name":"908"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6702.png","name":"6702"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1565.png","name":"1565"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9030.png","name":"9030"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1154.png","name":"1154"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":504.9082669622022,"rotation_z_degrees":150.25696294429756,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008951754452808536,-0.006262279021187762,-0.016490183683352255]},{"name":"camera_2","offset_m":[0.009991416878733297,-0.01923826096991881,0.003867840935842453]},{"name":"camera_3","offset_m":[0.015787206763894304,-0.01597472556887527,-0.002230962658712938]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007361196513492652,-0.0016490194995861553,0.00086657820433519],"end_effector_yaw_offset_degrees":-0.44695013394088456},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016018858369676587,0.0014015601326579303,-0.0017704115220068678],"end_effector_yaw_offset_degrees":0.7694986180520462},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005987485534172349,-7.920593139803134e-06,0.0004926027775294158],"end_effector_yaw_offset_degrees":0.4154334841694094},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00028159012798678303,0.0005097763788663254,-0.001102294865534954],"end_effector_yaw_offset_degrees":0.1825888204190531}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003223249441133347,-0.004361713054327713],"position_m":[0.2942232494411333,-0.08136171305432771,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002096569336672295,0.0037013252744830414],"position_m":[0.2417034306633277,-0.33049867472551697,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003922123296932868,0.0005176779658739418],"position_m":[0.20082212329693286,0.3082176779658739,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007173464439753389,0.0035610014622555414],"position_m":[0.32988265355602464,0.08446100146225555,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3e49cba7d4b406e3c6a3e1eee20960291b96c636af67e6c650e373e6d2b21456","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_908/tex_ceiling_textures_1154/tex_floor_textures_9030/tex_table_textures_6702/tex_wall_textures_1565","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2884963717022627582,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2884963717022627582,"visual_seed":2884963717022627582,"scene_id":"lab_003","finished_at":"2026-09-04T21:28:52"}
+{"episode_id":"ep_000046","started_at":"2026-09-04T21:36:33","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_0","position":[-0.17776117954176274,0.17852452024132903,0.71338606911949],"aabb_xy":[[-0.24276118217955622,0.12704492154188204],[-0.11276117690396925,0.23000411894077596]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.19655330471821875,-1.4765469948928391,0.71338606911949],"aabb_xy":[[0.1512746898370695,-1.540546994241023],[0.241831919599368,-1.4125469955446557]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[-0.4321479238202115,0.8353524053994645,0.71338606911949],"aabb_xy":[[-0.4401912837461666,0.750352404304098],[-0.42410456389425627,0.9203524064948309]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[-0.3257612638529524,-0.7113523690836723,0.71338606911949],"aabb_xy":[[-0.35690818269653546,-0.7813523677704793],[-0.2946143450093692,-0.641352370396865]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[-0.52725949610347,0.868187156340881,0.71338606911949],"aabb_xy":[[-0.5622594943735899,0.8611130286458927],[-0.4922594978333501,0.875261284035869]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[0.3104416228471403,0.5641512813626539,0.71338606911949],"aabb_xy":[[0.24644162355297206,0.5001651409937997],[0.3744416221413085,0.6281374217315081]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[0.408310285903809,1.4916072406361844,0.71338606911949],"aabb_xy":[[0.3186232095956936,1.401607240381734],[0.49799736221192453,1.581607240890635]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_7","position":[0.6353209719365451,-1.6525039854755796,0.71338606911949],"aabb_xy":[[0.575320971340529,-1.7073164580208031],[0.6953209725325613,-1.5976915129303562]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_8","position":[-0.6711622844318497,-2.034693144960035,0.71338606911949],"aabb_xy":[[-0.6888379150204479,-2.0523733612394373],[-0.6534866538432512,-2.0170129286806318]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.4507233864135045,0.4222652393186732,0.71338606911949],"aabb_xy":[[0.4405703708593551,0.38619569774593265],[0.46087640196765384,0.45833478089141333]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[0.43197876505067856,-0.4874382303256759,0.71338606911949],"aabb_xy":[[0.4193519777634822,-0.4969843040272488],[0.4446055523378749,-0.477892156624103]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[-0.03680340890484146,1.6542353009284363,0.71338606911949],"aabb_xy":[[-0.0918034085265873,1.5992516081409638],[0.01819659071690438,1.7092189937159092]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_12","position":[0.5123506773724231,-0.6026622431729207,0.71338606911949],"aabb_xy":[[0.5086474160432841,-0.6063642614816386],[0.5160539387015619,-0.5989602248642029]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[-0.3297741662786434,-2.146613973954565,0.71338606911949],"aabb_xy":[[-0.33703541384905084,-2.1594009842180744],[-0.322512918708236,-2.1338269636910554]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[0.013996104978222568,-0.9883796351682141,0.71338606911949],"aabb_xy":[[-0.05000389360834989,-1.0353865985677229],[0.07799610356479503,-0.9413726717687053]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[0.6643783678978228,0.15938507294074222,0.71338606911949],"aabb_xy":[[0.6597432527455893,0.15551773786359357],[0.669013483050056,0.16325240801789087]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_16","position":[0.4139668070515139,1.7573700857479557,0.71338606911949],"aabb_xy":[[0.3771721739266076,1.7204642106513734],[0.45076144017642017,1.794275960844538]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_17","position":[0.25479833668354845,0.8010171705073734,0.71338606911949],"aabb_xy":[[0.16479833434952945,0.7235348159222608],[0.34479833901756757,0.8784995250924861]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_18","position":[-0.46484686899679667,1.140855933739632,0.71338606911949],"aabb_xy":[[-0.5148201630000571,1.0908559331850844],[-0.41487357499353616,1.1908559342941791]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_19","position":[-0.14283081435877676,1.8258179207730527,0.71338606911949],"aabb_xy":[[-0.14879735329951255,1.8198567761136883],[-0.13686427541804097,1.8317790654324166]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_20","position":[-0.39632249192995694,-1.150439940393929,0.71338606911949],"aabb_xy":[[-0.4138224912080438,-1.167778040460275],[-0.37882249265187007,-1.133101840327583]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_21","position":[0.3431708233467754,-1.133084784325148,0.71338606911949],"aabb_xy":[[0.30215287996040446,-1.1830847849561055],[0.3841887667331462,-1.0830847836941908]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_22","position":[0.06878674462462153,0.713398779224844,0.71338606911949],"aabb_xy":[[0.018786745048286826,0.663418200272738],[0.11878674420095627,0.7633793581769499]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_23","position":[-0.1434785939596105,-1.6522127054925226,0.71338606911949],"aabb_xy":[[-0.23347859046048222,-1.6981243479109807],[-0.05347859745873872,-1.6063010630740642]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[0.3735357921421143,-1.8778490814061009,0.71338606911949],"aabb_xy":[[0.3035357895055279,-1.8979539464019664],[0.4435357947787006,-1.8577442164102353]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[-0.4070706183821003,-2.126017640924444,0.71338606911949],"aabb_xy":[[-0.4295706186256157,-2.1382222755842157],[-0.3845706181385849,-2.113813006264672]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_26","position":[-0.03116453448932177,-2.462857201204454,0.71338606911949],"aabb_xy":[[-0.04633670377095511,-2.4780260581326576],[-0.01599236520768843,-2.4476883442762505]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_27","position":[-0.25577715498844267,-0.38665857136138504,0.71338606911949],"aabb_xy":[[-0.3357771536453287,-0.4011634302856479],[-0.17577715633155666,-0.3721537124371223]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_28","position":[0.17623217606845087,0.9822952068028905,0.71338606911949],"aabb_xy":[[0.13873217577627606,0.9782537314022869],[0.2137321763606257,0.9863366822034941]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_29","position":[-0.11721911768186499,0.038202785473734124,0.71338606911949],"aabb_xy":[[-0.12915185204369306,0.025820632665874754],[-0.10528638332003692,0.050584938281593494]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_30","position":[0.10076902830878898,-1.9293089248342095,0.71338606911949],"aabb_xy":[[0.015769029891365763,-2.0141832202964944],[0.1857690267262122,-1.8444346293719245]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_31","position":[0.4230009414593141,-0.17449593994666168,0.71338606911949],"aabb_xy":[[0.38566966493407157,-0.20914899474151397],[0.46033221798455676,-0.13984288515180934]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_32","position":[0.7098413030829536,-0.15825120175327978,0.71338606911949],"aabb_xy":[[0.7018150324523277,-0.16700269673063242],[0.7178675737135797,-0.1494997067759272]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_33","position":[-0.5452941439900663,-1.9515813559676074,0.71338606911949],"aabb_xy":[[-0.5802941453415479,-1.9719410919244285],[-0.5102941426385844,-1.9312216200107868]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.654986295446311,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8277.png","name":"8277"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8277.png","name":"8277"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/777.png","name":"777"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/350.png","name":"350"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9569.png","name":"9569"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3799.png","name":"3799"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":755.5407778335182,"rotation_z_degrees":78.43128768455877,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014713000154473143,-0.01161769818203585,0.0035013036876975663]},{"name":"camera_2","offset_m":[-0.004488153666002064,-0.008848919179609132,0.004830808074552842]},{"name":"camera_3","offset_m":[-0.013817724835512607,0.008945681655178565,0.0025356996212579606]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001248256367401304,0.0012781577252853945,0.0006918630044909194],"end_effector_yaw_offset_degrees":-0.8904789293016817},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017431957838174145,0.0005422665483612223,0.0019778692337630967],"end_effector_yaw_offset_degrees":0.48688654596657766},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00011708962659779916,-0.000994395946371379,-0.001954993279086534],"end_effector_yaw_offset_degrees":-0.6957867780933646},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00021364580347654804,0.0019645426241688873,-0.0008309481619332066],"end_effector_yaw_offset_degrees":-0.9026564069627865}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005568278260499101,0.00021252569384673688],"position_m":[0.29044317217395005,-0.07678747430615326,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0042387953082179556,-0.0011418603762020597],"position_m":[0.23956120469178202,-0.33534186037620206,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003474435046215414,0.0037566545371096804],"position_m":[0.19342556495378457,0.31145665453710963,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014740003908548416,0.002231503291912851],"position_m":[0.3291259996091452,0.08313150329191285,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3d47316bc0710d7dffb3692468506a6172679df49346a7c818b14c18444add13","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0063.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8277/tex_ceiling_textures_3799/tex_floor_textures_9569/tex_table_textures_777/tex_wall_textures_350","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4913098540619725320,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4913098540619725320,"visual_seed":4913098540619725320,"scene_id":"lab_003","finished_at":"2026-09-04T21:40:02"}
+{"episode_id":"ep_000047","started_at":"2026-09-04T21:42:18","dimensions":{"distractor":{"count":21,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[-0.3223243452057294,1.2226199465723857,0.71338606911949],"aabb_xy":[[-0.40232434567594544,1.2143092389580374],[-0.2423243447355135,1.230930654186734]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_1","position":[0.6508726919699217,0.6098564811234435,0.71338606911949],"aabb_xy":[[0.6133726911779263,0.6034886401652534],[0.6883726927619171,0.6162243220816336]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.011509825707922583,-1.3992664399115788,0.71338606911949],"aabb_xy":[[-0.006695997953325095,-1.4102918404935705],[0.02971564936917026,-1.3882410393295872]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_3","position":[0.5111381511650714,1.3833450188470842,0.71338606911949],"aabb_xy":[[0.46114503905587956,1.3333450181728888],[0.5611312632742633,1.43334501952128]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_4","position":[-0.16778973034547495,-1.5304899108301735,0.71338606911949],"aabb_xy":[[-0.2515119558455574,-1.6204899143648694],[-0.08406750484539247,-1.4404899072954775]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_5","position":[-0.10003485322125583,0.8561168264255459,0.71338606911949],"aabb_xy":[[-0.16403485359878944,0.8063715595747335],[-0.036034852843722195,0.905862093276358]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_6","position":[-0.3319097640111474,-1.1588090469871046,0.71338606911949],"aabb_xy":[[-0.34347874475808404,-1.1838090471040363],[-0.3203407832642109,-1.133809046870173]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_7","position":[-0.09828822158191985,-1.1350686647298989,0.71338606911949],"aabb_xy":[[-0.13328822293340156,-1.1554284006867197],[-0.0632882202304381,-1.114708928773078]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[-0.6709522593819506,-0.8610537281149755,0.71338606911949],"aabb_xy":[[-0.6841832049166318,-0.8742811471369747],[-0.6577213138472692,-0.8478263090929758]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_9","position":[0.30472964052859464,-1.597167353799365,0.71338606911949],"aabb_xy":[[0.28223321909473054,-1.6196673536061124],[0.32722606196245874,-1.5746673539926175]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_10","position":[0.19525650155878027,1.0877166526409665,0.71338606911949],"aabb_xy":[[0.14525650291285905,1.0377971089815041],[0.24525650020470144,1.137636196300429]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[0.009409938317352373,0.717525046945664,0.71338606911949],"aabb_xy":[[-0.003741307653936988,0.6925250471889774],[0.022561184288641737,0.7425250467023505]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_12","position":[-0.2281346851264004,-0.43096761657723803,0.71338606911949],"aabb_xy":[[-0.2500433672657514,-0.4528682833973287],[-0.20622600298704932,-0.40906694975714725]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[-0.4356756713026596,1.7487716175985528,0.71338606911949],"aabb_xy":[[-0.46607378240180314,1.718364715596883],[-0.40527756020351596,1.779178519600222]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[-0.4176011674913704,-1.3173793720664684,0.71338606911949],"aabb_xy":[[-0.4676011688522576,-1.367357276641884],[-0.36760116613048316,-1.2674014674910528]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[0.27654267263608645,1.2689227676578914,0.71338606911949],"aabb_xy":[[0.26518093798280024,1.257554301251603],[0.28790440728937255,1.2802912340641792]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_16","position":[0.4183400925543941,-2.135337322443165,0.71338606911949],"aabb_xy":[[0.4040056674282307,-2.1473975379977035],[0.4326745176805576,-2.1232771068886254]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.28041580516295167,-2.1574999403624338,0.71338606911949],"aabb_xy":[[-0.28745611509648866,-2.2374999397621056],[-0.2733754952294147,-2.077499940962763]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_18","position":[-0.21633851556527406,-0.7424464538170268,0.71338606911949],"aabb_xy":[[-0.25133851546129293,-0.7508206893289667],[-0.1813385156692552,-0.7340722183050868]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.45669117255478664,-1.698214985639914,0.71338606911949],"aabb_xy":[[0.4459181986334188,-1.733214983858953],[0.46746414647615436,-1.663214987420875]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_20","position":[-0.40062681865674554,1.5490966093862348,0.71338606911949],"aabb_xy":[[-0.4130941767664812,1.5366312847529113],[-0.3881594605470099,1.5615619340195583]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6546546197351601,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4551.png","name":"4551"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4551.png","name":"4551"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2927.png","name":"2927"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/723.png","name":"723"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/271.png","name":"271"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6215.png","name":"6215"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":755.9360183007861,"rotation_z_degrees":103.73395954924973,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012561595582109803,-0.011646699364362658,0.01214008870424874]},{"name":"camera_2","offset_m":[0.009783794630993145,-0.016023392997714842,0.019991756900864587]},{"name":"camera_3","offset_m":[0.006398016232288001,0.004564123854908862,-0.014875237638514095]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011573349992692302,0.001174335315430034,0.00019584345179451956],"end_effector_yaw_offset_degrees":0.4968358682740075},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000515428988222807,-0.001630401085514848,-0.000797373509973856],"end_effector_yaw_offset_degrees":-0.7845884479516991},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003637134582162166,-0.0010857451879310717,-0.0003631713459192208],"end_effector_yaw_offset_degrees":-0.03887090301951135},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006681786059134502,-0.0001987294589717852,-0.0017235530864492454],"end_effector_yaw_offset_degrees":0.18462994594289261}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004137062937312803,0.00496359861146842],"position_m":[0.2951370629373128,-0.07203640138853158,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0018024208440800714,0.0036362506715764747],"position_m":[0.2419975791559199,-0.33056374932842353,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000490698576304311,0.001237301151835255],"position_m":[0.1973906985763043,0.3089373011518352,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013044745516558533,0.0013955549982886664],"position_m":[0.3292955254483442,0.08229555499828867,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b596b533df66898a4e1906e18a1aee0bdd7af846f71972570ca0fcd46be3d9f3","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0065.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_4551/tex_ceiling_textures_6215/tex_floor_textures_271/tex_table_textures_2927/tex_wall_textures_723","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1579331540083898802,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1579331540083898802,"visual_seed":1579331540083898802,"scene_id":"lab_003","finished_at":"2026-09-04T21:45:54"}
+{"episode_id":"ep_000048","started_at":"2026-09-04T21:52:11","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[-0.3564718106536229,-1.7574327300632016,0.71338606911949],"aabb_xy":[[-0.37338254308996466,-1.7709049356558157],[-0.3395610782172811,-1.7439605244705865]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[0.47004136815363307,-0.1802904108923875,0.71338606911949],"aabb_xy":[[0.4640043551529684,-0.1863171119613357],[0.47607838115429785,-0.1742637098234393]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[-0.6452912914651977,-0.39569747974334923,0.71338606911949],"aabb_xy":[[-0.6540725186124341,-0.40447722703187944],[-0.6365100643179618,-0.38691773245481914]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_3","position":[0.011984036716243707,1.5643116891349291,0.71338606911949],"aabb_xy":[[-0.05801596509250173,1.5429579203707415],[0.08198403852498914,1.5856654578991163]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_4","position":[-0.12441926750957033,-2.2662169080738725,0.71338606911949],"aabb_xy":[[-0.1324626274355255,-2.351216909169239],[-0.11637590758361516,-2.181216906978506]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[-0.3914879951160931,1.2756716728628192,0.71338606911949],"aabb_xy":[[-0.451487995623946,1.218824939176898],[-0.33148799460824013,1.3325184065487405]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[-0.5258341105184118,-2.438448605882389,0.71338606911949],"aabb_xy":[[-0.5569810293619949,-2.5084486045691956],[-0.49468719167482866,-2.3684486071955813]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[0.33348442287534175,-1.3957642435958313,0.71338606911949],"aabb_xy":[[0.3295705496799192,-1.404513259002388],[0.33739829607076427,-1.3870152281892745]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_8","position":[0.4558129112784697,-2.0700102532364446,0.71338606911949],"aabb_xy":[[0.39581291068245356,-2.124822725781668],[0.5158129118744859,-2.015197780691221]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[-0.2611819739426054,-2.1132214096852624,0.71338606911949],"aabb_xy":[[-0.2787286688587243,-2.150721411249514],[-0.24363527902648646,-2.075721408121012]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_10","position":[0.36109738345739206,1.3417193070114002,0.71338606911949],"aabb_xy":[[0.3235973831652172,1.3376778316107965],[0.3985973837495668,1.3457607824120035]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.5213989644309702,0.5013217006478663,0.71338606911949],"aabb_xy":[[-0.5713720299634858,0.4513217008353334],[-0.4714258988984549,0.5513217004603992]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_12","position":[0.5414997203799106,1.2680762597436002,0.71338606911949],"aabb_xy":[[0.4714997169883485,1.2327604860401693],[0.6114997237714724,1.303392033447031]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[-0.5151224467777948,-0.715234726930909,0.71338606911949],"aabb_xy":[[-0.5263675023484127,-0.7264765246550042],[-0.503877391207177,-0.7039929292068137]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_14","position":[-0.4844439889290755,-1.1755804400992822,0.71338606911949],"aabb_xy":[[-0.5484439853246486,-1.2395437285180158],[-0.4204439925335024,-1.1116171516805486]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_15","position":[-0.2951408960325941,-0.4552089662391472,0.71338606911949],"aabb_xy":[[-0.31224297399096224,-0.47231577177041695],[-0.2780388180742259,-0.43810216070787744]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[0.5504102550529217,-0.44284943468772164,0.71338606911949],"aabb_xy":[[0.5279102552390194,-0.44732405105820233],[0.5729102548668241,-0.43837481831724096]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[-0.32150211882542123,1.131147256833569,0.71338606911949],"aabb_xy":[[-0.3366742881070546,1.1159783999053656],[-0.3063299495437879,1.1463161137617723]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[-0.25043721755953224,-1.2278544147709634,0.71338606911949],"aabb_xy":[[-0.3144372168537005,-1.2918405551398178],[-0.18643721826536408,-1.1638682744021094]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[-0.6174144593025345,-0.0017702937379193706,0.71338606911949],"aabb_xy":[[-0.6601811661819547,-0.06577029715972182],[-0.5746477524231143,0.06222970968388308]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_20","position":[-0.29871016819582574,-2.5073451925895585,0.71338606911949],"aabb_xy":[[-0.3485269476606605,-2.557345191073862],[-0.24889338873099098,-2.457345194105255]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_21","position":[-0.29376041395926183,0.9063413234674793,0.71338606911949],"aabb_xy":[[-0.3577604112616082,0.8619748964996226],[-0.22976041665691538,0.9507077504353361]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[0.0378769124999061,-0.9287037302214287,0.71338606911949],"aabb_xy":[[0.012876913227943819,-0.945049093817591],[0.06287691177186837,-0.9123583666252663]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_23","position":[0.5942985192415511,1.722522061537728,0.71338606911949],"aabb_xy":[[0.5042985206470811,1.706271475224307],[0.684298517836021,1.7387726478511492]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_24","position":[-0.057409881507396676,-1.7604758806170842,0.71338606911949],"aabb_xy":[[-0.09865869253731138,-1.8154758801293014],[-0.016161070477481932,-1.7054758811048665]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_25","position":[0.3044471978059965,-2.005166342703009,0.71338606911949],"aabb_xy":[[0.29129595183470713,-2.030166342459696],[0.31759844377728585,-1.980166342946323]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_26","position":[0.46509041868511325,-0.6010818769942343,0.71338606911949],"aabb_xy":[[0.4150904192449175,-0.6510498014785506],[0.5150904181253088,-0.551113952509918]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_27","position":[-0.488439888256298,-1.8475583924273542,0.71338606911949],"aabb_xy":[[-0.5524398899342954,-1.8960757839066684],[-0.4244398865783007,-1.79904100094804]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_28","position":[-0.6113697144698323,-0.1775646128058339,0.71338606911949],"aabb_xy":[[-0.6565410323180014,-0.24156460995037238],[-0.5661983966216635,-0.11356461566129553]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_29","position":[-0.5877533017413314,-1.384171922092823,0.71338606911949],"aabb_xy":[[-0.6247874111693911,-1.4185491294265324],[-0.5507191923132716,-1.3497947147591136]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.662208381368272,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2802.png","name":"2802"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2802.png","name":"2802"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5949.png","name":"5949"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1398.png","name":"1398"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6212.png","name":"6212"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3614.png","name":"3614"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":824.307142848045,"rotation_z_degrees":237.80541039272828,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-7.425031531259688e-05,-0.00924332111976788,0.015217170037085916]},{"name":"camera_2","offset_m":[0.003175885146666283,-0.00510931732029357,0.010460174822420863]},{"name":"camera_3","offset_m":[0.016400977416345438,-0.0034504608893919965,-0.011676302047058319]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010612377541090613,0.0010311606892084218,-0.0018267567359439882],"end_effector_yaw_offset_degrees":0.13260501034223982},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001970874732752215,0.0003414741353573725,0.0012915094470328488],"end_effector_yaw_offset_degrees":0.7420327104014488},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005858283835673893,-0.0005769777832666833,0.000249508290533496],"end_effector_yaw_offset_degrees":0.3417740347855265},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002903058935563934,-0.0004965287626936972,-0.0011613408879810323],"end_effector_yaw_offset_degrees":-0.45182152403506315}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004692531669993241,0.004103424346354947],"position_m":[0.28630746833000675,-0.07289657565364505,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034017516373510545,-0.002417175582010982],"position_m":[0.24720175163735103,-0.336617175582011,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0001054138002199289,0.0035310049864785637],"position_m":[0.19679458619978007,0.31123100498647854,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002303086305424441,0.0016146195050483004],"position_m":[0.3329030863054244,0.0825146195050483,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"960a32ef9112e74ff7b81435a1e8f9721cf0e79e85e10244ecd871cab492e042","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0068.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2802/tex_ceiling_textures_3614/tex_floor_textures_6212/tex_table_textures_5949/tex_wall_textures_1398","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4185623799677637252,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4185623799677637252,"visual_seed":4185623799677637252,"scene_id":"lab_003","finished_at":"2026-09-04T21:55:52"}
+{"episode_id":"ep_000049","started_at":"2026-09-04T21:55:55","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_0","position":[0.6570088024888545,-1.592605365524546,0.71338606911949],"aabb_xy":[[0.6423653969348214,-1.6072640851813302],[0.6716522080428874,-1.5779466458677618]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[-0.22960778320431868,-0.7114331086147414,0.71338606911949],"aabb_xy":[[-0.24045938945319426,-0.7222923993423924],[-0.21875617695544305,-0.7005738178870904]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_2","position":[-0.583227866900666,-0.966297139726817,0.71338606911949],"aabb_xy":[[-0.6732278705775839,-1.027729546303921],[-0.49322786322374756,-0.9048647331497124]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.23712510340542525,-1.8039657717559638,0.71338606911949],"aabb_xy":[[0.20280882623080732,-1.8539657717291416],[0.2714413805800432,-1.7539657717827861]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_4","position":[0.08221908814230694,0.9071156891941836,0.71338606911949],"aabb_xy":[[0.054374051361699816,0.876331190455872],[0.11006412492291406,0.9379001879324954]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[-0.570725227780164,-1.522052808604393,0.71338606911949],"aabb_xy":[[-0.6347252248922697,-1.5710851783988036],[-0.5067252306680583,-1.4730204388099823]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_6","position":[0.555956002193482,0.8812341117082365,0.71338606911949],"aabb_xy":[[0.47595600353659595,0.8667292527839736],[0.635956000850368,0.8957389706324992]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_7","position":[0.11273012025218032,-1.427099107057528,0.71338606911949],"aabb_xy":[[0.048730122966531675,-1.468605826010372],[0.17673011753782897,-1.385592388104684]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[-0.09842462627413806,1.7537710612958182,0.71338606911949],"aabb_xy":[[-0.17842462323717723,1.6766954196520447],[-0.01842462931109888,1.8308467029395916]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[0.37972514027766224,1.2651510423361678,0.71338606911949],"aabb_xy":[[0.3097251384689168,1.2437972735719804],[0.4497251420864077,1.2865048111003552]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.15003347170318204,-0.9148577871457628,0.71338606911949],"aabb_xy":[[0.1125334715975891,-0.9216799489987438],[0.187533471808775,-0.9080356252927816]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[-0.46401500221870484,1.0008989962643553,0.71338606911949],"aabb_xy":[[-0.5280150054373427,0.9541758843653472],[-0.40001499900006704,1.0476221081633639]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[-0.1974035938855273,1.085631524426267,0.71338606911949],"aabb_xy":[[-0.20553128207884055,1.0767179160155593],[-0.1892759056922141,1.0945451328369749]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[-0.10718518649063125,0.6122534725774944,0.71338606911949],"aabb_xy":[[-0.1968722627987467,0.5222534723230439],[-0.01749811018251579,0.702253472831945]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_14","position":[-0.24661950921418635,0.09491868376733192,0.71338606911949],"aabb_xy":[[-0.2641195094592357,0.07741889592776506],[-0.22911950896913696,0.11241847160689876]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_15","position":[-0.028093530203615713,1.097634084186617,0.71338606911949],"aabb_xy":[[-0.05263974582636642,1.06738518763758],[-0.003547314580864987,1.127882980735654]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[-0.09095943488936686,-0.34032168851919886,0.71338606911949],"aabb_xy":[[-0.14095444584881892,-0.3903216875547907],[-0.040964423929914846,-0.2903216894836072]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[0.5897906350898432,0.439579746808469,0.71338606911949],"aabb_xy":[[0.5346654294602523,0.3795797453671818],[0.6449158407194339,0.4995797482497561]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[-0.2859202064055519,1.4642159030982707,0.71338606911949],"aabb_xy":[[-0.3499202083178943,1.4083047538402602],[-0.2219202044932096,1.520127052356281]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_19","position":[-0.32366006965670957,-1.2598035224783106,0.71338606911949],"aabb_xy":[[-0.40366006824402895,-1.3391191244164713],[-0.2436600710693901,-1.1804879205401495]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[-0.5402663370795984,0.04945801767125291,0.71338606911949],"aabb_xy":[[-0.6202663340938463,0.02932346599784163],[-0.4602663400653504,0.06959256934466418]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[-0.11609089152689467,-0.7695082547152816,0.71338606911949],"aabb_xy":[[-0.14953106672291427,-0.8029518805462115],[-0.08265071633087506,-0.7360646288843513]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_22","position":[-0.6293652693695939,0.49450385056250123,0.71338606911949],"aabb_xy":[[-0.6643652693460897,0.48503923451488457],[-0.5943652693930981,0.5039684666101178]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[0.6626168003216921,-1.5228107897329315,0.71338606911949],"aabb_xy":[[0.6276168004256732,-1.5311850252448713],[0.697616800217711,-1.5144365542209917]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[-0.24243049333261335,-2.1034301029620943,0.71338606911949],"aabb_xy":[[-0.2555817393039027,-2.1284301027187813],[-0.229279247361324,-2.078430103205408]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_25","position":[-0.15757236065986946,-1.7352774586682764,0.71338606911949],"aabb_xy":[[-0.18753991756969512,-1.7652774589661624],[-0.1276048037500438,-1.705277458370391]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6585835721934448,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6416.png","name":"6416"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6416.png","name":"6416"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/836.png","name":"836"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2378.png","name":"2378"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4129.png","name":"4129"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6141.png","name":"6141"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":581.790328599711,"rotation_z_degrees":299.18540633967103,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001570539420843512,-0.00549927628993303,-0.01975294957967498]},{"name":"camera_2","offset_m":[-0.0032776310144273374,0.011437181915144538,0.012111512965848236]},{"name":"camera_3","offset_m":[-0.0014767190339040753,0.016018872793933863,0.005285984987840421]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017941399937209228,0.00020003452759610523,0.0006307106951016495],"end_effector_yaw_offset_degrees":0.6495396336019754},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0008017116530860617,-0.0014680338591492768,0.0017922729645195958],"end_effector_yaw_offset_degrees":-0.6452990211926188},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00021426434615624,-0.001070536250249814,-0.0016180533010271315],"end_effector_yaw_offset_degrees":0.6874403763867343},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000459604931354276,-0.0004527407228155406,0.0015621545317760664],"end_effector_yaw_offset_degrees":-0.1827314342145776}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002356512352664322,0.004910934212605572],"position_m":[0.2933565123526643,-0.07208906578739442,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002166090444596809,0.0026410037966275524],"position_m":[0.2459660904445968,-0.3315589962033724,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002863500859166782,-0.0015017115543964565],"position_m":[0.1940364991408332,0.30619828844560354,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0023537346850693343,-0.0016265648701973947],"position_m":[0.3282462653149307,0.0792734351298026,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20e0817217572d51a26c1d1b4ec62ced5dfe7463bd6c10add086b404d7f2ab55","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0069.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6416/tex_ceiling_textures_6141/tex_floor_textures_4129/tex_table_textures_836/tex_wall_textures_2378","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6967882837090680633,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6967882837090680633,"visual_seed":6967882837090680633,"scene_id":"lab_003","finished_at":"2026-09-04T21:59:18"}
+{"episode_id":"ep_000050","started_at":"2026-09-04T21:59:21","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_0","position":[-0.6279767174581379,-0.6832530540029302,0.71338606911949],"aabb_xy":[[-0.6929767174924407,-0.7299537306832575],[-0.5629767174238353,-0.636552377322603]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.05417947489562425,-1.7900201404413254,0.71338606911949],"aabb_xy":[[-0.07185510548422255,-1.807700356720728],[-0.0365038443070259,-1.7723399241619224]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[0.5312946104426681,-1.6793582233515951,0.71338606911949],"aabb_xy":[[0.4412946110242971,-1.712733720195785],[0.6212946098610389,-1.6459827265074056]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[-0.2702742873469551,-0.11118300212838994,0.71338606911949],"aabb_xy":[[-0.27441014367965527,-0.14868300157274694],[-0.2661384310142549,-0.07368300268403294]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_4","position":[0.47701339017155364,-0.10060340879486507,0.71338606911949],"aabb_xy":[[0.4395133898233259,-0.1123948043759486],[0.5145133905197814,-0.0888120132137815]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.2764761293386029,-2.3426220417702384,0.71338606911949],"aabb_xy":[[0.2700623156954179,-2.3490318620179065],[0.28288994298178777,-2.3362122215225694]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_6","position":[-0.18122556416648383,1.6809445886371317,0.71338606911949],"aabb_xy":[[-0.19639773344811717,1.6657757317089281],[-0.1660533948848505,1.6961134455653348]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[-0.1691192067433972,1.0339629492619724,0.71338606911949],"aabb_xy":[[-0.17396280150462715,1.0291112967829883],[-0.1642756119821672,1.0388146017409565]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.07930913390535144,0.3365954580985058,0.71338606911949],"aabb_xy":[[-0.10795846626576765,0.30794989882143],[-0.0506598015449352,0.36524101737558157]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_9","position":[0.3785567239236567,0.9149332960049099,0.71338606911949],"aabb_xy":[[0.36105672367860725,0.897433508165343],[0.396056724168706,0.9324330838444767]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[0.6406773600608884,-2.1478127836510597,0.71338606911949],"aabb_xy":[[0.6313837418237377,-2.1853127821391936],[0.6499709782980388,-2.1103127851629258]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_11","position":[-0.1389719231058275,-0.18286305999585117,0.71338606911949],"aabb_xy":[[-0.18897192412496283,-0.21932927573367914],[-0.08897192208669226,-0.14639684425802324]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[0.6402676484382317,-0.9910958437145856,0.71338606911949],"aabb_xy":[[0.570267646306802,-1.0138578093402812],[0.7102676505696611,-0.9683338780888898]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_13","position":[-0.3247331201986051,-2.4315827837028263,0.71338606911949],"aabb_xy":[[-0.3747331211491379,-2.4631319307063477],[-0.2747331192480723,-2.400033636699305]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.6387294620303543,-0.08717692620151363,0.71338606911949],"aabb_xy":[[0.6012294608455614,-0.09159514889757416],[0.676229463215147,-0.08275870350545307]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[0.28865700954434015,-1.9276644339151994,0.71338606911949],"aabb_xy":[[0.23865773437590398,-1.9776644351911468],[0.3386562847127763,-1.8776644326392524]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_16","position":[-0.38300346289953313,-0.3369486250441911,0.71338606911949],"aabb_xy":[[-0.3890980907876515,-0.3455180195958598],[-0.37690883501141487,-0.3283792304925224]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_17","position":[-0.4136273388592187,-0.7012002269139477,0.71338606911949],"aabb_xy":[[-0.4636273402201059,-0.7511781314893633],[-0.3636273374983314,-0.6512223223385321]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.20420635626114858,-1.3652208086172994,0.71338606911949],"aabb_xy":[[0.1965820881709704,-1.3728540321538432],[0.21183062435132688,-1.3575875850807557]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_19","position":[0.23414870232052953,-2.5051235806421417,0.71338606911949],"aabb_xy":[[0.22152191503333316,-2.514669654343715],[0.24677548960772586,-2.4955775069405686]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[-0.062236715093655026,-2.507205285172843,0.71338606911949],"aabb_xy":[[-0.06993990576773207,-2.5149146558715807],[-0.054533524419577976,-2.4994959144741045]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_21","position":[0.09445783918240924,-2.1936637890616075,0.71338606911949],"aabb_xy":[[0.07195783936850685,-2.198138405432088],[0.11695783899631161,-2.189189172691127]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_22","position":[-0.26428696848995353,1.2504166042206215,0.71338606911949],"aabb_xy":[[-0.3282869656020592,1.201384234426211],[-0.20028697137784784,1.2994489740150321]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6566772720986459,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2407.png","name":"2407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2407.png","name":"2407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1805.png","name":"1805"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2275.png","name":"2275"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2724.png","name":"2724"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2031.png","name":"2031"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":555.6000896368776,"rotation_z_degrees":161.9079427808024,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013883992589649355,-0.0005766214794750979,-0.0010686335352078427]},{"name":"camera_2","offset_m":[0.0010033498496706504,-0.0190046640964826,-0.012035106778805186]},{"name":"camera_3","offset_m":[0.0067630211780709305,-0.01831538161374313,0.0076059614848440656]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00028168642072458425,2.6961635320886003e-05,-0.0015528708036906935],"end_effector_yaw_offset_degrees":0.9629855452694203},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001348650365946644,0.0015658517380928573,0.0010703792166823025],"end_effector_yaw_offset_degrees":0.6116359826657973},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014712520450457208,0.0008980980583348668,0.0018771257396919486],"end_effector_yaw_offset_degrees":0.6931829673073011},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015547279801455972,0.000742838373833305,0.0011165789615190662],"end_effector_yaw_offset_degrees":0.12388353180726375}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0023825365180976986,0.0012952858466489438],"position_m":[0.28861746348190226,-0.07570471415335106,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0040346113217938195,-0.004093230302197801],"position_m":[0.23976538867820618,-0.3382932303021978,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015347436313800887,0.0023206326177182355],"position_m":[0.19843474363138008,0.31002063261771823,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026070693912996134,0.0014199784574144792],"position_m":[0.3332070693912996,0.08231997845741448,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cf818d9ccb30b3e0959030ab625437b67e18ed00466cb6c32f76173cac8fbcf4","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0070.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2407/tex_ceiling_textures_2031/tex_floor_textures_2724/tex_table_textures_1805/tex_wall_textures_2275","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8245394051096244549,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8245394051096244549,"visual_seed":8245394051096244549,"scene_id":"lab_003","finished_at":"2026-09-04T22:03:11"}
+{"episode_id":"ep_000051","started_at":"2026-09-04T22:12:31","dimensions":{"distractor":{"count":34,"items":[{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_0","position":[-0.4521578097738881,-1.45228785984032,0.71338606911949],"aabb_xy":[[-0.5358800352739705,-1.5422878633750159],[-0.36843558427380557,-1.362287856305624]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[-0.6260817584792359,1.5785129752468818,0.71338606911949],"aabb_xy":[[-0.6860817589870888,1.52166624156096],[-0.5660817579713829,1.6353597089328027]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_2","position":[-0.010186722763034117,1.21912236674231,0.71338606911949],"aabb_xy":[[-0.04722083219109383,1.1847451594086005],[0.026847386665025598,1.2534995740760193]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[-0.04861450613077356,0.8278576308057386,0.71338606911949],"aabb_xy":[[-0.10861450672678974,0.7730451582605151],[0.011385494465242618,0.8826701033509621]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[-0.24126154418914741,1.7283132829685823,0.71338606911949],"aabb_xy":[[-0.250555162426298,1.6908132844804482],[-0.23196792595199683,1.765813281456716]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.5007098339159346,0.9849627064353772,0.71338606911949],"aabb_xy":[[-0.5046703176856691,0.9772948418498566],[-0.49674935014620036,0.9926305710208978]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_6","position":[-0.535602496802217,-1.2636332733919375,0.71338606911949],"aabb_xy":[[-0.625602495396687,-1.2798838597053586],[-0.4456024982077471,-1.2473826870785165]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_7","position":[-0.5463668021322877,-1.2009411811763784,0.71338606911949],"aabb_xy":[[-0.5567783608127713,-1.2062869145122768],[-0.5359552434518039,-1.19559544784048]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_8","position":[-0.3983058828096663,-0.37685900031616715,0.71338606911949],"aabb_xy":[[-0.46230587923698824,-0.4240286241382636],[-0.33430588638234443,-0.3296893764940707]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_9","position":[-0.29521018034656143,1.5325102125162364,0.71338606911949],"aabb_xy":[[-0.31037305332349857,1.517344755221118],[-0.2800473073696244,1.5476756698113554]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[0.6553345988706267,-2.566729871692109,0.71338606911949],"aabb_xy":[[0.6178345976858338,-2.571148094388169],[0.6928346000554194,-2.562311648996048]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.2319343806193238,1.0368094655650122,0.71338606911949],"aabb_xy":[[0.22251690604946103,1.0273932884272932],[0.24135185518918653,1.0462256427027312]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_12","position":[-0.15558811592368682,-0.9964082703936739,0.71338606911949],"aabb_xy":[[-0.1780881157375892,-1.0008828867641548],[-0.13308811610978444,-0.9919336540231932]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_13","position":[-0.056864663153965544,1.0936548317243564,0.71338606911949],"aabb_xy":[[-0.12086466520369754,1.0535603486350487],[0.007135338895766452,1.1337493148136646]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[0.5390338267694452,1.2813386694154651,0.71338606911949],"aabb_xy":[[0.47403382566350194,1.2563732963473369],[0.6040338278753885,1.3063040424835934]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_15","position":[0.28081515172658433,1.4726012220332572,0.71338606911949],"aabb_xy":[[0.20081515306969833,1.4580963631089945],[0.36081515038347034,1.4871060809575203]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[0.3078139589815547,-1.7437548570393373,0.71338606911949],"aabb_xy":[[0.25781468381311856,-1.7937548583152843],[0.3578132341499909,-1.69375485576339]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[-0.1824935039928266,-1.4287928187792756,0.71338606911949],"aabb_xy":[[-0.23249350435339264,-1.4787728059888785],[-0.1324935036322605,-1.3788128315696726]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.5989046757164871,0.4800560048087421,0.71338606911949],"aabb_xy":[[0.5857534297451977,0.4550560050520556],[0.6120559216877764,0.5050560045654287]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_19","position":[-0.09302737179199283,1.437189115692386,0.71338606911949],"aabb_xy":[[-0.12802737010268828,1.4294741007688403],[-0.058027373481297384,1.4449041306159316]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[0.4411913966366381,-1.2554625885295367,0.71338606911949],"aabb_xy":[[0.43623537645175703,-1.2779625887316586],[0.44614741682151937,-1.2329625883274153]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_21","position":[-0.2768406352463382,0.9784412613321738,0.71338606911949],"aabb_xy":[[-0.3133364558736169,0.9419573189054162],[-0.24034481461905943,1.0149252037589314]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[-0.6148135245878215,0.16024954018906845,0.71338606911949],"aabb_xy":[[-0.6626196922015901,0.09524953748200948],[-0.5670073569740528,0.2252495428961274]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_23","position":[0.04603461206819692,-1.1981507762655965,0.71338606911949],"aabb_xy":[[-0.008957638567314014,-1.2531507780089093],[0.10102686270370789,-1.1431507745222838]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[0.2682191749055648,-0.9164781424897397,0.71338606911949],"aabb_xy":[[0.2506724799894458,-0.9539781440539908],[0.28576586982168367,-0.8789781409254883]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_25","position":[0.3694403867041065,-2.3394259043564634,0.71338606911949],"aabb_xy":[[0.30544038959200076,-2.388458274150874],[0.43344038381621214,-2.2903935345620527]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_26","position":[-0.41869744101203316,-0.9235622609892891,0.71338606911949],"aabb_xy":[[-0.44253365865263833,-1.0135622617977758],[-0.3948612233714282,-0.8335622601808027]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_27","position":[0.4622992345610035,0.4615632749049272,0.71338606911949],"aabb_xy":[[0.41232042605068764,0.4115632748992084],[0.5122780430713194,0.511563274910646]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_28","position":[0.37382789645936754,0.28766232484266263,0.71338606911949],"aabb_xy":[[0.362258915712431,0.262662324725731],[0.38539687720630417,0.3126623249595944]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_29","position":[0.5950010144506914,-2.3217003620846914,0.71338606911949],"aabb_xy":[[0.5831289314391904,-2.4067003617783413],[0.6068730974621926,-2.2367003623910406]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_30","position":[0.2589714134829346,0.8263547795305852,0.71338606911949],"aabb_xy":[[0.17897141489561516,0.7470391775924242],[0.338971412070254,0.905670381468746]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_31","position":[0.46576772659960586,-0.7285534219636174,0.71338606911949],"aabb_xy":[[0.4307677274067875,-0.7395204679612799],[0.500767725792424,-0.7175863759659546]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_32","position":[0.0030226539421200904,-2.021381405882673,0.71338606911949],"aabb_xy":[[-0.014652976646478242,-2.0390616221620754],[0.02069828453071842,-2.00370118960327]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_33","position":[0.27138771819957064,1.6508569846644536,0.71338606911949],"aabb_xy":[[0.24847200531452074,1.6279526875280304],[0.29430343108462054,1.6737612818008774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6640382705144552,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3990.png","name":"3990"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3990.png","name":"3990"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2280.png","name":"2280"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5686.png","name":"5686"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1057.png","name":"1057"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7772.png","name":"7772"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":727.6940124449361,"rotation_z_degrees":173.5254743009346,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004727535949613889,0.012625279532884445,-0.003372457922306612]},{"name":"camera_2","offset_m":[-0.017127804796294527,-0.0036360886496003136,-0.0056560460602515135]},{"name":"camera_3","offset_m":[0.0097072148725518,0.011096199868119574,-0.01465467749787039]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015581583280044895,0.0007598181241786467,0.0007074225394488876],"end_effector_yaw_offset_degrees":0.6570978624863268},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0017095942016906885,-0.0013158626618053706,-0.0012337295826276625],"end_effector_yaw_offset_degrees":-0.6363999734238022},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001185375909721096,-0.001338266735076226,-0.0015951088957161749],"end_effector_yaw_offset_degrees":-0.45277036661259706},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015268868404251586,-0.0014855400443658216,0.0010489947484810004],"end_effector_yaw_offset_degrees":-0.9155909317073012}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004252945190376331,-0.004133792873588385],"position_m":[0.2952529451903763,-0.08113379287358838,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004408857943628099,-0.004308974795573343],"position_m":[0.2482088579436281,-0.33850897479557335,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005122288182056629,-0.0005956973822803351],"position_m":[0.19638777118179432,0.30710430261771965,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00046317048222806276,0.004751997490016458],"position_m":[0.33013682951777196,0.08565199749001645,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dbcda5d34c2faa7020d1f9a06bbbbc192bf48ba95e9122f461c3664912ff5efe","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3990/tex_ceiling_textures_7772/tex_floor_textures_1057/tex_table_textures_2280/tex_wall_textures_5686","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":839544263309946193,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":839544263309946193,"visual_seed":839544263309946193,"scene_id":"lab_003","finished_at":"2026-09-04T22:16:03"}
+{"episode_id":"ep_000052","started_at":"2026-09-04T22:20:06","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[0.3176408652553666,1.134852575724063,0.71338606911949],"aabb_xy":[[0.26764603232742507,1.0848525768288195],[0.36763569818330827,1.1848525746193066]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[-0.3113025042422308,-2.5248595382353316,0.71338606911949],"aabb_xy":[[-0.40130250097784104,-2.5780430015526257],[-0.22130250750662062,-2.4716760749180366]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[-0.25379792450071925,-2.1420555801189938,0.71338606911949],"aabb_xy":[[-0.26464953074959485,-2.1529148708466446],[-0.24294631825184365,-2.131196289391343]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[-0.32892662940121264,-1.1750677501924538,0.71338606911949],"aabb_xy":[[-0.3380865083450893,-1.1815989682359909],[-0.3197667504573361,-1.1685365321489167]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_4","position":[-0.5027246442134696,1.7800465114283797,0.71338606911949],"aabb_xy":[[-0.5927246436318405,1.7466710145841897],[-0.41272464479509874,1.8134220082725692]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[0.6904125020227898,-1.9188704936033099,0.71338606911949],"aabb_xy":[[0.6802594864686403,-1.95494003517605],[0.7005655175769391,-1.8828009520305693]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.6939406676225628,-0.6677157152636637,0.71338606911949],"aabb_xy":[[0.6841846781133889,-0.6774782493228981],[0.7036966571317367,-0.6579531812044292]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[-0.11374571096961505,-1.7041610519758514,0.71338606911949],"aabb_xy":[[-0.16776130725151506,-1.7681610548681086],[-0.05973011468771504,-1.6401610490835943]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_8","position":[-0.6040577774571712,0.1480711399848631,0.71338606911949],"aabb_xy":[[-0.6840516010357294,0.06807113739202153],[-0.5240639538786129,0.22807114257770467]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[-0.12199281932029926,-0.2482075753431161,0.71338606911949],"aabb_xy":[[-0.13012050751361248,-0.25712118375382376],[-0.11386513112698604,-0.23929396693240848]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_10","position":[0.007630578633222362,0.8800234939766347,0.71338606911949],"aabb_xy":[[-0.04225211824447384,0.8300234947303601],[0.057513275510918574,0.9300234932229096]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[-0.2041720739036842,-1.398927099053288,0.71338606911949],"aabb_xy":[[-0.2416720723270845,-1.4120913130211186],[-0.1666720754802838,-1.3857628850854575]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_12","position":[-0.4317406430708889,-2.13071212141346,0.71338606911949],"aabb_xy":[[-0.4812210642848477,-2.194712119326312],[-0.3822602218569301,-2.0667121235006083]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[0.13004507290207856,1.4896558235185737,0.71338606911949],"aabb_xy":[[0.06604506961237046,1.446320904514656],[0.19404507619178668,1.5329907425224911]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_14","position":[0.3078971662333039,-1.952910736241229,0.71338606911949],"aabb_xy":[[0.22289716754122924,-1.9848965996361079],[0.3928971649253785,-1.9209248728463502]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_15","position":[-0.532807850935473,-2.454380181077313,0.71338606911949],"aabb_xy":[[-0.5540858590789453,-2.519380183403386],[-0.5115298427920008,-2.38938017875124]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[0.4453108424813572,-2.1998501848856353,0.71338606911949],"aabb_xy":[[0.3753108403499276,-2.2226121505113308],[0.5153108446127868,-2.177088219259939]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[0.0199149738326021,0.7276858077750221,0.71338606911949],"aabb_xy":[[-0.01758502651562566,0.7158944121939385],[0.05741497418082986,0.7394772033561056]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.631837112440782,-2.3286385579209865,0.71338606911949],"aabb_xy":[[0.6200689256461246,-2.413638557826208],[0.6436052992354396,-2.243638558015765]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[-0.3590464688288352,-0.874284515094568,0.71338606911949],"aabb_xy":[[-0.43904647208667813,-0.9542810228865518],[-0.2790464655709922,-0.7942880073025839]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_20","position":[-0.5455714626356101,1.2030816352785791,0.71338606911949],"aabb_xy":[[-0.5502065777878433,1.1992143002014302],[-0.5409363474833766,1.2069489703557277]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_21","position":[0.623262298312,0.8432762596640266,0.71338606911949],"aabb_xy":[[0.5682622986902542,0.788292566876554],[0.6782622979337459,0.8982599524514995]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_22","position":[-0.09099201925377576,0.3812664062248219,0.71338606911949],"aabb_xy":[[-0.1509920195051769,0.32698508118835723],[-0.030992019002374555,0.43554773126128654]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_23","position":[0.020830651172042747,1.7082021444410977,0.71338606911949],"aabb_xy":[[-0.059169349901077584,1.6984240981037133],[0.10083065224516308,1.7179801907784822]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_24","position":[0.3955595219640189,0.2623903651207815,0.71338606911949],"aabb_xy":[[0.36055952283406323,0.2566451440451174],[0.43055952109397455,0.2681355861964456]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_25","position":[-0.3557588310204525,1.605532774021135,0.71338606911949],"aabb_xy":[[-0.40575883268194723,1.5555343317654322],[-0.3057588293589577,1.6555312162768376]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_26","position":[0.39081543327804824,-1.4879318630195633,0.71338606911949],"aabb_xy":[[0.36753359107991684,-1.5729318643167909],[0.4140972754761795,-1.4029318617223347]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_27","position":[0.24528330545408028,1.6987587764382508,0.71338606911949],"aabb_xy":[[0.22073708983132956,1.6685098798892135],[0.269829521076831,1.7290076729872876]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_28","position":[-0.3477353807844914,1.3771678716575861,0.71338606911949],"aabb_xy":[[-0.38273538068051033,1.368793636145646],[-0.3127353808884726,1.3855421071695262]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6561393221583254,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5417.png","name":"5417"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5417.png","name":"5417"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5282.png","name":"5282"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2489.png","name":"2489"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5617.png","name":"5617"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1814.png","name":"1814"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":731.4091641404634,"rotation_z_degrees":4.235900243723254,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014402185136467013,-0.018618384251892606,0.002729783862723441]},{"name":"camera_2","offset_m":[-0.0025861536436379805,-0.004928719069316129,-0.018441878959374387]},{"name":"camera_3","offset_m":[0.006066692461125914,-0.00839066197013814,0.009934886748006265]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00015949029289949392,0.00042057206633098077,-0.001174277691665498],"end_effector_yaw_offset_degrees":0.11694842095053581},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0014431655186696469,0.0015955925189699636,-0.0006475083856724959],"end_effector_yaw_offset_degrees":0.1470853642490937},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.7165639730589224e-05,0.0019470914785566333,-0.0007445327103727179],"end_effector_yaw_offset_degrees":-0.6015553848806401},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001137854385833659,0.0011082453641655735,-0.001135603249452656],"end_effector_yaw_offset_degrees":-0.047247089862663794}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001060651257395775,-0.001421413102789826],"position_m":[0.2899393487426042,-0.07842141310278983,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004037101991928645,-0.0030519829057238457],"position_m":[0.23976289800807135,-0.33725198290572383,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024104888953953045,-0.002413300369978478],"position_m":[0.1993104888953953,0.3052866996300215,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003515416307744928,-0.0015364285333770355],"position_m":[0.33411541630774494,0.07936357146662297,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"db66de32be16eed85466375a9b22fdd8c8a79a2b851e992bbf37738c66bc3701","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5417/tex_ceiling_textures_1814/tex_floor_textures_5617/tex_table_textures_5282/tex_wall_textures_2489","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6627953538131092390,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6627953538131092390,"visual_seed":6627953538131092390,"scene_id":"lab_003","finished_at":"2026-09-04T22:23:36"}
+{"episode_id":"ep_000053","started_at":"2026-09-04T22:25:57","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_0","position":[0.31349198394932487,0.809082903558783,0.71338606911949],"aabb_xy":[[0.3008892848122484,0.7964875073339175],[0.3260946830864013,0.8216782997836485]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_1","position":[0.3680448021615699,1.2840153928072757,0.71338606911949],"aabb_xy":[[0.3040448018875917,1.2339492926099875],[0.43204480243554816,1.3340814930045635]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_2","position":[-0.23015751087208308,1.3830750918396442,0.71338606911949],"aabb_xy":[[-0.2520472584610238,1.293075094550395],[-0.20826776328314228,1.4730750891288933]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[0.22608933322068103,-2.385163293145331,0.71338606911949],"aabb_xy":[[0.1885893330488091,-2.417864028528238],[0.26358933339255297,-2.3524625577624234]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[0.19228920245310588,0.9389513516120553,0.71338606911949],"aabb_xy":[[0.14229419149365385,0.8889513525764637],[0.24228421341255793,0.9889513506476472]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[0.23451671145953956,-2.0693275173975967,0.71338606911949],"aabb_xy":[[0.2257354843123034,-2.0781072646861274],[0.24329793860677584,-2.060547770109067]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[-0.403228589243517,-1.5936656404605714,0.71338606911949],"aabb_xy":[[-0.410931779917594,-1.601375011159309],[-0.3955253985694399,-1.5859562697618328]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[0.5850663192417265,0.20269668368779747,0.71338606911949],"aabb_xy":[[0.520066316603933,0.15121708498835051],[0.65006632187952,0.25417628238724443]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[-0.48223521916909395,1.4416738152402764,0.71338606911949],"aabb_xy":[[-0.5462352223877318,1.394950703341268],[-0.41823521595045615,1.4883969271392847]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[0.32138158178394693,1.0385992976447302,0.71338606911949],"aabb_xy":[[0.31375731369376875,1.0309660741081867],[0.32900584987412523,1.0462325211812742]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[-0.4213802953999061,1.159283293628937,0.71338606911949],"aabb_xy":[[-0.4438767168337702,1.1367832938221896],[-0.398883873966042,1.1817832934356844]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_11","position":[-0.23752696116532124,0.6342322886544465,0.71338606911949],"aabb_xy":[[-0.3272140374734367,0.5442322883999959],[-0.14783988485720578,0.724232288908897]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_12","position":[-0.3062882778475915,-1.3465569760068685,0.71338606911949],"aabb_xy":[[-0.3612837556682509,-1.4015569774407755],[-0.2512928000269321,-1.2915569745729616]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_13","position":[-0.04563030439030158,-0.6989477028646929,0.71338606911949],"aabb_xy":[[-0.05640327831166936,-0.7339477010837319],[-0.0348573304689338,-0.6639477046456539]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.2794034699143015,-1.2401341051622945,0.71338606911949],"aabb_xy":[[-0.3169034698580679,-1.248427195197131],[-0.24190346997053508,-1.231841015127458]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_15","position":[-0.5317120129135323,-0.7840932099229905,0.71338606911949],"aabb_xy":[[-0.5430737475668184,-0.7954616763292784],[-0.520350278260246,-0.7727247435167023]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.31554195287077014,1.5104611644262387,0.71338606911949],"aabb_xy":[[0.2980420194367867,1.4929611645060041],[0.33304188630475345,1.5279611643464732]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_17","position":[0.06768545026844397,-2.4479495602537753,0.71338606911949],"aabb_xy":[[-0.012314546891131331,-2.4594971612115923],[0.14768544742801926,-2.4364019592959583]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_18","position":[0.1060423383440452,1.187657353663298,0.71338606911949],"aabb_xy":[[0.05104912700690843,1.1326573533245043],[0.16103554968118194,1.2426573540020915]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[-0.1717587007059166,-1.5540734021515614,0.71338606911949],"aabb_xy":[[-0.1936673828452676,-1.5759740689716522],[-0.14985001856656552,-1.5321727353314707]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[-0.09976459931060522,-2.105172603328507,0.71338606911949],"aabb_xy":[[-0.137264600495398,-2.1095908260245673],[-0.06226459812581241,-2.1007543806324462]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[0.5854402320268626,0.4367428632954611,0.71338606911949],"aabb_xy":[[0.5813242819147898,0.43262730826261553],[0.5895561821389351,0.4408584183283065]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.661524705349184,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6267.png","name":"6267"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6267.png","name":"6267"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5447.png","name":"5447"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8651.png","name":"8651"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3487.png","name":"3487"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4623.png","name":"4623"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":618.7845046468526,"rotation_z_degrees":172.90103232363538,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016082227187169167,-0.003978207601865059,-0.010002898825077513]},{"name":"camera_2","offset_m":[0.01813437391944279,0.002345927241340532,0.009258558777414438]},{"name":"camera_3","offset_m":[-0.010976578941290996,0.013822162286838056,0.012118539477347565]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018627109534563497,0.0004531778861592726,4.305371762866562e-05],"end_effector_yaw_offset_degrees":-0.19278502241495432},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006322351791511593,0.000781071456858109,0.0010221211512248785],"end_effector_yaw_offset_degrees":-0.3443446160031225},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017935304985711525,-7.501591983782104e-05,-0.0005748977095112822],"end_effector_yaw_offset_degrees":0.8621309562463577},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002466815205734766,0.0018951634997928899,0.00025728901300361854],"end_effector_yaw_offset_degrees":-0.41560270940448407}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003349545760704632,8.825145306254768e-05],"position_m":[0.28765045423929536,-0.07691174854693746,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021221513765662618,-0.003237244139541614],"position_m":[0.24592215137656626,-0.3374372441395416,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038726697406028607,0.001356057831380363],"position_m":[0.19302733025939714,0.30905605783138035,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004327004957668925,0.00024306886942118428],"position_m":[0.3349270049576689,0.08114306886942119,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"df5a3a3f66522d500aec4961ea2533c3c44c38f1186ccc63fb53f6cb413284bd","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_6267/tex_ceiling_textures_4623/tex_floor_textures_3487/tex_table_textures_5447/tex_wall_textures_8651","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":262115365750180751,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":262115365750180751,"visual_seed":262115365750180751,"scene_id":"lab_003","finished_at":"2026-09-04T22:29:33"}
+{"episode_id":"ep_000054","started_at":"2026-09-04T22:29:36","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_0","position":[0.560834121217231,-1.2503612647425704,0.71338606911949],"aabb_xy":[[0.5308424584833606,-1.280361264079371],[0.5908257839511013,-1.2203612654057698]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_1","position":[-0.34579563077992437,-2.4092233606881415,0.71338606911949],"aabb_xy":[[-0.38142478667988405,-2.4448560274449944],[-0.31016647487996457,-2.3735906939312885]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[-0.6607266082471166,-0.7344026767035037,0.71338606911949],"aabb_xy":[[-0.669440577297051,-0.7569026773626917],[-0.652012639197182,-0.7119026760443152]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_3","position":[-0.22926865042475475,-1.7995093095886654,0.71338606911949],"aabb_xy":[[-0.23689291851493302,-1.8071425331252093],[-0.22164438233457653,-1.791876086052122]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_4","position":[-0.43678731793350595,-2.1017712234704824,0.71338606911949],"aabb_xy":[[-0.49678731818490707,-2.1560525485069473],[-0.3767873176821047,-2.0474898984340175]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[0.530516384430634,0.6259912239658258,0.71338606911949],"aabb_xy":[[0.4655163833246907,0.6010258508976976],[0.5955163855365773,0.6509565970339541]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_6","position":[0.4194124232241583,-1.9143196164401952,0.71338606911949],"aabb_xy":[[0.4019124239460714,-1.931657716506541],[0.43691242250224516,-1.896981516373849]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_7","position":[-0.21089384941966494,-0.31215762996856444,0.71338606911949],"aabb_xy":[[-0.24738967004694365,-0.348641572395322],[-0.17439802879238617,-0.2756736875418069]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_8","position":[0.6604570943691448,1.1712835046675267,0.71338606911949],"aabb_xy":[[0.622957093704566,1.1555964466673043],[0.6979570950337234,1.1869705626677487]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_9","position":[0.09441141072184278,-1.008397001056497,0.71338606911949],"aabb_xy":[[0.08716764467559746,-1.0883969992600995],[0.1016551767680881,-0.9283970028528947]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_10","position":[-0.3039673024873083,0.38478039809294673,0.71338606911949],"aabb_xy":[[-0.33828357966192624,0.334780398119769],[-0.26965102531269036,0.43478039806612445]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[-0.3900695190629394,-1.7460984243172386,0.71338606911949],"aabb_xy":[[-0.40524168834457275,-1.7612672812454422],[-0.37489734978130607,-1.7309295673890355]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.20847163554612214,-1.0493487536473258,0.71338606911949],"aabb_xy":[[0.19136955758775398,-1.0664555591785956],[0.2255737135044903,-1.032241948116056]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_13","position":[0.448990853726843,0.7851015405919939,0.71338606911949],"aabb_xy":[[0.42649085420313554,0.762605593141373],[0.47149085325055035,0.8075974880426146]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_14","position":[-0.5140064017721586,-2.317939621438915,0.71338606911949],"aabb_xy":[[-0.5315064009065257,-2.327819248476503],[-0.4965064026377914,-2.308059994401327]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[-0.3130994695421936,-0.2722716432234389,0.71338606911949],"aabb_xy":[[-0.32556682765192924,-0.2847369678567624],[-0.30063211143245794,-0.2598063185901154]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_16","position":[-0.4433655348881994,-0.5075560079976098,0.71338606911949],"aabb_xy":[[-0.4474436927952491,-0.5116369882458731],[-0.4392873769811496,-0.5034750277493465]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_17","position":[0.6365744827144322,-0.2882604242653728,0.71338606911949],"aabb_xy":[[0.5867577032495974,-0.33826042274967616],[0.6863912621792669,-0.23826042578106943]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.3821696360896303,-0.9375217012991195,0.71338606911949],"aabb_xy":[[0.3436239432644292,-0.9760674723553081],[0.42071532891483127,-0.8989759302429309]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_19","position":[-0.21690835382229273,0.9165905193331936,0.71338606911949],"aabb_xy":[[-0.262186968703442,0.8525905199850098],[-0.17162973894114347,0.9805905186813771]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[0.5028545197392269,1.5945413965303907,0.71338606911949],"aabb_xy":[[0.46785451984320797,1.5861671610184507],[0.5378545196352457,1.6029156320423308]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[0.04356513405850404,1.4401472996235074,0.71338606911949],"aabb_xy":[[0.021065133546463444,1.4176554412581086],[0.06606513457054464,1.4626391579889053]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[-0.359182461729257,1.541219581508734,0.71338606911949],"aabb_xy":[[-0.3632984118413296,1.537104026475888],[-0.3550665116171843,1.545335136541579]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_23","position":[-0.5166813463083507,-0.11888159689004141,0.71338606911949],"aabb_xy":[[-0.5391813461222532,-0.12335621326052211],[-0.49418134649444845,-0.11440698051956073]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_24","position":[-0.6198026262650314,1.0846205911249625,0.71338606911949],"aabb_xy":[[-0.6237164994604538,1.0758715757184056],[-0.6158887530696089,1.0933696065315193]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_25","position":[-0.5380585815108342,-1.1781448469266191,0.71338606911949],"aabb_xy":[[-0.5460520713061163,-1.186142978867095],[-0.5300650917155523,-1.1701467149861438]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_26","position":[0.18290666691073476,-0.6354703002906708,0.71338606911949],"aabb_xy":[[0.17686965391007003,-0.641497001359619],[0.18894367991139951,-0.6294435992217225]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_27","position":[0.07944056780883557,-1.9113052606750691,0.71338606911949],"aabb_xy":[[0.029440568368639952,-1.961273185159385],[0.1294405672490312,-1.8613373361907524]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_28","position":[-0.3997260878819412,-1.5281001234847935,0.71338606911949],"aabb_xy":[[-0.46372608928993186,-1.5798890750087182],[-0.3357260864739505,-1.4763111719608688]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_29","position":[0.19292170060075697,1.2207693947366405,0.71338606911949],"aabb_xy":[[0.1289217042051839,1.156806106317907],[0.25692169699633005,1.284732683155374]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_30","position":[0.6075210616689113,-0.6838081750683536,0.71338606911949],"aabb_xy":[[0.5575210630229901,-0.733727718727816],[0.6575210603148325,-0.6338886314088912]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_31","position":[0.23564208339770665,-2.3722171696545513,0.71338606911949],"aabb_xy":[[0.2221955567636633,-2.3856870213076427],[0.24908861003174995,-2.35874731800146]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_32","position":[-0.25187683208130474,1.4868376912295083,0.71338606911949],"aabb_xy":[[-0.28920810860654733,1.4521846364346562],[-0.2145455555560621,1.5214907460243607]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_33","position":[-0.18000558290338597,-1.256549877474091,0.71338606911949],"aabb_xy":[[-0.22998439141370183,-1.3065498774798097],[-0.13002677439307006,-1.206549877468372]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_34","position":[-0.5700364423195222,-0.8890208717571892,0.71338606911949],"aabb_xy":[[-0.5796680785399518,-0.8986581845368982],[-0.5604048060990926,-0.8793835589774803]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6619825801442687,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2091.png","name":"2091"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2091.png","name":"2091"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1094.png","name":"1094"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1239.png","name":"1239"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1700.png","name":"1700"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8582.png","name":"8582"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":833.1192392671912,"rotation_z_degrees":3.2065451554738633,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008176937432440076,-0.005363485972933799,-0.014725602564266489]},{"name":"camera_2","offset_m":[0.019639553666838266,-0.012891925395479568,0.013664365210258354]},{"name":"camera_3","offset_m":[0.00536749586036683,0.002719651660665026,0.008241041631534593]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005116404605150391,-0.0010874598201754497,-0.0009842819775290504],"end_effector_yaw_offset_degrees":0.6901245313963},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0005240797882518902,0.0007357508406271381,-0.00036118500228238606],"end_effector_yaw_offset_degrees":-0.8202006400791659},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002461996457641944,0.0004368063747074453,0.0010832001520960448],"end_effector_yaw_offset_degrees":0.5191124471836457},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013566577954025774,0.0018768493312880997,-8.366340352579773e-05],"end_effector_yaw_offset_degrees":0.42634387081024405}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017508699331819089,-0.0027625325588432627],"position_m":[0.2927508699331819,-0.07976253255884326,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004084862382884468,-0.000811294518689761],"position_m":[0.24788486238288446,-0.3350112945186898,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020716879689116107,0.0009068162012970029],"position_m":[0.19482831203108839,0.308606816201297,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001203905547085634,0.004264423267155489],"position_m":[0.32939609445291435,0.0851644232671555,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6f79c5e9452c211841119553adc0626b144d43d356f73efc885543843570ec67","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0080.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2091/tex_ceiling_textures_8582/tex_floor_textures_1700/tex_table_textures_1094/tex_wall_textures_1239","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3618076382357351255,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3618076382357351255,"visual_seed":3618076382357351255,"scene_id":"lab_003","finished_at":"2026-09-04T22:32:58"}
+{"episode_id":"ep_000055","started_at":"2026-09-04T22:33:01","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_0","position":[0.5091977184075482,-0.6853147815027356,0.71338606911949],"aabb_xy":[[0.4540725127779575,-0.7453147829440226],[0.564322924037139,-0.6253147800614484]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_1","position":[-0.5671742143603984,1.229939739137213,0.71338606911949],"aabb_xy":[[-0.5823463836420317,1.21477088220901],[-0.552002045078765,1.2451085960654167]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_2","position":[-0.21570296554050344,-1.6362779019531946,0.71338606911949],"aabb_xy":[[-0.2957029669706306,-1.715795056965804],[-0.13570296411037622,-1.556760746940585]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[0.4455942465758209,-2.344023879685505,0.71338606911949],"aabb_xy":[[0.39559923561636895,-2.394023878721097],[0.495589257535273,-2.2940238806499136]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[-0.43956472568999416,-0.2896282970374724,0.71338606911949],"aabb_xy":[[-0.5035647273679915,-0.3381456885167866],[-0.3755647240119968,-0.24111090555815817]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_5","position":[-0.25344202825445883,1.5320410427640776,0.71338606911949],"aabb_xy":[[-0.3174420315441669,1.48870612376016],[-0.18944202496475068,1.5753759617679952]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[0.3265807240438545,1.4751598575554392,0.71338606911949],"aabb_xy":[[0.30408072403370623,1.461063637915836],[0.3490807240540028,1.4892560771950425]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_7","position":[0.6421314536947047,-0.3202382305822664,0.71338606911949],"aabb_xy":[[0.5821314534433034,-0.374519555618731],[0.7021314539461058,-0.2659569055458017]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[-0.23421707113314877,-1.090721656871877,0.71338606911949],"aabb_xy":[[-0.2982170725411394,-1.1425106083958014],[-0.1702170697251581,-1.038932705347952]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[-0.04827635104145156,-1.3172889826180418,0.71338606911949],"aabb_xy":[[-0.05385802267558031,-1.3297889824358173],[-0.04269467940732279,-1.3047889828002663]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[-0.5902438750685575,0.03357322668398233,0.71338606911949],"aabb_xy":[[-0.6277438765841892,0.022346453667837274],[-0.5527438735529258,0.04479999970012738]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[0.48138636234494037,-1.8772981632044847,0.71338606911949],"aabb_xy":[[0.4773082044378906,-1.881379143452748],[0.4854645202519901,-1.8732171829562214]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_12","position":[-0.3845066742299014,1.7720653225233494,0.71338606911949],"aabb_xy":[[-0.4485066762796335,1.7319708394340414],[-0.3205066721801695,1.8121598056126573]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_13","position":[-0.40946756005892426,-1.8100412445534615,0.71338606911949],"aabb_xy":[[-0.4644630378795836,-1.865041245987368],[-0.3544720822382648,-1.7550412431195541]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[0.3792979479422456,-1.7040682651673436,0.71338606911949],"aabb_xy":[[0.36844634169337,-1.7149275558949946],[0.3901495541911212,-1.6932089744396925]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_15","position":[0.37171713234177517,0.7128935219876662,0.71338606911949],"aabb_xy":[[0.28671713392435194,0.6280192265253812],[0.4567171307591984,0.7977678174499512]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_16","position":[0.017197891330344217,0.9476561707658027,0.71338606911949],"aabb_xy":[[-0.0203021089618306,0.9436146953651989],[0.054697891622519035,0.9516976461664062]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_17","position":[-0.30307127055205835,-0.7178868895658996,0.71338606911949],"aabb_xy":[[-0.3221835779100372,-0.7370216684431417],[-0.2839589631940795,-0.6987521106886576]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_18","position":[-0.3525508383678847,0.3070677838227307,0.71338606911949],"aabb_xy":[[-0.3900508381849182,0.30242957251158886],[-0.3150508385508511,0.31170599513387254]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_19","position":[-0.4992743954061224,1.4393499766865632,0.71338606911949],"aabb_xy":[[-0.5367743965909151,1.4349317539905024],[-0.46177439422132954,1.4437681993826235]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_20","position":[-0.6348466338044594,-0.5891235568825604,0.71338606911949],"aabb_xy":[[-0.6457524098920221,-0.6691235532813895],[-0.6239408577168967,-0.5091235604837312]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_21","position":[0.25864205826268194,1.3081001870985913,0.71338606911949],"aabb_xy":[[0.2286503955288116,1.2781001877617908],[0.28863372099655227,1.3381001864353919]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_22","position":[0.666958268774247,-1.2790613019471457,0.71338606911949],"aabb_xy":[[0.6609212557735823,-1.2850880030160943],[0.6729952817749117,-1.2730346008781976]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[0.4341956371203375,-1.458928876478056,0.71338606911949],"aabb_xy":[[0.3843788576555028,-1.508928874962359],[0.4840124165851723,-1.4089288779937523]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_24","position":[0.24920268064059992,-2.3235717212360263,0.71338606911949],"aabb_xy":[[0.2142026823299045,-2.331286736159572],[0.28420267895129536,-2.3158567063124806]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_25","position":[0.658615247068078,-1.7705182945757205,0.71338606911949],"aabb_xy":[[0.5936152491864302,-1.8216419582822616],[0.7236152449497257,-1.7193946308691799]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_26","position":[-0.568253808687477,-1.9087691210045774,0.71338606911949],"aabb_xy":[[-0.6182538096380097,-1.9403182680080988],[-0.5182538077369441,-1.877219974001056]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_27","position":[-0.5754297188758207,-2.3113602430490943,0.71338606911949],"aabb_xy":[[-0.6354297197366333,-2.3627866730555804],[-0.5154297180150077,-2.259933813042607]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_28","position":[-0.020024267672068663,-1.2330041925459954,0.71338606911949],"aabb_xy":[[-0.03265105495926501,-1.242550266247568],[-0.0073974803848723125,-1.2234581188444222]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_29","position":[0.027782943217697587,-0.7186251075536936,0.71338606911949],"aabb_xy":[[0.013139537663664599,-0.7332838272104778],[0.04242634877173057,-0.7039663878969094]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_30","position":[-0.08747811686252882,1.2322688440898046,0.71338606911949],"aabb_xy":[[-0.13264943471069782,1.1682688469452664],[-0.04230679901435986,1.2962688412343433]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6637875795094511,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2805.png","name":"2805"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2805.png","name":"2805"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8069.png","name":"8069"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1813.png","name":"1813"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1393.png","name":"1393"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8732.png","name":"8732"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":653.8003929772963,"rotation_z_degrees":49.181094393392996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005638806568787961,0.0061996510255137235,-0.0013936034128056787]},{"name":"camera_2","offset_m":[-0.016883247189847926,-0.017583448255789107,-0.014911220101719271]},{"name":"camera_3","offset_m":[-0.013458416077773597,0.01401072912064508,0.01622358493936028]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017331837638903558,0.0018379911006291341,-0.001536856118959101],"end_effector_yaw_offset_degrees":-0.062093455360298755},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004705590864770488,-0.00076580288004436,0.0012731226413072848],"end_effector_yaw_offset_degrees":0.18832411812377226},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014338151691319682,-0.001551978859598413,-0.0017760822107190024],"end_effector_yaw_offset_degrees":0.8299827425748265},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019876546047758806,-0.0012719098141319271,0.0015128429377625732],"end_effector_yaw_offset_degrees":-0.4774161333230287}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0038063759162418587,-0.0023011889097839535],"position_m":[0.28719362408375815,-0.07930118890978395,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00380058715024294,-0.004842846019025555],"position_m":[0.24760058715024294,-0.33904284601902557,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005543721607042321,0.003515918008267618],"position_m":[0.19745437216070422,0.3112159180082676,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0038211732099018196,-0.0014263981613650291],"position_m":[0.33442117320990183,0.07947360183863497,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e657ade21ccbb7679123281d0dc6f597ce8734b0c90431933356ef7e82ec15ad","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2805/tex_ceiling_textures_8732/tex_floor_textures_1393/tex_table_textures_8069/tex_wall_textures_1813","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6153509525131044208,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6153509525131044208,"visual_seed":6153509525131044208,"scene_id":"lab_003","finished_at":"2026-09-04T22:36:19"}
+{"episode_id":"ep_000056","started_at":"2026-09-04T22:36:24","dimensions":{"distractor":{"count":35,"items":[{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_0","position":[-0.12194625237055323,0.21939777157495444,0.71338606911949],"aabb_xy":[[-0.14385493450990428,0.19749710475486368],[-0.10003757023120217,0.24129843839504514]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.04004100143392131,1.002164191513876,0.71338606911949],"aabb_xy":[[-0.06837071138246154,0.9977034493201589],[-0.011711291485381088,1.006624933707593]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_2","position":[-0.28933800382594654,-1.1612665345854098,0.71338606911949],"aabb_xy":[[-0.35333800711565466,-1.2046014535893272],[-0.22533800053623845,-1.117931615581492]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_3","position":[0.07358004067709101,-1.2863979449247116,0.71338606911949],"aabb_xy":[[-0.00641995791022841,-1.3657135468628723],[0.15358003926441044,-1.2070823429865505]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[0.4006304063671555,-1.8450646976036078,0.71338606911949],"aabb_xy":[[0.3356304078100827,-1.8748172310174902],[0.46563040492422836,-1.815312164189725]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[-0.6490241246362874,0.26286643933329357,0.71338606911949],"aabb_xy":[[-0.6943027395174367,0.19886643998510983],[-0.6037455097551382,0.3268664386814772]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_6","position":[-0.29245424902813916,-1.6707914755963138,0.71338606911949],"aabb_xy":[[-0.30123547617537544,-1.6795712228848445],[-0.283673021880903,-1.662011728307784]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.46725318323736853,-2.2705310136299373,0.71338606911949],"aabb_xy":[[0.44814087587938967,-2.2896657925071793],[0.4863654905953474,-2.2513962347526952]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[0.3677954081365613,1.5503287159160064,0.71338606911949],"aabb_xy":[[0.33076129870850157,1.515951508582297],[0.40482951756462104,1.5847059232497158]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[-0.39884304349091015,0.7130430868821178,0.71338606911949],"aabb_xy":[[-0.4363430441554888,0.6973560288818954],[-0.3613430428263314,0.7287301448823398]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[0.32469281556394924,-1.1006095473369872,0.71338606911949],"aabb_xy":[[0.26971909352761636,-1.1556095469012204],[0.37966653760028213,-1.045609547772754]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.5256790180146587,1.420676036921043,0.71338606911949],"aabb_xy":[[0.49453209917107543,1.3506760382342358],[0.5568259368582417,1.4906760356078501]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[0.4012982201326336,-1.6992336825721401,0.71338606911949],"aabb_xy":[[0.35130320917318164,-1.7492336816077323],[0.45129323109208574,-1.6492336835365489]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_13","position":[-0.4925422681281053,-0.17707160013170853,0.71338606911949],"aabb_xy":[[-0.5565422645236783,-0.24103488855044208],[-0.4285422717325321,-0.11310831171297497]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[-0.4170136447197272,0.45789372141450846,0.71338606911949],"aabb_xy":[[-0.45380827784463346,0.42098784631792613],[-0.3802190115948209,0.4947995965110907]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[-0.41116726874888376,1.4757931448034118,0.71338606911949],"aabb_xy":[[-0.4761672666305316,1.4246694810968712],[-0.346167270867236,1.5269168085099531]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_16","position":[0.5588226754274674,1.66444882378905,0.71338606911949],"aabb_xy":[[0.488822672790881,1.6443439587931843],[0.6288226780640537,1.6845536887849153]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[-0.4619815982861117,-0.6712938311974936,0.71338606911949],"aabb_xy":[[-0.47542812492015496,-0.6847636828505849],[-0.4485350716520683,-0.6578239795444024]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_18","position":[-0.6041058859519558,-1.1107123420022293,0.71338606911949],"aabb_xy":[[-0.6129079412609284,-1.1185236681571582],[-0.595303830642983,-1.1029010158473]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[0.366512583002224,-1.9832007589437417,0.71338606911949],"aabb_xy":[[0.36280932167308505,-1.9869027772524592],[0.37021584433136284,-1.9794987406350237]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[0.5077921259944429,-1.3661273024792886,0.71338606911949],"aabb_xy":[[0.49907815694450836,-1.3886273031384764],[0.5165060950443773,-1.3436273018201]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[0.5019924532628395,0.3573487258326251,0.71338606911949],"aabb_xy":[[0.4978765031507667,0.3532331707997795],[0.506108403374912,0.3614642808654705]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_22","position":[0.038385726105528706,1.7013514566753414,0.71338606911949],"aabb_xy":[[-0.041608097473029515,1.6213514540824998],[0.11837954968408693,1.781351459268183]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.2630922360856848,0.8608274173022652,0.71338606911949],"aabb_xy":[[-0.3530922355040557,0.8274519204580755],[-0.17309223666731394,0.8942029141464549]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[0.6557064844079932,-1.477973138734182,0.71338606911949],"aabb_xy":[[0.6107064829417643,-1.5229729955956628],[0.700706485874222,-1.4329732818727012]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[0.5618005745110142,-0.2831906438291827,0.71338606911949],"aabb_xy":[[0.48180057423740713,-0.3561401916548994],[0.641800574784621,-0.210241096003466]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_26","position":[-0.6234745644660156,-1.8157280206088222,0.71338606911949],"aabb_xy":[[-0.6315179243919707,-1.9007280217041884],[-0.6154312045400604,-1.7307280195134556]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_27","position":[0.5519167030933112,-2.0457883028946533,0.71338606911949],"aabb_xy":[[0.46222962678519564,-2.1357883031491034],[0.6416037794014265,-1.9557883026402023]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_28","position":[0.3271674541347196,0.6652868957706324,0.71338606911949],"aabb_xy":[[0.2631674519143125,0.6209138116453441],[0.39116745635512656,0.7096599798959207]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_29","position":[-0.19322908585520138,-0.6978565351963304,0.71338606911949],"aabb_xy":[[-0.20408069210407698,-0.7087158259239813],[-0.18237747960632578,-0.6869972444686793]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_30","position":[-0.15771354671755644,-1.5175532704775538,0.71338606911949],"aabb_xy":[[-0.20771354615775206,-1.56752119496187],[-0.10771354727736082,-1.4675853459932373]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_31","position":[-0.11888738541435018,1.3002924812180896,0.71338606911949],"aabb_xy":[[-0.1285190216347798,1.2906551684383807],[-0.10925574919392056,1.3099297939977985]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_32","position":[0.5763180507696328,0.5390163305485327,0.71338606911949],"aabb_xy":[[0.512322353374536,0.475016332247824],[0.6403137481647292,0.6030163288492414]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_33","position":[0.6637513294094384,0.021642423393119614,0.71338606911949],"aabb_xy":[[0.6596731715023887,0.017561443144856304],[0.6678294873164881,0.025723403641382925]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_34","position":[-0.052648649044365614,-1.9516691105622854,0.71338606911949],"aabb_xy":[[-0.06552055254530575,-2.0316691109761216],[-0.039776745543425474,-1.8716691101484493]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6519884435681933,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6700.png","name":"6700"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6700.png","name":"6700"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8833.png","name":"8833"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2820.png","name":"2820"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2788.png","name":"2788"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8887.png","name":"8887"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":645.4034795251482,"rotation_z_degrees":33.414838126023824,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017104765555347817,0.018046466017522373,-0.016194528153634948]},{"name":"camera_2","offset_m":[0.01678791547036353,0.00483013242294995,-0.0060792420563439056]},{"name":"camera_3","offset_m":[0.019919514978597976,-0.013242277818858988,0.0035062442447270532]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010179042948274541,0.0011794238890193054,0.0014643947632666178],"end_effector_yaw_offset_degrees":-0.34585851216057906},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0018100939656438284,0.0005505651814602555,0.0017339518660840197],"end_effector_yaw_offset_degrees":0.08446108488663184},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006001808721193035,-0.001530688609526317,0.0002555362800748867],"end_effector_yaw_offset_degrees":0.6967383381794676},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016633863773099825,0.001360026661972956,-0.0006100748674124814],"end_effector_yaw_offset_degrees":0.23485720698604284}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008167232557161454,-0.00045153481178806815],"position_m":[0.2918167232557161,-0.07745153481178807,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004328383967370565,0.004598819638163598],"position_m":[0.23947161603262943,-0.3296011803618364,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004071487223417719,-0.0035048149544868344],"position_m":[0.19282851277658228,0.30419518504551313,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002390683657201763,-0.0007827081253288107],"position_m":[0.33299068365720175,0.08011729187467119,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c4079012835466e206a4c18e48cd59253e9ea5518d4923efada95dae585b53b8","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0082.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6700/tex_ceiling_textures_8887/tex_floor_textures_2788/tex_table_textures_8833/tex_wall_textures_2820","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7475028012197229176,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7475028012197229176,"visual_seed":7475028012197229176,"scene_id":"lab_003","finished_at":"2026-09-04T22:39:50"}
+{"episode_id":"ep_000057","started_at":"2026-09-04T22:39:54","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[0.1570787152915042,-1.8964534782950389,0.71338606911949],"aabb_xy":[[0.09307871458803486,-1.94247186076796],[0.22107871599497358,-1.850435095822118]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_1","position":[0.12628082155055542,-0.9746278876979126,0.71338606911949],"aabb_xy":[[0.03628082481494521,-1.0278113510152072],[0.21628081828616563,-0.9214444243806181]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.5848146497053023,-1.5331397626798748,0.71338606911949],"aabb_xy":[[-0.6488103471003989,-1.5971397609805833],[-0.5208189523102057,-1.469139764379166]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[-0.09594450350763661,0.24229134415775144,0.71338606911949],"aabb_xy":[[-0.10386778374638495,0.21979134391974808],[-0.08802122326888828,0.2647913443957548]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[0.3606219263404611,-2.1966829092565407,0.71338606911949],"aabb_xy":[[0.34717539970641775,-2.210152760909632],[0.3740684529745044,-2.1832130576034494]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[0.5952031770131141,-1.8236166782150085,0.71338606911949],"aabb_xy":[[0.5864011217041413,-1.8314280043699374],[0.6040052323220867,-1.8158053520600792]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_6","position":[-0.30312105643317,0.5693972992942058,0.71338606911949],"aabb_xy":[[-0.3104033728098336,0.47939729568469663],[-0.2958387400565063,0.6593973029037146]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[-0.35462472293733655,-2.2961201619071474,0.71338606911949],"aabb_xy":[[-0.36188597050774396,-2.308907172170657],[-0.34736347536692913,-2.283333151643638]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_8","position":[-0.08841633843781882,0.39472987822825933,0.71338606911949],"aabb_xy":[[-0.1252109715627251,0.357824003131677],[-0.05162170531291255,0.43163575332484155]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_9","position":[0.5977158661077229,-2.4487287307144037,0.71338606911949],"aabb_xy":[[0.5940126047785839,-2.4524307490231205],[0.6014191274368617,-2.445026712405685]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.005261605572188244,-1.623099335899182,0.71338606911949],"aabb_xy":[[-0.028217561688852692,-1.656578449270289],[0.03874077283322918,-1.589620222528075]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[-0.216682831884712,-0.9189893637213635,0.71338606911949],"aabb_xy":[[-0.2644889994984806,-0.9839893664284224],[-0.16887666427094333,-0.8539893610143044]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_12","position":[0.5757191212948722,0.9190389896395534,0.71338606911949],"aabb_xy":[[0.5257191218546765,0.869071065155237],[0.6257191207350677,0.9690069141238696]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.4273035262296992,-1.3630337571720623,0.71338606911949],"aabb_xy":[[-0.4475878289530979,-1.383316382314771],[-0.4070192235063004,-1.3427511320293533]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[-0.13366323096674604,-0.6099225987023218,0.71338606911949],"aabb_xy":[[-0.1574994486073511,-0.6999225995108084],[-0.10982701332614098,-0.5199225978938354]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_15","position":[-0.4423237954594918,-2.0160743206656964,0.71338606911949],"aabb_xy":[[-0.5260460209595743,-2.106074324200392],[-0.35860156995940934,-1.926074317131]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[0.21214463446889809,-2.508992915113132,0.71338606911949],"aabb_xy":[[0.14814463419491986,-2.55905901531042],[0.2761446347428763,-2.458926814915844]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[-0.42552723546741145,-1.6978005126680356,0.71338606911949],"aabb_xy":[[-0.4432028660560097,-1.715480728947438],[-0.40785160487881306,-1.6801202963886326]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_18","position":[-0.15302067243734996,-2.1824120583403817,0.71338606911949],"aabb_xy":[[-0.1867962316280429,-2.1964505535535466],[-0.11924511324665696,-2.1683735631272167]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[-0.47866077473594937,-2.2359837613283235,0.71338606911949],"aabb_xy":[[-0.5286538868451414,-2.285983762002519],[-0.4286676626267576,-2.185983760654128]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[0.12276307826757782,1.0330609049613995,0.71338606911949],"aabb_xy":[[0.09647425394713714,1.0067894713067482],[0.14905190258801845,1.0593323386160507]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_21","position":[0.3287692600566767,-1.2952444606441866,0.71338606911949],"aabb_xy":[[0.31861624450252723,-1.3313140022169268],[0.338922275610826,-1.259174919071446]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_22","position":[0.6700246756270505,-2.3181227410207557,0.71338606911949],"aabb_xy":[[0.6659087255149777,-2.3222382960536008],[0.674140625739123,-2.3140071859879097]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[0.39753400917076154,-2.466289192251868,0.71338606911949],"aabb_xy":[[0.3335340074927642,-2.5148065837311817],[0.4615340108487589,-2.4177718007725533]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[-0.2747033992748467,0.3863024342055619,0.71338606911949],"aabb_xy":[[-0.3387034025645548,0.3429675152016442],[-0.21070339598513857,0.42963735320947943]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[-0.29983849411164115,-1.1408250781956517,0.71338606911949],"aabb_xy":[[-0.3173384943566905,-1.1583248660352183],[-0.2823384938665917,-1.1233252903560846]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_26","position":[-0.1708745368459984,0.17839652280614038,0.71338606911949],"aabb_xy":[[-0.1827466198574995,0.09339652311249003],[-0.15900245383449726,0.26339652249979073]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_27","position":[-0.5432385277767968,0.3120106959237865,0.71338606911949],"aabb_xy":[[-0.5546002624300829,0.30064222951749836],[-0.5318767931235105,0.3233791623300745]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_28","position":[0.15388858709281128,-1.3013855674747556,0.71338606911949],"aabb_xy":[[0.06388858736963708,-1.3244589200099353],[0.24388858681598544,-1.2783122149395756]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_29","position":[-0.47552269371500056,-2.3582216291429057,0.71338606911949],"aabb_xy":[[-0.49802269372514885,-2.3723178487825085],[-0.45302269370485226,-2.344125409503302]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_30","position":[-0.4491332265378941,-0.5211127503538839,0.71338606911949],"aabb_xy":[[-0.47413322608963254,-0.5312552342190187],[-0.4241332269861556,-0.5109702664887492]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_31","position":[-0.11461374077997533,-1.3628173413834175,0.71338606911949],"aabb_xy":[[-0.1746137410313765,-1.4170986664198821],[-0.05461374052857414,-1.3085360163469528]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_32","position":[-0.4961432450891141,-0.22770997768313306,0.71338606911949],"aabb_xy":[[-0.5461261952765932,-0.27770997732569347],[-0.44616029490163467,-0.17770997804057267]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6557541909259086,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2928.png","name":"2928"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2928.png","name":"2928"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5083.png","name":"5083"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4507.png","name":"4507"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4523.png","name":"4523"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3781.png","name":"3781"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":518.1461208512234,"rotation_z_degrees":282.96894455991924,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007159254898422462,0.016234077653199844,-0.007432489068444258]},{"name":"camera_2","offset_m":[-0.0033139877954825314,-0.0012129475001497608,-0.018767422076923737]},{"name":"camera_3","offset_m":[-0.00221292114386,0.01206162459852871,0.017705921387602696]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00024266165804014486,0.0006801780356048741,-0.0018367585460610783],"end_effector_yaw_offset_degrees":0.03078101369684938},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001295001368046277,-0.0014014248752241905,0.0009560264854291986],"end_effector_yaw_offset_degrees":0.2631691779350216},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00015598906762993641,-0.0008000193379020715,-0.0009077280764606909],"end_effector_yaw_offset_degrees":0.6380631242145098},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001748712815716332,-0.001616474871930623,0.0016446002253695875],"end_effector_yaw_offset_degrees":-0.9044589730369745}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004826130448120819,0.002665341392071679],"position_m":[0.2861738695518792,-0.07433465860792832,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021653914976575194,0.0008483737761318822],"position_m":[0.24163460850234247,-0.3333516262238681,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003212068154229115,-0.00351024078590916],"position_m":[0.2001120681542291,0.3041897592140908,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00031526379502240607,0.0015018396740994608],"position_m":[0.3302847362049776,0.08240183967409946,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d92b3b24cec886956feb3c2ba3dc2f2ac5e8c09fec6d28566a5fb124ef4911d","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2928/tex_ceiling_textures_3781/tex_floor_textures_4523/tex_table_textures_5083/tex_wall_textures_4507","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7001434366349428215,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7001434366349428215,"visual_seed":7001434366349428215,"scene_id":"lab_003","finished_at":"2026-09-04T22:43:10"}
+{"episode_id":"ep_000058","started_at":"2026-09-04T22:43:14","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[-0.1876840499126401,0.27317799913092244,0.71338606911949],"aabb_xy":[[-0.24267952773329948,0.21817799769701546],[-0.1326885720919807,0.3281780005648293]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_1","position":[-0.6425048994067585,0.6805261530058031,0.71338606911949],"aabb_xy":[[-0.6770959822608036,0.6155261527207719],[-0.6079138165527131,0.745526153290834]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[-0.5912421633539131,-0.5210713971157275,0.71338606911949],"aabb_xy":[[-0.5991654435926613,-0.5435713973537308],[-0.5833188831151647,-0.4985713968777241]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[-0.23954959648615226,1.41793760409147,0.71338606911949],"aabb_xy":[[-0.28943229336384846,1.3679376048451954],[-0.1896668996084561,1.467937603337745]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.48216776945835066,1.4985315003884678,0.71338606911949],"aabb_xy":[[-0.4996677685927178,1.48865187335088],[-0.46466777032398343,1.5084111274260557]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_5","position":[-0.30042958134563597,0.36549339336379827,0.71338606911949],"aabb_xy":[[-0.3092108084928722,0.3567136460752682],[-0.29164835419839974,0.3742731406523285]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[-0.12363054378901062,-1.1317349437321922,0.71338606911949],"aabb_xy":[[-0.13650244728995076,-1.2117349441460281],[-0.11075864028807049,-1.0517349433183558]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_7","position":[-0.5496047152579276,1.3644559150790316,0.71338606911949],"aabb_xy":[[-0.5671514101740466,1.3269559135147801],[-0.5320580203418087,1.4019559166432827]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[0.010810686169851591,1.1865113407759122,0.71338606911949],"aabb_xy":[[-0.026689315014941203,1.1820931180798515],[0.04831068735464438,1.1909295634719725]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_9","position":[-0.2604432807959776,-0.4175299700070445,0.71338606911949],"aabb_xy":[[-0.27052498787455104,-0.49752996789915915],[-0.2503615737174041,-0.33752997211492985]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_10","position":[-0.10442221722313583,-1.3009762385465364,0.71338606911949],"aabb_xy":[[-0.1175734631944252,-1.325976238303223],[-0.09127097125184647,-1.27597623878985]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[-0.18489378442212634,1.8103023513022607,0.71338606911949],"aabb_xy":[[-0.20478482430246664,1.7976465400175639],[-0.16500274454178612,1.8229581625869575]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_12","position":[0.09737915957679999,-2.279720945571363,0.71338606911949],"aabb_xy":[[0.0795100518223445,-2.2935538535485738],[0.11524826733125548,-2.2658880375941517]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_13","position":[0.5091765515990481,0.2948850415724733,0.71338606911949],"aabb_xy":[[0.4967091934893124,0.28241971693914986],[0.5216439097087837,0.30735036620579687]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[0.5709963206398703,0.9636786673397282,0.71338606911949],"aabb_xy":[[0.5491065730509294,0.8736786700504791],[0.592886068228811,1.0536786646289773]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_15","position":[-0.299392505285935,0.5575727866951166,0.71338606911949],"aabb_xy":[[-0.31850481264391384,0.5384380078178747],[-0.2802801979279561,0.5767075655723587]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_16","position":[-0.23184417543143127,0.5402596016364929,0.71338606911949],"aabb_xy":[[-0.23997186362474449,0.5313459932257852],[-0.22371648723811804,0.5491732100472005]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[-0.6653492415291811,-1.7131352680887224,0.71338606911949],"aabb_xy":[[-0.6762008477780566,-1.7239945588163732],[-0.6544976352803054,-1.7022759773610712]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[0.5883340216723187,-1.4266395105635334,0.71338606911949],"aabb_xy":[[0.5809215661309303,-1.4324907209851614],[0.5957464772137072,-1.4207883001419055]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_19","position":[-0.5533228935074113,-0.8160416705397531,0.71338606911949],"aabb_xy":[[-0.5758228937509267,-0.828246305199525],[-0.5308228932638959,-0.8038370358799811]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.5797633182985509,-0.5691556019140966,0.71338606911949],"aabb_xy":[[0.5642075488882856,-0.5847060351585038],[0.5953190877088161,-0.5536051686696895]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[0.06919174634082881,-1.1426490288562328,0.71338606911949],"aabb_xy":[[0.02788720327709282,-1.2066490284243498],[0.1104962894045648,-1.0786490292881157]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_22","position":[0.683992677057039,0.1259212873342972,0.71338606911949],"aabb_xy":[[0.6594790529600332,0.10165669403226074],[0.7085063011540449,0.15018588063633365]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[0.20641803143132453,1.6160038161565242,0.71338606911949],"aabb_xy":[[0.16891803300792416,1.6028396021886933],[0.24391802985472485,1.6291680301243547]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[-0.46504219835996274,-0.3423661379923115,0.71338606911949],"aabb_xy":[[-0.5450360219385211,-0.42236614058515315],[-0.38504837478140463,-0.26236613539947]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_25","position":[-0.4742838287433342,-2.0948125601495176,0.71338606911949],"aabb_xy":[[-0.4813241386768713,-2.1748125595491894],[-0.4672435188097973,-2.0148125607498466]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[-0.4913972787531936,-0.5285693198178691,0.71338606911949],"aabb_xy":[[-0.5138937001870578,-0.5510693196246166],[-0.46890085731932957,-0.5060693200111217]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_27","position":[-0.228702260337115,-1.4483093502538518,0.71338606911949],"aabb_xy":[[-0.2637022594670706,-1.4540545713295157],[-0.1937022612071593,-1.4425641291781874]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_28","position":[0.025096737858952056,0.7439862526945982,0.71338606911949],"aabb_xy":[[-0.008343437337067551,0.710542626863668],[0.05853691305497165,0.7774298785255281]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6524171791398237,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5276.png","name":"5276"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5276.png","name":"5276"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7527.png","name":"7527"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5284.png","name":"5284"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1900.png","name":"1900"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8296.png","name":"8296"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":586.0149261994621,"rotation_z_degrees":32.257507542945085,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019035588343179474,-0.0036694523094112433,0.017443872617493677]},{"name":"camera_2","offset_m":[0.008861686326878115,-0.009955400116165344,0.0007072129243656765]},{"name":"camera_3","offset_m":[-0.013236241553221553,0.016961690182460857,0.002395189103300336]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00016394256850026968,-2.0547530724537334e-05,-0.0006848757295265138],"end_effector_yaw_offset_degrees":0.12042053403036523},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0019839327870238444,-0.0017615995503007214,-7.228408818074866e-05],"end_effector_yaw_offset_degrees":-0.1865336938300579},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005183013494689085,-0.0004736200560161966,0.0016862427572042656],"end_effector_yaw_offset_degrees":0.847607680881088},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018093780998089967,-9.717251978222613e-05,0.001304602482960198],"end_effector_yaw_offset_degrees":0.4699091805500297}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020055074849728107,-0.002683396328356114],"position_m":[0.2889944925150272,-0.07968339632835611,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004329457525393487,0.0037497348385661195],"position_m":[0.2394705424746065,-0.3304502651614339,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016792258559491747,0.0031932382891409926],"position_m":[0.1952207741440508,0.31089323828914095,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003905272527438125,-0.0036353094572052448],"position_m":[0.3345052725274381,0.07726469054279475,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ba7d8a2dde04cc5552501e6767541c0316677f88c36996084962aaaeb8b7f8b9","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0084.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5276/tex_ceiling_textures_8296/tex_floor_textures_1900/tex_table_textures_7527/tex_wall_textures_5284","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2474292633242345361,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2474292633242345361,"visual_seed":2474292633242345361,"scene_id":"lab_003","finished_at":"2026-09-04T22:46:31"}
+{"episode_id":"ep_000059","started_at":"2026-09-04T22:46:35","dimensions":{"distractor":{"count":34,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.49311098139073384,-1.4818855992327247,0.71338606911949],"aabb_xy":[[-0.5062622273620233,-1.5068855989894117],[-0.4799597354194446,-1.4568855994760384]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[0.61126860511476,0.5830917224443515,0.71338606911949],"aabb_xy":[[0.5641392261129242,0.5190917213999494],[0.6583979841165956,0.6470917234887533]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[0.5245943463227154,-0.4398432524559368,0.71338606911949],"aabb_xy":[[0.5094920448616971,-0.45494477408699846],[0.5396966477837333,-0.4247417308248748]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_3","position":[-0.04273222927574627,-2.053176178653691,0.71338606911949],"aabb_xy":[[-0.05075849990637227,-2.0619276736310437],[-0.03470595864512027,-2.0444246836763385]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[0.4878880503653227,-0.8072399809002133,0.71338606911949],"aabb_xy":[[0.45225889446536294,-0.8428726476570663],[0.5235172062652824,-0.7716073141433604]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_5","position":[0.5374940348229844,0.9956326909973838,0.71338606911949],"aabb_xy":[[0.5321615201683715,0.9903083627521484],[0.5428265494775976,1.0009570192426196]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_6","position":[0.4506233893355891,-0.005586829391551973,0.71338606911949],"aabb_xy":[[0.3906233888277362,-0.06243356307747327],[0.510623389843442,0.05125990429436932]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[0.14058837053041984,-1.745274464151967,0.71338606911949],"aabb_xy":[[0.06058837254963478,-1.7528760051138192],[0.22058836851120486,-1.7376729231901153]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[0.4747254740382214,0.2868297690728232,0.71338606911949],"aabb_xy":[[0.4196002684086306,0.22682976763153603],[0.5298506796678121,0.3468297705141103]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_9","position":[-0.47997747191248763,-1.1064122311718152,0.71338606911949],"aabb_xy":[[-0.5696645482206031,-1.196412231426266],[-0.3902903956043722,-1.0164122309173649]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[-0.6280669689465721,-1.2241845355909533,0.71338606911949],"aabb_xy":[[-0.6360604587418544,-1.2321826675314291],[-0.6200734791512903,-1.216186403650478]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[-0.38316338808635775,1.4996409104285928,0.71338606911949],"aabb_xy":[[-0.3947323688332943,1.4746409103116613],[-0.3715944073394212,1.5246409105455248]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[-0.447363966278435,-0.6410540633535762,0.71338606911949],"aabb_xy":[[-0.4528219119154551,-0.7210540666612353],[-0.441906020641415,-0.5610540600459171]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.666698680992093,1.0166439521976516,0.71338606911949],"aabb_xy":[[0.6166986814157583,0.9666633732455456],[0.7166986805684278,1.0666245311497575]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[-0.4841019733882178,0.7371157916629545,0.71338606911949],"aabb_xy":[[-0.49019660127633613,0.7285463971112859],[-0.4780073455000995,0.7456851862146233]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.06647085944382647,1.6330367962551322,0.71338606911949],"aabb_xy":[[-0.07840359380565454,1.620654643447273],[-0.0545381250819984,1.6454189490629918]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_16","position":[-0.08043063604123724,-2.1708598827649115,0.71338606911949],"aabb_xy":[[-0.09829974379569273,-2.1846927907421225],[-0.06256152828678174,-2.1570269747877004]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_17","position":[-0.14794331239109293,0.016200849806310202,0.71338606911949],"aabb_xy":[[-0.21194331430343527,-0.03971029945170024],[-0.08394331047875059,0.07211199906432064]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_18","position":[-0.5572833039526119,1.4765215483203913,0.71338606911949],"aabb_xy":[[-0.5947833047446074,1.4701537073622009],[-0.5197833031606165,1.4828893892785813]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_19","position":[-0.38228788513546663,-2.4640296031096636,0.71338606911949],"aabb_xy":[[-0.4197878837110874,-2.476765898773221],[-0.34478788655984577,-2.451293307446105]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_20","position":[-0.4498677916985113,0.0644568301044326,0.71338606911949],"aabb_xy":[[-0.4833079668945308,0.031013204273502498],[-0.4164276165024916,0.09790045593536265]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_21","position":[0.5116069918142048,-0.9577894871444648,0.71338606911949],"aabb_xy":[[0.4476112944191082,-1.0217894854451735],[0.5756026892093014,-0.893789488843756]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_22","position":[-0.24618749657171307,0.15535133418652824,0.71338606911949],"aabb_xy":[[-0.2761791593055834,0.1253513348497277],[-0.21619583383784274,0.18535133352332878]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_23","position":[0.4830419691994685,0.7923626946962972,0.71338606911949],"aabb_xy":[[0.43305773349129134,0.7423626958828015],[0.5330262049076457,0.8423626935097926]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_24","position":[-0.17860623963465372,-0.7721293357605985,0.71338606911949],"aabb_xy":[[-0.19615293455077265,-0.8096293373248497],[-0.1610595447185348,-0.7346293341963471]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_25","position":[-0.3976606335868255,-2.3570307196865667,0.71338606911949],"aabb_xy":[[-0.4147627115451937,-2.3741375252178365],[-0.38055855562845736,-2.339923914155297]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_26","position":[-0.555324244658819,0.9766882716853513,0.71338606911949],"aabb_xy":[[-0.5597548740136593,0.9712398999506687],[-0.550893615303979,0.9821366434200339]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_27","position":[-0.45695837331279504,-0.15801329885696802,0.71338606911949],"aabb_xy":[[-0.4650720279861721,-0.1661191153109971],[-0.4488447186394179,-0.14990748240293894]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_28","position":[0.10424382847145486,-1.3578608332696382,0.71338606911949],"aabb_xy":[[0.08756669247835935,-1.3745607572435685],[0.12092096446455036,-1.341160909295708]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_29","position":[0.014970797398864977,-1.8390363073541618,0.71338606911949],"aabb_xy":[[-0.021823835726041296,-1.8759421824507438],[0.05176543052377125,-1.8021304322575793]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_30","position":[0.6427911705289739,-2.3265872281297018,0.71338606911949],"aabb_xy":[[0.5927961595695219,-2.3765872271652935],[0.692786181488426,-2.27658722909411]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_31","position":[-0.3117702254048811,-0.8842209913625545,0.71338606911949],"aabb_xy":[[-0.3757702218322031,-0.931390615184651],[-0.2477702289775593,-0.8370513675404582]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_32","position":[0.39313690466915907,-1.749685406171024,0.71338606911949],"aabb_xy":[[0.3431369060232378,-1.7996049498304865],[0.4431369033150802,-1.6997658625115617]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_33","position":[-0.2802495579789802,-1.8003622438041826,0.71338606911949],"aabb_xy":[[-0.34424955965697757,-1.8488796352834969],[-0.21624955630098286,-1.7518448523248684]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6598721826221419,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7962.png","name":"7962"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7962.png","name":"7962"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1516.png","name":"1516"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5990.png","name":"5990"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/645.png","name":"645"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4314.png","name":"4314"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":688.0124884853433,"rotation_z_degrees":164.733402116634,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0179633768080565,0.002379486056867986,-0.006911282097552238]},{"name":"camera_2","offset_m":[0.010224449328741825,-0.0002424839556229956,0.00581431668933614]},{"name":"camera_3","offset_m":[0.01289773070136888,0.018891170009796215,-0.011762579437705986]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00045884540034665886,-0.0006903365112163652,-0.0008182567539166991],"end_effector_yaw_offset_degrees":-0.358031302131667},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[3.871013260970356e-05,0.0006118294898226581,0.0006219265234377177],"end_effector_yaw_offset_degrees":-0.7051953128846724},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019947096002024406,-0.0005121638382743483,0.0007298722844786211],"end_effector_yaw_offset_degrees":-0.14650014918681276},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005772385487023471,-0.001679639364522287,5.267287598348727e-05],"end_effector_yaw_offset_degrees":0.9577087467629686}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004184852763710177,-0.00021939213207953102],"position_m":[0.29518485276371015,-0.07721939213207953,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003005533010294852,0.0015225515334753355],"position_m":[0.24680553301029484,-0.33267744846652464,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0009304164128119278,0.004708526552541287],"position_m":[0.19596958358718805,0.31240852655254125,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0028847657404997796,-0.0012751781499139468],"position_m":[0.3277152342595002,0.07962482185008606,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"618b7e3401ffa832b1365fc3da52dc5ab0f4a15bf156e096acccbaddfbc6570c","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7962/tex_ceiling_textures_4314/tex_floor_textures_645/tex_table_textures_1516/tex_wall_textures_5990","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4321223825189922239,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4321223825189922239,"visual_seed":4321223825189922239,"scene_id":"lab_003","finished_at":"2026-09-04T22:49:25"}
+{"episode_id":"ep_000060","started_at":"2026-09-04T22:49:29","dimensions":{"distractor":{"count":28,"items":[{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_0","position":[0.42195229761880193,-0.6594310403569339,0.71338606911949],"aabb_xy":[[0.3319522952847829,-0.7369133949420466],[0.511952299952821,-0.5819486857718212]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_1","position":[-0.19905194721653774,-0.17799673371774238,0.71338606911949],"aabb_xy":[[-0.23405194640935598,-0.18896377971540496],[-0.16405194802371945,-0.1670296877200797]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_2","position":[0.018800939060296673,-1.6109762521329167,0.71338606911949],"aabb_xy":[[-0.015661538952791102,-1.6176399293158392],[0.053263417073384445,-1.6043125749499938]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[-0.6426473771097237,1.3354116702463186,0.71338606911949],"aabb_xy":[[-0.6801473774018985,1.331370194845715],[-0.6051473768175488,1.339453145646922]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[0.37800342038949264,-1.8461446603800349,0.71338606911949],"aabb_xy":[[0.3405034197249139,-1.861831718380257],[0.4155034210540713,-1.8304576023798127]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[0.389865087233358,1.3142521281594166,0.71338606911949],"aabb_xy":[[0.38578692932630826,1.3101711479111529],[0.39394324514040774,1.3183331084076795]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_6","position":[-0.23033386332752287,-1.498165402370702,0.71338606911949],"aabb_xy":[[-0.23737531427827047,-1.505192154108497],[-0.22329241237677527,-1.4911386506329076]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.06914049698311919,1.377102212121382,0.71338606911949],"aabb_xy":[[-0.08160785509285484,1.3646368874880588],[-0.056673138873383544,1.3895675367547058]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[-0.6254194337233886,1.7088792220152063,0.71338606911949],"aabb_xy":[[-0.6319210702313932,1.6991113999888967],[-0.618917797215384,1.7186470440415162]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[0.1830500381323511,0.7604710806168802,0.71338606911949],"aabb_xy":[[0.12805003993060626,0.7199491139904425],[0.23805003633409594,0.8009930472433177]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.26598830501985943,-0.9663555518584126,0.71338606911949],"aabb_xy":[[-0.30283885295684704,-1.0038555526814463],[-0.22913775708287182,-0.9288555510353789]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_11","position":[0.660863481915481,1.7560496473489873,0.71338606911949],"aabb_xy":[[0.6453077125052158,1.7404992141045803],[0.6764192513257463,1.7716000805933947]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[-0.5798710887789623,-0.2894530012064953,0.71338606911949],"aabb_xy":[[-0.5942055139051258,-0.30151321676103415],[-0.5655366636527989,-0.27739278565195646]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_13","position":[0.03684540484740029,-1.8822257983958703,0.71338606911949],"aabb_xy":[[-0.004459138216335701,-1.9462257979639872],[0.07814994791113627,-1.818225798827753]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_14","position":[-0.051892789680097695,-1.3104674992396284,0.71338606911949],"aabb_xy":[[-0.09706410752826669,-1.374467496384167],[-0.006721471831928729,-1.2464675020950902]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[0.7164479846521195,-1.7240141646265401,0.71338606911949],"aabb_xy":[[0.7084544948568374,-1.7320122965670157],[0.7244414744474015,-1.7160160326860645]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[0.4520704538071876,0.19450366971092148,0.71338606911949],"aabb_xy":[[0.38807045652153893,0.15299695075807754],[0.5160704510928362,0.23601038866376547]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_17","position":[0.5357908242399045,-1.156224915874235,0.71338606911949],"aabb_xy":[[0.44579082773903284,-1.202136558292693],[0.6257908207407763,-1.1103132734557766]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[0.09840475905509116,1.5769058706967445,0.71338606911949],"aabb_xy":[[0.02840475566352919,1.5415900969933134],[0.16840476244665314,1.6122216444001751]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[0.6248391684846417,0.4384437264458647,0.71338606911949],"aabb_xy":[[0.6003255443876359,0.41417913314382826],[0.6493527925816476,0.46270831974790116]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_20","position":[0.4517260689433733,0.798875530545252,0.71338606911949],"aabb_xy":[[0.43985398593187225,0.7138755308516017],[0.46359815195487447,0.8838755302389024]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_21","position":[-0.33305894753049103,-0.3204027740972002,0.71338606911949],"aabb_xy":[[-0.35194333129900124,-0.339288698877553],[-0.31417456376198083,-0.3015168493168474]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_22","position":[-0.18127141327608942,-1.1038077254044856,0.71338606911949],"aabb_xy":[[-0.23124470727934984,-1.1538077259590327],[-0.13129811927282894,-1.053807724849938]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_23","position":[-0.4938915662563899,-1.0808883611977145,0.71338606911949],"aabb_xy":[[-0.5157813138453305,-1.1708883584869634],[-0.47200181866744906,-0.9908883639084652]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_24","position":[-0.32308046730177026,-1.6859209707370697,0.71338606911949],"aabb_xy":[[-0.3429715071821105,-1.698576782021767],[-0.30318942742143,-1.6732651594523733]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_25","position":[-0.1092280642675364,-2.5343504069284855,0.71338606911949],"aabb_xy":[[-0.11564187791072131,-2.5407602271761536],[-0.10281425062435143,-2.5279405866808164]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_26","position":[-0.2409577004422503,-1.3816096797275277,0.71338606911949],"aabb_xy":[[-0.2959576996188398,-1.4365993545024853],[-0.1859577012656608,-1.32662000495257]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_27","position":[0.5936071857263259,0.77467534332999,0.71338606911949],"aabb_xy":[[0.558607185830307,0.76630110781805],[0.6286071856223447,0.7830495788419299]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6576484019692171,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3067.png","name":"3067"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3067.png","name":"3067"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8225.png","name":"8225"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/197.png","name":"197"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5271.png","name":"5271"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5640.png","name":"5640"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":557.0546937057949,"rotation_z_degrees":158.699360792909,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014043820173115566,0.016509463475911628,-0.002666616186809842]},{"name":"camera_2","offset_m":[0.014371431624302326,0.01267039087144307,0.011221829273053395]},{"name":"camera_3","offset_m":[0.013812653610887831,0.004393804937063383,0.013633355259891514]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-2.1851643812225135e-05,0.0013216855868738372,0.0008051218362732579],"end_effector_yaw_offset_degrees":0.11634564492432276},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0003661192230650294,0.0014631936230337377,-0.0007770158740872785],"end_effector_yaw_offset_degrees":0.868289983325572},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005336963589020177,-0.0010543375643464435,-0.0011426780125695572],"end_effector_yaw_offset_degrees":0.9546446616068087},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011889189917225465,0.0012630529594238262,0.0017222877429332053],"end_effector_yaw_offset_degrees":-0.8598055790427597}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004521930912737002,2.611081705991905e-05],"position_m":[0.295521930912737,-0.07697388918294008,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006747114077737364,0.0019417986656955332],"position_m":[0.24447471140777371,-0.33225820133430445,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001296510938033425,-0.004882185635279827],"position_m":[0.19560348906196656,0.30281781436472016,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001138900814216599,-0.004355336120619897],"position_m":[0.3294610991857834,0.07654466387938011,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2737be783437d35b28e89a75c019db07ebe2b579b026dde80a93bb07482b6c73","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0086.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3067/tex_ceiling_textures_5640/tex_floor_textures_5271/tex_table_textures_8225/tex_wall_textures_197","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":665366401931490760,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":665366401931490760,"visual_seed":665366401931490760,"scene_id":"lab_003","finished_at":"2026-09-04T22:52:52"}
+{"episode_id":"ep_000061","started_at":"2026-09-04T22:52:56","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[-0.3303340346062617,0.9515255478583646,0.71338606911949],"aabb_xy":[[-0.3803340332521829,0.9016060041989021],[-0.2803340359603405,1.001445091517827]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[0.3598921882666697,0.42569493535340186,0.71338606911949],"aabb_xy":[[0.3535800887303312,0.4199279961001831],[0.36620428780300807,0.4314618746066207]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_2","position":[0.05995696257951999,0.9440390101075833,0.71338606911949],"aabb_xy":[[-0.0050430374547827325,0.897338333427256],[0.12495696261382272,0.9907396867879106]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[-0.06599425016010185,1.7104320706416911,0.71338606911949],"aabb_xy":[[-0.1034942505083296,1.6986406750606078],[-0.02849424981187408,1.722223466222775]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_4","position":[-0.44320508917655627,-2.2548142465140337,0.71338606911949],"aabb_xy":[[-0.4566516158105996,-2.268284098167125],[-0.42975856254251293,-2.2413443948609424]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_5","position":[-0.3953694099442988,-0.6829960943635756,0.71338606911949],"aabb_xy":[[-0.4593694122871004,-0.7279369456077079],[-0.33136940760149725,-0.638055243119443]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[0.6219255130817338,1.4605254085387558,0.71338606911949],"aabb_xy":[[0.5862963571817741,1.4248927417819028],[0.6575546689816936,1.4961580752956087]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_7","position":[0.5170990641890276,-2.575280730830993,0.71338606911949],"aabb_xy":[[0.5088845190733435,-2.5839573211286333],[0.5253136093047115,-2.5666041405333506]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_8","position":[0.5585413946065623,-2.0315149588487436,0.71338606911949],"aabb_xy":[[0.5340277705095564,-2.05577955215078],[0.5830550187035681,-2.007250365546707]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[-0.5936844749643826,-1.3242386307419662,0.71338606911949],"aabb_xy":[[-0.6576844713599558,-1.3882019191606996],[-0.5296844785688096,-1.2602753423232325]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[-0.5865536612069251,0.4587544142191793,0.71338606911949],"aabb_xy":[[-0.5904675344023476,0.4500053988126226],[-0.5826397880115026,0.4675034296257361]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[0.63304359616337,-0.21929711366421678,0.71338606911949],"aabb_xy":[[0.6078227593035302,-0.2445208645171035],[0.6582644330232096,-0.19407336281133]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_12","position":[-0.31187528111307405,-1.2482326030405047,0.71338606911949],"aabb_xy":[[-0.3668684924502108,-1.3032326033792982],[-0.2568820697759373,-1.193232602701711]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_13","position":[-0.5264227416256353,-0.9324000920547342,0.71338606911949],"aabb_xy":[[-0.5864227414722021,-0.9892187142477729],[-0.4664227417790685,-0.8755814698616955]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[-0.46177703348975085,-1.608059142080596,0.71338606911949],"aabb_xy":[[-0.49423873437167826,-1.6381919741954984],[-0.42931533260782334,-1.5779263099656933]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[0.28622142763967107,1.05534656794655,0.71338606911949],"aabb_xy":[[0.2527422603786302,1.0218674545754431],[0.31970059490071207,1.0888256813176571]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.11509983155534642,-2.3048422210863904,0.71338606911949],"aabb_xy":[[0.08009983157885059,-2.3143068371340068],[0.15009983153184225,-2.295377605038774]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_17","position":[-0.57150226700377,-0.2433225580931211,0.71338606911949],"aabb_xy":[[-0.62551786328567,-0.30732256098537825],[-0.51748667072187,-0.1793225552008639]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_18","position":[-0.2659370438703031,-0.16628020410591837,0.71338606911949],"aabb_xy":[[-0.34593704127389646,-0.24627277530410116],[-0.18593704646670964,-0.08628763290773554]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.17534697326730642,-2.185240372091103,0.71338606911949],"aabb_xy":[[-0.1801905680285364,-2.1900920245700872],[-0.17050337850607644,-2.180388719612119]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_20","position":[-0.4377750838304628,-1.8155049699739358,0.71338606911949],"aabb_xy":[[-0.4450188498767081,-1.8955049681775382],[-0.43053131778421744,-1.7355049717703335]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.660276185819382,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8871.png","name":"8871"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8871.png","name":"8871"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/20.png","name":"20"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4641.png","name":"4641"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3875.png","name":"3875"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5058.png","name":"5058"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":714.8213196742656,"rotation_z_degrees":94.49859841265848,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0026750763695104485,0.013466918381988716,0.011144984813313656]},{"name":"camera_2","offset_m":[-0.0018512197358711811,-0.010969699395489757,-0.0020066637146479507]},{"name":"camera_3","offset_m":[0.013859678247338737,0.003183643985493506,-0.012113661272147391]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013351950697200058,-0.0017756360225221854,0.00131931438659469],"end_effector_yaw_offset_degrees":0.8136960373337945},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001583481558308036,-0.0017604533763484077,-7.743977580202039e-05],"end_effector_yaw_offset_degrees":-0.15289510078215218},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013328548972344288,0.0007815018598737733,0.0010049581831170903],"end_effector_yaw_offset_degrees":0.11945638123805935},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005599579104327928,0.001771547145798036,0.0004764613844986448],"end_effector_yaw_offset_degrees":0.18388880052080814}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005149885818390857,0.00498549258430729],"position_m":[0.2904850114181609,-0.07201450741569271,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0049715549569314425,0.004104483295336231],"position_m":[0.24877155495693143,-0.33009551670466375,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002784035339868294,0.0002872862871123368],"position_m":[0.1941159646601317,0.3079872862871123,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003825623416185655,0.004991649032601128],"position_m":[0.32677437658381436,0.08589164903260113,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eb9075129ad0728ef447e3a78236fbf8fcb70144d9364a402ca0a5db58472455","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0087.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8871/tex_ceiling_textures_5058/tex_floor_textures_3875/tex_table_textures_20/tex_wall_textures_4641","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3742914847800990011,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3742914847800990011,"visual_seed":3742914847800990011,"scene_id":"lab_003","finished_at":"2026-09-04T22:56:08"}
+{"episode_id":"ep_000062","started_at":"2026-09-04T22:56:12","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[-0.5610423236123709,-2.0168198770320864,0.71338606911949],"aabb_xy":[[-0.5684547791537593,-2.0226710874537144],[-0.5536298680709824,-2.0109686666104585]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_1","position":[-0.324711568646379,-0.4077658386554277,0.71338606911949],"aabb_xy":[[-0.3746958043545563,-0.4577658374689233],[-0.27472733293820184,-0.3577658398419321]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[-0.5096383891354132,-1.0740871781408257,0.71338606911949],"aabb_xy":[[-0.5257003165939308,-1.1590871799534173],[-0.49357646167689556,-0.9890871763282337]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.5008947665323387,1.7731555843661426,0.71338606911949],"aabb_xy":[[0.46589476663631973,1.7647813488542026],[0.5358947664283574,1.7815298198780827]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[0.5367062426197347,0.48468972561720713,0.71338606911949],"aabb_xy":[[0.4567062456566955,0.40761408397343357],[0.6167062395827738,0.5617653672609805]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_5","position":[0.3502578996264567,1.386544414847525,0.71338606911949],"aabb_xy":[[0.28525790147053764,1.3602481702976128],[0.41525789778237576,1.4128406593974372]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[-0.49212860276532844,0.7816360959411504,0.71338606911949],"aabb_xy":[[-0.5015460773351912,0.7722199188034313],[-0.48271112819546563,0.7910522730788694]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[0.6242942254812633,-1.0368896669804564,0.71338606911949],"aabb_xy":[[0.5892942255047675,-1.0463542830280732],[0.6592942254577592,-1.02742505093284]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.34655423641281874,-1.2811509193635964,0.71338606911949],"aabb_xy":[[-0.3840542369101769,-1.2851196029117147],[-0.30905423591546044,-1.277182235815478]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_9","position":[-0.28175891890126786,-0.670466804604192,0.71338606911949],"aabb_xy":[[-0.31622126629940955,-0.7049606870020145],[-0.24729657150312598,-0.6359729222063691]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_10","position":[-0.3623512743152138,-2.4119494446112726,0.71338606911949],"aabb_xy":[[-0.4123512755990537,-2.4619282990018942],[-0.3123512730313738,-2.36197059022065]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.3013293254258721,1.6681233507256912,0.71338606911949],"aabb_xy":[[-0.3238293252397745,1.6636487343552102],[-0.2788293256119697,1.6725979670961717]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_12","position":[0.35593499139825324,-0.7343611781606567,0.71338606911949],"aabb_xy":[[0.3059399804388013,-0.7843611771962486],[0.4059300023577054,-0.6843611791250651]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_13","position":[-0.5894464834201237,0.19232115878671951,0.71338606911949],"aabb_xy":[[-0.624446482612942,0.18135411278905686],[-0.5544464842273055,0.20328820478438211]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.14264121873254754,0.43972868907906415,0.71338606911949],"aabb_xy":[[-0.15305277741303122,0.4343829557431656],[-0.1322296600520638,0.4450744224149626]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.45413820097257873,-1.8400995492775518,0.71338606911949],"aabb_xy":[[-0.48410575788240445,-1.8700995495754376],[-0.4241706440627531,-1.810099548979666]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_16","position":[-0.5222013074029317,-0.38295744546058774,0.71338606911949],"aabb_xy":[[-0.6122013071261059,-0.4060307979957675],[-0.43220130767975756,-0.35988409292540785]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.638541074743354,-2.2464046754088476,0.71338606911949],"aabb_xy":[[-0.6466547294167311,-2.254510491862876],[-0.6304274200699769,-2.2382988589548183]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[-0.08725650821522768,-2.430927799669938,0.71338606911949],"aabb_xy":[[-0.10975650773893508,-2.4534237471205578],[-0.06475650869152028,-2.408431852219316]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[0.2000509113590414,-1.528569397978262,0.71338606911949],"aabb_xy":[[0.182550911113992,-1.5460691858178286],[0.21755091160409076,-1.511069610138695]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_20","position":[0.4736613992401628,-1.7599276961972499,0.71338606911949],"aabb_xy":[[0.4096613973278205,-1.8158388454552603],[0.5376614011525052,-1.7040165469392394]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[-0.2757169300278064,1.4468736195244696,0.71338606911949],"aabb_xy":[[-0.2844308990777408,1.4243736188652807],[-0.2670029609778718,1.4693736201836571]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.17761884786535642,1.4037783113441709,0.71338606911949],"aabb_xy":[[-0.20546388464596357,1.3729938126058592],[-0.14977381108474933,1.4345628100824825]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_23","position":[-0.08893487888250495,1.5377218569970244,0.71338606911949],"aabb_xy":[[-0.12643488039813666,1.5264950839808793],[-0.05143487736687323,1.5489486300131694]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[0.382998613716496,0.5193915882372364,0.71338606911949],"aabb_xy":[[0.37053125560676037,0.506926263603913],[0.39546597182623167,0.53185691287056]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_25","position":[-0.6267356665050986,1.501555645167087,0.71338606911949],"aabb_xy":[[-0.6458479738630775,1.482420866289845],[-0.6076233591471197,1.520690424044329]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_26","position":[-0.312851800629018,0.4747654327782853,0.71338606911949],"aabb_xy":[[-0.4028518043059361,0.41333302620118084],[-0.22285179695209978,0.5361978393553896]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_27","position":[0.6464066531228445,-1.1543500761987306,0.71338606911949],"aabb_xy":[[0.6286131461879281,-1.1721498217945283],[0.664200160057761,-1.136550330602933]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_28","position":[0.03063985785156864,-1.0860804091597835,0.71338606911949],"aabb_xy":[[-0.02448534777802213,-1.1460804106010707],[0.0857650634811594,-1.0260804077184964]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_29","position":[-0.2710285530212202,1.368300498181212,0.71338606911949],"aabb_xy":[[-0.2766102246553489,1.3558004983634366],[-0.2654468813870914,1.3808004979989876]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_30","position":[-0.07033025773451562,-1.9627134593945157,0.71338606911949],"aabb_xy":[[-0.15405248323459808,-2.052713462929211],[0.013391967765566823,-1.8727134558598195]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_31","position":[-0.28818509206201953,0.19060616247039697,0.71338606911949],"aabb_xy":[[-0.32250136923663747,0.14060616249721924],[-0.2538688148874016,0.2406061624435747]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6599820982989056,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/350.png","name":"350"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/350.png","name":"350"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/941.png","name":"941"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3673.png","name":"3673"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5676.png","name":"5676"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1644.png","name":"1644"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":782.7548369378937,"rotation_z_degrees":95.49741861887216,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008014408853389691,-0.00022372144242750747,-0.013143892370339576]},{"name":"camera_2","offset_m":[0.012173311387602147,0.0186803415074065,9.872906494374015e-05]},{"name":"camera_3","offset_m":[-0.0182098545753749,-0.01325026433727587,-0.019198647871430947]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001689534197401653,0.0003258542555512711,-0.0017790357662836218],"end_effector_yaw_offset_degrees":0.23717590942355082},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00027394071508571533,0.001517681819666071,0.001821998424298494],"end_effector_yaw_offset_degrees":0.1522494878948597},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004391463915411663,0.0008629292243247017,0.00032361174707190967],"end_effector_yaw_offset_degrees":0.9240516380355739},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010929202289065168,-0.0013000898886116174,-0.0013908740145456623],"end_effector_yaw_offset_degrees":0.696378924378702}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024906105632165523,0.002228980809434864],"position_m":[0.2934906105632165,-0.07477101919056514,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004344188536360069,0.003606777551598624],"position_m":[0.24814418853636006,-0.3305932224484014,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004009346246611682,0.0009253738844421941],"position_m":[0.20090934624661166,0.30862537388444217,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004294540009341054,-0.004876544171339735],"position_m":[0.33489454000934105,0.07602345582866027,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"114742e4c4dc96ecece8e6fed177cbd8dcf6824c9f21760da82498e204d45860","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0088.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_350/tex_ceiling_textures_1644/tex_floor_textures_5676/tex_table_textures_941/tex_wall_textures_3673","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":2869804810283475331,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":2869804810283475331,"visual_seed":2869804810283475331,"scene_id":"lab_003","finished_at":"2026-09-04T22:59:28"}
+{"episode_id":"ep_000063","started_at":"2026-09-04T23:06:23","dimensions":{"distractor":{"count":27,"items":[{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_0","position":[-0.01664761396760528,0.9192167693226199,0.71338606911949],"aabb_xy":[[-0.023929930344268928,0.8292167657131106],[-0.009365297590941618,1.0092167729321284]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[-0.229385609264167,-0.5807496314903067,0.71338606911949],"aabb_xy":[[-0.24701844485769456,-0.5983725775059295],[-0.2117527736706394,-0.5631266854746836]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[-0.09371732356601925,0.45040296996610163,0.71338606911949],"aabb_xy":[[-0.1312173219894196,0.43723875599827106],[-0.05621732514261889,0.4635671839339323]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_3","position":[0.20601956398324617,1.8022932826321179,0.71338606911949],"aabb_xy":[[0.18844126179429932,1.7847187930580126],[0.22359786617219302,1.8198677722062226]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[-0.594177225182045,-1.067151257482207,0.71338606911949],"aabb_xy":[[-0.6187234408047956,-1.0974001540312441],[-0.5696310095592941,-1.03690236093317]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_5","position":[-0.5355371418098644,0.30770925372321134,0.71338606911949],"aabb_xy":[[-0.5698340528276049,0.27341236751326986],[-0.5012402307921238,0.3420061399331526]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[0.007620406279598035,-1.97348298445459,0.71338606911949],"aabb_xy":[[-0.02987959490519476,-1.9779012071506499],[0.045120407464390826,-1.9690647617585288]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_7","position":[-0.3121423957150624,0.30829537714801836,0.71338606911949],"aabb_xy":[[-0.35822748696979384,0.24429537989546327],[-0.2660573044603309,0.3722953744005735]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[0.009130329692140116,-1.2103619582600578,0.71338606911949],"aabb_xy":[[-0.008663177242776321,-1.2281617038558554],[0.026923836627056552,-1.19256221266426]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.5499274444377029,1.566893257013326,0.71338606911949],"aabb_xy":[[0.5187805255941198,1.4968932583265186],[0.581074363281286,1.636893255700133]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[-0.54836629975321,-2.4389125411054127,0.71338606911949],"aabb_xy":[[-0.565912994669329,-2.4764125426696637],[-0.5308196048370911,-2.4014125395411616]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[-0.5447651689253458,-2.0537558985035274,0.71338606911949],"aabb_xy":[[-0.564823580538586,-2.073820985412685],[-0.5247067573121054,-2.03369081159437]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_12","position":[0.642345199743882,-1.7373442677914168,0.71338606911949],"aabb_xy":[[0.5623451983137547,-1.8168614228040263],[0.7223452011740091,-1.6578271127788073]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[-0.06126123965950392,1.4245179644763062,0.71338606911949],"aabb_xy":[[-0.11126124094334387,1.3745391100856839],[-0.01126123837566395,1.474496818866928]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.10452748447986693,0.7700894478808045,0.71338606911949],"aabb_xy":[[0.05452748311897971,0.7201115433053888],[0.15452748584075415,0.8200673524562201]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[-0.3498439557377181,-1.3892891037151573,0.71338606911949],"aabb_xy":[[-0.3547999759225994,-1.4117891039172792],[-0.34488793555283703,-1.366789103513036]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[0.5449538480601293,0.9730674223532212,0.71338606911949],"aabb_xy":[[0.5317229025254478,0.9598400033312217],[0.5581847935948104,0.9862948413752205]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[0.41347280357847827,-1.3558484103908992,0.71338606911949],"aabb_xy":[[0.3931885008550795,-1.3761310355336076],[0.433757106301877,-1.33556578524819]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_18","position":[0.3880518537494886,1.284046300609765,0.71338606911949],"aabb_xy":[[0.34674731068575254,1.220046301041648],[0.4293563968132245,1.3480463001778822]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_19","position":[-0.595752095071072,0.7613279489208313,0.71338606911949],"aabb_xy":[[-0.6457513702395081,0.7113279476448842],[-0.5457528199026358,0.8113279501967785]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[-0.5493444891005457,-1.8698133277927005,0.71338606911949],"aabb_xy":[[-0.5548024347375657,-1.9498133311003596],[-0.5438865434635256,-1.7898133244850414]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[-0.22035905092208513,1.221722072608082,0.71338606911949],"aabb_xy":[[-0.23785905116713452,1.2042222847685151],[-0.20285905067703575,1.2392218604476488]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[0.16573010798670873,-2.4491099878365503,0.71338606911949],"aabb_xy":[[0.09573010459514673,-2.484425761539981],[0.23573011137827068,-2.4137942141331195]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_23","position":[-0.14103356914346632,0.0287632821390833,0.71338606911949],"aabb_xy":[[-0.16231157728693854,-0.03623672018698976],[-0.11975556099999404,0.09376328446515636]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[0.19663435215679437,-2.1130874546561045,0.71338606911949],"aabb_xy":[[0.19059733915612967,-2.119114155725053],[0.20267136515745912,-2.107060753587157]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_25","position":[0.4365547320785004,-0.9104446754027433,0.71338606911949],"aabb_xy":[[0.41405473226459794,-0.9149192917732241],[0.4590547318924027,-0.9059700590322626]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_26","position":[-0.454282531561324,-2.227976395876012,0.71338606911949],"aabb_xy":[[-0.46715443506226406,-2.3079763962898476],[-0.4414106280603838,-2.1479763954621753]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.657854804347817,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9671.png","name":"9671"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9671.png","name":"9671"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/599.png","name":"599"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5368.png","name":"5368"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/111.png","name":"111"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4521.png","name":"4521"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":549.0506140813258,"rotation_z_degrees":231.5944255047042,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012847039999712498,-0.009999466920816404,-0.017802812327961198]},{"name":"camera_2","offset_m":[-0.004568138178643925,0.008525896747433016,-0.008404038838682123]},{"name":"camera_3","offset_m":[-0.01864837797069214,0.004889137407475607,0.015548271808306934]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012673995918434963,-6.712889558630505e-05,-0.00024274053515446954],"end_effector_yaw_offset_degrees":0.08384264150944887},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0007434014967980574,-0.00022501049978516886,-8.035485385584143e-05],"end_effector_yaw_offset_degrees":0.07323027389266157},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001978489720296324,-0.0006664628197504188,0.0001566861779868636],"end_effector_yaw_offset_degrees":0.6329321655459283},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000851038572165337,-0.0010177907653518507,0.001688304524114696],"end_effector_yaw_offset_degrees":0.8128484379829135}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004400729521494663,-0.001048869856094291],"position_m":[0.2865992704785053,-0.07804886985609429,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0018729267382698242,0.003586090670864549],"position_m":[0.24567292673826982,-0.3306139093291354,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030682529746806917,-0.0014210714839453598],"position_m":[0.19996825297468068,0.3062789285160546,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0049662868384014736,-0.002620070449285781],"position_m":[0.3256337131615985,0.07827992955071422,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"20f2536c8b6a87f14862953a4785bc3da8840a0ebeefee1348311d025e1a46e2","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0092.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_9671/tex_ceiling_textures_4521/tex_floor_textures_111/tex_table_textures_599/tex_wall_textures_5368","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7944385142090250068,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7944385142090250068,"visual_seed":7944385142090250068,"scene_id":"lab_003","finished_at":"2026-09-04T23:09:40"}
+{"episode_id":"ep_000064","started_at":"2026-09-04T23:14:18","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_0","position":[0.5727641400963916,-2.5548306127069464,0.71338606911949],"aabb_xy":[[0.5663503264532065,-2.5612404329546146],[0.5791779537395764,-2.5484207924592774]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_1","position":[-0.17500812596301285,1.2848557732401864,0.71338606911949],"aabb_xy":[[-0.1789219991584354,1.2761067578336294],[-0.17109425276759035,1.293604788646743]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[-0.002446580537267984,-1.5517911375266928,0.71338606911949],"aabb_xy":[[-0.08244657769684327,-1.5633387384845099],[0.0775534166223073,-1.5402435365688758]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[0.11816177414315454,-0.9846712062233618,0.71338606911949],"aabb_xy":[[0.03816177673956111,-1.0646637774215444],[0.19816177154674794,-0.9046786350251789]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.6220672923074253,0.9394546927084622,0.71338606911949],"aabb_xy":[[0.558067293720853,0.8924477293089534],[0.6860672908939979,0.9864616561079709]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.22493546071331372,-1.7589167060056417,0.71338606911949],"aabb_xy":[[-0.23680754372481486,-1.843916705699292],[-0.21306337770181263,-1.6739167063119913]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_6","position":[-0.2938280004979027,0.6236442393520569,0.71338606911949],"aabb_xy":[[-0.3638280026293322,0.6008822737263612],[-0.2238279983664731,0.6464062049777525]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[-0.00939790457445766,-2.518605768519269,0.71338606911949],"aabb_xy":[[-0.039882154701487815,-2.568605768300765],[0.021086345552572494,-2.468605768737773]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.137082596906154,0.46788933790124254,0.71338606911949],"aabb_xy":[[-0.17208259688264982,0.4584247218536259],[-0.10208259692965815,0.47735395394885916]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_9","position":[-0.2736611549881549,-0.25437992406484433,0.71338606911949],"aabb_xy":[[-0.3536611582459978,-0.3343764318568283],[-0.1936611517303119,-0.17438341627286036]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[-0.42853736965805944,-0.9899360000295563,0.71338606911949],"aabb_xy":[[-0.4641665255580192,-1.0255686667864092],[-0.3929082137580997,-0.9543033332727033]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[0.48102357331089185,-0.3815144590304542,0.71338606911949],"aabb_xy":[[0.4010235700468787,-0.39507449133936756],[0.561023576574905,-0.3679544267215409]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[-0.04508175680658011,0.8114808147375898,0.71338606911949],"aabb_xy":[[-0.10005547884291299,0.7564808151733567],[0.009891965229752775,0.8664808143018231]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_13","position":[0.27238044541989015,1.6219465148037115,0.71338606911949],"aabb_xy":[[0.2377893625658449,1.5569465145186803],[0.3069715282739353,1.6869465150887424]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[-0.556926994658305,1.2243071373628016,0.71338606911949],"aabb_xy":[[-0.5656249569490203,1.2121821630553269],[-0.5482290323675897,1.2364321116702763]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[-0.3129278066357989,-0.4730604309437889,0.71338606911949],"aabb_xy":[[-0.35417661766571357,-0.5280604304560061],[-0.2716789956058841,-0.41806043143157134]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[0.4532996471756612,-0.5344059669902967,0.71338606911949],"aabb_xy":[[0.389299643885953,-0.5777408859942142],[0.5172996504653692,-0.4910710479863791]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_17","position":[0.22056592874339176,0.8303458179679466,0.71338606911949],"aabb_xy":[[0.14056592827317582,0.8220351103535984],[0.3005659292136077,0.8386565255822952]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[0.18319002818280727,-2.1946003599366586,0.71338606911949],"aabb_xy":[[0.10319003121976808,-2.271676001580432],[0.26319002514584644,-2.117524718292885]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_19","position":[0.0855690487832188,1.5925445410322676,0.71338606911949],"aabb_xy":[[0.0750015691251198,1.581999510919259],[0.09613652844131781,1.6030895711452762]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[-0.43624305317787093,-1.2173807216184396,0.71338606911949],"aabb_xy":[[-0.4962430537738871,-1.2721931941636633],[-0.37624305258185475,-1.1625682490732163]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.43859155303078007,1.6369231372936741,0.71338606911949],"aabb_xy":[[-0.5025915562494179,1.5902000253946658],[-0.37459154981214227,1.6836462491926825]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_22","position":[0.6163601351918033,-1.4337144665370456,0.71338606911949],"aabb_xy":[[0.5263601386909315,-1.4796261089555036],[0.706360131692675,-1.3878028241185871]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6594642968377006,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2066.png","name":"2066"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2066.png","name":"2066"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/86.png","name":"86"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/85.png","name":"85"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2451.png","name":"2451"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5302.png","name":"5302"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":502.36110274741304,"rotation_z_degrees":94.75509986618626,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0059535501811753995,0.013891537419759178,0.009218525806786546]},{"name":"camera_2","offset_m":[-0.012699384082570219,0.002935430669080641,-0.0007135454275853173]},{"name":"camera_3","offset_m":[-0.014210965340693646,-0.012988548879427367,-0.01643542660284861]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011050937374885224,-0.0015846579784268339,-0.0012715514503753177],"end_effector_yaw_offset_degrees":0.3502019581500111},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.000629869821536206,-0.0007370286140000984,-0.000924304804606352],"end_effector_yaw_offset_degrees":-0.6153539356192061},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018151344787332717,-0.00018492959794251008,-0.00023316597213791077],"end_effector_yaw_offset_degrees":-0.2778485744946724},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001812757326885059,-0.0011737010580399388,0.0013907755147331306],"end_effector_yaw_offset_degrees":0.24096852402341384}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004359192002501834,-0.003568651832212448],"position_m":[0.2953591920025018,-0.08056865183221244,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020778957421355273,0.000744547581712468],"position_m":[0.2458778957421355,-0.33345545241828756,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004044214600779121,-0.0009219955119760138],"position_m":[0.2009442146007791,0.30677800448802395,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014071638467038818,-0.004938384709982106],"position_m":[0.33200716384670387,0.0759616152900179,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"22264c0137c5228be97c7d5deb004e6d8f817f3778e2217dc2cfeaf3e9287c06","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0095.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2066/tex_ceiling_textures_5302/tex_floor_textures_2451/tex_table_textures_86/tex_wall_textures_85","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7975508220442037100,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7975508220442037100,"visual_seed":7975508220442037100,"scene_id":"lab_003","finished_at":"2026-09-04T23:17:34"}
+{"episode_id":"ep_000065","started_at":"2026-09-04T23:21:23","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[-0.15159486346610296,0.02005197826841476,0.71338606911949],"aabb_xy":[[-0.20157228033135652,-0.029948023220833783],[-0.10161744660084936,0.0700519797576633]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.2719142472956916,-1.2151784735543274,0.71338606911949],"aabb_xy":[[0.22663563241454227,-1.279178472902511],[0.3171928621768408,-1.1511784742061437]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_2","position":[-0.43297833386599077,-0.7785271240192717,0.71338606911949],"aabb_xy":[[-0.48296128405347,-0.828527123661832],[-0.3829953836785113,-0.7285271243767112]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_3","position":[0.2041775991698096,1.6766158543439498,0.71338606911949],"aabb_xy":[[0.1465471302825387,1.6166158554172387],[0.2618080680570804,1.73661585327066]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.3132592227198929,0.7463384240275666,0.71338606911949],"aabb_xy":[[0.30584676717850445,0.7404872136059386],[0.3206716782612814,0.7521896344491945]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_5","position":[-0.1960120928071119,0.5050859337546938,0.71338606911949],"aabb_xy":[[-0.22123292966695154,0.4798621829018069],[-0.1707912559472722,0.5303096846075803]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[0.13028123219997234,0.9169268952844667,0.71338606911949],"aabb_xy":[[0.06628123508786668,0.8678945254900562],[0.19428122931207806,0.9659592650788774]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_7","position":[0.1315694340762249,-1.9397671050864145,0.71338606911949],"aabb_xy":[[0.1261114884392048,-2.0197671083940736],[0.13702737971324494,-1.8597671017787554]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[-0.35336619805362,1.1290191829807603,0.71338606911949],"aabb_xy":[[-0.4083661962553648,1.0884972163543227],[-0.2983661998518751,1.169541149607198]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[-0.15344512392772336,-2.4946453386568836,0.71338606911949],"aabb_xy":[[-0.20343995685566493,-2.544645337552127],[-0.10345029099978173,-2.44464533976164]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[-0.5934508941400345,1.5943966485592296,0.71338606911949],"aabb_xy":[[-0.5999525306480391,1.5846288265329198],[-0.5869492576320299,1.6041644705855393]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_11","position":[0.4613471646496592,-0.9934419929713623,0.71338606911949],"aabb_xy":[[0.37762493914957673,-1.0834419965060582],[0.5450693901497417,-0.9034419894366663]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[0.6632140432696412,-0.46661413336470403,0.71338606911949],"aabb_xy":[[0.6559317268929773,-0.5566141369742129],[0.6704963596463046,-0.376614129755195]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_13","position":[-0.6567351456482701,1.133396685606459,0.71338606911949],"aabb_xy":[[-0.6675081195696378,1.0983966873874202],[-0.6459621717269023,1.1683966838254982]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_14","position":[-0.37202073687599924,-1.6267321842688127,0.71338606911949],"aabb_xy":[[-0.4360207333033212,-1.6739018080909092],[-0.3080207404486774,-1.5795625604467163]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[0.26920598679885743,0.6307104751061487,0.71338606911949],"aabb_xy":[[0.2541036853378392,0.6156089534750866],[0.2843082882598754,0.6458119967372102]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.29486377736025704,1.4051465110228052,0.71338606911949],"aabb_xy":[[0.28682744265897225,1.3971083917183884],[0.30290011206154194,1.413184630327222]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_17","position":[-0.6328900154878873,-1.3051824944513324,0.71338606911949],"aabb_xy":[[-0.6442517501411733,-1.3165509608576202],[-0.621528280834601,-1.293814028045044]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.5880252334198961,0.35965256313930016,0.71338606911949],"aabb_xy":[[0.5230252355382484,0.3085288994327593],[0.653025231301544,0.4107762268458411]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_19","position":[-0.5537751307611641,-2.1044503462031288,0.71338606911949],"aabb_xy":[[-0.6177751280468128,-2.145957065155973],[-0.4897751334755155,-2.0629436272502852]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[-0.3908774094958874,0.5475426491706283,0.71338606911949],"aabb_xy":[[-0.4133738309297515,0.5250426493638808],[-0.3683809880620233,0.5700426489773757]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_21","position":[-0.29750113223712665,-0.27529748868545534,0.71338606911949],"aabb_xy":[[-0.3150011313714938,-0.28517711572304316],[-0.2800011331027595,-0.2654178616478675]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[0.3446392119762509,-2.274667661015231,0.71338606911949],"aabb_xy":[[0.2646392145726574,-2.354660232213414],[0.42463920937984423,-2.194675089817048]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_23","position":[0.09904402008002611,1.4051018111094984,0.71338606911949],"aabb_xy":[[0.03904401982862492,1.3508204860730335],[0.15904402033142728,1.4593831361459628]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_24","position":[-0.44685598582035335,-0.8981993949872227,0.71338606911949],"aabb_xy":[[-0.4693559858305016,-0.9122956146268258],[-0.424355985810205,-0.8841031753476193]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_25","position":[-0.5557002668022831,-2.4554594037777138,0.71338606911949],"aabb_xy":[[-0.6207002677594103,-2.5074076157114193],[-0.49070026584515597,-2.403511191844008]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_26","position":[0.6384132528909052,-1.6681451319895655,0.71338606911949],"aabb_xy":[[0.5744132555885588,-1.712511558957422],[0.7024132501932516,-1.6237787050217085]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6547188392577752,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/568.png","name":"568"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/568.png","name":"568"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5466.png","name":"5466"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9411.png","name":"9411"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1470.png","name":"1470"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/208.png","name":"208"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":651.2072192018449,"rotation_z_degrees":136.21630771252708,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011926828041359068,-0.007460899814805614,0.012135863235761466]},{"name":"camera_2","offset_m":[0.0037473437571330682,-0.016452344271987093,0.003908631004036843]},{"name":"camera_3","offset_m":[-0.017174908705768273,0.01786150671193314,0.012801218812046083]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016996521110854146,0.0007594167647678091,-0.0010772823772542185],"end_effector_yaw_offset_degrees":0.7496918520066376},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0012903060229596166,0.0012081136782718738,-0.001403642978304212],"end_effector_yaw_offset_degrees":-0.5921833936419327},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013996652098077825,-0.00184934990584251,-0.0014964407982130542],"end_effector_yaw_offset_degrees":0.008584617163872599},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003745854363751042,0.0017571899071039294,-0.00046802913469826905],"end_effector_yaw_offset_degrees":0.7502879588773335}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030003586998188668,-0.004523402453614818],"position_m":[0.29400035869981883,-0.08152340245361482,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004980718727099506,-0.001862736969719305],"position_m":[0.23881928127290047,-0.3360627369697193,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002794123388533205,0.0018962486386869086],"position_m":[0.19410587661146678,0.3095962486386869,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018323262689061539,-0.0006070928739582314],"position_m":[0.3324323262689062,0.08029290712604177,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"38a2cfaabccf7c243805402741d2693db1e575a9d4ac014f1d4678d364bcb46e","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0097.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_568/tex_ceiling_textures_208/tex_floor_textures_1470/tex_table_textures_5466/tex_wall_textures_9411","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":557930661536470237,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":557930661536470237,"visual_seed":557930661536470237,"scene_id":"lab_003","finished_at":"2026-09-04T23:24:49"}
+{"episode_id":"ep_000066","started_at":"2026-09-04T23:32:44","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[-0.23114347285803016,-2.3628067764471528,0.71338606911949],"aabb_xy":[[-0.234846734187169,-2.36650879475587],[-0.22744021152889127,-2.3591047581384346]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_1","position":[0.043137943407273505,1.4204615544259567,0.71338606911949],"aabb_xy":[[0.03682584387093507,1.4146946151727375],[0.04945004294361194,1.4262284936791754]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_2","position":[0.6371755579250644,-1.4596037899092824,0.71338606911949],"aabb_xy":[[0.5821823465879278,-1.5146037902480762],[0.6921687692622013,-1.4046037895704888]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[-0.2397028620212111,-0.927995163979223,0.71338606911949],"aabb_xy":[[-0.27401913919582904,-0.9779951639524006],[-0.20538658484659317,-0.8779951640060452]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_4","position":[-0.15043319113175302,-1.2496138112381163,0.71338606911949],"aabb_xy":[[-0.15454914124382566,-1.2537293662709617],[-0.14631724101968033,-1.2454982562052705]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_5","position":[0.21633733553470214,-1.8344630554562125,0.71338606911949],"aabb_xy":[[0.1804238311097124,-1.8703765636729668],[0.2522508399596918,-1.7985495472394577]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_6","position":[-0.03332338246818589,-2.079653982157831,0.71338606911949],"aabb_xy":[[-0.08332338282875194,-2.1296339693674335],[0.01667661789238017,-2.0296739949482276]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_7","position":[-0.06116194992238877,-1.6173700003533589,0.71338606911949],"aabb_xy":[[-0.0772238773809064,-1.7023700021659507],[-0.04510002246387112,-1.532369998540767]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_8","position":[0.6113571963042821,-1.7762838375861674,0.71338606911949],"aabb_xy":[[0.6016012067951081,-1.7860463716454018],[0.6211131858134559,-1.766521303526933]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_9","position":[-0.2234946853153777,0.9112551421928372,0.71338606911949],"aabb_xy":[[-0.2662613921947979,0.8472551387710349],[-0.1807279784359575,0.9752551456146398]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[0.5961793312613455,1.6398371364792603,0.71338606911949],"aabb_xy":[[0.5844111444666881,1.554837136574039],[0.6079475180560031,1.724837136384482]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_11","position":[0.5293665323690502,-0.5139519449729462,0.71338606911949],"aabb_xy":[[0.5055303147284451,-0.6039519457814327],[0.5532027500096552,-0.4239519441644598]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[0.06412270149199417,0.9991941589228621,0.71338606911949],"aabb_xy":[[0.014129589382802291,0.9491941582486665],[0.11411581360118608,1.0491941595970578]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.48825928153477216,0.11332854505543066,0.71338606911949],"aabb_xy":[[0.39825928294030233,0.09707795874200964],[0.5782592801292422,0.12957913136885169]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[-0.4623450918384454,-0.6114218710326509,0.71338606911949],"aabb_xy":[[-0.5523450941724646,-0.6889042256177634],[-0.3723450895044264,-0.5339395164475381]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_15","position":[0.44398411276011496,0.28162076279245296,0.71338606911949],"aabb_xy":[[0.37998411249964414,0.23661196343952492],[0.5079841130205858,0.3266295621453809]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[-0.19566755057847862,-1.9134212772004635,0.71338606911949],"aabb_xy":[[-0.2596632479735752,-1.977421275501172],[-0.131671853183382,-1.8494212788997546]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[0.12010253063947862,-1.7518718814488734,0.71338606911949],"aabb_xy":[[0.10823044762797752,-1.8368718811425238],[0.13197461365097973,-1.666871881755223]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[0.2859485319538474,-1.0383473232318243,0.71338606911949],"aabb_xy":[[0.24844853128926866,-1.0540343812320463],[0.32344853261842604,-1.022660265231602]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[-0.56384444921958,1.5689893194918132,0.71338606911949],"aabb_xy":[[-0.581344448353947,1.5591096924542251],[-0.5463444500852127,1.5788689465294008]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_20","position":[-0.6556521539390964,-0.803107312857364,0.71338606911949],"aabb_xy":[[-0.6867990727826795,-0.873107311544171],[-0.6245052350955133,-0.7331073141705566]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_21","position":[0.45623413652794254,1.0487425060064055,0.71338606911949],"aabb_xy":[[0.44278760989389915,1.0352726543533142],[0.4696806631619858,1.0622123576594968]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[0.3669067298483517,-1.6263855478264895,0.71338606911949],"aabb_xy":[[0.30290672750555014,-1.671326399070622],[0.4309067321911533,-1.581444696582357]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[-0.4898889337430764,1.227799162956158,0.71338606911949],"aabb_xy":[[-0.5698889317238615,1.220197621994306],[-0.4098889357622914,1.23540070391801]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_24","position":[0.18071352356976267,1.6389879607370328,0.71338606911949],"aabb_xy":[[0.13543490868861344,1.574987961388849],[0.22599213845091196,1.7029879600852162]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6599756326550323,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4089.png","name":"4089"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4089.png","name":"4089"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6344.png","name":"6344"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7222.png","name":"7222"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8460.png","name":"8460"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6175.png","name":"6175"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":644.7821161266321,"rotation_z_degrees":290.30630376618313,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017319529968791658,-0.01583797389649404,-0.002727369791380038]},{"name":"camera_2","offset_m":[0.014718158953233574,-0.016214488531775016,0.002909297482657683]},{"name":"camera_3","offset_m":[0.012411374119815157,0.00557117916615546,-0.002689924547771453]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009435459506682733,-0.0006925465318272184,-0.00017174965745676385],"end_effector_yaw_offset_degrees":0.37383997642507416},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018608157664244374,0.0009275787617348827,0.0001731002206633173],"end_effector_yaw_offset_degrees":-0.6832885531391819},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003874194529691875,0.00041877756311431164,0.0006058604526067305],"end_effector_yaw_offset_degrees":0.9395427272725743},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019179238507863788,0.000992990244053583,-0.00012439772252992938],"end_effector_yaw_offset_degrees":-0.445187971950751}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005048483854850471,0.004197273812207951],"position_m":[0.291504848385485,-0.07280272618779204,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034508805213238946,0.0020809655537444268],"position_m":[0.24725088052132388,-0.33211903444625557,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-8.58932600813541e-05,-0.0044653638997922],"position_m":[0.19681410673991864,0.3032346361002078,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022438379137648314,-0.002053751784438138],"position_m":[0.3328438379137648,0.07884624821556187,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"91f1c9720ee81b3a1fffe9fd75948b87506954dc29b276a4cd81a9b9f4ea07c4","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0100.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_4089/tex_ceiling_textures_6175/tex_floor_textures_8460/tex_table_textures_6344/tex_wall_textures_7222","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6241451400019128051,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6241451400019128051,"visual_seed":6241451400019128051,"scene_id":"lab_003","finished_at":"2026-09-04T23:36:04"}
+{"episode_id":"ep_000067","started_at":"2026-09-04T23:38:26","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_0","position":[-0.5038077915204185,-2.4215373554125876,0.71338606911949],"aabb_xy":[[-0.5678077917943968,-2.4716034556098756],[-0.4398077912464403,-2.3714712552152997]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.015677679453123594,-1.20580014141997,0.71338606911949],"aabb_xy":[[-0.048322317658982095,-1.2548325112143806],[0.07967767656522928,-1.1567677716255593]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[0.15451881626373343,-1.203735107313839,0.71338606911949],"aabb_xy":[[0.12586948390331718,-1.2323806665909143],[0.18316814862414962,-1.1750895480367627]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.480449863002149,1.4697238094974678,0.71338606911949],"aabb_xy":[[0.4601655602787502,1.4494411843547588],[0.5007341657255477,1.4900064346401765]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_4","position":[0.0998831242204512,1.6530995482781026,0.71338606911949],"aabb_xy":[[0.049905707355197636,1.6030995467888536],[0.1498605410857048,1.7030995497673507]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.28528204727862316,-1.988254946976562,0.71338606911949],"aabb_xy":[[0.27471456762052415,-1.9987999770895706],[0.2958495269367222,-1.9777099168635535]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.35463069822993504,-0.8901343449023889,0.71338606911949],"aabb_xy":[[-0.4186307015196431,-0.9334692639063064],[-0.29063069494022686,-0.8467994258984711]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.5019124314236367,-0.7037034411657541,0.71338606911949],"aabb_xy":[[0.4942881633334585,-0.7113366647022978],[0.509536699513815,-0.6960702176292104]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_8","position":[0.4226415533173655,-2.277965501973984,0.71338606911949],"aabb_xy":[[0.38514155252537,-2.284333342932174],[0.4601415541093609,-2.2715976610157935]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[0.1583898325237738,1.1362346614240715,0.71338606911949],"aabb_xy":[[0.13210100820333315,1.10996322776942],[0.18467865684421447,1.1625060950787225]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[-0.5446971705278136,0.23564337771942423,0.71338606911949],"aabb_xy":[[-0.5803263264277733,0.20001071096257128],[-0.5090680146278538,0.2712760444762772]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.10450431053211207,-2.0161301591991667,0.71338606911949],"aabb_xy":[[0.05453124499959659,-2.0661301590116996],[0.15447737606462753,-1.9661301593866338]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.18578699321093295,0.9908946501541687,0.71338606911949],"aabb_xy":[[0.16828705977694958,0.973394650233934],[0.20328692664491632,1.0083946500744032]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[0.16254601433567106,1.382556954192112,0.71338606911949],"aabb_xy":[[0.1561322006924861,1.3761471339444435],[0.16895982797885598,1.3889667744397802]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_14","position":[-0.6177629411204747,-0.5872126825177495,0.71338606911949],"aabb_xy":[[-0.6727629407422205,-0.6421963753052223],[-0.5627629414987289,-0.5322289897302769]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.5704538249460145,0.60286752678185,0.71338606911949],"aabb_xy":[[0.5154615743105037,0.5478675250385372],[0.6254460755815255,0.6578675285251627]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_16","position":[0.37229073505523935,0.5301407431635261,0.71338606911949],"aabb_xy":[[0.31466026616796844,0.4701407442368154],[0.4299212039425101,0.5901407420902366]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.09610520368151398,1.1492262830476148,0.71338606911949],"aabb_xy":[[-0.16010520602431555,1.104285431803482],[-0.032105201338712426,1.194167134291747]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.03810373538440237,1.1684167348602723,0.71338606911949],"aabb_xy":[[0.025501036247325914,1.1558213386354066],[0.05070643452147883,1.1810121310851376]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_19","position":[-0.6006009928619062,1.646129959904345,0.71338606911949],"aabb_xy":[[-0.6176110901519568,1.6299954714060712],[-0.5835908955718555,1.662264448402619]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_20","position":[-0.07776334769999094,-2.0105805018535508,0.71338606911949],"aabb_xy":[[-0.10276334725172942,-2.0207229857186855],[-0.052763348148252454,-2.000438017988416]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_21","position":[-0.6463157804908559,-0.4315741489799425,0.71338606911949],"aabb_xy":[[-0.6746454904393961,-0.43603489117365957],[-0.6179860705423157,-0.42711340678622545]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[0.4205496235142847,-0.8182907171427083,0.71338606911949],"aabb_xy":[[0.37054962407408903,-0.8682586416270245],[0.4705496229544803,-0.7683227926583919]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[0.3643956643712907,-1.7983165938428303,0.71338606911949],"aabb_xy":[[0.29939566581421784,-1.828069127256713],[0.4293956629283635,-1.7685640604289476]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[0.6033835846386097,-0.9387933640656334,0.71338606911949],"aabb_xy":[[0.5902323386673205,-0.96379336382232],[0.6165348306098992,-0.9137933643089469]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_25","position":[-0.261541633154234,-2.5797323879502385,0.71338606911949],"aabb_xy":[[-0.29904163365159225,-2.583701071498357],[-0.22404163265687577,-2.57576370440212]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_26","position":[-0.3082443232806827,0.6632084187317875,0.71338606911949],"aabb_xy":[[-0.3722443235411534,0.6181996193788594],[-0.2442443230202118,0.7082172180847154]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_27","position":[0.6650125708215222,-1.946809931079671,0.71338606911949],"aabb_xy":[[0.6305502234233802,-1.9813038134774934],[0.6994749182196638,-1.912316048681848]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6584605136507959,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7576.png","name":"7576"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7576.png","name":"7576"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8707.png","name":"8707"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7787.png","name":"7787"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3999.png","name":"3999"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7742.png","name":"7742"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":671.7404092996121,"rotation_z_degrees":314.29302036583084,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0038109295758870405,0.001068275463548471,0.017606207401531255]},{"name":"camera_2","offset_m":[0.0026071068770976875,-0.011621541767619861,0.011315016437351864]},{"name":"camera_3","offset_m":[-0.008880889637658691,-0.014546501795914235,0.015161092389015158]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019475605626503546,0.001566647587400684,0.0007455089049556007],"end_effector_yaw_offset_degrees":-0.009842253941440005},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017541097394025843,0.0009164663337582596,0.0016276019838714446],"end_effector_yaw_offset_degrees":-0.6507893972735419},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006477078162703044,0.0008183277458667631,0.0014045415742342296],"end_effector_yaw_offset_degrees":0.8225121941402043},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[9.052063621808621e-06,-0.0017971330836425046,0.0015902504636462066],"end_effector_yaw_offset_degrees":0.26357426415541885}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004275711256874748,0.0034938287103115718],"position_m":[0.2867242887431252,-0.07350617128968842,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005521593094246959,-0.0017395353668879523],"position_m":[0.24324784069057528,-0.335939535366888,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021131657304831798,-0.00345636098338027],"position_m":[0.19478683426951682,0.3042436390166197,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004185541731578756,0.0011519575145188133],"position_m":[0.33478554173157876,0.08205195751451881,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fbfbd64935dc722466db3af4dd7c1f46f9c5aab8465807bcf963971d7d9c2111","episode_index":102,"episode_name":"episode_0102"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0102.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7576/tex_ceiling_textures_7742/tex_floor_textures_3999/tex_table_textures_8707/tex_wall_textures_7787","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1283294833272326476,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1283294833272326476,"visual_seed":1283294833272326476,"scene_id":"lab_003","finished_at":"2026-09-04T23:41:52"}
+{"episode_id":"ep_000068","started_at":"2026-09-04T23:41:55","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_0","position":[-0.6241874215307126,0.4938814126791593,0.71338606911949],"aabb_xy":[[-0.6545855326298561,0.4634745106774897],[-0.5937893104315689,0.5242883146808286]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_1","position":[0.25359862824083157,-0.5889334590834987,0.71338606911949],"aabb_xy":[[0.19859862861908573,-0.6439171518709714],[0.3085986278625774,-0.533949766296026]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_2","position":[-0.2673576019890027,0.580944753861381,0.71338606911949],"aabb_xy":[[-0.2918712260860086,0.5566801605593447],[-0.24284397789199685,0.6052093471634176]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_3","position":[0.5622866735792151,-0.6176804168931136,0.71338606911949],"aabb_xy":[[0.5509249389259289,-0.6290488832994016],[0.5736484082325012,-0.6063119504868254]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[0.5117800949458196,0.1850067260056898,0.71338606911949],"aabb_xy":[[0.5029780396368467,0.1771953998507607],[0.5205821502547922,0.19281805216061884]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_5","position":[-0.3236415495905209,-0.9755896890017695,0.71338606911949],"aabb_xy":[[-0.36114154988269576,-0.9796311644023731],[-0.2861415492983461,-0.9715482136011658]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.42418485651908755,-1.3275318454917344,0.71338606911949],"aabb_xy":[[0.42027098332366497,-1.336280860898291],[0.42809872971451,-1.3187828300851774]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_7","position":[0.6350641137124495,-1.7801622516449602,0.71338606911949],"aabb_xy":[[0.6242125074635738,-1.7910215423726112],[0.645915719961325,-1.7693029609173092]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_8","position":[-0.5319642436209407,-2.143198244153625,0.71338606911949],"aabb_xy":[[-0.5569642435534586,-2.150080912374549],[-0.5069642436884229,-2.1363155759327017]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_9","position":[-0.10580338774093712,1.7855899337594932,0.71338606911949],"aabb_xy":[[-0.1433033884055158,1.769902875759271],[-0.0683033870763584,1.8012769917597153]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[-0.06397548069258618,0.05601119122642295,0.71338606911949],"aabb_xy":[[-0.0758475637040873,-0.028988808467227394],[-0.05210339768108507,0.1410111909200733]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[-0.4077256847881112,1.2558385387094204,0.71338606911949],"aabb_xy":[[-0.4126249770946747,1.2281616194068514],[-0.4028263924815477,1.283515458011989]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[0.6433263562837286,-1.0851440680641706,0.71338606911949],"aabb_xy":[[0.6208615863123234,-1.107644068943031],[0.6657911262551336,-1.06264406718531]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_13","position":[0.5803656765307101,0.6793950785316767,0.71338606911949],"aabb_xy":[[0.5731044289603026,0.6666080682681673],[0.5876269241011175,0.6921820887951863]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_14","position":[-0.0052153160991875724,-2.373688763734002,0.71338606911949],"aabb_xy":[[-0.05521531776068233,-2.423687205989704],[0.044784685562307185,-2.3236903214782987]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_15","position":[0.3274513061976623,1.6811157857080228,0.71338606911949],"aabb_xy":[[0.2822799883494933,1.6171157885634846],[0.37262262404583124,1.7451157828525614]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_16","position":[0.015509034114622677,-1.861071457587085,0.71338606911949],"aabb_xy":[[0.007482763483996681,-1.8698229525644379],[0.023535304745248675,-1.8523199626097326]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.536217346629657,0.8177663592541453,0.71338606911949],"aabb_xy":[[-0.55086075218369,0.803107639597361],[-0.521573941075624,0.8324250789109294]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_18","position":[-0.11679482636827465,1.2559521917134897,0.71338606911949],"aabb_xy":[[-0.16679482738740992,1.219485975975662],[-0.06679482534913937,1.2924184074513179]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[-0.4322335352293332,0.05011830278467988,0.71338606911949],"aabb_xy":[[-0.5022335316392947,0.02968036713299815],[-0.36223353881937126,0.07055623843636159]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_20","position":[0.6243651789344364,1.6856169405492625,0.71338606911949],"aabb_xy":[[0.6189072332974164,1.605616937241603],[0.6298231245714565,1.7656169438569211]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[-0.39369310921445644,-2.3281365184083516,0.71338606911949],"aabb_xy":[[-0.4310243857396991,-2.3627895732032043],[-0.3563618326892139,-2.2934834636134998]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_22","position":[0.23266649663515315,0.6204766114708353,0.71338606911949],"aabb_xy":[[0.1626664945037236,0.5977146458451396],[0.3026664987665827,0.6432385770965309]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_23","position":[0.18148704580584274,-1.987299451307344,0.71338606911949],"aabb_xy":[[0.16120274308244395,-2.0075820764500523],[0.20177134852924147,-1.967016826164635]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[0.3499441615960621,1.0508821704725495,0.71338606911949],"aabb_xy":[[0.3263590381321673,0.9858821682271177],[0.37352928505995703,1.1158821727179813]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_25","position":[-0.3261355491319846,0.28081448839330836,0.71338606911949],"aabb_xy":[[-0.33548255671427984,0.26651086617566433],[-0.3167885415496894,0.2951181106109524]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_26","position":[0.5800963161501551,0.3270257310304201,0.71338606911949],"aabb_xy":[[0.5200963145072334,0.27502558173847597],[0.6400963177930771,0.37902588032236434]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_27","position":[-0.23089631029575353,-0.14837854421053986,0.71338606911949],"aabb_xy":[[-0.23731012393893844,-0.15478836445820818],[-0.22448249665256856,-0.1419687239628715]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.655882891968793,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4423.png","name":"4423"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4423.png","name":"4423"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/226.png","name":"226"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6425.png","name":"6425"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8055.png","name":"8055"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1859.png","name":"1859"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":541.1797669199116,"rotation_z_degrees":283.909018098393,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010513716344702141,0.018100171832829057,-0.003198762508191493]},{"name":"camera_2","offset_m":[-0.0031379591320358294,0.007559941576253535,0.016154701232187655]},{"name":"camera_3","offset_m":[-0.014641121991055512,-0.010037028713210137,-0.010673358921958073]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-9.722401859214901e-05,-0.0005236545953449143,-0.00017318188916974316],"end_effector_yaw_offset_degrees":0.0040439126329894215},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0004482339150409971,-0.0019486207264804354,0.0012490472458109515],"end_effector_yaw_offset_degrees":-0.025092745908481984},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019073341627390307,0.0014002820031752098,0.0018608961736683114],"end_effector_yaw_offset_degrees":0.16392158984142768},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002330715543022643,0.0008939946351550557,0.00010242197517203958],"end_effector_yaw_offset_degrees":-0.9394771753303164}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006394954728209694,-0.0006344957477112823],"position_m":[0.290360504527179,-0.07763449574771128,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012674671448765031,0.002119866188936342],"position_m":[0.2425325328551235,-0.33208013381106366,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002407609395971122,-0.004879247723706177],"position_m":[0.1993076093959711,0.3028207522762938,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0003520693937746535,0.0019225789799930419],"position_m":[0.33095206939377464,0.08282257897999304,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"66184b6e3de2bf5839e1930bbe96e36d2bc9182eaf0c423b503bf267bbc3d8fe","episode_index":103,"episode_name":"episode_0103"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0103.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4423/tex_ceiling_textures_1859/tex_floor_textures_8055/tex_table_textures_226/tex_wall_textures_6425","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6197281105463396280,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6197281105463396280,"visual_seed":6197281105463396280,"scene_id":"lab_003","finished_at":"2026-09-04T23:45:09"}
+{"episode_id":"ep_000069","started_at":"2026-09-04T23:45:13","dimensions":{"distractor":{"count":27,"items":[{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_0","position":[-0.18494653847874587,1.5829990737517998,0.71338606911949],"aabb_xy":[[-0.2649465364595309,1.5753975327899474],[-0.10494654049796083,1.5906006147136513]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_1","position":[-0.1618321554617025,-1.542785842891778,0.71338606911949],"aabb_xy":[[-0.22583215686969316,-1.5945747944157027],[-0.09783215405371183,-1.4909968913678533]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_2","position":[0.6323596573518193,0.014797723876348368,0.71338606911949],"aabb_xy":[[0.6087745338879245,-0.05020227836908342],[0.6559447808157142,0.07979772612178015]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_3","position":[0.023488034354732457,-1.5435922711816978,0.71338606911949],"aabb_xy":[[-0.011511965541286416,-1.5519665066936377],[0.058488034250751324,-1.5352180356697576]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.15435006600766388,1.0108137892356712,0.71338606911949],"aabb_xy":[[0.1168500652156684,1.0044459482774808],[0.1918500667996593,1.0171816301938612]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_5","position":[0.5961444821075159,-1.8477044844223056,0.71338606911949],"aabb_xy":[[0.5321444848051695,-1.8920709113901621],[0.6601444794098623,-1.8033380574544486]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_6","position":[0.49996165816116966,-2.386019522792432,0.71338606911949],"aabb_xy":[[0.4958457080490969,-2.3901350778252772],[0.5040776082732422,-2.381903967759586]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[0.5184355194477941,0.44482972382430264,0.71338606911949],"aabb_xy":[[0.4938893038250433,0.4145808272752656],[0.5429817350705447,0.4750786203733397]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_8","position":[0.19616141264911957,1.2691066970105056,0.71338606911949],"aabb_xy":[[0.14668099143516078,1.205106699097654],[0.24564183386307836,1.3331066949233576]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_9","position":[0.6321273316300988,-0.3000225123267599,0.71338606911949],"aabb_xy":[[0.6248450152534349,-0.3900225159362688],[0.6394096480067623,-0.21002250871725084]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[-0.18908808489929818,-1.8469592571098326,0.71338606911949],"aabb_xy":[[-0.20609818218934883,-1.8630937456081065],[-0.17207798760924753,-1.8308247686115586]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_11","position":[0.670326379149172,1.580498545768259,0.71338606911949],"aabb_xy":[[0.6474106662641221,1.5575942486318357],[0.6932420920342219,1.6034028429046827]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[0.44491623816243897,-0.25103503210988487,0.71338606911949],"aabb_xy":[[0.42748552308343246,-0.2683071467737356],[0.4623469532414455,-0.23376291744603403]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[-0.5149411558685388,1.1240874752796923,0.71338606911949],"aabb_xy":[[-0.5487167150592318,1.1100489800665274],[-0.48116559667784586,1.1381259704928572]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_14","position":[-0.12126048355609875,1.1958393234280007,0.71338606911949],"aabb_xy":[[-0.17125549451555078,1.145839324392409],[-0.07126547259664673,1.2458393224635924]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_15","position":[-0.5373885348708405,-0.1285103726798762,0.71338606911949],"aabb_xy":[[-0.5826671497519896,-0.19251037202805987],[-0.4921099199896911,-0.06451037333169252]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_16","position":[-0.48175952706554287,-1.6332662285929167,0.71338606911949],"aabb_xy":[[-0.5667595257576175,-1.6652520919877953],[-0.3967595283734682,-1.6012803651980376]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.4448674087582558,-0.6550713300076454,0.71338606911949],"aabb_xy":[[0.3970612411444871,-0.7200713327147044],[0.4926735763720244,-0.5900713273005864]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[0.6541480539688931,-0.8514658385315905,0.71338606911949],"aabb_xy":[[0.6131301105825223,-0.901465839162548],[0.6951659973552641,-0.8014658379006333]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_19","position":[0.15943400658169915,1.4929637433102125,0.71338606911949],"aabb_xy":[[0.08943401017173729,1.4725258076585304],[0.22943400299166086,1.5134016789618938]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.3379425063911522,1.4641029336908509,0.71338606911949],"aabb_xy":[[-0.40194250844088414,1.424008450601543],[-0.27394250434142015,1.5041974167801588]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[0.1697237706300615,-0.5492124514825476,0.71338606911949],"aabb_xy":[[0.1616101159566844,-0.5573182679365767],[0.1778374253034386,-0.5411066350285185]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_22","position":[0.4389412339107861,-1.5809836088766587,0.71338606911949],"aabb_xy":[[0.3749412316903791,-1.625356693001947],[0.5029412361311931,-1.5366105247513704]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[-0.4513323296910313,0.24956011745941264,0.71338606911949],"aabb_xy":[[-0.5163323282481042,0.21980758404553],[-0.3863323311339585,0.27931265087329527]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[-0.3908449843623124,-0.4763179654320031,0.71338606911949],"aabb_xy":[[-0.45484498164796106,-0.5178246843848471],[-0.32684498707666376,-0.43481124647915914]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_25","position":[0.2844760691302963,-0.6075994858439817,0.71338606911949],"aabb_xy":[[0.21947607097437727,-0.6338957303938938],[0.3494760672862154,-0.5813032412940694]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_26","position":[0.5937873379696481,-0.5290079567065211,0.71338606911949],"aabb_xy":[[0.5438085294593322,-0.5790079567122399],[0.643766146479964,-0.4790079567008023]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6569491761223938,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7944.png","name":"7944"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7944.png","name":"7944"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3483.png","name":"3483"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5642.png","name":"5642"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/731.png","name":"731"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6259.png","name":"6259"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":839.6359966441652,"rotation_z_degrees":16.714611827865117,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013033405436235917,-0.007484330864525083,0.011955030564629546]},{"name":"camera_2","offset_m":[0.008341997969202316,-0.0062801431942141675,0.014695040198928876]},{"name":"camera_3","offset_m":[-0.00734877383841495,-0.011894833922313018,0.00763843558327873]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007966320415981319,-0.0008020907587966671,-0.0006644580101089006],"end_effector_yaw_offset_degrees":0.9171205246951999},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016002424256452274,-0.0009251525975900786,-0.0006470929444340782],"end_effector_yaw_offset_degrees":0.43919102559259837},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015010286749838992,0.0017622854158360199,-0.0008792591140167061],"end_effector_yaw_offset_degrees":0.09340677602664815},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002555369156076459,-0.000677958602648336,0.000826257212888815],"end_effector_yaw_offset_degrees":0.17787417739279565}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001243647465210329,0.000671969436836106],"position_m":[0.2922436474652103,-0.0763280305631639,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030497680355969347,-0.0029793870831114322],"position_m":[0.24075023196440307,-0.3371793870831114,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027754024887874885,-0.0019159562171334587],"position_m":[0.19967540248878748,0.3057840437828665,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002421064874091993,0.0026160761556287227],"position_m":[0.333021064874092,0.08351607615562873,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5c43df7e8e06d7f691ea9bb0bc2e2dcbbe4c792ef7946808b6f5f4c456cdd1ba","episode_index":104,"episode_name":"episode_0104"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0104.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7944/tex_ceiling_textures_6259/tex_floor_textures_731/tex_table_textures_3483/tex_wall_textures_5642","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3286737444413413725,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3286737444413413725,"visual_seed":3286737444413413725,"scene_id":"lab_003","finished_at":"2026-09-04T23:48:34"}
+{"episode_id":"ep_000070","started_at":"2026-09-04T23:52:31","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[-0.377606182802013,-0.36656211672622785,0.71338606911949],"aabb_xy":[[-0.44260618135908586,-0.39631465014011047],[-0.3126061842449402,-0.33680958331234523]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[-0.5937374172790135,1.14100550749732,0.71338606911949],"aabb_xy":[[-0.6577374145646622,1.099498788544476],[-0.5297374199933649,1.182512226450164]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[0.2577844719572989,1.2364013188733995,0.71338606911949],"aabb_xy":[[0.19378446973689195,1.1920282347481113],[0.321784474177706,1.2807744029986878]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.6039527856510363,0.9919465160764136,0.71338606911949],"aabb_xy":[[-0.6147932638775511,0.9747602347857648],[-0.5931123074245213,1.0091327973670623]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_4","position":[-0.2844055561978336,1.2999394407189273,0.71338606911949],"aabb_xy":[[-0.29253324439114686,1.2910258323082195],[-0.2762778680045204,1.308853049129635]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_5","position":[0.4611080959796816,-1.67065809069851,0.71338606911949],"aabb_xy":[[0.4530717612783967,-1.6786962100029266],[0.4691444306809664,-1.662619971394093]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[0.2547693056914032,-1.9871072644573937,0.71338606911949],"aabb_xy":[[0.2309330880507982,-2.0771072652658806],[0.27860552333200833,-1.8971072636489077]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_7","position":[-0.05564078402450012,-1.4255770345306906,0.71338606911949],"aabb_xy":[[-0.07255151646084189,-1.4390492401233048],[-0.038730051588158336,-1.412104828938076]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_8","position":[-0.5940316431150114,1.7388602087468592,0.71338606911949],"aabb_xy":[[-0.5977349044441503,1.7351581904381415],[-0.5903283817858725,1.742562227055577]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_9","position":[-0.4671016374772953,-0.2352343460352988,0.71338606911949],"aabb_xy":[[-0.47903437183912334,-0.24761649884315817],[-0.4551689031154672,-0.22285219322743943]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_10","position":[-0.16842052045560318,-0.7559059185391408,0.71338606911949],"aabb_xy":[[-0.19838807736542885,-0.7859059188370267],[-0.13845296354577752,-0.7259059182412552]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_11","position":[0.002058123453376526,1.467422647717886,0.71338606911949],"aabb_xy":[[-0.02842612667365363,1.4174226479363898],[0.03254237358040668,1.5174226474993817]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[-0.30454649104671794,-2.376045209666873,0.71338606911949],"aabb_xy":[[-0.31000443668373795,-2.4560452129745323],[-0.2990885454096978,-2.296045206359214]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[-0.44226648822955544,1.2421745688487968,0.71338606911949],"aabb_xy":[[-0.4463446461366052,1.2380935886005335],[-0.4381883303225057,1.2462555490970602]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_14","position":[0.029278755202923668,-2.2086352479084934,0.71338606911949],"aabb_xy":[[-0.03472124505754714,-2.253644047261421],[0.09327875546339447,-2.163626448555565]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_15","position":[-0.4641982512075898,-1.6056601435819973,0.71338606911949],"aabb_xy":[[-0.5016982497832103,-1.618396439245555],[-0.42669825263196887,-1.592923847918439]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[-0.06794574474171733,1.1884969963519345,0.71338606911949],"aabb_xy":[[-0.11794075570116938,1.138496997316343],[-0.017950733782265308,1.2384969953875264]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_17","position":[-0.09145097579099148,-2.2371401930963697,0.71338606911949],"aabb_xy":[[-0.09956463046436857,-2.2452460095503985],[-0.08333732111761437,-2.229034376642341]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[0.5749028109617935,1.2380642518643512,0.71338606911949],"aabb_xy":[[0.4949028138022181,1.226516650906534],[0.6549028081213687,1.249611852822168]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[-0.25818518364444637,-1.9314723724167377,0.71338606911949],"aabb_xy":[[-0.26995337043910395,-2.0164723723219593],[-0.2464169968497889,-1.8464723725115164]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_20","position":[-0.16674123383564476,-1.1621830295920774,0.71338606911949],"aabb_xy":[[-0.17137634898787812,-1.1660503646692257],[-0.16210611868341135,-1.1583156945149282]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[0.09460780341300534,1.2182014450019252,0.71338606911949],"aabb_xy":[[0.057107802748426646,1.2025143870017028],[0.13210780407758405,1.2338885030021471]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[0.6973103564388343,-1.8452609278024599,0.71338606911949],"aabb_xy":[[0.6772519448255941,-1.8653260147116175],[0.7173687680520747,-1.8251958408933027]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6609934986989094,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8734.png","name":"8734"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8734.png","name":"8734"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2809.png","name":"2809"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4812.png","name":"4812"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/841.png","name":"841"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4708.png","name":"4708"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":710.0709837875294,"rotation_z_degrees":179.7240825200063,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01465571239198463,-0.0008101669236660232,-0.013401908661910409]},{"name":"camera_2","offset_m":[0.011122328797676023,0.019257560626348733,-0.009652898802527825]},{"name":"camera_3","offset_m":[-0.0009982032674307716,0.0031347410464051643,-0.011769851935893891]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00018850539416674248,-0.0015732194356115215,-0.0007334870387914879],"end_effector_yaw_offset_degrees":0.798109485775073},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0019584315692095997,0.0002570488652042795,-0.0018731735360619673],"end_effector_yaw_offset_degrees":-0.008261276803933182},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00163919400164268,-0.0006570541145460528,0.0013680446076571214],"end_effector_yaw_offset_degrees":0.5659415918652662},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001782180757122617,-0.0007664323094990935,0.0009457970965866449],"end_effector_yaw_offset_degrees":-0.20631403511009272}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004935395501775624,9.313688935619607e-05],"position_m":[0.2959353955017756,-0.0769068631106438,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008443912764825815,-0.004346555215595023],"position_m":[0.24464439127648258,-0.338546555215595,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00209031768959837,0.004694635069890042],"position_m":[0.19480968231040163,0.31239463506989,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007007624187248193,0.0009247595402669022],"position_m":[0.3298992375812752,0.0818247595402669,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fb257a6b58636158bd1a7b2cadede46e4cc4cba4781d4c3ec96e9fd683443a19","episode_index":106,"episode_name":"episode_0106"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0106.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_8734/tex_ceiling_textures_4708/tex_floor_textures_841/tex_table_textures_2809/tex_wall_textures_4812","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8462486459156932271,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8462486459156932271,"visual_seed":8462486459156932271,"scene_id":"lab_003","finished_at":"2026-09-04T23:55:52"}
+{"episode_id":"ep_000071","started_at":"2026-09-04T23:58:16","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_0","position":[0.5340615904949539,-2.362228297555488,0.71338606911949],"aabb_xy":[[0.48693221149311805,-2.4262282985998893],[0.5811909694967894,-2.2982282965110854]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_1","position":[0.3205528163281923,0.7148951159081598,0.71338606911949],"aabb_xy":[[0.28305281615632033,0.6821943805252526],[0.3580528165000642,0.747595851291067]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_2","position":[0.5558150234429746,0.6361230947078531,0.71338606911949],"aabb_xy":[[0.5497780104423099,0.630096393638905],[0.5618520364436393,0.6421497957768014]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_3","position":[-0.6266157297269948,-1.4970083011176074,0.71338606911949],"aabb_xy":[[-0.6577626485705779,-1.5670082998044144],[-0.5954688108834116,-1.4270083024308]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[0.6654811576422193,1.2804641634569895,0.71338606911949],"aabb_xy":[[0.6153836936611458,1.2164641629471777],[0.715578621623293,1.3444641639668014]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_5","position":[-0.23775019717863544,0.9429824357187173,0.71338606911949],"aabb_xy":[[-0.26774185991250576,0.9129824363819168],[-0.20775853444476508,0.9729824350555178]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[-0.38395951836457604,1.1308879072611568,0.71338606911949],"aabb_xy":[[-0.39740604499861937,1.1174180556080655],[-0.3705129917305327,1.1443577589142482]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[-0.2916972877633054,1.4011098888519555,0.71338606911949],"aabb_xy":[[-0.35569728846677473,1.3550915063790345],[-0.22769728705983605,1.4471282713248765]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.3257850235506595,-2.5004752210187506,0.71338606911949],"aabb_xy":[[-0.4157850232738337,-2.5235485735539296],[-0.23578502382748537,-2.47740186848357]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_9","position":[-0.6270503850343637,-1.992862153960084,0.71338606911949],"aabb_xy":[[-0.6821755906639545,-2.052862155401371],[-0.5719251794047729,-1.9328621525187968]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[-0.21771489184871584,1.69089727164392,0.71338606911949],"aabb_xy":[[-0.22848786577008365,1.655897273424881],[-0.2069419179273481,1.7258972698629589]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.6313561766874396,0.3839987961969662,0.71338606911949],"aabb_xy":[[-0.6393995366133948,0.2989987951015997],[-0.6233128167614844,0.46899879729233257]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_12","position":[-0.6574662848289343,-1.8299230601088532,0.71338606911949],"aabb_xy":[[-0.6666261637728108,-1.8364542781523903],[-0.6483064058850576,-1.8233918420653161]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_13","position":[0.15844685364282785,1.6528807780464159,0.71338606911949],"aabb_xy":[[0.07844685667978868,1.5758051364026422],[0.238446850605867,1.729956419690189]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[0.5946046827925153,0.07088839406798364,0.71338606911949],"aabb_xy":[[0.5306046854901688,0.026521967100126886],[0.6586046800948616,0.1152548210358404]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[-0.12701333875067544,-1.3334565060705965,0.71338606911949],"aabb_xy":[[-0.13185693351190542,-1.3383081585495809],[-0.12216974398944547,-1.3286048535916126]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_16","position":[0.6219828854586789,-1.5492433912390529,0.71338606911949],"aabb_xy":[[0.5844828856416453,-1.5538816025501947],[0.6594828852757124,-1.544605179927911]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[-0.2763772524822396,1.08049464708798,0.71338606911949],"aabb_xy":[[-0.3263772541437343,1.030496204832277],[-0.2263772508207448,1.1304930893436824]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_18","position":[-0.027877676938648732,-0.612545337602808,0.71338606911949],"aabb_xy":[[-0.035290132480037206,-0.6183965480244359],[-0.020465221397260255,-0.60669412718118]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_19","position":[0.1755138272141914,1.1851134190490966,0.71338606911949],"aabb_xy":[[0.14051382808423574,1.1793681979734325],[0.21051382634414706,1.1908586401247607]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_20","position":[0.49091275007431934,-0.5303740724137715,0.71338606911949],"aabb_xy":[[0.42691275364699754,-0.5775436962358681],[0.5549127465016414,-0.4832044485916752]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_21","position":[-0.17222759501332174,-0.7819334051343716,0.71338606911949],"aabb_xy":[[-0.19211863489366202,-0.7945892164190687],[-0.1523365551329815,-0.769277593849675]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[0.5924100224371922,0.19852002390205303,0.71338606911949],"aabb_xy":[[0.5579475444241043,0.19185634671913016],[0.6268725004502799,0.2051837010849758]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6600791815223505,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5153.png","name":"5153"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5153.png","name":"5153"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7604.png","name":"7604"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1642.png","name":"1642"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8271.png","name":"8271"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9731.png","name":"9731"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":539.0816490173456,"rotation_z_degrees":294.9880154461068,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009820440962451804,-0.01581092443632123,-0.006085233430226737]},{"name":"camera_2","offset_m":[-0.01799816569709808,0.01841168220890794,0.010395769941850212]},{"name":"camera_3","offset_m":[0.01977987579331204,0.004150972557892398,0.013885592394605985]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006810164144617215,0.0003212724768470489,0.0014350934262249231],"end_effector_yaw_offset_degrees":-0.07410863556466674},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016628027808636837,-0.0014275588029643584,0.0009407015321372435],"end_effector_yaw_offset_degrees":-0.2950707683358873},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005627564917642875,-0.0015533189780489228,0.0007865276237271246],"end_effector_yaw_offset_degrees":0.017337186534871263},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016832526278093224,0.0005216797191843195,-0.0015846170070273585],"end_effector_yaw_offset_degrees":0.9647301539310096}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0044768091263244995,0.00460254850072916],"position_m":[0.2865231908736755,-0.07239745149927083,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011950331254945443,-0.001966149236943001],"position_m":[0.24499503312549453,-0.336166149236943,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004761897311647755,-0.0022736300888663917],"position_m":[0.20166189731164774,0.3054263699111336,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004592283289719956,0.001554654088243651],"position_m":[0.32600771671028006,0.08245465408824365,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"17fbe3fb1d741e2917c0f7bc1861c06d3c43bdd896c8740d1a8e6ac3224e14bb","episode_index":108,"episode_name":"episode_0108"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0108.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5153/tex_ceiling_textures_9731/tex_floor_textures_8271/tex_table_textures_7604/tex_wall_textures_1642","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6666739151788843117,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6666739151788843117,"visual_seed":6666739151788843117,"scene_id":"lab_003","finished_at":"2026-09-05T00:01:44"}
+{"episode_id":"ep_000072","started_at":"2026-09-05T00:01:48","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[0.6292349693156261,1.559823080574175,0.71338606911949],"aabb_xy":[[0.6029461449951853,1.5335516469195236],[0.6555237936360666,1.586094514228826]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[-0.4351614915577348,-1.5395847910933425,0.71338606911949],"aabb_xy":[[-0.4696238389558766,-1.5740786734911647],[-0.400699144159593,-1.5050909086955193]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_2","position":[0.5635967349769075,0.0944454650017299,0.71338606911949],"aabb_xy":[[0.5135974598084714,0.04444546372578273],[0.6135960101453437,0.14444546627767707]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_3","position":[-0.32803897831876666,0.5574466410791086,0.71338606911949],"aabb_xy":[[-0.36905692170513754,0.5074466404481512],[-0.2870210349323958,0.6074466417100659]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[0.008007468001676732,0.8638591485657625,0.71338606911949],"aabb_xy":[[-0.020641864358739492,0.8352135892886866],[0.036656800362092956,0.8925047078428382]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[-0.22914678881693873,-0.21237620703146076,0.71338606911949],"aabb_xy":[[-0.25369300443968945,-0.24262510358049783],[-0.204600573194188,-0.1821273104824237]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[-0.1593148816525195,1.3292641101283955,0.71338606911949],"aabb_xy":[[-0.24303710715260193,1.2392641065936996],[-0.07559265615243702,1.4192641136630915]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[0.3656176288494104,-0.9763772211914714,0.71338606911949],"aabb_xy":[[0.32431308578567436,-1.0403772207595883],[0.40692217191314634,-0.9123772216233542]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[0.47530009823785413,1.0925404814280664,0.71338606911949],"aabb_xy":[[0.44030009996773417,1.085466353733078],[0.510300096507974,1.0996146091230543]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_9","position":[0.3353945663543989,-1.3388488532443783,0.71338606911949],"aabb_xy":[[0.2978945658570406,-1.3428175367924968],[0.3728945668517571,-1.3348801696962598]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[0.1295831297423321,-1.4554779952255208,0.71338606911949],"aabb_xy":[[0.09458312976583627,-1.4649426112731374],[0.16458312971882794,-1.4460133791779042]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[0.705775274469302,-2.157274643716147,0.71338606911949],"aabb_xy":[[0.6969732191603292,-2.165085969871076],[0.7145773297782746,-2.1494633175612177]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_12","position":[0.09098080624504123,-1.5296002851822164,0.71338606911949],"aabb_xy":[[0.08690264833799151,-1.5336812654304794],[0.09505896415209099,-1.5255193049339528]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[0.2979583622384788,0.711226711092884,0.71338606911949],"aabb_xy":[[0.21295836354640413,0.6792408476980052],[0.3829583609305534,0.7432125744877629]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.17352566532781233,-2.122107818724057,0.71338606911949],"aabb_xy":[[0.08352566299379327,-2.19959017330917],[0.2635256676618314,-2.0446254641389445]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.2488801847170269,-2.285543261743365,0.71338606911949],"aabb_xy":[[0.22436656062002108,-2.3098078550454013],[0.2733938088140328,-2.2612786684413284]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_16","position":[-0.29672382028665517,-1.6909368636448834,0.71338606911949],"aabb_xy":[[-0.34280891154138665,-1.7549368608974385],[-0.2506387290319237,-1.6269368663923283]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_17","position":[0.4421139474437503,0.5743422540469152,0.71338606911949],"aabb_xy":[[0.4361474085030145,0.5683811093875512],[0.44808048638448605,0.5803033987062792]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_18","position":[-0.6031661628091561,-2.0318966530462714,0.71338606911949],"aabb_xy":[[-0.6530488596868523,-2.0818966522925466],[-0.5532834659314599,-1.9818966537999971]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[-0.14075668177570133,-0.9805160149262282,0.71338606911949],"aabb_xy":[[-0.19072997577896175,-1.0305160154807753],[-0.09078338777244085,-0.9305160143716807]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[-0.4385599084669842,1.5000968502375396,0.71338606911949],"aabb_xy":[[-0.45366220992800227,1.4849953286064772],[-0.4234576070059661,1.515198371868601]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[0.39358170131523873,-1.7236563119198576,0.71338606911949],"aabb_xy":[[0.3386079792789059,-1.7786563114840908],[0.44855542335157167,-1.6686563123556244]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[0.3673229563965108,-0.5072495001775477,0.71338606911949],"aabb_xy":[[0.28732295532339047,-0.5170275465149321],[0.44732295746963113,-0.4974714538401632]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_23","position":[0.6618018455101744,0.36217637337153574,0.71338606911949],"aabb_xy":[[0.6244705689849318,0.32752331857668343],[0.699133122035417,0.39682942816638805]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_24","position":[-0.08201554576735881,-1.5905873263935653,0.71338606911949],"aabb_xy":[[-0.08805255876802354,-1.5966140274625136],[-0.07597853276669408,-1.5845606253246174]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[-0.6601965774371659,-0.3487657604917991,0.71338606911949],"aabb_xy":[[-0.6804808801605645,-0.3690483856345079],[-0.639912274713767,-0.32848313534909024]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_26","position":[-0.20889420801362135,0.2612913551764904,0.71338606911949],"aabb_xy":[[-0.2423343832096409,0.22784772934556027],[-0.1754540328176017,0.2947349810074204]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_27","position":[-0.17732477362127919,1.581490546658738,0.71338606911949],"aabb_xy":[[-0.26732477012215095,1.5355789042402792],[-0.08732477712040744,1.6274021890771957]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_28","position":[0.454700653242035,1.5832441510528823,0.71338606911949],"aabb_xy":[[0.38970065536038734,1.5321204873463419],[0.5197006511236829,1.6343678147594236]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_29","position":[-0.33077477064361654,-0.5079939725597153,0.71338606911949],"aabb_xy":[[-0.3536904835286665,-0.530898269696139],[-0.3078590577585667,-0.48508967542329195]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_30","position":[-0.5710492331544428,-0.23178224593797525,0.71338606911949],"aabb_xy":[[-0.5911076447676831,-0.2518473328471328],[-0.5509908215412025,-0.2117171590288177]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.65915199560925,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9776.png","name":"9776"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9776.png","name":"9776"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4270.png","name":"4270"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6929.png","name":"6929"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6722.png","name":"6722"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1533.png","name":"1533"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":840.2785940996553,"rotation_z_degrees":32.912535471012234,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01961747273692184,-0.0029629326480597427,0.005348900265396594]},{"name":"camera_2","offset_m":[-0.009321017157998148,-0.008024476692998621,-0.007084584677008033]},{"name":"camera_3","offset_m":[0.007819465554655226,0.009677873177758433,-0.002911348092157557]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001612746946678087,0.00023033977629062855,0.00015316727559008987],"end_effector_yaw_offset_degrees":-0.2130872159333772},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0007515571102236103,-0.0003405917781268584,0.0009707179550803731],"end_effector_yaw_offset_degrees":0.6113984650651256},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003691333800009823,-0.0005825870765571119,-0.0017735579199203238],"end_effector_yaw_offset_degrees":0.5727813817214082},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001870310578067093,0.000501085922400466,0.00047183700471698474],"end_effector_yaw_offset_degrees":0.42426778171823876}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0034462613770490547,-0.004420890084534064],"position_m":[0.2875537386229509,-0.08142089008453407,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0022328917415493175,0.0016276688321055551],"position_m":[0.2460328917415493,-0.3325723311678944,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0034879072799797817,0.004820166776125173],"position_m":[0.20038790727997977,0.31252016677612515,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016167954586974202,-0.0004000228342722796],"position_m":[0.3322167954586974,0.08049997716572772,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6337ee20c4ef8e498afc5bc0aa48445067fb52bb140349f825e70cbacabe4d0c","episode_index":109,"episode_name":"episode_0109"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0109.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9776/tex_ceiling_textures_1533/tex_floor_textures_6722/tex_table_textures_4270/tex_wall_textures_6929","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8645441298017805773,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8645441298017805773,"visual_seed":8645441298017805773,"scene_id":"lab_003","finished_at":"2026-09-05T00:05:13"}
+{"episode_id":"ep_000073","started_at":"2026-09-05T00:05:17","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[0.5163914187999679,1.358350209716443,0.71338606911949],"aabb_xy":[[0.475373475413597,1.308350209085486],[0.5574093621863387,1.4083502103474006]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_1","position":[0.14933312647230101,1.1873499446994695,0.71338606911949],"aabb_xy":[[0.11283730584502225,1.150866002272712],[0.18582894709957973,1.223833887126227]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_2","position":[-0.057307577411607635,1.1688667356949893,0.71338606911949],"aabb_xy":[[-0.1223075755675267,1.1425704911450771],[0.0076924207443114165,1.1951629802449015]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[0.22043949299486743,-1.3739124914631458,0.71338606911949],"aabb_xy":[[0.20437756553634973,-1.4589124932757374],[0.23650142045338501,-1.2889124896505537]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_4","position":[0.30738380841982194,-0.5228416773246596,0.71338606911949],"aabb_xy":[[0.24338380650747965,-0.5787528265826701],[0.37138381033216433,-0.46693052806664925]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_5","position":[-0.37589150114390557,-0.2507077160819837,0.71338606911949],"aabb_xy":[[-0.43989149757122753,-0.29787733990408016],[-0.3118915047165837,-0.20353809225988728]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.42639275050669645,1.5837479973670452,0.71338606911949],"aabb_xy":[[0.41294622387265306,1.5702781457139539],[0.4398392771407397,1.5972178490201365]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_7","position":[-0.20799598630696414,-0.5250106069640665,0.71338606911949],"aabb_xy":[[-0.2879959884697266,-0.6049657905902102],[-0.12799598414420166,-0.4450554233379229]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[-0.5678711543858546,0.468996333504605,0.71338606911949],"aabb_xy":[[-0.5941599787062951,0.4427248998499537],[-0.5415823300654138,0.4952677671592562]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[0.025802551243073846,-1.7742893718306831,0.71338606911949],"aabb_xy":[[-0.054191272335484375,-1.854289374423525],[0.10579637482163207,-1.6942893692378418]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[-0.214353389571383,-1.9637034942870217,0.71338606911949],"aabb_xy":[[-0.27835338994891656,-2.0134487611378336],[-0.15035338919384936,-1.913958227436209]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[0.09605248016896284,0.8642364482424632,0.71338606911949],"aabb_xy":[[0.05077386528781358,0.8002364488942795],[0.1413310950501121,0.9282364475906468]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[-0.32463759019782734,-1.1476735036522745,0.71338606911949],"aabb_xy":[[-0.3318988377682348,-1.160460513915784],[-0.31737634262742,-1.134886493388765]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[0.6760232588132218,0.8709060603192857,0.71338606911949],"aabb_xy":[[0.6667296405760712,0.8334060618311517],[0.6853168770503724,0.9084060588074195]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[0.5580427323925239,-0.7049042123541822,0.71338606911949],"aabb_xy":[[0.5355427318804832,-0.7273960707195805],[0.5805427329045644,-0.6824123539887837]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_15","position":[0.10761145805822492,-2.0133283993172393,0.71338606911949],"aabb_xy":[[0.08511232233199793,-2.035828400095502],[0.1301105937844519,-1.9908283985389763]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_16","position":[0.4399836169911846,1.7370683083924532,0.71338606911949],"aabb_xy":[[0.3749836160340574,1.6851200964587476],[0.5049836179483118,1.7890165203261588]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_17","position":[-0.3574058042313998,0.1456377641385509,0.71338606911949],"aabb_xy":[[-0.38789005435842994,0.09563776435705496],[-0.3269215541043696,0.19563776392004684]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_18","position":[0.4599622969000061,-2.1478101949870396,0.71338606911949],"aabb_xy":[[0.43744860507654887,-2.217810195588047],[0.48247598872346326,-2.077810194386032]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_19","position":[0.5663767482346249,-0.11733161020421523,0.71338606911949],"aabb_xy":[[0.5113767486128792,-0.17231530299168796],[0.6213767478563709,-0.06234791741674252]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_20","position":[0.23326435878362883,-1.7851185066977688,0.71338606911949],"aabb_xy":[[0.15326435851002188,-1.8580680545234856],[0.3132643590572358,-1.7121689588720521]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_21","position":[-0.42085844668604744,-0.9299674920069796,0.71338606911949],"aabb_xy":[[-0.4708515587952393,-0.9799674926811754],[-0.3708653345768555,-0.8799674913327842]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_22","position":[0.09759359371229048,-2.2148323718025758,0.71338606911949],"aabb_xy":[[0.07938777005104282,-2.225857772384568],[0.11579941737353817,-2.2038069712205846]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_23","position":[0.6934471416891448,0.6490544185574643,0.71338606911949],"aabb_xy":[[0.6809797835794092,0.6365890939241409],[0.7059144997988805,0.6615197431907879]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_24","position":[0.47412371789246177,-0.27870917784877314,0.71338606911949],"aabb_xy":[[0.4191499958561289,-0.3337091774130063],[0.5290974399287947,-0.22370917828453996]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[0.35598237872059824,-0.6950041589329194,0.71338606911949],"aabb_xy":[[0.3465649041507355,-0.7044203360706384],[0.365399853290461,-0.6855879817952003]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_26","position":[-0.5177385586787469,1.3002290255486857,0.71338606911949],"aabb_xy":[[-0.5599229728395777,1.2362290252714745],[-0.4755541445179162,1.364229025825897]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_27","position":[-0.24903123470097643,1.0112455093925332,0.71338606911949],"aabb_xy":[[-0.31403123325804927,0.9814929759786506],[-0.18403123614390363,1.0409980428064158]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6524771248328649,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2710.png","name":"2710"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2710.png","name":"2710"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4869.png","name":"4869"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2939.png","name":"2939"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9913.png","name":"9913"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1648.png","name":"1648"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":729.775890209802,"rotation_z_degrees":320.1778418858699,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013192378132995005,-0.0003333242259223636,-0.014591036461287243]},{"name":"camera_2","offset_m":[0.007247206643725829,-0.00888797541618219,0.019325306578930657]},{"name":"camera_3","offset_m":[0.015515383633058325,0.014690215484754795,0.01226923697137457]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006742466816293145,0.00022357220104924583,0.0003981216348912242],"end_effector_yaw_offset_degrees":0.8162329010324154},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006343333917042009,0.0012876428963861787,0.0010158467575431098],"end_effector_yaw_offset_degrees":-0.3874791261312134},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013611191981498247,0.0010766975768814933,0.0010271455660305542],"end_effector_yaw_offset_degrees":-0.15681948881338004},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001373933987481031,0.0011872090543423005,-0.0019418378345434557],"end_effector_yaw_offset_degrees":0.40609934109777024}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016044873768607136,-0.004478194767219283],"position_m":[0.2893955126231393,-0.08147819476721928,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003537576167292282,0.004982639033723744],"position_m":[0.2402624238327077,-0.32921736096627624,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003984000028674554,0.0037464475575976807],"position_m":[0.19291599997132544,0.31144644755759765,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022864238072164275,-4.639585382252079e-06],"position_m":[0.33288642380721645,0.08089536041461774,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6345f5b9050d55d8f6f6840ac2bffc63bf5b484f2165218a38d850aef5d941cd","episode_index":110,"episode_name":"episode_0110"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0110.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2710/tex_ceiling_textures_1648/tex_floor_textures_9913/tex_table_textures_4869/tex_wall_textures_2939","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7030249426968701233,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7030249426968701233,"visual_seed":7030249426968701233,"scene_id":"lab_003","finished_at":"2026-09-05T00:08:44"}
+{"episode_id":"ep_000074","started_at":"2026-09-05T00:08:48","dimensions":{"distractor":{"count":20,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[0.018313302869171655,-1.7172856662042246,0.71338606911949],"aabb_xy":[[0.0013032055791210029,-1.7334201547024983],[0.03532340015922231,-1.7011511777059505]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.2843454776152461,-1.2512684808463552,0.71338606911949],"aabb_xy":[[0.2661396539539984,-1.262293881428347],[0.30255130127649377,-1.2402430802643638]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[-0.29972019604360145,-1.2709032769202344,0.71338606911949],"aabb_xy":[[-0.38972019546197234,-1.304278773764424],[-0.20972019662523056,-1.2375277800760445]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[-0.2575373594130021,0.11982516047065239,0.71338606911949],"aabb_xy":[[-0.2662513284629365,0.09732515981146415],[-0.24882339036306753,0.1423251611298406]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[-0.5011191022879484,-2.255262942862241,0.71338606911949],"aabb_xy":[[-0.5091130908656517,-2.2632630229573305],[-0.4931251137102449,-2.2472628627671494]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[-0.10193740308951571,-1.7058920778657467,0.71338606911949],"aabb_xy":[[-0.11980651084397119,-1.7197249858429577],[-0.0840682953350602,-1.6920591698885357]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_6","position":[0.03427172979913273,-2.4369282201957954,0.71338606911949],"aabb_xy":[[-0.04572826721511525,-2.4570627718692064],[0.11427172681338071,-2.4167936685223843]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.5324801419383902,-0.5078833974059602,0.71338606911949],"aabb_xy":[[-0.5674801418344091,-0.5162576329179001],[-0.4974801420423714,-0.4995091618940202]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[0.07115184867272906,-2.3378448106372915,0.71338606911949],"aabb_xy":[[0.03411773924466934,-2.3722220179710005],[0.10818595810078876,-2.3034676033035817]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.41142463913189026,-0.18397321090472207,0.71338606911949],"aabb_xy":[[-0.47642464008901747,-0.23592142283842765],[-0.34642463817476304,-0.1320249989710165]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_10","position":[0.4190890699345977,1.2441658452794808,0.71338606911949],"aabb_xy":[[0.3866273690526702,1.2140330131645778],[0.4515507708165251,1.274298677394383]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_11","position":[-0.4767395321969685,-2.1210158865869784,0.71338606911949],"aabb_xy":[[-0.5245456998107371,-2.1860158892940373],[-0.42893336458319975,-2.0560158838799194]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_12","position":[0.18676896634104967,-1.8623578824143867,0.71338606911949],"aabb_xy":[[0.16926896608171307,-1.8764494246031598],[0.20426896660038635,-1.8482663402256145]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[-0.11681211637228583,-0.2926554386832212,0.71338606911949],"aabb_xy":[[-0.17082771265418584,-0.35665544157547835],[-0.06279652009038582,-0.22865543579096403]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_14","position":[-0.5388099783138925,0.9543753410149254,0.71338606911949],"aabb_xy":[[-0.622532203813975,0.8643753374802294],[-0.4550877528138101,1.0443753445496213]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[0.28256674891711364,0.45168743381580123,0.71338606911949],"aabb_xy":[[0.26489111832851525,0.4340072175363984],[0.3002423795057119,0.4693676500952039]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.14179209145894622,-1.5816371026080756,0.71338606911949],"aabb_xy":[[0.10054328042903148,-1.6366371021202928],[0.18304090248886093,-1.5266371030958579]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_17","position":[0.018556127962237712,-2.0843045758480567,0.71338606911949],"aabb_xy":[[0.012054491454233096,-2.094072397874367],[0.02505776447024233,-2.0745367538217474]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.2991756769802971,0.9271183220757968,0.71338606911949],"aabb_xy":[[-0.3568061458675679,0.8671183231490861],[-0.2415452080930262,0.9871183210025073]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_19","position":[0.2273860274079188,0.681465249976263,0.71338606911949],"aabb_xy":[[0.21451412390697863,0.6014652495624269],[0.2402579309088589,0.7614652503900992]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6572267073879067,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4310.png","name":"4310"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4310.png","name":"4310"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9465.png","name":"9465"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/822.png","name":"822"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6186.png","name":"6186"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4233.png","name":"4233"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":521.169650560252,"rotation_z_degrees":283.49892833706394,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007336037642603883,0.00686217864630578,-0.017302710052746098]},{"name":"camera_2","offset_m":[0.008264845929791126,0.007548158457536109,-0.007022919464236499]},{"name":"camera_3","offset_m":[-0.008919121916676693,0.010270861642245693,-0.00368712452875165]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00107516447437785,-0.0009680554556839179,0.001627006544215694],"end_effector_yaw_offset_degrees":0.6024502820282185},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.000550437809494134,-0.000342081965637484,-0.0010814437678790326],"end_effector_yaw_offset_degrees":0.24383968431497993},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-7.016856115775807e-07,-0.000977368728145327,-0.0008656777194353284],"end_effector_yaw_offset_degrees":-0.8512724117501012},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-8.677870825894111e-05,1.1913867860083825e-06,0.0005165724967423264],"end_effector_yaw_offset_degrees":0.11682831631515356}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011125864469034284,-0.002260821176886091],"position_m":[0.28988741355309655,-0.07926082117688608,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010700679364658806,0.0034551688176269668],"position_m":[0.24487006793646587,-0.330744831182373,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012919450040805294,0.002797240701503687],"position_m":[0.19560805499591946,0.31049724070150364,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007390591656037506,0.002698564525200224],"position_m":[0.33133905916560374,0.08359856452520023,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"276e3ecf70582cd61acf2f13f93b15dceba8420842d3fc249a5cd9eb55363a43","episode_index":111,"episode_name":"episode_0111"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0111.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_4310/tex_ceiling_textures_4233/tex_floor_textures_6186/tex_table_textures_9465/tex_wall_textures_822","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8448871322454608855,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8448871322454608855,"visual_seed":8448871322454608855,"scene_id":"lab_003","finished_at":"2026-09-05T00:12:16"}
+{"episode_id":"ep_000075","started_at":"2026-09-05T00:12:20","dimensions":{"distractor":{"count":30,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[-0.2896816954307682,0.6934481585668864,0.71338606911949],"aabb_xy":[[-0.37968169515394234,0.6703748060317064],[-0.199681695707594,0.7165215111020661]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.3236687966934291,-1.076934465235674,0.71338606911949],"aabb_xy":[[0.2596687995813234,-1.1259668350300847],[0.38766879380553476,-1.0279020954412634]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_2","position":[0.6295664370173208,0.08561916418062054,0.71338606911949],"aabb_xy":[[0.60739391004067,0.06344349702449735],[0.6517389639939717,0.1077948313367437]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_3","position":[-0.6039379243026337,0.07501357617322846,0.71338606911949],"aabb_xy":[[-0.6689379228597064,0.045261042759345824],[-0.5389379257455608,0.10476610958711106]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_4","position":[-0.06808593356192649,0.42966046972669636,0.71338606911949],"aabb_xy":[[-0.07536824993859012,0.3396604661171872],[-0.060803617185262816,0.5196604733362051]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_5","position":[0.1298771163924688,-1.9232479599771786,0.71338606911949],"aabb_xy":[[0.059877119982506964,-1.9436858956288598],[0.19987711280243053,-1.9028100243254964]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_6","position":[-0.39628697205510366,-1.1917381019963942,0.71338606911949],"aabb_xy":[[-0.4249363044155198,-1.22038366127347],[-0.3676376396946874,-1.1630925427193184]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.20656573296308212,1.206349704187753,0.71338606911949],"aabb_xy":[[0.16906573177828926,1.2019314814916922],[0.24406573414787486,1.2107679268838132]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[-0.1801476348316664,-1.194461596309175,0.71338606911949],"aabb_xy":[[-0.20643645915210704,-1.220733029963826],[-0.1538588105112257,-1.1681901626545235]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[0.46354674735131796,0.06149495205634681,0.71338606911949],"aabb_xy":[[0.3995467509557449,-0.002468336362386747],[0.527546743746891,0.12545824047508036]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_10","position":[0.027537186224611987,-2.255535464791784,0.71338606911949],"aabb_xy":[[0.022693591463382016,-2.2603871172707684],[0.03238078098584196,-2.2506838123128]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[0.43303815504732746,1.3531665259084922,0.71338606911949],"aabb_xy":[[0.38303815409679465,1.3216173789049706],[0.48303815599786026,1.3847156729120134]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_12","position":[0.4594000357908459,-1.7356200367371937,0.71338606911949],"aabb_xy":[[0.45135667586489076,-1.8206200378325599],[0.4674433957168011,-1.650620035641827]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[-0.06082206597021611,0.7575450549287024,0.71338606911949],"aabb_xy":[[-0.09582206586623498,0.7491708194167626],[-0.025822066074197247,0.7659192904406424]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_14","position":[0.5565690323258974,-2.3097742036188738,0.71338606911949],"aabb_xy":[[0.5065690309650102,-2.359752108194289],[0.6065690336867846,-2.2597962990434577]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_15","position":[0.17399604884772435,0.8912783547202197,0.71338606911949],"aabb_xy":[[0.0843089725396089,0.8012783544657692],[0.2636831251558398,0.9812783549746703]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[0.5263586921697061,-1.9918353268863997,0.71338606911949],"aabb_xy":[[0.4763798836593901,-2.0418353268921186],[0.5763375006800219,-1.941835326880681]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[-0.4950873599364722,0.9955776903593341,0.71338606911949],"aabb_xy":[[-0.5363361709663867,0.9405776908471166],[-0.45383854890655734,1.0505776898715515]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[0.4999109615310915,0.8188054602947195,0.71338606911949],"aabb_xy":[[0.47800227939174034,0.7969047934746286],[0.5218196436704424,0.8407061271148101]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_19","position":[0.259818641234004,0.5473151622999985,0.71338606911949],"aabb_xy":[[0.19981864063798782,0.49250268975477496],[0.3198186418300202,0.6021276348452219]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[-0.22721813728414014,1.0730480222129142,0.71338606911949],"aabb_xy":[[-0.29121813962694165,1.0281071709687815],[-0.16321813494133858,1.1179888734570465]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[0.2624407735203652,-2.1574476226711905,0.71338606911949],"aabb_xy":[[0.17244077492589532,-2.173698208984612],[0.3524407721148352,-2.1411970363577697]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_22","position":[0.5975610770801174,-0.17589821486463553,0.71338606911949],"aabb_xy":[[0.5616475726551278,-0.21181172308139015],[0.633474581505107,-0.1399847066478809]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_23","position":[-0.47356106964336764,1.3247251452945892,0.71338606911949],"aabb_xy":[[-0.491061069888417,1.307225357455022],[-0.45606106939831825,1.3422249331341558]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_24","position":[-0.16928252310821668,0.007683023464013061,0.71338606911949],"aabb_xy":[[-0.2035988002828346,-0.04231697650916466],[-0.13496624593359874,0.057683023437190784]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_25","position":[-0.17240813623502826,0.48070796507714464,0.71338606911949],"aabb_xy":[[-0.18331391232259098,0.4007079686783155],[-0.16150236014746555,0.5607079614759738]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[0.10275899903231023,-0.6664272544132934,0.71338606911949],"aabb_xy":[[0.09534654349092175,-0.6722784648349214],[0.1101714545736987,-0.6605760439916655]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_27","position":[-0.005321358908590534,1.2583504009868913,0.71338606911949],"aabb_xy":[[-0.04282135940594878,1.254381717438773],[0.03217864158876771,1.26231908453501]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_28","position":[-0.03621595462787652,-2.1256304681089655,0.71338606911949],"aabb_xy":[[-0.12621595696189558,-2.2031128226940786],[0.053784047706142535,-2.0481481135238533]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_29","position":[0.5551140689004042,1.6582586543343623,0.71338606911949],"aabb_xy":[[0.5051140678812689,1.6217924385965345],[0.6051140699195394,1.6947248700721904]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6557207501472754,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2585.png","name":"2585"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2585.png","name":"2585"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8201.png","name":"8201"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4870.png","name":"4870"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9834.png","name":"9834"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/359.png","name":"359"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":650.5040661775527,"rotation_z_degrees":197.84300831496702,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01308610887831305,0.0008610062163182212,-0.017256346973925182]},{"name":"camera_2","offset_m":[0.00035152571526369733,-0.010127435737815963,-0.0028063887172153808]},{"name":"camera_3","offset_m":[-0.016294621842283183,-0.01430998898358872,-0.004747560777804005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007693664152973328,-0.0010580105011159145,-0.0013563132020087472],"end_effector_yaw_offset_degrees":-0.4794257856812174},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005154177833093382,0.00130536343423133,-0.0014609130104777765],"end_effector_yaw_offset_degrees":0.7703414721600239},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011630503792252251,-0.0003810332117043357,-0.0019284139023493254],"end_effector_yaw_offset_degrees":0.9955895132320101},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-3.129681238137321e-05,-0.0008516121041236612,0.00011891350050781272],"end_effector_yaw_offset_degrees":-0.04573292384082883}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[4.739080464427094e-05,-1.9241033988303194e-05],"position_m":[0.29104739080464426,-0.0770192410339883,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002657260899260655,8.218778015815949e-05],"position_m":[0.24114273910073933,-0.3341178122198418,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00025054002983052135,0.003680254130056549],"position_m":[0.19664945997016947,0.31138025413005654,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007481167636702955,0.004803568604430591],"position_m":[0.3298518832363297,0.0857035686044306,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"488a404cdf86837d6cb61f6b22aeccc7df8a4bbd7de3a240ab53dc744ced97c5","episode_index":112,"episode_name":"episode_0112"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0112.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2585/tex_ceiling_textures_359/tex_floor_textures_9834/tex_table_textures_8201/tex_wall_textures_4870","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7491641158255217499,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7491641158255217499,"visual_seed":7491641158255217499,"scene_id":"lab_003","finished_at":"2026-09-05T00:15:49"}
+{"episode_id":"ep_000076","started_at":"2026-09-05T00:15:53","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[0.08319678429317001,-0.7166041683162796,0.71338606911949],"aabb_xy":[[0.07928291109774749,-0.7253531837228364],[0.08711065748859254,-0.7078551529097228]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[-0.6255330094635021,-0.3535800485623981,0.71338606911949],"aabb_xy":[[-0.6805252600990132,-0.40858005030571093],[-0.5705407588279913,-0.29858004681908534]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[-0.4750878448502398,1.7126112673993226,0.71338606911949],"aabb_xy":[[-0.5550878422538332,1.6326186962011395],[-0.3950878474466464,1.7926038385975052]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_3","position":[0.6008550217555277,0.19228639261290148,0.71338606911949],"aabb_xy":[[0.5208550195927653,0.11233120898675786],[0.6808550239182902,0.2722415762390451]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_4","position":[0.5355016611395467,1.3623115828510137,0.71338606911949],"aabb_xy":[[0.5005016597880648,1.3419518468941927],[0.5705016624910283,1.3826713188078343]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_5","position":[0.3084205633685788,1.5348207061028858,0.71338606911949],"aabb_xy":[[0.27092056257658337,1.5284528651446954],[0.34592056416057426,1.5411885470610758]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[0.4647087197082529,1.5096053884458764,0.71338606911949],"aabb_xy":[[0.4586717067075883,1.5035786873769286],[0.47074573270891773,1.5156320895148248]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.11643537697848128,-1.1390987338411465,0.71338606911949],"aabb_xy":[[-0.12367914302472659,-1.2190987320447488],[-0.10919161093223594,-1.059098735637544]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_8","position":[0.28036019664943035,1.69386089052573,0.71338606911949],"aabb_xy":[[0.20036019968639113,1.616785248881956],[0.36036019361246946,1.770936532169503]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.01249398210314212,0.8734454655065331,0.71338606911949],"aabb_xy":[[-0.04999398239531694,0.8694039901059295],[0.025006018189032697,0.8774869409071367]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[0.47691186499619675,-0.8890994325853605,0.71338606911949],"aabb_xy":[[0.3969118617383538,-0.9690959403773444],[0.5569118682540397,-0.8091029247933764]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_11","position":[0.3226249919604107,-1.9352436948596798,0.71338606911949],"aabb_xy":[[0.3117733857115351,-1.9461029855873309],[0.3334765982092863,-1.9243844041320288]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_12","position":[0.2905940508678332,-2.449113756706571,0.71338606911949],"aabb_xy":[[0.2530940509240667,-2.4574068467414074],[0.32809405081159954,-2.4408206666717343]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[-0.546446125737409,0.4551747853706649,0.71338606911949],"aabb_xy":[[-0.6004617220193089,0.39117478247840776],[-0.4924305294555089,0.5191747882629221]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[-0.5567461207277892,-0.05108176401614051,0.71338606911949],"aabb_xy":[[-0.5660931283100844,-0.06538538623378454],[-0.5473991131454939,-0.03677814179849647]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_15","position":[0.5781551030176071,0.8724492120565421,0.71338606911949],"aabb_xy":[[0.4981551060033591,0.8523146603831308],[0.6581551000318551,0.8925837637299533]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_16","position":[-0.31672634402106814,-1.0651994050229576,0.71338606911949],"aabb_xy":[[-0.38672634562334757,-1.0786321982246152],[-0.2467263424187886,-1.0517666118213]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[0.4120987297291048,-1.6668140403823493,0.71338606911949],"aabb_xy":[[0.3520987291330886,-1.7216265129275727],[0.47209873032512095,-1.6120015678371258]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_18","position":[0.5543085877874294,0.36999129444084167,0.71338606911949],"aabb_xy":[[0.531808587543914,0.3577866597810697],[0.5768085880309448,0.3821959291006136]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_19","position":[0.5845248016907569,-1.0968468364631432,0.71338606911949],"aabb_xy":[[0.5626161195514058,-1.1187475032832337],[0.6064334838301079,-1.0749461696430522]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_20","position":[0.6341512697765868,-1.4833146500615355,0.71338606911949],"aabb_xy":[[0.5541512717958017,-1.4909161910233875],[0.7141512677573718,-1.4757131090996836]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[0.38018274880256775,1.2775564788883993,0.71338606911949],"aabb_xy":[[0.30018274852896076,1.2046069310626826],[0.46018274907617474,1.350506026714116]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_22","position":[-0.5134559031136154,-1.1886230623462792,0.71338606911949],"aabb_xy":[[-0.5634559017595366,-1.2385426060057416],[-0.46345590446769425,-1.1387035186868169]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[0.6175787622891662,-0.14664255029482298,0.71338606911949],"aabb_xy":[[0.5825787623931473,-0.15501678580676292],[0.6525787621851851,-0.13826831478288304]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_24","position":[-0.14580949062798687,-1.3539279143282485,0.71338606911949],"aabb_xy":[[-0.16909133282611818,-1.4389279156254764],[-0.12252764842985552,-1.2689279130310203]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[-0.5606478166492361,-0.7277472080950518,0.71338606911949],"aabb_xy":[[-0.585161440746242,-0.7520118013970881],[-0.5361341925522303,-0.7034826147930152]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_26","position":[-0.23257301461066188,1.2881435619312485,0.71338606911949],"aabb_xy":[[-0.27007301303406217,1.2749793479634177],[-0.1950730161872615,1.3013077758990792]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6641768852321291,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5081.png","name":"5081"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5081.png","name":"5081"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/293.png","name":"293"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9699.png","name":"9699"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5514.png","name":"5514"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9264.png","name":"9264"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":834.9659571089765,"rotation_z_degrees":287.52232153519054,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014028040612752108,-0.010040130681724163,0.0014738542852863294]},{"name":"camera_2","offset_m":[-0.00361262125228326,0.0050725420277739665,-0.010218979970531908]},{"name":"camera_3","offset_m":[-0.01886981136252532,-0.001630578205134573,0.013831741140721391]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010783218273840878,0.0013347817620547155,0.0007809691721676853],"end_effector_yaw_offset_degrees":0.5532466869991521},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0002577076059383527,0.001136353710187314,0.0011807033524263667],"end_effector_yaw_offset_degrees":0.3092971148550714},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006108888618219619,-0.0015569019677719926,-0.0003978496884588579],"end_effector_yaw_offset_degrees":-0.8106645269095212},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008932501642742289,0.001996728206026699,0.00170415581926061],"end_effector_yaw_offset_degrees":-0.7845969354547004}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016014176422962513,0.0026905208815528802],"position_m":[0.2893985823577037,-0.07430947911844712,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00496774834665908,-0.0036366113693014203],"position_m":[0.24876774834665907,-0.33783661136930143,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031431443618481865,0.00044588050607793396],"position_m":[0.20004314436184817,0.3081458805060779,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0009555262325144616,0.003995715118574627],"position_m":[0.33155552623251444,0.08489571511857463,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"93a18ef96bed01c7b53c32f946ec330fdc608fe6e22b4685c5489f212a1156ef","episode_index":113,"episode_name":"episode_0113"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0113.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5081/tex_ceiling_textures_9264/tex_floor_textures_5514/tex_table_textures_293/tex_wall_textures_9699","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3263424433197192310,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3263424433197192310,"visual_seed":3263424433197192310,"scene_id":"lab_003","finished_at":"2026-09-05T00:19:30"}
+{"episode_id":"ep_000077","started_at":"2026-09-05T00:19:34","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_0","position":[0.6220859265319041,-0.9553978260206499,0.71338606911949],"aabb_xy":[[0.5520859244004744,-0.9781597916463454],[0.6920859286633335,-0.932635860394954]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[-0.43060978411050577,-0.29894357710690533,0.71338606911949],"aabb_xy":[[-0.4681097852952985,-0.3033617998029658],[-0.3931097829257129,-0.29452535441084476]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.31713040761370936,-1.8192421099421814,0.71338606911949],"aabb_xy":[[0.2531304055639774,-1.8593365930314891],[0.3811304096634414,-1.7791476268528732]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[0.2757472983273125,1.54219336301396,0.71338606911949],"aabb_xy":[[0.2676336436539353,1.5340875465599306],[0.28386095300068953,1.5502991794679888]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[0.14630851702587633,-0.781853378947515,0.71338606911949],"aabb_xy":[[0.10880851673370151,-0.7858948543481188],[0.18380851731805115,-0.7778119035469115]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[0.02039129650858118,-2.54297381660355,0.71338606911949],"aabb_xy":[[0.01643081273884681,-2.55064168118907],[0.024351780278315558,-2.535305952018029]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_6","position":[0.6594717778387633,-2.2340365318521087,0.71338606911949],"aabb_xy":[[0.6514455072081373,-2.2427880268294618],[0.6674980484693893,-2.2252850368747565]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_7","position":[-0.050545674425916176,-2.1237964788139614,0.71338606911949],"aabb_xy":[[-0.10052309129116974,-2.1737964803032095],[-0.0005682575606625813,-2.0737964773247124]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.3497912964155496,-0.4034321015870477,0.71338606911949],"aabb_xy":[[0.34098924110657686,-0.41124342774197675],[0.3585933517245223,-0.3956207754321186]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[-0.5185981769474307,1.3969762339775804,0.71338606911949],"aabb_xy":[[-0.5985981774176466,1.388665526363232],[-0.4385981764772148,1.4052869415919285]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_10","position":[-0.6362785357126265,-1.5504890023344264,0.71338606911949],"aabb_xy":[[-0.6399817970417654,-1.5541910206431442],[-0.6325752743834876,-1.5467869840257082]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.07326017243588845,0.4877349945760132,0.71338606911949],"aabb_xy":[[-0.12823389447222133,0.43273499501178003],[-0.01828645039955558,0.5427349941402464]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_12","position":[0.03261898323610202,1.5456275012496064,0.71338606911949],"aabb_xy":[[-0.004881017112125741,1.5338361056685226],[0.07011898358432977,1.5574188968306897]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[0.3588504067928424,-2.2893533219357662,0.71338606911949],"aabb_xy":[[0.3474886721395562,-2.3007217883420537],[0.3702121414461285,-2.277984855529478]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[-0.061923064121298,-2.5341536056508214,0.71338606911949],"aabb_xy":[[-0.09438476500322544,-2.5642864377657233],[-0.029461363239370538,-2.5040207735359177]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.2935529333530252,0.45218248359617563,0.71338606911949],"aabb_xy":[[-0.3635529351617706,0.43082871483198826],[-0.22355293154427974,0.473536252360363]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[-0.6155984130521001,-0.8327203598042099,0.71338606911949],"aabb_xy":[[-0.6568472240820148,-0.8877203593164272],[-0.5743496020221853,-0.7777203602919923]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[0.6055450291342428,-1.4199553984422473,0.71338606911949],"aabb_xy":[[0.6000870834972227,-1.499955401749906],[0.6110029747712629,-1.3399553951345877]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[-0.27384467958477143,-0.9686284696194647,0.71338606911949],"aabb_xy":[[-0.36384468326168956,-1.0300608761965688],[-0.18384467590785322,-0.90719606304236]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_19","position":[-0.26619233379674284,-2.0355978462052575,0.71338606911949],"aabb_xy":[[-0.2907059578937487,-2.059862439507294],[-0.24167870969973698,-2.011333252903221]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.31177072733749706,-0.4367352187439666,0.71338606911949],"aabb_xy":[[-0.3757707259240695,-0.4837421821434753],[-0.2477707287509246,-0.3897282553444579]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_21","position":[0.3498642291550973,-0.8454842832808611,0.71338606911949],"aabb_xy":[[0.3194661180559537,-0.8758911852825305],[0.3802623402542409,-0.8150773812791915]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_22","position":[0.3928951043854927,1.602777101239012,0.71338606911949],"aabb_xy":[[0.3709864222461416,1.580876434418921],[0.4148037865248437,1.6246777680591025]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_23","position":[-0.6030839777147133,-0.4958414234796815,0.71338606911949],"aabb_xy":[[-0.6280839769866756,-0.5121867870758439],[-0.5780839784427511,-0.47949605988351923]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6567057830939829,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9144.png","name":"9144"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9144.png","name":"9144"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4535.png","name":"4535"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8606.png","name":"8606"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9912.png","name":"9912"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8062.png","name":"8062"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":637.3192800928869,"rotation_z_degrees":189.31202804423694,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013140818390704148,0.007875634377969586,-0.008463176306350953]},{"name":"camera_2","offset_m":[0.004119336022218097,0.0194800883126803,0.008841073138234769]},{"name":"camera_3","offset_m":[0.011447328049830677,-0.0008105864716599735,0.0021543407257793717]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004519769423100919,-0.0006875932095073024,0.0002481408813462976],"end_effector_yaw_offset_degrees":0.17084399487314972},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0010262994096366623,-0.0001831798561602925,0.0018468736435450824],"end_effector_yaw_offset_degrees":-0.5677211856330733},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004024188405149544,0.0013867717470821277,-0.000144833953172753],"end_effector_yaw_offset_degrees":-0.4705824062688293},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017276098029712305,-0.0007054380366304054,0.0010110625497890746],"end_effector_yaw_offset_degrees":0.979980355037132}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003819348195083008,0.00023585838252915183],"position_m":[0.287180651804917,-0.07676414161747085,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0002553473142451815,0.0022189672090572364],"position_m":[0.24354465268575481,-0.33198103279094276,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031079540807240737,-0.0008116483828990708],"position_m":[0.20000795408072405,0.30688835161710093,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004477150050570953,-0.002268754369411894],"position_m":[0.32612284994942903,0.07863124563058811,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fa0287507b0b4e11a9dae1577226806a101586ef383c5afb561838b758d8b869","episode_index":114,"episode_name":"episode_0114"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0114.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9144/tex_ceiling_textures_8062/tex_floor_textures_9912/tex_table_textures_4535/tex_wall_textures_8606","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":5590158415763817450,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":5590158415763817450,"visual_seed":5590158415763817450,"scene_id":"lab_003","finished_at":"2026-09-05T00:23:00"}
+{"episode_id":"ep_000078","started_at":"2026-09-05T00:23:04","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[-0.3038335477484731,1.7524362720302746,0.71338606911949],"aabb_xy":[[-0.32126426282747955,1.7351641573664236],[-0.28640283266946653,1.7697083866941252]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.4423298639314428,-2.4353341960945585,0.71338606911949],"aabb_xy":[[0.36232986067359985,-2.515330703886543],[0.5223298671892858,-2.355337688302575]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_2","position":[-0.6218262473292564,-2.0574794457709182,0.71338606911949],"aabb_xy":[[-0.671643026794091,-2.1074794442552216],[-0.5720094678644215,-2.007479447286615]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.508629642213418,-1.4150676584456132,0.71338606911949],"aabb_xy":[[0.47112964379001754,-1.4282318724134437],[0.5461296406368182,-1.4019034444777823]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_4","position":[-0.40137946758800636,-1.005698213154318,0.71338606911949],"aabb_xy":[[-0.438879468252585,-1.02138527115454],[-0.3638794669234276,-0.9900111551540957]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_5","position":[-0.08574847293557664,0.5736061051358798,0.71338606911949],"aabb_xy":[[-0.10338130852910421,0.5559831591202569],[-0.06811563734204906,0.5912290511515028]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.5807600484425006,-2.558559401441041,0.71338606911949],"aabb_xy":[[-0.6057600483750185,-2.5654420696619646],[-0.5557600485099827,-2.5516767332201185]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_7","position":[0.493490640258452,-0.3599184260522885,0.71338606911949],"aabb_xy":[[0.43586017137118105,-0.419918424978999],[0.5511211091457228,-0.29991842712557787]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[0.3458801994467038,0.755970097573007,0.71338606911949],"aabb_xy":[[0.3083801996296702,0.7513318862618651],[0.38338019926373734,0.7606083088841488]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[0.010426443641779581,-0.6509111619959556,0.71338606911949],"aabb_xy":[[-0.009857859081619178,-0.6711937871386642],[0.03071074636517834,-0.6306285368532465]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_10","position":[0.44986996849646377,0.3204015285154522,0.71338606911949],"aabb_xy":[[0.41527888564241855,0.25540152823042117],[0.484461051350509,0.3854015288004833]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_11","position":[-0.4867191121349481,-0.027798273686292507,0.71338606911949],"aabb_xy":[[-0.5717191105523713,-0.11267256914857748],[-0.40171911371752483,0.05707602177599247]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_12","position":[-0.25079886149229896,1.1218354365965806,0.71338606911949],"aabb_xy":[[-0.31479886340464136,1.0659242873385704],[-0.18679885957995668,1.1777465858545912]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_13","position":[-0.2872383774424487,-0.4939706246756326,0.71338606911949],"aabb_xy":[[-0.31720593435227434,-0.5239706249735183],[-0.257270820532623,-0.46397062437774683]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_14","position":[-0.24867363598129055,0.5760830493660594,0.71338606911949],"aabb_xy":[[-0.2647355634398082,0.4910830475534675],[-0.2326117085227729,0.6610830511786511]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_15","position":[-0.2762408436436917,-1.6140951714289238,0.71338606911949],"aabb_xy":[[-0.34024084094603807,-1.6584615983967803],[-0.21224084634134527,-1.5697287444610668]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_16","position":[0.5450448521899767,-1.8332352996465282,0.71338606911949],"aabb_xy":[[0.45504485246680243,-1.8563086521817076],[0.6350448519131507,-1.810161947111348]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_17","position":[0.3996809811869175,-1.6049534953935587,0.71338606911949],"aabb_xy":[[0.3356809818927493,-1.668939635762413],[0.46368098048108575,-1.5409673550247047]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_18","position":[0.07216231265510842,0.8302653669582667,0.71338606911949],"aabb_xy":[[0.0021623100185220595,0.8101605019624011],[0.14216231529169476,0.8503702319541321]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_19","position":[0.13209933109416971,1.2994015461899702,0.71338606911949],"aabb_xy":[[0.07209933124760293,1.2425829239969315],[0.1920993309407365,1.3562201683830089]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.42992173517584886,1.7420570970081948,0.71338606911949],"aabb_xy":[[0.36492173514154613,1.6953564203278673],[0.4949217352101516,1.7887577736885218]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6584486802400252,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6837.png","name":"6837"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6837.png","name":"6837"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6075.png","name":"6075"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/138.png","name":"138"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6060.png","name":"6060"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3253.png","name":"3253"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":713.1924857385238,"rotation_z_degrees":344.69853186918203,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011641939268649797,-0.006064127258551925,-0.018691668434350488]},{"name":"camera_2","offset_m":[0.0007792860141139883,0.0064024976164693825,-0.01293638852798272]},{"name":"camera_3","offset_m":[0.002237202872566669,-0.0030392131622226128,-0.0061656689655451655]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004920596834117048,0.0013612858067770742,-0.00040618131125409913],"end_effector_yaw_offset_degrees":0.3355919713766704},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0004940057848870057,-3.71093224469563e-05,-0.00038624388340214514],"end_effector_yaw_offset_degrees":0.9214779120271219},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009170042277423353,-0.00020192400012840708,0.0012911056872500115],"end_effector_yaw_offset_degrees":0.5233170472334308},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000879286324668421,0.0018738431831640812,-0.00013118119124911937],"end_effector_yaw_offset_degrees":-0.03869255042903763}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013538047560301613,-0.004986222674560364],"position_m":[0.2923538047560301,-0.08198622267456036,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006561266086867797,0.00032902806118098593],"position_m":[0.24445612660868676,-0.333870971938819,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002351075156839736,0.004691385523492704],"position_m":[0.19925107515683974,0.31239138552349266,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003373079865142606,-0.003722182701220431],"position_m":[0.3272269201348574,0.07717781729877957,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dfca6b73963c00e2936e146273b9baccff96edd8239f7f191dbf05ef992c1fec","episode_index":115,"episode_name":"episode_0115"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0115.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6837/tex_ceiling_textures_3253/tex_floor_textures_6060/tex_table_textures_6075/tex_wall_textures_138","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":983502941989530365,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":983502941989530365,"visual_seed":983502941989530365,"scene_id":"lab_003","finished_at":"2026-09-05T00:26:31"}
+{"episode_id":"ep_000079","started_at":"2026-09-05T00:26:36","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_0","position":[0.04594504307587843,-2.0228033091578994,0.71338606911949],"aabb_xy":[[0.027739219414630756,-2.033828709739891],[0.06415086673712611,-2.0117779085759078]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_1","position":[-0.6326723614401504,-1.0962756473967195,0.71338606911949],"aabb_xy":[[-0.6548448884168011,-1.1184513145528427],[-0.6104998344634994,-1.0740999802405962]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.4563428571028424,1.475466885837894,0.71338606911949],"aabb_xy":[[-0.46649587265699166,1.4393973442651535],[-0.4461898415486929,1.511536427410634]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[-0.10133625438251559,-0.7266635654106686,0.71338606911949],"aabb_xy":[[-0.13883625280591594,-0.7398277793784992],[-0.06383625595911523,-0.7134993514428379]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[-0.5985590476775533,1.0878963467653748,0.71338606911949],"aabb_xy":[[-0.6272083800379694,1.0592507874882988],[-0.569909715317137,1.1165419060424504]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[0.05362487798957849,-1.7655347237428074,0.71338606911949],"aabb_xy":[[-0.026375122284028486,-1.8384842715685241],[0.13362487826318545,-1.6925851759170907]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_6","position":[-0.4912398357570471,-1.410776591230154,0.71338606911949],"aabb_xy":[[-0.5362324224754975,-1.4557765905046025],[-0.44624724903859664,-1.365776591955705]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[-0.14377666934341682,0.5207360405329635,0.71338606911949],"aabb_xy":[[-0.20777666577073875,0.4735664167108671],[-0.07977667291609494,0.56790566435506]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_8","position":[-0.20657027221085472,-2.2281225483843095,0.71338606911949],"aabb_xy":[[-0.2290694079370817,-2.250622549162572],[-0.18407113648462775,-2.2056225476060467]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_9","position":[-0.38883521246229374,0.6032729952393425,0.71338606911949],"aabb_xy":[[-0.4528352146827008,0.5588999111140541],[-0.3248352102418868,0.6476460793646307]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[0.009549200027762605,-1.5670268191223342,0.71338606911949],"aabb_xy":[[-0.02795080115703019,-1.5714450418183945],[0.047049201212555396,-1.5626085964262735]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.21709285522813287,-0.4506787009222233,0.71338606911949],"aabb_xy":[[-0.2786836144521257,-0.5146786990312703],[-0.15550209600414006,-0.3866787028131765]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[0.1436268882720616,-2.089423917983467,0.71338606911949],"aabb_xy":[[0.12612688899397473,-2.106762018049813],[0.16112688755014848,-2.072085817917121]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_13","position":[0.16519180992362437,1.227860151898153,0.71338606911949],"aabb_xy":[[0.11537503045878958,1.1778601534138495],[0.2150085893884591,1.2778601503824563]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[0.14081932538320285,1.7741260157782626,0.71338606911949],"aabb_xy":[[0.09082621327401098,1.7241260151040672],[0.1908124374923948,1.8241260164524584]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_15","position":[-0.35629065554671857,-1.9708616893777355,0.71338606911949],"aabb_xy":[[-0.36355190311712604,-1.9836486996412452],[-0.3490294079763112,-1.9580746791142263]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_16","position":[-0.1729748498135264,-1.0730710709821785,0.71338606911949],"aabb_xy":[[-0.25297485088664673,-1.082849117319563],[-0.09297484874040607,-1.063293024644794]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.009761493654984132,1.202958047147059,0.71338606911949],"aabb_xy":[[-0.04726149400321189,1.191166651565975],[0.027738506693243625,1.214749442728142]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_18","position":[-0.5514028619102975,1.816147237390576,0.71338606911949],"aabb_xy":[[-0.5605627408541741,1.809616019347039],[-0.5422429829664209,1.822678455434113]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[-0.11036152591542336,0.220136660446419,0.71338606911949],"aabb_xy":[[-0.12779224099442987,0.20286454578256818],[-0.09293081083641686,0.2374087751102698]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[0.6413816100659913,-1.2467380743088805,0.71338606911949],"aabb_xy":[[0.5773816086580006,-1.2985270258328052],[0.7053816114739819,-1.1949491227849558]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_21","position":[0.15702537699640107,-1.4738165826666447,0.71338606911949],"aabb_xy":[[0.1227090998217831,-1.5238165826398227],[0.19134165417101898,-1.4238165826934672]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_22","position":[0.2771534217263083,-0.7906196666994958,0.71338606911949],"aabb_xy":[[0.2221602103891716,-0.8456196670382895],[0.3321466330634451,-0.7356196663607022]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_23","position":[-0.1393894859630378,0.01349962526587456,0.71338606911949],"aabb_xy":[[-0.21938948455035723,-0.06581597667228632],[-0.059389487375718385,0.09281522720403544]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_24","position":[-0.37440783061359234,-0.21622843546959247,0.71338606911949],"aabb_xy":[[-0.3872797341145324,-0.29622843588342856],[-0.36153592711265214,-0.1362284350557563]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[-0.11885377410308862,-1.5555185726492375,0.71338606911949],"aabb_xy":[[-0.12613609047975222,-1.6455185762587463],[-0.11157145772642493,-1.4655185690397283]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_26","position":[0.44678786274302307,1.543521730634882,0.71338606911949],"aabb_xy":[[0.42924116782690414,1.5060217290706308],[0.464334557659142,1.5810217321991333]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[-0.4235199088691253,-2.277747220328533,0.71338606911949],"aabb_xy":[[-0.4485199081410876,-2.2940925839246953],[-0.39851990959716305,-2.2614018567323706]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_28","position":[0.5476999041538109,-0.7027229377470388,0.71338606911949],"aabb_xy":[[0.5132375567556688,-0.7372168201448612],[0.5821622515519524,-0.6682290553492158]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_29","position":[-0.35185141421668065,-1.8993131387393822,0.71338606911949],"aabb_xy":[[-0.36852855020977615,-1.9160130627133125],[-0.33517427822358514,-1.882613214765452]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_30","position":[0.4902682583978515,0.4714629957369527,0.71338606911949],"aabb_xy":[[0.4402951928653361,0.4214629959244199],[0.540241323930367,0.5214629955494856]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6610936281580936,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7055.png","name":"7055"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7055.png","name":"7055"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4806.png","name":"4806"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2988.png","name":"2988"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/908.png","name":"908"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/534.png","name":"534"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":737.9612325036279,"rotation_z_degrees":50.078300344904804,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010203777253822844,0.013899760443320485,0.015143326730993504]},{"name":"camera_2","offset_m":[-0.008204746138877094,-0.01100441678008214,-0.018176694791652834]},{"name":"camera_3","offset_m":[0.017388261449628104,0.009189483692543285,-0.01562444367941369]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011992895998270627,-0.000992634504082075,-0.0007005934781651026],"end_effector_yaw_offset_degrees":0.9783806504041228},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017201964358227202,0.0017590820368403779,0.0008352061476674358],"end_effector_yaw_offset_degrees":-0.503494534858123},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004154192635487308,-0.0005669093839645006,0.00060563501387119],"end_effector_yaw_offset_degrees":0.40568528930808956},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018138887630351438,0.0011351052074158158,-0.0006591958423361817],"end_effector_yaw_offset_degrees":-0.6762815707183267}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004267434419801159,0.002553286421237526],"position_m":[0.29526743441980113,-0.07444671357876248,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030131823516969932,-0.0008806121426947868],"position_m":[0.24681318235169697,-0.3350806121426948,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004486798028377454,-0.001002780647947209],"position_m":[0.19241320197162254,0.30669721935205274,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002940956010318808,0.0020846341109723608],"position_m":[0.3308940956010319,0.08298463411097236,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e04ef9bd5f270c217fa9f68db211f9e40b1dcb2bcc35fdbd2f9bd7387ca35499","episode_index":116,"episode_name":"episode_0116"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0116.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_7055/tex_ceiling_textures_534/tex_floor_textures_908/tex_table_textures_4806/tex_wall_textures_2988","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6171400947352318133,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6171400947352318133,"visual_seed":6171400947352318133,"scene_id":"lab_003","finished_at":"2026-09-05T00:30:09"}
+{"episode_id":"ep_000080","started_at":"2026-09-05T00:30:12","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.44090788631110245,-2.204787792937301,0.71338606911949],"aabb_xy":[[0.423232255722504,-2.2224680092167035],[0.45858351689970067,-2.187107576657898]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_1","position":[-0.48796461275112113,0.11927116554510064,0.71338606911949],"aabb_xy":[[-0.5129646120230834,0.10292580194893829],[-0.4629646134791589,0.13561652914126296]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_2","position":[0.2753691941333032,1.818762957547761,0.71338606911949],"aabb_xy":[[0.26933218113263846,1.8127362564788132],[0.2814062071339679,1.8247896586167094]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_3","position":[0.5378421590389089,-0.7720155821051522,0.71338606911949],"aabb_xy":[[0.44784216253803705,-0.8179272245236103],[0.6278421555397805,-0.7261039396866938]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[0.2563908719225979,-1.9249575546758078,0.71338606911949],"aabb_xy":[[0.22139087361190246,-1.9326725695993534],[0.29139087023329335,-1.917242539752262]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[0.17466317519301022,-1.099376874677923,0.71338606911949],"aabb_xy":[[0.1371631750874173,-1.1061990365309042],[0.2121631752986032,-1.092554712824942]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[0.5901891872354836,-2.206901929324435,0.71338606911949],"aabb_xy":[[0.5824859965614065,-2.214611300023173],[0.5978923779095605,-2.199192558625697]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.5139061084460411,0.9401336191545355,0.71338606911949],"aabb_xy":[[-0.5232531160283364,0.9258299969368915],[-0.5045591008637459,0.9544372413721796]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_8","position":[-0.19622929495574049,-0.30575570976305233,0.71338606911949],"aabb_xy":[[-0.2862292943741114,-0.339131206607242],[-0.10622929553736957,-0.27238021291886255]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_9","position":[-0.16064481457850233,1.3861643674053337,0.71338606911949],"aabb_xy":[[-0.2256448155356295,1.3342161554716283],[-0.0956448136213751,1.4381125793390395]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_10","position":[0.4019213168169946,-1.250198312625772,0.71338606911949],"aabb_xy":[[0.32192131355915166,-1.330194820417756],[0.48192132007483757,-1.170201804833788]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_11","position":[-0.43123324999624746,-0.13527603459003457,0.71338606911949],"aabb_xy":[[-0.4353114079032972,-0.13935701483829785],[-0.4271550920891977,-0.13119505434177123]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[-0.18012019860578998,-1.1339939882892824,0.71338606911949],"aabb_xy":[[-0.23009761547104354,-1.1839939897785308],[-0.13014278174053637,-1.0839939868000337]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[0.564721517797854,-0.2665655081324916,0.71338606911949],"aabb_xy":[[0.5272215173004957,-0.27053419168061],[0.6022215182952122,-0.26259682458437317]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[-0.4608757341753944,-0.068464460079944,0.71338606911949],"aabb_xy":[[-0.46957369646610975,-0.08058943438741872],[-0.45217777188467917,-0.05633948577246928]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_15","position":[0.011275958320165147,-2.0150616147415805,0.71338606911949],"aabb_xy":[[0.007160008208092483,-2.0191771697744256],[0.01539190843223781,-2.0109460597087345]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_16","position":[0.5812183767422159,-1.7978481684226728,0.71338606911949],"aabb_xy":[[0.4912183730652976,-1.859280574999777],[0.671218380419134,-1.7364157618455682]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_17","position":[0.3995816848317957,-1.4350777361753084,0.71338606911949],"aabb_xy":[[0.358332873801881,-1.4900777356875257],[0.44083049586171047,-1.3800777366630907]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_18","position":[-0.06413499536097134,-2.1858008604638948,0.71338606911949],"aabb_xy":[[-0.10163499602555003,-2.2014879184641165],[-0.02663499469639263,-2.170113802463672]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[-0.5120644464741536,-0.5985079266657749,0.71338606911949],"aabb_xy":[[-0.5311767538321325,-0.6176427055430169],[-0.49295213911617475,-0.5793731477885329]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.5025366475595927,-2.077794731860892,0.71338606911949],"aabb_xy":[[0.4800718775881875,-2.100294732739752],[0.5250014175309977,-2.055294730982031]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_21","position":[0.5249546818304769,-2.5364537735391774,0.71338606911949],"aabb_xy":[[0.4874546818867105,-2.5447468635740136],[0.5624546817742433,-2.5281606835043404]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.4503244511713682,-1.2446554688521827,0.71338606911949],"aabb_xy":[[-0.47816948795197534,-1.2754399675904944],[-0.4224794143907611,-1.213870970113871]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[0.6602072432040991,-2.4389862064946684,0.71338606911949],"aabb_xy":[[0.6493556369552235,-2.449845497222319],[0.6710588494529747,-2.4281269157670176]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_24","position":[0.00855229116385392,-1.0560837423630953,0.71338606911949],"aabb_xy":[[-0.0010793450565756996,-1.0657210551428042],[0.018183927384283538,-1.0464464295833864]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.3735271857662504,1.7114491822489266,0.71338606911949],"aabb_xy":[[-0.43752718898488824,1.6647260703499183],[-0.3095271825476125,1.758172294147935]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_26","position":[0.031169285666929225,1.323682511091604,0.71338606911949],"aabb_xy":[[-0.032830716245413116,1.2677713618335935],[0.09516928757927157,1.3795936603496144]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_27","position":[0.4903023500686099,-1.0011990662875632,0.71338606911949],"aabb_xy":[[0.44030751714066835,-1.0511990651828067],[0.5402971829965515,-0.9511990673923196]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_28","position":[0.3669981635782569,-2.4257461249010497,0.71338606911949],"aabb_xy":[[0.28699816310804094,-2.4340568325153984],[0.44699816404847287,-2.417435417286702]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_29","position":[-0.1372148232819097,-2.3046188602654336,0.71338606911949],"aabb_xy":[[-0.20121482186848216,-2.3516258236649423],[-0.07321482469533724,-2.257611896865925]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_30","position":[-0.41037952019149987,-0.6228498601113963,0.71338606911949],"aabb_xy":[[-0.4204612272700733,-0.7028498580035109],[-0.40029781311292634,-0.5428498622192816]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.652313274594483,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7384.png","name":"7384"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7384.png","name":"7384"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1592.png","name":"1592"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4194.png","name":"4194"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6848.png","name":"6848"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9333.png","name":"9333"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":766.162688576286,"rotation_z_degrees":348.5192973417073,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009978375619295644,-0.018028271549219117,0.019631160299835044]},{"name":"camera_2","offset_m":[-0.0089255093200337,0.008526875654299704,-0.00047832949493196303]},{"name":"camera_3","offset_m":[-0.01781050386283821,0.010821588148729005,0.012842117538563739]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012298548651131893,0.0009515020128742311,-0.0010295050561883081],"end_effector_yaw_offset_degrees":0.6783670616333004},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0017704008737399195,-0.0009704535154011036,4.205520212717832e-05],"end_effector_yaw_offset_degrees":-0.7686426120173835},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010527733214377374,-0.0005271559960768819,0.00016152809756520697],"end_effector_yaw_offset_degrees":-0.9537844430863744},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011209436532456135,0.0011324746596186536,0.0018622394238538165],"end_effector_yaw_offset_degrees":-0.36825708033502424}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023626751711826313,-0.001881442473185797],"position_m":[0.2933626751711826,-0.07888144247318579,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003876096472526354,0.004728366693548483],"position_m":[0.23992390352747364,-0.3294716333064515,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001202534308758738,-0.0031011820539841254],"position_m":[0.19810253430875874,0.30459881794601584,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002300405628034453,-0.0029436440693279132],"position_m":[0.32829959437196554,0.07795635593067209,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0bece9b8e4b2c40dd37f1def04f98ae4685a01177093399771533c71f8b93236","episode_index":117,"episode_name":"episode_0117"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0117.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7384/tex_ceiling_textures_9333/tex_floor_textures_6848/tex_table_textures_1592/tex_wall_textures_4194","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3853638409020816071,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3853638409020816071,"visual_seed":3853638409020816071,"scene_id":"lab_003","finished_at":"2026-09-05T00:33:37"}
+{"episode_id":"ep_000081","started_at":"2026-09-05T00:33:42","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.44150580253231086,1.7032191213473484,0.71338606911949],"aabb_xy":[[0.40650580340235515,1.6974739002716843],[0.47650580166226647,1.7089643424230125]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_1","position":[0.07037669877710873,1.2150142339762455,0.71338606911949],"aabb_xy":[[0.025376697310879874,1.170014377114765],[0.11537670024333758,1.2600140908377264]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_2","position":[0.5865416006261674,-2.2145356120117787,0.71338606911949],"aabb_xy":[[0.5690416014918002,-2.224415239049366],[0.6040415997605345,-2.2046559849741905]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[-0.28519703587911366,-0.25917456438351305,0.71338606911949],"aabb_xy":[[-0.36519703730924086,-0.3386917193961225],[-0.20519703444898646,-0.17965740937090358]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_4","position":[0.21402796105593758,1.0465460708183794,0.71338606911949],"aabb_xy":[[0.20698651010519,1.039519319080585],[0.2210694120066852,1.0535728225561738]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[0.3712840906412054,-1.389223241012682,0.71338606911949],"aabb_xy":[[0.34939434305226463,-1.479223238301931],[0.39317383823014623,-1.2992232437234328]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_6","position":[-0.4762097510056462,-1.3538549663991915,0.71338606911949],"aabb_xy":[[-0.5062014137395165,-1.383854965735992],[-0.44621808827177584,-1.323854967062391]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_7","position":[0.5295895536732904,0.20206620302221978,0.71338606911949],"aabb_xy":[[0.49208955332506266,0.19027480744113623],[0.5670895540215182,0.21385759860330333]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_8","position":[0.4392210253970177,-0.12173159014019364,0.71338606911949],"aabb_xy":[[0.4290680098428682,-0.15780113171293395],[0.44937404095116695,-0.08566204856745328]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[0.050973279041821695,-2.1754548690190414,0.71338606911949],"aabb_xy":[[-0.029026718938963348,-2.183056409980893],[0.13097327702260672,-2.167853328057189]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.47394615702484566,-2.3973858742370173,0.71338606911949],"aabb_xy":[[-0.5379461541369513,-2.4464182440314275],[-0.40994615991273997,-2.3483535044426063]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[-0.3252194219589426,-0.5306663183588722,0.71338606911949],"aabb_xy":[[-0.33292261263301964,-0.5383756890576102],[-0.31751623128486556,-0.5229569476601342]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_12","position":[0.11703247041411091,-1.830095684845559,0.71338606911949],"aabb_xy":[[0.03703247345107173,-1.9071713264893324],[0.19703246737715008,-1.7530200432017855]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_13","position":[-0.05002968176646039,0.12095147532268191,0.71338606911949],"aabb_xy":[[-0.056341781302798814,0.11518453606946308],[-0.04371758223012195,0.12671841457590075]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[0.41259836828947427,0.17688816928572226,0.71338606911949],"aabb_xy":[[0.37556425886141453,0.14251096195201277],[0.449632477717534,0.21126537661943165]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[-0.31576661981745197,0.4343352863057772,0.71338606911949],"aabb_xy":[[-0.3757666200688531,0.3800539612693125],[-0.25576661956605073,0.4886166113422418]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[0.21170327762843066,-2.476142179372756,0.71338606911949],"aabb_xy":[[0.20348873251274668,-2.484818769670397],[0.21991782274411464,-2.4674655890751143]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_17","position":[-0.28874443380169146,0.6130708454980134,0.71338606911949],"aabb_xy":[[-0.3062444340467408,0.5955710576584464],[-0.271244433556642,0.6305706333375801]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_18","position":[0.2907087890669403,1.0912125370977561,0.71338606911949],"aabb_xy":[[0.2730331584783419,1.0735323208183531],[0.3083844196555386,1.1088927533771586]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_19","position":[0.06264473227763478,-1.5413653871915765,0.71338606911949],"aabb_xy":[[-0.007355269853794769,-1.5641273528172719],[0.13264473440906432,-1.5186034215658806]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[-0.2984193750345458,1.0236350381315562,0.71338606911949],"aabb_xy":[[-0.38841937475771987,1.0005616855963761],[-0.20841937531137153,1.0467083906667358]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_21","position":[-0.2098166038468509,-0.8460211613877198,0.71338606911949],"aabb_xy":[[-0.22241930298392737,-0.8586165576125854],[-0.19721390470977446,-0.8334257651628544]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_22","position":[0.1280316889119788,-1.0820205651048034,0.71338606911949],"aabb_xy":[[0.08194659765724731,-1.1460205623573587],[0.17411678016671026,-1.0180205678522485]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[-0.0049684376860207324,-2.3240529145121145,0.71338606911949],"aabb_xy":[[-0.022515132602139665,-2.3615529160763655],[0.0125782572300982,-2.2865529129478634]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[0.41285128070136623,-0.6810792371927523,0.71338606911949],"aabb_xy":[[0.4064374670581812,-0.6874890574404207],[0.41926509434455106,-0.674669416945084]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[0.4763611006654773,-2.493509609472507,0.71338606911949],"aabb_xy":[[0.4388610991498456,-2.5047363824886517],[0.513861102181109,-2.4822828364563616]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_26","position":[-0.010014386430919786,-1.7959287992623785,0.71338606911949],"aabb_xy":[[-0.014970406615800987,-1.8184287994645005],[-0.005058366246038586,-1.7734287990602573]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_27","position":[-0.38589547516042727,1.2569081390012662,0.71338606911949],"aabb_xy":[[-0.4458954768033492,1.204907989709322],[-0.3258954735175055,1.3089082882932104]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_28","position":[-0.4565692562953834,-1.0120816286738026,0.71338606911949],"aabb_xy":[[-0.5205692548819558,-1.0590885920733113],[-0.39256925770881096,-0.9650746652742939]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_29","position":[0.6205712361227043,-1.177751452609979,0.71338606911949],"aabb_xy":[[0.5705712374767831,-1.2276709962694414],[0.6705712347686255,-1.1278319089505167]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_30","position":[-0.6188151698037727,0.4613852347756793,0.71338606911949],"aabb_xy":[[-0.6659445488056083,0.39738523373127727],[-0.5716857908019369,0.5253852358200812]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_31","position":[0.561503673675418,0.3367389604543205,0.71338606911949],"aabb_xy":[[0.4915036710388315,0.31663409545845494],[0.6315036763120042,0.35684382545018595]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_32","position":[0.277344242515177,-1.0966715188338843,0.71338606911949],"aabb_xy":[[0.26942096227642864,-1.1191715190718876],[0.2852675227539253,-1.074171518595881]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_33","position":[-0.38056660218585975,-1.647509146794681,0.71338606911949],"aabb_xy":[[-0.4605665995894531,-1.7275017179928638],[-0.30056660478226627,-1.5675165755964982]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6539774975711911,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5971.png","name":"5971"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5971.png","name":"5971"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8232.png","name":"8232"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6456.png","name":"6456"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7602.png","name":"7602"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1657.png","name":"1657"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":834.8052722221432,"rotation_z_degrees":24.035556329356005,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01635537495755416,0.007626449783862149,0.010508537709223838]},{"name":"camera_2","offset_m":[0.015192973224910481,0.0108837991213665,0.017191432091178082]},{"name":"camera_3","offset_m":[0.004908948056161752,0.0031865809993737726,-0.003937132648172765]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010204104768459258,0.0006399764717077319,-0.0009529100720887436],"end_effector_yaw_offset_degrees":0.398056492968893},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.001510425578545456,-0.00029756883372134804,0.00020490177280798466],"end_effector_yaw_offset_degrees":0.8643334573979757},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010279835810798948,0.00045604826422450395,0.0018744147995289505],"end_effector_yaw_offset_degrees":-0.30150774213033515},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012105147063030124,-0.0006260572532515831,-0.0002261474189436648],"end_effector_yaw_offset_degrees":0.21131738089297936}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0025426730469231863,-0.002507729078352775],"position_m":[0.2884573269530768,-0.07950772907835277,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0035456502889573537,0.00200534350426124],"position_m":[0.24025434971104265,-0.33219465649573876,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002594499812100103,0.004327453030078909],"position_m":[0.19430550018789988,0.3120274530300789,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003897747801403781,0.001152903151924789],"position_m":[0.3344977478014038,0.08205290315192479,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"af1fa77e3c315f92ba2d952cb49c9a0d5738cf230f4a7179069c7116aad090b6","episode_index":118,"episode_name":"episode_0118"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0118.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5971/tex_ceiling_textures_1657/tex_floor_textures_7602/tex_table_textures_8232/tex_wall_textures_6456","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3457850899580368305,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3457850899580368305,"visual_seed":3457850899580368305,"scene_id":"lab_003","finished_at":"2026-09-05T00:37:07"}
+{"episode_id":"ep_000082","started_at":"2026-09-05T00:37:11","dimensions":{"distractor":{"count":30,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[0.5456944645130362,-2.4992582350458545,0.71338606911949],"aabb_xy":[[0.5081944637210406,-2.5056260760040447],[0.5831944653050315,-2.4928903940876643]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.2894164497054402,1.4012573400108326,0.71338606911949],"aabb_xy":[[0.28071848741472494,1.389132365703358],[0.2981144119961555,1.4133823143183075]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_2","position":[-0.3261580959378459,1.7096255733879047,0.71338606911949],"aabb_xy":[[-0.3636580958816123,1.7013324833530679],[-0.2886580959940795,1.717918663422741]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_3","position":[0.6102771029138612,0.45243068807717357,0.71338606911949],"aabb_xy":[[0.6032367929803243,0.3724306886775023],[0.6173174128473983,0.5324306874768452]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_4","position":[0.39097449584097776,-0.3703026471888333,0.71338606911949],"aabb_xy":[[0.3783477085537813,-0.37984872089040617],[0.403601283128174,-0.36075657348726037]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.26671051375371196,1.0719484872861322,0.71338606911949],"aabb_xy":[[-0.3267105143497281,1.0171360147409088],[-0.20671051315769573,1.1267609598313557]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[-0.6548282757280429,-0.9269999492647658,0.71338606911949],"aabb_xy":[[-0.6898282748579986,-0.9327451703404298],[-0.6198282765980873,-0.9212547281891016]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_7","position":[-0.24560817887660563,-2.1423623037973667,0.71338606911949],"aabb_xy":[[-0.32560817685739063,-2.149963844759218],[-0.16560818089582058,-2.1347607628355143]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_8","position":[-0.1292149015439651,-0.6747587561696755,0.71338606911949],"aabb_xy":[[-0.2092149002008511,-0.6892636150939384],[-0.04921490288707908,-0.6602538972454128]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.22479179883293532,-1.8161377344326888,0.71338606911949],"aabb_xy":[[0.2049007589525951,-1.828793545717386],[0.2446828387132756,-1.8034819231479924]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[-0.35221752481787216,0.8902727824952992,0.71338606911949],"aabb_xy":[[-0.387217524713891,0.8818985469833592],[-0.31721752492185323,0.8986470180072391]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[0.5679141167392983,-1.82433201822901,0.71338606911949],"aabb_xy":[[0.5334517693411562,-1.8588259006268324],[0.6023764641374398,-1.789838135831187]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_12","position":[-0.18113130852847703,-2.378575578775035,0.71338606911949],"aabb_xy":[[-0.19047831611077226,-2.392879200992679],[-0.1717843009461818,-2.364271956557391]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_13","position":[0.20562453617267218,-0.8926066497363188,0.71338606911949],"aabb_xy":[[0.1356245335360858,-0.9127115147321841],[0.2756245388092585,-0.8725017847404531]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[0.3023101390972943,-2.282290257840187,0.71338606911949],"aabb_xy":[[0.2383101398031261,-2.3462763982090413],[0.36631013839146254,-2.218304117471333]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[-0.6401960205749742,-2.280946047953153,0.71338606911949],"aabb_xy":[[-0.6634778627731054,-2.365946049250381],[-0.6169141783768427,-2.195946046655925]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_16","position":[0.5080773066288047,0.7734348756291447,0.71338606911949],"aabb_xy":[[0.4889649992708257,0.7543000967519026],[0.5271896139867834,0.7925696545063866]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_17","position":[-0.05576456816791442,-1.5268192851567473,0.71338606911949],"aabb_xy":[[-0.09326456866527266,-1.5307879687048658],[-0.018264567670556175,-1.5228506016086287]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[-0.403123195598573,-0.09300722514881743,0.71338606911949],"aabb_xy":[[-0.4406231957041659,-0.09982938700179854],[-0.36562319549298,-0.08618506329583629]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_19","position":[-0.4409657448447831,-2.2353657274495387,0.71338606911949],"aabb_xy":[[-0.49084844172247943,-2.285365726695814],[-0.39108304796708704,-2.1853657282032644]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[0.17589609503390913,-2.135933970969959,0.71338606911949],"aabb_xy":[[0.1679026052386271,-2.143932102910435],[0.18388958482919116,-2.1279358390294836]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_21","position":[-0.24644550150988598,1.392065911069929,0.71338606911949],"aabb_xy":[[-0.3364455001043559,1.375815324756508],[-0.15644550291541606,1.40831649738335]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_22","position":[0.5692688469911873,-0.9824777215035443,0.71338606911949],"aabb_xy":[[0.5192900384808714,-1.032477721509263],[0.6192476555015032,-0.9324777214978254]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[0.4230656044414445,1.6712607980479848,0.71338606911949],"aabb_xy":[[0.3590656071557958,1.6297540790951408],[0.48706560172709307,1.7127675170008287]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_24","position":[-0.21840432279061756,0.3459790772942841,0.71338606911949],"aabb_xy":[[-0.28240431990272324,0.2969467074998735],[-0.15440432567851187,0.39501144708869473]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_25","position":[0.4180361019726344,-2.459854875547943,0.71338606911949],"aabb_xy":[[0.3727574870914851,-2.5238548748961263],[0.4633147168537836,-2.395854876199759]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_26","position":[0.043336222908000654,1.3277062150621037,0.71338606911949],"aabb_xy":[[0.008336224637880751,1.3206320873671153],[0.07833622117812056,1.3347803427570917]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_27","position":[-0.47897359490474833,0.5506967094041615,0.71338606911949],"aabb_xy":[[-0.48455526653887704,0.5381967095863859],[-0.4733919232706195,0.5631967092219369]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_28","position":[-0.3877031064658654,1.3815420307512647,0.71338606911949],"aabb_xy":[[-0.3957464663918206,1.2965420296558983],[-0.37965974653991025,1.4665420318466311]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_29","position":[0.5126527216196777,0.1906587231074579,0.71338606911949],"aabb_xy":[[0.4626796560871623,0.14065872329492504],[0.5626257871521932,0.24065872291999085]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6572750465954678,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9683.png","name":"9683"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9683.png","name":"9683"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5500.png","name":"5500"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/393.png","name":"393"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5295.png","name":"5295"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4190.png","name":"4190"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":566.0330574427691,"rotation_z_degrees":306.5860289027141,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013933810588321018,0.012867620381257886,-0.014341040425958355]},{"name":"camera_2","offset_m":[-0.0028035097041606526,0.01909259971676847,-0.01686585110720331]},{"name":"camera_3","offset_m":[-0.012458245288978338,-0.003863800722816252,-0.018166161226970942]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011458335644095685,4.70250892437591e-05,-0.0012715201048505488],"end_effector_yaw_offset_degrees":0.5338463539802647},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015935620864368908,0.0005563362199184452,0.0009166651695722244],"end_effector_yaw_offset_degrees":-0.3750189679561651},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008023264554981298,0.00046270263787970625,-0.0013450713198743572],"end_effector_yaw_offset_degrees":0.985769191675687},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016363118008732532,-0.0003238618287632433,-0.00024287108021189547],"end_effector_yaw_offset_degrees":-0.9067096425248109}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003878081559566913,-0.0004965408076900999],"position_m":[0.2948780815595669,-0.0774965408076901,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011589143992201557,-0.0004378463363004818],"position_m":[0.24264108560077982,-0.3346378463363005,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0039028613434924065,-0.0007347333384420196],"position_m":[0.19299713865650758,0.30696526666155793,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002928167057873024,-0.0034932939085416583],"position_m":[0.333528167057873,0.07740670609145835,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"62ad15f8f24f6948a8828abcb9a4938b3f5fd4468b5f638b8350175d28150d6b","episode_index":119,"episode_name":"episode_0119"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0119.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9683/tex_ceiling_textures_4190/tex_floor_textures_5295/tex_table_textures_5500/tex_wall_textures_393","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7401643657930526480,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7401643657930526480,"visual_seed":7401643657930526480,"scene_id":"lab_003","finished_at":"2026-09-05T00:40:45"}
+{"episode_id":"ep_000083","started_at":"2026-09-05T00:40:49","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.29010985726618965,0.1846792233232084,0.71338606911949],"aabb_xy":[[-0.32660567789346834,0.14819528089645084],[-0.25361403663891086,0.22116316574996597]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.44972739951553153,0.34480224143954574,0.71338606911949],"aabb_xy":[[0.42681168663048163,0.32189794430312224],[0.47264311240058143,0.36770653857596924]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[-0.15479028254203886,-0.5406479119492467,0.71338606911949],"aabb_xy":[[-0.16413729012433406,-0.5549515341668907],[-0.1454432749597436,-0.5263442897316026]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[0.1832234390810883,0.9467351762983762,0.71338606911949],"aabb_xy":[[0.11322344267112648,0.9262972406466943],[0.25322343549105003,0.9671731119500577]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_4","position":[-0.02617341559820907,0.7471754465369878,0.71338606911949],"aabb_xy":[[-0.08380388448547992,0.687175447610277],[0.03145705328906179,0.8071754454636981]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[-0.4765181740608151,1.7856066092979987,0.71338606911949],"aabb_xy":[[-0.5115181754122968,1.7652468733411775],[-0.44151817270933336,1.8059663452548191]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_6","position":[0.4494923638741253,-0.9824334280080049,0.71338606911949],"aabb_xy":[[0.40824355284421054,-1.037433427520222],[0.49074117490404,-0.9274334284957872]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[0.6631423267160197,-0.14653477209909616,0.71338606911949],"aabb_xy":[[0.6590641688089699,-0.15061575234735947],[0.6672204846230693,-0.14245379185083284]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_8","position":[-0.4499848349132182,-1.8947609992881462,0.71338606911949],"aabb_xy":[[-0.5099848354210712,-1.9516077329740673],[-0.3899848344053653,-1.8379142656022247]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[0.5650108741609685,-2.3276490871775595,0.71338606911949],"aabb_xy":[[0.5010108721112366,-2.3677435702668674],[0.6290108762107006,-2.2875546040882515]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[-0.4624864122687722,-2.2874388216562602,0.71338606911949],"aabb_xy":[[-0.4959655795298131,-2.320917935027367],[-0.42900724500773124,-2.2539597082851532]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[-0.6022280122922007,-2.428202757720193,0.71338606911949],"aabb_xy":[[-0.6173303137532186,-2.4433042793512545],[-0.5871257108311824,-2.4131012360891306]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[0.6371665140489604,-1.0884681737788389,0.71338606911949],"aabb_xy":[[0.5820413084193695,-1.1484681752201258],[0.6922917196785511,-1.0284681723375515]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_13","position":[-0.1702669640914063,-1.7506674577184846,0.71338606911949],"aabb_xy":[[-0.22526696371315214,-1.8056511505059574],[-0.11526696446966045,-1.695683764931012]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.5530079004065214,1.2674661383499357,0.71338606911949],"aabb_xy":[[0.5481643056452914,1.2626144858709516],[0.5578514951677513,1.2723177908289198]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_15","position":[0.6811352789323855,0.3674189102768177,0.71338606911949],"aabb_xy":[[0.6757977032663809,0.34241890934767794],[0.68647285459839,0.3924189112059575]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[0.41151015477435204,0.43791142148279283,0.71338606911949],"aabb_xy":[[0.3940101545150155,0.4238198792940203],[0.4290101550336887,0.45200296367156556]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[0.6026843168569127,0.21310214146638495,0.71338606911949],"aabb_xy":[[0.5726926541230423,0.18310214212958442],[0.6326759795907829,0.24310214080318548]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_18","position":[-0.6237474562252655,-0.9394751903848364,0.71338606911949],"aabb_xy":[[-0.6787474554018549,-0.9944648651597939],[-0.5687474570486759,-0.8844855156098786]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[0.12323713136100778,1.387452738376688,0.71338606911949],"aabb_xy":[[0.11927664759127342,1.3797848737911673],[0.12719761513074218,1.3951206029622085]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[0.1257937864627635,-1.4174980706525622,0.71338606911949],"aabb_xy":[[0.04579378538964318,-1.4272761169899464],[0.20579378753588384,-1.4077200243151775]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[0.19238045023671768,-1.2544531014264675,0.71338606911949],"aabb_xy":[[0.1795085467357775,-1.3344531018403036],[0.2052523537376578,-1.1744531010126313]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[0.3733633171716384,-1.4220989375685014,0.71338606911949],"aabb_xy":[[0.2933633168980314,-1.495048485394218],[0.4533633174452454,-1.3491493897427846]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[0.56631750385984,1.4967030685306963,0.71338606911949],"aabb_xy":[[0.5438527338884348,1.4742030676518354],[0.588782273831245,1.5192030694095564]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[0.26241563372168164,1.0811274755491604,0.71338606911949],"aabb_xy":[[0.1824156304576685,1.067567443240247],[0.34241563698569477,1.0946875078580738]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[0.1848688996923742,-0.6916173176480935,0.71338606911949],"aabb_xy":[[0.17877427180425587,-0.7001867121997623],[0.1909635275804925,-0.6830479230964248]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_26","position":[0.3778296528846574,-1.5576333690900979,0.71338606911949],"aabb_xy":[[0.3713280163766528,-1.567401191116408],[0.3843312893926621,-1.5478655470637885]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_27","position":[0.6269914642693739,1.2392219035633465,0.71338606911949],"aabb_xy":[[0.6182935019786586,1.2270969292558718],[0.6356894265600892,1.2513468778708212]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_28","position":[0.5654741700229355,0.354226362955373,0.71338606911949],"aabb_xy":[[0.5575508897841872,0.33172636271736966],[0.5733974502616839,0.3767263631933764]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_29","position":[0.27563616557253,1.4178652085491579,0.71338606911949],"aabb_xy":[[0.23813616522430225,1.406073812968074],[0.31313616592075777,1.4296566041302412]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_30","position":[-0.25177842205547096,-0.5687649222611038,0.71338606911949],"aabb_xy":[[-0.259481612729548,-0.5764742929598418],[-0.24407523138139392,-0.5610555515623658]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6561111755825066,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7701.png","name":"7701"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7701.png","name":"7701"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8681.png","name":"8681"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/769.png","name":"769"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4423.png","name":"4423"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/885.png","name":"885"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":712.2294840124889,"rotation_z_degrees":245.57262725768842,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014408565627609286,-0.01692653284355324,-0.007711687355059919]},{"name":"camera_2","offset_m":[-0.0007889101521165419,-0.009831600587882612,0.010139880445015698]},{"name":"camera_3","offset_m":[0.019527200978828523,0.012418929613224754,-0.014492926130308788]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001253115035445711,-0.0002713688622984498,-0.001649455365045703],"end_effector_yaw_offset_degrees":0.7973320280515621},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0018794996274366631,0.001061401498167482,0.00020304812166579284],"end_effector_yaw_offset_degrees":0.5295867296043504},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-5.146936497824094e-05,-0.0008459097841616407,-0.001005165440418593],"end_effector_yaw_offset_degrees":0.7675490045030953},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000400151156375695,0.0015597473683964915,-0.0002415132576052304],"end_effector_yaw_offset_degrees":0.3593070041037998}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003527768820705448,-0.0010817702312736124],"position_m":[0.28747223117929455,-0.0780817702312736,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004560377651045975,-0.0038690842795553082],"position_m":[0.23923962234895402,-0.3380690842795553,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0028989046495104314,-0.003303696438714563],"position_m":[0.19979890464951042,0.3043963035612854,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014405978727661936,0.0021543199174043895],"position_m":[0.3320405978727662,0.08305431991740439,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fdd8b5cb31d4d042de6dc0ec4c4a0ecbea872216931c3c1d878d00d68efc70fa","episode_index":120,"episode_name":"episode_0120"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0120.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7701/tex_ceiling_textures_885/tex_floor_textures_4423/tex_table_textures_8681/tex_wall_textures_769","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8095015233375046701,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8095015233375046701,"visual_seed":8095015233375046701,"scene_id":"lab_003","finished_at":"2026-09-05T00:44:14"}
+{"episode_id":"ep_000084","started_at":"2026-09-05T00:44:18","dimensions":{"distractor":{"count":32,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[-0.5744037076596776,0.71875806905026,0.71338606911949],"aabb_xy":[[-0.589575876941311,0.7035892121220567],[-0.5592315383780443,0.7339269259784634]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[0.5395510859733337,1.6670725367757222,0.71338606911949],"aabb_xy":[[0.48955607501388176,1.617072537740131],[0.5895460969327858,1.7170725358113144]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[0.605175235629009,-0.27447497680145805,0.71338606911949],"aabb_xy":[[0.5806290200062583,-0.3047238733504951],[0.6297214512517597,-0.244226080252421]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.4636346386753636,-0.8651441841868619,0.71338606911949],"aabb_xy":[[0.3996346400887911,-0.9121511475863706],[0.527634637261936,-0.8181372207873532]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_4","position":[-0.19351793568576303,1.0007885593613488,0.71338606911949],"aabb_xy":[[-0.23101793579135596,0.9939663975083676],[-0.15601793558017005,1.0076107212143297]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[0.08442117725884302,0.9898215270017054,0.71338606911949],"aabb_xy":[[0.00442118029580385,0.9127458853579319],[0.16442117422188218,1.066897168645479]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.3766620236633975,-2.560737643338149,0.71338606911949],"aabb_xy":[[0.36690603415422357,-2.570500177397383],[0.38641801317257135,-2.550975109278914]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_7","position":[-0.5260195936174618,1.3206509234106054,0.71338606911949],"aabb_xy":[[-0.5367925675388294,1.2856509251915664],[-0.5152466196960939,1.3556509216296444]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_8","position":[-0.2010683458346651,0.34171656572797016,0.71338606911949],"aabb_xy":[[-0.26265910505865797,0.2777165676189233],[-0.1394775866106723,0.4057165638370171]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.3580660790870187,-1.9518360717678966,0.71338606911949],"aabb_xy":[[0.3479130635328693,-1.987905613340637],[0.3682190946411681,-1.9157665301951563]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_10","position":[0.6081469581406329,-1.3994564729221923,0.71338606911949],"aabb_xy":[[0.6011055071898853,-1.4064832246599868],[0.6151884090913805,-1.392429721184398]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[-0.14240009538292908,0.4803947217102347,0.71338606911949],"aabb_xy":[[-0.15563104091761035,0.46716730268823514],[-0.12916914984824776,0.493622140732234]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_12","position":[0.013919504159485174,-2.1677075037693516,0.71338606911949],"aabb_xy":[[0.0021513173648276544,-2.2527075036745736],[0.0256876909541427,-2.0827075038641305]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[-0.23193939242167133,-1.9456852582277144,0.71338606911949],"aabb_xy":[[-0.2571602292815109,-1.970909009080601],[-0.20671855556183158,-1.9204615073748275]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[-0.40639560554047194,-1.8514093263661846,0.71338606911949],"aabb_xy":[[-0.43754252438405505,-1.9214093250529913],[-0.3752486866968888,-1.781409327679377]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_15","position":[0.18837902628316583,-1.6008681354661922,0.71338606911949],"aabb_xy":[[0.1333867756476549,-1.6558681372095054],[0.2433712769186768,-1.54586813372288]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[-0.300440622951291,-0.7250380891471107,0.71338606911949],"aabb_xy":[[-0.32495424704829684,-0.7493026824491472],[-0.2759269988542851,-0.7007734958450743]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_17","position":[0.5401829334217749,1.2019318783587627,0.71338606911949],"aabb_xy":[[0.49490431854062555,1.137931879010579],[0.5854615483029241,1.2659318777069464]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_18","position":[0.1003550258011261,1.7051732454533117,0.71338606911949],"aabb_xy":[[0.08944924971356338,1.6251732490544823],[0.11126080188868881,1.7851732418521407]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_19","position":[0.6384709913270461,-0.6988365650720338,0.71338606911949],"aabb_xy":[[0.5972221802971313,-0.7538365645842512],[0.6797198023569607,-0.6438365655598163]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_20","position":[-0.4432062345374731,1.612786620678842,0.71338606911949],"aabb_xy":[[-0.48070623296087334,1.5996224067110112],[-0.40570623611407264,1.6259508346466727]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[0.7127989782322468,-1.7872421822186306,0.71338606911949],"aabb_xy":[[0.7050957875581697,-1.7949515529173685],[0.7205021689063237,-1.7795328115198927]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[0.5916574645341695,-0.5121000140643157,0.71338606911949],"aabb_xy":[[0.5116574612763265,-0.5920965218562997],[0.6716574677920124,-0.43210350627233174]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_23","position":[-0.24672189730440064,-0.21051657973876514,0.71338606911949],"aabb_xy":[[-0.2579669528750185,-0.2217583774628604],[-0.23547684173378278,-0.19927478201466983]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_24","position":[-0.5688241340155952,0.48998254222672477,0.71338606911949],"aabb_xy":[[-0.632824133185365,0.44321585510776235],[-0.5048241348458251,0.5367492293456873]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_25","position":[0.1858424204318928,-1.7982720840681496,0.71338606911949],"aabb_xy":[[0.13584242099169716,-1.848240008552466],[0.2358424198720884,-1.7483041595838333]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[0.3661980625084096,-0.7704508970241712,0.71338606911949],"aabb_xy":[[0.3587856069670211,-0.7763021074457992],[0.37361051804979806,-0.7645996866025433]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_27","position":[-0.31451128203455453,-1.1460932844413394,0.71338606911949],"aabb_xy":[[-0.3520112822064264,-1.1787940198242466],[-0.27701128186268253,-1.1133925490584322]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_28","position":[-0.2605276640661071,-1.3885145138070247,0.71338606911949],"aabb_xy":[[-0.29615681996606685,-1.4241471805638777],[-0.22489850816614737,-1.3528818470501718]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_29","position":[-0.254406440797114,-1.0018760395082862,0.71338606911949],"aabb_xy":[[-0.3244064429285435,-1.0246380051339816],[-0.1844064386656844,-0.9791140738825903]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_30","position":[0.3421132966762468,0.5249265199128934,0.71338606911949],"aabb_xy":[[0.30711329840612683,0.5178523922179051],[0.37711329494636664,0.5320006476078815]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_31","position":[0.08461623190096568,-0.6849606266778412,0.71338606911949],"aabb_xy":[[0.02061623459861925,-0.7293270536456978],[0.14861622920331205,-0.6405941997099843]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6627905835217672,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9852.png","name":"9852"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9852.png","name":"9852"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4579.png","name":"4579"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7245.png","name":"7245"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/607.png","name":"607"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5749.png","name":"5749"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":603.139527599163,"rotation_z_degrees":207.19132875185124,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005722097735318293,0.019366755949099163,-0.013716338891588523]},{"name":"camera_2","offset_m":[-0.013668731003964419,-0.019957947830316247,-0.012452078439289638]},{"name":"camera_3","offset_m":[-0.01845397652009527,-0.016278763456675727,0.01999939645242452]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[8.399706497802615e-05,-0.0018888786615665204,0.0010054573829551506],"end_effector_yaw_offset_degrees":0.6732099065021035},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0001667496355611572,0.0010451357947445605,-0.0019177652692384758],"end_effector_yaw_offset_degrees":-0.6294476347822515},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0002766251112312477,-0.0017457237604680445,-0.0003703742978572748],"end_effector_yaw_offset_degrees":0.1742378302065244},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0017928070973996543,0.0006342518472436868,-0.0008754377187295383],"end_effector_yaw_offset_degrees":0.30370605623797187}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002829146162485834,2.9148578658844473e-05],"position_m":[0.2938291461624858,-0.07697085142134115,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002844844874828328,-0.004499524183066004],"position_m":[0.24664484487482832,-0.338699524183066,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004392859800003369,-0.0006924331721848186],"position_m":[0.19250714019999662,0.30700756682781516,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004982775255368301,0.0033179555402239923],"position_m":[0.32561722474463173,0.08421795554022399,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"383183b8a25c94da60d3b53763bfa0e47d9f7a6af7152477507ed97f25e796e6","episode_index":121,"episode_name":"episode_0121"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0121.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9852/tex_ceiling_textures_5749/tex_floor_textures_607/tex_table_textures_4579/tex_wall_textures_7245","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4135020835265368357,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4135020835265368357,"visual_seed":4135020835265368357,"scene_id":"lab_003","finished_at":"2026-09-05T00:47:57"}
+{"episode_id":"ep_000085","started_at":"2026-09-05T00:51:51","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[0.6575316529063278,-0.554147933413836,0.71338606911949],"aabb_xy":[[0.5959408936823349,-0.6181479315228828],[0.7191224121303206,-0.49014793530478906]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[-0.2941514443351904,0.26416285811243423,0.71338606911949],"aabb_xy":[[-0.32792700352588333,0.2501243628992692],[-0.2603758851444974,0.27820135332559925]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_2","position":[-0.25227163680356257,0.8947797477319535,0.71338606911949],"aabb_xy":[[-0.3072716364253084,0.839796054944481],[-0.19727163718181673,0.9497634405194264]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_3","position":[0.7072540177658395,-2.1446229781925434,0.71338606911949],"aabb_xy":[[0.6946513186287631,-2.157218374417409],[0.719856716902916,-2.132027581967678]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_4","position":[-0.6023178517498585,0.4554676730236338,0.71338606911949],"aabb_xy":[[-0.672317853352138,0.4420348798219762],[-0.532317850147579,0.46890046622529136]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[0.6615478253117011,0.4990401310131083,0.71338606911949],"aabb_xy":[[0.639051403877837,0.47654013120636085],[0.6840442467455652,0.5215401308198557]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.22972963905509702,0.9802908815246192,0.71338606911949],"aabb_xy":[[0.21209680346156942,0.9626679355089962],[0.24736247464862457,0.9979138275402422]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[-0.5786542463957802,1.3654101292585632,0.71338606911949],"aabb_xy":[[-0.5961542455301474,1.3555305022209752],[-0.561154247261413,1.3752897562961508]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_8","position":[0.5268261768465052,-1.1600107857273454,0.71338606911949],"aabb_xy":[[0.481547561965356,-1.224010785075529],[0.5721047917276545,-1.0960107863791617]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[0.1886999569595329,-1.643545891188332,0.71338606911949],"aabb_xy":[[0.13369995875778806,-1.6840678578147699],[0.24369995516127774,-1.6030239245618947]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.026977590591745537,1.310838667091272,0.71338606911949],"aabb_xy":[[0.009546875512739026,1.293566552427421],[0.04440830567075204,1.3281107817551225]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[0.4330918984882226,-0.2753193233002187,0.71338606911949],"aabb_xy":[[0.4047621885396825,-0.27978006549393575],[0.46142160843676294,-0.27085858110650163]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[-0.5637166092756849,1.5971797950220075,0.71338606911949],"aabb_xy":[[-0.5987166092521808,1.5877151789743909],[-0.5287166092991892,1.606644411069624]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_13","position":[0.5185010390298794,1.2593817143538693,0.71338606911949],"aabb_xy":[[0.5107978483558023,1.2516723436551311],[0.5262042297039563,1.2670910850526074]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_14","position":[0.24625439595486565,1.3838595806906073,0.71338606911949],"aabb_xy":[[0.19615693197379203,1.3198595801807955],[0.29635185993593927,1.4478595812004191]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[0.42761518657145436,1.4000798676884059,0.71338606911949],"aabb_xy":[[0.3576151847627089,1.3787260989242185],[0.4976151883801998,1.4214336364525932]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_16","position":[-0.051495175983116925,0.8261520494255765,0.71338606911949],"aabb_xy":[[-0.07399517599326522,0.8120558297859733],[-0.028995175972968634,0.8402482690651799]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_17","position":[-0.22086616024452527,1.1521298349363756,0.71338606911949],"aabb_xy":[[-0.2758398822808582,1.0971298353721426],[-0.16589243820819244,1.207129834500609]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[0.4756865546045428,0.8293662718649535,0.71338606911949],"aabb_xy":[[0.4257023188963655,0.7793662730514578],[0.52567079031272,0.879366270678449]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_19","position":[-0.12416542883145654,0.9154421502973995,0.71338606911949],"aabb_xy":[[-0.14938626569129618,0.8902183994445125],[-0.09894459197161685,0.940665901150286]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_20","position":[-0.15235020637533514,-2.2875256738282252,0.71338606911949],"aabb_xy":[[-0.18019524315594226,-2.318310172566537],[-0.12450516959472802,-2.2567411750899136]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_21","position":[-0.03073043790648733,-2.4739056520774865,0.71338606911949],"aabb_xy":[[-0.11073044006924981,-2.55386083570363],[0.049269564256275156,-2.393950468451343]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_22","position":[-0.045450961643380916,-1.0251053160353472,0.71338606911949],"aabb_xy":[[-0.0673407092323217,-1.1151053133245963],[-0.023561214054440113,-0.9351053187460981]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_23","position":[0.09366952535496431,-2.34264031924633,0.71338606911949],"aabb_xy":[[0.058669525458945444,-2.35101455475827],[0.12866952525098319,-2.33426608373439]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_24","position":[0.6023800460041229,1.658280446057001,0.71338606911949],"aabb_xy":[[0.595097729627459,1.5682804424474917],[0.6096623623807863,1.7482804496665096]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_25","position":[0.2054015297552364,-1.1457233498358677,0.71338606911949],"aabb_xy":[[0.15540152839434918,-1.195701254411283],[0.2554015311161236,-1.0957454452604518]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_26","position":[0.07448979753016549,-1.3003278490594286,0.71338606911949],"aabb_xy":[[0.03715852100492288,-1.334980903854281],[0.11182107405540813,-1.2656747942645765]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_27","position":[-0.6407182963882372,-1.0902451979000845,0.71338606911949],"aabb_xy":[[-0.6451489257430775,-1.0956935696347672],[-0.6362876670333971,-1.0847968261654017]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_28","position":[-0.5529908928280278,-0.11081448747082634,0.71338606911949],"aabb_xy":[[-0.6029908931885939,-0.16079447468042926],[-0.5029908924674618,-0.06083450026122338]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_29","position":[-0.05311734187400985,-2.285329587171054,0.71338606911949],"aabb_xy":[[-0.07561734211752524,-2.297534221830826],[-0.030617341630494455,-2.273124952511282]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_30","position":[0.3184735189332233,-2.10150778902764,0.71338606911949],"aabb_xy":[[0.2544735203466508,-2.148514752427149],[0.3824735175197957,-2.0545008256281316]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.659904282086016,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1544.png","name":"1544"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1544.png","name":"1544"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8757.png","name":"8757"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8565.png","name":"8565"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8076.png","name":"8076"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4109.png","name":"4109"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":697.2717243890969,"rotation_z_degrees":20.329358054276874,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00907645962731577,0.0011474929278165215,-0.016484374993450096]},{"name":"camera_2","offset_m":[-0.013781691661031301,-0.019228951558872255,-0.012455686508921029]},{"name":"camera_3","offset_m":[-0.0025969244780078074,0.017549610969684108,-0.009695446842426314]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000868078733784699,0.0005638362908172378,-0.000515355797371107],"end_effector_yaw_offset_degrees":0.4304908189331409},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0010295474624691084,-0.001657322691556058,-0.00030886089193144753],"end_effector_yaw_offset_degrees":-0.7099669678039857},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005254238764324727,-0.000596824548912152,-0.001378453132152954],"end_effector_yaw_offset_degrees":-0.5372635176391538},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007286709486516072,0.0006349145642391965,0.0007572776158637933],"end_effector_yaw_offset_degrees":-0.04956124085009139}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009148498163249726,0.002319185664503496],"position_m":[0.29008515018367503,-0.0746808143354965,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0013473198382399944,-0.0013648758556221684],"position_m":[0.24514731983823998,-0.33556487585562217,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0046000601432095315,-0.0015953616567050155],"position_m":[0.20150006014320954,0.30610463834329493,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014177355064899921,0.0021100459802004283],"position_m":[0.33201773550649,0.08301004598020043,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7b7672aeab659f7f5e953c6cbd97844d9b9107cec321a0f17497b7ffac5b9899","episode_index":123,"episode_name":"episode_0123"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0123.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1544/tex_ceiling_textures_4109/tex_floor_textures_8076/tex_table_textures_8757/tex_wall_textures_8565","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":744361568895735873,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":744361568895735873,"visual_seed":744361568895735873,"scene_id":"lab_003","finished_at":"2026-09-05T00:55:10"}
+{"episode_id":"ep_000086","started_at":"2026-09-05T00:55:14","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[0.06251331692976492,-0.9477878736176535,0.71338606911949],"aabb_xy":[[0.012513315268270151,-0.9977863158733562],[0.11251331859125967,-0.8977894313619508]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_1","position":[-0.22875590040314764,-0.5586708956784214,0.71338606911949],"aabb_xy":[[-0.23365519270971108,-0.5863478149809902],[-0.2238566080965841,-0.5309939763758527]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_2","position":[-0.04286573006265271,1.5906430432139582,0.71338606911949],"aabb_xy":[[-0.060365730307702085,1.5731432553743911],[-0.02536572981760332,1.6081428310535248]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[0.3027879720507398,1.3554235903759042,0.71338606911949],"aabb_xy":[[0.23778797389482076,1.329127345825992],[0.3677879702066589,1.3817198349258164]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_4","position":[0.5196171275169097,0.6647517278704242,0.71338606911949],"aabb_xy":[[0.5103235092797591,0.6272517293822903],[0.5289107457540603,0.7022517263585581]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[0.5362653792738481,-0.682637481897826,0.71338606911949],"aabb_xy":[[0.513768957839984,-0.7051374817045735],[0.5587618007077122,-0.6601374820910786]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[0.3716910469688359,-2.365892434116279,0.71338606911949],"aabb_xy":[[0.2816910502332256,-2.4190758974335735],[0.461691043704446,-2.3127089707989845]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[0.4574068982097912,1.6698101422473415,0.71338606911949],"aabb_xy":[[0.4395377904553357,1.6559772342701302],[0.4752760059642467,1.6836430502245523]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[-0.44726890075518605,1.5764804833277233,0.71338606911949],"aabb_xy":[[-0.4847689010473609,1.5724390079271198],[-0.4097689004630113,1.5805219587283268]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_9","position":[-0.5241013236119887,-1.3197374520561747,0.71338606911949],"aabb_xy":[[-0.5345128822924724,-1.3250831853920728],[-0.513689764931505,-1.314391718720276]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.13385412110555162,0.8118787777749814,0.71338606911949],"aabb_xy":[[0.09635412099995865,0.8050566159220002],[0.17135412121114454,0.8187009396279624]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[0.27484395104836445,-1.8366247609631439,0.71338606911949],"aabb_xy":[[0.2378098416203047,-1.8710019682968533],[0.31187806047642413,-1.8022475536294345]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[0.15833452531295267,-1.1017500838413234,0.71338606911949],"aabb_xy":[[0.15063133463887562,-1.1094594545400613],[0.1660377159870297,-1.0940407131425856]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[-0.49089556448197713,-1.9218091741494638,0.71338606911949],"aabb_xy":[[-0.5387017320957457,-1.9868091768565226],[-0.4430893968682084,-1.8568091714424046]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_14","position":[0.059067699800624984,-2.2193533635467926,0.71338606911949],"aabb_xy":[[-0.02093229878669443,-2.2986689654849535],[0.13906769838794442,-2.1400377616086317]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.3061946820346858,-1.0711598295235918,0.71338606911949],"aabb_xy":[[-0.3561776322221651,-1.1211598291661518],[-0.2562117318472064,-1.021159829881031]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.4941941209516709,0.4372200825880532,0.71338606911949],"aabb_xy":[[0.4341941211051042,0.38040146039501455],[0.5541941207982377,0.4940387047810919]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[0.4768161744471173,-0.07753932912133754,0.71338606911949],"aabb_xy":[[0.4128161758605448,-0.12454629252084626],[0.5408161730336898,-0.030532365721828825]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[0.07876036777263007,-2.52993790706334,0.71338606911949],"aabb_xy":[[0.023760368150884226,-2.584921599850813],[0.1337603673943759,-2.4749542142758676]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.5310056864195436,-1.0038305596157928,0.71338606911949],"aabb_xy":[[0.4849205951648122,-1.067830556868348],[0.5770907776742751,-0.9398305623632378]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[0.6216034155061159,-1.185021048242267,0.71338606911949],"aabb_xy":[[0.5576034140981251,-1.2368099997661917],[0.6856034169141064,-1.1332320967183422]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_21","position":[-0.31411739360413676,-0.7169978516099291,0.71338606911949],"aabb_xy":[[-0.32216075353009194,-0.8019978527052957],[-0.3060740336781816,-0.6319978505145628]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_22","position":[0.6228463004048379,1.0219663202769063,0.71338606911949],"aabb_xy":[[0.5578463025231902,0.9708426565703654],[0.6878462982864858,1.0730899839834471]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[0.038802689055855266,-1.3220562034455643,0.71338606911949],"aabb_xy":[[-0.01119731196328,-1.3585224191833924],[0.08880269007499055,-1.2855899877077366]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_24","position":[0.13330347086295447,0.7109684202987392,0.71338606911949],"aabb_xy":[[0.11080347085280617,0.6968722006591359],[0.15580347087310276,0.7250646399383425]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6573031205371771,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8235.png","name":"8235"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8235.png","name":"8235"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4915.png","name":"4915"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2718.png","name":"2718"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/618.png","name":"618"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8801.png","name":"8801"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":844.7247755448196,"rotation_z_degrees":342.6972344357431,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00956782751540684,-0.016762786458707084,-0.009514741595135092]},{"name":"camera_2","offset_m":[0.01342896119294178,-0.009147477389255473,-0.016380562467673193]},{"name":"camera_3","offset_m":[0.009101628886809349,-0.010549614826939143,0.019150195719110804]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008977591581047974,0.0015898690740725608,-0.00032144755136824673],"end_effector_yaw_offset_degrees":0.4019255553462664},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00023111066765015183,-0.001569400209183828,-0.001376975331975202],"end_effector_yaw_offset_degrees":-0.6685159105504603},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016130287425286495,0.0007180597566308696,0.0005445878263059326],"end_effector_yaw_offset_degrees":-0.9174321335972095},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003498656650532698,0.0010371970391519244,0.0016809476544183016],"end_effector_yaw_offset_degrees":-0.42733549656917}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007455522457013508,0.001579925852516757],"position_m":[0.29025444775429865,-0.07542007414748324,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007480339771272328,0.002751264261399762],"position_m":[0.2445480339771272,-0.33144873573860023,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008068830577018411,-0.0007293786621317281],"position_m":[0.19609311694229814,0.30697062133786823,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004766142382023062,-0.000980035126025086],"position_m":[0.33012338576179767,0.07991996487397492,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6962294c0a18e6871c6b0ddde6b7d05e12106a4e07c683a38414547725156e40","episode_index":124,"episode_name":"episode_0124"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0124.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8235/tex_ceiling_textures_8801/tex_floor_textures_618/tex_table_textures_4915/tex_wall_textures_2718","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6115548794863038411,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6115548794863038411,"visual_seed":6115548794863038411,"scene_id":"lab_003","finished_at":"2026-09-05T00:58:37"}
+{"episode_id":"ep_000087","started_at":"2026-09-05T00:58:43","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[0.18742903331740002,-2.4011920195153404,0.71338606911949],"aabb_xy":[[0.1705183008810582,-2.4146642251079546],[0.20433976575374177,-2.3877198139227254]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.5667054212857021,0.2725891372442639,0.71338606911949],"aabb_xy":[[-0.5708412776184023,0.23508913779990698],[-0.5625695649530019,0.310089136688621]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.6504571445238747,-0.3850339305296502,0.71338606911949],"aabb_xy":[[0.6378303572366784,-0.3945800042312231],[0.6630839318110711,-0.3754878568280773]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[0.3310268115863495,-0.6481396732513982,0.71338606911949],"aabb_xy":[[0.29352681164258304,-0.6564327632862347],[0.36852681153011585,-0.6398465832165615]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_4","position":[0.42149934333241434,-0.15730418832270487,0.71338606911949],"aabb_xy":[[0.40144093171917405,-0.17736927523186238],[0.44155775494565463,-0.1372391014135473]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.0335546178855225,-1.695347801265609,0.71338606911949],"aabb_xy":[[-0.026445382365878678,-1.7496291263020736],[0.09355461813692367,-1.6410664762291443]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_6","position":[-0.5986091277561384,0.739792297581432,0.71338606911949],"aabb_xy":[[-0.618893430479537,0.719509672438723],[-0.5783248250327395,0.7600749227241407]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[-0.46434185230294556,0.6447627780253495,0.71338606911949],"aabb_xy":[[-0.5018418524748175,0.6120620426424423],[-0.4268418521310736,0.6774635134082567]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_8","position":[-0.34285860810948715,-1.8485949580592855,0.71338606911949],"aabb_xy":[[-0.39785181944662396,-1.9035949583980794],[-0.2878653967723504,-1.7935949577204922]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[0.17616867604981012,0.5686748495964715,0.71338606911949],"aabb_xy":[[0.0961686749766898,0.5588968032590871],[0.25616867712293045,0.578452895933856]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_10","position":[0.20180660289920427,-2.148281264683764,0.71338606911949],"aabb_xy":[[0.16430660279361128,-2.155103426536745],[0.2393066030047972,-2.1414591028307832]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_11","position":[0.6853667124321063,0.7979541825740895,0.71338606911949],"aabb_xy":[[0.647866714008706,0.7847899686062587],[0.7228667108555067,0.81111839654192]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_12","position":[-0.05240597983577622,-0.8364647557058005,0.71338606911949],"aabb_xy":[[-0.09740598130200509,-0.8814646125672814],[-0.007405978369547374,-0.79146489884432]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_13","position":[-0.6095895325130304,0.09509930071940564,0.71338606911949],"aabb_xy":[[-0.6227407784843197,0.0700993009627191],[-0.596438286541741,0.1200993004760922]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[0.32113388075469285,-1.453482334670551,0.71338606911949],"aabb_xy":[[0.25713388005122356,-1.4995007171434722],[0.3851338814581623,-1.4074639521976302]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_15","position":[-0.531771389708764,-1.5318485362924004,0.71338606911949],"aabb_xy":[[-0.5604207220691801,-1.5604940955694757],[-0.5031220573483477,-1.5032029770153241]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_16","position":[-0.3268163170603,0.8849281455558589,0.71338606911949],"aabb_xy":[[-0.33559754420753635,0.876148398267329],[-0.3180350899130639,0.8937078928443893]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[-0.4750139702675855,1.252256168589911,0.71338606911949],"aabb_xy":[[-0.5125139688432063,1.2395198729263528],[-0.4375139716919647,1.2649924642534687]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_18","position":[0.47752542075677695,0.35092105955128705,0.71338606911949],"aabb_xy":[[0.44712730965763325,0.32051415754961754],[0.5079235318559203,0.38132796155295656]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[0.5330412872059658,-1.1736377374060565,0.71338606911949],"aabb_xy":[[0.46904128791179756,-1.2376238777749107],[0.597041286500134,-1.1096515970372023]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[-0.3164964912865865,-0.2058947587446256,0.71338606911949],"aabb_xy":[[-0.3347023149478342,-0.21692015932661726],[-0.29829066762533885,-0.19486935816263398]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_21","position":[0.20859766182652606,-0.5066236552559529,0.71338606911949],"aabb_xy":[[0.1835976618940082,-0.5135063234768763],[0.23359766175904398,-0.49974098703502967]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[0.5833200026459295,-0.23590300201182757,0.71338606911949],"aabb_xy":[[0.5729084439654458,-0.24124873534772603],[0.5937315613264132,-0.2305572686759291]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_23","position":[-0.42441683246998124,0.2667437251919975,0.71338606911949],"aabb_xy":[[-0.4944168340722608,0.25331093199033994],[-0.3544168308677018,0.2801765183936551]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_24","position":[0.21149812410848912,-1.060388904446538,0.71338606911949],"aabb_xy":[[0.20379493343441202,-1.0680982751452759],[0.2192013147825661,-1.0526795337478]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[0.6572278354747871,1.2685766391251554,0.71338606911949],"aabb_xy":[[0.6204332023498809,1.2316707640285731],[0.6940224685996934,1.3054825142217377]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[0.30210054045815093,-2.5402991806456994,0.71338606911949],"aabb_xy":[[0.2979845903460782,-2.544414735678545],[0.30621649057022354,-2.536183625612854]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_27","position":[-0.04062872889556135,0.40264501541790354,0.71338606911949],"aabb_xy":[[-0.06280125587221218,0.3804693482617803],[-0.018456201918910505,0.42482068257402666]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_28","position":[-0.4229615051905189,0.3695310767484923,0.71338606911949],"aabb_xy":[[-0.4364080318245622,0.356061225095401],[-0.40951497855647556,0.38300092840158345]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_29","position":[-0.5691558904545377,-1.2179597356574314,0.71338606911949],"aabb_xy":[[-0.619155891473673,-1.2544259513952594],[-0.5191558894354025,-1.1814935199196035]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_30","position":[0.06265710632102472,1.0683220969353582,0.71338606911949],"aabb_xy":[[0.012657104960137512,1.0183441923599426],[0.11265710768191195,1.1183000015107738]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.65716158650862,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5436.png","name":"5436"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5436.png","name":"5436"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/548.png","name":"548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5326.png","name":"5326"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3229.png","name":"3229"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9667.png","name":"9667"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":615.3018230351281,"rotation_z_degrees":8.246066478619834,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0026862394291253117,0.008393962209631473,0.014405239674824735]},{"name":"camera_2","offset_m":[-0.010861477041536812,-0.00982401781442421,-0.013071119506592836]},{"name":"camera_3","offset_m":[-0.009557352634954172,0.019747923088527058,0.003147899532165016]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011023272536029621,0.0004821623266016823,-0.00029744761475555674],"end_effector_yaw_offset_degrees":0.38876570990976567},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015090330712429442,0.00040227161839983703,0.001797710298343056],"end_effector_yaw_offset_degrees":-0.713095139851089},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006753814026274722,-0.001953228839925981,0.0009921738465158928],"end_effector_yaw_offset_degrees":-0.3643069939375807},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006742237099442686,0.0007312424923020416,-0.0018537071841118217],"end_effector_yaw_offset_degrees":0.07338483549592945}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019424471419125467,-0.0021525322159504133],"position_m":[0.29294244714191253,-0.07915253221595041,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010108294649457316,0.003482850001651658],"position_m":[0.24481082946494573,-0.33071714999834834,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018599173006596569,-0.0017087309103203906],"position_m":[0.19504008269934034,0.3059912690896796,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035394559565421575,-0.0040581605220675054],"position_m":[0.33413945595654215,0.0768418394779325,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"23de8d1bd1448220604d09199039aeeb94d3be33c58d7ec6f19541d7ebf51af3","episode_index":125,"episode_name":"episode_0125"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0125.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5436/tex_ceiling_textures_9667/tex_floor_textures_3229/tex_table_textures_548/tex_wall_textures_5326","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6701879767874029683,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6701879767874029683,"visual_seed":6701879767874029683,"scene_id":"lab_003","finished_at":"2026-09-05T01:02:02"}
+{"episode_id":"ep_000088","started_at":"2026-09-05T01:02:06","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_0","position":[0.4869792068964818,-0.49198904258098075,0.71338606911949],"aabb_xy":[[0.4494792063991236,-0.4959577261290992],[0.52447920739384,-0.4880203590328624]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[0.5447644676824337,0.3943510529889478,0.71338606911949],"aabb_xy":[[0.5406485175703608,0.39023549795610224],[0.5488804177945061,0.39846660802179323]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[-0.07869550671648995,0.7577920034049344,0.71338606911949],"aabb_xy":[[-0.09875391832973025,0.7377269164957767],[-0.05863709510324967,0.7778570903140918]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[-0.6058869213833447,-2.5532335255811747,0.71338606911949],"aabb_xy":[[-0.6150468003272213,-2.559764743624711],[-0.5967270424394681,-2.5467023075376374]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.029606256661722896,-1.1534783851180757,0.71338606911949],"aabb_xy":[[0.012929120668627392,-1.170178309092006],[0.0462833926548184,-1.1367784611441454]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_5","position":[-0.024155146859146437,-0.030130694544832526,0.71338606911949],"aabb_xy":[[-0.02905443916570993,-0.05780761384740129],[-0.019255854552582937,-0.002453775242263749]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_6","position":[-0.4632634565479272,-1.195844553949661,0.71338606911949],"aabb_xy":[[-0.5332634591845136,-1.2159494189455262],[-0.3932634539113408,-1.1757396889537952]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[-0.580382147262377,-0.079213651206135,0.71338606911949],"aabb_xy":[[-0.5982512550168325,-0.09304655918334592],[-0.5625130395079215,-0.06538074322892407]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_8","position":[0.2844654044931899,-2.347734533687303,0.71338606911949],"aabb_xy":[[0.20446540651240488,-2.3553360746491543],[0.36446540247397496,-2.3401329927254504]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_9","position":[-0.3993546073979343,1.526088083174495,0.71338606911949],"aabb_xy":[[-0.40481255303495445,1.4460880798668359],[-0.3938966617609143,1.606088086482154]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_10","position":[0.08418571844525968,-1.6055325201656148,0.71338606911949],"aabb_xy":[[0.04972324043217191,-1.6121961973485375],[0.11864819645834745,-1.598868842982692]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[-0.40398565690830324,0.520774936416676,0.71338606911949],"aabb_xy":[[-0.49398565663147737,0.49770158388149605],[-0.313985657185129,0.5438482889518557]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_12","position":[0.6458036606925879,-1.4340968375208818,0.71338606911949],"aabb_xy":[[0.6108036607965689,-1.4424710730328218],[0.6808036605886066,-1.4257226020089417]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_13","position":[-0.2226450690931226,-2.4215056198896274,0.71338606911949],"aabb_xy":[[-0.22672322700017233,-2.42558660013789],[-0.21856691118607285,-2.417424639641364]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[-0.5777898104402479,1.0238333726663513,0.71338606911949],"aabb_xy":[[-0.6417898090268204,0.9768264092668424],[-0.5137898118536754,1.0708403360658598]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[-0.13821325824513953,-0.42507808062202734,0.71338606911949],"aabb_xy":[[-0.15571319167912287,-0.4425780805422619],[-0.12071332481115613,-0.4075780807017928]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[-0.07804161802861842,0.9524856425659154,0.71338606911949],"aabb_xy":[[-0.16772869433673387,0.8624856423114649],[0.011645458279497034,1.042485642820366]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.22353779048794375,1.4020878303054447,0.71338606911949],"aabb_xy":[[0.1595377881451422,1.357146979061312],[0.2875377928307453,1.447028681549577]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.5245459214063064,0.5221259842304486,0.71338606911949],"aabb_xy":[[0.4745671128959905,0.47212598422472984],[0.5745247299166223,0.5721259842361675]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_19","position":[-0.22491302927881862,-1.0696173022724016,0.71338606911949],"aabb_xy":[[-0.24741302928896694,-1.0837135219120047],[-0.20241302926867036,-1.055521082632798]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[-0.27422609094461714,-1.472128941070779,0.71338606911949],"aabb_xy":[[-0.36422609462153527,-1.5335613476478829],[-0.18422608726769893,-1.4106965344936744]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_21","position":[0.46242001800593613,-1.1468701042186944,0.71338606911949],"aabb_xy":[[0.45638300500527146,-1.1528968052876427],[0.4684570310066009,-1.1408434031497465]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_22","position":[-0.5761001869084812,-2.290121094472373,0.71338606911949],"aabb_xy":[[-0.631100185110226,-2.3306430610988107],[-0.5211001887067364,-2.2495991278459355]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_23","position":[-0.15023438660187083,0.5893036772561291,0.71338606911949],"aabb_xy":[[-0.16781268879081768,0.5717291876820242],[-0.13265608441292398,0.606878166830234]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_24","position":[0.6076614496235089,-1.6710830225038384,0.71338606911949],"aabb_xy":[[0.5436614525114033,-1.720115392298249],[0.6716614467356147,-1.6220506527094278]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_25","position":[-0.5037467072775045,1.4939384515534884,0.71338606911949],"aabb_xy":[[-0.5109904733237498,1.413938453349886],[-0.49650294123125915,1.5739384497570907]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_26","position":[-0.45021341240935253,1.1361820615142117,0.71338606911949],"aabb_xy":[[-0.45630804029747085,1.127612666962543],[-0.4441187845212342,1.1447514560658805]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_27","position":[-0.6136461880832977,-1.1953942217118294,0.71338606911949],"aabb_xy":[[-0.6224274152305341,-1.2041739690003597],[-0.6048649609360616,-1.1866144744232996]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6638282682994169,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/875.png","name":"875"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/875.png","name":"875"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1416.png","name":"1416"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4807.png","name":"4807"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3457.png","name":"3457"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6433.png","name":"6433"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":586.5128136891447,"rotation_z_degrees":140.37311994102674,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011739430704725818,-0.01984850746008982,0.0029455980376791625]},{"name":"camera_2","offset_m":[0.005588063482392203,0.011399126346438453,0.015982387848070292]},{"name":"camera_3","offset_m":[-0.007751429889728309,-0.011074124114597557,0.014004930637592856]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007747643656440934,0.0019626832433850393,-0.0006057139150036001],"end_effector_yaw_offset_degrees":-0.17494300763094617},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015719502165539674,0.001254828542912376,-7.811916344714251e-05],"end_effector_yaw_offset_degrees":0.15977431509573692},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019837154830215633,0.0004396440337366206,0.0018571660349886217],"end_effector_yaw_offset_degrees":0.09867446731504104},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013427081317157925,0.001690701441482007,0.0010038786625490696],"end_effector_yaw_offset_degrees":0.8603517918359762}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004333574840690059,-0.004304971306203679],"position_m":[0.2866664251593099,-0.08130497130620368,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0039852274529520665,-0.004611606214223824],"position_m":[0.24778522745295206,-0.33881160621422385,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0004191073579851712,-0.0013592069493524395],"position_m":[0.19648089264201482,0.30634079305064754,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037878642772102237,-0.002239724587407068],"position_m":[0.3268121357227898,0.07866027541259293,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"86657ea573d94a626af7aa2347f206a4ce5c3ab17e0c39235896b6393f8f1196","episode_index":126,"episode_name":"episode_0126"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0126.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_875/tex_ceiling_textures_6433/tex_floor_textures_3457/tex_table_textures_1416/tex_wall_textures_4807","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3926617547363427231,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3926617547363427231,"visual_seed":3926617547363427231,"scene_id":"lab_003","finished_at":"2026-09-05T01:05:52"}
+{"episode_id":"ep_000089","started_at":"2026-09-05T01:08:11","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_0","position":[0.4400317200339907,-2.4012744048988273,0.71338606911949],"aabb_xy":[[0.3750317214769179,-2.4310269383127094],[0.5050317185910635,-2.371521871484944]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[-0.32356275969762904,-2.3638266026647083,0.71338606911949],"aabb_xy":[[-0.35704192695867004,-2.3973057160358153],[-0.29008359243658816,-2.3303474892936014]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_2","position":[0.006734803809787748,0.9835685535873209,0.71338606911949],"aabb_xy":[[0.002099688657554359,0.9797012185101722],[0.011369918962021133,0.9874358886644695]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[-0.2369817745991739,-0.9153000867165157,0.71338606911949],"aabb_xy":[[-0.2404224508392311,-0.9191615196908804],[-0.23354109835911677,-0.9114386537421515]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[0.43466898682812394,0.01618091055922566,0.71338606911949],"aabb_xy":[[0.3971689870110904,0.01154269924808379],[0.4721689866451575,0.02081912187036752]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[0.5762205452536291,-1.6560712438569059,0.71338606911949],"aabb_xy":[[0.5112205442531286,-1.7068576090115806],[0.6412205462541296,-1.6052848787022307]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.5682090507561204,-0.28140613897304156,0.71338606911949],"aabb_xy":[[-0.5932090506886383,-0.28828880719396494],[-0.5432090508236025,-0.2745234707521183]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_7","position":[-0.2026779691635167,1.7440612402396094,0.71338606911949],"aabb_xy":[[-0.2676779673194358,1.7177649956896974],[-0.13767797100759765,1.7703574847895218]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_8","position":[-0.2763129024579332,-2.1695509703706763,0.71338606911949],"aabb_xy":[[-0.33631290410085507,-2.22155111966262],[-0.21631290081501137,-2.1175508210787317]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_9","position":[-0.591086073791498,-0.41635869418055327,0.71338606911949],"aabb_xy":[[-0.681086072385968,-0.4326092804939743],[-0.5010860751970281,-0.40010810786713225]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_10","position":[0.3656498463182669,0.41185607271846303,0.71338606911949],"aabb_xy":[[0.310676124281934,0.3568560731542299],[0.42062356835459974,0.46685607228269627]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.07455410421107478,-0.6872105480488513,0.71338606911949],"aabb_xy":[[-0.09210079912719371,-0.7247105496131026],[-0.057007409294955846,-0.6497105464846]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.1370075576208719,-1.2053357767834012,0.71338606911949],"aabb_xy":[[-0.20100756083950974,-1.2520588886824096],[-0.07300755440223403,-1.1586126648843929]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[0.38580110437031756,-2.1733089736837417,0.71338606911949],"aabb_xy":[[0.33580609341086554,-2.223308972719334],[0.43579611532976964,-2.1233089746481504]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_14","position":[-0.42998342859810895,-0.982523121770601,0.71338606911949],"aabb_xy":[[-0.4939834278922771,-1.046509262139455],[-0.3659834293039407,-0.9185369814017467]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_15","position":[0.6012472081085833,-0.821575360491104,0.71338606911949],"aabb_xy":[[0.5787824381371782,-0.8440753613699645],[0.6237119780799885,-0.7990753596122435]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.5190191493131113,0.5601680087087542,0.71338606911949],"aabb_xy":[[-0.556519149661339,0.5483766131276705],[-0.48151914896488346,0.5719594042898376]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[0.6660916464218818,0.7750506410515139,0.71338606911949],"aabb_xy":[[0.6160916454027465,0.738584425313686],[0.716091647441017,0.8115168567893419]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[-0.06723900122656445,-1.6691241294153536,0.71338606911949],"aabb_xy":[[-0.09838592007014756,-1.7391241281021608],[-0.036092082382981325,-1.5991241307285464]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[-0.42224407811667647,1.0019681763521646,0.71338606911949],"aabb_xy":[[-0.4772440763184213,0.9614462097257269],[-0.36724407991493163,1.042490142978602]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_20","position":[0.3326607251796674,0.9580297732839469,0.71338606911949],"aabb_xy":[[0.28256326119859376,0.8940297727741351],[0.382758189160741,1.0220297737937587]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_21","position":[-0.6462244387210749,-0.0582526691094416,0.71338606911949],"aabb_xy":[[-0.6511237310276382,-0.08592958841201037],[-0.6413251464145112,-0.030575749806872825]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_22","position":[-0.40057474881866945,-0.16292328261495248,0.71338606911949],"aabb_xy":[[-0.40861810874462456,-0.24792328371031888],[-0.3925313888927142,-0.07792328151958602]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_23","position":[0.4920380017812407,0.8148453189150602,0.71338606911949],"aabb_xy":[[0.43703800260465114,0.7598556441401025],[0.5470380009578302,0.8698349936900178]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6621820609431842,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4374.png","name":"4374"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4374.png","name":"4374"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3188.png","name":"3188"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7526.png","name":"7526"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/899.png","name":"899"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2773.png","name":"2773"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":831.8551911507676,"rotation_z_degrees":259.42388254149773,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017053045430268383,-0.006507211036801302,-0.012178394163335958]},{"name":"camera_2","offset_m":[0.011836869199761364,-0.019841741402420027,-0.0014885534724772727]},{"name":"camera_3","offset_m":[0.015494091929869194,0.00662019302883186,-0.0009774117537346243]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00022196797549011642,-0.001158098749178909,-0.000876521434195562],"end_effector_yaw_offset_degrees":0.5041123897044948},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.001940605441150362,-0.0003434140019525876,0.0014151517361131534],"end_effector_yaw_offset_degrees":-0.40311726273524573},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018421272137386794,0.0006789309256402462,0.0010792014259744585],"end_effector_yaw_offset_degrees":-0.7114276088660132},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00039655041871711596,0.0010272733788205014,-0.0002787390382286473],"end_effector_yaw_offset_degrees":0.896575881830808}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00239833641037967,-0.002817259056516377],"position_m":[0.2886016635896203,-0.07981725905651638,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004500140265600842,-0.0004973858146438926],"position_m":[0.24830014026560082,-0.33469738581464387,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004876454889874851,0.0006932622862430059],"position_m":[0.19202354511012515,0.308393262286243,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004740812842152963,-0.002593083979566678],"position_m":[0.33534081284215295,0.07830691602043333,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"19d9f3edd0ee020a27fe93628a1d11493b5ade8513fb43c8b33bdeb403b74080","episode_index":128,"episode_name":"episode_0128"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0128.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4374/tex_ceiling_textures_2773/tex_floor_textures_899/tex_table_textures_3188/tex_wall_textures_7526","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":7488354575562074691,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":7488354575562074691,"visual_seed":7488354575562074691,"scene_id":"lab_003","finished_at":"2026-09-05T01:11:40"}
+{"episode_id":"ep_000090","started_at":"2026-09-05T01:11:44","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.20101764629013386,-1.852082569493657,0.71338606911949],"aabb_xy":[[-0.23751346691741257,-1.8885665119204145],[-0.1645218256628551,-1.8155986270668993]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_1","position":[0.5331644870315944,0.7188341089455119,0.71338606911949],"aabb_xy":[[0.5258821706549306,0.6288341053360027],[0.5404468034082579,0.8088341125550207]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_2","position":[-0.4089220188349193,-0.6573882093892343,0.71338606911949],"aabb_xy":[[-0.43142201934695984,-0.6798800677546326],[-0.38642201832287865,-0.6348963510238359]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_3","position":[-0.36855856405175325,0.8663518551114802,0.71338606911949],"aabb_xy":[[-0.4235508146872643,0.8113518533681674],[-0.31356631341624236,0.9213518568547929]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[0.23846494000630636,-0.6028247495758934,0.71338606911949],"aabb_xy":[[0.20283578410634662,-0.6384574163327462],[0.2740940959062661,-0.5671920828190403]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_5","position":[0.49982141390397095,-0.7356345012717629,0.71338606911949],"aabb_xy":[[0.45482882718552053,-0.7806345005462118],[0.5448140006224214,-0.6906345019973142]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[-0.04045486386171304,1.7113281335796224,0.71338606911949],"aabb_xy":[[-0.07545486217240849,1.7036131186560766],[-0.005454865551017589,1.7190431485031679]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.14355498915489673,0.5146062462637557,0.71338606911949],"aabb_xy":[[-0.2075549877414692,0.4675992828642469],[-0.07955499056832427,0.5616132096632643]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[0.3258432488023473,1.0277649047772073,0.71338606911949],"aabb_xy":[[0.3188017978515996,1.0207381530394128],[0.3328846997530948,1.0347916565150017]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[-0.5109689719482741,-0.3896070746079472,0.71338606911949],"aabb_xy":[[-0.5348051895888791,-0.47960707541643377],[-0.487132754307669,-0.2996070737994608]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_10","position":[-0.533674395880418,0.45345376746750166,0.71338606911949],"aabb_xy":[[-0.6236743926160281,0.4002703041502071],[-0.44367439914480766,0.5066372307847962]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_11","position":[0.4753582274100625,-2.1596571546452124,0.71338606911949],"aabb_xy":[[0.450358227858324,-2.169799638510347],[0.500358226961801,-2.1495146707800776]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[-0.30622685164598024,-1.407498951766976,0.71338606911949],"aabb_xy":[[-0.3287268516561285,-1.4215951714065793],[-0.28372685163583194,-1.3934027321273728]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[-0.35584346654171856,-0.09124115882766537,0.71338606911949],"aabb_xy":[[-0.4058277022498958,-0.14124115764116096],[-0.30585923083354133,-0.041241160014169775]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_14","position":[-0.2940964354236394,-0.8249937855828677,0.71338606911949],"aabb_xy":[[-0.30279439771435473,-0.8371187598903423],[-0.28539847313292416,-0.8128688112753929]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_15","position":[0.3441241567882498,1.613166296559998,0.71338606911949],"aabb_xy":[[0.32662415652891325,1.5990747543712258],[0.3616241570475865,1.627257838748771]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_16","position":[0.5946956490417892,-1.8264489192440094,0.71338606911949],"aabb_xy":[[0.5446956480226539,-1.8629151349818378],[0.6446956500609244,-1.789982703506182]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_17","position":[0.5545967297960179,-2.49316648405871,0.71338606911949],"aabb_xy":[[0.5046036176868262,-2.5431664847329056],[0.6045898419052099,-2.4431664833845144]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_18","position":[0.4915642769125743,-1.7066602256195158,0.71338606911949],"aabb_xy":[[0.4769208713585413,-1.7213189452762996],[0.5062076824666073,-1.6920015059627311]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[0.09977231162360489,-0.8847968172892648,0.71338606911949],"aabb_xy":[[0.06518122876955967,-0.9497968175742958],[0.1343633944776501,-0.8197968170042337]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_20","position":[-0.42054832761587424,0.2968573436173165,0.71338606911949],"aabb_xy":[[-0.4905483297473037,0.2740953779916208],[-0.35054832548444465,0.31961930924301213]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_21","position":[0.5444379176480518,-2.323231043802449,0.71338606911949],"aabb_xy":[[0.4804379154276448,-2.3676041279277373],[0.6084379198684589,-2.2788579596771608]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[-0.26559737461696215,-2.5462734350584797,0.71338606911949],"aabb_xy":[[-0.2690380508570193,-2.550134868032844],[-0.262156698376905,-2.542412002084115]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_23","position":[0.28240754276001434,-1.3662689790884024,0.71338606911949],"aabb_xy":[[0.27427985456670106,-1.37518258749911],[0.2905352309533275,-1.3573553706776949]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_24","position":[-0.46705014803697253,-2.057218258883386,0.71338606911949],"aabb_xy":[[-0.5320501491429159,-2.0821836319515143],[-0.4020501469310293,-2.0322528858152578]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_25","position":[0.5493091016193721,-1.270544540069174,0.71338606911949],"aabb_xy":[[0.5189109905202284,-1.3009514420708432],[0.5797072127185156,-1.2401376380675042]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_26","position":[0.31166198267714695,-1.5847980849938204,0.71338606911949],"aabb_xy":[[0.2476619853748005,-1.6291645119616769],[0.3756619799794933,-1.5404316580259634]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_27","position":[-0.1519266123543298,-1.6270587042844262,0.71338606911949],"aabb_xy":[[-0.23192661033511483,-1.6346602452462782],[-0.07192661437354474,-1.6194571633225743]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_28","position":[0.32096177255152325,-1.1535360186090873,0.71338606911949],"aabb_xy":[[0.25696177217398963,-1.2032812854598995],[0.38496177292905687,-1.103790751758275]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[-0.3794592150019094,-0.9947136518318576,0.71338606911949],"aabb_xy":[[-0.4434592166799067,-1.0432310433111716],[-0.31545921332391197,-0.9461962603525432]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_30","position":[0.6140221695662746,-0.5376029164883147,0.71338606911949],"aabb_xy":[[0.5861771327856675,-0.5683874152266264],[0.6418672063468818,-0.506818417750003]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_31","position":[0.42288034075643544,-0.1477344545642687,0.71338606911949],"aabb_xy":[[0.4123128610983364,-0.15827948467727726],[0.43344782041453445,-0.13718942445126014]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6568843894802503,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9642.png","name":"9642"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9642.png","name":"9642"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7406.png","name":"7406"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1273.png","name":"1273"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9456.png","name":"9456"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7579.png","name":"7579"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":598.8848639047023,"rotation_z_degrees":204.0385096283592,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006228646587147724,0.013135294704259937,0.006138822705948864]},{"name":"camera_2","offset_m":[0.004996470590928531,0.01601772568872623,-0.00043221488347813114]},{"name":"camera_3","offset_m":[-0.007717308187647043,-0.014788565853846625,0.01863962623180505]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000826609768410039,-0.00012066770985665705,-0.0013425675573313115],"end_effector_yaw_offset_degrees":-0.7360459209940744},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0008445199150570225,-0.0012163662803611444,0.0010147157986204955],"end_effector_yaw_offset_degrees":0.21440244802553732},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00012955888890579543,-0.0013482013145379957,0.00047723532265906343],"end_effector_yaw_offset_degrees":-0.5396130635997345},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016009189408672658,-0.00037684999048730053,0.00178791605332601],"end_effector_yaw_offset_degrees":0.6365157680097506}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0035532004790467557,0.0006433980724543176],"position_m":[0.2874467995209532,-0.07635660192754568,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00044103235309120564,0.0030559230087850607],"position_m":[0.2442410323530912,-0.33114407699121495,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00319378931610548,-0.0031237544919366566],"position_m":[0.20009378931610547,0.30457624550806334,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022130498463332074,-0.0031534027561920665],"position_m":[0.3328130498463332,0.07774659724380793,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"62b9daa0ca8909cdf1e3032e9f7cf144f802e7502981f16f3d886a03ba86549a","episode_index":129,"episode_name":"episode_0129"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0129.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_9642/tex_ceiling_textures_7579/tex_floor_textures_9456/tex_table_textures_7406/tex_wall_textures_1273","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3564159889259341762,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3564159889259341762,"visual_seed":3564159889259341762,"scene_id":"lab_003","finished_at":"2026-09-05T01:15:06"}
+{"episode_id":"ep_000091","started_at":"2026-09-05T01:15:11","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_0","position":[-0.08537672997847656,0.4420115336782504,0.71338606911949],"aabb_xy":[[-0.10287666341245992,0.4245115337580158],[-0.06787679654449318,0.4595115335984849]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.08289065526198924,0.04467137590151182,0.71338606911949],"aabb_xy":[[-0.16289065633510957,0.034893329564127384],[-0.002890654188868927,0.05444942223889626]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[0.4388744154940196,-1.2777393867588192,0.71338606911949],"aabb_xy":[[0.3488744168995497,-1.2939899730722402],[0.5288744140884896,-1.2614888004453981]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[-0.25226566216088164,-1.432979503060151,0.71338606911949],"aabb_xy":[[-0.31626566356887226,-1.4847684545840756],[-0.18826566075289095,-1.3811905515362262]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[-0.1538037866272709,1.1027020434257873,0.71338606911949],"aabb_xy":[[-0.23880378531934554,1.0707161800309084],[-0.06880378793519626,1.1346879068206661]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_5","position":[-0.12161182663486969,-1.8344239589131548,0.71338606911949],"aabb_xy":[[-0.1584623745718573,-1.8719239597361883],[-0.0847612786978821,-1.7969239580901208]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_6","position":[0.40598051885448916,-2.2177072767386825,0.71338606911949],"aabb_xy":[[0.37601296194466344,-2.247707277036568],[0.43594807576431477,-2.187707276440797]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[0.6728048861905531,-0.20685788949475548,0.71338606911949],"aabb_xy":[[0.6378048878798577,-0.21457290441830112],[0.7078048845012486,-0.19914287457120983]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_8","position":[0.17555069041945626,1.714330133452234,0.71338606911949],"aabb_xy":[[0.154272682275984,1.649330131126161],[0.1968286985629285,1.7793301357783071]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[0.6988670694865948,-1.8510502307374996,0.71338606911949],"aabb_xy":[[0.6833113000763296,-1.866600663981907],[0.7144228388968601,-1.8354997974930927]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[-0.5669761040552864,-1.565400672418745,0.71338606911949],"aabb_xy":[[-0.5796028913424828,-1.574946746120318],[-0.5543493167680901,-1.5558545987171721]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_11","position":[0.289479571905371,0.9727447956705708,0.71338606911949],"aabb_xy":[[0.2775468375435429,0.9603626428627113],[0.30141230626719906,0.9851269484784301]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_12","position":[0.14159329404281917,0.6678772703033156,0.71338606911949],"aabb_xy":[[0.10409329387094723,0.6351765349204084],[0.1790932942146911,0.7005780056862227]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_13","position":[0.469376410037325,0.21196746701025893,0.71338606911949],"aabb_xy":[[0.454213537060388,0.1968020097151402],[0.48453928301426213,0.2271329243053777]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.5644692099112858,1.4730835493504215,0.71338606911949],"aabb_xy":[[-0.6444692073148791,1.3930909781522385],[-0.4844692125076923,1.553076120548604]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.4116239219690639,0.14021182991007386,0.71338606911949],"aabb_xy":[[-0.47321468119305676,0.076211831801027],[-0.3500331627450711,0.20421182801912077]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[-0.11090248679096315,0.5642025747540851,0.71338606911949],"aabb_xy":[[-0.17090248765177593,0.5127761447475985],[-0.050902485930150336,0.6156290047605713]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[-0.08606563481382756,1.7788105864026167,0.71338606911949],"aabb_xy":[[-0.12356563323722791,1.7656463724347857],[-0.048565636390427214,1.7919748003704472]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[-0.010284549204921278,1.5848943746398194,0.71338606911949],"aabb_xy":[[-0.047318658632980994,1.55051716730611],[0.026749560223138437,1.6192715819735288]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.5926652131352796,-0.7169030247969304,0.71338606911949],"aabb_xy":[[-0.6020122207175749,-0.7312066470145744],[-0.5833182055529844,-0.7025994025792863]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.1421203288604982,0.798518476896418,0.71338606911949],"aabb_xy":[[0.08212032826448198,0.7437060043511946],[0.20212032945651434,0.8533309494416416]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_21","position":[0.5350568267899312,-2.41174261349175,0.71338606911949],"aabb_xy":[[0.5016166515939114,-2.4451862393226795],[0.5684970019859507,-2.378298987660819]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[0.5440111698066998,0.902540593873983,0.71338606911949],"aabb_xy":[[0.5136130587075562,0.8721336918723134],[0.5744092809058434,0.9329474958756524]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_23","position":[0.17751335302413296,-0.8250465025664473,0.71338606911949],"aabb_xy":[[0.11751335277273178,-0.879327827602912],[0.23751335327553413,-0.7707651775299826]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[-0.04868006387746526,0.9923935961240331,0.71338606911949],"aabb_xy":[[-0.057482119186437974,0.9845822699691039],[-0.03987800856849255,1.000204922278962]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_25","position":[0.6152424694450047,0.4897888544098996,0.71338606911949],"aabb_xy":[[0.56524246986867,0.4398082754577938],[0.6652424690213394,0.5397694333620057]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_26","position":[-0.20031556680080587,1.6667958999966932,0.71338606911949],"aabb_xy":[[-0.2502985169882852,1.6167959003541326],[-0.15033261661332653,1.7167958996392534]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_27","position":[-0.30900314124619305,1.4089721662744088,0.71338606911949],"aabb_xy":[[-0.363995391881704,1.3539721645310963],[-0.2540108906106821,1.4639721680177218]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.658174171721127,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6808.png","name":"6808"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6808.png","name":"6808"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8311.png","name":"8311"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4954.png","name":"4954"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7742.png","name":"7742"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3313.png","name":"3313"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":799.6200850022105,"rotation_z_degrees":76.86628769904523,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[4.0611080194919574e-05,0.01139113114880205,-0.0014153380513434316]},{"name":"camera_2","offset_m":[-0.0005243728343998187,0.011867709861579024,0.017234799858155885]},{"name":"camera_3","offset_m":[0.0017067415339809856,-0.007923953507269235,0.01631672480731469]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00027356666966258563,0.00016585855159071544,-0.001480803976779535],"end_effector_yaw_offset_degrees":0.34919792427559027},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0015154751291478106,0.0018327546259164066,-0.0009597275397921568],"end_effector_yaw_offset_degrees":-0.3377742587840542},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019767065091946473,-0.0004671323426742337,0.00010627472420769593],"end_effector_yaw_offset_degrees":-0.07995307090339931},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009035414089825088,-0.00015956532780699376,0.0016364153858093441],"end_effector_yaw_offset_degrees":0.8930508307832832}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038421660210291282,-0.0022760778552520767],"position_m":[0.2948421660210291,-0.07927607785525208,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020060514156920754,0.003179753303241754],"position_m":[0.24580605141569206,-0.3310202466967582,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0021434678686864375,0.0024214427708251227],"position_m":[0.19475653213131355,0.3101214427708251,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002520004965883036,-0.003959072418472426],"position_m":[0.33312000496588307,0.07694092758152757,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"22f1220486af4d6cb82632ffa89448b93e20913c539f39f1613a9e57ed1bfe83","episode_index":130,"episode_name":"episode_0130"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0130.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6808/tex_ceiling_textures_3313/tex_floor_textures_7742/tex_table_textures_8311/tex_wall_textures_4954","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8501848665665270003,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8501848665665270003,"visual_seed":8501848665665270003,"scene_id":"lab_003","finished_at":"2026-09-05T01:18:36"}
+{"episode_id":"ep_000092","started_at":"2026-09-05T01:21:00","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[-0.3753317687946266,-0.8726668881724129,0.71338606911949],"aabb_xy":[[-0.3928317690539632,-0.8867584303611857],[-0.3578317685352899,-0.8585753459836405]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_1","position":[-0.46996573436768696,-0.7825082350700343,0.71338606911949],"aabb_xy":[[-0.48759856996121453,-0.8001311810856572],[-0.4523328987741594,-0.7648852890544112]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[-0.5190342380568252,0.9829541120347036,0.71338606911949],"aabb_xy":[[-0.5263165544334887,0.8929541084251943],[-0.5117519216801614,1.0729541156442122]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_3","position":[-0.3273962873892485,-2.451757505407397,0.71338606911949],"aabb_xy":[[-0.3386413429598663,-2.462999303131492],[-0.31615123181863064,-2.4405157076833013]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_4","position":[0.024876804965044297,-1.5649888647170638,0.71338606911949],"aabb_xy":[[-0.017307609195786444,-1.6289888649942752],[0.06706121912587504,-1.5009888644398528]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[-0.509995848847528,0.07114627957694353,0.71338606911949],"aabb_xy":[[-0.5349958483992665,0.06100379571180879],[-0.48499584929578954,0.08128876344207824]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_6","position":[0.21283436637772524,-0.5195927914513572,0.71338606911949],"aabb_xy":[[0.20484037780002182,-0.5275928715464475],[0.2208283549554286,-0.5115927113562668]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_7","position":[-0.14576101369631922,-0.316265032425163,0.71338606911949],"aabb_xy":[[-0.16326101297440607,-0.3336031324915089],[-0.12826101441823232,-0.298926932358817]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[0.2929782218759086,-2.3790036873411085,0.71338606911949],"aabb_xy":[[0.20797822345848538,-2.4638779828033934],[0.37797822029333183,-2.2941293918788235]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[-0.13095601645228827,-1.2856653879178652,0.71338606911949],"aabb_xy":[[-0.18594922778942502,-1.3406653882566588],[-0.07596280511515151,-1.2306653875790716]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_10","position":[0.14175291722266692,-0.9750437869895183,0.71338606911949],"aabb_xy":[[0.12665061576164877,-0.99014530862058],[0.15685521868368496,-0.9599422653584564]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[-0.4411519237433415,-1.445558204382875,0.71338606911949],"aabb_xy":[[-0.49112498927585707,-1.495558204195408],[-0.39117885821082615,-1.3955582045703423]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.20649068244450564,0.4924895156111049,0.71338606911949],"aabb_xy":[[0.19592320278640665,0.48194448549809626],[0.21705816210260467,0.5030345457241134]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[-0.35445113996197813,-1.784094170901184,0.71338606911949],"aabb_xy":[[-0.41445114160490004,-1.8360943201931283],[-0.29445113831905634,-1.73209402160924]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_14","position":[-0.4455866454872681,-0.39160549257240174,0.71338606911949],"aabb_xy":[[-0.4547465244311447,-0.3981367106159388],[-0.4364267665433915,-0.3850742745288648]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_15","position":[0.6863588622564394,-0.9723335066400258,0.71338606911949],"aabb_xy":[[0.6770652440192887,-1.0098335051281597],[0.6956524804935899,-0.9348335081518919]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[0.5709577672677439,-2.212771157921408,0.71338606911949],"aabb_xy":[[0.54846134583388,-2.2352711577281554],[0.5934541887016082,-2.1902711581146606]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_17","position":[-0.07371107091718365,0.7204820032659112,0.71338606911949],"aabb_xy":[[-0.08242503996711811,0.6979820026067227],[-0.06499710186724914,0.7429820039250992]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[0.6387056023783511,-0.02918029011702261,0.71338606911949],"aabb_xy":[[0.5887056007168561,-0.07917873237272531],[0.6887056040398456,0.020818152138680098]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_19","position":[-0.31636716945182924,1.6039067126704416,0.71338606911949],"aabb_xy":[[-0.3205030257845295,1.5664067132260848],[-0.3122313131191291,1.6414067121147988]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[-0.05980007666508247,-2.360265665915167,0.71338606911949],"aabb_xy":[[-0.08229921239130944,-2.3827656666934303],[-0.0373009409388555,-2.337765665136904]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_21","position":[-0.4890080078643444,0.27053256693560135,0.71338606911949],"aabb_xy":[[-0.5690080083345603,0.26222185932125297],[-0.4090080073941285,0.2788432745499497]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[-0.5966545203826684,-1.195467045569876,0.71338606911949],"aabb_xy":[[-0.6191545206261838,-1.2076716802296479],[-0.574154520139153,-1.183262410910104]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[-0.2236290611229555,0.47255552171939197,0.71338606911949],"aabb_xy":[[-0.23556179548478354,0.46017336891153265],[-0.2116963267611274,0.4849376745272514]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[-0.1910707719249124,1.3288396647701854,0.71338606911949],"aabb_xy":[[-0.19899405216366073,1.306339664532182],[-0.18314749168616407,1.3513396650081888]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_25","position":[0.43061203396774084,1.0298157850524299,0.71338606911949],"aabb_xy":[[0.37561978333223,0.9748157833091173],[0.4856042846032519,1.0848157867957429]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_26","position":[-0.13687462437074283,1.4480456501638366,0.71338606911949],"aabb_xy":[[-0.15979033725579272,1.425141353027413],[-0.11395891148569293,1.47094994730026]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6568330106169219,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9094.png","name":"9094"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9094.png","name":"9094"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5049.png","name":"5049"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2639.png","name":"2639"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6752.png","name":"6752"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1924.png","name":"1924"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":571.0361592992565,"rotation_z_degrees":87.42927321212147,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014851448673811395,0.009540107649591841,0.006161798029219408]},{"name":"camera_2","offset_m":[-0.01257548352522008,-0.0062276289850806115,-0.007309587541689826]},{"name":"camera_3","offset_m":[0.0030753918367648105,0.014651325010458415,-0.00016877973516259484]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009590446337264229,-0.000894086941482087,0.0006634561134006085],"end_effector_yaw_offset_degrees":0.9426592638066225},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0015512854964458726,-0.001071756476942699,0.0006960084190367343],"end_effector_yaw_offset_degrees":0.048394047061801615},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001615873286404653,0.0016779852876836463,-0.0017277579064136754],"end_effector_yaw_offset_degrees":-0.9530081156888974},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015700610521136036,0.0006524907722759263,0.0006230102107994367],"end_effector_yaw_offset_degrees":0.4990842831891966}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023268063010819977,-0.003885705089544643],"position_m":[0.293326806301082,-0.08088570508954464,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019471416107174288,-0.0009011573123978902],"position_m":[0.24185285838928255,-0.33510115731239787,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004177733006031051,-0.0016070265436532085],"position_m":[0.20107773300603105,0.3060929734563468,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002146709292305209,-0.0008627232440943204],"position_m":[0.3284532907076948,0.08003727675590568,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"51b1fc92661b3d267a49e085146c32d81c2e815d5fa96ceeade2d13304ec9ed4","episode_index":132,"episode_name":"episode_0132"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0132.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9094/tex_ceiling_textures_1924/tex_floor_textures_6752/tex_table_textures_5049/tex_wall_textures_2639","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":616582898848120761,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":616582898848120761,"visual_seed":616582898848120761,"scene_id":"lab_003","finished_at":"2026-09-05T01:24:18"}
+{"episode_id":"ep_000093","started_at":"2026-09-05T01:24:21","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[0.39960103432891225,0.8335985569126261,0.71338606911949],"aabb_xy":[[0.34960103337837944,0.8020494099091046],[0.44960103527944506,0.8651477039161474]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.1384706388661785,-1.292789460228739,0.71338606911949],"aabb_xy":[[0.09238554761144703,-1.3567894574812942],[0.18455573012090998,-1.228789462976184]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[-0.045424601300400935,-1.596344823082977,0.71338606911949],"aabb_xy":[[-0.06252667925876909,-1.6134516286142466],[-0.028322523342032786,-1.5792380175517071]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[-0.3934407854677117,0.24166016145125813,0.71338606911949],"aabb_xy":[[-0.4484145075040446,0.18666016188702497],[-0.33846706343137883,0.2966601610154913]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_4","position":[0.057383875278026686,1.6744776354560487,0.71338606911949],"aabb_xy":[[0.012383873811797844,1.6294777785945682],[0.10238387674425556,1.7194774923175296]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_5","position":[0.036873586021215154,0.871993285064312,0.71338606911949],"aabb_xy":[[0.01232737039846443,0.8417443885152749],[0.06141980164396587,0.902242181613349]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_6","position":[-0.6176299015817874,-0.3583518242106365,0.71338606911949],"aabb_xy":[[-0.6676141372899647,-0.4083518230241321],[-0.5676456658736102,-0.3083518253971409]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[-0.45366710230176865,-0.6149278687997126,0.71338606911949],"aabb_xy":[[-0.5136671028096215,-0.6717746024856337],[-0.3936671017939157,-0.5580811351137911]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.46201687848934525,0.011372153520141204,0.71338606911949],"aabb_xy":[[0.45144939883124624,0.0008271234071326444],[0.47258435814744426,0.02191718363314976]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.3149357024733448,1.6455348599260202,0.71338606911949],"aabb_xy":[[-0.3524357026452167,1.6128341245431133],[-0.2774357023014728,1.6782355953089276]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[0.20612059428233132,1.18906170855267,0.71338606911949],"aabb_xy":[[0.20198473794963112,1.151561709108313],[0.2102564506150315,1.226561707997027]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[-0.2697914832420689,-0.69101989837327,0.71338606911949],"aabb_xy":[[-0.27850545229200335,-0.7135198990324582],[-0.2610775141921344,-0.6685198977140817]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_12","position":[0.18147516410338216,1.401930397776618,0.71338606911949],"aabb_xy":[[0.13149635559306627,1.3519303977708992],[0.23145397261369804,1.4519303977823368]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_13","position":[-0.5808754592894805,-2.2660454305634783,0.71338606911949],"aabb_xy":[[-0.5869124722901453,-2.272072131632427],[-0.5748384462888159,-2.2600187294945306]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_14","position":[0.5726751059241995,-1.439061587894501,0.71338606911949],"aabb_xy":[[0.5086751052207301,-1.4850799703674222],[0.6366751066276688,-1.3930432054215802]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_15","position":[-0.25139220114021427,0.49003770734943686,0.71338606911949],"aabb_xy":[[-0.26906783172881255,0.47235749107003405],[-0.2337165705516159,0.5077179236288395]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[-0.6793860546811901,1.2658143931605919,0.71338606911949],"aabb_xy":[[-0.6890176909016196,1.256177080380883],[-0.6697544184607603,1.2754517059403008]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_17","position":[-0.45936467733245256,1.5947708335671584,0.71338606911949],"aabb_xy":[[-0.5169951462197233,1.5347708346404476],[-0.40173420844518165,1.6547708324938688]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_18","position":[0.5256035172367954,1.0221902561239493,0.71338606911949],"aabb_xy":[[0.5175671825355105,1.0141521368195325],[0.5336398519380802,1.030228375428366]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[-0.21652083452812354,-2.1381388517404036,0.71338606911949],"aabb_xy":[[-0.2550665273533246,-2.176684622796593],[-0.1779751417029225,-2.0995930806842154]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_20","position":[-0.1554529208768224,-1.355152870260065,0.71338606911949],"aabb_xy":[[-0.23545292194994272,-1.3649309165974495],[-0.07545291980370206,-1.3453748239226806]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_21","position":[-0.6197955680476803,0.2563383121134333,0.71338606911949],"aabb_xy":[[-0.6251280827022934,0.2510139838681977],[-0.6144630533930673,0.2616626403586689]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6615170202614932,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7313.png","name":"7313"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7313.png","name":"7313"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1431.png","name":"1431"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7400.png","name":"7400"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/513.png","name":"513"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/669.png","name":"669"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":750.3193574650618,"rotation_z_degrees":259.7534049190452,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013927019921004336,-0.003422313088780382,-0.01577389077103724]},{"name":"camera_2","offset_m":[0.011948899383541083,-0.005858486477636418,0.013265966756435595]},{"name":"camera_3","offset_m":[0.014913161949569317,0.01578937441498907,0.0012431909776057237]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-4.979758013748544e-05,0.0016877460010026133,-0.0016859332430633484],"end_effector_yaw_offset_degrees":0.7504923526651992},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0005734166835382473,-0.00022567349387562358,2.411802254975986e-05],"end_effector_yaw_offset_degrees":-0.6175834247929257},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017013246985671238,0.0015896284002110015,-0.0008839399187024685],"end_effector_yaw_offset_degrees":-0.3183328798405489},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013455868219663931,-0.0007546493210009726,0.00018530923153914445],"end_effector_yaw_offset_degrees":0.5055354842852242}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024845046417212623,0.004521374878060427],"position_m":[0.2885154953582787,-0.07247862512193957,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020440253991447707,-0.0033538821953559197],"position_m":[0.24584402539914477,-0.3375538821953559,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021762400447118387,0.0047770305339168],"position_m":[0.19907624004471183,0.3124770305339168,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004622627291149788,0.0046898081970820375],"position_m":[0.33522262729114977,0.08558980819708203,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e017dcc7a07e3394639e22c3e9bf2a3d4d4d39b93d506a12ff7c2780e1669b2a","episode_index":133,"episode_name":"episode_0133"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0133.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7313/tex_ceiling_textures_669/tex_floor_textures_513/tex_table_textures_1431/tex_wall_textures_7400","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3485801842346010187,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3485801842346010187,"visual_seed":3485801842346010187,"scene_id":"lab_003","finished_at":"2026-09-05T01:27:53"}
+{"episode_id":"ep_000094","started_at":"2026-09-05T01:27:56","dimensions":{"distractor":{"count":35,"items":[{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_0","position":[0.05918068638971852,-2.442647183463907,0.71338606911949],"aabb_xy":[[-0.020819311013874905,-2.5226397546620896],[0.13918068379331192,-2.362654612265724]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[0.5504290697207819,-0.4483242935041045,0.71338606911949],"aabb_xy":[[0.48642906934324825,-0.49806956035491673],[0.6144290700983155,-0.3985790266532922]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_2","position":[0.5144161322865661,1.057558149533807,0.71338606911949],"aabb_xy":[[0.5052562533426894,1.0510269314902698],[0.5235760112304426,1.064089367577344]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[-0.3375405852782016,-1.236193015018127,0.71338606911949],"aabb_xy":[[-0.3975405851247683,-1.2930116372111655],[-0.27754058543163473,-1.1793743928250882]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[-0.6539001926197486,-1.5986791278107786,0.71338606911949],"aabb_xy":[[-0.6883625400178902,-1.6331730102086006],[-0.6194378452216066,-1.5641852454129552]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.2905203938103308,0.4044308135585708,0.71338606911949],"aabb_xy":[[0.2841065801671458,0.39802099331090235],[0.2969342074535157,0.41084063380623903]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_6","position":[-0.6124815052165629,1.283183883851366,0.71338606911949],"aabb_xy":[[-0.6764815045107311,1.2191977434825116],[-0.5484815059223946,1.34717002422022]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[0.39820692942690017,1.5394372852187224,0.71338606911949],"aabb_xy":[[0.39412877151985043,1.5353563049704593],[0.4022850873339499,1.543518265466986]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[0.05973307090594959,-1.8385213142055519,0.71338606911949],"aabb_xy":[[-0.004266925489623485,-1.9024846026242854],[0.12373306730152267,-1.7745580257868183]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_9","position":[0.47272078404504736,-1.8861404937115656,0.71338606911949],"aabb_xy":[[0.42272595111710576,-1.9361404926068093],[0.522715616972989,-1.8361404948163222]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[0.012882707914134373,0.9021788110448168,0.71338606911949],"aabb_xy":[[-0.004617291363952503,0.8848407109784708],[0.030382707192221248,0.9195169111111627]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_11","position":[-0.5117843663579873,-1.4538143275860922,0.71338606911949],"aabb_xy":[[-0.5243870654950638,-1.466409723810958],[-0.49918166722091084,-1.441218931361227]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[-0.3216122388388827,-1.5502456828566447,0.71338606911949],"aabb_xy":[[-0.3575257432638723,-1.586159191073399],[-0.28569873441389293,-1.51433217463989]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[-0.44689070282610954,-0.4506369892009001,0.71338606911949],"aabb_xy":[[-0.48439070293170244,-0.4574591510538812],[-0.40939070272051653,-0.44381482734791894]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.510407772185777,-1.7684846982676434,0.71338606911949],"aabb_xy":[[-0.5403753290956026,-1.7984846985655292],[-0.48044021527595127,-1.7384846979697577]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_15","position":[-0.2637614788841244,-0.39369813370975404,0.71338606911949],"aabb_xy":[[-0.2859340058607752,-0.41587380086587716],[-0.24158895190747354,-0.37152246655363086]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_16","position":[0.3220319936954825,1.1127900694047121,0.71338606911949],"aabb_xy":[[0.28453199319812433,1.1088213858565936],[0.3595319941928408,1.1167587529528307]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_17","position":[-0.2994923491292055,0.7577033576521792,0.71338606911949],"aabb_xy":[[-0.32199234894310785,0.7532287412816985],[-0.2769923493153031,0.76217797402266]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[-0.19337357491549,-1.2520446354249206,0.71338606911949],"aabb_xy":[[-0.2108735740498572,-1.2619242624625082],[-0.17587357578112287,-1.2421650083873326]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_19","position":[-0.1558864408498566,0.11122698421515631,0.71338606911949],"aabb_xy":[[-0.21088644002644605,0.056237309440198655],[-0.10088644167326707,0.16621665899011395]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_20","position":[0.24650680803495162,-0.7668699846448643,0.71338606911949],"aabb_xy":[[0.16278458253486916,-0.8568699881795602],[0.3302290335350341,-0.6768699811101683]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.06244440805181495,0.4102602284981587,0.71338606911949],"aabb_xy":[[-0.09592357531285589,0.3767811151270518],[-0.02896524079077402,0.4437393418692658]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_22","position":[-0.33442504730433226,-2.1359284314952025,0.71338606911949],"aabb_xy":[[-0.4194250457217555,-2.2208027269574875],[-0.24942504888690903,-2.0510541360329175]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_23","position":[0.5525094448126198,-0.7276330599932324,0.71338606911949],"aabb_xy":[[0.4885094431346224,-0.7761504514725466],[0.6165094464906171,-0.6791156685139181]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_24","position":[-0.6050916592790161,-1.0855368141602741,0.71338606911949],"aabb_xy":[[-0.628676782742911,-1.150536816405706],[-0.5815065358151212,-1.0205368119148424]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_25","position":[0.10332495786703377,1.6667050970861097,0.71338606911949],"aabb_xy":[[0.05332495829069907,1.616724518134004],[0.1533249574433685,1.7166856760382159]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[0.23430501552321326,-2.392005888325864,0.71338606911949],"aabb_xy":[[0.1968050153513413,-2.424706623708771],[0.2718050156950852,-2.3593051529429565]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_27","position":[-0.18842018159180773,0.5161009798392788,0.71338606911949],"aabb_xy":[[-0.21225639923241285,0.42610097903079247],[-0.1645839639512027,0.6061009806477654]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_28","position":[-0.2982668322398665,-0.9943984819095444,0.71338606911949],"aabb_xy":[[-0.3782668333129868,-1.0041765282469288],[-0.21826683116674617,-0.98462043557216]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_29","position":[0.7177610243097461,0.30963789530831853,0.71338606911949],"aabb_xy":[[0.712805004124865,0.28713789510619697],[0.7227170444946274,0.3321378955104402]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_30","position":[-0.2788500547399808,-0.17882674135476817,0.71338606911949],"aabb_xy":[[-0.28975583082754347,-0.2588267377535973],[-0.26794427865241804,-0.09882674495593902]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_31","position":[-0.5629156583987593,-1.5373644537213829,0.71338606911949],"aabb_xy":[[-0.5734831380568584,-1.5479094838343912],[-0.5523481787406603,-1.526819423608374]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_32","position":[-0.388855246245119,-0.7419969538901354,0.71338606911949],"aabb_xy":[[-0.45385524888291245,-0.7934765525895824],[-0.3238552436073255,-0.6905173551906885]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_33","position":[0.042617878136596454,1.3640683215097673,0.71338606911949],"aabb_xy":[[0.034694597897848116,1.3415683212717637],[0.05054115837534478,1.3865683217477704]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_34","position":[-0.6669619260849973,-2.3205239679854484,0.71338606911949],"aabb_xy":[[-0.6846375566735955,-2.3382041842648507],[-0.6492862954963988,-2.302843751706045]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6549352476526851,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1001.png","name":"1001"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1001.png","name":"1001"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9252.png","name":"9252"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3844.png","name":"3844"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8727.png","name":"8727"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2064.png","name":"2064"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":754.4247409477011,"rotation_z_degrees":293.8107711862157,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00742235448164014,-0.0167929223813187,0.013414755129615413]},{"name":"camera_2","offset_m":[0.0017845101112429207,-0.009447915610145676,-0.0032010156762957466]},{"name":"camera_3","offset_m":[0.01661776427145573,0.0024814649362660396,0.005326723518184195]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019116669882233714,0.0012626150462736931,-0.001157767204381585],"end_effector_yaw_offset_degrees":-0.8555453065038137},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.00032195108222938867,-0.0004535007001412925,0.0005645543493136445],"end_effector_yaw_offset_degrees":-0.0609229277789769},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005246777008726254,-0.0018237922668021015,-0.0011947590225967817],"end_effector_yaw_offset_degrees":-0.3698199589806501},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004337686433600204,0.0007945163794637216,-0.001710095760316613],"end_effector_yaw_offset_degrees":0.858123138525628}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002535542772499697,-0.00367804556593624],"position_m":[0.2884644572275003,-0.08067804556593625,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004506761172541347,-0.001491445219953117],"position_m":[0.23929323882745865,-0.3356914452199531,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031400894744818752,-0.0034374360754013044],"position_m":[0.20004008947448187,0.30426256392459866,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003590264664775254,0.003860882200258808],"position_m":[0.33419026466477525,0.0847608822002588,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a8e751d126e3e433b96cd8068c580ef49240350e8cdbccea1dee3915b2f0e172","episode_index":134,"episode_name":"episode_0134"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0134.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_1001/tex_ceiling_textures_2064/tex_floor_textures_8727/tex_table_textures_9252/tex_wall_textures_3844","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":6453192343801201710,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":6453192343801201710,"visual_seed":6453192343801201710,"scene_id":"lab_003","finished_at":"2026-09-05T01:31:23"}
+{"episode_id":"ep_000095","started_at":"2026-09-05T01:31:26","dimensions":{"distractor":{"count":32,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.2986724137469935,-2.49340039892627,0.71338606911949],"aabb_xy":[[0.2809967831583951,-2.511080615205673],[0.31634804433559177,-2.4757201826468673]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_1","position":[0.13025504775173558,-0.6977445637019815,0.71338606911949],"aabb_xy":[[0.10525504858610246,-0.704696809407338],[0.1552550469173687,-0.6907923179966249]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_2","position":[-0.3596169977666572,1.305427992293681,0.71338606911949],"aabb_xy":[[-0.37002855644714083,1.3000822589577823],[-0.3492054390861734,1.310773725629579]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_3","position":[0.3387384922387593,-1.3252064405744017,0.71338606911949],"aabb_xy":[[0.2687384958287974,-1.345644376226083],[0.408738488648721,-1.3047685049227196]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_4","position":[-0.31177330300946365,0.6556879647751712,0.71338606911949],"aabb_xy":[[-0.3757733021792336,0.6089212776562086],[-0.24777330383969373,0.7024546518941336]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[0.5303577478210291,0.7630255800821892,0.71338606911949],"aabb_xy":[[0.4663577514254559,0.6990622916634557],[0.594357744216602,0.8269888685009228]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.36376555008115874,1.659462551674173,0.71338606911949],"aabb_xy":[[0.3262655495838005,1.6554938681260545],[0.401265550578517,1.6634312352222915]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_7","position":[-0.012498522510600907,-1.9584628996070848,0.71338606911949],"aabb_xy":[[-0.016929151865441083,-1.963911271341767],[-0.008067893155760732,-1.953014527872402]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[-0.22564334934253838,-1.3298425453245946,0.71338606911949],"aabb_xy":[[-0.24475565670051724,-1.3489773242018366],[-0.20653104198455952,-1.3107077664473525]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_9","position":[0.4126892995253071,-1.7937437801430227,0.71338606911949],"aabb_xy":[[0.38269763679143676,-1.823743779479823],[0.4426809622591774,-1.763743780806222]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_10","position":[0.10722779200695509,-2.11580975342921,0.71338606911949],"aabb_xy":[[0.09116586454843745,-2.2008097552418016],[0.12328971946547274,-2.030809751616618]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_11","position":[-0.5768904853400072,0.3392467546768456,0.71338606911949],"aabb_xy":[[-0.6568904823542552,0.3191122030034343],[-0.4968904883257592,0.35938130635025684]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[-0.0997631774316754,-2.0844932953050828,0.71338606911949],"aabb_xy":[[-0.13476317740817123,-2.0939579113526996],[-0.06476317745517958,-2.075028679257466]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.5865295341496417,0.5302575098828655,0.71338606911949],"aabb_xy":[[-0.5918620488042549,0.52493318163763],[-0.5811970194950288,0.5355818381281011]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_14","position":[-0.3157225674639154,-2.084205914312275,0.71338606911949],"aabb_xy":[[-0.3857225695953449,-2.10696787993797],[-0.24572256533248582,-2.061443948686579]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[-0.12123743984774482,-1.106496282190674,0.71338606911949],"aabb_xy":[[-0.1282777497812818,-1.1864962815903457],[-0.11419712991420784,-1.026496282791003]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_16","position":[-0.6098573038691956,-0.5267753097982024,0.71338606911949],"aabb_xy":[[-0.659834720734449,-0.5767753112874509],[-0.5598798870039419,-0.4767753083089538]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[-0.31929685270661873,-2.205880065380319,0.71338606911949],"aabb_xy":[[-0.3270000433806957,-2.213589436079057],[-0.31159366203254163,-2.198170694681581]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_18","position":[0.6530550303603013,-2.100004308291093,0.71338606911949],"aabb_xy":[[0.6490945465905671,-2.1076721728766135],[0.6570155141300358,-2.0923364437055723]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.6694437379585934,1.4875690071086276,0.71338606911949],"aabb_xy":[[0.6324096285305336,1.4531917997749182],[0.7064778473866531,1.521946214442337]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_20","position":[-0.6112566550481767,-1.4602456622059152,0.71338606911949],"aabb_xy":[[-0.6192501448434587,-1.4682437941463908],[-0.6032631652528947,-1.4522475302654396]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_21","position":[0.6049972708143092,-1.1828254469174366,0.71338606911949],"aabb_xy":[[0.540997270540331,-1.2328915471147246],[0.6689972710882874,-1.1327593467201487]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[0.6063859529523399,1.2984330951701915,0.71338606911949],"aabb_xy":[[0.5653680095659689,1.2484330945392341],[0.6474038963387106,1.3484330958011488]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_23","position":[0.521845881071733,-0.36592360247686573,0.71338606911949],"aabb_xy":[[0.4578458796637424,-0.41771255400079044],[0.5858458824797237,-0.314134650952941]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_24","position":[0.6354461547828483,-1.9689748847941413,0.71338606911949],"aabb_xy":[[0.6252931392286987,-2.005044426366881],[0.6455991703369974,-1.9329053432214003]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_25","position":[0.5113553614218764,-1.4855090234916712,0.71338606911949],"aabb_xy":[[0.4809572503227328,-1.5159159254933408],[0.5417534725210199,-1.4551021214900017]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_26","position":[-0.6451018325066323,-1.8714279130212828,0.71338606911949],"aabb_xy":[[-0.6903804473877816,-1.9354279123694664],[-0.5998232176254831,-1.807427913673099]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_27","position":[0.1635294516461102,1.6551724530436984,0.71338606911949],"aabb_xy":[[0.10352945139470904,1.6008911280072335],[0.2235294518975114,1.7094537780801629]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_28","position":[0.35287786222600714,-2.197637001015598,0.71338606911949],"aabb_xy":[[0.2928778613651943,-2.249063431022084],[0.4128778630868199,-2.1462105710091115]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_29","position":[0.37338106948532235,-1.1195527819705668,0.71338606911949],"aabb_xy":[[0.35749657621999725,-1.133905722269391],[0.38926556275064755,-1.1051998416717428]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_30","position":[-0.14956895498128187,1.3501110635906044,0.71338606911949],"aabb_xy":[[-0.22956895545149783,1.3418003559762564],[-0.06956895451106591,1.3584217712049529]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_31","position":[0.6399913116055416,-0.5560826025751777,0.71338606911949],"aabb_xy":[[0.6318776569321645,-0.5641884190292068],[0.6481049662789187,-0.5479767861211486]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6610784993666101,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8477.png","name":"8477"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8477.png","name":"8477"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2854.png","name":"2854"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6864.png","name":"6864"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9969.png","name":"9969"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6356.png","name":"6356"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":583.5878208100692,"rotation_z_degrees":137.68665182645464,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013742602922476001,-0.01072997779472404,-0.003925147418283235]},{"name":"camera_2","offset_m":[0.014118352623283443,-0.016079900099135312,-0.0005636103769692986]},{"name":"camera_3","offset_m":[-0.017542809350577858,0.0009481838230753561,-0.004098236341822149]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011663155837216533,0.00016825973152193767,-0.00027367229184521594],"end_effector_yaw_offset_degrees":-0.013139756277684267},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0006811316086873793,-0.0018401894652743552,-1.895124861375167e-05],"end_effector_yaw_offset_degrees":-0.7600147703763629},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014917210564218413,0.0002859780965653886,-0.001465640472483817],"end_effector_yaw_offset_degrees":-0.015711296434897992},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012911368892864821,-0.0017678531253667545,0.001362798571866987],"end_effector_yaw_offset_degrees":-0.02172577617716387}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037334218365569676,-0.0012324494907145589],"position_m":[0.29473342183655693,-0.07823244949071456,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0037238894469656452,0.00036097308130911363],"position_m":[0.24752388944696563,-0.3338390269186909,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004760272798509384,-0.002494680791384136],"position_m":[0.1921397272014906,0.3052053192086158,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004872542572727181,0.0004609059601046635],"position_m":[0.3257274574272728,0.08136090596010466,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6112dba69369930fc7b157fc9b574daf70a687a70da6591e8344332577bb3b5b","episode_index":135,"episode_name":"episode_0135"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0135.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8477/tex_ceiling_textures_6356/tex_floor_textures_9969/tex_table_textures_2854/tex_wall_textures_6864","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3990649739769740587,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3990649739769740587,"visual_seed":3990649739769740587,"scene_id":"lab_003","finished_at":"2026-09-05T01:35:05"}
+{"episode_id":"ep_000096","started_at":"2026-09-05T01:35:09","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_0","position":[-0.17215295956108911,-0.73120909151281,0.71338606911949],"aabb_xy":[[-0.2371529606670324,-0.7561744645809383],[-0.10715295845514583,-0.7062437184446817]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[0.12321853869303889,1.656822039894347,0.71338606911949],"aabb_xy":[[0.10554290810444057,1.639141823614944],[0.14089416928163723,1.6745022561737495]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[-0.07718617637677627,0.5512946690495175,0.71338606911949],"aabb_xy":[[-0.14118617778476691,0.49950571752559286],[-0.0131861749687856,0.6030836205734422]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[0.23690440030330517,1.7521643912372098,0.71338606911949],"aabb_xy":[[0.18692559179298932,1.7021643912314905],[0.28688320881362106,1.8021643912429282]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_4","position":[0.440032907710489,0.3292486700109447,0.71338606911949],"aabb_xy":[[0.4318183625948049,0.3205720797133033],[0.44824745282617284,0.3379252603085859]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_5","position":[-0.2338823278584271,0.5749252059192331,0.71338606911949],"aabb_xy":[[-0.26502924670201017,0.5049252072324258],[-0.20273540901484394,0.6449252046060402]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_6","position":[-0.03431645604454303,-0.983382787024965,0.71338606911949],"aabb_xy":[[-0.08431645548473865,-1.033350711509281],[0.015683543395652588,-0.9334148625406484]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.6769756839811758,1.6637725199463165,0.71338606911949],"aabb_xy":[[0.6544756839710275,1.6496763003067132],[0.6994756839913241,1.6778687395859198]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_8","position":[0.17537801943048525,-1.084277570555445,0.71338606911949],"aabb_xy":[[0.14037802023766693,-1.0952446165531076],[0.21037801862330346,-1.073310524557782]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_9","position":[0.6926838663879926,-1.6976807428468477,0.71338606911949],"aabb_xy":[[0.674478042726745,-1.7087061434288395],[0.7108896900492404,-1.6866553422648562]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[-0.070673883183478,-2.4670774556311303,0.71338606911949],"aabb_xy":[[-0.07938785223341248,-2.4895774562903177],[-0.06195991413354351,-2.4445774549719412]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[-0.5134412192211795,1.3839395359025128,0.71338606911949],"aabb_xy":[[-0.5774412156167524,1.3199762474837795],[-0.4494412228256063,1.4479028243212466]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_12","position":[-0.15030831283294377,-1.37143444874094,0.71338606911949],"aabb_xy":[[-0.18477066023108554,-1.4059283311387625],[-0.11584596543480195,-1.336940566343117]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_13","position":[0.32333223941781863,-1.5841544436701855,0.71338606911949],"aabb_xy":[[0.24333223914421162,-1.657103991495902],[0.40333223969142556,-1.5112048958444686]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_14","position":[0.3613713962995464,1.402276853228996,0.71338606911949],"aabb_xy":[[0.3163713948333176,1.3572769963675155],[0.40637139776577536,1.4472767100904769]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[0.19415312778227667,-1.8612084928561903,0.71338606911949],"aabb_xy":[[0.15665312626664496,-1.872435265872335],[0.23165312929790838,-1.849981719840045]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.5974748055293183,0.5607300316797539,0.71338606911949],"aabb_xy":[[-0.6774748029329116,0.480737460481571],[-0.5174748081257248,0.6407226028779366]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[-0.6388071063005571,-1.9967188295268081,0.71338606911949],"aabb_xy":[[-0.6756017394254633,-2.0336247046233904],[-0.6020124731756508,-1.9598129544302259]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_18","position":[-0.6285516533634983,-2.1750390095822105,0.71338606911949],"aabb_xy":[[-0.6419981799975416,-2.1885088612353014],[-0.6151051267294549,-2.1615691579291187]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_19","position":[0.27753813607277533,-2.299871018319545,0.71338606911949],"aabb_xy":[[0.24050402664471557,-2.3342482256532544],[0.314572245500835,-2.2654938109858356]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.025892670206250967,1.4509244322518495,0.71338606911949],"aabb_xy":[[-0.021913497407517683,1.3859244295447903],[0.07369883782001961,1.515924434958908]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_21","position":[0.6557622302656321,1.5722060294883522,0.71338606911949],"aabb_xy":[[0.6207622289141503,1.5518462935315314],[0.6907622316171138,1.592565765445173]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_22","position":[0.6261242831431642,-2.0368472841167766,0.71338606911949],"aabb_xy":[[0.5561242797516021,-2.0721630578202075],[0.696124286534726,-2.0015315104133458]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_23","position":[-0.26150368601608803,0.22228073725593633,0.71338606911949],"aabb_xy":[[-0.3255036883588896,0.17733988601180387],[-0.1975036836732865,0.26722158850006883]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_24","position":[0.014165877035635988,-2.3015783249250426,0.71338606911949],"aabb_xy":[[-0.07083412165643865,-2.3335641883199214],[0.09916587572771063,-2.2695924615301637]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_25","position":[-0.06324372153537416,-2.175438381522276,0.71338606911949],"aabb_xy":[[-0.07287535775580378,-2.185075694301985],[-0.053612085314944546,-2.1658010687425673]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6554995544165048,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2174.png","name":"2174"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2174.png","name":"2174"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3040.png","name":"3040"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3504.png","name":"3504"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9744.png","name":"9744"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7708.png","name":"7708"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":561.111185258201,"rotation_z_degrees":83.61790919055244,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005086464237293139,-0.0021121539266179754,0.0012044571127662294]},{"name":"camera_2","offset_m":[-0.019739582005888497,-0.003450945283430703,-0.011351952846751426]},{"name":"camera_3","offset_m":[0.0033427573899282026,-0.014899249297048792,-0.010757148513202695]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010879759375153016,-0.0019174958919419504,-4.5438783224259396e-05],"end_effector_yaw_offset_degrees":0.7920119470711637},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.00020392339069585973,0.0011956741923837134,-0.001625567137117479],"end_effector_yaw_offset_degrees":-0.06594501915303663},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00099771650733559,-0.0005331414414358492,-0.00149893355920186],"end_effector_yaw_offset_degrees":-0.2889459393198739},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005367089420855891,0.001784333851914864,0.0003381075277043362],"end_effector_yaw_offset_degrees":0.8705644583828938}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00240475479333103,0.004606591941874371],"position_m":[0.28859524520666896,-0.07239340805812562,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009242753564943293,0.0034641539324313146],"position_m":[0.24287572464350565,-0.3307358460675687,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004902956685028711,0.0044920454695760665],"position_m":[0.19739029566850286,0.312192045469576,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0034363414431497095,-0.0008584649914281572],"position_m":[0.3340363414431497,0.08004153500857185,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0845395dc85ee54798d3ac17513f691d41ce3a0253615a22e4b997c272ca109a","episode_index":136,"episode_name":"episode_0136"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0136.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_2174/tex_ceiling_textures_7708/tex_floor_textures_9744/tex_table_textures_3040/tex_wall_textures_3504","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":8053548367340967750,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":8053548367340967750,"visual_seed":8053548367340967750,"scene_id":"lab_003","finished_at":"2026-09-05T01:38:06"}
+{"episode_id":"ep_000097","started_at":"2026-09-05T01:38:13","dimensions":{"distractor":{"count":20,"items":[{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_0","position":[0.3350248098205404,0.8996851955089884,0.71338606911949],"aabb_xy":[[0.24502481308493018,0.8465017321916937],[0.4250248065561506,0.9528686588262827]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_1","position":[-0.14941638604018836,0.25093651822333296,0.71338606911949],"aabb_xy":[[-0.19939519455050425,0.20093651821761416],[-0.09943757752987248,0.30093651822905176]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_2","position":[-0.3058006356757388,-1.285495999937041,0.71338606911949],"aabb_xy":[[-0.3159536512298881,-1.3215655415097807],[-0.29564762012158935,-1.2494264583643]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[0.44531016666973855,-2.074893956329818,0.71338606911949],"aabb_xy":[[0.4320792211350572,-2.088121375351817],[0.4585411122044198,-2.061666537307818]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[-0.258154902966737,-0.08944898088859521,0.71338606911949],"aabb_xy":[[-0.2770392867352472,-0.108334905668948],[-0.23927051919822678,-0.07056305610824244]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.14287704264725387,1.164331947715509,0.71338606911949],"aabb_xy":[[-0.17991115207531355,1.1299547403817993],[-0.10584293321919414,1.1987091550492182]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_6","position":[0.3741723726723334,0.366656405839461,0.71338606911949],"aabb_xy":[[0.3366723711567017,0.35542963282331597],[0.4116723741879651,0.37788317885560607]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_7","position":[-0.20244708073090056,-1.3105167163860778,0.71338606911949],"aabb_xy":[[-0.23744707900102047,-1.3175908440810657],[-0.16744708246078066,-1.3034425886910894]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[-0.44944301086944605,-1.032269956875352,0.71338606911949],"aabb_xy":[[-0.5144430094265189,-1.0620224902892346],[-0.3844430123123732,-1.0025174234614693]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[-0.38775772333236364,-2.2472763308188886,0.71338606911949],"aabb_xy":[[-0.4140465476528043,-2.2735477644735393],[-0.361468899011923,-2.221004897164237]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_10","position":[-0.20094006857485786,-1.0209858529756142,0.71338606911949],"aabb_xy":[[-0.21135162725534154,-1.0263315863115126],[-0.19052850989437412,-1.0156401196397158]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_11","position":[-0.05295945704555238,-1.5154880301941187,0.71338606911949],"aabb_xy":[[-0.11695945344112546,-1.5794513186128525],[0.011040539350020702,-1.4515247417753854]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_12","position":[-0.64301537197983,-1.0537134658000535,0.71338606911949],"aabb_xy":[[-0.6512299170955138,-1.0623900560976944],[-0.6348008268641459,-1.0450368755024118]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.36508391824851216,1.4118807872871013,0.71338606911949],"aabb_xy":[[0.3425839180049968,1.3996761526273296],[0.3875839184920276,1.4240854219468735]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_14","position":[-0.506445849700836,-2.224146147345068,0.71338606911949],"aabb_xy":[[-0.5124828627015008,-2.2301728484140164],[-0.5004088367001713,-2.2181194462761202]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.09988449235342056,1.4030906988246565,0.71338606911949],"aabb_xy":[[0.0358844909454299,1.3513017473007318],[0.16388449376141123,1.4548796503485812]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.6090916862375746,-2.3815958342830243,0.71338606911949],"aabb_xy":[[0.5740916862610788,-2.3910604503306407],[0.6440916862140704,-2.372131218235408]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_17","position":[0.4899972216006101,-0.921061893147991,0.71338606911949],"aabb_xy":[[0.4723643860070826,-0.938684839163614],[0.5076300571941377,-0.903438947132368]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[-0.5902828666191292,-0.013551306531651708,0.71338606911949],"aabb_xy":[[-0.6542828682971266,-0.06206869801096593],[-0.5262828649411319,0.03496608494766251]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_19","position":[-0.5234171681492031,-0.813475000257373,0.71338606911949],"aabb_xy":[[-0.6134171675675739,-0.8468504971015626],[-0.43341716873083214,-0.7800995034131831]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6586828889890146,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3953.png","name":"3953"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3953.png","name":"3953"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8187.png","name":"8187"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4341.png","name":"4341"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9456.png","name":"9456"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8131.png","name":"8131"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":698.8198077411356,"rotation_z_degrees":177.6752879836791,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0007569041772382337,0.014857768794519489,0.0114435694048261]},{"name":"camera_2","offset_m":[-0.01335071574919314,-0.010546887566736598,0.0016347312000103142]},{"name":"camera_3","offset_m":[-0.007386489299015508,-0.003958365044189317,-0.0006474430694268576]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003057754983402847,0.0015633816347574072,0.0009631183712333373],"end_effector_yaw_offset_degrees":0.6151116177363254},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[-0.0013486109912647613,0.0017733754095693517,0.0016222163981849903],"end_effector_yaw_offset_degrees":-0.7202864159357181},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006505857633574484,-0.0016355509192620223,-0.001505419870845241],"end_effector_yaw_offset_degrees":-0.3100202694260865},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016396234922369133,-0.0010680014184136538,-0.0013225516907787727],"end_effector_yaw_offset_degrees":0.8771050820341355}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009082559876598482,-0.0014227845546990591],"position_m":[0.29190825598765985,-0.07842278455469906,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00166578410263033,-0.0040429811812096065],"position_m":[0.24213421589736966,-0.3382429811812096,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019387550393667394,0.0015020212414665743],"position_m":[0.19883875503936674,0.30920202124146656,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028149226771257444,0.00011142831827400286],"position_m":[0.33341492267712575,0.081011428318274,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"58ac715a55d55ac599f38198f6e667bbeca8cd0a88923ea8e35977ebf095a104","episode_index":137,"episode_name":"episode_0137"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0137.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_3953/tex_ceiling_textures_8131/tex_floor_textures_9456/tex_table_textures_8187/tex_wall_textures_4341","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":4718437984986793440,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":4718437984986793440,"visual_seed":4718437984986793440,"scene_id":"lab_003","finished_at":"2026-09-05T01:41:40"}
+{"episode_id":"ep_000098","started_at":"2026-09-05T01:44:03","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_0","position":[-0.35204677898802067,-2.34751216204693,0.71338606911949],"aabb_xy":[[-0.3972180968361897,-2.411512159191469],[-0.3068754611398517,-2.283512164902392]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_1","position":[-0.23540993375877162,-1.7912712892007714,0.71338606911949],"aabb_xy":[[-0.2954099343547878,-1.8460837617459949],[-0.17540993316275544,-1.736458816655548]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[-0.41541579453312005,-1.539707487120491,0.71338606911949],"aabb_xy":[[-0.4379157945432684,-1.5538037067600943],[-0.3929157945229718,-1.5256112674808877]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_3","position":[0.707084119058834,-1.857488064062459,0.71338606911949],"aabb_xy":[[0.6911996257935088,-1.871841004361283],[0.7229686123241591,-1.8431351237636349]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_4","position":[-0.5992005129077733,-0.25921002659273906,0.71338606911949],"aabb_xy":[[-0.6242005121797355,-0.27555539018890135],[-0.5742005136358109,-0.2428646629965767]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[-0.2698461960081543,1.4927423938504352,0.71338606911949],"aabb_xy":[[-0.306342016635433,1.4562584514236774],[-0.2333503753808755,1.5292263362771925]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_6","position":[-0.38626394311048207,1.0602567821870283,0.71338606911949],"aabb_xy":[[-0.4290306499899022,0.9962567787652259],[-0.3434972362310618,1.1242567856088308]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[0.14714162245294782,0.739370458849073,0.71338606911949],"aabb_xy":[[0.09312602617104779,0.6753704559568158],[0.2011572187348478,0.8033704617413301]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_8","position":[-0.47146716110282993,-1.258605364852681,0.71338606911949],"aabb_xy":[[-0.4977559854232706,-1.2848767985073322],[-0.4451783367823893,-1.2323339311980297]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.4503726853164055,-0.2056813786160121,0.71338606911949],"aabb_xy":[[-0.48537268362710095,-0.21339639353955772],[-0.41537268700571006,-0.19796636369246642]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_10","position":[-0.2476966227170665,1.3606455682197214,0.71338606911949],"aabb_xy":[[-0.2726966226495844,1.353762899998798],[-0.22269662278454863,1.3675282364406447]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_11","position":[0.03341779216442553,1.52633761979819,0.71338606911949],"aabb_xy":[[0.010917791652384934,1.5038457614327916],[0.05591779267646613,1.5488294781635883]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.43863609740531406,-0.9923302796778979,0.71338606911949],"aabb_xy":[[0.43232399786897563,-0.9980972189311169],[0.4449481969416525,-0.9865633404246793]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_13","position":[0.6835351320387302,-2.093008191766846,0.71338606911949],"aabb_xy":[[0.65520542209019,-2.097468933960563],[0.7118648419872704,-2.088547449573129]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[-0.21963922905682387,-0.8117624028188395,0.71338606911949],"aabb_xy":[[-0.30963923139084293,-0.8892447574039521],[-0.1296392267228048,-0.7342800482337268]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.7148140190747387,-0.8336968638350979,0.71338606911949],"aabb_xy":[[0.7106781627420384,-0.8711968632794549],[0.7189498754074388,-0.7961968643907409]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[0.2906845294155668,-1.0022629855105636,0.71338606911949],"aabb_xy":[[0.2857852371090033,-1.0299399048131321],[0.29558382172213027,-0.9745860662079946]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_17","position":[0.5895525437213025,0.3210185532689862,0.71338606911949],"aabb_xy":[[0.5395525442811069,0.2710506287846699],[0.6395525431614981,0.3709864777533025]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.3138279926531084,-1.973338114518664,0.71338606911949],"aabb_xy":[[-0.3314608282466359,-1.990961060534287],[-0.29619515705958077,-1.955715168503041]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[0.26069902583156557,1.60143082778727,0.71338606911949],"aabb_xy":[[0.24290551889664913,1.583631082191472],[0.278492532766482,1.6192305733830674]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_20","position":[0.22320871058540548,1.2690369997681241,0.71338606911949],"aabb_xy":[[0.18190416752166946,1.205037000200007],[0.26451325364914147,1.3330369993362412]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[0.28651141141213254,-1.8352371541609604,0.71338606911949],"aabb_xy":[[0.24918013488688992,-1.8698902089558127],[0.32384268793737514,-1.8005840993661082]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_22","position":[-0.29146473735206546,-2.167761638238872,0.71338606911949],"aabb_xy":[[-0.35146473821287816,-2.219188068245358],[-0.23146473649125257,-2.116335208232385]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[0.2185195333581792,-2.3437946321392635,0.71338606911949],"aabb_xy":[[0.19862849347783898,-2.356450443423961],[0.23841057323851947,-2.331138820854567]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_24","position":[-0.5807785650485695,0.10549841676625737,0.71338606911949],"aabb_xy":[[-0.6182785649923358,0.0972053267314208],[-0.543278565104803,0.11379150680109396]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6556098544180269,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5412.png","name":"5412"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5412.png","name":"5412"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9428.png","name":"9428"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8792.png","name":"8792"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1745.png","name":"1745"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1628.png","name":"1628"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":579.5431755415968,"rotation_z_degrees":195.5423726902853,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005507186401594078,-0.014649676272185488,0.01352401906768418]},{"name":"camera_2","offset_m":[0.016444798288051576,0.007100722122886611,-0.006260916845431152]},{"name":"camera_3","offset_m":[-0.019258703507353595,0.014114656849583001,-0.011848371399388196]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009267612040267453,0.0006998490999116391,0.0009691550335843065],"end_effector_yaw_offset_degrees":0.22685318059249848},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0016853581034566001,0.001876363571710196,-0.0019670340898909292],"end_effector_yaw_offset_degrees":0.2247056853027014},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011280370858654778,0.00013650902247298868,0.0012628483253927462],"end_effector_yaw_offset_degrees":-0.5047240395458048},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007749677734376185,-0.0008401176410584479,-0.0016426589074062551],"end_effector_yaw_offset_degrees":-0.17105916877752803}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002251674372697859,-0.002180841467277347],"position_m":[0.29325167437269783,-0.07918084146727734,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004460401001587531,-0.002728309151633579],"position_m":[0.23933959899841245,-0.3369283091516336,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0006696677629117898,0.004966771016094852],"position_m":[0.1962303322370882,0.3126667710160948,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018486433024328223,0.0015671331413118373],"position_m":[0.33244864330243284,0.08246713314131184,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"df5bb18806aa6b8542f757c2319dd232fbae1aa93d8a2e5738967d4058825790","episode_index":139,"episode_name":"episode_0139"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0139.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5412/tex_ceiling_textures_1628/tex_floor_textures_1745/tex_table_textures_9428/tex_wall_textures_8792","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":3276023040542654956,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":3276023040542654956,"visual_seed":3276023040542654956,"scene_id":"lab_003","finished_at":"2026-09-05T01:47:22"}
+{"episode_id":"ep_000099","started_at":"2026-09-05T01:47:26","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_0","position":[-0.35535270888003156,-0.8952169627771243,0.71338606911949],"aabb_xy":[[-0.4103527085017774,-0.950200655564597],[-0.3003527092582857,-0.8402332699896515]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[0.24842346546461247,-0.6578894908775166,0.71338606911949],"aabb_xy":[[0.16842346830503716,-0.6694370918353336],[0.32842346262418776,-0.6463418899196995]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.5445026714410114,0.1415520373545225,0.71338606911949],"aabb_xy":[[-0.5994949220765224,0.08655203561120971],[-0.48951042080550056,0.19655203909783528]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[0.4688964331197998,1.7014053055292115,0.71338606911949],"aabb_xy":[[0.4048964314418024,1.6528879140498973],[0.5328964347977971,1.7499226970085258]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_4","position":[-0.4941860486243226,1.6558293810646103,0.71338606911949],"aabb_xy":[[-0.5029000176742568,1.6333293804054219],[-0.485472079574388,1.6783293817237983]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_5","position":[0.6241890412570954,0.43070691335704936,0.71338606911949],"aabb_xy":[[0.5937047911300652,0.38070691357555336],[0.6546732913841256,0.48070691313854524]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_6","position":[0.5957847667301004,-1.6396835256892544,0.71338606911949],"aabb_xy":[[0.5732847667199521,-1.6537797453288574],[0.6182847667402487,-1.6255873060496508]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[-0.17698873172077367,0.13081279768137488,0.71338606911949],"aabb_xy":[[-0.18232630738677827,0.10581279675223512],[-0.17165115605476913,0.1558127986105147]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[-0.6229513547477906,-1.7506552762515009,0.71338606911949],"aabb_xy":[[-0.6341964103184085,-1.7618970739755961],[-0.6117062991771728,-1.7394134785274056]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.048564743194235316,0.7085131868841934,0.71338606911949],"aabb_xy":[[-0.11256474346821355,0.6584470866869053],[0.015435257079742921,0.7585792870814813]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_10","position":[0.030278645288572714,-1.0236450060212043,0.71338606911949],"aabb_xy":[[-0.010970165741342021,-1.0786450055334216],[0.07152745631848743,-0.9686450065089868]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[0.06917029383103412,1.1270401877196927,0.71338606911949],"aabb_xy":[[0.031839017305791514,1.0923871329248407],[0.10650157035627676,1.1616932425145452]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[0.22152264096921392,0.7054181491343408,0.71338606911949],"aabb_xy":[[0.19155508405938826,0.675418148836455],[0.2514901978790396,0.7354181494322265]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[0.5883618486574711,-0.34501659063287526,0.71338606911949],"aabb_xy":[[0.5533618473059893,-0.3653763265896961],[0.6233618500089527,-0.32465685467605443]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_14","position":[0.031857253811437,1.3394989999554539,0.71338606911949],"aabb_xy":[[0.01435732037745363,1.321999000035219],[0.049357187245420375,1.3569989998756882]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_15","position":[0.2080522576023417,-1.6182101775742446,0.71338606911949],"aabb_xy":[[0.18984643394109402,-1.6292355781562362],[0.22625808126358937,-1.607184776992253]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_16","position":[-0.26823862493730016,1.1556980505946588,0.71338606911949],"aabb_xy":[[-0.28017135929912823,1.1433158977867994],[-0.2563058905754721,1.1680802034025182]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.3314649217176395,-2.1672151566883486,0.71338606911949],"aabb_xy":[[0.26646492316056664,-2.1969676901022313],[0.3964649202747123,-2.137462623274466]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_18","position":[0.4038871711248193,-1.9192672775067958,0.71338606911949],"aabb_xy":[[0.3238871741617802,-1.9963429191505688],[0.48388716808785853,-1.842191635863022]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_19","position":[0.5361642188037081,-2.377186963350862,0.71338606911949],"aabb_xy":[[0.527382991656472,-2.3859667106393934],[0.5449454459509445,-2.368407216062333]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_20","position":[0.42639769436997765,0.12095327801434941,0.71338606911949],"aabb_xy":[[0.39180661151593243,0.05595327772931836],[0.46098877722402287,0.18595327829938046]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_21","position":[-0.4143234379353162,0.16207950464022058,0.71338606911949],"aabb_xy":[[-0.42231692773059826,0.15408137269974495],[-0.4063299481400342,0.17007763658069627]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_22","position":[0.3274136252384374,-1.189676186421272,0.71338606911949],"aabb_xy":[[0.3061356170949651,-1.2546761887473448],[0.3486916333819096,-1.1246761840951986]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_23","position":[0.23104090360627616,-1.009634284815926,0.71338606911949],"aabb_xy":[[0.19512739918128644,-1.0455477930326806],[0.2669544080312658,-0.9737207765991714]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_24","position":[-0.5677835770965328,0.9493856259835485,0.71338606911949],"aabb_xy":[[-0.6052835773887076,0.9453441505829447],[-0.530283576804358,0.953427101384152]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_25","position":[-0.4548712159835112,-1.0399505376816374,0.71338606911949],"aabb_xy":[[-0.4998638027019616,-1.0849505369560863],[-0.4098786292650608,-0.9949505384071888]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_26","position":[0.42702098966888635,0.46271232668324025,0.71338606911949],"aabb_xy":[[0.4154520089219498,0.43771232656630854],[0.4385899704158229,0.48771232680017196]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_27","position":[0.4417097135499546,-1.6288081284373646,0.71338606911949],"aabb_xy":[[0.3917097141097589,-1.6787760529216806],[0.49170971299015015,-1.578840203953048]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_28","position":[-0.25409685841951557,-0.5479843144899941,0.71338606911949],"aabb_xy":[[-0.26494846466839117,-0.5588436052176451],[-0.24324525217063997,-0.5371250237623431]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_29","position":[0.0010632490121662563,-0.8074866313450457,0.71338606911949],"aabb_xy":[[-0.04893675193836655,-0.8390357783485671],[0.051063249962699064,-0.7759374843415243]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6563040474861931,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1035.png","name":"1035"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1035.png","name":"1035"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1088.png","name":"1088"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5955.png","name":"5955"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8919.png","name":"8919"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5571.png","name":"5571"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":751.7000990594255,"rotation_z_degrees":300.3455738148311,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010083800164361114,-0.005700384742347868,-0.015041374023920206]},{"name":"camera_2","offset_m":[0.007706712975359596,-0.008263227237177158,-0.013736609753539183]},{"name":"camera_3","offset_m":[-0.018746261790325312,-0.002358109751552054,-0.015980058316970358]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002157875620310782,5.4443116868871724e-05,-0.001057973090895583],"end_effector_yaw_offset_degrees":0.7045364417838758},{"step_index":1,"skill":"shake","target_object":"beaker_a","waypoint_offset_m":[0.0006561584699732504,0.0013761994482404277,0.0006510705209485982],"end_effector_yaw_offset_degrees":0.3587158174224998},{"step_index":2,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008874160250671465,-0.00041959387790092427,-0.0008457995069071481],"end_effector_yaw_offset_degrees":0.7429550301008594},{"step_index":3,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005181621272206396,0.0005301650414325045,-0.0006410241588462268],"end_effector_yaw_offset_degrees":-0.2660584378431594}]}},"meta":{"task":"lab3_heat_2beaker_s04_pslr_htb_00007","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002776995121367605,0.0025595397915411586],"position_m":[0.29377699512136757,-0.07444046020845885,0.7774145980897915],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00045216375422445915,0.00267786236185414],"position_m":[0.24334783624577552,-0.33152213763814586,0.7674890431422514],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003823704305801314,0.0012029063362307144],"position_m":[0.19651762956941987,0.3089029063362307,0.7730800627579277],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0037024830458082013,-0.0009580606439665408],"position_m":[0.3268975169541918,0.07994193935603346,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"00eff447768535b82605ddf5eb992eadf8f74bd105226176c397722cd669c767","episode_index":140,"episode_name":"episode_0140"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/dataset/episode_0140.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_1035/tex_ceiling_textures_5571/tex_floor_textures_8919/tex_table_textures_1088/tex_wall_textures_5955","seeds":{"action_seed":6136293983304232058,"physical_seed":1319739820293695609,"visual_seed":1981326373851377270,"layout_id":"layout_00007","physical_randomization_enabled":true},"episode_seed":1981326373851377270,"visual_seed":1981326373851377270,"scene_id":"lab_003","finished_at":"2026-09-05T01:50:45"}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/resolved_config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1b9e63a9c4ec4c612077a8416ba06cdda508c6d8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/resolved_config.yaml
@@ -0,0 +1,257 @@
+name: lab3_heat_2beaker_s04_pslr_htb_00007
+task_type: workflow
+controller_type: workflow
+mode: collect
+usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd
+max_episodes: 100
+infer:
+  type: local
+  obs_names:
+    camera_1_rgb: camera_1_rgb
+    camera_2_rgb: camera_2_rgb
+  policy_model_path: ''
+  policy_config_path: ''
+  normalizer_path: ''
+  host: 127.0.0.1
+  port: 8000
+  n_obs_steps: 1
+  timeout: 30
+  max_retries: 3
+task:
+  max_steps: 14000
+workflow:
+  table_prim_path: /World/table
+  language_instruction: Pick up beaker a from home. Shake the current contents of
+    beaker a once. Place beaker a on the heater platform. Press the heater button
+    to start heating.
+  layout_id: layout_00007
+  reproducibility:
+    enabled: true
+    layout_id: layout_00007
+    action_seed: 6136293983304232058
+    step_seeds:
+    - 6016277329034288049
+    - 1223355012610134023
+    - 916088432641120656
+    - 6535585947749071529
+    strict_task_state: false
+    allow_physical_randomization: true
+    verify_action_trace: false
+  scene_objects:
+  - name: beaker_a
+    path: /World/beaker_2
+    position_range:
+      x:
+      - 0.291
+      - 0.291
+      'y':
+      - -0.077
+      - -0.077
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: beaker_b
+    path: /World/target_beaker
+    position_range:
+      x:
+      - 0.1969
+      - 0.1969
+      'y':
+      - 0.3077
+      - 0.3077
+      z:
+      - 0.0
+      - 0.0
+    role: source
+  - name: inspection_platform
+    path: /World/target_plat
+    position_range:
+      x:
+      - 0.3306
+      - 0.3306
+      'y':
+      - 0.0809
+      - 0.0809
+      z:
+      - 0.0
+      - 0.0
+    role: placement_target
+  - name: heat_device
+    path: /World/heat_device
+    position_range:
+      x:
+      - 0.2438
+      - 0.2438
+      'y':
+      - -0.3342
+      - -0.3342
+      z:
+      - 0.0
+      - 0.0
+  - name: heater_platform
+    path: /World/heat_device/heat_device/heat_device/plat
+    parent_object: heat_device
+    role: placement_target
+  - name: heat_button
+    path: /World/heat_device/button
+    parent_object: heat_device
+  steps:
+  - skill: pick
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.004
+      - 0.004
+      - 0.01
+      - 0.04
+      - 0.04
+      - 0.006
+      - 0.04
+      pre_offset_x: 0.05
+      pre_offset_z: 0.05
+      after_offset_z: 0.3
+      gripper_distances: 0.019
+      reset_at_center: false
+      require_phase_convergence: false
+      lock_target_position: true
+      position_only: false
+      gripper_control_mode: position
+      gripper_control_params:
+        smooth_close: true
+  - skill: shake
+    target_object: beaker_a
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      shake_distance: 0.08
+      shake_center_offset_z: 0.0
+      fallback_height_offset: 0.23
+      events_dt:
+      - 0.04
+      - 0.018
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.036
+      - 0.015
+      position_only: true
+      position_threshold: 0.04
+  - skill: place
+    target_object: heater_platform
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 30
+      events_dt:
+      - 0.005
+      - 0.01
+      - 0.08
+      - 0.02
+      - 0.01
+      - 0.1
+      pre_place_z: 0.2
+      place_offset_z: 0.05
+      target_z_offset: 0.045
+      retreat_height: 0.15
+      retreat_xy: 0.15
+      keep_gripper_closed_until_release: true
+      release_gripper_control_mode: position
+      release_gripper_position_gap: 0.04
+  - skill: press
+    target_object: heat_button
+    params:
+      end_effector_euler:
+      - 0
+      - 90
+      - 10
+      events_dt:
+      - 0.004
+      - 0.02
+      - 0.01
+      - 0.02
+      - 0.01
+      - 0.02
+      press_distance: 0.04
+      gripper_gap: 0.0
+      lock_target_position: true
+      initial_offset_z: 0.2
+      press_z_tcp_offset: 0.025
+      position_threshold: 0.01
+  recreate_motion_controllers_on_reset: true
+cameras:
+- prim_path: /World/Camera1
+  name: camera_1
+  translation:
+  - 2.129903
+  - 0.0
+  - 2.075001
+  resolution:
+  - 512
+  - 512
+  focal_length: 3.5
+  orientation:
+  - 0.61237
+  - 0.35355
+  - 0.35355
+  - 0.61237
+  image_type: rgb
+- prim_path: /World/Camera2
+  name: camera_2
+  translation:
+  - 0.1
+  - 0.0
+  - 2.65
+  resolution:
+  - 512
+  - 512
+  focal_length: 2.825
+  orientation:
+  - 0.70711
+  - 0
+  - 0
+  - -0.70711
+  image_type: rgb
+- prim_path: /World/Camera3
+  name: camera_3
+  translation:
+  - 0.2
+  - -3.01678
+  - 1.16281
+  resolution:
+  - 512
+  - 512
+  focal_length: 4
+  orientation:
+  - 0.7681
+  - 0.63858
+  - -0.03028
+  - -0.03642
+  image_type: rgb
+  track_end_effector: true
+robot:
+  type: ur5e
+  position:
+  - -0.27
+  - 0.0
+  - 0.71
+collector:
+  type: default
+  compression: gzip
+multi_run:
+  run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007
+motion_controller: ik_servo
+max_consecutive_failures: 20
+video:
+  playback_speed: 1
+  render_every_n_steps: 3
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_0_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a370f2c89b9181d9582ef8aceece13830cb15146
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_0_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 0,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31689379019060887,
+              -0.077025946322766,
+              1.050216007801915
+            ],
+            "current_z": 1.050216007801915,
+            "required_z": 0.8611065977920676,
+            "initial_z": 0.7611065977920676,
+            "lift_margin": 0.18910941000984738,
+            "gripper_z": 1.0531088281831564,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3122968534114727,
+              -0.08166668955223559,
+              1.0531088281831564
+            ],
+            "object_minus_gripper": [
+              0.004596936779136196,
+              0.004640743229469585,
+              -0.002892820381241501
+            ],
+            "object_to_gripper_xy": 0.006532099622115607,
+            "object_to_gripper_z": -0.002892820381241501,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31689379019060887,
+              -0.10103457737274443,
+              1.050216007801915
+            ],
+            "finger_b": [
+              0.30529978616593284,
+              -0.077025946322766,
+              1.050216007801915
+            ],
+            "finger_midpoint": [
+              0.31109678817827086,
+              -0.08903026184775523,
+              1.050216007801915
+            ],
+            "object_minus_finger_midpoint": [
+              0.005797002012338015,
+              0.01200431552498922,
+              0.0
+            ],
+            "finger_gap": 0.026661494598356487,
+            "fingertip_max_gap": 0.09038102182167393,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01333074729917825,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050216007801915,
+            "object_top_z": 1.1000162685921535,
+            "finger_top_clearance": 0.04980026079023858,
+            "fingertip_min_top_clearance": 0.014940078237071608,
+            "object_projection_between_fingers": 0.8108972213147548,
+            "object_to_finger_line_xy": 0.010440381126929426,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04769051091083697,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 0.4253749627650072,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31737253815807087,
+              -0.0816325195125054,
+              1.246158774937495
+            ],
+            "held_position": [
+              0.3223604487283937,
+              -0.07743715370508432,
+              1.2431667932900394
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007171631634037455,
+            "max_held_gripper_dist": 0.007180124809339325,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0029919816474555105,
+            "max_held_gripper_z_dist": 0.0030061329702173456,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08701383350717186,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3223604487283937,
+              -0.10284896014050876,
+              1.2431667932900394
+            ],
+            "held_grasp_finger_b": [
+              0.31348533129037703,
+              -0.07743715370508432,
+              1.2431667932900394
+            ],
+            "held_grasp_midpoint": [
+              0.31792289000938534,
+              -0.09014305692279653,
+              1.2431667932900394
+            ],
+            "held_grasp_object_position": [
+              0.3223604487283937,
+              -0.07743715370508432,
+              1.2431667932900394
+            ],
+            "held_grasp_finger_gap": 0.026917050652886666,
+            "held_grasp_max_gap": 0.12498318910598755,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02445098438860206,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0950034512537936,
+              -0.9953700552447126,
+              -0.014587575946884312
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032159067765933575,
+            "held_grasp_line_xy_max_dist": 0.047491594552993774,
+            "held_grasp_object_top_z": 0.04972073435783386,
+            "held_grasp_top_clearance": 0.036652075376638525,
+            "held_grasp_min_top_clearance": 0.014916220307350158
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3071889162253548,
+              -0.3328719226725161,
+              0.8515396500428913
+            ],
+            "target_position": [
+              0.2995614167318719,
+              -0.3349697411033243,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00791072630620732,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18499869096730892,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396500428913,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075174350960894,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08647200724268093,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15419416278863635,
+            "release_required_pad_clearance": 0.05323600362134047,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4930204079581424,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075604915618896484,
+            "max_z_decrease": 0.0075604915618896484,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035174386940086136,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075604915618896484,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021048612922142426,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075604915618896484,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007560500931395412,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15526133775711057,
+              -0.39123120903968805,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15526133775711057,
+              -0.39123120903968805,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15367085489604435,
+              -0.39118987526276855,
+              0.8071013532355057
+            ],
+            "closest_button": [
+              0.15525288879871363,
+              -0.39122855663299555,
+              0.771962583065033
+            ],
+            "closest_ee_minus_button": [
+              -0.0015820339026692831,
+              3.868137022700058e-05,
+              0.03513877017047273
+            ],
+            "button_min_z_position": [
+              0.15524967014789576,
+              -0.3912288546562194,
+              0.769248366355896
+            ],
+            "min_active_finger_to_button": 0.14736888306183174,
+            "closest_active_finger": [
+              0.02741280198097229,
+              -0.4560917317867279,
+              0.8104500770568848
+            ],
+            "closest_active_finger_button": [
+              0.15526212751865381,
+              -0.3912330269813537,
+              0.7763108611106873
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12784932553768152,
+              -0.0648587048053742,
+              0.03413921594619751
+            ],
+            "min_contact_pad_to_button": 0.021048612922142426,
+            "closest_contact_pad": [
+              0.15524967014789576,
+              -0.3921850749968117,
+              0.7902752479270282
+            ],
+            "closest_contact_pad_button": [
+              0.15524967014789576,
+              -0.3912288546562194,
+              0.769248366355896
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0009562203405922842,
+              0.021026881571132194
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 0,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "bebb85224bc6e974f1dc437715f117d437523eaa8dfbf5e73e006e1e7199db0a",
+    "visual_seed": 5967980730838484418,
+    "episode_index": 0,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_100_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d82fd4b24f866d080b35bb53b7052e0deae258ac
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_100_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 100,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31542693855661125,
+              -0.07069189645044771,
+              1.0506084465611505
+            ],
+            "current_z": 1.0506084465611505,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18950193854638453,
+            "gripper_z": 1.0538448880279114,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31100141710664175,
+              -0.07517069680283699,
+              1.0538448880279114
+            ],
+            "object_minus_gripper": [
+              0.004425521449969494,
+              0.0044788003523892755,
+              -0.003236441466760942
+            ],
+            "object_to_gripper_xy": 0.006296419037889901,
+            "object_to_gripper_z": -0.003236441466760942,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31542693855661125,
+              -0.0946951223275943,
+              1.0506084465611505
+            ],
+            "finger_b": [
+              0.3042080169087278,
+              -0.07069189645044771,
+              1.0506084465611505
+            ],
+            "finger_midpoint": [
+              0.30981747773266954,
+              -0.08269350938902101,
+              1.0506084465611505
+            ],
+            "object_minus_finger_midpoint": [
+              0.005609460823941703,
+              0.012001612938573297,
+              0.0
+            ],
+            "finger_gap": 0.02649564219736272,
+            "fingertip_max_gap": 0.09290113887163828,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01324782109868135,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506084465611505,
+            "object_top_z": 1.1011018929794942,
+            "finger_top_clearance": 0.050493446418343746,
+            "fingertip_min_top_clearance": 0.015148033925503124,
+            "object_projection_between_fingers": 0.8207111303260161,
+            "object_to_finger_line_xy": 0.010163569858252426,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048950569435819144,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5299028606559872,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31592554677086737,
+              -0.07478526664454188,
+              1.2451391607535247
+            ],
+            "held_position": [
+              0.32065872474849677,
+              -0.07066896406224603,
+              1.2418064544163547
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007103087515070074,
+            "max_held_gripper_dist": 0.0071121005744272815,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033327063371699772,
+            "max_held_gripper_z_dist": 0.0033445640580633818,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673558665474665,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32065872474849677,
+              -0.0958927706359777,
+              1.2418064544163547
+            ],
+            "held_grasp_finger_b": [
+              0.311888462456687,
+              -0.07066896406224603,
+              1.2418064544163547
+            ],
+            "held_grasp_midpoint": [
+              0.3162735936025919,
+              -0.08328086734911186,
+              1.2418064544163547
+            ],
+            "held_grasp_object_position": [
+              0.32065872474849677,
+              -0.07066896406224603,
+              1.2418064544163547
+            ],
+            "held_grasp_finger_gap": 0.026705016733493535,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02461902868836227,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06314784826307775,
+              -0.9979798967776785,
+              -0.006962390922506945
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035810650794474703,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03685691253348333,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.307935997474853,
+              -0.32962911778735826,
+              0.8515395634336549
+            ],
+            "target_position": [
+              0.30031533364605645,
+              -0.3321268487625744,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008019549689108642,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18441535135385811,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395634336549,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588983581229286,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08683617326801944,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15198054096842564,
+            "release_required_pad_clearance": 0.05341808663400972,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.850700135327107,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007429242134094238,
+            "max_z_decrease": 0.007429242134094238,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517756959770241,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007429242134094238,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021053476833717173,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007429242134094238,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007429266438254627,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15601526200771326,
+              -0.388388305902481,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15601526200771326,
+              -0.388388305902481,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15476556685020873,
+              -0.387328159795699,
+              0.8082357069419386
+            ],
+            "closest_button": [
+              0.15600441396236414,
+              -0.388394832611084,
+              0.7730961441993713
+            ],
+            "closest_ee_minus_button": [
+              -0.0012388471121554112,
+              0.0010666728153849725,
+              0.03513956274256724
+            ],
+            "button_min_z_position": [
+              0.15599633753299708,
+              -0.38839003443717957,
+              0.7693796157836914
+            ],
+            "min_active_finger_to_button": 0.14675574393499327,
+            "closest_active_finger": [
+              0.026968441903591156,
+              -0.4493916928768158,
+              0.8104775547981262
+            ],
+            "closest_active_finger_button": [
+              0.1560151726007461,
+              -0.3883905112743377,
+              0.776374101638794
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12904673069715494,
+              -0.06100118160247808,
+              0.034103453159332275
+            ],
+            "min_contact_pad_to_button": 0.021053476833717173,
+            "closest_contact_pad": [
+              0.15599633753299708,
+              -0.3886390845297381,
+              0.7904316195087353
+            ],
+            "closest_contact_pad_button": [
+              0.15599633753299708,
+              -0.38839003443717957,
+              0.7693796157836914
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002490500925585448,
+              0.0210520037250439
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 100,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "91f1c9720ee81b3a1fffe9fd75948b87506954dc29b276a4cd81a9b9f4ea07c4",
+    "visual_seed": 6241451400019128051,
+    "episode_index": 100,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_102_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_102_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ba3c853c33fbf4208dd05c96af907c79dc69abd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_102_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 102,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31077423131203946,
+              -0.06915194699505063,
+              1.0513515519081245
+            ],
+            "current_z": 1.0513515519081245,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1902450438933585,
+            "gripper_z": 1.054931435438793,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3062282949843507,
+              -0.07365044570046116,
+              1.054931435438793
+            ],
+            "object_minus_gripper": [
+              0.004545936327688738,
+              0.004498498705410525,
+              -0.003579883530668626
+            ],
+            "object_to_gripper_xy": 0.00639546931022113,
+            "object_to_gripper_z": -0.003579883530668626,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31077423131203946,
+              -0.09331480814696755,
+              1.0513515519081245
+            ],
+            "finger_b": [
+              0.2996229032784062,
+              -0.06915194699505063,
+              1.0513515519081245
+            ],
+            "finger_midpoint": [
+              0.3051985672952228,
+              -0.0812333775710091,
+              1.0513515519081245
+            ],
+            "object_minus_finger_midpoint": [
+              0.005575664016816639,
+              0.012081430575958466,
+              0.0
+            ],
+            "finger_gap": 0.026611951750304057,
+            "fingertip_max_gap": 0.09322818728263252,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013305975875152035,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0513515519081245,
+            "object_top_z": 1.1019636779930937,
+            "finger_top_clearance": 0.05061212608496923,
+            "fingertip_min_top_clearance": 0.01518363782549077,
+            "object_projection_between_fingers": 0.8244100204819163,
+            "object_to_finger_line_xy": 0.010125074382531173,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04911409364131626,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6650210976666568,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31113850390793674,
+              -0.07328778784455812,
+              1.2482150847186397
+            ],
+            "held_position": [
+              0.3159816923616527,
+              -0.06913981919040821,
+              1.244550832101909
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073545132805125845,
+            "max_held_gripper_dist": 0.007363737446714334,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036642526167307565,
+            "max_held_gripper_z_dist": 0.0036775992498367938,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08666569197649877,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3159816923616527,
+              -0.09446240548155806,
+              1.244550832101909
+            ],
+            "held_grasp_finger_b": [
+              0.3071187035108711,
+              -0.06913981919040821,
+              1.244550832101909
+            ],
+            "held_grasp_midpoint": [
+              0.31155019793626193,
+              -0.08180111233598314,
+              1.244550832101909
+            ],
+            "held_grasp_object_position": [
+              0.3159816923616527,
+              -0.06913981919040821,
+              1.244550832101909
+            ],
+            "held_grasp_finger_gap": 0.026828826807033676,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02478249208203769,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0563660074937731,
+              -0.998399732449685,
+              -0.004565900087534657
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003711241752375122,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03682943273309583,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30240733387959656,
+              -0.33443650934835945,
+              0.8515395908280425
+            ],
+            "target_position": [
+              0.2963122938153078,
+              -0.33594734968320683,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006279502520318518,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18466223497029585,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395908280425,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07584310251000054,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08724679153885322,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15214920790022524,
+            "release_required_pad_clearance": 0.05362339576942661,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.2569579710892773,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007655918598175049,
+            "max_z_decrease": 0.007655918598175049,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035186766506437324,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007655918598175049,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021236357475581405,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007655918598175049,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007655941914231076,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15201221406459803,
+              -0.3922088146209716,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15201221406459803,
+              -0.3922088146209716,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1525210865961699,
+              -0.3939890724185514,
+              0.8081364815476175
+            ],
+            "closest_button": [
+              0.15200038254261017,
+              -0.392214834690094,
+              0.7729983329772949
+            ],
+            "closest_ee_minus_button": [
+              0.0005207040535597229,
+              -0.0017742377284574173,
+              0.0351381485703226
+            ],
+            "button_min_z_position": [
+              0.15199331939220426,
+              -0.3922087550163269,
+              0.7691529393196106
+            ],
+            "min_active_finger_to_button": 0.14546616379932129,
+            "closest_active_finger": [
+              0.011268749833106995,
+              -0.37865304946899414,
+              0.8104345202445984
+            ],
+            "closest_active_finger_button": [
+              0.15201224386692044,
+              -0.3922105431556701,
+              0.7762604355812073
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14074349403381345,
+              0.01355749368667597,
+              0.03417408466339111
+            ],
+            "min_contact_pad_to_button": 0.021236357475581405,
+            "closest_contact_pad": [
+              0.15199331939220426,
+              -0.3950727159305397,
+              0.7901952920091875
+            ],
+            "closest_contact_pad_button": [
+              0.15199331939220426,
+              -0.3922087550163269,
+              0.7691529393196106
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0028639609142128153,
+              0.021042352689576882
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 102,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fbfbd64935dc722466db3af4dd7c1f46f9c5aab8465807bcf963971d7d9c2111",
+    "visual_seed": 1283294833272326476,
+    "episode_index": 102,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_103_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_103_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f57d376e8b63803ff427bb0dbf4713b9a3531079
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_103_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 103,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3143073893775209,
+              -0.07541183156270609,
+              1.05052727370182
+            ],
+            "current_z": 1.05052727370182,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1894208252916989,
+            "gripper_z": 1.0538793119306862,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3098549030810891,
+              -0.07985740530773495,
+              1.0538793119306862
+            ],
+            "object_minus_gripper": [
+              0.004452486296431801,
+              0.004445573745028866,
+              -0.0033520382288660944
+            ],
+            "object_to_gripper_xy": 0.0062918804933344815,
+            "object_to_gripper_z": -0.0033520382288660944,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3143073893775209,
+              -0.09951612233613069,
+              1.05052727370182
+            ],
+            "finger_b": [
+              0.3032440520156527,
+              -0.07541183156270609,
+              1.05052727370182
+            ],
+            "finger_midpoint": [
+              0.30877572069658676,
+              -0.08746397694941839,
+              1.05052727370182
+            ],
+            "object_minus_finger_midpoint": [
+              0.005531668680934132,
+              0.012052145386712301,
+              0.0
+            ],
+            "finger_gap": 0.02652195820961023,
+            "fingertip_max_gap": 0.09317111347668885,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013260979104805126,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.05052727370182,
+            "object_top_z": 1.101060490072256,
+            "finger_top_clearance": 0.05053321637043595,
+            "fingertip_min_top_clearance": 0.015159964911130768,
+            "object_projection_between_fingers": 0.8259952359835694,
+            "object_to_finger_line_xy": 0.010054834510610709,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04908555673834443,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7327124459098389,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3147831544034788,
+              -0.07942532498702488,
+              1.246313000685346
+            ],
+            "held_position": [
+              0.3195265846173101,
+              -0.07531621767941984,
+              1.2428771911964778
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007154696352934735,
+            "max_held_gripper_dist": 0.0071637098490844485,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034358094888682356,
+            "max_held_gripper_z_dist": 0.0034494715788577768,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08647550031102032,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3195265846173101,
+              -0.10055802750925626,
+              1.2428771911964778
+            ],
+            "held_grasp_finger_b": [
+              0.3107549954899366,
+              -0.07531621767941984,
+              1.2428771911964778
+            ],
+            "held_grasp_midpoint": [
+              0.3151407900536234,
+              -0.08793712259433806,
+              1.2428771911964778
+            ],
+            "held_grasp_object_position": [
+              0.3195265846173101,
+              -0.07531621767941984,
+              1.2428771911964778
+            ],
+            "held_grasp_finger_gap": 0.026722457583558488,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024726558479287026,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05440565258757969,
+              -0.9984934788709341,
+              -0.00712724482105509
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036937664504463562,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03687974679974668,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3021246621204611,
+              -0.3303975070888791,
+              0.8515395746725296
+            ],
+            "target_position": [
+              0.29559698597985606,
+              -0.3320879481273825,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006743007244640955,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18615286776094345,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395746725296,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556224022620064,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08663299661328709,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1542251716259212,
+            "release_required_pad_clearance": 0.05331649830664355,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6508621833646886,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007702946662902832,
+            "max_z_decrease": 0.007702946662902832,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516598570123802,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007702946662902832,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021081194136192822,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007702946662902832,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007702967182052003,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15129691362380981,
+              -0.3883494138717651,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15129691362380981,
+              -0.3883494138717651,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15217464861912824,
+              -0.3873694456185639,
+              0.8078444124306265
+            ],
+            "closest_button": [
+              0.1512862592935562,
+              -0.3883571624755858,
+              0.7727035284042358
+            ],
+            "closest_ee_minus_button": [
+              0.000888389325572031,
+              0.0009877168570219252,
+              0.035140884026390706
+            ],
+            "button_min_z_position": [
+              0.15127931535243988,
+              -0.38835194706916804,
+              0.7691059112548828
+            ],
+            "min_active_finger_to_button": 0.14492982936860452,
+            "closest_active_finger": [
+              0.02384500950574875,
+              -0.44832026958465576,
+              0.8106117248535156
+            ],
+            "closest_active_finger_button": [
+              0.15129788219928741,
+              -0.3883524537086486,
+              0.7764901518821716
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12745287269353867,
+              -0.059967815876007136,
+              0.034121572971343994
+            ],
+            "min_contact_pad_to_button": 0.021081194136192822,
+            "closest_contact_pad": [
+              0.15127931535243988,
+              -0.3887550493441451,
+              0.7901832510956635
+            ],
+            "closest_contact_pad_button": [
+              0.15127931535243988,
+              -0.38835194706916804,
+              0.7691059112548828
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004031022749770852,
+              0.02107733984078064
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 103,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "66184b6e3de2bf5839e1930bbe96e36d2bc9182eaf0c423b503bf267bbc3d8fe",
+    "visual_seed": 6197281105463396280,
+    "episode_index": 103,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_104_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_104_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..954caca96e1cad56fe68e18aa3198e24b08d7a18
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_104_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 104,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3158884445085744,
+              -0.07440637206324471,
+              1.049979203932259
+            ],
+            "current_z": 1.049979203932259,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18887263631284823,
+            "gripper_z": 1.0532488296319629,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31171877419618166,
+              -0.07880515537296413,
+              1.0532488296319629
+            ],
+            "object_minus_gripper": [
+              0.004169670312392737,
+              0.00439878330971942,
+              -0.003269625699703793
+            ],
+            "object_to_gripper_xy": 0.0060609772413296095,
+            "object_to_gripper_z": -0.003269625699703793,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3158884445085744,
+              -0.09812638233883908,
+              1.049979203932259
+            ],
+            "finger_b": [
+              0.3046671068753992,
+              -0.07440637206324471,
+              1.049979203932259
+            ],
+            "finger_midpoint": [
+              0.3102777756919868,
+              -0.0862663772010419,
+              1.049979203932259
+            ],
+            "object_minus_finger_midpoint": [
+              0.005610668816587616,
+              0.011860005137797183,
+              0.0
+            ],
+            "finger_gap": 0.02624037548801495,
+            "fingertip_max_gap": 0.0954052989809828,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013120187744007486,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049979203932259,
+            "object_top_z": 1.1016764226544464,
+            "finger_top_clearance": 0.051697218722187355,
+            "fingertip_min_top_clearance": 0.015509165616656223,
+            "object_projection_between_fingers": 0.817127177032578,
+            "object_to_finger_line_xy": 0.010143537926368481,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0502026494904914,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2602725475116237,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31661951771707925,
+              -0.07830377122763485,
+              1.2436296919566028
+            ],
+            "held_position": [
+              0.3211197157367969,
+              -0.07427726475294534,
+              1.2402625308137374
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006913921518892847,
+            "max_held_gripper_dist": 0.006923052718887624,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033671611428653936,
+            "max_held_gripper_z_dist": 0.0033761762607575907,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08652230001671282,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3211197157367969,
+              -0.09934913240872414,
+              1.2402625308137374
+            ],
+            "held_grasp_finger_b": [
+              0.31255391730034565,
+              -0.07427726475294534,
+              1.2402625308137374
+            ],
+            "held_grasp_midpoint": [
+              0.31683681651857126,
+              -0.08681319858083475,
+              1.2402625308137374
+            ],
+            "held_grasp_object_position": [
+              0.3211197157367969,
+              -0.07427726475294534,
+              1.2402625308137374
+            ],
+            "held_grasp_finger_gap": 0.02649474382972588,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02449250692427238,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06198402438245113,
+              -0.9980688286556463,
+              0.0040735718113242845
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034980168566117772,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03694305394881872,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29837085082700787,
+              -0.3365550477502828,
+              0.8515395920239492
+            ],
+            "target_position": [
+              0.2938146850891356,
+              -0.33718720139943026,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004599811351250352,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1825840323467555,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395920239492,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553286346738135,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08691356770715679,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15053267013324192,
+            "release_required_pad_clearance": 0.053456783853578396,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.926948629505677,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007511019706726074,
+            "max_z_decrease": 0.007511019706726074,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514451933913594,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007511019706726074,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021122831826897285,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007511019706726074,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0075110441577802434,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14951461553573603,
+              -0.3934486508369445,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14951461553573603,
+              -0.3934486508369445,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14971670773654386,
+              -0.39413105930489317,
+              0.8082415415286631
+            ],
+            "closest_button": [
+              0.14950345456600186,
+              -0.39345404505729675,
+              0.773104190826416
+            ],
+            "closest_ee_minus_button": [
+              0.00021325317054199378,
+              -0.0006770142475964191,
+              0.035137350702247105
+            ],
+            "button_min_z_position": [
+              0.14949545264244074,
+              -0.39344835281372065,
+              0.7692978382110596
+            ],
+            "min_active_finger_to_button": 0.14587420825883565,
+            "closest_active_finger": [
+              0.008483320474624634,
+              -0.37859559059143066,
+              0.8105670809745789
+            ],
+            "closest_active_finger_button": [
+              0.14951457083225245,
+              -0.3934501409530639,
+              0.7763791680335999
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1410312503576278,
+              0.014854550361633245,
+              0.034187912940979004
+            ],
+            "min_contact_pad_to_button": 0.021122831826897285,
+            "closest_contact_pad": [
+              0.14949545264244074,
+              -0.3952244198290152,
+              0.7903458692435473
+            ],
+            "closest_contact_pad_button": [
+              0.14949545264244074,
+              -0.39344835281372065,
+              0.7692978382110596
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017760670152945357,
+              0.021048031032487757
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 104,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5c43df7e8e06d7f691ea9bb0bc2e2dcbbe4c792ef7946808b6f5f4c456cdd1ba",
+    "visual_seed": 3286737444413413725,
+    "episode_index": 104,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_106_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_106_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b5e12f01851b609fbe588f0f6491c974e840b85
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_106_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 106,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31958956636565833,
+              -0.07583280221641703,
+              1.0504082880465861
+            ],
+            "current_z": 1.0504082880465861,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18930183963646485,
+            "gripper_z": 1.0533761104239818,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3154615579371511,
+              -0.08018682145420768,
+              1.0533761104239818
+            ],
+            "object_minus_gripper": [
+              0.004128008428507246,
+              0.004354019237790649,
+              -0.002967822377395679
+            ],
+            "object_to_gripper_xy": 0.005999828089943738,
+            "object_to_gripper_z": -0.002967822377395679,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31958956636565833,
+              -0.09955677451243083,
+              1.0504082880465861
+            ],
+            "finger_b": [
+              0.30846455352878954,
+              -0.07583280221641703,
+              1.0504082880465861
+            ],
+            "finger_midpoint": [
+              0.3140270599472239,
+              -0.08769478836442393,
+              1.0504082880465861
+            ],
+            "object_minus_finger_midpoint": [
+              0.005562506418434421,
+              0.011861986148006903,
+              0.0
+            ],
+            "finger_gap": 0.026202915336323282,
+            "fingertip_max_gap": 0.09420294572204904,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013101457668161653,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0504082880465861,
+            "object_top_z": 1.1013306117442356,
+            "finger_top_clearance": 0.050922323697649485,
+            "fingertip_min_top_clearance": 0.015276697109294862,
+            "object_projection_between_fingers": 0.8197389840882149,
+            "object_to_finger_line_xy": 0.010072524104552803,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04960147286102452,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1700370424590214,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32054670925422685,
+              -0.0799937305056508,
+              1.2430016971582043
+            ],
+            "held_position": [
+              0.32500451991412754,
+              -0.07600852037153114,
+              1.2399279533833765
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006723234079362936,
+            "max_held_gripper_dist": 0.0067320939353192714,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0030737437748278307,
+            "max_held_gripper_z_dist": 0.003084730362206356,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08660662496692229,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32500451991412754,
+              -0.1010804899010705,
+              1.2399279533833765
+            ],
+            "held_grasp_finger_b": [
+              0.3166248981263197,
+              -0.07600852037153114,
+              1.2399279533833765
+            ],
+            "held_grasp_midpoint": [
+              0.32081470902022363,
+              -0.08854450513630083,
+              1.2399279533833765
+            ],
+            "held_grasp_object_position": [
+              0.32500451991412754,
+              -0.07600852037153114,
+              1.2399279533833765
+            ],
+            "held_grasp_finger_gap": 0.02643523628411243,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024502826313397705,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06208358738774629,
+              -0.9980493660641852,
+              -0.00656437932681686
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034044650234135946,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03694859993185658,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3037253184097154,
+              -0.3372073152202004,
+              0.8515395937153688
+            ],
+            "target_position": [
+              0.29770884440121514,
+              -0.33855436953191387,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006165429004835337,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.185407813035866,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395937153688,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07573244940931718,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08661657402011623,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1530414691884401,
+            "release_required_pad_clearance": 0.05330828701005812,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.6346625778229986,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007662057876586914,
+            "max_z_decrease": 0.007662057876586914,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515947983745424,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007662057876586914,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021109432604011373,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007662057876586914,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076620758410181795,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1534087657928466,
+              -0.3948158323764801,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1534087657928466,
+              -0.3948158323764801,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15218481576049286,
+              -0.3955543264581167,
+              0.8081150619564293
+            ],
+            "closest_button": [
+              0.15339885652065272,
+              -0.3948207497596741,
+              0.7729842066764832
+            ],
+            "closest_ee_minus_button": [
+              -0.0012140407601598513,
+              -0.0007335766984426506,
+              0.035130855279946194
+            ],
+            "button_min_z_position": [
+              0.15339218080043787,
+              -0.3948153555393219,
+              0.7691468000411987
+            ],
+            "min_active_finger_to_button": 0.14722916674898853,
+            "closest_active_finger": [
+              0.0110664963722229,
+              -0.3790459632873535,
+              0.8104031085968018
+            ],
+            "closest_active_finger_button": [
+              0.1534085571765899,
+              -0.39481768012046814,
+              0.7762502431869507
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.142342060804367,
+              0.015771716833114624,
+              0.034152865409851074
+            ],
+            "min_contact_pad_to_button": 0.021109432604011373,
+            "closest_contact_pad": [
+              0.15339218080043787,
+              -0.396783385694112,
+              0.7901642928073004
+            ],
+            "closest_contact_pad_button": [
+              0.15339218080043787,
+              -0.3948153555393219,
+              0.7691468000411987
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001968030154790079,
+              0.021017492766101653
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 106,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fb257a6b58636158bd1a7b2cadede46e4cc4cba4781d4c3ec96e9fd683443a19",
+    "visual_seed": 8462486459156932271,
+    "episode_index": 106,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_108_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_108_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..36e08e0f91ceb911c1a2393974bebe54455bce32
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_108_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 108,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3106394004523822,
+              -0.06925622573007076,
+              1.0516984354798518
+            ],
+            "current_z": 1.0516984354798518,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1905919274650858,
+            "gripper_z": 1.0554272276073873,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30602313062992137,
+              -0.07378747384933225,
+              1.0554272276073873
+            ],
+            "object_minus_gripper": [
+              0.004616269822460828,
+              0.004531248119261491,
+              -0.0037287921275355185
+            ],
+            "object_to_gripper_xy": 0.006468551351892735,
+            "object_to_gripper_z": -0.0037287921275355185,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3106394004523822,
+              -0.09347469104338123,
+              1.0516984354798518
+            ],
+            "finger_b": [
+              0.29944947900619645,
+              -0.06925622573007076,
+              1.0516984354798518
+            ],
+            "finger_midpoint": [
+              0.3050444397292893,
+              -0.08136545838672599,
+              1.0516984354798518
+            ],
+            "object_minus_finger_midpoint": [
+              0.005594960723092901,
+              0.012109232656655228,
+              0.0
+            ],
+            "finger_gap": 0.026678613234271193,
+            "fingertip_max_gap": 0.09388292538011303,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013339306617135603,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0516984354798518,
+            "object_top_z": 1.1027299691814632,
+            "finger_top_clearance": 0.0510315337016114,
+            "fingertip_min_top_clearance": 0.015309460110483385,
+            "object_projection_between_fingers": 0.8240749944083593,
+            "object_to_finger_line_xy": 0.010158051395827055,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944146269005652,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6927072680448232,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31091946807680915,
+              -0.07339871531710278,
+              1.2480310665871337
+            ],
+            "held_position": [
+              0.3158207333112728,
+              -0.06920816108877197,
+              1.244214729532184
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00749316849911478,
+            "max_held_gripper_dist": 0.007502302283712213,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00381633705494977,
+            "max_held_gripper_z_dist": 0.00382925667830758,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673105245530377,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3158207333112728,
+              -0.09454040117570828,
+              1.244214729532184
+            ],
+            "held_grasp_finger_b": [
+              0.3068904434785927,
+              -0.06920816108877197,
+              1.244214729532184
+            ],
+            "held_grasp_midpoint": [
+              0.3113555883949327,
+              -0.08187428113224013,
+              1.244214729532184
+            ],
+            "held_grasp_object_position": [
+              0.3158207333112728,
+              -0.06920816108877197,
+              1.244214729532184
+            ],
+            "held_grasp_finger_gap": 0.026860239468736183,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024799951885554766,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05526639685783716,
+              -0.9984705948111902,
+              -0.0014479902418316204
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003758355394930495,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03682672918536927,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30412365261103297,
+              -0.3346709257421293,
+              0.8515395831436987
+            ],
+            "target_position": [
+              0.2980594862502271,
+              -0.33617396355326185,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00624765846643553,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18402984324780214,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395831436987,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075502509101634,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08650744948466742,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15228090127925986,
+            "release_required_pad_clearance": 0.05325372474233371,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5277409365538828,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007751822471618652,
+            "max_z_decrease": 0.007751822471618652,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035211612657448405,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007751822471618652,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021059427820347015,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007751822471618652,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007751845571683894,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15375940501689905,
+              -0.3924354314804077,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15375940501689905,
+              -0.3924354314804077,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1558959301945211,
+              -0.39190877357375703,
+              0.8080951737087158
+            ],
+            "closest_button": [
+              0.15374808013439173,
+              -0.392440527677536,
+              0.7729531526565552
+            ],
+            "closest_ee_minus_button": [
+              0.0021478500601293804,
+              0.0005317541037789808,
+              0.03514202105216058
+            ],
+            "button_min_z_position": [
+              0.15374048054218287,
+              -0.3924354314804077,
+              0.769057035446167
+            ],
+            "min_active_finger_to_button": 0.14403957879760146,
+            "closest_active_finger": [
+              0.029679976403713226,
+              -0.457148939371109,
+              0.81033855676651
+            ],
+            "closest_active_finger_button": [
+              0.15375861525535578,
+              -0.3924371004104614,
+              0.7762171626091003
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12407863885164255,
+              -0.06471183896064758,
+              0.03412139415740967
+            ],
+            "min_contact_pad_to_button": 0.021059427820347015,
+            "closest_contact_pad": [
+              0.15374048054218287,
+              -0.3927968292135227,
+              0.7901133620915937
+            ],
+            "closest_contact_pad_button": [
+              0.15374048054218287,
+              -0.3924354314804077,
+              0.769057035446167
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003613977331149987,
+              0.02105632664542667
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 108,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "17fbe3fb1d741e2917c0f7bc1861c06d3c43bdd896c8740d1a8e6ac3224e14bb",
+    "visual_seed": 6666739151788843117,
+    "episode_index": 108,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_109_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_109_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..188a51fe1bd6937fcf2c35be3f20f2eeb2a41821
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_109_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 109,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3115836252883083,
+              -0.07841814379213703,
+              1.0507424826341483
+            ],
+            "current_z": 1.0507424826341483,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.18963591501473753,
+            "gripper_z": 1.0542130605926228,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3070281389834614,
+              -0.08289602901071809,
+              1.0542130605926228
+            ],
+            "object_minus_gripper": [
+              0.004555486304846923,
+              0.004477885218581057,
+              -0.0034705779584744967
+            ],
+            "object_to_gripper_xy": 0.0063877939466168284,
+            "object_to_gripper_z": -0.0034705779584744967,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3115836252883083,
+              -0.10263130299858597,
+              1.0507424826341483
+            ],
+            "finger_b": [
+              0.30052508841877373,
+              -0.07841814379213703,
+              1.0507424826341483
+            ],
+            "finger_midpoint": [
+              0.306054356853541,
+              -0.0905247233953615,
+              1.0507424826341483
+            ],
+            "object_minus_finger_midpoint": [
+              0.005529268434767309,
+              0.012106579603224463,
+              0.0
+            ],
+            "finger_gap": 0.026618946569158183,
+            "fingertip_max_gap": 0.09327402856463221,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013309473284579097,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0507424826341483,
+            "object_top_z": 1.1013986398442546,
+            "finger_top_clearance": 0.0506561572101063,
+            "fingertip_min_top_clearance": 0.015196847163031922,
+            "object_projection_between_fingers": 0.827410801675054,
+            "object_to_finger_line_xy": 0.01005908002845859,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04913701428231611,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6445670225582043,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31184842115702005,
+              -0.08245069299877127,
+              1.2467502585437198
+            ],
+            "held_position": [
+              0.3166750799144148,
+              -0.07828599785834539,
+              1.2432017603427779
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007296105800707007,
+            "max_held_gripper_dist": 0.007305318462310595,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003548498200941941,
+            "max_held_gripper_z_dist": 0.0035617909853578045,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08656892698406918,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3166750799144148,
+              -0.10353687926704828,
+              1.2432017603427779
+            ],
+            "held_grasp_finger_b": [
+              0.30778671757759085,
+              -0.07828599785834539,
+              1.2432017603427779
+            ],
+            "held_grasp_midpoint": [
+              0.31223089874600285,
+              -0.09091143856269684,
+              1.2432017603427779
+            ],
+            "held_grasp_object_position": [
+              0.3166750799144148,
+              -0.07828599785834539,
+              1.2432017603427779
+            ],
+            "held_grasp_finger_gap": 0.02676957222196589,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024759973332785325,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05139200622344448,
+              -0.9986488668322079,
+              -0.0077008097675799175
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037907313569179144,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036883472631172115,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3054042195759347,
+              -0.33095306280034387,
+              0.8515395894368352
+            ],
+            "target_position": [
+              0.29909734486628187,
+              -0.3325801454842133,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006513375980504,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18250805092993985,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395894368352,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0757306856635685,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08714382677449604,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1501894355687404,
+            "release_required_pad_clearance": 0.053571913387248024,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1547636943434227,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00781869888305664,
+            "max_z_decrease": 0.00781869888305664,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035170837830871896,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00781869888305664,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02103842793584382,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00781869888305664,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007818718626720985,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1547972708940506,
+              -0.38884159922599787,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1547972708940506,
+              -0.38884159922599787,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1533118947051857,
+              -0.3883129236196886,
+              0.8068502988628813
+            ],
+            "closest_button": [
+              0.15478278696537018,
+              -0.3888377249240874,
+              0.7717141509056091
+            ],
+            "closest_ee_minus_button": [
+              -0.0014708922601844865,
+              0.0005248013043988031,
+              0.03513614795727216
+            ],
+            "button_min_z_position": [
+              0.15477970242500305,
+              -0.38884189724922175,
+              0.768990159034729
+            ],
+            "min_active_finger_to_button": 0.14705875556246378,
+            "closest_active_finger": [
+              0.02662932127714157,
+              -0.4523645341396332,
+              0.8105201125144958
+            ],
+            "closest_active_finger_button": [
+              0.15479764342308044,
+              -0.3888435959815978,
+              0.7763990163803101
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12816832214593887,
+              -0.06352093815803539,
+              0.03412109613418579
+            ],
+            "min_contact_pad_to_button": 0.02103842793584382,
+            "closest_contact_pad": [
+              0.15477970242500305,
+              -0.389401265603296,
+              0.7900211494311928
+            ],
+            "closest_contact_pad_button": [
+              0.15477970242500305,
+              -0.38884189724922175,
+              0.768990159034729
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005593683540742744,
+              0.021030990396463833
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 109,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6337ee20c4ef8e498afc5bc0aa48445067fb52bb140349f825e70cbacabe4d0c",
+    "visual_seed": 8645441298017805773,
+    "episode_index": 109,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_10_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..505ba0881a16d6083f93dfa7bb7275f9c48a5a3f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_10_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 10,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3102848878443958,
+              -0.07475372236729716,
+              1.049794719279319
+            ],
+            "current_z": 1.049794719279319,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18868821126455326,
+            "gripper_z": 1.0535421757364767,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3060073273957412,
+              -0.07914949513582022,
+              1.0535421757364767
+            ],
+            "object_minus_gripper": [
+              0.0042775604486545715,
+              0.004395772768523057,
+              -0.003747456457157572
+            ],
+            "object_to_gripper_xy": 0.0061335423390062906,
+            "object_to_gripper_z": -0.003747456457157572,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3102848878443958,
+              -0.09871143807765778,
+              1.049794719279319
+            ],
+            "finger_b": [
+              0.29928459364455406,
+              -0.07475372236729716,
+              1.049794719279319
+            ],
+            "finger_midpoint": [
+              0.3047847407444749,
+              -0.08673258022247747,
+              1.049794719279319
+            ],
+            "object_minus_finger_midpoint": [
+              0.00550014709992086,
+              0.011978857855180311,
+              0.0
+            ],
+            "finger_gap": 0.026362447051469475,
+            "fingertip_max_gap": 0.10139142444793228,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013181223525734738,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049794719279319,
+            "object_top_z": 1.104010008728389,
+            "finger_top_clearance": 0.05421528944906995,
+            "fingertip_min_top_clearance": 0.016264586834721,
+            "object_projection_between_fingers": 0.8258846100424286,
+            "object_to_finger_line_xy": 0.009996868676705267,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05319571222396614,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 4.299897025361208,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31048067273925817,
+              -0.07776545669425458,
+              1.2456314837895732
+            ],
+            "held_position": [
+              0.3149989904815741,
+              -0.07363985532188752,
+              1.2418235230074783
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007206687673416724,
+            "max_held_gripper_dist": 0.007216936106137661,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003807960782094888,
+            "max_held_gripper_z_dist": 0.003823749200993598,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08622847656719124,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3149989904815741,
+              -0.09858852447808794,
+              1.2418235230074783
+            ],
+            "held_grasp_finger_b": [
+              0.30597387760185846,
+              -0.07363985532188752,
+              1.2418235230074783
+            ],
+            "held_grasp_midpoint": [
+              0.3104864340417163,
+              -0.08611418989998773,
+              1.2418235230074783
+            ],
+            "held_grasp_object_position": [
+              0.3149989904815741,
+              -0.07363985532188752,
+              1.2418235230074783
+            ],
+            "held_grasp_finger_gap": 0.026530901891137347,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024843688443571935,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.01034043835199983,
+              -0.999532757070008,
+              0.028763568601911975
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004398040768035237,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037205082224956554,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29617180924373215,
+              -0.3356916344930272,
+              0.8515395860634372
+            ],
+            "target_position": [
+              0.29713209154656856,
+              -0.332835924365261,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003012842915747055,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17940714604814237,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395860634372,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758786195777482,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09016070056195412,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14616467720276238,
+            "release_required_pad_clearance": 0.05508035028097706,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.244532048279789,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007837951183319092,
+            "max_z_decrease": 0.007837951183319092,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516098058236759,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007837951183319092,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021059321638628455,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007837951183319092,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007837977503855004,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15283201634883875,
+              -0.3890973925590515,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15283201634883875,
+              -0.3890973925590515,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15379230726592766,
+              -0.3884263858533149,
+              0.8078105232103884
+            ],
+            "closest_button": [
+              0.15282019972801203,
+              -0.38910287618637085,
+              0.7726694941520691
+            ],
+            "closest_ee_minus_button": [
+              0.0009721075379156285,
+              0.0006764903330559457,
+              0.035141029058319284
+            ],
+            "button_min_z_position": [
+              0.15281172096729273,
+              -0.38909822702407837,
+              0.7689709067344666
+            ],
+            "min_active_finger_to_button": 0.14497395007524108,
+            "closest_active_finger": [
+              0.027043528854846954,
+              -0.4525946080684662,
+              0.8105508685112
+            ],
+            "closest_active_finger_button": [
+              0.1528316736221313,
+              -0.38909927010536194,
+              0.7764461636543274
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12578814476728434,
+              -0.06349533796310425,
+              0.03410470485687256
+            ],
+            "min_contact_pad_to_button": 0.021059321638628455,
+            "closest_contact_pad": [
+              0.15281172096729273,
+              -0.3894316801794555,
+              0.79002758826011
+            ],
+            "closest_contact_pad_button": [
+              0.15281172096729273,
+              -0.38909822702407837,
+              0.7689709067344666
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00033345315537713915,
+              0.02105668152564344
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 10,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "26a2b2bb3f666faf272c3a94552672e29131baa9f2719dafc69bf0f362ab639e",
+    "visual_seed": 3298248541599578680,
+    "episode_index": 10,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_110_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_110_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..35e610ab1aff7868aff4352ddfb1ab6c92782250
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_110_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 110,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3130082485421042,
+              -0.07861962067863709,
+              1.0512795705480098
+            ],
+            "current_z": 1.0512795705480098,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1901731221378885,
+            "gripper_z": 1.0545012002544096,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30887631316199815,
+              -0.08297873684398617,
+              1.0545012002544096
+            ],
+            "object_minus_gripper": [
+              0.004131935380106033,
+              0.004359116165349078,
+              -0.003221629706399831
+            ],
+            "object_to_gripper_xy": 0.006006228744260381,
+            "object_to_gripper_z": -0.003221629706399831,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3130082485421042,
+              -0.1023361164222271,
+              1.0512795705480098
+            ],
+            "finger_b": [
+              0.3018749378875238,
+              -0.07861962067863709,
+              1.0512795705480098
+            ],
+            "finger_midpoint": [
+              0.307441593214814,
+              -0.0904778685504321,
+              1.0512795705480098
+            ],
+            "object_minus_finger_midpoint": [
+              0.005566655327290171,
+              0.011858247871795013,
+              0.0
+            ],
+            "finger_gap": 0.026199671304944203,
+            "fingertip_max_gap": 0.09212213307027126,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013099835652472096,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512795705480098,
+            "object_top_z": 1.1010952155260014,
+            "finger_top_clearance": 0.049815644977991624,
+            "fingertip_min_top_clearance": 0.014944693493397453,
+            "object_projection_between_fingers": 0.8194252720375461,
+            "object_to_finger_line_xy": 0.010078107915101704,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04856106653513563,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.053649616283148,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3138081127911306,
+              -0.08250426167372865,
+              1.246783155390814
+            ],
+            "held_position": [
+              0.31827823112827597,
+              -0.07851520911217134,
+              1.2434798387116155
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006841520252840097,
+            "max_held_gripper_dist": 0.006850168998817432,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003303316679198476,
+            "max_held_gripper_z_dist": 0.0033152479605753626,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08656766845556395,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31827823112827597,
+              -0.10361309607095298,
+              1.2434798387116155
+            ],
+            "held_grasp_finger_b": [
+              0.3097766580211552,
+              -0.07851520911217134,
+              1.2434798387116155
+            ],
+            "held_grasp_midpoint": [
+              0.3140274445747156,
+              -0.09106415259156217,
+              1.2434798387116155
+            ],
+            "held_grasp_object_position": [
+              0.31827823112827597,
+              -0.07851520911217134,
+              1.2434798387116155
+            ],
+            "held_grasp_finger_gap": 0.0264986919505756,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024516284490680305,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0622813640118466,
+              -0.9979236140943257,
+              -0.0164162154512979
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003467223867101305,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036932618255396996,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30084225981512797,
+              -0.32692429163372994,
+              0.8515396065561929
+            ],
+            "target_position": [
+              0.29332687695744025,
+              -0.3292251752825951,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007859710240412262,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18597461573923274,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396065561929,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07543517786899141,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08566672431628457,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15447148107132158,
+            "release_required_pad_clearance": 0.052833362158142286,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7110655434277151,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007644295692443848,
+            "max_z_decrease": 0.007644295692443848,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035212700500310036,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007644295692443848,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021058392121428904,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007644295692443848,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007644321858678362,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1490267962217331,
+              -0.3854866325855254,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1490267962217331,
+              -0.3854866325855254,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15087012403288505,
+              -0.38429389392182645,
+              0.8080106875221992
+            ],
+            "closest_button": [
+              0.1490160375833511,
+              -0.3854923546314239,
+              0.7728672623634338
+            ],
+            "closest_ee_minus_button": [
+              0.0018540864495339426,
+              0.0011984607095974487,
+              0.03514342515876534
+            ],
+            "button_min_z_position": [
+              0.14900681376457214,
+              -0.3854874968528747,
+              0.7691645622253418
+            ],
+            "min_active_finger_to_button": 0.1439884053439093,
+            "closest_active_finger": [
+              0.024030208587646484,
+              -0.44829124212265015,
+              0.8107854723930359
+            ],
+            "closest_active_finger_button": [
+              0.14902833104133606,
+              -0.3854880332946776,
+              0.7766696810722351
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12499812245368958,
+              -0.06280320882797252,
+              0.03411579132080078
+            ],
+            "min_contact_pad_to_button": 0.021058392121428904,
+            "closest_contact_pad": [
+              0.14900681376457214,
+              -0.3854874968528747,
+              0.7902229543467707
+            ],
+            "closest_contact_pad_button": [
+              0.14900681376457214,
+              -0.3854874968528747,
+              0.7691645622253418
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021058392121428904
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 110,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6345f5b9050d55d8f6f6840ac2bffc63bf5b484f2165218a38d850aef5d941cd",
+    "visual_seed": 7030249426968701233,
+    "episode_index": 110,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_111_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_111_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..64a8715ab9193c8c6dd21c4a89e4d4fa327fe117
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_111_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 111,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31372590851374543,
+              -0.07755636011217276,
+              1.052315027521597
+            ],
+            "current_z": 1.052315027521597,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19120851950683093,
+            "gripper_z": 1.0556319819089628,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3094123244950114,
+              -0.08199605874395001,
+              1.0556319819089628
+            ],
+            "object_minus_gripper": [
+              0.004313584018734051,
+              0.0044396986317772474,
+              -0.0033169543873659
+            ],
+            "object_to_gripper_xy": 0.0061901479003075984,
+            "object_to_gripper_z": -0.0033169543873659,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31372590851374543,
+              -0.10143565729777225,
+              1.052315027521597
+            ],
+            "finger_b": [
+              0.30251287410733596,
+              -0.07755636011217276,
+              1.052315027521597
+            ],
+            "finger_midpoint": [
+              0.30811939131054067,
+              -0.08949600870497251,
+              1.052315027521597
+            ],
+            "object_minus_finger_midpoint": [
+              0.005606517203204764,
+              0.011939648592799751,
+              0.0
+            ],
+            "finger_gap": 0.026380920656366453,
+            "fingertip_max_gap": 0.09393398346924683,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013190460328183246,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052315027521597,
+            "object_top_z": 1.1031366435978607,
+            "finger_top_clearance": 0.05082161607626379,
+            "fingertip_min_top_clearance": 0.015246484822879136,
+            "object_projection_between_fingers": 0.8193381662639123,
+            "object_to_finger_line_xy": 0.010149736031990448,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04946699173462342,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0908521638201965,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3144354725009617,
+              -0.0819828843398578,
+              1.245695295213297
+            ],
+            "held_position": [
+              0.3190784440447724,
+              -0.07791733693410516,
+              1.242280832840287
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007052971980786436,
+            "max_held_gripper_dist": 0.007061893268388601,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034144623730099077,
+            "max_held_gripper_z_dist": 0.003426068893664702,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08678512269516264,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3190784440447724,
+              -0.10311145197574283,
+              1.242280832840287
+            ],
+            "held_grasp_finger_b": [
+              0.31055021341296063,
+              -0.07791733693410516,
+              1.242280832840287
+            ],
+            "held_grasp_midpoint": [
+              0.3148143287288665,
+              -0.09051439445492399,
+              1.242280832840287
+            ],
+            "held_grasp_object_position": [
+              0.3190784440447724,
+              -0.07791733693410516,
+              1.242280832840287
+            ],
+            "held_grasp_finger_gap": 0.026598386237526635,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024613741398239346,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.062243287426891475,
+              -0.9980333290985711,
+              -0.007432844591189314
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003473053974659188,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0368825542605167,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3045355812305079,
+              -0.32906863565632016,
+              0.8515395760360076
+            ],
+            "target_position": [
+              0.29793452106119844,
+              -0.3307526454986919,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006812480055607391,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18313608309885568,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395760360076,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518335213298016,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08525568228809853,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522664772498303,
+            "release_required_pad_clearance": 0.05262784114404927,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.31651755490236283,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007772564888000488,
+            "max_z_decrease": 0.007772564888000488,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035141697829012435,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007772564888000488,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021088522742126876,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007772564888000488,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077725853719707964,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1536344438791275,
+              -0.387014091014862,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1536344438791275,
+              -0.387014091014862,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1540978015719638,
+              -0.3869695813564473,
+              0.8078378590917742
+            ],
+            "closest_button": [
+              0.15362228453159332,
+              -0.38702061772346485,
+              0.7726994156837463
+            ],
+            "closest_ee_minus_button": [
+              0.0004755170403704656,
+              5.103636701753178e-05,
+              0.03513844340802785
+            ],
+            "button_min_z_position": [
+              0.1536166667938233,
+              -0.38701564073562617,
+              0.7690362930297852
+            ],
+            "min_active_finger_to_button": 0.14567895149290258,
+            "closest_active_finger": [
+              0.02693162113428116,
+              -0.45030471682548523,
+              0.8105868101119995
+            ],
+            "closest_active_finger_button": [
+              0.15363436937332156,
+              -0.38701587915420527,
+              0.7764797210693359
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1267027482390404,
+              -0.06328883767127996,
+              0.034107089042663574
+            ],
+            "min_contact_pad_to_button": 0.021088522742126876,
+            "closest_contact_pad": [
+              0.1536166667938233,
+              -0.38808616600327667,
+              0.7900976264893865
+            ],
+            "closest_contact_pad_button": [
+              0.1536166667938233,
+              -0.38701564073562617,
+              0.7690362930297852
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010705252676505017,
+              0.021061333459601372
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 111,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "276e3ecf70582cd61acf2f13f93b15dceba8420842d3fc249a5cd9eb55363a43",
+    "visual_seed": 8448871322454608855,
+    "episode_index": 111,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_112_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_112_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..871a0505ba8e85764f1ab61e8b6d2f5a006653b8
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_112_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 112,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.315098606123028,
+              -0.07521217956746863,
+              1.0489373834834104
+            ],
+            "current_z": 1.0489373834834104,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18783081586399952,
+            "gripper_z": 1.0525919595503204,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3104917643649947,
+              -0.07969672322410268,
+              1.0525919595503204
+            ],
+            "object_minus_gripper": [
+              0.0046068417580332754,
+              0.004484543656634046,
+              -0.003654576066909998
+            ],
+            "object_to_gripper_xy": 0.006429161904308818,
+            "object_to_gripper_z": -0.003654576066909998,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.315098606123028,
+              -0.0995284438736449,
+              1.0489373834834104
+            ],
+            "finger_b": [
+              0.30411554322865164,
+              -0.07521217956746863,
+              1.0489373834834104
+            ],
+            "finger_midpoint": [
+              0.3096070746758398,
+              -0.08737031172055676,
+              1.0489373834834104
+            ],
+            "object_minus_finger_midpoint": [
+              0.005491531447188169,
+              0.012158132153088128,
+              0.0
+            ],
+            "finger_gap": 0.026681611277238268,
+            "fingertip_max_gap": 0.09406957148582915,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013340805638619129,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0489373834834104,
+            "object_top_z": 1.0996433340665468,
+            "finger_top_clearance": 0.05070595058313643,
+            "fingertip_min_top_clearance": 0.015211785174940961,
+            "object_projection_between_fingers": 0.8305573106435676,
+            "object_to_finger_line_xy": 0.01000940525877626,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049534785742914575,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.282816266306928,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31519817848948867,
+              -0.079027647082968,
+              1.2424282279371865
+            ],
+            "held_position": [
+              0.3200156975348273,
+              -0.07479912806405839,
+              1.238686326848314
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007422310058491675,
+            "max_held_gripper_dist": 0.007431534592830687,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037419010888726234,
+            "max_held_gripper_z_dist": 0.003759483238575667,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08673380004002042,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3200156975348273,
+              -0.0999716438631126,
+              1.238686326848314
+            ],
+            "held_grasp_finger_b": [
+              0.3110324700819822,
+              -0.07479912806405839,
+              1.238686326848314
+            ],
+            "held_grasp_midpoint": [
+              0.31552408380840474,
+              -0.0873853859635855,
+              1.238686326848314
+            ],
+            "held_grasp_object_position": [
+              0.3200156975348273,
+              -0.07479912806405839,
+              1.238686326848314
+            ],
+            "held_grasp_finger_gap": 0.02672740030611251,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02489167497873208,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02985477048684604,
+              -0.9994975223538534,
+              -0.010648731740740656
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004116057700695854,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0370062203868932,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3007021133592538,
+              -0.33197621492601265,
+              0.8515395805212894
+            ],
+            "target_position": [
+              0.29420719222547187,
+              -0.3341256265361607,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006841342763221715,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18124574200474794,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395805212894,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591472536607727,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0885216948553516,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1487291871316863,
+            "release_required_pad_clearance": 0.0542608474276758,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.5406825145096743,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007830917835235596,
+            "max_z_decrease": 0.007830917835235596,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515108723322318,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007830917835235596,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021155934069514274,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007830917835235596,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007830939704857463,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14990711212158203,
+              -0.390387088060379,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14990711212158203,
+              -0.390387088060379,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1503949198065932,
+              -0.39123495501301686,
+              0.8078011423891052
+            ],
+            "closest_button": [
+              0.14989407360553741,
+              -0.3903928697109222,
+              0.7726637125015259
+            ],
+            "closest_ee_minus_button": [
+              0.0005008462010557824,
+              -0.000842085302094675,
+              0.035137429887579286
+            ],
+            "button_min_z_position": [
+              0.14988860487937927,
+              -0.39038711786270136,
+              0.76897794008255
+            ],
+            "min_active_finger_to_button": 0.14555637797690277,
+            "closest_active_finger": [
+              0.009242810308933258,
+              -0.37513017654418945,
+              0.8106017708778381
+            ],
+            "closest_active_finger_button": [
+              0.1499067097902298,
+              -0.3903882503509521,
+              0.7764328122138977
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14066389948129654,
+              0.01525807380676264,
+              0.03416895866394043
+            ],
+            "min_contact_pad_to_button": 0.021155934069514274,
+            "closest_contact_pad": [
+              0.14988860487937927,
+              -0.392416113379029,
+              0.7900363522626827
+            ],
+            "closest_contact_pad_button": [
+              0.14988860487937927,
+              -0.39038711786270136,
+              0.76897794008255
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002028995516327625,
+              0.021058412180132602
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 112,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "488a404cdf86837d6cb61f6b22aeccc7df8a4bbd7de3a240ab53dc744ced97c5",
+    "visual_seed": 7491641158255217499,
+    "episode_index": 112,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_113_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_113_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..168f69e57bf96f2da837d9d0f9d6200594d5a3be
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_113_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 113,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3131966771568967,
+              -0.07032118526696761,
+              1.051489320989862
+            ],
+            "current_z": 1.051489320989862,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.19038287257974085,
+            "gripper_z": 1.0549502254383103,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3089318550797181,
+              -0.07472706822781323,
+              1.0549502254383103
+            ],
+            "object_minus_gripper": [
+              0.004264822077178598,
+              0.004405882960845625,
+              -0.0034609044484483764
+            ],
+            "object_to_gripper_xy": 0.006131925636752275,
+            "object_to_gripper_z": -0.0034609044484483764,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3131966771568967,
+              -0.09418687294610477,
+              1.051489320989862
+            ],
+            "finger_b": [
+              0.3020538231918669,
+              -0.07032118526696761,
+              1.051489320989862
+            ],
+            "finger_midpoint": [
+              0.3076252501743818,
+              -0.08225402910653619,
+              1.051489320989862
+            ],
+            "object_minus_finger_midpoint": [
+              0.005571426982514893,
+              0.01193284383956858,
+              0.0
+            ],
+            "finger_gap": 0.026338835260582408,
+            "fingertip_max_gap": 0.0938115169808724,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013169417630291204,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051489320989862,
+            "object_top_z": 1.1024080313241373,
+            "finger_top_clearance": 0.05091871033427542,
+            "fingertip_min_top_clearance": 0.015275613100282625,
+            "object_projection_between_fingers": 0.8210219608451363,
+            "object_to_finger_line_xy": 0.01009656918966416,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0494057584904362,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7922109993122362,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3140168411906101,
+              -0.07431666173060258,
+              1.2473286973789777
+            ],
+            "held_position": [
+              0.31861536985580835,
+              -0.07029392203485048,
+              1.24377572797176
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0070677077014442416,
+            "max_held_gripper_dist": 0.007076878945986576,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.00355296940721761,
+            "max_held_gripper_z_dist": 0.003565301628379869,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08657973131849657,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31861536985580835,
+              -0.09552532898791,
+              1.24377572797176
+            ],
+            "held_grasp_finger_b": [
+              0.31008345378980506,
+              -0.07019171677195994,
+              1.24377572797176
+            ],
+            "held_grasp_midpoint": [
+              0.31434941182280673,
+              -0.08285852287993498,
+              1.24377572797176
+            ],
+            "held_grasp_object_position": [
+              0.31861536985580835,
+              -0.07029392203485048,
+              1.24377572797176
+            ],
+            "held_grasp_finger_gap": 0.026731732073800585,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024704789922520287,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06702224654029564,
+              -0.997750257211362,
+              -0.0015629150178313458
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00341431593174241,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036898002254135524,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30830314587192825,
+              -0.33628272597010916,
+              0.8515394955521391
+            ],
+            "target_position": [
+              0.3018322014713916,
+              -0.3378444256856203,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006656727982745275,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18370137847038306,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515394955521391,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07519264196305814,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08498260255972571,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15273143798772815,
+            "release_required_pad_clearance": 0.05249130127986286,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.05595289685077344,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007879912853240967,
+            "max_z_decrease": 0.007879912853240967,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351978599208875,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007879912853240967,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02107855346838372,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007879912853240967,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007879937660663031,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15753212571144107,
+              -0.3941058814525605,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15753212571144107,
+              -0.3941058814525605,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1572640439487229,
+              -0.391978309003718,
+              0.8078239128990446
+            ],
+            "closest_button": [
+              0.15752355754375458,
+              -0.39411467313766485,
+              0.7726919054985046
+            ],
+            "closest_ee_minus_button": [
+              -0.0002595135950316796,
+              0.0021363641339468553,
+              0.03513200740054001
+            ],
+            "button_min_z_position": [
+              0.15751250088214877,
+              -0.3941082954406739,
+              0.7689289450645447
+            ],
+            "min_active_finger_to_button": 0.14548463919971386,
+            "closest_active_finger": [
+              0.02908971905708313,
+              -0.4532705545425415,
+              0.8106896877288818
+            ],
+            "closest_active_finger_button": [
+              0.15753361582756042,
+              -0.39410820603370667,
+              0.7765171527862549
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1284438967704773,
+              -0.05916234850883484,
+              0.03417253494262695
+            ],
+            "min_contact_pad_to_button": 0.02107855346838372,
+            "closest_contact_pad": [
+              0.15751250088214877,
+              -0.3941082954406739,
+              0.7900074985329284
+            ],
+            "closest_contact_pad_button": [
+              0.15751250088214877,
+              -0.3941082954406739,
+              0.7689289450645447
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107855346838372
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 113,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "93a18ef96bed01c7b53c32f946ec330fdc608fe6e22b4685c5489f212a1156ef",
+    "visual_seed": 3263424433197192310,
+    "episode_index": 113,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_114_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_114_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb52909c4da47e1e28a4e434afc3189191975b72
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_114_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 114,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3112265807458694,
+              -0.07463976662945383,
+              1.050758055576511
+            ],
+            "current_z": 1.050758055576511,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18965160716638985,
+            "gripper_z": 1.054323821737094,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30667743702873584,
+              -0.07916293358501518,
+              1.054323821737094
+            ],
+            "object_minus_gripper": [
+              0.0045491437171335525,
+              0.004523166955561347,
+              -0.003565766160583017
+            ],
+            "object_to_gripper_xy": 0.006415118694694416,
+            "object_to_gripper_z": -0.003565766160583017,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3112265807458694,
+              -0.09875968047200055,
+              1.050758055576511
+            ],
+            "finger_b": [
+              0.2999873391834116,
+              -0.07463976662945383,
+              1.050758055576511
+            ],
+            "finger_midpoint": [
+              0.3056069599646405,
+              -0.08669972355072719,
+              1.050758055576511
+            ],
+            "object_minus_finger_midpoint": [
+              0.005619620781228907,
+              0.01205995692127336,
+              0.0
+            ],
+            "finger_gap": 0.02660997547295292,
+            "fingertip_max_gap": 0.09355616208278858,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01330498773647646,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050758055576511,
+            "object_top_z": 1.1014480390987953,
+            "finger_top_clearance": 0.050689983522284265,
+            "fingertip_min_top_clearance": 0.015206995056685279,
+            "object_projection_between_fingers": 0.8216040204873111,
+            "object_to_finger_line_xy": 0.010187515520921642,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04927808104139429,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8696024249677563,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3115921062430918,
+              -0.07877244208039602,
+              1.2477492588996886
+            ],
+            "held_position": [
+              0.3164547953710941,
+              -0.07461392131293333,
+              1.2441022226477747
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073647752139345225,
+            "max_held_gripper_dist": 0.007373990826781681,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003647036251913871,
+            "max_held_gripper_z_dist": 0.003660416066676886,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651627751563445,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3164547953710941,
+              -0.09993737442749542,
+              1.2441022226477747
+            ],
+            "held_grasp_finger_b": [
+              0.30757781911548077,
+              -0.07461392131293333,
+              1.2441022226477747
+            ],
+            "held_grasp_midpoint": [
+              0.31201630724328744,
+              -0.08727564787021438,
+              1.2441022226477747
+            ],
+            "held_grasp_object_position": [
+              0.3164547953710941,
+              -0.07461392131293333,
+              1.2441022226477747
+            ],
+            "held_grasp_finger_gap": 0.026834268856969955,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024782855187524818,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05633655457003917,
+              -0.9984007050850153,
+              -0.004714308530546329
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037186096198633064,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03682872421909135,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3031725090583222,
+              -0.33040617666980765,
+              0.8515395710943858
+            ],
+            "target_position": [
+              0.2966091058104874,
+              -0.3319888471072616,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0067515263390791535,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1830377458070256,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395710943858,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07531604928418252,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08589809632809674,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15180268911329392,
+            "release_required_pad_clearance": 0.05294904816404837,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9346004399017996,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007887661457061768,
+            "max_z_decrease": 0.007887661457061768,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520887380132797,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007887661457061768,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02111701064693736,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007887661457061768,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007887687611563941,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15230903029441828,
+              -0.38825029134750366,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15230903029441828,
+              -0.38825029134750366,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1544662209954146,
+              -0.3889557631385219,
+              0.8077980188751486
+            ],
+            "closest_button": [
+              0.15229624509811396,
+              -0.38825544714927673,
+              0.7726630568504333
+            ],
+            "closest_ee_minus_button": [
+              0.002169975897300641,
+              -0.0007003159892451927,
+              0.03513496202471522
+            ],
+            "button_min_z_position": [
+              0.15228872001171107,
+              -0.38825058937072754,
+              0.7689211964607239
+            ],
+            "min_active_finger_to_button": 0.14398204343141924,
+            "closest_active_finger": [
+              0.013037800788879395,
+              -0.37540021538734436,
+              0.8106380701065063
+            ],
+            "closest_active_finger_button": [
+              0.15230816602706904,
+              -0.3882521986961364,
+              0.7764412760734558
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13927036523818964,
+              0.012851983308792059,
+              0.03419679403305054
+            ],
+            "min_contact_pad_to_button": 0.02111701064693736,
+            "closest_contact_pad": [
+              0.15228872001171107,
+              -0.3898296962514212,
+              0.7899790823974036
+            ],
+            "closest_contact_pad_button": [
+              0.15228872001171107,
+              -0.38825058937072754,
+              0.7689211964607239
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015791068806936814,
+              0.021057885936679677
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 114,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fa0287507b0b4e11a9dae1577226806a101586ef383c5afb561838b758d8b869",
+    "visual_seed": 5590158415763817450,
+    "episode_index": 114,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_115_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_115_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2bb0d401bb01b0bd93f29e240e94c78ab6c630f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_115_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 115,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31602591124628177,
+              -0.07797239744880548,
+              1.050477694956181
+            ],
+            "current_z": 1.050477694956181,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18937118694141475,
+            "gripper_z": 1.0537130908983552,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31182672234388586,
+              -0.08231526720266452,
+              1.0537130908983552
+            ],
+            "object_minus_gripper": [
+              0.004199188902395901,
+              0.004342869753859044,
+              -0.0032353959421742573
+            ],
+            "object_to_gripper_xy": 0.006041001997763996,
+            "object_to_gripper_z": -0.0032353959421742573,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31602591124628177,
+              -0.10185121203309777,
+              1.050477694956181
+            ],
+            "finger_b": [
+              0.3050534596063039,
+              -0.07797239744880548,
+              1.050477694956181
+            ],
+            "finger_midpoint": [
+              0.31053968542629284,
+              -0.08991180474095162,
+              1.050477694956181
+            ],
+            "object_minus_finger_midpoint": [
+              0.005486225819988921,
+              0.01193940729214614,
+              0.0
+            ],
+            "finger_gap": 0.026279126335223984,
+            "fingertip_max_gap": 0.09361239135860208,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013139563167611985,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050477694956181,
+            "object_top_z": 1.1010188776944554,
+            "finger_top_clearance": 0.05054118273827446,
+            "fingertip_min_top_clearance": 0.015162354821482354,
+            "object_projection_between_fingers": 0.8256646310030585,
+            "object_to_finger_line_xy": 0.009970237781267243,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04930619567930104,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1720437678057865,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31667821572407795,
+              -0.0818761727240908,
+              1.2443410929493364
+            ],
+            "held_position": [
+              0.32116529934504706,
+              -0.07785270471527679,
+              1.241019932540389
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006881302253315027,
+            "max_held_gripper_dist": 0.006889994044879301,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033211604089473656,
+            "max_held_gripper_z_dist": 0.0033345764397256783,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08649934525168014,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32116529934504706,
+              -0.1029078442619542,
+              1.241019932540389
+            ],
+            "held_grasp_finger_b": [
+              0.3125971015183987,
+              -0.07785270471527679,
+              1.241019932540389
+            ],
+            "held_grasp_midpoint": [
+              0.31688120043172285,
+              -0.09038027448861549,
+              1.241019932540389
+            ],
+            "held_grasp_object_position": [
+              0.32116529934504706,
+              -0.07785270471527679,
+              1.241019932540389
+            ],
+            "held_grasp_finger_gap": 0.02647969092908866,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024599537588320192,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04945655163806745,
+              -0.998728865986195,
+              -0.009731482209827334
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036613505555181803,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699672775767615,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30422972982086577,
+              -0.3319891910617121,
+              0.8515395987759109
+            ],
+            "target_position": [
+              0.29752057973341933,
+              -0.33387878625513784,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00697016964577622,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18514598392232298,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395987759109,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07570962631309827,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08720631214012146,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15295336744606927,
+            "release_required_pad_clearance": 0.053603156070060734,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.216716260767055,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007762253284454346,
+            "max_z_decrease": 0.007762253284454346,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519467863780782,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007762253284454346,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021056839915397196,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007762253284454346,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007762279351473583,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15322050452232355,
+              -0.3901402354240417,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15322050452232355,
+              -0.3901402354240417,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15291637895661864,
+              -0.3882436173961494,
+              0.8078482422537979
+            ],
+            "closest_button": [
+              0.15320874750614163,
+              -0.39014559984207153,
+              0.7727062106132507
+            ],
+            "closest_ee_minus_button": [
+              -0.00029236854952299773,
+              0.0019019824459221568,
+              0.03514203164054719
+            ],
+            "button_min_z_position": [
+              0.15320043265819544,
+              -0.3901415765285492,
+              0.7690466046333313
+            ],
+            "min_active_finger_to_button": 0.14555501471912036,
+            "closest_active_finger": [
+              0.02558246999979019,
+              -0.4512348473072052,
+              0.8105833530426025
+            ],
+            "closest_active_finger_button": [
+              0.15322016179561612,
+              -0.39014139771461487,
+              0.7764883041381836
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12763769179582593,
+              -0.06109344959259033,
+              0.034095048904418945
+            ],
+            "min_contact_pad_to_button": 0.021056839915397196,
+            "closest_contact_pad": [
+              0.15320043265819544,
+              -0.3901415765285492,
+              0.7901034445487285
+            ],
+            "closest_contact_pad_button": [
+              0.15320043265819544,
+              -0.3901415765285492,
+              0.7690466046333313
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021056839915397196
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 115,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dfca6b73963c00e2936e146273b9baccff96edd8239f7f191dbf05ef992c1fec",
+    "visual_seed": 983502941989530365,
+    "episode_index": 115,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_116_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_116_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..19dc1a6ec86fd25f27fc0690744d8c867b6d035a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_116_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 116,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31879082440475787,
+              -0.07268940657491693,
+              1.0501498745452345
+            ],
+            "current_z": 1.0501498745452345,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18904342613511327,
+            "gripper_z": 1.053452948269426,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3147260879195841,
+              -0.07702934246864358,
+              1.053452948269426
+            ],
+            "object_minus_gripper": [
+              0.004064736485173748,
+              0.004339935893726651,
+              -0.0033030737241914743
+            ],
+            "object_to_gripper_xy": 0.005946185857804949,
+            "object_to_gripper_z": -0.0033030737241914743,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31879082440475787,
+              -0.09632762797223082,
+              1.0501498745452345
+            ],
+            "finger_b": [
+              0.30764393708864624,
+              -0.07268940657491693,
+              1.0501498745452345
+            ],
+            "finger_midpoint": [
+              0.313217380746702,
+              -0.08450851727357388,
+              1.0501498745452345
+            ],
+            "object_minus_finger_midpoint": [
+              0.005573443658055843,
+              0.011819110698656946,
+              0.0
+            ],
+            "finger_gap": 0.026134624689605142,
+            "fingertip_max_gap": 0.09916676882901596,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013067312344802582,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0501498745452345,
+            "object_top_z": 1.1032235974660904,
+            "finger_top_clearance": 0.05307372292085599,
+            "fingertip_min_top_clearance": 0.01592211687625678,
+            "object_projection_between_fingers": 0.8180824132118573,
+            "object_to_finger_line_xy": 0.010082126428008712,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05208338441450798,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.8200644192132684,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3196155731900786,
+              -0.0762425253614915,
+              1.2459812811260496
+            ],
+            "held_position": [
+              0.32400215566564294,
+              -0.07225688250406323,
+              1.242592699606766
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006827147245718903,
+            "max_held_gripper_dist": 0.006836573776406232,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003388581519283562,
+            "max_held_gripper_z_dist": 0.0034010162057589444,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08650160748793702,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32400215566564294,
+              -0.09724876841453761,
+              1.242592699606766
+            ],
+            "held_grasp_finger_b": [
+              0.3153981679949568,
+              -0.07225688250406323,
+              1.242592699606766
+            ],
+            "held_grasp_midpoint": [
+              0.31970016183029987,
+              -0.08475282545930042,
+              1.242592699606766
+            ],
+            "held_grasp_object_position": [
+              0.32400215566564294,
+              -0.07225688250406323,
+              1.242592699606766
+            ],
+            "held_grasp_finger_gap": 0.026431476788092777,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024672255969376458,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03487200537799822,
+              -0.9992160800972081,
+              0.018739490817168972
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003870793564153567,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708408378108244,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3033563899082059,
+              -0.33494785071195643,
+              0.8515395618630432
+            ],
+            "target_position": [
+              0.29987763547642954,
+              -0.33508842645901366,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003481593591627891,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18090303974710997,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395618630432,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07566018174561485,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08765951059661141,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1486589141064588,
+            "release_required_pad_clearance": 0.053829755298305706,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.668844017257051,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007830321788787842,
+            "max_z_decrease": 0.007830321788787842,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03524714131330041,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007830321788787842,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02108776226687755,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007830321788787842,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007830343459931123,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15557755529880526,
+              -0.39134988188743586,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15557755529880526,
+              -0.39134988188743586,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1580313570962352,
+              -0.3900888561706637,
+              0.8079334615745317
+            ],
+            "closest_button": [
+              0.15556803345680237,
+              -0.3913586437702178,
+              0.7727954387664795
+            ],
+            "closest_ee_minus_button": [
+              0.0024633236394328295,
+              0.0012697875995540953,
+              0.03513802280805223
+            ],
+            "button_min_z_position": [
+              0.15555931627750402,
+              -0.39135247468948353,
+              0.7689785361289978
+            ],
+            "min_active_finger_to_button": 0.14345115363902852,
+            "closest_active_finger": [
+              0.029969975352287292,
+              -0.45162269473075867,
+              0.8108170628547668
+            ],
+            "closest_active_finger_button": [
+              0.15558126568794256,
+              -0.39135119318962086,
+              0.776650071144104
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12561129033565527,
+              -0.060271501541137806,
+              0.03416699171066284
+            ],
+            "min_contact_pad_to_button": 0.02108776226687755,
+            "closest_contact_pad": [
+              0.15555931627750402,
+              -0.3914303427260576,
+              0.7900661546288006
+            ],
+            "closest_contact_pad_button": [
+              0.15555931627750402,
+              -0.39135247468948353,
+              0.7689785361289978
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -7.786803657405805e-05,
+              0.021087618499802785
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 116,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e04ef9bd5f270c217fa9f68db211f9e40b1dcb2bcc35fdbd2f9bd7387ca35499",
+    "visual_seed": 6171400947352318133,
+    "episode_index": 116,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_117_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_117_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9b668c4aaa6ab835f917376b311b3f57fdb0a5e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_117_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 117,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3171338664165055,
+              -0.0752586216086402,
+              1.0497787427561747
+            ],
+            "current_z": 1.0497787427561747,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.1886722943460537,
+            "gripper_z": 1.0529044679264892,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31287043724160607,
+              -0.07967641923111869,
+              1.0529044679264892
+            ],
+            "object_minus_gripper": [
+              0.0042634291748994135,
+              0.0044177976224784865,
+              -0.0031257251703145084
+            ],
+            "object_to_gripper_xy": 0.006139524750545441,
+            "object_to_gripper_z": -0.0031257251703145084,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3171338664165055,
+              -0.09908866377699395,
+              1.0497787427561747
+            ],
+            "finger_b": [
+              0.305933251165047,
+              -0.0752586216086402,
+              1.0497787427561747
+            ],
+            "finger_midpoint": [
+              0.31153355879077627,
+              -0.08717364269281708,
+              1.0497787427561747
+            ],
+            "object_minus_finger_midpoint": [
+              0.005600307625729217,
+              0.011915021084176872,
+              0.0
+            ],
+            "finger_gap": 0.0263310594499485,
+            "fingertip_max_gap": 0.09426310194790602,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013165529724974237,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497787427561747,
+            "object_top_z": 1.100685467645525,
+            "finger_top_clearance": 0.05090672488935044,
+            "fingertip_min_top_clearance": 0.015272017466805114,
+            "object_projection_between_fingers": 0.8190547899089904,
+            "object_to_finger_line_xy": 0.010136741146368271,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04963155097395301,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2393580454833573,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31789906584004424,
+              -0.079243148152488,
+              1.2448025858463798
+            ],
+            "held_position": [
+              0.3224956440162317,
+              -0.07520228223302977,
+              1.2415808387774874
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006916413990266845,
+            "max_held_gripper_dist": 0.006925196282383685,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032217470688924443,
+            "max_held_gripper_z_dist": 0.003233903987257092,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08656709206885962,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3224956440162317,
+              -0.10036573428609577,
+              1.2415808387774874
+            ],
+            "held_grasp_finger_b": [
+              0.3139218392966563,
+              -0.07520228223302977,
+              1.2415808387774874
+            ],
+            "held_grasp_midpoint": [
+              0.31820874165644397,
+              -0.08778400825956277,
+              1.2415808387774874
+            ],
+            "held_grasp_object_position": [
+              0.3224956440162317,
+              -0.07520228223302977,
+              1.2415808387774874
+            ],
+            "held_grasp_finger_gap": 0.026584007346454844,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024618972392938674,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05845807453670288,
+              -0.9982803812181256,
+              -0.004351321230970928
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00354449896289346,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03690955575826565,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29940915406241403,
+              -0.3279900717865064,
+              0.8515395703755718
+            ],
+            "target_position": [
+              0.2929883566522062,
+              -0.32947944762277037,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0065912730003072064,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18265444508007228,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395703755718,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514438785005671,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08527815710746593,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1519219814176969,
+            "release_required_pad_clearance": 0.05263907855373297,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3380409124764303,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075730085372924805,
+            "max_z_decrease": 0.0075730085372924805,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520854313666256,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075730085372924805,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021066083068700985,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075730085372924805,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00757302830076824,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1486882865428924,
+              -0.3857409060001373,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1486882865428924,
+              -0.3857409060001373,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15038691896161904,
+              -0.38456804731645966,
+              0.8080534241128876
+            ],
+            "closest_button": [
+              0.1486773639917373,
+              -0.38574722409248346,
+              0.7729061841964722
+            ],
+            "closest_ee_minus_button": [
+              0.0017095549698817325,
+              0.0011791767760238048,
+              0.03514723991641544
+            ],
+            "button_min_z_position": [
+              0.1486710906028747,
+              -0.38574281334877014,
+              0.7692358493804932
+            ],
+            "min_active_finger_to_button": 0.14411930038988927,
+            "closest_active_finger": [
+              0.022686049342155457,
+              -0.4468173384666443,
+              0.8108226656913757
+            ],
+            "closest_active_finger_button": [
+              0.14869202673435206,
+              -0.38574165105819697,
+              0.7767253518104553
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1260059773921966,
+              -0.06107568740844732,
+              0.03409731388092041
+            ],
+            "min_contact_pad_to_button": 0.021066083068700985,
+            "closest_contact_pad": [
+              0.1486710906028747,
+              -0.3858026635557025,
+              0.7903018474297226
+            ],
+            "closest_contact_pad_button": [
+              0.1486710906028747,
+              -0.38574281334877014,
+              0.7692358493804932
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -5.985020693233256e-05,
+              0.021065998049229484
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 117,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0bece9b8e4b2c40dd37f1def04f98ae4685a01177093399771533c71f8b93236",
+    "visual_seed": 3853638409020816071,
+    "episode_index": 117,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_118_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_118_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f4b6faaad3a930304f7081dc7ef880238130d56
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_118_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 118,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.312376794693817,
+              -0.07612944716853481,
+              1.049760401737121
+            ],
+            "current_z": 1.049760401737121,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18865389372235508,
+            "gripper_z": 1.0531268453396245,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3079548312374507,
+              -0.08060782202578229,
+              1.0531268453396245
+            ],
+            "object_minus_gripper": [
+              0.004421963456366307,
+              0.004478374857247475,
+              -0.0033664436025035993
+            ],
+            "object_to_gripper_xy": 0.006293615985382759,
+            "object_to_gripper_z": -0.0033664436025035993,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.312376794693817,
+              -0.10012133469641349,
+              1.049760401737121
+            ],
+            "finger_b": [
+              0.30115531376871885,
+              -0.07612944716853481,
+              1.049760401737121
+            ],
+            "finger_midpoint": [
+              0.3067660542312679,
+              -0.08812539093247415,
+              1.049760401737121
+            ],
+            "object_minus_finger_midpoint": [
+              0.005610740462549113,
+              0.011995943763939337,
+              0.0
+            ],
+            "finger_gap": 0.026486455053531085,
+            "fingertip_max_gap": 0.09353408221963064,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013243227526765555,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049760401737121,
+            "object_top_z": 1.1004939383665149,
+            "finger_top_clearance": 0.05073353662939395,
+            "fingertip_min_top_clearance": 0.015220060988818201,
+            "object_projection_between_fingers": 0.820504866392453,
+            "object_to_finger_line_xy": 0.010164610843809336,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04926704110981532,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7897873661995076,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31289802895029106,
+              -0.08014472338949995,
+              1.2447742411950795
+            ],
+            "held_position": [
+              0.317638119606177,
+              -0.07603161272485288,
+              1.2413184356855353
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007164407197071249,
+            "max_held_gripper_dist": 0.007173348301398599,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003455805509544163,
+            "max_held_gripper_z_dist": 0.003467761307713202,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655248073533006,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.317638119606177,
+              -0.10126543111767482,
+              1.2413184356855353
+            ],
+            "held_grasp_finger_b": [
+              0.3089184638270194,
+              -0.07603161272485288,
+              1.2413184356855353
+            ],
+            "held_grasp_midpoint": [
+              0.31327829171659816,
+              -0.08864852192126385,
+              1.2413184356855353
+            ],
+            "held_grasp_object_position": [
+              0.317638119606177,
+              -0.07603161272485288,
+              1.2413184356855353
+            ],
+            "held_grasp_finger_gap": 0.026697902306902603,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024647334568208525,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06168400730841643,
+              -0.9980732002962023,
+              -0.006705974416305381
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003574287013287197,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036858719475182364,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2998153207234323,
+              -0.3306154945253484,
+              0.8515395724119876
+            ],
+            "target_position": [
+              0.2933188028357752,
+              -0.3322024708120576,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006687543525034137,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18363741675247078,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395724119876,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537954150486069,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08568357836506,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15232600766895354,
+            "release_required_pad_clearance": 0.052841789182530005,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7273890469634006,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007747292518615723,
+            "max_z_decrease": 0.007747292518615723,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518605605868163,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007747292518615723,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021129104996579117,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007747292518615723,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007747313213154928,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14901873469352722,
+              -0.38846391439437866,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14901873469352722,
+              -0.38846391439437866,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1507154465999176,
+              -0.3890767444013681,
+              0.8078582229551724
+            ],
+            "closest_button": [
+              0.14900712668895721,
+              -0.3884696066379547,
+              0.7727189064025879
+            ],
+            "closest_ee_minus_button": [
+              0.0017083199109603764,
+              -0.0006071377634133679,
+              0.03513931655258451
+            ],
+            "button_min_z_position": [
+              0.1490008533000946,
+              -0.38846486806869507,
+              0.7690615653991699
+            ],
+            "min_active_finger_to_button": 0.14442324574189241,
+            "closest_active_finger": [
+              0.009486176073551178,
+              -0.37360936403274536,
+              0.8106752038002014
+            ],
+            "closest_active_finger_button": [
+              0.14901839196681974,
+              -0.38846567273139954,
+              0.7764973640441895
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13953221589326856,
+              0.014856308698654175,
+              0.03417783975601196
+            ],
+            "min_contact_pad_to_button": 0.021129104996579117,
+            "closest_contact_pad": [
+              0.1490008533000946,
+              -0.3901520124063089,
+              0.7901232040329639
+            ],
+            "closest_contact_pad_button": [
+              0.1490008533000946,
+              -0.38846486806869507,
+              0.7690615653991699
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001687144337613855,
+              0.021061638633793955
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 118,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "af1fa77e3c315f92ba2d952cb49c9a0d5738cf230f4a7179069c7116aad090b6",
+    "visual_seed": 3457850899580368305,
+    "episode_index": 118,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_119_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_119_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..619bb44aa281d57eca59f696ef04d392d3c35b00
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_119_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 119,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3186216936254559,
+              -0.07471724432916899,
+              1.0493156408196478
+            ],
+            "current_z": 1.0493156408196478,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18820913280488183,
+            "gripper_z": 1.052645089968962,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31435370502746485,
+              -0.0791205275985408,
+              1.052645089968962
+            ],
+            "object_minus_gripper": [
+              0.004267988597991046,
+              0.0044032832693718105,
+              -0.003329449149314323
+            ],
+            "object_to_gripper_xy": 0.006132261428128393,
+            "object_to_gripper_z": -0.003329449149314323,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3186216936254559,
+              -0.09858444134489827,
+              1.0493156408196478
+            ],
+            "finger_b": [
+              0.30748624078034537,
+              -0.07471724432916899,
+              1.0493156408196478
+            ],
+            "finger_midpoint": [
+              0.31305396720290063,
+              -0.08665084283703363,
+              1.0493156408196478
+            ],
+            "object_minus_finger_midpoint": [
+              0.005567726422555264,
+              0.011933598507864643,
+              0.0
+            ],
+            "finger_gap": 0.02633707279583889,
+            "fingertip_max_gap": 0.0989487759886711,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013168536397919445,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493156408196478,
+            "object_top_z": 1.1026794147395935,
+            "finger_top_clearance": 0.053363773919945734,
+            "fingertip_min_top_clearance": 0.016009132175983737,
+            "object_projection_between_fingers": 0.8212357142345449,
+            "object_to_finger_line_xy": 0.010091176379920495,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051974387994335555,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.354546134889499,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3192431899463436,
+              -0.07867876369397346,
+              1.2453573520495524
+            ],
+            "held_position": [
+              0.32382060933075896,
+              -0.07463004469609098,
+              1.2419392171862187
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007002038252435761,
+            "max_held_gripper_dist": 0.007010940078189865,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003418134863333755,
+            "max_held_gripper_z_dist": 0.0034308664482340934,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665794668554225,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32382060933075896,
+              -0.09975677966312455,
+              1.2419392171862187
+            ],
+            "held_grasp_finger_b": [
+              0.31513926864331504,
+              -0.07463004469609098,
+              1.2419392171862187
+            ],
+            "held_grasp_midpoint": [
+              0.31947993898703697,
+              -0.08719341217960777,
+              1.2419392171862187
+            ],
+            "held_grasp_object_position": [
+              0.32382060933075896,
+              -0.07463004469609098,
+              1.2419392171862187
+            ],
+            "held_grasp_finger_gap": 0.026584177366151773,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024723320626074203,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04305338167629093,
+              -0.9988198519656523,
+              0.02247909352150035
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003806397726375194,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036984828682979524,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29860506171393236,
+              -0.334731808481436,
+              0.8515396003680579
+            ],
+            "target_position": [
+              0.29570553872551236,
+              -0.33464566065261936,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0029008024766925917,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1789799160065318,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396003680579,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07591022145423684,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08805762722026521,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14612215092247954,
+            "release_required_pad_clearance": 0.054028813610132606,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0693523889731034,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007674694061279297,
+            "max_z_decrease": 0.007674694061279297,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521675710025128,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007674694061279297,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021139169636857556,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007674694061279297,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007674714691666791,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15140546858310694,
+              -0.3909071087837219,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15140546858310694,
+              -0.3909071087837219,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1536865658824947,
+              -0.3911346709755744,
+              0.8080423585063603
+            ],
+            "closest_button": [
+              0.15139473974704742,
+              -0.3909152448177337,
+              0.7729009389877319
+            ],
+            "closest_ee_minus_button": [
+              0.002291826135447289,
+              -0.00021942615784070751,
+              0.03514141951862837
+            ],
+            "button_min_z_position": [
+              0.15138781070709223,
+              -0.3909093141555786,
+              0.7691341638565063
+            ],
+            "min_active_finger_to_button": 0.14391759492327244,
+            "closest_active_finger": [
+              0.01278076320886612,
+              -0.37286511063575745,
+              0.8109596967697144
+            ],
+            "closest_active_finger_button": [
+              0.15140804648399353,
+              -0.39090844988822937,
+              0.776766300201416
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1386272832751274,
+              0.018043339252471924,
+              0.03419339656829834
+            ],
+            "min_contact_pad_to_button": 0.021139169636857556,
+            "closest_contact_pad": [
+              0.15138781070709223,
+              -0.39251822822458926,
+              0.7902120168888809
+            ],
+            "closest_contact_pad_button": [
+              0.15138781070709223,
+              -0.3909093141555786,
+              0.7691341638565063
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016089140690106474,
+              0.021077853032374527
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 119,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62ad15f8f24f6948a8828abcb9a4938b3f5fd4468b5f638b8350175d28150d6b",
+    "visual_seed": 7401643657930526480,
+    "episode_index": 119,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_120_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_120_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f991b4467f071dbe58b10d30c7f9b713368be240
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_120_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 120,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3111397540626547,
+              -0.0756151026914429,
+              1.049006756987816
+            ],
+            "current_z": 1.049006756987816,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18790036818233968,
+            "gripper_z": 1.0524170038400562,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30692484636369255,
+              -0.08002681485811568,
+              1.0524170038400562
+            ],
+            "object_minus_gripper": [
+              0.004214907698962156,
+              0.004411712166672771,
+              -0.0034102468522401175
+            ],
+            "object_to_gripper_xy": 0.006101528591454687,
+            "object_to_gripper_z": -0.0034102468522401175,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3111397540626547,
+              -0.09938962278154105,
+              1.049006756987816
+            ],
+            "finger_b": [
+              0.299933679850808,
+              -0.0756151026914429,
+              1.049006756987816
+            ],
+            "finger_midpoint": [
+              0.30553671695673135,
+              -0.08750236273649198,
+              1.049006756987816
+            ],
+            "object_minus_finger_midpoint": [
+              0.005603037105923359,
+              0.011887260045049072,
+              0.0
+            ],
+            "finger_gap": 0.026283148684202513,
+            "fingertip_max_gap": 0.09498845181738705,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013141574342101257,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049006756987816,
+            "object_top_z": 1.1005065424439693,
+            "finger_top_clearance": 0.05149978545615319,
+            "fingertip_min_top_clearance": 0.015449935636845956,
+            "object_projection_between_fingers": 0.8182174443762158,
+            "object_to_finger_line_xy": 0.01013649618931737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049994225908693526,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1299820516176267,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3116950058937168,
+              -0.0795433098973491,
+              1.2443393821738062
+            ],
+            "held_position": [
+              0.3162377524170186,
+              -0.07550045491634148,
+              1.240843386220837
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007014499987569055,
+            "max_held_gripper_dist": 0.007024038476500332,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003495995952969233,
+            "max_held_gripper_z_dist": 0.0035083059259288785,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867791875903262,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3162377524170186,
+              -0.10060523431862677,
+              1.240843386220837
+            ],
+            "held_grasp_finger_b": [
+              0.3076148289356484,
+              -0.07550045491634148,
+              1.240843386220837
+            ],
+            "held_grasp_midpoint": [
+              0.3119262906763335,
+              -0.08805284461748412,
+              1.240843386220837
+            ],
+            "held_grasp_object_position": [
+              0.3162377524170186,
+              -0.07550045491634148,
+              1.240843386220837
+            ],
+            "held_grasp_finger_gap": 0.026544392217622413,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024521083687416862,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06206993022861795,
+              -0.9980692339400263,
+              0.0022645140281333243
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035241395260719715,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03692448396753127,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2969437002183671,
+              -0.337123432540108,
+              0.8515395112088078
+            ],
+            "target_position": [
+              0.2923040754736866,
+              -0.33807689859587414,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004736582659571112,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1815147873396031,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395112088078,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07581909658587069,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678832409450175,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14898209483020003,
+            "release_required_pad_clearance": 0.05339416204725088,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8035780127988694,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007835924625396729,
+            "max_z_decrease": 0.007835924625396729,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517829521515208,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007835924625396729,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021059212101464775,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007835924625396729,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007835946227771834,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14800399541854858,
+              -0.39433836936950684,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14800399541854858,
+              -0.39433836936950684,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14883117915081975,
+              -0.3928124463009272,
+              0.8078175788251696
+            ],
+            "closest_button": [
+              0.1479908674955368,
+              -0.39434218406677246,
+              0.7726826071739197
+            ],
+            "closest_ee_minus_button": [
+              0.0008403116552829493,
+              0.0015297377658452516,
+              0.0351349716512499
+            ],
+            "button_min_z_position": [
+              0.14798560738563538,
+              -0.39433902502059937,
+              0.7689729332923889
+            ],
+            "min_active_finger_to_button": 0.1447296096147667,
+            "closest_active_finger": [
+              0.02194831520318985,
+              -0.4567249119281769,
+              0.8105841875076294
+            ],
+            "closest_active_finger_button": [
+              0.14800353348255157,
+              -0.39433950185775757,
+              0.7764549851417542
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12605521827936172,
+              -0.06238541007041931,
+              0.034129202365875244
+            ],
+            "min_contact_pad_to_button": 0.021059212101464775,
+            "closest_contact_pad": [
+              0.14798560738563538,
+              -0.39433902502059937,
+              0.7900321453938537
+            ],
+            "closest_contact_pad_button": [
+              0.14798560738563538,
+              -0.39433902502059937,
+              0.7689729332923889
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021059212101464775
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 120,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "fdd8b5cb31d4d042de6dc0ec4c4a0ecbea872216931c3c1d878d00d68efc70fa",
+    "visual_seed": 8095015233375046701,
+    "episode_index": 120,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_121_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_121_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3b37091291fab3b3a6a8e19445757c3f14adce3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_121_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 121,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31771600106548903,
+              -0.07619276734432873,
+              1.0517243017211628
+            ],
+            "current_z": 1.0517243017211628,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.19061773410175187,
+            "gripper_z": 1.0550074382480852,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3133921828604214,
+              -0.08064485558098293,
+              1.0550074382480852
+            ],
+            "object_minus_gripper": [
+              0.004323818205067609,
+              0.004452088236654203,
+              -0.003283136526922359
+            ],
+            "object_to_gripper_xy": 0.006206165767801309,
+            "object_to_gripper_z": -0.003283136526922359,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31771600106548903,
+              -0.10006331676594514,
+              1.0517243017211628
+            ],
+            "finger_b": [
+              0.3064523022077688,
+              -0.07619276734432873,
+              1.0517243017211628
+            ],
+            "finger_midpoint": [
+              0.31208415163662895,
+              -0.08812804205513694,
+              1.0517243017211628
+            ],
+            "object_minus_finger_midpoint": [
+              0.005631849428860081,
+              0.011935274710808214,
+              0.0
+            ],
+            "finger_gap": 0.02639458356646756,
+            "fingertip_max_gap": 0.09243478535104596,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013197291783233775,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0517243017211628,
+            "object_top_z": 1.101907216595416,
+            "finger_top_clearance": 0.05018291487425319,
+            "fingertip_min_top_clearance": 0.015054874462275991,
+            "object_projection_between_fingers": 0.8178905709513307,
+            "object_to_finger_line_xy": 0.01018658542485951,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04871739267552298,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.72789684611483,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31857483705728223,
+              -0.08072138342633198,
+              1.2447172615596918
+            ],
+            "held_position": [
+              0.32323351072861495,
+              -0.07665850745189744,
+              1.2413228734993145
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007052096983453781,
+            "max_held_gripper_dist": 0.007061959501644018,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033943880603772847,
+            "max_held_gripper_z_dist": 0.0034061255986277406,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08664251385398969,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32323351072861495,
+              -0.10188446869879778,
+              1.2413228734993145
+            ],
+            "held_grasp_finger_b": [
+              0.31477584060068864,
+              -0.07656498891719503,
+              1.2413228734993145
+            ],
+            "held_grasp_midpoint": [
+              0.3190046756646518,
+              -0.0892247288079964,
+              1.2413228734993145
+            ],
+            "held_grasp_object_position": [
+              0.32323351072861495,
+              -0.07665850745189744,
+              1.2413228734993145
+            ],
+            "held_grasp_finger_gap": 0.026694723081609355,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02464771900232717,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07110803689155237,
+              -0.9972214097442267,
+              -0.02220601353613172
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033365411299659483,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03688824093447146,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3076996868464872,
+              -0.33639213216481495,
+              0.8515395630964214
+            ],
+            "target_position": [
+              0.29970929799956086,
+              -0.33870733849938484,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008319044073492883,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18455959966112387,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395630964214,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07556516082159474,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578396339274495,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15274209024180962,
+            "release_required_pad_clearance": 0.05289198169637248,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8242396050765456,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007834196090698242,
+            "max_z_decrease": 0.007834196090698242,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516198380113648,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007834196090698242,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021030639728442456,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007834196090698242,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007834215674565903,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15540921688079834,
+              -0.3949688076972961,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15540921688079834,
+              -0.3949688076972961,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15413717973049754,
+              -0.3943087668413678,
+              0.8079724981151662
+            ],
+            "closest_button": [
+              0.15539802610874176,
+              -0.39497411251068115,
+              0.7728394269943237
+            ],
+            "closest_ee_minus_button": [
+              -0.0012608463782442236,
+              0.0006653456693133664,
+              0.03513307112084252
+            ],
+            "button_min_z_position": [
+              0.15539170801639557,
+              -0.3949682712554931,
+              0.7689746618270874
+            ],
+            "min_active_finger_to_button": 0.1469224681464291,
+            "closest_active_finger": [
+              0.02718328684568405,
+              -0.45807015895843506,
+              0.8107770085334778
+            ],
+            "closest_active_finger_button": [
+              0.1554105281829834,
+              -0.3949717581272125,
+              0.7766804099082947
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12822724133729935,
+              -0.06309840083122253,
+              0.034096598625183105
+            ],
+            "min_contact_pad_to_button": 0.021030639728442456,
+            "closest_contact_pad": [
+              0.15539170801639557,
+              -0.3954295455917959,
+              0.7900002422798171
+            ],
+            "closest_contact_pad_button": [
+              0.15539170801639557,
+              -0.3949682712554931,
+              0.7689746618270874
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0004612743363027749,
+              0.02102558045272973
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 121,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "383183b8a25c94da60d3b53763bfa0e47d9f7a6af7152477507ed97f25e796e6",
+    "visual_seed": 4135020835265368357,
+    "episode_index": 121,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_123_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_123_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2d78f69692fe2aea4015ae7796865a3461085c6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_123_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 123,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3139620719734791,
+              -0.07138812949815503,
+              1.0503544110656646
+            ],
+            "current_z": 1.0503544110656646,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.18924796265554367,
+            "gripper_z": 1.0536625671545126,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3096012397202774,
+              -0.07583409804367999,
+              1.0536625671545126
+            ],
+            "object_minus_gripper": [
+              0.004360832253201663,
+              0.004445968545524967,
+              -0.0033081560888479355
+            ],
+            "object_to_gripper_xy": 0.006227639540657542,
+            "object_to_gripper_z": -0.0033081560888479355,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3139620719734791,
+              -0.09533842061079505,
+              1.0503544110656646
+            ],
+            "finger_b": [
+              0.3027820055088859,
+              -0.07138812949815503,
+              1.0503544110656646
+            ],
+            "finger_midpoint": [
+              0.30837203874118246,
+              -0.08336327505447504,
+              1.0503544110656646
+            ],
+            "object_minus_finger_midpoint": [
+              0.005590033232296621,
+              0.01197514555632001,
+              0.0
+            ],
+            "finger_gap": 0.02643123777905463,
+            "fingertip_max_gap": 0.09400254292425944,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013215618889527327,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0503544110656646,
+            "object_top_z": 1.1012071508439405,
+            "finger_top_clearance": 0.05085273977827587,
+            "fingertip_min_top_clearance": 0.015255821933482726,
+            "object_projection_between_fingers": 0.8210821101695255,
+            "object_to_finger_line_xy": 0.01013065860645621,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04950127146212972,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.082977237950958,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3145751711882443,
+              -0.07558406247482555,
+              1.244617216292092
+            ],
+            "held_position": [
+              0.3192548976646642,
+              -0.07150553654104068,
+              1.24121249845496
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00707999415516333,
+            "max_held_gripper_dist": 0.007088733163355697,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003404717837132143,
+            "max_held_gripper_z_dist": 0.0034178107651663403,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08642905807883236,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3192548976646642,
+              -0.09672764438546837,
+              1.24121249845496
+            ],
+            "held_grasp_finger_b": [
+              0.3106260621378376,
+              -0.07150553654104068,
+              1.24121249845496
+            ],
+            "held_grasp_midpoint": [
+              0.3149404799012509,
+              -0.08411659046325452,
+              1.24121249845496
+            ],
+            "held_grasp_object_position": [
+              0.3192548976646642,
+              -0.07150553654104068,
+              1.24121249845496
+            ],
+            "held_grasp_finger_gap": 0.026657297812512155,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024680302943672836,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0578604971158461,
+              -0.9983135355734676,
+              -0.004716732376355504
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003578012154891772,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036880829885145586,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3048549520602884,
+              -0.33396465850334334,
+              0.8515395865904573
+            ],
+            "target_position": [
+              0.2982117729629725,
+              -0.335572690171941,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006835027020153443,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18308544947893232,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395865904573,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529122348772903,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08578007281334342,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15183761625807357,
+            "release_required_pad_clearance": 0.05289003640667171,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8204324560279352,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007618129253387451,
+            "max_z_decrease": 0.007618129253387451,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514778335886698,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007618129253387451,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106101021805687,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007618129253387451,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007618148395641584,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15391169488430026,
+              -0.3918341398239135,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15391169488430026,
+              -0.3918341398239135,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15374433262975426,
+              -0.39115558415707036,
+              0.8081334364022683
+            ],
+            "closest_button": [
+              0.15390028059482574,
+              -0.39184036850929255,
+              0.7729926705360413
+            ],
+            "closest_ee_minus_button": [
+              -0.00015594796507148456,
+              0.0006847843522221897,
+              0.03514076586622705
+            ],
+            "button_min_z_position": [
+              0.1538946628570557,
+              -0.3918353915214538,
+              0.7691907286643982
+            ],
+            "min_active_finger_to_button": 0.1459669293914203,
+            "closest_active_finger": [
+              0.026384182274341583,
+              -0.45412391424179077,
+              0.8103588223457336
+            ],
+            "closest_active_finger_button": [
+              0.1539118885993958,
+              -0.3918361663818359,
+              0.7762521505355835
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12752770632505422,
+              -0.06228774785995489,
+              0.034106671810150146
+            ],
+            "min_contact_pad_to_button": 0.02106101021805687,
+            "closest_contact_pad": [
+              0.1538946628570557,
+              -0.3922871804649313,
+              0.7902468925637329
+            ],
+            "closest_contact_pad_button": [
+              0.1538946628570557,
+              -0.3918353915214538,
+              0.7691907286643982
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00045178894347747134,
+              0.021056163899334734
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 123,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b7672aeab659f7f5e953c6cbd97844d9b9107cec321a0f17497b7ffac5b9899",
+    "visual_seed": 744361568895735873,
+    "episode_index": 123,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_124_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_124_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..430f9cc1388fae72997dff1fec83f058e2e71f58
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_124_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 124,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3140703213430318,
+              -0.07109962934371196,
+              1.0504781906935534
+            ],
+            "current_z": 1.0504781906935534,
+            "required_z": 0.8611063888054766,
+            "initial_z": 0.7611063888054767,
+            "lift_margin": 0.18937180188807679,
+            "gripper_z": 1.053791454440471,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3097439743104208,
+              -0.07552412907790769,
+              1.053791454440471
+            ],
+            "object_minus_gripper": [
+              0.004326347032611033,
+              0.00442449973419573,
+              -0.0033132637469175386
+            ],
+            "object_to_gripper_xy": 0.006188172310503351,
+            "object_to_gripper_z": -0.0033132637469175386,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3140703213430318,
+              -0.09503731195735185,
+              1.0504781906935534
+            ],
+            "finger_b": [
+              0.302937690878869,
+              -0.07109962934371196,
+              1.0504781906935534
+            ],
+            "finger_midpoint": [
+              0.3085040061109504,
+              -0.08306847065053191,
+              1.0504781906935534
+            ],
+            "object_minus_finger_midpoint": [
+              0.005566315232081398,
+              0.011968841306819952,
+              0.0
+            ],
+            "finger_gap": 0.02639977480894417,
+            "fingertip_max_gap": 0.0935539533595435,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01319988740447209,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0504781906935534,
+            "object_top_z": 1.101147962023213,
+            "finger_top_clearance": 0.05066977132965955,
+            "fingertip_min_top_clearance": 0.015200931398897848,
+            "object_projection_between_fingers": 0.8221740481394064,
+            "object_to_finger_line_xy": 0.010094380601147453,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04927697667977175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9052807438094563,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3146700095693047,
+              -0.0748502633441232,
+              1.243636417067172
+            ],
+            "held_position": [
+              0.3192879994830516,
+              -0.07076040582935357,
+              1.2402260855103089
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007048625870502902,
+            "max_held_gripper_dist": 0.007057657448355731,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003410331556863211,
+            "max_held_gripper_z_dist": 0.00342290031288095,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08696158270419231,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3192879994830516,
+              -0.09587991048646143,
+              1.2402260855103089
+            ],
+            "held_grasp_finger_b": [
+              0.3106094944167728,
+              -0.07076040582935357,
+              1.2402260855103089
+            ],
+            "held_grasp_midpoint": [
+              0.3149487469499122,
+              -0.0833201581579075,
+              1.2402260855103089
+            ],
+            "held_grasp_object_position": [
+              0.3192879994830516,
+              -0.07076040582935357,
+              1.2402260855103089
+            ],
+            "held_grasp_finger_gap": 0.026576417448630832,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024597885726147954,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.055534831609106744,
+              -0.9984211625974835,
+              -0.008429979575170998
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036366235098263533,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03693934788954652,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30474658837587454,
+              -0.32950968517156587,
+              0.8515396102998907
+            ],
+            "target_position": [
+              0.2976124871018598,
+              -0.3314565500549191,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007394976934509866,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18582435336512484,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396102998907,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07516114387116016,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08528313676910552,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15498531320354508,
+            "release_required_pad_clearance": 0.052641568384552764,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3426403049674534,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00775986909866333,
+            "max_z_decrease": 0.00775986909866333,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035173068444324364,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00775986909866333,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021071825407518917,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00775986909866333,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007759894178998307,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1533124148845672,
+              -0.38771802186965937,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1533124148845672,
+              -0.38771802186965937,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15426801985057975,
+              -0.38660103859990347,
+              0.8078253747002125
+            ],
+            "closest_button": [
+              0.15330193936824793,
+              -0.38772547245025635,
+              0.7726835608482361
+            ],
+            "closest_ee_minus_button": [
+              0.0009660804823318214,
+              0.0011244338503528795,
+              0.035141813851976456
+            ],
+            "button_min_z_position": [
+              0.15329279005527494,
+              -0.38772004842758173,
+              0.7690489888191223
+            ],
+            "min_active_finger_to_button": 0.1447984517946422,
+            "closest_active_finger": [
+              0.026492968201637268,
+              -0.44870617985725403,
+              0.8105877637863159
+            ],
+            "closest_active_finger_button": [
+              0.15331304073333735,
+              -0.387720912694931,
+              0.7764694690704346
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12682007253170008,
+              -0.060985267162323054,
+              0.03411829471588135
+            ],
+            "min_contact_pad_to_button": 0.021071825407518917,
+            "closest_contact_pad": [
+              0.15329279005527494,
+              -0.3878683129815323,
+              0.7901202926142604
+            ],
+            "closest_contact_pad_button": [
+              0.15329279005527494,
+              -0.38772004842758173,
+              0.7690489888191223
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00014826455395056115,
+              0.021071303795138108
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 124,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6962294c0a18e6871c6b0ddde6b7d05e12106a4e07c683a38414547725156e40",
+    "visual_seed": 6115548794863038411,
+    "episode_index": 124,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_125_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_125_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e09ef78a660ab3fc0c6393d38c64b65e414992a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_125_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 125,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3167881942038662,
+              -0.07599690615877544,
+              1.0504888255720692
+            ],
+            "current_z": 1.0504888255720692,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18938237716194806,
+            "gripper_z": 1.0537411107905208,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31246165769794454,
+              -0.08041908026597017,
+              1.0537411107905208
+            ],
+            "object_minus_gripper": [
+              0.004326536505921685,
+              0.004422174107194726,
+              -0.003252285218451556
+            ],
+            "object_to_gripper_xy": 0.006186642221061155,
+            "object_to_gripper_z": -0.003252285218451556,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3167881942038662,
+              -0.09993901026787624,
+              1.0504888255720692
+            ],
+            "finger_b": [
+              0.30566276879655363,
+              -0.07599690615877544,
+              1.0504888255720692
+            ],
+            "finger_midpoint": [
+              0.3112254815002099,
+              -0.08796795821332584,
+              1.0504888255720692
+            ],
+            "object_minus_finger_midpoint": [
+              0.005562712703656325,
+              0.011971052054550402,
+              0.0
+            ],
+            "finger_gap": 0.026400746952779542,
+            "fingertip_max_gap": 0.09518442123292167,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013200373476389781,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0504888255720692,
+            "object_top_z": 1.1021235666597382,
+            "finger_top_clearance": 0.05163474108766897,
+            "fingertip_min_top_clearance": 0.01549042232630069,
+            "object_projection_between_fingers": 0.8224172309905724,
+            "object_to_finger_line_xy": 0.01008933928408682,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05009221061646084,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1559765788937058,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3175102802159242,
+              -0.08014882173618791,
+              1.2473982347705432
+            ],
+            "held_position": [
+              0.3221661357027961,
+              -0.07610373193618639,
+              1.2440575699583665
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007014255711907553,
+            "max_held_gripper_dist": 0.00702300607892689,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033406648121767635,
+            "max_held_gripper_z_dist": 0.003354009426687954,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08685685423510436,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3221661357027961,
+              -0.10135261027107238,
+              1.2440575699583665
+            ],
+            "held_grasp_finger_b": [
+              0.3135604372686249,
+              -0.07603731755859303,
+              1.2440575699583665
+            ],
+            "held_grasp_midpoint": [
+              0.3178632864857105,
+              -0.0886949639148327,
+              1.2440575699583665
+            ],
+            "held_grasp_object_position": [
+              0.3221661357027961,
+              -0.07610373193618639,
+              1.2440575699583665
+            ],
+            "held_grasp_finger_gap": 0.026738027052466064,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02474996768787443,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.060288278429757994,
+              -0.9981630755033633,
+              0.005983158500589392
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035367376737840293,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036892735862272236,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30382731942559354,
+              -0.3294840463499945,
+              0.8515395797695527
+            ],
+            "target_position": [
+              0.29787528258967827,
+              -0.3307249643146672,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006080018083126046,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18427395532707946,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395797695527,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536088341112317,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0858034249025396,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15285252885763295,
+            "release_required_pad_clearance": 0.0529017124512698,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8430174870590672,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0074610114097595215,
+            "max_z_decrease": 0.0074610114097595215,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517781232630172,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0074610114097595215,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021067325628504455,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0074610114097595215,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007461034049252521,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15357521176338193,
+              -0.3869864344596863,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15357521176338193,
+              -0.3869864344596863,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15482547397396598,
+              -0.3861930635972831,
+              0.8082228660589017
+            ],
+            "closest_button": [
+              0.1535646915435791,
+              -0.3869937062263488,
+              0.7730767726898193
+            ],
+            "closest_ee_minus_button": [
+              0.0012607824303868809,
+              0.0008006426290657065,
+              0.035146093369082365
+            ],
+            "button_min_z_position": [
+              0.1535569131374359,
+              -0.38698816299438477,
+              0.7693478465080261
+            ],
+            "min_active_finger_to_button": 0.144679607057165,
+            "closest_active_finger": [
+              0.02759745717048645,
+              -0.44942790269851685,
+              0.8104526400566101
+            ],
+            "closest_active_finger_button": [
+              0.15357531607151031,
+              -0.38698896765708923,
+              0.7763476967811584
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12597785890102386,
+              -0.06243893504142761,
+              0.03410494327545166
+            ],
+            "min_contact_pad_to_button": 0.021067325628504455,
+            "closest_contact_pad": [
+              0.1535569131374359,
+              -0.38732738418021523,
+              0.7904124409291045
+            ],
+            "closest_contact_pad_button": [
+              0.1535569131374359,
+              -0.38698816299438477,
+              0.7693478465080261
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003392211858304628,
+              0.02106459442107833
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 125,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "23de8d1bd1448220604d09199039aeeb94d3be33c58d7ec6f19541d7ebf51af3",
+    "visual_seed": 6701879767874029683,
+    "episode_index": 125,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_126_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_126_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b58a3d0efd651e66ecec4cd969739c9dcd9ce43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_126_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 126,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3106482505190867,
+              -0.07661666904315932,
+              1.049867424856132
+            ],
+            "current_z": 1.049867424856132,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.18876097644601053,
+            "gripper_z": 1.0533442658511691,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30613572381666687,
+              -0.08107613233170334,
+              1.0533442658511691
+            ],
+            "object_minus_gripper": [
+              0.004512526702419806,
+              0.004459463288544019,
+              -0.0034768409950372003
+            ],
+            "object_to_gripper_xy": 0.006344265919862092,
+            "object_to_gripper_z": -0.0034768409950372003,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3106482505190867,
+              -0.1007976514716604,
+              1.049867424856132
+            ],
+            "finger_b": [
+              0.2996116335284496,
+              -0.07661666904315932,
+              1.049867424856132
+            ],
+            "finger_midpoint": [
+              0.30512994202376814,
+              -0.08870716025740985,
+              1.049867424856132
+            ],
+            "object_minus_finger_midpoint": [
+              0.005518308495318536,
+              0.012090491214250529,
+              0.0
+            ],
+            "finger_gap": 0.02658057233780899,
+            "fingertip_max_gap": 0.09314323702539581,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013290286168904488,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049867424856132,
+            "object_top_z": 1.100493483296356,
+            "finger_top_clearance": 0.05062605844022405,
+            "fingertip_min_top_clearance": 0.015187817532067181,
+            "object_projection_between_fingers": 0.8275976082590363,
+            "object_to_finger_line_xy": 0.01004027445793856,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04907161851269791,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6114201938185515,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3109276292962263,
+              -0.0805591800701582,
+              1.2449998092354027
+            ],
+            "held_position": [
+              0.3157035573249972,
+              -0.07640350774074939,
+              1.2414416823933432
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00726218752646872,
+            "max_held_gripper_dist": 0.007271362110528458,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035581268420594725,
+            "max_held_gripper_z_dist": 0.0035704239694627216,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08714786779991168,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3157035573249972,
+              -0.10160887182038437,
+              1.2414416823933432
+            ],
+            "held_grasp_finger_b": [
+              0.3068564668627454,
+              -0.07640350774074939,
+              1.2414416823933432
+            ],
+            "held_grasp_midpoint": [
+              0.31128001209387135,
+              -0.08900618978056687,
+              1.2414416823933432
+            ],
+            "held_grasp_object_position": [
+              0.3157035573249972,
+              -0.07640350774074939,
+              1.2414416823933432
+            ],
+            "held_grasp_finger_gap": 0.026712944203779194,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0247127496449915,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.051755845086918016,
+              -0.9986222856730211,
+              -0.008652343990512401
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003766961485638879,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03690598660416506,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3076791188991788,
+              -0.3369959836510008,
+              0.8515395874346422
+            ],
+            "target_position": [
+              0.30084968057768463,
+              -0.3388194205305427,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007068673838901241,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1865721401454026,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395874346422,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07553962228220806,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08656598302538086,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15472313570224536,
+            "release_required_pad_clearance": 0.053282991512690434,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5850707740186698,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007806718349456787,
+            "max_z_decrease": 0.007806718349456787,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518831267222298,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007806718349456787,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021043335057900237,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007806718349456787,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007806740677345838,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15654960274696347,
+              -0.3950808644294739,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15654960274696347,
+              -0.3950808644294739,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1556785483754826,
+              -0.39338236318981457,
+              0.8080482749663594
+            ],
+            "closest_button": [
+              0.1565373986959457,
+              -0.3950861096382141,
+              0.7729117274284363
+            ],
+            "closest_ee_minus_button": [
+              -0.0008588503204631226,
+              0.0017037464483995457,
+              0.03513654753792317
+            ],
+            "button_min_z_position": [
+              0.1565309315919876,
+              -0.3950809240341186,
+              0.7690021395683289
+            ],
+            "min_active_finger_to_button": 0.1461204685009933,
+            "closest_active_finger": [
+              0.029351800680160522,
+              -0.45838868618011475,
+              0.8108826279640198
+            ],
+            "closest_active_finger_button": [
+              0.15655335783958432,
+              -0.39508137106895447,
+              0.7767778038978577
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1272015571594238,
+              -0.06330731511116028,
+              0.03410482406616211
+            ],
+            "min_contact_pad_to_button": 0.021043335057900237,
+            "closest_contact_pad": [
+              0.1565309315919876,
+              -0.3950809240341186,
+              0.7900454746262291
+            ],
+            "closest_contact_pad_button": [
+              0.1565309315919876,
+              -0.3950809240341186,
+              0.7690021395683289
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021043335057900237
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 126,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "86657ea573d94a626af7aa2347f206a4ce5c3ab17e0c39235896b6393f8f1196",
+    "visual_seed": 3926617547363427231,
+    "episode_index": 126,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_128_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_128_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf999d1b49175c48dcdd8dbabb6213874c367649
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_128_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 128,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31242409384547937,
+              -0.0782120538969965,
+              1.0499299629746748
+            ],
+            "current_z": 1.0499299629746748,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18882339535526393,
+            "gripper_z": 1.0532343743415,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30807791324476547,
+              -0.08266652947524888,
+              1.0532343743415
+            ],
+            "object_minus_gripper": [
+              0.0043461806007139,
+              0.00445447557825239,
+              -0.003304411366825244
+            ],
+            "object_to_gripper_xy": 0.00622347479237032,
+            "object_to_gripper_z": -0.003304411366825244,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31242409384547937,
+              -0.10213913993843411,
+              1.0499299629746748
+            ],
+            "finger_b": [
+              0.3012281707560551,
+              -0.0782120538969965,
+              1.0499299629746748
+            ],
+            "finger_midpoint": [
+              0.3068261323007673,
+              -0.0901755969177153,
+              1.0499299629746748
+            ],
+            "object_minus_finger_midpoint": [
+              0.005597961544712093,
+              0.011963543020718809,
+              0.0
+            ],
+            "finger_gap": 0.02641692904670529,
+            "fingertip_max_gap": 0.09343084483581507,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013208464523352633,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0499299629746748,
+            "object_top_z": 1.1006623637010216,
+            "finger_top_clearance": 0.05073240072634677,
+            "fingertip_min_top_clearance": 0.015219720217903998,
+            "object_projection_between_fingers": 0.8203798091993235,
+            "object_to_finger_line_xy": 0.010140687231295811,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04921542241790754,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6776175388932402,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31295649969192274,
+              -0.08225648102531002,
+              1.246107692432094
+            ],
+            "held_position": [
+              0.31762255160586356,
+              -0.07817179372058697,
+              1.242718366558677
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007067123935319827,
+            "max_held_gripper_dist": 0.0070765325156408425,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003389325873417004,
+            "max_held_gripper_z_dist": 0.0034026038987668983,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08650773684468972,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31762255160586356,
+              -0.10337246928394817,
+              1.242718366558677
+            ],
+            "held_grasp_finger_b": [
+              0.30890758697761406,
+              -0.07817179372058697,
+              1.242718366558677
+            ],
+            "held_grasp_midpoint": [
+              0.3132650692917388,
+              -0.09077213150226757,
+              1.242718366558677
+            ],
+            "held_grasp_object_position": [
+              0.31762255160586356,
+              -0.07817179372058697,
+              1.242718366558677
+            ],
+            "held_grasp_finger_gap": 0.026665045608838363,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024591548893891632,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06394842579545579,
+              -0.9979437693842911,
+              -0.004339583546402848
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035432229723141727,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036867167354309616,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30786048490116824,
+              -0.3331093356531777,
+              0.851539533048655
+            ],
+            "target_position": [
+              0.3013645933903334,
+              -0.3347052001309627,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006689050003699508,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1825167127804912,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539533048655,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07522799472551182,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852505427089743,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15164171079594896,
+            "release_required_pad_clearance": 0.05262527135448715,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.3115327056938253,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007730245590209961,
+            "max_z_decrease": 0.007730245590209961,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035156552361567756,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007730245590209961,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210477695008372,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007730245590209961,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007730271599308806,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1570645123720169,
+              -0.3909666538238525,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1570645123720169,
+              -0.3909666538238525,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1571745307333057,
+              -0.3899111022390219,
+              0.8080837620439362
+            ],
+            "closest_button": [
+              0.15705333650112155,
+              -0.39097225666046137,
+              0.7729434370994568
+            ],
+            "closest_ee_minus_button": [
+              0.00012119423218415193,
+              0.0010611544214394475,
+              0.035140324944479384
+            ],
+            "button_min_z_position": [
+              0.1570444703102112,
+              -0.39096730947494507,
+              0.7690786123275757
+            ],
+            "min_active_finger_to_button": 0.14553875352450363,
+            "closest_active_finger": [
+              0.03089066594839096,
+              -0.45498570799827576,
+              0.8109163641929626
+            ],
+            "closest_active_finger_button": [
+              0.15706390142440796,
+              -0.39096820354461664,
+              0.7768047451972961
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.126173235476017,
+              -0.06401750445365911,
+              0.034111618995666504
+            ],
+            "min_contact_pad_to_button": 0.0210477695008372,
+            "closest_contact_pad": [
+              0.1570444703102112,
+              -0.39096730947494507,
+              0.7901263818284129
+            ],
+            "closest_contact_pad_button": [
+              0.1570444703102112,
+              -0.39096730947494507,
+              0.7690786123275757
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.0210477695008372
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 128,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "19d9f3edd0ee020a27fe93628a1d11493b5ade8513fb43c8b33bdeb403b74080",
+    "visual_seed": 7488354575562074691,
+    "episode_index": 128,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_129_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_129_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..29646bd56f99ceecef8221697a7f01f60a1a17cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_129_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 129,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31165267149346887,
+              -0.07353795015784226,
+              1.0468771909810644
+            ],
+            "current_z": 1.0468771909810644,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.1857706233616535,
+            "gripper_z": 1.0527121086363738,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3068497905915645,
+              -0.07803634983713573,
+              1.0527121086363738
+            ],
+            "object_minus_gripper": [
+              0.004802880901904394,
+              0.004498399679293469,
+              -0.005834917655309413
+            ],
+            "object_to_gripper_xy": 0.006580521607938503,
+            "object_to_gripper_z": -0.005834917655309413,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31165267149346887,
+              -0.0979578581582731,
+              1.0468771909810644
+            ],
+            "finger_b": [
+              0.3005943635018765,
+              -0.07353795015784226,
+              1.0468771909810644
+            ],
+            "finger_midpoint": [
+              0.3061235174976727,
+              -0.08574790415805768,
+              1.0468771909810644
+            ],
+            "object_minus_finger_midpoint": [
+              0.005529153995796177,
+              0.01220995400021542,
+              0.0
+            ],
+            "finger_gap": 0.026807052847831324,
+            "fingertip_max_gap": 0.09586171546660013,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013403526423915662,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0468771909810644,
+            "object_top_z": 1.0979934865017293,
+            "finger_top_clearance": 0.05111629552066499,
+            "fingertip_min_top_clearance": 0.015334888656199513,
+            "object_projection_between_fingers": 0.8298314798441734,
+            "object_to_finger_line_xy": 0.010073575238874517,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05043085773330007,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.7603891475493136,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 207,
+            "max_stable_success_frames": 207,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3113394719901115,
+              -0.07703828066971721,
+              1.2423904593061332
+            ],
+            "held_position": [
+              0.31630051588692465,
+              -0.0727498384215865,
+              1.2364859238084165
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008824184546203477,
+            "max_held_gripper_dist": 0.008835772326800169,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005904535497716745,
+            "max_held_gripper_z_dist": 0.005922814174145197,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0872071414440224,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31630051588692465,
+              -0.09796086192383699,
+              1.2364859238084165
+            ],
+            "held_grasp_finger_b": [
+              0.30698253662679115,
+              -0.0727498384215865,
+              1.2364859238084165
+            ],
+            "held_grasp_midpoint": [
+              0.3116415262568579,
+              -0.08535535017271174,
+              1.2364859238084165
+            ],
+            "held_grasp_object_position": [
+              0.31630051588692465,
+              -0.0727498384215865,
+              1.2364859238084165
+            ],
+            "held_grasp_finger_gap": 0.026877880190284812,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025244859634982932,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0036493156593767435,
+              -0.9999933316909845,
+              0.00013808976353113509
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004704960419900213,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03713182450023134,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30040255802264915,
+              -0.33188867696945484,
+              0.8515395698259232
+            ],
+            "target_position": [
+              0.29730548547782376,
+              -0.3311518913075338,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00318350615823554,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18103902530783822,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395698259232,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07529143874111624,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09057234034128246,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14946849783889524,
+            "release_required_pad_clearance": 0.05528617017064123,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.682902670729192,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00786978006362915,
+            "max_z_decrease": 0.00786978006362915,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520531913222077,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00786978006362915,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021102392907667925,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00786978006362915,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007869803922120224,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1530054062604904,
+              -0.38741335272789,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1530054062604904,
+              -0.38741335272789,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1550943994726555,
+              -0.3877635817109517,
+              0.8077913567425288
+            ],
+            "closest_button": [
+              0.1529942452907562,
+              -0.38741940259933466,
+              0.772650420665741
+            ],
+            "closest_ee_minus_button": [
+              0.002100154181899294,
+              -0.00034417911161704895,
+              0.03514093607678781
+            ],
+            "button_min_z_position": [
+              0.1529860645532608,
+              -0.38741454482078547,
+              0.7689390778541565
+            ],
+            "min_active_finger_to_button": 0.14407540201135913,
+            "closest_active_finger": [
+              0.013752087950706482,
+              -0.37334150075912476,
+              0.8106085658073425
+            ],
+            "closest_active_finger_button": [
+              0.15300489962100977,
+              -0.38741573691368103,
+              0.7764282822608948
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1392528116703033,
+              0.014074236154556274,
+              0.034180283546447754
+            ],
+            "min_contact_pad_to_button": 0.021102392907667925,
+            "closest_contact_pad": [
+              0.1529860645532608,
+              -0.3887371135979993,
+              0.7899999847258734
+            ],
+            "closest_contact_pad_button": [
+              0.1529860645532608,
+              -0.38741454482078547,
+              0.7689390778541565
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0013225687772138173,
+              0.02106090687171691
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 129,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "62b9daa0ca8909cdf1e3032e9f7cf144f802e7502981f16f3d886a03ba86549a",
+    "visual_seed": 3564159889259341762,
+    "episode_index": 129,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_12_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b770e6eaee4ad634cc71a9181d13cff223b9ba17
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_12_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 12,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31113861977522766,
+              -0.07300015231394938,
+              1.0487120015058085
+            ],
+            "current_z": 1.0487120015058085,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18760555309568716,
+            "gripper_z": 1.05218638011091,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30685315619195475,
+              -0.07741994046346022,
+              1.05218638011091
+            ],
+            "object_minus_gripper": [
+              0.004285463583272919,
+              0.004419788149510842,
+              -0.003474378605101469
+            ],
+            "object_to_gripper_xy": 0.0061562752870639925,
+            "object_to_gripper_z": -0.003474378605101469,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31113861977522766,
+              -0.09687519000679683,
+              1.0487120015058085
+            ],
+            "finger_b": [
+              0.29997013100697556,
+              -0.07300015231394938,
+              1.0487120015058085
+            ],
+            "finger_midpoint": [
+              0.30555437539110164,
+              -0.0849376711603731,
+              1.0487120015058085
+            ],
+            "object_minus_finger_midpoint": [
+              0.005584244384126025,
+              0.011937518846423717,
+              0.0
+            ],
+            "finger_gap": 0.026358159385690416,
+            "fingertip_max_gap": 0.09381278836770099,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317907969284519,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0487120015058085,
+            "object_top_z": 1.0998070289669806,
+            "finger_top_clearance": 0.051095027461172116,
+            "fingertip_min_top_clearance": 0.0153285082383516,
+            "object_projection_between_fingers": 0.8204610570227048,
+            "object_to_finger_line_xy": 0.010116339552105547,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0494063941838505,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6448094133331814,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3118806044482888,
+              -0.07727536477893468,
+              1.2426573093175888
+            ],
+            "held_position": [
+              0.3164888975461037,
+              -0.07323350300439875,
+              1.239080411734267
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007096985853261638,
+            "max_held_gripper_dist": 0.0071062866571495855,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003576897583321692,
+            "max_held_gripper_z_dist": 0.0035873381561317697,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866009764086397,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3164888975461037,
+              -0.0984488417709977,
+              1.239080411734267
+            ],
+            "held_grasp_finger_b": [
+              0.30803588251208885,
+              -0.07312734408220128,
+              1.239080411734267
+            ],
+            "held_grasp_midpoint": [
+              0.3122623900290963,
+              -0.0857880929265995,
+              1.239080411734267
+            ],
+            "held_grasp_object_position": [
+              0.3164888975461037,
+              -0.07323350300439875,
+              1.239080411734267
+            ],
+            "held_grasp_finger_gap": 0.02669516263986799,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024643000331318218,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0723978327110581,
+              -0.9973730863016461,
+              -0.002341055289980298
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033066251736484265,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036892649987969824,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30045392326979375,
+              -0.33576833314432053,
+              0.8515395814324095
+            ],
+            "target_position": [
+              0.29393655025192306,
+              -0.33746521812946073,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006734654386593515,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18404616945237115,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395814324095,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548970649806502,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561455946553352,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15231894930977896,
+            "release_required_pad_clearance": 0.05280727973276676,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6608613920291702,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007830500602722168,
+            "max_z_decrease": 0.007830500602722168,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514948000716918,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007830500602722168,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021074283498010365,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007830500602722168,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007830522721187365,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14963647723197934,
+              -0.39372667670249933,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14963647723197934,
+              -0.39372667670249933,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14846477362415988,
+              -0.39390387671849353,
+              0.8077780498416152
+            ],
+            "closest_button": [
+              0.14962528645992274,
+              -0.3937315642833709,
+              0.7726481556892395
+            ],
+            "closest_ee_minus_button": [
+              -0.0011605128357628502,
+              -0.0001723124351226124,
+              0.03512989415237566
+            ],
+            "button_min_z_position": [
+              0.1496178656816482,
+              -0.39372658729553217,
+              0.7689783573150635
+            ],
+            "min_active_finger_to_button": 0.1471951648077462,
+            "closest_active_finger": [
+              0.020719483494758606,
+              -0.4560565650463104,
+              0.8105085492134094
+            ],
+            "closest_active_finger_button": [
+              0.1496355980634689,
+              -0.39372906088829035,
+              0.7764155268669128
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1289161145687103,
+              -0.062327504158020075,
+              0.03409302234649658
+            ],
+            "min_contact_pad_to_button": 0.021074283498010365,
+            "closest_contact_pad": [
+              0.1496178656816482,
+              -0.3951697331812818,
+              0.7900031701538727
+            ],
+            "closest_contact_pad_button": [
+              0.1496178656816482,
+              -0.39372658729553217,
+              0.7689783573150635
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0014431458857496193,
+              0.021024812838809193
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 12,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "58666ba6c6f76a08f65b6a488c7361ed53f148ff7d01a070f5dd94cc67c8a0f4",
+    "visual_seed": 2026639047102420247,
+    "episode_index": 12,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_130_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_130_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..793305874577fd21244b73bcfb60592514788097
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_130_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 130,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3185379228201705,
+              -0.07641742316691244,
+              1.049364474428179
+            ],
+            "current_z": 1.049364474428179,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18825796641341297,
+            "gripper_z": 1.0524958692483444,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31431293626825785,
+              -0.0807770879175269,
+              1.0524958692483444
+            ],
+            "object_minus_gripper": [
+              0.004224986551912668,
+              0.004359664750614459,
+              -0.003131394820165445
+            ],
+            "object_to_gripper_xy": 0.006071012115091942,
+            "object_to_gripper_z": -0.003131394820165445,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3185379228201705,
+              -0.1003090703900201,
+              1.049364474428179
+            ],
+            "finger_b": [
+              0.30753081554044437,
+              -0.07641742316691244,
+              1.049364474428179
+            ],
+            "finger_midpoint": [
+              0.31303436918030747,
+              -0.08836324677846627,
+              1.049364474428179
+            ],
+            "object_minus_finger_midpoint": [
+              0.005503553639863046,
+              0.01194582361155383,
+              0.0
+            ],
+            "finger_gap": 0.026305269770538913,
+            "fingertip_max_gap": 0.09504140746484227,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013152634885269444,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049364474428179,
+            "object_top_z": 1.1006767745615489,
+            "finger_top_clearance": 0.05131230013336996,
+            "fingertip_min_top_clearance": 0.01539369004001097,
+            "object_projection_between_fingers": 0.8249101871184564,
+            "object_to_finger_line_xy": 0.009997157465712208,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05002070373242114,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4438544020482693,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.319185119644382,
+              -0.0802598150723284,
+              1.243314707328442
+            ],
+            "held_position": [
+              0.323693290772822,
+              -0.07621692059013549,
+              1.240091591062619
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006859816410113295,
+            "max_held_gripper_dist": 0.006868473939626189,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003223116265823167,
+            "max_held_gripper_z_dist": 0.0032361683349839687,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08662335278751618,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.323693290772822,
+              -0.10125904693048941,
+              1.240091591062619
+            ],
+            "held_grasp_finger_b": [
+              0.31507504730121144,
+              -0.07621692059013549,
+              1.240091591062619
+            ],
+            "held_grasp_midpoint": [
+              0.3193841690370167,
+              -0.08873798376031244,
+              1.240091591062619
+            ],
+            "held_grasp_object_position": [
+              0.323693290772822,
+              -0.07621692059013549,
+              1.240091591062619
+            ],
+            "held_grasp_finger_gap": 0.026483621583578892,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02462629612773609,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.045265863855441436,
+              -0.9989730114524094,
+              -0.0019808985651348365
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037380116115405884,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03701698977056805,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3051720254040245,
+              -0.32950204118992504,
+              0.8515395875966254
+            ],
+            "target_position": [
+              0.29887050454042463,
+              -0.3310280610130771,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006483664218251693,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851228058693686,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395875966254,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546964259161075,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651581733306922,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1533706348932741,
+            "release_required_pad_clearance": 0.05325790866653461,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5359163189789786,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007520914077758789,
+            "max_z_decrease": 0.007520914077758789,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516963442809023,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007520914077758789,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02108121869348723,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007520914077758789,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00752093920751309,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15457043051719663,
+              -0.38728952407836914,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15457043051719663,
+              -0.38728952407836914,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15594796496360575,
+              -0.3874276854791926,
+              0.8082307475795427
+            ],
+            "closest_button": [
+              0.15456019341945648,
+              -0.38729536533355713,
+              0.7730887532234192
+            ],
+            "closest_ee_minus_button": [
+              0.0013877715441492633,
+              -0.00013232014563546723,
+              0.03514199435612353
+            ],
+            "button_min_z_position": [
+              0.15455099940299988,
+              -0.38729017972946167,
+              0.7692879438400269
+            ],
+            "min_active_finger_to_button": 0.14479661916258388,
+            "closest_active_finger": [
+              0.014530003070831299,
+              -0.3736467957496643,
+              0.8105504512786865
+            ],
+            "closest_active_finger_button": [
+              0.15457023680210114,
+              -0.38729143142700195,
+              0.7763653993606567
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14004023373126984,
+              0.013644635677337646,
+              0.034185051918029785
+            ],
+            "min_contact_pad_to_button": 0.02108121869348723,
+            "closest_contact_pad": [
+              0.15455099940299988,
+              -0.388343960941775,
+              0.7903428085215966
+            ],
+            "closest_contact_pad_button": [
+              0.15455099940299988,
+              -0.38729017972946167,
+              0.7692879438400269
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0010537812123133095,
+              0.021054864681569696
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 130,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "22f1220486af4d6cb82632ffa89448b93e20913c539f39f1613a9e57ed1bfe83",
+    "visual_seed": 8501848665665270003,
+    "episode_index": 130,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_132_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_132_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..87c68698701b089485b2cb01908903979c9605b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_132_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 132,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3170328745729465,
+              -0.07918830338431374,
+              1.0516815649775415
+            ],
+            "current_z": 1.0516815649775415,
+            "required_z": 0.8611066272240558,
+            "initial_z": 0.7611066272240559,
+            "lift_margin": 0.19057493775348566,
+            "gripper_z": 1.0548680890951125,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31288348296288304,
+              -0.08356978061747142,
+              1.0548680890951125
+            ],
+            "object_minus_gripper": [
+              0.0041493916100634465,
+              0.004381477233157682,
+              -0.0031865241175710324
+            ],
+            "object_to_gripper_xy": 0.006034467124638597,
+            "object_to_gripper_z": -0.0031865241175710324,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3170328745729465,
+              -0.10288672812311524,
+              1.0516815649775415
+            ],
+            "finger_b": [
+              0.3058174285664237,
+              -0.07918830338431374,
+              1.0516815649775415
+            ],
+            "finger_midpoint": [
+              0.3114251515696851,
+              -0.09103751575371449,
+              1.0516815649775415
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056077230032614,
+              0.011849212369400758,
+              0.0
+            ],
+            "finger_gap": 0.02621834404049705,
+            "fingertip_max_gap": 0.0949981904810667,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01310917202024853,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0516815649775415,
+            "object_top_z": 1.1028912867601819,
+            "finger_top_clearance": 0.05120972178264038,
+            "fingertip_min_top_clearance": 0.015362916534792114,
+            "object_projection_between_fingers": 0.8170120120880359,
+            "object_to_finger_line_xy": 0.010137497726291694,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04999909524053335,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.6295966876651184,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3180527280520097,
+              -0.08373962332983122,
+              1.2472744077602191
+            ],
+            "held_position": [
+              0.32257591822796655,
+              -0.07977652948363904,
+              1.2439911509615191
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006851652166288714,
+            "max_held_gripper_dist": 0.006861255290423687,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003283256798700007,
+            "max_held_gripper_z_dist": 0.0032951368229889866,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08692442450564661,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32257591822796655,
+              -0.10499683191154638,
+              1.2439911509615191
+            ],
+            "held_grasp_finger_b": [
+              0.3142663694907391,
+              -0.07939994458113053,
+              1.2439911509615191
+            ],
+            "held_grasp_midpoint": [
+              0.31842114385935283,
+              -0.09219838824633846,
+              1.2439911509615191
+            ],
+            "held_grasp_object_position": [
+              0.32257591822796655,
+              -0.07977652948363904,
+              1.2439911509615191
+            ],
+            "held_grasp_finger_gap": 0.026911879184151402,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025012750062580715,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0639847851168646,
+              -0.9979508220359594,
+              0.00032260083917323707
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033514531966142144,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03705800356145979,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3011311548158608,
+              -0.3338629356543169,
+              0.8515395853164262
+            ],
+            "target_position": [
+              0.2949173115140151,
+              -0.3351089716287167,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006337543232940556,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18368171363222405,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395853164262,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514794461646433,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08521136761410224,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15270743372249324,
+            "release_required_pad_clearance": 0.05260568380705112,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.27411221843523664,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007512390613555908,
+            "max_z_decrease": 0.007512390613555908,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520827113243181,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007512390613555908,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021060748354084776,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007512390613555908,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007512416686729883,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15061724185943604,
+              -0.39137041568756104,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15061724185943604,
+              -0.39137041568756104,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15264119949602842,
+              -0.3907059270918521,
+              0.8082387813580434
+            ],
+            "closest_button": [
+              0.1506066918373108,
+              -0.3913758993148803,
+              0.7730957269668579
+            ],
+            "closest_ee_minus_button": [
+              0.002034507658717627,
+              0.0006699722230282257,
+              0.03514305439118548
+            ],
+            "button_min_z_position": [
+              0.1505974531173706,
+              -0.391370803117752,
+              0.7692964673042297
+            ],
+            "min_active_finger_to_button": 0.1440763774683111,
+            "closest_active_finger": [
+              0.025893814861774445,
+              -0.45491525530815125,
+              0.8104996681213379
+            ],
+            "closest_active_finger_button": [
+              0.15061694383621216,
+              -0.39137265086174006,
+              0.7763751745223999
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12472312897443771,
+              -0.06354260444641119,
+              0.03412449359893799
+            ],
+            "min_contact_pad_to_button": 0.021060748354084776,
+            "closest_contact_pad": [
+              0.1505974531173706,
+              -0.39168914580694136,
+              0.7903548095743688
+            ],
+            "closest_contact_pad_button": [
+              0.1505974531173706,
+              -0.391370803117752,
+              0.7692964673042297
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0003183426891893437,
+              0.02105834227013903
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 132,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "51b1fc92661b3d267a49e085146c32d81c2e815d5fa96ceeade2d13304ec9ed4",
+    "visual_seed": 616582898848120761,
+    "episode_index": 132,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_133_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_133_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d182367af5019ef015296c548282221d617cd929
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_133_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 133,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3121871605588592,
+              -0.06807868070453317,
+              1.0488738247861193
+            ],
+            "current_z": 1.0488738247861193,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1877673167713534,
+            "gripper_z": 1.0522303096559602,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30798521341576457,
+              -0.07247775816228529,
+              1.0522303096559602
+            ],
+            "object_minus_gripper": [
+              0.004201947143094631,
+              0.004399077457752115,
+              -0.003356484869840859
+            ],
+            "object_to_gripper_xy": 0.006083440003210679,
+            "object_to_gripper_z": -0.003356484869840859,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3121871605588592,
+              -0.0918609159215799,
+              1.0488738247861193
+            ],
+            "finger_b": [
+              0.30101218050184253,
+              -0.06807868070453317,
+              1.0488738247861193
+            ],
+            "finger_midpoint": [
+              0.30659967053035087,
+              -0.07996979831305653,
+              1.0488738247861193
+            ],
+            "object_minus_finger_midpoint": [
+              0.005587490028508335,
+              0.011891117608523363,
+              0.0
+            ],
+            "finger_gap": 0.026276888917709757,
+            "fingertip_max_gap": 0.09340950448144317,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013138444458854879,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488738247861193,
+            "object_top_z": 1.0993044117117603,
+            "finger_top_clearance": 0.05043058692564095,
+            "fingertip_min_top_clearance": 0.015129176077692269,
+            "object_projection_between_fingers": 0.8191387103753566,
+            "object_to_finger_line_xy": 0.010114058977608227,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049204752240721586,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.074788015537659,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.312945739631431,
+              -0.07205515458836192,
+              1.2437824171096095
+            ],
+            "held_position": [
+              0.3174998902847279,
+              -0.0680381640121308,
+              1.2403286785864238
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006986044034286558,
+            "max_held_gripper_dist": 0.006995305769045212,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034537385231856454,
+            "max_held_gripper_z_dist": 0.0034653412435572406,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08650893807596868,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3174998902847279,
+              -0.09322363506056279,
+              1.2403286785864238
+            ],
+            "held_grasp_finger_b": [
+              0.30899791648272257,
+              -0.0680167015327451,
+              1.2403286785864238
+            ],
+            "held_grasp_midpoint": [
+              0.31324890338372524,
+              -0.08062016829665394,
+              1.2403286785864238
+            ],
+            "held_grasp_object_position": [
+              0.3174998902847279,
+              -0.0680381640121308,
+              1.2403286785864238
+            ],
+            "held_grasp_finger_gap": 0.02660212503552686,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024625033897088904,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06254547554288305,
+              -0.9980108791823528,
+              -0.007896108078151665
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003457174543983823,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03689739291497221,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30524841413254333,
+              -0.33604316481129637,
+              0.8515396052295054
+            ],
+            "target_position": [
+              0.2989084785238773,
+              -0.3375616965116748,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006519257783450934,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18134001705302297,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396052295054,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537258969794973,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0857302609019268,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15001337660593558,
+            "release_required_pad_clearance": 0.0528651304509634,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7722732359531899,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007928669452667236,
+            "max_z_decrease": 0.007928669452667236,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519748889638248,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007928669452667236,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021125395897158665,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007928669452667236,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007928689812087296,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15460839867591858,
+              -0.3938231468200683,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15460839867591858,
+              -0.3938231468200683,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1564625498122603,
+              -0.3945343875186174,
+              0.8078817375498443
+            ],
+            "closest_button": [
+              0.15459729731082916,
+              -0.3938292264938354,
+              0.7727407813072205
+            ],
+            "closest_ee_minus_button": [
+              0.0018652525014311305,
+              -0.0007051610247820195,
+              0.03514095624262381
+            ],
+            "button_min_z_position": [
+              0.1545904576778412,
+              -0.3938241302967071,
+              0.7688801884651184
+            ],
+            "min_active_finger_to_button": 0.14426753504636322,
+            "closest_active_finger": [
+              0.015153937041759491,
+              -0.379783570766449,
+              0.810752809047699
+            ],
+            "closest_active_finger_button": [
+              0.15460838377475739,
+              -0.3938251137733459,
+              0.776570737361908
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1394544467329979,
+              0.014041543006896917,
+              0.034182071685791016
+            ],
+            "min_contact_pad_to_button": 0.021125395897158665,
+            "closest_contact_pad": [
+              0.1545904576778412,
+              -0.3955209014383967,
+              0.789937332609195
+            ],
+            "closest_contact_pad_button": [
+              0.1545904576778412,
+              -0.3938241302967071,
+              0.7688801884651184
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016967711416895903,
+              0.021057144144076556
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 133,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e017dcc7a07e3394639e22c3e9bf2a3d4d4d39b93d506a12ff7c2780e1669b2a",
+    "visual_seed": 3485801842346010187,
+    "episode_index": 133,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_134_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_134_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..407cf89eaaf9436986b7126eb14d72bb44184aee
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_134_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 134,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3126403868814489,
+              -0.07643404901555438,
+              1.048687742288767
+            ],
+            "current_z": 1.048687742288767,
+            "required_z": 0.8611065080147657,
+            "initial_z": 0.7611065080147658,
+            "lift_margin": 0.1875812342740013,
+            "gripper_z": 1.0527998234811415,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3078419704348844,
+              -0.08097098872978656,
+              1.0527998234811415
+            ],
+            "object_minus_gripper": [
+              0.00479841644656448,
+              0.004536939714232177,
+              -0.004112081192374495
+            ],
+            "object_to_gripper_xy": 0.006603682485192458,
+            "object_to_gripper_z": -0.004112081192374495,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3126403868814489,
+              -0.10093308573157075,
+              1.048687742288767
+            ],
+            "finger_b": [
+              0.3016479170796612,
+              -0.07643404901555438,
+              1.048687742288767
+            ],
+            "finger_midpoint": [
+              0.30714415198055506,
+              -0.08868356737356256,
+              1.048687742288767
+            ],
+            "object_minus_finger_midpoint": [
+              0.005496234900893848,
+              0.01224951835800818,
+              0.0
+            ],
+            "finger_gap": 0.0268521357131222,
+            "fingertip_max_gap": 0.09503914697018681,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013426067856561094,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048687742288767,
+            "object_top_z": 1.0998076340756913,
+            "finger_top_clearance": 0.05111989178692422,
+            "fingertip_min_top_clearance": 0.0153359675360773,
+            "object_projection_between_fingers": 0.8324158675526883,
+            "object_to_finger_line_xy": 0.010029180700963515,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05001957348509341,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.673241632046887,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3122642120094724,
+              -0.07990090377252401,
+              1.2440516025167003
+            ],
+            "held_position": [
+              0.31722801829596964,
+              -0.07556665633450536,
+              1.2398741901319505
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007802297606224815,
+            "max_held_gripper_dist": 0.007812699681449016,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004177412384749779,
+            "max_held_gripper_z_dist": 0.00419858873605472,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08709754786496102,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31722801829596964,
+              -0.10073983461803768,
+              1.2398741901319505
+            ],
+            "held_grasp_finger_b": [
+              0.30782713452191984,
+              -0.07556665633450536,
+              1.2398741901319505
+            ],
+            "held_grasp_midpoint": [
+              0.31252757640894474,
+              -0.08815324547627151,
+              1.2398741901319505
+            ],
+            "held_grasp_object_position": [
+              0.31722801829596964,
+              -0.07556665633450536,
+              1.2398741901319505
+            ],
+            "held_grasp_finger_gap": 0.0268712768700651,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025076646445388227,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.010113626500208209,
+              -0.9999422078982204,
+              -0.0036462888868566967
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004573136591150251,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708684982013834,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29516683868301397,
+              -0.33569634351041994,
+              0.8515395615508438
+            ],
+            "target_position": [
+              0.2923576919521912,
+              -0.33569925953627194,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0028091482443080604,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18012902458218358,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395615508438,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0753534418502398,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08977821351480596,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14852866759337022,
+            "release_required_pad_clearance": 0.05488910675740298,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.841176050339776,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007755279541015625,
+            "max_z_decrease": 0.007755279541015625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514544268704703,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007755279541015625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021061815486976283,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007755279541015625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00775529982038929,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1480576246976852,
+              -0.39196071028709417,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1480576246976852,
+              -0.39196071028709417,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14884195512092346,
+              -0.3912022045715961,
+              0.8078805136739279
+            ],
+            "closest_button": [
+              0.1480466723442077,
+              -0.39196470379829407,
+              0.7727523446083069
+            ],
+            "closest_ee_minus_button": [
+              0.0007952827767157555,
+              0.0007624992266979658,
+              0.035128169065620996
+            ],
+            "button_min_z_position": [
+              0.14803989231586454,
+              -0.3919610381126404,
+              0.76905357837677
+            ],
+            "min_active_finger_to_button": 0.14511109776891412,
+            "closest_active_finger": [
+              0.022519774734973907,
+              -0.4562302827835083,
+              0.8107007741928101
+            ],
+            "closest_active_finger_button": [
+              0.14805726706981653,
+              -0.3919620215892792,
+              0.7765370607376099
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12553749233484263,
+              -0.06426826119422913,
+              0.034163713455200195
+            ],
+            "min_contact_pad_to_button": 0.021061815486976283,
+            "closest_contact_pad": [
+              0.14803989231586454,
+              -0.39208047412290337,
+              0.7901150552159398
+            ],
+            "closest_contact_pad_button": [
+              0.14803989231586454,
+              -0.3919610381126404,
+              0.76905357837677
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00011943601026298545,
+              0.021061476839169813
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 134,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a8e751d126e3e433b96cd8068c580ef49240350e8cdbccea1dee3915b2f0e172",
+    "visual_seed": 6453192343801201710,
+    "episode_index": 134,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_135_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_135_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e07712aef18588e8610385dc53f7695b7cf1f45
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_135_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 135,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3187912136127583,
+              -0.07527848739415369,
+              1.050386830968222
+            ],
+            "current_z": 1.050386830968222,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18928038255810076,
+            "gripper_z": 1.0536181875804465,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31423271180972717,
+              -0.07978327514913103,
+              1.0536181875804465
+            ],
+            "object_minus_gripper": [
+              0.004558501803031134,
+              0.004504787754977341,
+              -0.003231356612224401
+            ],
+            "object_to_gripper_xy": 0.006408826055186074,
+            "object_to_gripper_z": -0.003231356612224401,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3187912136127583,
+              -0.09944982011665636,
+              1.050386830968222
+            ],
+            "finger_b": [
+              0.30762801589836036,
+              -0.07527848739415369,
+              1.050386830968222
+            ],
+            "finger_midpoint": [
+              0.3132096147555593,
+              -0.08736415375540502,
+              1.050386830968222
+            ],
+            "object_minus_finger_midpoint": [
+              0.005581598857198999,
+              0.01208566636125133,
+              0.0
+            ],
+            "finger_gap": 0.026624618472246092,
+            "fingertip_max_gap": 0.09343512336819906,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013312309236123053,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050386830968222,
+            "object_top_z": 1.1010609188860363,
+            "finger_top_clearance": 0.05067408791781425,
+            "fingertip_min_top_clearance": 0.015202226375344274,
+            "object_projection_between_fingers": 0.8242034097563146,
+            "object_to_finger_line_xy": 0.010134581514588393,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049217561684099534,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7788470857430625,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.319235502175609,
+              -0.07927110341222705,
+              1.2452475017948645
+            ],
+            "held_position": [
+              0.32407877534461627,
+              -0.07510322623142038,
+              1.241919209011146
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007204583821295177,
+            "max_held_gripper_dist": 0.0072130949337552664,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033282927837186005,
+            "max_held_gripper_z_dist": 0.003341892852020134,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08658133859759937,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32407877534461627,
+              -0.10036940666273357,
+              1.241919209011146
+            ],
+            "held_grasp_finger_b": [
+              0.3152257803193826,
+              -0.07510322623142038,
+              1.241919209011146
+            ],
+            "held_grasp_midpoint": [
+              0.31965227783199945,
+              -0.08773631644707697,
+              1.241919209011146
+            ],
+            "held_grasp_object_position": [
+              0.32407877534461627,
+              -0.07510322623142038,
+              1.241919209011146
+            ],
+            "held_grasp_finger_gap": 0.026772287808562157,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02476185923182072,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05289753418366238,
+              -0.9985743950251879,
+              -0.0071434219648935935
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003753146094538177,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03687101884720961,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.307199987313558,
+              -0.3321909007434356,
+              0.8515395846336988
+            ],
+            "target_position": [
+              0.3005883425716982,
+              -0.33384684123500974,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006815862755674988,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18399173696060833,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395846336988,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754896457976041,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08647733275299317,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15217325137842402,
+            "release_required_pad_clearance": 0.05323866637649659,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4982536585163684,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007892131805419922,
+            "max_z_decrease": 0.007892131805419922,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035226160529739196,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007892131805419922,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021249248090794867,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007892131805419922,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007892157774272669,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15628826618194575,
+              -0.39010828733444214,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15628826618194575,
+              -0.39010828733444214,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15814916858286046,
+              -0.3917750013150169,
+              0.8078604266426103
+            ],
+            "closest_button": [
+              0.15627840161323542,
+              -0.3901168704032898,
+              0.7727230787277222
+            ],
+            "closest_ee_minus_button": [
+              0.0018707669696250429,
+              -0.0016581309117271181,
+              0.035137347914888095
+            ],
+            "button_min_z_position": [
+              0.15626807510852808,
+              -0.3901097774505615,
+              0.7689167261123657
+            ],
+            "min_active_finger_to_button": 0.14417333269028226,
+            "closest_active_finger": [
+              0.016974687576293945,
+              -0.37569552659988403,
+              0.8107495307922363
+            ],
+            "closest_active_finger_button": [
+              0.1562894433736801,
+              -0.39011141657829285,
+              0.7765511274337769
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13931475579738614,
+              0.014415889978408813,
+              0.03419840335845947
+            ],
+            "min_contact_pad_to_button": 0.021249248090794867,
+            "closest_contact_pad": [
+              0.15626807510852808,
+              -0.39291455816751436,
+              0.7899800532368719
+            ],
+            "closest_contact_pad_button": [
+              0.15626807510852808,
+              -0.3901097774505615,
+              0.7689167261123657
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002804780716952837,
+              0.021063327124506204
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 135,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6112dba69369930fc7b157fc9b574daf70a687a70da6591e8344332577bb3b5b",
+    "visual_seed": 3990649739769740587,
+    "episode_index": 135,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_136_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_136_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4eb0a819896a18dbd7121fa483d726b525c83ebb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_136_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 136,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3126200553852371,
+              -0.07149745844592487,
+              1.0506437737073575
+            ],
+            "current_z": 1.0506437737073575,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18953732529723633,
+            "gripper_z": 1.0541161983396592,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3081446853202103,
+              -0.07605933036908458,
+              1.0541161983396592
+            ],
+            "object_minus_gripper": [
+              0.004475370065026796,
+              0.0045618719231597105,
+              -0.003472424632301685
+            ],
+            "object_to_gripper_xy": 0.006390587818209747,
+            "object_to_gripper_z": -0.003472424632301685,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3126200553852371,
+              -0.09543175573717767,
+              1.0506437737073575
+            ],
+            "finger_b": [
+              0.3011505242967295,
+              -0.07149745844592487,
+              1.0506437737073575
+            ],
+            "finger_midpoint": [
+              0.3068852898409833,
+              -0.08346460709155126,
+              1.0506437737073575
+            ],
+            "object_minus_finger_midpoint": [
+              0.005734765544253784,
+              0.011967148645626396,
+              0.0
+            ],
+            "finger_gap": 0.02654054879267407,
+            "fingertip_max_gap": 0.09362493084815951,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013270274396337028,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0506437737073575,
+            "object_top_z": 1.1017481224058063,
+            "finger_top_clearance": 0.05110434869844882,
+            "fingertip_min_top_clearance": 0.015331304609534663,
+            "object_projection_between_fingers": 0.8132453051974491,
+            "object_to_finger_line_xy": 0.010343236268700665,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04931246542407976,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4937209814366172,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31324049566315637,
+              -0.0759608405285345,
+              1.2438282700918477
+            ],
+            "held_position": [
+              0.3180690731554933,
+              -0.07181223552853495,
+              1.2402461998897736
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007304608886046642,
+            "max_held_gripper_dist": 0.0073134511391772655,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003582070202074128,
+            "max_held_gripper_z_dist": 0.0035948502963427664,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668053597307365,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3180690731554933,
+              -0.0971250998642825,
+              1.2402461998897736
+            ],
+            "held_grasp_finger_b": [
+              0.3094041157706544,
+              -0.07181223552853495,
+              1.2402461998897736
+            ],
+            "held_grasp_midpoint": [
+              0.3137365944630739,
+              -0.08446866769640873,
+              1.2402461998897736
+            ],
+            "held_grasp_object_position": [
+              0.3180690731554933,
+              -0.07181223552853495,
+              1.2402461998897736
+            ],
+            "held_grasp_finger_gap": 0.026754861004330305,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02454411059824521,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07946957109969872,
+              -0.9968334958276995,
+              -0.0027511570579745737
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003313163061415355,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036759594324002144,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30237082884133665,
+              -0.32925250353763785,
+              0.8515395795528835
+            ],
+            "target_position": [
+              0.2959401777682382,
+              -0.3307436603838875,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006601274268204527,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1817476180900605,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395795528835,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538431975718311,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08501674285478276,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15031992952684026,
+            "release_required_pad_clearance": 0.052508371427391384,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.08846931569434496,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007670938968658447,
+            "max_z_decrease": 0.007670938968658447,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035196940036538914,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007670938968658447,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02105961260783551,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007670938968658447,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007670960581315176,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15164010226726532,
+              -0.3870051205158233,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15164010226726532,
+              -0.3870051205158233,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15262153798224518,
+              -0.38523723573499696,
+              0.8079825586886197
+            ],
+            "closest_button": [
+              0.15162846446037292,
+              -0.38700985908508295,
+              0.7728443145751953
+            ],
+            "closest_ee_minus_button": [
+              0.0009930735218722508,
+              0.001772623350085989,
+              0.035138244113424366
+            ],
+            "button_min_z_position": [
+              0.15162192285060883,
+              -0.3870061635971069,
+              0.7691379189491272
+            ],
+            "min_active_finger_to_button": 0.1444801774238608,
+            "closest_active_finger": [
+              0.02631296217441559,
+              -0.45027393102645874,
+              0.8107747435569763
+            ],
+            "closest_active_finger_button": [
+              0.1516406387090683,
+              -0.38700619339942927,
+              0.7766472101211548
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1253276765346527,
+              -0.06326773762702947,
+              0.03412753343582153
+            ],
+            "min_contact_pad_to_button": 0.02105961260783551,
+            "closest_contact_pad": [
+              0.15162192285060883,
+              -0.3870061635971069,
+              0.7901975315569627
+            ],
+            "closest_contact_pad_button": [
+              0.15162192285060883,
+              -0.3870061635971069,
+              0.7691379189491272
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105961260783551
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 136,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0845395dc85ee54798d3ac17513f691d41ce3a0253615a22e4b997c272ca109a",
+    "visual_seed": 8053548367340967750,
+    "episode_index": 136,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_137_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_137_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4044a72026e30962644a452ca055b33c361b09b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_137_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 137,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3158824575607529,
+              -0.07415769702467591,
+              1.051751130219691
+            ],
+            "current_z": 1.051751130219691,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.19064468180956984,
+            "gripper_z": 1.0550171589258046,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3114583984680728,
+              -0.07866502575296008,
+              1.0550171589258046
+            ],
+            "object_minus_gripper": [
+              0.0044240590926801215,
+              0.004507328728284174,
+              -0.0032660287061136994
+            ],
+            "object_to_gripper_xy": 0.0063157193668133705,
+            "object_to_gripper_z": -0.0032660287061136994,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3158824575607529,
+              -0.0981032488312701,
+              1.051751130219691
+            ],
+            "finger_b": [
+              0.3045488805726062,
+              -0.07415769702467591,
+              1.051751130219691
+            ],
+            "finger_midpoint": [
+              0.3102156690666795,
+              -0.086130472927973,
+              1.051751130219691
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056667884940733715,
+              0.011972775903297095,
+              0.0
+            ],
+            "finger_gap": 0.026492252049769842,
+            "fingertip_max_gap": 0.09504477985891133,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013246126024884933,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051751130219691,
+            "object_top_z": 1.1033619659262577,
+            "finger_top_clearance": 0.05161083570656677,
+            "fingertip_min_top_clearance": 0.015483250711970063,
+            "object_projection_between_fingers": 0.8169809732403864,
+            "object_to_finger_line_xy": 0.010244080209332327,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050022389929455666,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.11908016223921,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31658200111560586,
+              -0.07863539106286359,
+              1.2485718099099046
+            ],
+            "held_position": [
+              0.3213669506596654,
+              -0.07455145116333745,
+              1.2452084087599866
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007133496655736708,
+            "max_held_gripper_dist": 0.007142518680036384,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003363401149917955,
+            "max_held_gripper_z_dist": 0.0033754709557947127,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08713743145722191,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3213669506596654,
+              -0.09990484743139703,
+              1.2452084087599866
+            ],
+            "held_grasp_finger_b": [
+              0.3127341641898087,
+              -0.07433159630948158,
+              1.2452084087599866
+            ],
+            "held_grasp_midpoint": [
+              0.3170505574247371,
+              -0.0871182218704393,
+              1.2452084087599866
+            ],
+            "held_grasp_object_position": [
+              0.3213669506596654,
+              -0.07455145116333745,
+              1.2452084087599866
+            ],
+            "held_grasp_finger_gap": 0.026991038793990334,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024922711516166245,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06835583036676002,
+              -0.997636658791051,
+              0.006969755454725222
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003448423855822767,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03688812828630571,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3004915468081941,
+              -0.3373611701122784,
+              0.8515395883828082
+            ],
+            "target_position": [
+              0.29519866902210223,
+              -0.33825079549752846,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005367121070423721,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18106258128877942,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395883828082,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07537572737324601,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561088754208872,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14954481819771087,
+            "release_required_pad_clearance": 0.05280544377104436,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6572987599694002,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007811307907104492,
+            "max_z_decrease": 0.007811307907104492,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521034016369637,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007811307907104492,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021141957753076996,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007811307907104492,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007811333622415446,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15089859068393704,
+              -0.394512265920639,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15089859068393704,
+              -0.394512265920639,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15293984682183395,
+              -0.39558999816933366,
+              0.8080513239526005
+            ],
+            "closest_button": [
+              0.15088674426078796,
+              -0.3945170938968658,
+              0.7729172706604004
+            ],
+            "closest_ee_minus_button": [
+              0.0020531025610459885,
+              -0.0010729042724678672,
+              0.035134053292200096
+            ],
+            "button_min_z_position": [
+              0.15087854862213132,
+              -0.3945120275020599,
+              0.7689975500106812
+            ],
+            "min_active_finger_to_button": 0.14406620159782535,
+            "closest_active_finger": [
+              0.011530958116054535,
+              -0.3817873001098633,
+              0.8109845519065857
+            ],
+            "closest_active_finger_button": [
+              0.15089806914329526,
+              -0.39451351761817927,
+              0.7767804265022278
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13936711102724073,
+              0.012726217508315985,
+              0.03420412540435791
+            ],
+            "min_contact_pad_to_button": 0.021141957753076996,
+            "closest_contact_pad": [
+              0.15087854862213132,
+              -0.39647260693051184,
+              0.7900484052412323
+            ],
+            "closest_contact_pad_button": [
+              0.15087854862213132,
+              -0.3945120275020599,
+              0.7689975500106812
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019605794284519584,
+              0.02105085523055117
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 137,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "58ac715a55d55ac599f38198f6e667bbeca8cd0a88923ea8e35977ebf095a104",
+    "visual_seed": 4718437984986793440,
+    "episode_index": 137,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_139_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_139_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b056f3151861718bc550686cdcb712196d905732
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_139_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 139,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31696205877391115,
+              -0.07584096947875522,
+              1.051735844853745
+            ],
+            "current_z": 1.051735844853745,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19062939644362387,
+            "gripper_z": 1.054947812880103,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3127382478721719,
+              -0.08018099294510696,
+              1.054947812880103
+            ],
+            "object_minus_gripper": [
+              0.004223810901739233,
+              0.004340023466351733,
+              -0.0032119680263580364
+            ],
+            "object_to_gripper_xy": 0.006056102890649639,
+            "object_to_gripper_z": -0.0032119680263580364,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31696205877391115,
+              -0.09975831556408384,
+              1.051735844853745
+            ],
+            "finger_b": [
+              0.30601673947448504,
+              -0.07584096947875522,
+              1.051735844853745
+            ],
+            "finger_midpoint": [
+              0.3114893991241981,
+              -0.08779964252141953,
+              1.051735844853745
+            ],
+            "object_minus_finger_midpoint": [
+              0.005472659649713052,
+              0.011958673042664306,
+              0.0
+            ],
+            "finger_gap": 0.026302841259677127,
+            "fingertip_max_gap": 0.09581179946803683,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013151420629838564,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051735844853745,
+            "object_top_z": 1.1034626922602244,
+            "finger_top_clearance": 0.05172684740647937,
+            "fingertip_min_top_clearance": 0.01551805422194381,
+            "object_projection_between_fingers": 0.826838418763708,
+            "object_to_finger_line_xy": 0.009952650632466866,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05040589973401842,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.615666845291417,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31764024970366644,
+              -0.07984409239908948,
+              1.2448685452291854
+            ],
+            "held_position": [
+              0.322130178907812,
+              -0.07581235909743657,
+              1.2415610615207078
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006881408733372928,
+            "max_held_gripper_dist": 0.006890443532008661,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033074837084776654,
+            "max_held_gripper_z_dist": 0.0033189732940677175,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.086380853723132,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.322130178907812,
+              -0.10084122431096319,
+              1.2415610615207078
+            ],
+            "held_grasp_finger_b": [
+              0.3135874237947943,
+              -0.07581235909743657,
+              1.2415610615207078
+            ],
+            "held_grasp_midpoint": [
+              0.3178588013513032,
+              -0.08832679170419988,
+              1.2415610615207078
+            ],
+            "held_grasp_object_position": [
+              0.322130178907812,
+              -0.07581235909743657,
+              1.2415610615207078
+            ],
+            "held_grasp_finger_gap": 0.026446602027441497,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02464222379832999,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.042599370329564776,
+              -0.999092031288333,
+              0.0006377018718749516
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037344018508594,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037035222182235844,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2979490336353047,
+              -0.33569362383473145,
+              0.8515395891483551
+            ],
+            "target_position": [
+              0.292404052123145,
+              -0.33693612346795243,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005682484079057965,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18262345084274684,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395891483551,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07530844317454098,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08644714917520128,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1514748292413928,
+            "release_required_pad_clearance": 0.053223574587600644,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.4687073188260578,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007433295249938965,
+            "max_z_decrease": 0.007433295249938965,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514870209499254,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007433295249938965,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021136306324780498,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007433295249938965,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007433317117668529,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1481039822101593,
+              -0.3931975960731506,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1481039822101593,
+              -0.3931975960731506,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.147819575253902,
+              -0.39403052504984754,
+              0.808268975406432
+            ],
+            "closest_button": [
+              0.14809319376945496,
+              -0.3932033777236938,
+              0.7731310725212097
+            ],
+            "closest_ee_minus_button": [
+              -0.0002736185155529647,
+              -0.0008271473261537432,
+              0.03513790288522234
+            ],
+            "button_min_z_position": [
+              0.14808595180511475,
+              -0.3931975364685058,
+              0.7693755626678467
+            ],
+            "min_active_finger_to_button": 0.1463180526019168,
+            "closest_active_finger": [
+              0.006688371300697327,
+              -0.3776279091835022,
+              0.8105828166007996
+            ],
+            "closest_active_finger_button": [
+              0.14810389280319214,
+              -0.393199473619461,
+              0.776404619216919
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1414155215024948,
+              0.015571564435958807,
+              0.034178197383880615
+            ],
+            "min_contact_pad_to_button": 0.021136306324780498,
+            "closest_contact_pad": [
+              0.14808595180511475,
+              -0.3952064728343433,
+              0.7904161809984227
+            ],
+            "closest_contact_pad_button": [
+              0.14808595180511475,
+              -0.3931975364685058,
+              0.7693755626678467
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002008936365837488,
+              0.021040618330576022
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 139,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df5bb18806aa6b8542f757c2319dd232fbae1aa93d8a2e5738967d4058825790",
+    "visual_seed": 3276023040542654956,
+    "episode_index": 139,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_13_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..5020ab3ca590a4cb41c438376495d1bc8223efb1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_13_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 13,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31626026604738283,
+              -0.07996476003643628,
+              1.0490249185603164
+            ],
+            "current_z": 1.0490249185603164,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1879183509409058,
+            "gripper_z": 1.0522322184488513,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3120004140956547,
+              -0.08429768329331398,
+              1.0522322184488513
+            ],
+            "object_minus_gripper": [
+              0.004259851951728122,
+              0.004332923256877702,
+              -0.0032072998885348536
+            ],
+            "object_to_gripper_xy": 0.006076229307772508,
+            "object_to_gripper_z": -0.0032072998885348536,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31626026604738283,
+              -0.103961370931411,
+              1.0490249185603164
+            ],
+            "finger_b": [
+              0.3053933928803977,
+              -0.07996476003643628,
+              1.0490249185603164
+            ],
+            "finger_midpoint": [
+              0.3108268294638903,
+              -0.09196306548392363,
+              1.0490249185603164
+            ],
+            "object_minus_finger_midpoint": [
+              0.005433436583492546,
+              0.011998305447487354,
+              0.0
+            ],
+            "finger_gap": 0.026342480271837755,
+            "fingertip_max_gap": 0.09473042977577187,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317124013591886,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490249185603164,
+            "object_top_z": 1.100331523380957,
+            "finger_top_clearance": 0.05130660482064053,
+            "fingertip_min_top_clearance": 0.015391981446192126,
+            "object_projection_between_fingers": 0.8298249568219662,
+            "object_to_finger_line_xy": 0.009899148612515675,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049865214887885936,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1871957167483504,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3169447473706953,
+              -0.08408759443100723,
+              1.243508891376998
+            ],
+            "held_position": [
+              0.32148968813968587,
+              -0.08007732552678051,
+              1.2402160362960286
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006897944466441201,
+            "max_held_gripper_dist": 0.006907063541349997,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003292855080969437,
+            "max_held_gripper_z_dist": 0.003305386177472558,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.086678445531712,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32148968813968587,
+              -0.10522321444060236,
+              1.2402160362960286
+            ],
+            "held_grasp_finger_b": [
+              0.31299467598576,
+              -0.08007732552678051,
+              1.2402160362960286
+            ],
+            "held_grasp_midpoint": [
+              0.3172421820627229,
+              -0.09265026998369144,
+              1.2402160362960286
+            ],
+            "held_grasp_object_position": [
+              0.32148968813968587,
+              -0.08007732552678051,
+              1.2402160362960286
+            ],
+            "held_grasp_finger_gap": 0.0265420602207443,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024686463703516886,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05032938503659794,
+              -0.9987323386010061,
+              -0.0008178229658368785
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003609349432964319,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036949469480751104,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30333153626537995,
+              -0.33321308836066577,
+              0.8515395991705711
+            ],
+            "target_position": [
+              0.29772523388991684,
+              -0.33452223119401725,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005757124393587383,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18414818632375368,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395991705711,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569477389830952,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08725344919030868,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15182669456845962,
+            "release_required_pad_clearance": 0.05362672459515434,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.263537745572411,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007727682590484619,
+            "max_z_decrease": 0.007727682590484619,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520408567237517,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007727682590484619,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02121718510287476,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007727682590484619,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007727704218639482,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15342515707015986,
+              -0.39078369736671453,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15342515707015986,
+              -0.39078369736671453,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15524084411121752,
+              -0.3919116755865892,
+              0.8080238395636316
+            ],
+            "closest_button": [
+              0.15341626107692716,
+              -0.3907919228076935,
+              0.7728849053382874
+            ],
+            "closest_ee_minus_button": [
+              0.0018245830342903668,
+              -0.0011197527788956996,
+              0.0351389342253442
+            ],
+            "button_min_z_position": [
+              0.15340702235698694,
+              -0.3907860219478608,
+              0.769081175327301
+            ],
+            "min_active_finger_to_button": 0.14426741665832113,
+            "closest_active_finger": [
+              0.014290116727352142,
+              -0.37395668029785156,
+              0.8109601140022278
+            ],
+            "closest_active_finger_button": [
+              0.1534304618835449,
+              -0.3907845914363861,
+              0.7767567038536072
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13914034515619275,
+              0.016827911138534546,
+              0.034203410148620605
+            ],
+            "min_contact_pad_to_button": 0.02121718510287476,
+            "closest_contact_pad": [
+              0.15340702235698694,
+              -0.3932518153960402,
+              0.7901545900093255
+            ],
+            "closest_contact_pad_button": [
+              0.15340702235698694,
+              -0.3907860219478608,
+              0.769081175327301
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002465793448179432,
+              0.021073414682024505
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 13,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "710f855bb451ead301ef5b6a14a611a846212476197409ab79a028b7442bfad5",
+    "visual_seed": 2248711871763391724,
+    "episode_index": 13,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_140_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_140_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9aa49f223c33f812bf6b220c972090f3c83b67b5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_140_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 140,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31751302188585934,
+              -0.07170998074748006,
+              1.0496514097246696
+            ],
+            "current_z": 1.0496514097246696,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.18854490170990368,
+            "gripper_z": 1.0528273361880278,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3132878910876916,
+              -0.07610772193131292,
+              1.0528273361880278
+            ],
+            "object_minus_gripper": [
+              0.00422513079816772,
+              0.004397741183832862,
+              -0.0031759264633581807
+            ],
+            "object_to_gripper_xy": 0.006098512751614533,
+            "object_to_gripper_z": -0.0031759264633581807,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31751302188585934,
+              -0.09551117591969797,
+              1.0496514097246696
+            ],
+            "finger_b": [
+              0.30633674521933596,
+              -0.07170998074748006,
+              1.0496514097246696
+            ],
+            "finger_midpoint": [
+              0.3119248835525976,
+              -0.08361057833358901,
+              1.0496514097246696
+            ],
+            "object_minus_finger_midpoint": [
+              0.005588138333261716,
+              0.011900597586108952,
+              0.0
+            ],
+            "finger_gap": 0.02629460119021934,
+            "fingertip_max_gap": 0.09377772610052079,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013147300595109676,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496514097246696,
+            "object_top_z": 1.1001099005888846,
+            "finger_top_clearance": 0.050458490864214944,
+            "fingertip_min_top_clearance": 0.01513754725926445,
+            "object_projection_between_fingers": 0.8193403719709489,
+            "object_to_finger_line_xy": 0.010116477535227774,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0493888630502604,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.4408097648835176,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3182988787772339,
+              -0.07575966722586604,
+              1.2453451466443168
+            ],
+            "held_position": [
+              0.32285950024195176,
+              -0.07174396705654679,
+              1.2420743120670998
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006900976367575406,
+            "max_held_gripper_dist": 0.006910003107322528,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032708345772169967,
+            "max_held_gripper_z_dist": 0.0032837937799801153,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08646519118857096,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32285950024195176,
+              -0.09691371097002242,
+              1.2420743120670998
+            ],
+            "held_grasp_finger_b": [
+              0.3143113442215305,
+              -0.07174396705654679,
+              1.2420743120670998
+            ],
+            "held_grasp_midpoint": [
+              0.31858542223174113,
+              -0.08432883901328461,
+              1.2420743120670998
+            ],
+            "held_grasp_object_position": [
+              0.32285950024195176,
+              -0.07174396705654679,
+              1.2420743120670998
+            ],
+            "held_grasp_finger_gap": 0.026581703858470168,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024664905697916423,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0545934995280446,
+              -0.9984837166391566,
+              -0.007058145346905187
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035817737597498268,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03692112346947033,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30251909884377415,
+              -0.3299303253858811,
+              0.8515395888984096
+            ],
+            "target_position": [
+              0.29641228937050806,
+              -0.3315299519544647,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006312838276218635,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18356748548253285,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395888984096,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580884279645154,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08727142484578941,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15108034399948325,
+            "release_required_pad_clearance": 0.05363571242289471,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.281448530166731,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007673680782318115,
+            "max_z_decrease": 0.007673680782318115,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514630500701579,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007673680782318115,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021070627152489415,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007673680782318115,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007673703207654451,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15211221575737,
+              -0.38779142498970026,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15211221575737,
+              -0.38779142498970026,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15218302197772565,
+              -0.38722906444330285,
+              0.8078981347691166
+            ],
+            "closest_button": [
+              0.15210075676441193,
+              -0.3877971172332763,
+              0.7727565169334412
+            ],
+            "closest_ee_minus_button": [
+              8.226521331372583e-05,
+              0.0005680527899734611,
+              0.03514161783567549
+            ],
+            "button_min_z_position": [
+              0.15209375321865082,
+              -0.38779324293136586,
+              0.7691351771354675
+            ],
+            "min_active_finger_to_button": 0.1457966833880225,
+            "closest_active_finger": [
+              0.02459540218114853,
+              -0.44970741868019104,
+              0.8106436133384705
+            ],
+            "closest_active_finger_button": [
+              0.1521124541759491,
+              -0.38779300451278675,
+              0.776545524597168
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12751705199480057,
+              -0.061914414167404286,
+              0.03409808874130249
+            ],
+            "min_contact_pad_to_button": 0.021070627152489415,
+            "closest_contact_pad": [
+              0.15209375321865082,
+              -0.3884334074157463,
+              0.7901960773544079
+            ],
+            "closest_contact_pad_button": [
+              0.15209375321865082,
+              -0.38779324293136586,
+              0.7691351771354675
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0006401644843804233,
+              0.02106090021894036
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 140,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "00eff447768535b82605ddf5eb992eadf8f74bd105226176c397722cd669c767",
+    "visual_seed": 1981326373851377270,
+    "episode_index": 140,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_14_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..53852a81ad406e1b34c3d8012d8590627223f3ea
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_14_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 14,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3143004236252946,
+              -0.07709694720807374,
+              1.052487617247941
+            ],
+            "current_z": 1.052487617247941,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19138116883781964,
+            "gripper_z": 1.055878162742865,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3100323924785857,
+              -0.08155505921883917,
+              1.055878162742865
+            ],
+            "object_minus_gripper": [
+              0.004268031146708873,
+              0.00445811201076543,
+              -0.0033905454949241243
+            ],
+            "object_to_gripper_xy": 0.006171778720094236,
+            "object_to_gripper_z": -0.0033905454949241243,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3143004236252946,
+              -0.10086233548099739,
+              1.052487617247941
+            ],
+            "finger_b": [
+              0.30295668209935234,
+              -0.07709694720807374,
+              1.052487617247941
+            ],
+            "finger_midpoint": [
+              0.3086285528623235,
+              -0.08897964134453556,
+              1.052487617247941
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056718707629710985,
+              0.011882694136461827,
+              0.0
+            ],
+            "finger_gap": 0.026333897386642255,
+            "fingertip_max_gap": 0.09446552705120057,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013166948693321115,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052487617247941,
+            "object_top_z": 1.103748679451113,
+            "finger_top_clearance": 0.05126106220317217,
+            "fingertip_min_top_clearance": 0.015378318660951617,
+            "object_projection_between_fingers": 0.8144408533237744,
+            "object_to_finger_line_xy": 0.010237315725565658,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049732763525600285,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0536162121574058,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3152014028513289,
+              -0.0816812946146121,
+              1.2470388493446187
+            ],
+            "held_position": [
+              0.3198497542101907,
+              -0.07764974647055241,
+              1.2435490349349019
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007073850112037331,
+            "max_held_gripper_dist": 0.007084339817138274,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034898144097168515,
+            "max_held_gripper_z_dist": 0.0035024911248882074,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08702272086774934,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3198497542101907,
+              -0.10292798179589172,
+              1.2435490349349019
+            ],
+            "held_grasp_finger_b": [
+              0.31142115248497704,
+              -0.07735231016474954,
+              1.2435490349349019
+            ],
+            "held_grasp_midpoint": [
+              0.31563545334758386,
+              -0.09014014598032064,
+              1.2435490349349019
+            ],
+            "held_grasp_object_position": [
+              0.3198497542101907,
+              -0.07764974647055241,
+              1.2435490349349019
+            ],
+            "held_grasp_finger_gap": 0.026928726416715013,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024869271555698513,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0752143035033376,
+              -0.9971672819302829,
+              0.000469463821375915
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003262912105539679,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03694825663658166,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30542619312388836,
+              -0.3286798704847683,
+              0.8515395830897124
+            ],
+            "target_position": [
+              0.2987914896055802,
+              -0.3303719726775424,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0068470797137642056,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18318685788996478,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395830897124,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546885094745788,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561702282290971,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15148010814352061,
+            "release_required_pad_clearance": 0.05280851141145486,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6632258473713021,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007767796516418457,
+            "max_z_decrease": 0.007767796516418457,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514376745398584,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007767796516418457,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021071757559029704,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007767796516418457,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007767819153922848,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15449140965938568,
+              -0.38663342595100403,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15449140965938568,
+              -0.38663342595100403,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15356027877446946,
+              -0.38692726838488656,
+              0.8078303123370555
+            ],
+            "closest_button": [
+              0.15448035299777985,
+              -0.38663902878761286,
+              0.772699773311615
+            ],
+            "closest_ee_minus_button": [
+              -0.0009200742233103909,
+              -0.0002882395972736984,
+              0.0351305390254405
+            ],
+            "button_min_z_position": [
+              0.15447266399860382,
+              -0.38663396239280695,
+              0.7690410614013672
+            ],
+            "min_active_finger_to_button": 0.14699672980382936,
+            "closest_active_finger": [
+              0.012215875089168549,
+              -0.3725736141204834,
+              0.8106499314308167
+            ],
+            "closest_active_finger_button": [
+              0.15449102222919464,
+              -0.3866356611251831,
+              0.7764727473258972
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1422751471400261,
+              0.014062047004699707,
+              0.034177184104919434
+            ],
+            "min_contact_pad_to_button": 0.021071757559029704,
+            "closest_contact_pad": [
+              0.15447266399860382,
+              -0.38788680457372465,
+              0.7900755415018175
+            ],
+            "closest_contact_pad_button": [
+              0.15447266399860382,
+              -0.38663396239280695,
+              0.7690410614013672
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012528421809177015,
+              0.02103448010045028
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 14,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f4a0968aa16625f078e67fbc8f72fdfbdfb5346d5803df31ae9f9c970a0b355c",
+    "visual_seed": 79957638558212363,
+    "episode_index": 14,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_15_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..fbac42a1ca9888df62a1f05a53720e8bc7d64c66
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_15_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 15,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3187843959099419,
+              -0.07417702626437638,
+              1.0493928797091097
+            ],
+            "current_z": 1.0493928797091097,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18828643129898848,
+            "gripper_z": 1.052910143106753,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3140863137836532,
+              -0.07876774086401574,
+              1.052910143106753
+            ],
+            "object_minus_gripper": [
+              0.004698082126288694,
+              0.004590714599639362,
+              -0.0035172633976432444
+            ],
+            "object_to_gripper_xy": 0.006568609913877919,
+            "object_to_gripper_z": -0.0035172633976432444,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3187843959099419,
+              -0.09852668309770711,
+              1.0493928797091097
+            ],
+            "finger_b": [
+              0.3076056864764317,
+              -0.07417702626437638,
+              1.0493928797091097
+            ],
+            "finger_midpoint": [
+              0.3131950411931868,
+              -0.08635185468104174,
+              1.0493928797091097
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055893547167550905,
+              0.012174828416665368,
+              0.0
+            ],
+            "finger_gap": 0.02679308366910796,
+            "fingertip_max_gap": 0.09432927462368343,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01339654183455398,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493928797091097,
+            "object_top_z": 1.1001414567539314,
+            "finger_top_clearance": 0.05074857704482172,
+            "fingertip_min_top_clearance": 0.015224573113446481,
+            "object_projection_between_fingers": 0.8259243863173652,
+            "object_to_finger_line_xy": 0.010159253854730068,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04966463731184172,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.400237347520302,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31884191072481227,
+              -0.07790004456445777,
+              1.2417237966217824
+            ],
+            "held_position": [
+              0.3237574936426877,
+              -0.0735831599208846,
+              1.2381109249110287
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007473372093425512,
+            "max_held_gripper_dist": 0.0074833551891721395,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003612871710753751,
+            "max_held_gripper_z_dist": 0.0036279254373505765,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08671004070734176,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3237574936426877,
+              -0.09878901116275421,
+              1.2381109249110287
+            ],
+            "held_grasp_finger_b": [
+              0.3146087794655229,
+              -0.0735831599208846,
+              1.2381109249110287
+            ],
+            "held_grasp_midpoint": [
+              0.3191831365541053,
+              -0.0861860855418194,
+              1.2381109249110287
+            ],
+            "held_grasp_object_position": [
+              0.3237574936426877,
+              -0.0735831599208846,
+              1.2381109249110287
+            ],
+            "held_grasp_finger_gap": 0.026814807624197412,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02493554638754481,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.028283415347184256,
+              -0.9995418535462833,
+              -0.01077642916551036
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004218282729567371,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699371999335723,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3002939877925201,
+              -0.3299438349006131,
+              0.8515395470015803
+            ],
+            "target_position": [
+              0.2943568977501073,
+              -0.33160926518729417,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006166254634015009,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1817722687471918,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395470015803,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07589360246788009,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08880893248572129,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.149280495249256,
+            "release_required_pad_clearance": 0.05440446624286065,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.8346886088415135,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007677137851715088,
+            "max_z_decrease": 0.007677137851715088,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035240310170054724,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007677137851715088,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021064954295710203,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007677137851715088,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007677163980850586,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1500568240880966,
+              -0.38787072896957386,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1500568240880966,
+              -0.38787072896957386,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15240040832063678,
+              -0.38663264488762794,
+              0.8079394411125744
+            ],
+            "closest_button": [
+              0.15004475414752957,
+              -0.3878750801086425,
+              0.7727999091148376
+            ],
+            "closest_ee_minus_button": [
+              0.002355654173107208,
+              0.0012424352210145817,
+              0.035139531997736784
+            ],
+            "button_min_z_position": [
+              0.15003679692745203,
+              -0.38787105679512013,
+              0.7691317200660706
+            ],
+            "min_active_finger_to_button": 0.1435355204490166,
+            "closest_active_finger": [
+              0.026158086955547333,
+              -0.45179903507232666,
+              0.8107274174690247
+            ],
+            "closest_active_finger_button": [
+              0.1500570029020309,
+              -0.3878716230392455,
+              0.7765983939170837
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12389891594648356,
+              -0.06392741203308117,
+              0.03412902355194092
+            ],
+            "min_contact_pad_to_button": 0.021064954295710203,
+            "closest_contact_pad": [
+              0.15003679692745203,
+              -0.38787105679512013,
+              0.7901966743617808
+            ],
+            "closest_contact_pad_button": [
+              0.15003679692745203,
+              -0.38787105679512013,
+              0.7691317200660706
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021064954295710203
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 15,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "19eef453dbb26bc729d440219b991e47cbacb0a27417b16b93542106769faa12",
+    "visual_seed": 262417619289528028,
+    "episode_index": 15,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_17_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..242c6a9a6d5bd5285e1d2adf444082868ab1d212
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_17_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 17,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3150964151634949,
+              -0.07707596513261204,
+              1.0511259997988245
+            ],
+            "current_z": 1.0511259997988245,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1900195513887034,
+            "gripper_z": 1.0545163165540494,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3105686931591394,
+              -0.08153031096850655,
+              1.0545163165540494
+            ],
+            "object_minus_gripper": [
+              0.004527722004355528,
+              0.004454345835894505,
+              -0.0033903167552249425
+            ],
+            "object_to_gripper_xy": 0.0063514930035760845,
+            "object_to_gripper_z": -0.0033903167552249425,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3150964151634949,
+              -0.10129188528739998,
+              1.0511259997988245
+            ],
+            "finger_b": [
+              0.30409452841776935,
+              -0.07707596513261204,
+              1.0511259997988245
+            ],
+            "finger_midpoint": [
+              0.3095954717906321,
+              -0.08918392521000601,
+              1.0511259997988245
+            ],
+            "object_minus_finger_midpoint": [
+              0.005500943372862777,
+              0.012107960077393967,
+              0.0
+            ],
+            "finger_gap": 0.0265979755039521,
+            "fingertip_max_gap": 0.09361669868886588,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01329898775197605,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0511259997988245,
+            "object_top_z": 1.1019988081798044,
+            "finger_top_clearance": 0.05087280838097996,
+            "fingertip_min_top_clearance": 0.015261842514293954,
+            "object_projection_between_fingers": 0.8289050557751041,
+            "object_to_finger_line_xy": 0.010016582312699808,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04930834934443294,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6624490849443065,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31544749716309806,
+              -0.0812951581355407,
+              1.2466357531259664
+            ],
+            "held_position": [
+              0.3202450465975727,
+              -0.0771568741512518,
+              1.2431622421013455
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00722545180241435,
+            "max_held_gripper_dist": 0.007234759999705695,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003473511024620901,
+            "max_held_gripper_z_dist": 0.0034871639671749666,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08657968087707574,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3202450465975727,
+              -0.10241962636231666,
+              1.2431622421013455
+            ],
+            "held_grasp_finger_b": [
+              0.3114285681012926,
+              -0.0771568741512518,
+              1.2431622421013455
+            ],
+            "held_grasp_midpoint": [
+              0.31583680734943265,
+              -0.08978825025678423,
+              1.2431622421013455
+            ],
+            "held_grasp_object_position": [
+              0.3202450465975727,
+              -0.0771568741512518,
+              1.2431622421013455
+            ],
+            "held_grasp_finger_gap": 0.02675699800712015,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024772085623917216,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05177990959725868,
+              -0.9986482024065008,
+              -0.004539690778539551
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003748720708086844,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0368776907986329,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3056265917500727,
+              -0.33554941229951296,
+              0.8515395736442594
+            ],
+            "target_position": [
+              0.29923087924391667,
+              -0.33710251861516755,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006581586259339497,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18468317488071379,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395736442594,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534036216139768,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08615207870235668,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15337310155448852,
+            "release_required_pad_clearance": 0.05307603935117834,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1809960688161818,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007901787757873535,
+            "max_z_decrease": 0.007901787757873535,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517362961084425,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007901787757873535,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021156620896998025,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007901787757873535,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007901811606790845,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1549308001995086,
+              -0.3933639824390411,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1549308001995086,
+              -0.3933639824390411,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15611371090968423,
+              -0.3943165912499836,
+              0.8079433746488283
+            ],
+            "closest_button": [
+              0.15492032468318936,
+              -0.3933711946010589,
+              0.7728027105331421
+            ],
+            "closest_ee_minus_button": [
+              0.0011933862264948691,
+              -0.000945396648924679,
+              0.03514066411568617
+            ],
+            "button_min_z_position": [
+              0.15491144359111783,
+              -0.39336547255516047,
+              0.7689070701599121
+            ],
+            "min_active_finger_to_button": 0.14489141743303385,
+            "closest_active_finger": [
+              0.014949522912502289,
+              -0.3782002925872803,
+              0.8108311891555786
+            ],
+            "closest_active_finger_button": [
+              0.15493206679821012,
+              -0.3933661878108978,
+              0.7766492366790771
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13998254388570783,
+              0.015165895223617554,
+              0.034181952476501465
+            ],
+            "min_contact_pad_to_button": 0.021156620896998025,
+            "closest_contact_pad": [
+              0.15491144359111783,
+              -0.39544288773099306,
+              0.7899614510334148
+            ],
+            "closest_contact_pad_button": [
+              0.15491144359111783,
+              -0.39336547255516047,
+              0.7689070701599121
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0020774151758325976,
+              0.021054380873502643
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 17,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f5a6caadfea49367dee7d19d56fac29f43284408d683e849bafd43992a744d78",
+    "visual_seed": 6784831473864385700,
+    "episode_index": 17,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_18_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4a12846751d670462d957fa187d8db14338679e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_18_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 18,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3116633031410591,
+              -0.07649071867774782,
+              1.0500392306524433
+            ],
+            "current_z": 1.0500392306524433,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.1889327822423219,
+            "gripper_z": 1.053821404709025,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30718121036576784,
+              -0.08090828007350283,
+              1.053821404709025
+            ],
+            "object_minus_gripper": [
+              0.004482092775291269,
+              0.0044175613957550125,
+              -0.0037821740565817663
+            ],
+            "object_to_gripper_xy": 0.006293171246008102,
+            "object_to_gripper_z": -0.0037821740565817663,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3116633031410591,
+              -0.10071600057958054,
+              1.0500392306524433
+            ],
+            "finger_b": [
+              0.30078364672454394,
+              -0.07649071867774782,
+              1.0500392306524433
+            ],
+            "finger_midpoint": [
+              0.30622347493280155,
+              -0.08860335962866417,
+              1.0500392306524433
+            ],
+            "object_minus_finger_midpoint": [
+              0.005439828208257558,
+              0.012112640950916354,
+              0.0
+            ],
+            "finger_gap": 0.02655618961682349,
+            "fingertip_max_gap": 0.10007429245921132,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013278094808411727,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500392306524433,
+            "object_top_z": 1.103787803892084,
+            "finger_top_clearance": 0.05374857323964077,
+            "fingertip_min_top_clearance": 0.016124571971892248,
+            "object_projection_between_fingers": 0.8321586983496218,
+            "object_to_finger_line_xy": 0.00992471990477859,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05253714622960566,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.751224080974008,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3115625660297858,
+              -0.07968267125879652,
+              1.2430577335113004
+            ],
+            "held_position": [
+              0.31620828323347894,
+              -0.07545545953141622,
+              1.2392087281590056
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007366603662936258,
+            "max_held_gripper_dist": 0.007379269292298866,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003849005352294821,
+            "max_held_gripper_z_dist": 0.0038666555866475605,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08693178832792092,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31620828323347894,
+              -0.10036853565837213,
+              1.2392087281590056
+            ],
+            "held_grasp_finger_b": [
+              0.3070253224762407,
+              -0.07545545953141622,
+              1.2392087281590056
+            ],
+            "held_grasp_midpoint": [
+              0.3116168028548598,
+              -0.08791199759489418,
+              1.2392087281590056
+            ],
+            "held_grasp_object_position": [
+              0.31620828323347894,
+              -0.07545545953141622,
+              1.2392087281590056
+            ],
+            "held_grasp_finger_gap": 0.02655161257582066,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0248722791361396,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0039399153813442925,
+              -0.9998146795498453,
+              0.018843662686115373
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004548436542660541,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03724793041369154,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29131549902200543,
+              -0.33841965980431,
+              0.8515395643878497
+            ],
+            "target_position": [
+              0.2963575415539577,
+              -0.33399190682833313,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006710230198010181,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17460851729598112,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395643878497,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515565365635167,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0887468717444395,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14278900504769676,
+            "release_required_pad_clearance": 0.05437343587221975,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.7710808046719335,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 140,
+            "max_placed_release_frames": 140
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007461428642272949,
+            "max_z_decrease": 0.007461428642272949,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035165374978798375,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007461428642272949,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02120201755023833,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007461428642272949,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00746144867625329,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1520574688911438,
+              -0.3902533650398254,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1520574688911438,
+              -0.3902533650398254,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15135391251060715,
+              -0.39151679925991983,
+              0.8081900275961746
+            ],
+            "closest_button": [
+              0.15204986929893494,
+              -0.39026018977165217,
+              0.7730540037155151
+            ],
+            "closest_ee_minus_button": [
+              -0.0006959567883277895,
+              -0.0012566094882676682,
+              0.035136023880659506
+            ],
+            "button_min_z_position": [
+              0.15204019844532013,
+              -0.39025419950485224,
+              0.7693474292755127
+            ],
+            "min_active_finger_to_button": 0.14667230095643388,
+            "closest_active_finger": [
+              0.010448262095451355,
+              -0.3732006847858429,
+              0.8105126023292542
+            ],
+            "closest_active_finger_button": [
+              0.15205805003643036,
+              -0.39025634527206415,
+              0.7763287425041199
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.141609787940979,
+              0.017055660486221258,
+              0.03418385982513428
+            ],
+            "min_contact_pad_to_button": 0.02120201755023833,
+            "closest_contact_pad": [
+              0.15204019844532013,
+              -0.39292507542468125,
+              0.7903805453076533
+            ],
+            "closest_contact_pad_button": [
+              0.15204019844532013,
+              -0.39025419950485224,
+              0.7693474292755127
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026708759198290077,
+              0.021033116032140642
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 18,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c12aafa142c2b8228c83c8073228b526fd8c5a242e8d967628d6be7de3feca3b",
+    "visual_seed": 5289582305706416081,
+    "episode_index": 18,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_19_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a780dcb7d64b00f38cc4944faeea4787a5d63e45
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_19_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 19,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.313330792258009,
+              -0.07436559212027566,
+              1.050174715424274
+            ],
+            "current_z": 1.050174715424274,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1890682670141527,
+            "gripper_z": 1.053627001494629,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30891818528986104,
+              -0.07875658044444178,
+              1.053627001494629
+            ],
+            "object_minus_gripper": [
+              0.004412606968147992,
+              0.004390988324166123,
+              -0.0034522860703549707
+            ],
+            "object_to_gripper_xy": 0.00622510069945149,
+            "object_to_gripper_z": -0.0034522860703549707,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.313330792258009,
+              -0.09851840781278225,
+              1.050174715424274
+            ],
+            "finger_b": [
+              0.30244824591181835,
+              -0.07436559212027566,
+              1.050174715424274
+            ],
+            "finger_midpoint": [
+              0.3078895190849137,
+              -0.08644199996652896,
+              1.050174715424274
+            ],
+            "object_minus_finger_midpoint": [
+              0.00544127317309534,
+              0.012076407846253301,
+              0.0
+            ],
+            "finger_gap": 0.026491287640527793,
+            "fingertip_max_gap": 0.09444627951527715,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013245643820263903,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050174715424274,
+            "object_top_z": 1.1013147654801323,
+            "finger_top_clearance": 0.05114005005585831,
+            "fingertip_min_top_clearance": 0.015342015016757492,
+            "object_projection_between_fingers": 0.8312456741471415,
+            "object_to_finger_line_xy": 0.009921908656587607,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049723139757638576,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.058996139699019,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3135829847707222,
+              -0.07793301910461803,
+              1.246936634287211
+            ],
+            "held_position": [
+              0.3182301696079095,
+              -0.07381700194076318,
+              1.2434151940790548
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007137118840523165,
+            "max_held_gripper_dist": 0.007146292609166892,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003521440208156257,
+            "max_held_gripper_z_dist": 0.0035355320488088537,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08639774362956859,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3182301696079095,
+              -0.0989202833645123,
+              1.2434151940790548
+            ],
+            "held_grasp_finger_b": [
+              0.30928614379561536,
+              -0.07381700194076318,
+              1.2434151940790548
+            ],
+            "held_grasp_midpoint": [
+              0.31375815670176244,
+              -0.08636864265263774,
+              1.2434151940790548
+            ],
+            "held_grasp_object_position": [
+              0.3182301696079095,
+              -0.07381700194076318,
+              1.2434151940790548
+            ],
+            "held_grasp_finger_gap": 0.026649021294804263,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02475970566082379,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0365394273647266,
+              -0.9993321119607537,
+              -0.00044749515957720465
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0040104007707481406,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037013587658166605,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30180325083640525,
+              -0.3311526977648209,
+              0.8515395942200383
+            ],
+            "target_position": [
+              0.29673407566062376,
+              -0.3322073741482675,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005177729158285433,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18319053997722284,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395942200383,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571657182474452,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08731383654543505,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1508407290870173,
+            "release_required_pad_clearance": 0.05365691827271753,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.323601858987782,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007520914077758789,
+            "max_z_decrease": 0.007520914077758789,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519213097588114,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007520914077758789,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021152522246576138,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007520914077758789,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007520939486407023,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15243400633335114,
+              -0.38846883177757263,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15243400633335114,
+              -0.38846883177757263,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15412883171933514,
+              -0.3891435780743299,
+              0.8081826149706668
+            ],
+            "closest_button": [
+              0.1524238437414169,
+              -0.3884760439395904,
+              0.7730381488800049
+            ],
+            "closest_ee_minus_button": [
+              0.0017049879779182375,
+              -0.0006675341347395225,
+              0.03514446609066191
+            ],
+            "button_min_z_position": [
+              0.15241453051567072,
+              -0.3884705305099487,
+              0.7692879438400269
+            ],
+            "min_active_finger_to_button": 0.14442935873175336,
+            "closest_active_finger": [
+              0.013064481317996979,
+              -0.3721120357513428,
+              0.8104884624481201
+            ],
+            "closest_active_finger_button": [
+              0.15243467688560486,
+              -0.3884712159633636,
+              0.7763100266456604
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13937019556760788,
+              0.01635918021202082,
+              0.03417843580245972
+            ],
+            "min_contact_pad_to_button": 0.021152522246576138,
+            "closest_contact_pad": [
+              0.15241453051567072,
+              -0.39038862260385226,
+              0.790353321123883
+            ],
+            "closest_contact_pad_button": [
+              0.15241453051567072,
+              -0.3884705305099487,
+              0.7692879438400269
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019180920939035895,
+              0.021065377283856157
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 19,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9abd1a7ca6f18f2eb7e7721e74bcca412b278a27b6ed5d05303aca8ea6bda717",
+    "visual_seed": 5299208413264425316,
+    "episode_index": 19,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_20_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b74995948ffcfdff28b7f8bc55526dc0d75006c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_20_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 20,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31499767520523075,
+              -0.07739806051599157,
+              1.0497701465639984
+            ],
+            "current_z": 1.0497701465639984,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1886636385492323,
+            "gripper_z": 1.053089993688828,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31075431951617505,
+              -0.08175572518939539,
+              1.053089993688828
+            ],
+            "object_minus_gripper": [
+              0.004243355689055706,
+              0.004357664673403816,
+              -0.003319847124829689
+            ],
+            "object_to_gripper_xy": 0.006082376912825528,
+            "object_to_gripper_z": -0.003319847124829689,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31499767520523075,
+              -0.1013490944254331,
+              1.0497701465639984
+            ],
+            "finger_b": [
+              0.3040709892851422,
+              -0.07739806051599157,
+              1.0497701465639984
+            ],
+            "finger_midpoint": [
+              0.30953433224518645,
+              -0.08937357747071234,
+              1.0497701465639984
+            ],
+            "object_minus_finger_midpoint": [
+              0.005463342960044304,
+              0.011975516954720766,
+              0.0
+            ],
+            "finger_gap": 0.026325738176307224,
+            "fingertip_max_gap": 0.09453748221983946,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013162869088153624,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497701465639984,
+            "object_top_z": 1.1007228579829547,
+            "finger_top_clearance": 0.0509527114189563,
+            "fingertip_min_top_clearance": 0.015285813425686889,
+            "object_projection_between_fingers": 0.8277275603108953,
+            "object_to_finger_line_xy": 0.00994104792948935,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04976874110991973,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.458396141587078,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3153662406817095,
+              -0.08073130166322443,
+              1.2462064613997568
+            ],
+            "held_position": [
+              0.31987722419099546,
+              -0.07666589861355026,
+              1.2428259730926208
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006950120529316968,
+            "max_held_gripper_dist": 0.006961423608724331,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003380488307135998,
+            "max_held_gripper_z_dist": 0.0033919010330671906,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0862525030078294,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31987722419099546,
+              -0.10164890267834521,
+              1.2428259730926208
+            ],
+            "held_grasp_finger_b": [
+              0.31097632691678045,
+              -0.07666589861355026,
+              1.2428259730926208
+            ],
+            "held_grasp_midpoint": [
+              0.315426775553888,
+              -0.08915740064594774,
+              1.2428259730926208
+            ],
+            "held_grasp_object_position": [
+              0.31987722419099546,
+              -0.07666589861355026,
+              1.2428259730926208
+            ],
+            "held_grasp_finger_gap": 0.026521245528588755,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024666472707091786,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.0339411819273123,
+              -0.9994226321236108,
+              -0.0015487312519695264
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004023955156252811,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03708490674284872,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29806543417196907,
+              -0.334913361787467,
+              0.8515395981452902
+            ],
+            "target_position": [
+              0.29252744774595946,
+              -0.3365226550869669,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005767071924164109,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18451468214153133,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395981452902,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07535611487873123,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08689746712482692,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15319765845204508,
+            "release_required_pad_clearance": 0.05344873356241346,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9110413306023442,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007913410663604736,
+            "max_z_decrease": 0.007913410663604736,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519814294185033,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007913410663604736,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021137163013205455,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007913410663604736,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007913432277147504,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14822737872600555,
+              -0.3927841186523437,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14822737872600555,
+              -0.3927841186523437,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15021668950955805,
+              -0.3937040339629152,
+              0.8077899704584299
+            ],
+            "closest_button": [
+              0.14821472764015198,
+              -0.39278858900070185,
+              0.7726607322692871
+            ],
+            "closest_ee_minus_button": [
+              0.0020019618694060715,
+              -0.000915444962213352,
+              0.03512923818914282
+            ],
+            "button_min_z_position": [
+              0.148208886384964,
+              -0.39278444647789,
+              0.7688954472541809
+            ],
+            "min_active_finger_to_button": 0.14413326349972425,
+            "closest_active_finger": [
+              0.008827395737171173,
+              -0.3796970248222351,
+              0.8106561899185181
+            ],
+            "closest_active_finger_button": [
+              0.14822663366794586,
+              -0.39278581738471985,
+              0.7764372825622559
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1393992379307747,
+              0.013088792562484741,
+              0.03421890735626221
+            ],
+            "min_contact_pad_to_button": 0.021137163013205455,
+            "closest_contact_pad": [
+              0.148208886384964,
+              -0.39459856455572395,
+              0.7899546171297125
+            ],
+            "closest_contact_pad_button": [
+              0.148208886384964,
+              -0.39278444647789,
+              0.7688954472541809
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018141180778339372,
+              0.02105916987553158
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 20,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "5acc991e038ee5cbe653400c3a990c2b7cba18a91b30645f8430cfc3d7c9e44b",
+    "visual_seed": 3192705674884793228,
+    "episode_index": 20,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_22_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7c6f67b9f052da252f3b9d52e8d62f40485be88
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_22_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 22,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3099294644150937,
+              -0.07647210981078247,
+              1.0515580248528815
+            ],
+            "current_z": 1.0515580248528815,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.19045151683811534,
+            "gripper_z": 1.0549897386538971,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30558146524943325,
+              -0.08094357637272309,
+              1.0549897386538971
+            ],
+            "object_minus_gripper": [
+              0.004347999165660477,
+              0.004471466561940626,
+              -0.00343171380101559
+            ],
+            "object_to_gripper_xy": 0.006236915099561427,
+            "object_to_gripper_z": -0.00343171380101559,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3099294644150937,
+              -0.10035573064350022,
+              1.0515580248528815
+            ],
+            "finger_b": [
+              0.2986475204884062,
+              -0.07647210981078247,
+              1.0515580248528815
+            ],
+            "finger_midpoint": [
+              0.30428849245174994,
+              -0.08841392022714134,
+              1.0515580248528815
+            ],
+            "object_minus_finger_midpoint": [
+              0.005640971963343788,
+              0.011941810416358875,
+              0.0
+            ],
+            "finger_gap": 0.02641419320831039,
+            "fingertip_max_gap": 0.09343435163182609,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013207096604155207,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0515580248528815,
+            "object_top_z": 1.1025522508625722,
+            "finger_top_clearance": 0.050994226009690724,
+            "fingertip_min_top_clearance": 0.015298267802907217,
+            "object_projection_between_fingers": 0.8175712957858996,
+            "object_to_finger_line_xy": 0.010201094119210576,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04921717581591305,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4451563253707251,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31060229926982047,
+              -0.08102600500137526,
+              1.247649069152856
+            ],
+            "held_position": [
+              0.3153125994757695,
+              -0.07696777904968809,
+              1.2441273196641829
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00714554724049036,
+            "max_held_gripper_dist": 0.007154579431689678,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035217494886730094,
+            "max_held_gripper_z_dist": 0.0035340181611249744,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08718993292775151,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3153125994757695,
+              -0.1022765770999792,
+              1.2441273196641829
+            ],
+            "held_grasp_finger_b": [
+              0.30678018287944947,
+              -0.07670839293343185,
+              1.2441273196641829
+            ],
+            "held_grasp_midpoint": [
+              0.31104639117760946,
+              -0.08949248501670552,
+              1.2441273196641829
+            ],
+            "held_grasp_object_position": [
+              0.3153125994757695,
+              -0.07696777904968809,
+              1.2441273196641829
+            ],
+            "held_grasp_finger_gap": 0.026954297886378722,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02479939554651718,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.08039797477487538,
+              -0.9967616157169723,
+              -0.0015643162689318309
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003245497682930384,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036893109406890924,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30519067218870133,
+              -0.3333042873162877,
+              0.8515395739143993
+            ],
+            "target_position": [
+              0.2992547734203039,
+              -0.3345140454271543,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006057921167815731,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18145222393572785,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395739143993,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756617416183237,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08569905309483698,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14938856078119486,
+            "release_required_pad_clearance": 0.05284952654741849,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7423005268631798,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007555723190307617,
+            "max_z_decrease": 0.007555723190307617,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035159881476763015,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007555723190307617,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021056040758076468,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007555723190307617,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007555743145125952,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15495470166206354,
+              -0.39077550172805786,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15495470166206354,
+              -0.39077550172805786,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1540338329149346,
+              -0.39006071196355185,
+              0.8081615233505536
+            ],
+            "closest_button": [
+              0.15494328737258906,
+              -0.390781819820404,
+              0.7730208039283752
+            ],
+            "closest_ee_minus_button": [
+              -0.0009094544576544461,
+              0.0007211078568521434,
+              0.035140719422178335
+            ],
+            "button_min_z_position": [
+              0.1549373716115951,
+              -0.39077660441398615,
+              0.769253134727478
+            ],
+            "min_active_finger_to_button": 0.14660503702116084,
+            "closest_active_finger": [
+              0.026432707905769348,
+              -0.4525226354598999,
+              0.8103834390640259
+            ],
+            "closest_active_finger_button": [
+              0.15495471656322474,
+              -0.39077755808830256,
+              0.7762854099273682
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1285220086574554,
+              -0.061745077371597346,
+              0.034098029136657715
+            ],
+            "min_contact_pad_to_button": 0.021056040758076468,
+            "closest_contact_pad": [
+              0.1549373716115951,
+              -0.3912977644139942,
+              0.7903027248579335
+            ],
+            "closest_contact_pad_button": [
+              0.1549373716115951,
+              -0.39077660441398615,
+              0.769253134727478
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0005211600000080696,
+              0.021049590130455487
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 22,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2caf8374945e703fec882628caeb1f20bfb6b246a8a1a7c1bcf4a1d06a3fb3c3",
+    "visual_seed": 6370286524383027395,
+    "episode_index": 22,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_23_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b212ff0a0f70852ff94cecd67d5a0142debe6e71
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_23_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 23,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3135534674293852,
+              -0.07726340111611063,
+              1.0491493162404262
+            ],
+            "current_z": 1.0491493162404262,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.188042867830305,
+            "gripper_z": 1.0524113964886477,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3094110882440952,
+              -0.08162814005361135,
+              1.0524113964886477
+            ],
+            "object_minus_gripper": [
+              0.004142379185290035,
+              0.004364738937500723,
+              -0.0032620802482214994
+            ],
+            "object_to_gripper_xy": 0.006017495434751827,
+            "object_to_gripper_z": -0.0032620802482214994,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3135534674293852,
+              -0.10098533209035233,
+              1.0491493162404262
+            ],
+            "finger_b": [
+              0.3024099766308934,
+              -0.07726340111611063,
+              1.0491493162404262
+            ],
+            "finger_midpoint": [
+              0.3079817220301393,
+              -0.08912436660323148,
+              1.0491493162404262
+            ],
+            "object_minus_finger_midpoint": [
+              0.005571745399245931,
+              0.011860965487120845,
+              0.0
+            ],
+            "finger_gap": 0.026208918259301727,
+            "fingertip_max_gap": 0.09641750112123129,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013104459129650869,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0491493162404262,
+            "object_top_z": 1.1011465094910355,
+            "finger_top_clearance": 0.051997193250609364,
+            "fingertip_min_top_clearance": 0.015599157975182826,
+            "object_projection_between_fingers": 0.8192225213459139,
+            "object_to_finger_line_xy": 0.010086075164132432,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05070875056061565,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.7448257694388274,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31432389809175604,
+              -0.0814694592104613,
+              1.244409068087731
+            ],
+            "held_position": [
+              0.3188096698441451,
+              -0.07748718342827736,
+              1.2410597250714006
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006870135898287765,
+            "max_held_gripper_dist": 0.006878969118222241,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003349343016330497,
+            "max_held_gripper_z_dist": 0.003360183101437153,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08657538417106056,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3188096698441451,
+              -0.1026166028968383,
+              1.2410597250714006
+            ],
+            "held_grasp_finger_b": [
+              0.3103583744415812,
+              -0.07745835720481802,
+              1.2410597250714006
+            ],
+            "held_grasp_midpoint": [
+              0.3145840221428632,
+              -0.09003748005082815,
+              1.2410597250714006
+            ],
+            "held_grasp_object_position": [
+              0.3188096698441451,
+              -0.07748718342827736,
+              1.2410597250714006
+            ],
+            "held_grasp_finger_gap": 0.026539813870512633,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02463868852296359,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05662832852986499,
+              -0.9983713317296061,
+              0.006922166450354704
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035092606545137394,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036951102351157776,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3013815034466356,
+              -0.33089337405889424,
+              0.8515396083483333
+            ],
+            "target_position": [
+              0.2964331458680214,
+              -0.3314240524826089,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0049767320919680965,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18084391421725,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396083483333,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534839294130714,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08674466840909255,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14939682040755115,
+            "release_required_pad_clearance": 0.053372334204546276,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.7605345164651458,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007484376430511475,
+            "max_z_decrease": 0.007484376430511475,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035228980318521265,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007484376430511475,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021152213299285228,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007484376430511475,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007484396845040054,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15213307738304138,
+              -0.3876855075359344,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15213307738304138,
+              -0.3876855075359344,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.154516381231876,
+              -0.38821165439557076,
+              0.808205736016
+            ],
+            "closest_button": [
+              0.15212272107601166,
+              -0.38769337534904474,
+              0.773061990737915
+            ],
+            "closest_ee_minus_button": [
+              0.002393660155864341,
+              -0.0005182790465260156,
+              0.03514374527808495
+            ],
+            "button_min_z_position": [
+              0.15211573243141174,
+              -0.3876876831054687,
+              0.7693244814872742
+            ],
+            "min_active_finger_to_button": 0.14378532861605106,
+            "closest_active_finger": [
+              0.013485811650753021,
+              -0.3708934485912323,
+              0.8105306625366211
+            ],
+            "closest_active_finger_button": [
+              0.152133509516716,
+              -0.3876883387565613,
+              0.7763404846191406
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13864769786596298,
+              0.01679489016532898,
+              0.03419017791748047
+            ],
+            "min_contact_pad_to_button": 0.021152213299285228,
+            "closest_contact_pad": [
+              0.15211573243141174,
+              -0.3894913389350544,
+              0.7903996553443711
+            ],
+            "closest_contact_pad_button": [
+              0.15211573243141174,
+              -0.3876876831054687,
+              0.7693244814872742
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001803655829585693,
+              0.021075173857096896
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 23,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "28d1a1c72a12cae39476c7f2cd4ab8e4b61db1fa45dd46074d0920ab1c79386b",
+    "visual_seed": 3366405512655475901,
+    "episode_index": 23,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_24_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b00814e47bdc5a42a76a6a3590507bdefa21ebb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_24_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 24,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31815677840121365,
+              -0.07569730662286919,
+              1.0525708130410933
+            ],
+            "current_z": 1.0525708130410933,
+            "required_z": 0.8611064484101214,
+            "initial_z": 0.7611064484101214,
+            "lift_margin": 0.19146436463097194,
+            "gripper_z": 1.0559773935052632,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.314047073155905,
+              -0.08004765341960059,
+              1.0559773935052632
+            ],
+            "object_minus_gripper": [
+              0.004109705245308626,
+              0.004350346796731394,
+              -0.0034065804641698616
+            ],
+            "object_to_gripper_xy": 0.005984579722515888,
+            "object_to_gripper_z": -0.0034065804641698616,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31815677840121365,
+              -0.09948363615804387,
+              1.0525708130410933
+            ],
+            "finger_b": [
+              0.30715630976739683,
+              -0.07569730662286919,
+              1.0525708130410933
+            ],
+            "finger_midpoint": [
+              0.3126565440843052,
+              -0.08759047139045653,
+              1.0525708130410933
+            ],
+            "object_minus_finger_midpoint": [
+              0.005500234316908437,
+              0.011893164767587339,
+              0.0
+            ],
+            "finger_gap": 0.026206865186807652,
+            "fingertip_max_gap": 0.09918127390117384,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013103432593403838,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0525708130410933,
+            "object_top_z": 1.105720581122509,
+            "finger_top_clearance": 0.053149768081415694,
+            "fingertip_min_top_clearance": 0.015944930424424724,
+            "object_projection_between_fingers": 0.8238055497787347,
+            "object_to_finger_line_xy": 0.009984436142978208,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.052090636950586924,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.6064750665203125,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3186347639454056,
+              -0.07880873238594907,
+              1.245323022329479
+            ],
+            "held_position": [
+              0.3229841520368137,
+              -0.07472087047658399,
+              1.241835392373512
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0069131291373356225,
+            "max_held_gripper_dist": 0.006924289577164001,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034876299559669643,
+            "max_held_gripper_z_dist": 0.0035002519991327308,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08596060614510904,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3229841520368137,
+              -0.09952479111422376,
+              1.241835392373512
+            ],
+            "held_grasp_finger_b": [
+              0.314147436352033,
+              -0.07472087047658399,
+              1.241835392373512
+            ],
+            "held_grasp_midpoint": [
+              0.3185657941944233,
+              -0.08712283079540387,
+              1.241835392373512
+            ],
+            "held_grasp_object_position": [
+              0.3229841520368137,
+              -0.07472087047658399,
+              1.241835392373512
+            ],
+            "held_grasp_finger_gap": 0.026331008774674407,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02460903618199161,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.02117365631838577,
+              -0.9996863852747732,
+              0.013371887464703188
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004158105796261868,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03722862639820642,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29502039901349597,
+              -0.3375990191104054,
+              0.8515395987883522
+            ],
+            "target_position": [
+              0.2920876228353799,
+              -0.33729588197607513,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0029484009620699397,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1803047406326512,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395987883522,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07560746826217268,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08744346762718568,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14800818924839568,
+            "release_required_pad_clearance": 0.05372173381359284,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.452738003654339,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007846236228942871,
+            "max_z_decrease": 0.007846236228942871,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514569793913006,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007846236228942871,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021145661154901258,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007846236228942871,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007846258299809328,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.147787556052208,
+              -0.3935573399066925,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.147787556052208,
+              -0.3935573399066925,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14828796965523774,
+              -0.3944656823877196,
+              0.8078267160324454
+            ],
+            "closest_button": [
+              0.14777597784996035,
+              -0.3935617208480835,
+              0.7726963758468628
+            ],
+            "closest_ee_minus_button": [
+              0.0005119918052773897,
+              -0.0009039615396361222,
+              0.03513034018558259
+            ],
+            "button_min_z_position": [
+              0.14776895940303802,
+              -0.3935566246509552,
+              0.7689626216888428
+            ],
+            "min_active_finger_to_button": 0.14556149603335478,
+            "closest_active_finger": [
+              0.0069999098777771,
+              -0.3795284926891327,
+              0.8106837868690491
+            ],
+            "closest_active_finger_button": [
+              0.14778728783130646,
+              -0.39355829358100886,
+              0.776475191116333
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14078737795352936,
+              0.014029800891876165,
+              0.034208595752716064
+            ],
+            "min_contact_pad_to_button": 0.021145661154901258,
+            "closest_contact_pad": [
+              0.14776895940303802,
+              -0.3955011185261625,
+              0.7900186880177462
+            ],
+            "closest_contact_pad_button": [
+              0.14776895940303802,
+              -0.3935566246509552,
+              0.7689626216888428
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019444938752072871,
+              0.021056066328903444
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 24,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1e8843de0a0ef62291ca244e2a06b7cedc10c61b8aaa5987da272fba2b2fa020",
+    "visual_seed": 4709446331923664038,
+    "episode_index": 24,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_25_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..25885edb00afdbb656dc0d798a5e38f8639e6da7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_25_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 25,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3177928192120362,
+              -0.07219263595315754,
+              1.0501425197233227
+            ],
+            "current_z": 1.0501425197233227,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18903607131320144,
+            "gripper_z": 1.0534636695217896,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3132223103978059,
+              -0.07670740888431983,
+              1.0534636695217896
+            ],
+            "object_minus_gripper": [
+              0.004570508814230323,
+              0.004514772931162286,
+              -0.0033211497984668714
+            ],
+            "object_to_gripper_xy": 0.006424385218907158,
+            "object_to_gripper_z": -0.0033211497984668714,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3177928192120362,
+              -0.09636800515557412,
+              1.0501425197233227
+            ],
+            "finger_b": [
+              0.3066083198192695,
+              -0.07219263595315754,
+              1.0501425197233227
+            ],
+            "finger_midpoint": [
+              0.3122005695156529,
+              -0.08428032055436582,
+              1.0501425197233227
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055922496963833335,
+              0.012087684601208279,
+              0.0
+            ],
+            "finger_gap": 0.026637220251744566,
+            "fingertip_max_gap": 0.0935632721781999,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013318610125872266,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0501425197233227,
+            "object_top_z": 1.1008881401387698,
+            "finger_top_clearance": 0.05074562041544706,
+            "fingertip_min_top_clearance": 0.01522368612463415,
+            "object_projection_between_fingers": 0.8236987883249359,
+            "object_to_finger_line_xy": 0.010150811518954592,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04928163608909995,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7920124336969139,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3181809053564594,
+              -0.07641427720305957,
+              1.243446244510449
+            ],
+            "held_position": [
+              0.3230250959905254,
+              -0.07222786975396099,
+              1.2400188916952475
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007262157912694505,
+            "max_held_gripper_dist": 0.00727098026998223,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034273528152015675,
+            "max_held_gripper_z_dist": 0.0034407732811223557,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08640354103749225,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3230250959905254,
+              -0.097471878015027,
+              1.2400188916952475
+            ],
+            "held_grasp_finger_b": [
+              0.31419557339919013,
+              -0.07222786975396099,
+              1.2400188916952475
+            ],
+            "held_grasp_midpoint": [
+              0.3186103346948578,
+              -0.084849873884494,
+              1.2400188916952475
+            ],
+            "held_grasp_object_position": [
+              0.3230250959905254,
+              -0.07222786975396099,
+              1.2400188916952475
+            ],
+            "held_grasp_finger_gap": 0.02674360525949464,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024742734418713604,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.052695031720293835,
+              -0.9985738449712651,
+              -0.008573783954652246
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037451034792440247,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03688361088771279,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30355839103302434,
+              -0.3308974557139405,
+              0.8515395664465122
+            ],
+            "target_position": [
+              0.2969734279493989,
+              -0.3325018157154884,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0067775887915450155,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1851320548533429,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395664465122,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07527784744062735,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08583916266397972,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1538887517997241,
+            "release_required_pad_clearance": 0.05291958133198986,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.8775892417372901,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007818818092346191,
+            "max_z_decrease": 0.007818818092346191,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519354753644315,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007818818092346191,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021064186629424664,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007818818092346191,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007818839297048201,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1526733487844467,
+              -0.388763278722763,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1526733487844467,
+              -0.388763278722763,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15410115793509266,
+              -0.3875411300502165,
+              0.8078166783749617
+            ],
+            "closest_button": [
+              0.15266205370426175,
+              -0.3887693881988525,
+              0.772674024105072
+            ],
+            "closest_ee_minus_button": [
+              0.0014391042308309066,
+              0.0012282581486359745,
+              0.03514265426988972
+            ],
+            "button_min_z_position": [
+              0.15265518426895136,
+              -0.38876456022262573,
+              0.7689900398254395
+            ],
+            "min_active_finger_to_button": 0.1443320775938885,
+            "closest_active_finger": [
+              0.027198828756809235,
+              -0.4514106214046478,
+              0.810563862323761
+            ],
+            "closest_active_finger_button": [
+              0.1526733189821243,
+              -0.3887653946876526,
+              0.7764540910720825
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12547449022531507,
+              -0.06264522671699524,
+              0.03410977125167847
+            ],
+            "min_contact_pad_to_button": 0.021064186629424664,
+            "closest_contact_pad": [
+              0.15265518426895136,
+              -0.38876456022262573,
+              0.7900542264548641
+            ],
+            "closest_contact_pad_button": [
+              0.15265518426895136,
+              -0.38876456022262573,
+              0.7689900398254395
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021064186629424664
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 25,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba715f63a4bca0c475eda5562aeb78ceed74abbb55335cbb6915f99d62aaa36b",
+    "visual_seed": 4063727203105481109,
+    "episode_index": 25,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_26_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..74ac244ec2e2379b050525491fb85df07bd87f57
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_26_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 26,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3108523077567763,
+              -0.07050463162585105,
+              1.0504755259200242
+            ],
+            "current_z": 1.0504755259200242,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18936907750990306,
+            "gripper_z": 1.0540022173266952,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30628844868278793,
+              -0.07503335057947474,
+              1.0540022173266952
+            ],
+            "object_minus_gripper": [
+              0.004563859073988374,
+              0.004528718953623695,
+              -0.0035266914066709454
+            ],
+            "object_to_gripper_xy": 0.006429471596339509,
+            "object_to_gripper_z": -0.0035266914066709454,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3108523077567763,
+              -0.09464479126455297,
+              1.0504755259200242
+            ],
+            "finger_b": [
+              0.299612077155683,
+              -0.07050463162585105,
+              1.0504755259200242
+            ],
+            "finger_midpoint": [
+              0.3052321924562297,
+              -0.08257471144520201,
+              1.0504755259200242
+            ],
+            "object_minus_finger_midpoint": [
+              0.005620115300546624,
+              0.01207007981935096,
+              0.0
+            ],
+            "finger_gap": 0.026628745583443608,
+            "fingertip_max_gap": 0.0943845618052315,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013314372791721792,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0504755259200242,
+            "object_top_z": 1.1017928640636212,
+            "finger_top_clearance": 0.05131733814359696,
+            "fingertip_min_top_clearance": 0.015395201443079086,
+            "object_projection_between_fingers": 0.8218240735452746,
+            "object_to_finger_line_xy": 0.010189776316572762,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04969228090261575,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8235526331505,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3112602454946724,
+              -0.074578673910236,
+              1.247393835078742
+            ],
+            "held_position": [
+              0.316139956020589,
+              -0.07042229318425985,
+              1.2437820078683945
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007357470445296572,
+            "max_held_gripper_dist": 0.00736651271056855,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036118272103473625,
+            "max_held_gripper_z_dist": 0.003625706734547096,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655672424576609,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.316139956020589,
+              -0.09577585213256964,
+              1.2437820078683945
+            ],
+            "held_grasp_finger_b": [
+              0.3072753100084875,
+              -0.07042229318425985,
+              1.2437820078683945
+            ],
+            "held_grasp_midpoint": [
+              0.31170763301453824,
+              -0.08309907265841475,
+              1.2437820078683945
+            ],
+            "held_grasp_object_position": [
+              0.316139956020589,
+              -0.07042229318425985,
+              1.2437820078683945
+            ],
+            "held_grasp_finger_gap": 0.026858609425383248,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024775965318492417,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05999221575063593,
+              -0.9981941835542808,
+              0.0030505684276794787
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00366403998482545,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03680045765473785,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30314597550585454,
+              -0.33343730018244344,
+              0.8515395155150858
+            ],
+            "target_position": [
+              0.2967350334817373,
+              -0.33488422642552695,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006572196983468786,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18128489165986805,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395155150858,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07517812932343713,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08529472678642107,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15043823080582336,
+            "release_required_pad_clearance": 0.052647363393210536,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.35387741284694746,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007589519023895264,
+            "max_z_decrease": 0.007589519023895264,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517007019341714,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007589519023895264,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.0210596196513603,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007589519023895264,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007589539377974001,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15243496000766754,
+              -0.3911456763744354,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15243496000766754,
+              -0.3911456763744354,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15341349467964466,
+              -0.3902242080299692,
+              0.808154295296156
+            ],
+            "closest_button": [
+              0.15242424607276917,
+              -0.3911515474319458,
+              0.7730103731155396
+            ],
+            "closest_ee_minus_button": [
+              0.0009892486068754924,
+              0.0009273394019765901,
+              0.03514392218061646
+            ],
+            "button_min_z_position": [
+              0.15241742134094238,
+              -0.39114683866500854,
+              0.7692193388938904
+            ],
+            "min_active_finger_to_button": 0.14485942009952396,
+            "closest_active_finger": [
+              0.026369363069534302,
+              -0.453823983669281,
+              0.8103825449943542
+            ],
+            "closest_active_finger_button": [
+              0.15243466198444366,
+              -0.39114764332771296,
+              0.7762728929519653
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12606529891490936,
+              -0.06267634034156805,
+              0.034109652042388916
+            ],
+            "min_contact_pad_to_button": 0.0210596196513603,
+            "closest_contact_pad": [
+              0.15241742134094238,
+              -0.3912964209198918,
+              0.7902784273121716
+            ],
+            "closest_contact_pad_button": [
+              0.15241742134094238,
+              -0.39114683866500854,
+              0.7692193388938904
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0001495822548832626,
+              0.02105908841828119
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 26,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7b3d2feb8297c14c2c47f70c895ba7f42f713cec385e32089b390bfc9ccd1d5f",
+    "visual_seed": 7097447048982552533,
+    "episode_index": 26,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_28_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..49cf54e102b74cca49a8b6f3b98c5ccd1befdd8a
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_28_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 28,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3168774990554349,
+              -0.07721841056281252,
+              1.0497299908801494
+            ],
+            "current_z": 1.0497299908801494,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18862354247002822,
+            "gripper_z": 1.0528321984931794,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31262485905986603,
+              -0.08160792642585353,
+              1.0528321984931794
+            ],
+            "object_minus_gripper": [
+              0.004252639995568852,
+              0.00438951586304101,
+              -0.003102207613030039
+            ],
+            "object_to_gripper_xy": 0.0061116934186688805,
+            "object_to_gripper_z": -0.003102207613030039,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3168774990554349,
+              -0.10109228036868831,
+              1.0497299908801494
+            ],
+            "finger_b": [
+              0.30578167794501815,
+              -0.07721841056281252,
+              1.0497299908801494
+            ],
+            "finger_midpoint": [
+              0.3113295885002265,
+              -0.08915534546575041,
+              1.0497299908801494
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055479105552083685,
+              0.011936934902937887,
+              0.0
+            ],
+            "finger_gap": 0.02632639180788506,
+            "fingertip_max_gap": 0.09371069028296972,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01316319590394252,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497299908801494,
+            "object_top_z": 1.1004110799754,
+            "finger_top_clearance": 0.05068108909525071,
+            "fingertip_min_top_clearance": 0.015204326728575229,
+            "object_projection_between_fingers": 0.8223618622416021,
+            "object_to_finger_line_xy": 0.01006215323818272,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04935534514148486,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.0548707468508534,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31763621271118314,
+              -0.08134730950061313,
+              1.2448492670737918
+            ],
+            "held_position": [
+              0.3222111902973204,
+              -0.07732264663885832,
+              1.241653875429973
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006880324034653726,
+            "max_held_gripper_dist": 0.0068894597628756885,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003195391643818768,
+            "max_held_gripper_z_dist": 0.0032087341791919854,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08667849386114443,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3222111902973204,
+              -0.10248713938883205,
+              1.241653875429973
+            ],
+            "held_grasp_finger_b": [
+              0.313690071228792,
+              -0.07732264663885832,
+              1.241653875429973
+            ],
+            "held_grasp_midpoint": [
+              0.3179506307630562,
+              -0.08990489301384519,
+              1.241653875429973
+            ],
+            "held_grasp_object_position": [
+              0.3222111902973204,
+              -0.07732264663885832,
+              1.241653875429973
+            ],
+            "held_grasp_finger_gap": 0.02656804783087232,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02461684176145663,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05904777485314303,
+              -0.9982317200388687,
+              -0.006840569649841256
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035112480691629846,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036908676069111454,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.306447936442946,
+              -0.3311550285017093,
+              0.8515395554678231
+            ],
+            "target_position": [
+              0.29945400863961313,
+              -0.33294422561992365,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007219158707637537,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841915836391983,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395554678231,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07526874444134894,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08562554505201818,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15295949300684428,
+            "release_required_pad_clearance": 0.05281277252600909,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6714358753521843,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007674157619476318,
+            "max_z_decrease": 0.007674157619476318,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513664419463047,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007674157619476318,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021124719432704376,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007674157619476318,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007674178217973964,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1551539301872253,
+              -0.3892056941986084,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1551539301872253,
+              -0.3892056941986084,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15546518468173406,
+              -0.389336130304439,
+              0.8080265004090631
+            ],
+            "closest_button": [
+              0.15514540672302246,
+              -0.38921463489532465,
+              0.7728915214538574
+            ],
+            "closest_ee_minus_button": [
+              0.0003197779587116034,
+              -0.00012149540911432499,
+              0.035134978955205676
+            ],
+            "button_min_z_position": [
+              0.1551362723112106,
+              -0.3892077803611755,
+              0.7691347002983093
+            ],
+            "min_active_finger_to_button": 0.14584084791018437,
+            "closest_active_finger": [
+              0.014499425888061523,
+              -0.3714596629142761,
+              0.8103578686714172
+            ],
+            "closest_active_finger_button": [
+              0.15515421330928797,
+              -0.3892103433609008,
+              0.776142418384552
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14065478742122645,
+              0.0177506804466247,
+              0.034215450286865234
+            ],
+            "min_contact_pad_to_button": 0.021124719432704376,
+            "closest_contact_pad": [
+              0.1551362723112106,
+              -0.3906788186544686,
+              0.7902081389700151
+            ],
+            "closest_contact_pad_button": [
+              0.1551362723112106,
+              -0.3892077803611755,
+              0.7691347002983093
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001471038293293092,
+              0.021073438671705746
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 28,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6b2cd94ea2d24e570571025315868256fc40f56de7797ec3f57ba4b188262dd6",
+    "visual_seed": 7346967324018861819,
+    "episode_index": 28,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_29_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..58cffb6d2be98383e902c8d39c817f986284da43
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_29_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 29,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3122439182025248,
+              -0.07082300005626672,
+              1.0512886928288017
+            ],
+            "current_z": 1.0512886928288017,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1901821848140357,
+            "gripper_z": 1.0546648118407411,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.307820848035669,
+              -0.07532538578946177,
+              1.0546648118407411
+            ],
+            "object_minus_gripper": [
+              0.00442307016685578,
+              0.004502385733195044,
+              -0.00337611901193946
+            ],
+            "object_to_gripper_xy": 0.006311499583411845,
+            "object_to_gripper_z": -0.00337611901193946,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3122439182025248,
+              -0.09479482365856153,
+              1.0512886928288017
+            ],
+            "finger_b": [
+              0.30096228050198653,
+              -0.07082300005626672,
+              1.0512886928288017
+            ],
+            "finger_midpoint": [
+              0.30660309935225566,
+              -0.08280891185741412,
+              1.0512886928288017
+            ],
+            "object_minus_finger_midpoint": [
+              0.005640818850269125,
+              0.0119859118011474,
+              0.0
+            ],
+            "finger_gap": 0.02649384222844516,
+            "fingertip_max_gap": 0.09479127263052681,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01324692111422258,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512886928288017,
+            "object_top_z": 1.1027642479577244,
+            "finger_top_clearance": 0.05147555512892277,
+            "fingertip_min_top_clearance": 0.015442666538676847,
+            "object_projection_between_fingers": 0.818676369592158,
+            "object_to_finger_line_xy": 0.010207708892141799,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049895636315263406,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.9885968021796607,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3126823447995435,
+              -0.07481383774740312,
+              1.2461130833757021
+            ],
+            "held_position": [
+              0.31741547017305677,
+              -0.0706729923848548,
+              1.2426442111549267
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007182071470126181,
+            "max_held_gripper_dist": 0.007191512566258876,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034688722207754097,
+            "max_held_gripper_z_dist": 0.0034827717139167547,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08656679220982322,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31741547017305677,
+              -0.09586567892077645,
+              1.2426442111549267
+            ],
+            "held_grasp_finger_b": [
+              0.30857561987509663,
+              -0.0706729923848548,
+              1.2426442111549267
+            ],
+            "held_grasp_midpoint": [
+              0.31299554502407667,
+              -0.08326933565281563,
+              1.2426442111549267
+            ],
+            "held_grasp_object_position": [
+              0.31741547017305677,
+              -0.0706729923848548,
+              1.2426442111549267
+            ],
+            "held_grasp_finger_gap": 0.026698584385460473,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024631504130973307,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05857726838103479,
+              -0.9982785431980539,
+              0.002941737477667904
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0036746668987610535,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03688668372125663,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30041498728989907,
+              -0.33312535847237357,
+              0.8515395587555659
+            ],
+            "target_position": [
+              0.2958213940808139,
+              -0.33370985785441676,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004630630421245258,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1803168564120881,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395587555659,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579021413787543,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08704241799898486,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14786388651295745,
+            "release_required_pad_clearance": 0.053521208999492434,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0543452758810843,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007414042949676514,
+            "max_z_decrease": 0.007414042949676514,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515450783551448,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007414042949676514,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02115893112795206,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007414042949676514,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007414066500861062,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15152132511138916,
+              -0.38997131586074824,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15152132511138916,
+              -0.38997131586074824,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15091127105414717,
+              -0.39078867344166596,
+              0.8082390552761423
+            ],
+            "closest_button": [
+              0.1515103578567505,
+              -0.38997787237167353,
+              0.7730990052223206
+            ],
+            "closest_ee_minus_button": [
+              -0.0005990868026033158,
+              -0.0008108010699924284,
+              0.0351400500538217
+            ],
+            "button_min_z_position": [
+              0.15150268375873566,
+              -0.3899726271629333,
+              0.7693948149681091
+            ],
+            "min_active_finger_to_button": 0.14661979030322467,
+            "closest_active_finger": [
+              0.009988181293010712,
+              -0.37269604206085205,
+              0.810538649559021
+            ],
+            "closest_active_finger_button": [
+              0.15152116119861603,
+              -0.38997346162796015,
+              0.7763733267784119
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14153297990560532,
+              0.0172774195671081,
+              0.03416532278060913
+            ],
+            "min_contact_pad_to_button": 0.02115893112795206,
+            "closest_contact_pad": [
+              0.15150268375873566,
+              -0.3921751130975534,
+              0.7904388027599992
+            ],
+            "closest_contact_pad_button": [
+              0.15150268375873566,
+              -0.3899726271629333,
+              0.7693948149681091
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00220248593462008,
+              0.021043987791890095
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 29,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aca72d62d0e4cac51057c0131642985a6d5c15780a12ff4c06cd209f6185d7b5",
+    "visual_seed": 6868349361862833988,
+    "episode_index": 29,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_2_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..f01960cb5eb424db5ee0051262f7dc491ad91d96
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_2_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 2,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31029180356028685,
+              -0.07312621309992189,
+              1.0486168239520564
+            ],
+            "current_z": 1.0486168239520564,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.1875103755419354,
+            "gripper_z": 1.0523011151594248,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.305769821347991,
+              -0.07765471903748945,
+              1.0523011151594248
+            ],
+            "object_minus_gripper": [
+              0.0045219822122958275,
+              0.004528505937567567,
+              -0.003684291207368462
+            ],
+            "object_to_gripper_xy": 0.006399663206365205,
+            "object_to_gripper_z": -0.003684291207368462,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31029180356028685,
+              -0.0972417914457827,
+              1.0486168239520564
+            ],
+            "finger_b": [
+              0.29908106587056776,
+              -0.07312621309992189,
+              1.0486168239520564
+            ],
+            "finger_midpoint": [
+              0.30468643471542733,
+              -0.08518400227285229,
+              1.0486168239520564
+            ],
+            "object_minus_finger_midpoint": [
+              0.005605368844859515,
+              0.012057789172930405,
+              0.0
+            ],
+            "finger_gap": 0.026594017344189255,
+            "fingertip_max_gap": 0.09755632063132288,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013297008672094615,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486168239520564,
+            "object_top_z": 1.1012334009236722,
+            "finger_top_clearance": 0.052616576971615814,
+            "fingertip_min_top_clearance": 0.01578497309148471,
+            "object_projection_between_fingers": 0.8222946566196742,
+            "object_to_finger_line_xy": 0.010165948964096148,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051278160315661445,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.9466632306192873,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31012734630488803,
+              -0.07636496389973646,
+              1.2417558102117996
+            ],
+            "held_position": [
+              0.31486420071106086,
+              -0.07208790718117357,
+              1.2379952467085724
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007407620515448073,
+            "max_held_gripper_dist": 0.007416736984274309,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037605635032271767,
+            "max_held_gripper_z_dist": 0.003772517147341947,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08687605902160499,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31486420071106086,
+              -0.09707380648579811,
+              1.2379952467085724
+            ],
+            "held_grasp_finger_b": [
+              0.3056044695589339,
+              -0.07208790718117357,
+              1.2379952467085724
+            ],
+            "held_grasp_midpoint": [
+              0.3102343351349974,
+              -0.08458085683348585,
+              1.2379952467085724
+            ],
+            "held_grasp_object_position": [
+              0.31486420071106086,
+              -0.07208790718117357,
+              1.2379952467085724
+            ],
+            "held_grasp_finger_gap": 0.026646534203729155,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024750588407284956,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.024492088519899133,
+              -0.9996589779624364,
+              0.009058994371929809
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0043239930716950335,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03711816571140422,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2959314015918532,
+              -0.3386312216016898,
+              0.8515396055568621
+            ],
+            "target_position": [
+              0.29237140114100063,
+              -0.33880391254037745,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0035641864948926893,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18025065522354064,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396055568621,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586505194160142,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08893617487051501,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1476417491779208,
+            "release_required_pad_clearance": 0.05446808743525751,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.965558121374911,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007913947105407715,
+            "max_z_decrease": 0.007913947105407715,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519377491085214,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007913947105407715,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021058721230235587,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007913947105407715,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007913973129256343,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14807133376598358,
+              -0.3950653672218323,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14807133376598358,
+              -0.3950653672218323,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1498825272255929,
+              -0.3943007886531752,
+              0.8077874029386883
+            ],
+            "closest_button": [
+              0.14805932343006128,
+              -0.39506930112838745,
+              0.7726492881774902
+            ],
+            "closest_ee_minus_button": [
+              0.0018232037955316083,
+              0.0007685124752122574,
+              0.0351381147611981
+            ],
+            "button_min_z_position": [
+              0.14805103838443753,
+              -0.39506533741950983,
+              0.7688949108123779
+            ],
+            "min_active_finger_to_button": 0.1442015113207737,
+            "closest_active_finger": [
+              0.023091338574886322,
+              -0.4583890438079834,
+              0.8105515837669373
+            ],
+            "closest_active_finger_button": [
+              0.14807057380676264,
+              -0.39506652951240534,
+              0.7764264345169067
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12497923523187632,
+              -0.06332251429557806,
+              0.03412514925003052
+            ],
+            "min_contact_pad_to_button": 0.021058721230235587,
+            "closest_contact_pad": [
+              0.14805103838443753,
+              -0.3952859135784007,
+              0.7899524768163325
+            ],
+            "closest_contact_pad_button": [
+              0.14805103838443753,
+              -0.39506533741950983,
+              0.7688949108123779
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0002205761588908728,
+              0.021057566003954586
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 2,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b6795499bd37195b037d879ff9f697807d8dad4041d86a502ffecf6efdadaaaa",
+    "visual_seed": 7470630142174115229,
+    "episode_index": 2,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_30_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..78e423f8cb8c44877eb435a13bca9d20e6494951
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_30_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 30,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31299598290796377,
+              -0.06936798778632075,
+              1.049263824982447
+            ],
+            "current_z": 1.049263824982447,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.18815737657232612,
+            "gripper_z": 1.0539124721681021,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3081680854565414,
+              -0.07393310400899877,
+              1.0539124721681021
+            ],
+            "object_minus_gripper": [
+              0.004827897451422369,
+              0.004565116222678023,
+              -0.004648647185655053
+            ],
+            "object_to_gripper_xy": 0.006644462350559951,
+            "object_to_gripper_z": -0.004648647185655053,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31299598290796377,
+              -0.0938339036898132,
+              1.049263824982447
+            ],
+            "finger_b": [
+              0.3018906217795511,
+              -0.06936798778632075,
+              1.049263824982447
+            ],
+            "finger_midpoint": [
+              0.30744330234375744,
+              -0.08160094573806698,
+              1.049263824982447
+            ],
+            "object_minus_finger_midpoint": [
+              0.005552680564206325,
+              0.012232957951746226,
+              0.0
+            ],
+            "finger_gap": 0.026868384521389142,
+            "fingertip_max_gap": 0.09540436405986816,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013434192260694571,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049263824982447,
+            "object_top_z": 1.100166787775576,
+            "finger_top_clearance": 0.050902962793129,
+            "fingertip_min_top_clearance": 0.015270888837938701,
+            "object_projection_between_fingers": 0.829162872150771,
+            "object_to_finger_line_xy": 0.010112362030153456,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05020218202993408,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.3666751350514574,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3125549284159369,
+              -0.07226707911373988,
+              1.2426564977502148
+            ],
+            "held_position": [
+              0.31750842221608955,
+              -0.06787095579903679,
+              1.23793481958998
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008133710449423761,
+            "max_held_gripper_dist": 0.008152427578495948,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.004721678160234832,
+            "max_held_gripper_z_dist": 0.004740417825428445,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08678461685709771,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31750842221608955,
+              -0.09294500430578387,
+              1.23793481958998
+            ],
+            "held_grasp_finger_b": [
+              0.30794037354477666,
+              -0.06787095579903679,
+              1.23793481958998
+            ],
+            "held_grasp_midpoint": [
+              0.3127243978804331,
+              -0.08040798005241033,
+              1.23793481958998
+            ],
+            "held_grasp_object_position": [
+              0.31750842221608955,
+              -0.06787095579903679,
+              1.23793481958998
+            ],
+            "held_grasp_finger_gap": 0.026837575596452775,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02514159813203216,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.007192357869833093,
+              -0.999949461497028,
+              -0.007024559778087578
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00487486473126896,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037218267834239045,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2988920996146054,
+              -0.33256094894580535,
+              0.851539600630945
+            ],
+            "target_position": [
+              0.29975662607433734,
+              -0.3299506147449636,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0027497728341920654,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17715094649110938,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539600630945,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07542599211527325,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09075345352794682,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14491607437219622,
+            "release_required_pad_clearance": 0.05537672676397341,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 5.877031662293505,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 143,
+            "max_placed_release_frames": 143
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007613003253936768,
+            "max_z_decrease": 0.007613003253936768,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519912511538278,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007613003253936768,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021251388292317486,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007613003253936768,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007613023853342382,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15545655786991117,
+              -0.3862120807170868,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15545655786991117,
+              -0.3862120807170868,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1568612241531291,
+              -0.387702377689485,
+              0.80810046687099
+            ],
+            "closest_button": [
+              0.15544848144054413,
+              -0.38621991872787476,
+              0.7729609608650208
+            ],
+            "closest_ee_minus_button": [
+              0.0014127427125849579,
+              -0.0014824589616102557,
+              0.03513950600596927
+            ],
+            "button_min_z_position": [
+              0.15543898940086365,
+              -0.38621431589126587,
+              0.7691958546638489
+            ],
+            "min_active_finger_to_button": 0.14463034933381144,
+            "closest_active_finger": [
+              0.015787199139595032,
+              -0.37072131037712097,
+              0.8104302883148193
+            ],
+            "closest_active_finger_button": [
+              0.15545785427093503,
+              -0.38621434569358826,
+              0.7762248516082764
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13967065513134,
+              0.015493035316467285,
+              0.03420543670654297
+            ],
+            "min_contact_pad_to_button": 0.021251388292317486,
+            "closest_contact_pad": [
+              0.15543898940086365,
+              -0.38896782399109225,
+              0.7902681041283707
+            ],
+            "closest_contact_pad_button": [
+              0.15543898940086365,
+              -0.38621431589126587,
+              0.7691958546638489
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002753508099826385,
+              0.021072249464521797
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 30,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "aad202025b50c5da782387d27287aea995bf7b49ae4abe4940b3aac75f357120",
+    "visual_seed": 6940794995378230309,
+    "episode_index": 30,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_32_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfec869d0e74c31078b641c802bf39ee7603a673
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_32_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 32,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31122498620595085,
+              -0.07360626200462372,
+              1.0497768775806078
+            ],
+            "current_z": 1.0497768775806078,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.1886703695658417,
+            "gripper_z": 1.0532397086588363,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30690204026105616,
+              -0.07809544263446205,
+              1.0532397086588363
+            ],
+            "object_minus_gripper": [
+              0.004322945944894685,
+              0.00448918062983833,
+              -0.0034628310782285343
+            ],
+            "object_to_gripper_xy": 0.006232223068038969,
+            "object_to_gripper_z": -0.0034628310782285343,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31122498620595085,
+              -0.09741203023179844,
+              1.0497768775806078
+            ],
+            "finger_b": [
+              0.2998459759472659,
+              -0.07360626200462372,
+              1.0497768775806078
+            ],
+            "finger_midpoint": [
+              0.3055354810766084,
+              -0.08550914611821109,
+              1.0497768775806078
+            ],
+            "object_minus_finger_midpoint": [
+              0.005689505129342465,
+              0.011902884113587364,
+              0.0
+            ],
+            "finger_gap": 0.026385535343312973,
+            "fingertip_max_gap": 0.09262305046355127,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013192767671656492,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497768775806078,
+            "object_top_z": 1.0998490281397197,
+            "finger_top_clearance": 0.05007215055911196,
+            "fingertip_min_top_clearance": 0.015021645167733555,
+            "object_projection_between_fingers": 0.8140153260592655,
+            "object_to_finger_line_xy": 0.01026646142851709,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048811525231775635,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8840459591885628,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31191109832038466,
+              -0.07767959403133362,
+              1.2455414280831114
+            ],
+            "held_position": [
+              0.316593290788269,
+              -0.07360660321390144,
+              1.241984125204754
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0071530821520215115,
+            "max_held_gripper_dist": 0.0071627875845564175,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035573028783573157,
+            "max_held_gripper_z_dist": 0.003568924535997109,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663198046299095,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.316593290788269,
+              -0.09885907569751477,
+              1.241984125204754
+            ],
+            "held_grasp_finger_b": [
+              0.30797604335968504,
+              -0.07359133639508728,
+              1.241984125204754
+            ],
+            "held_grasp_midpoint": [
+              0.312284667073977,
+              -0.08622520604630102,
+              1.241984125204754
+            ],
+            "held_grasp_object_position": [
+              0.316593290788269,
+              -0.07360660321390144,
+              1.241984125204754
+            ],
+            "held_grasp_finger_gap": 0.026696733933215047,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024599254174377833,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07016149675264818,
+              -0.9974716317194958,
+              -0.011300809186720604
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034157151929283436,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03683125222410252,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30724691644822044,
+              -0.32895289722714394,
+              0.8515395920409381
+            ],
+            "target_position": [
+              0.29956422567750757,
+              -0.3313417766703329,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.008045525618161157,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18323492116450232,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395920409381,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07569283300268771,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0859826763294214,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1512112771818435,
+            "release_required_pad_clearance": 0.0529913381647107,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0164384110853062,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007755398750305176,
+            "max_z_decrease": 0.007755398750305176,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035213108591181354,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007755398750305176,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02104498244560915,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007755398750305176,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0077554231551498895,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15526415407657623,
+              -0.387603223323822,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15526415407657623,
+              -0.387603223323822,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15375792297902388,
+              -0.38589874788529127,
+              0.8070388513612314
+            ],
+            "closest_button": [
+              0.15525071322917938,
+              -0.38760146498680115,
+              0.771898627281189
+            ],
+            "closest_ee_minus_button": [
+              -0.0014927902501555013,
+              0.0017027171015098763,
+              0.03514022408004247
+            ],
+            "button_min_z_position": [
+              0.1552447080612183,
+              -0.3876038491725921,
+              0.7690534591674805
+            ],
+            "min_active_finger_to_button": 0.14657545796114485,
+            "closest_active_finger": [
+              0.02716945856809616,
+              -0.4501531720161438,
+              0.8105748295783997
+            ],
+            "closest_active_finger_button": [
+              0.15526443719863892,
+              -0.3876053392887115,
+              0.7764601707458496
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12809497863054276,
+              -0.0625478327274323,
+              0.03411465883255005
+            ],
+            "min_contact_pad_to_button": 0.02104498244560915,
+            "closest_contact_pad": [
+              0.1552447080612183,
+              -0.3876038491725921,
+              0.7900984416130896
+            ],
+            "closest_contact_pad_button": [
+              0.1552447080612183,
+              -0.3876038491725921,
+              0.7690534591674805
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02104498244560915
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 32,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "67c703090f74b544c5568e4a09cde74c3e15e56b79e527201b67f543d04938e1",
+    "visual_seed": 6435232924913598712,
+    "episode_index": 32,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_34_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d8795d759a72ab6c780b41232a12e3ab5d9b847
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_34_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 34,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3119822856274279,
+              -0.07506640499174255,
+              1.0514532029460208
+            ],
+            "current_z": 1.0514532029460208,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19034675453589955,
+            "gripper_z": 1.054931186216686,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30757512931792413,
+              -0.07948547830318074,
+              1.054931186216686
+            ],
+            "object_minus_gripper": [
+              0.004407156309503779,
+              0.00441907331143819,
+              -0.0034779832706650637
+            ],
+            "object_to_gripper_xy": 0.006241092505985171,
+            "object_to_gripper_z": -0.0034779832706650637,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3119822856274279,
+              -0.09914574479630955,
+              1.0514532029460208
+            ],
+            "finger_b": [
+              0.30096955183216345,
+              -0.07506640499174255,
+              1.0514532029460208
+            ],
+            "finger_midpoint": [
+              0.3064759187297957,
+              -0.08710607489402605,
+              1.0514532029460208
+            ],
+            "object_minus_finger_midpoint": [
+              0.005506366897632231,
+              0.0120396699022835,
+              0.0
+            ],
+            "finger_gap": 0.02647819689988661,
+            "fingertip_max_gap": 0.09521530778277612,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013239098449943304,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0514532029460208,
+            "object_top_z": 1.103092393021678,
+            "finger_top_clearance": 0.051639190075657204,
+            "fingertip_min_top_clearance": 0.015491757022697193,
+            "object_projection_between_fingers": 0.8270129996231061,
+            "object_to_finger_line_xy": 0.010015008206036378,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05010765389138806,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.114543278098006,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31247996632081976,
+              -0.07898309068480815,
+              1.2464737690574152
+            ],
+            "held_position": [
+              0.3171669370436805,
+              -0.07488425745893347,
+              1.242916141896032
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007171111447321122,
+            "max_held_gripper_dist": 0.007180309802042309,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035576271613833033,
+            "max_held_gripper_z_dist": 0.0035706248208318137,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665389495478655,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3171669370436805,
+              -0.10007514362186122,
+              1.242916141896032
+            ],
+            "held_grasp_finger_b": [
+              0.3084031996914123,
+              -0.07488425745893347,
+              1.242916141896032
+            ],
+            "held_grasp_midpoint": [
+              0.3127850683675464,
+              -0.08747970054039735,
+              1.242916141896032
+            ],
+            "held_grasp_object_position": [
+              0.3171669370436805,
+              -0.07488425745893347,
+              1.242916141896032
+            ],
+            "held_grasp_finger_gap": 0.02667177980662569,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024725565523539286,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.049549541422287846,
+              -0.9987661620064824,
+              0.003316108514792914
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003752624317613371,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03692322814137515,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3005948521837877,
+              -0.33184952863519435,
+              0.8515395746912336
+            ],
+            "target_position": [
+              0.29496012441416464,
+              -0.33299871906447437,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005750721318279109,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1827160677016266,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395746912336,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07513477733459104,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08571421171959413,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15198155161851717,
+            "release_required_pad_clearance": 0.05285710585979707,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.7569183083273141,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00770944356918335,
+            "max_z_decrease": 0.00770944356918335,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518844566550336,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00770944356918335,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02106130615044688,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.00770944356918335,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007709466021539771,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15066005289554596,
+              -0.3892601728439331,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15066005289554596,
+              -0.3892601728439331,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1519296454302709,
+              -0.3879503253917865,
+              0.8079034096075709
+            ],
+            "closest_button": [
+              0.15064860880374908,
+              -0.3892655670642853,
+              0.7727628946304321
+            ],
+            "closest_ee_minus_button": [
+              0.0012810366265218198,
+              0.0013152416724988014,
+              0.03514051497713877
+            ],
+            "button_min_z_position": [
+              0.15064147114753723,
+              -0.3892611265182495,
+              0.7690994143486023
+            ],
+            "min_active_finger_to_button": 0.1444310634130687,
+            "closest_active_finger": [
+              0.025179900228977203,
+              -0.4521188735961914,
+              0.810673713684082
+            ],
+            "closest_active_finger_button": [
+              0.15065991878509521,
+              -0.38926184177398676,
+              0.7765549421310425
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.125480018556118,
+              -0.06285703182220465,
+              0.03411877155303955
+            ],
+            "min_contact_pad_to_button": 0.02106130615044688,
+            "closest_contact_pad": [
+              0.15064147114753723,
+              -0.3892611265182495,
+              0.7901607204990492
+            ],
+            "closest_contact_pad_button": [
+              0.15064147114753723,
+              -0.3892611265182495,
+              0.7690994143486023
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106130615044688
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 34,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "d84ee56bde96c38dd02749af22869f29714e37b1a218ffadf98af54b08e49040",
+    "visual_seed": 558336855320391087,
+    "episode_index": 34,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_35_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfe26547c561026fee79fea70d838796332f4ee3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_35_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 35,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31942700104754346,
+              -0.06902855140694734,
+              1.0498422139311758
+            ],
+            "current_z": 1.0498422139311758,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.18873576552105475,
+            "gripper_z": 1.0530953061167212,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31518865013622954,
+              -0.07344538655040544,
+              1.0530953061167212
+            ],
+            "object_minus_gripper": [
+              0.004238350911313915,
+              0.0044168351434581005,
+              -0.00325309218554537
+            ],
+            "object_to_gripper_xy": 0.006121441916078435,
+            "object_to_gripper_z": -0.00325309218554537,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31942700104754346,
+              -0.09281747708970947,
+              1.0498422139311758
+            ],
+            "finger_b": [
+              0.30819509316289917,
+              -0.06902855140694734,
+              1.0498422139311758
+            ],
+            "finger_midpoint": [
+              0.31381104710522134,
+              -0.0809230142483284,
+              1.0498422139311758
+            ],
+            "object_minus_finger_midpoint": [
+              0.005615953942322116,
+              0.011894462841381057,
+              0.0
+            ],
+            "finger_gap": 0.026307199392354822,
+            "fingertip_max_gap": 0.09725814258347235,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013153599696177394,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498422139311758,
+            "object_top_z": 1.1021244173136766,
+            "finger_top_clearance": 0.05228220338250078,
+            "fingertip_min_top_clearance": 0.01568466101475025,
+            "object_projection_between_fingers": 0.8177121036372869,
+            "object_to_finger_line_xy": 0.010156726223813965,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051129071291736175,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.170362850830855,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3201677794440683,
+              -0.07296186167554645,
+              1.2442995989913381
+            ],
+            "held_position": [
+              0.32474776190919424,
+              -0.06892395046673142,
+              1.2409215193834084
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006977993131885801,
+            "max_held_gripper_dist": 0.006987063782713922,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003378079607929685,
+            "max_held_gripper_z_dist": 0.0033914333882572034,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668098058209539,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32474776190919424,
+              -0.09407644425688894,
+              1.2409215193834084
+            ],
+            "held_grasp_finger_b": [
+              0.31611155319749834,
+              -0.06892395046673142,
+              1.2409215193834084
+            ],
+            "held_grasp_midpoint": [
+              0.3204296575533463,
+              -0.08150019736181018,
+              1.2409215193834084
+            ],
+            "held_grasp_object_position": [
+              0.32474776190919424,
+              -0.06892395046673142,
+              1.2409215193834084
+            ],
+            "held_grasp_finger_gap": 0.026593834713630242,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024759225208412092,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04247320356909697,
+              -0.9989479718675564,
+              0.017290936361974093
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037863949844733225,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03697383001521194,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30146824069495687,
+              -0.33858234801298137,
+              0.851539584670041
+            ],
+            "target_position": [
+              0.29752629120175006,
+              -0.3388870713967789,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.003953709922038597,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1814506592736269,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539584670041,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0754211670592883,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0869266568064878,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14970354544918896,
+            "release_required_pad_clearance": 0.0534633284032439,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.939903360866119,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007863879203796387,
+            "max_z_decrease": 0.007863879203796387,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035157987995981924,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007863879203796387,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109886130130442,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007863879203796387,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007863902436354559,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15322621166706085,
+              -0.3951485157012939,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15322621166706085,
+              -0.3951485157012939,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1543812567020509,
+              -0.3949772414674382,
+              0.8079326838992754
+            ],
+            "closest_button": [
+              0.15321551263332367,
+              -0.3951565325260161,
+              0.7727944850921631
+            ],
+            "closest_ee_minus_button": [
+              0.0011657440687272425,
+              0.00017929105857794614,
+              0.03513819880711233
+            ],
+            "button_min_z_position": [
+              0.1532071977853775,
+              -0.3951504826545715,
+              0.7689449787139893
+            ],
+            "min_active_finger_to_button": 0.14503329592153272,
+            "closest_active_finger": [
+              0.02620358020067215,
+              -0.45626044273376465,
+              0.8107745051383972
+            ],
+            "closest_active_finger_button": [
+              0.15322783589363098,
+              -0.395151138305664,
+              0.7766402363777161
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12702425569295883,
+              -0.06110930442810064,
+              0.03413426876068115
+            ],
+            "min_contact_pad_to_button": 0.02109886130130442,
+            "closest_contact_pad": [
+              0.1532071977853775,
+              -0.39630285495551293,
+              0.7900123465204264
+            ],
+            "closest_contact_pad_button": [
+              0.1532071977853775,
+              -0.3951504826545715,
+              0.7689449787139893
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001152372300941451,
+              0.021067367806437143
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 35,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "997a392cfcb126b39ad018f5b36dbd78d118c57b0d5e7015e1f0805ecb1bcb74",
+    "visual_seed": 3282973002269074106,
+    "episode_index": 35,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_36_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b9740b7b36283706bfe4ccacd1a4068a3beda85
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_36_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 36,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31520834362066513,
+              -0.08001351835292991,
+              1.0493485002667047
+            ],
+            "current_z": 1.0493485002667047,
+            "required_z": 0.8611066272240555,
+            "initial_z": 0.7611066272240555,
+            "lift_margin": 0.18824187304264917,
+            "gripper_z": 1.0525189172510223,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3109693578420219,
+              -0.08437505314688305,
+              1.0525189172510223
+            ],
+            "object_minus_gripper": [
+              0.004238985778643234,
+              0.00436153479395314,
+              -0.0031704169843176366
+            ],
+            "object_to_gripper_xy": 0.006082103763534739,
+            "object_to_gripper_z": -0.0031704169843176366,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31520834362066513,
+              -0.10391859609689102,
+              1.0493485002667047
+            ],
+            "finger_b": [
+              0.3042042094620724,
+              -0.08001351835292991,
+              1.0493485002667047
+            ],
+            "finger_midpoint": [
+              0.30970627654136873,
+              -0.09196605722491047,
+              1.0493485002667047
+            ],
+            "object_minus_finger_midpoint": [
+              0.005502067079296402,
+              0.011952538871980556,
+              0.0
+            ],
+            "finger_gap": 0.026316225233211785,
+            "fingertip_max_gap": 0.09397723580916248,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013158112616605903,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0493485002667047,
+            "object_top_z": 1.100241095296357,
+            "finger_top_clearance": 0.05089259502965238,
+            "fingertip_min_top_clearance": 0.015267778508895696,
+            "object_projection_between_fingers": 0.8251504320377286,
+            "object_to_finger_line_xy": 0.009995912416578477,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04948861790458124,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.047185311939456,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3159407966332582,
+              -0.0843379074370093,
+              1.2427206051705546
+            ],
+            "held_position": [
+              0.3204898000843083,
+              -0.08032638530263538,
+              1.2394558067979085
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006888007741449655,
+            "max_held_gripper_dist": 0.0068968340687247266,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032647983726461494,
+            "max_held_gripper_z_dist": 0.003275965896542221,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08719721893875167,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3204898000843083,
+              -0.10548070440801544,
+              1.2394558067979085
+            ],
+            "held_grasp_finger_b": [
+              0.31207274001131763,
+              -0.08025395077487935,
+              1.2394558067979085
+            ],
+            "held_grasp_midpoint": [
+              0.3162812700478129,
+              -0.09286732759144739,
+              1.2394558067979085
+            ],
+            "held_grasp_object_position": [
+              0.3204898000843083,
+              -0.08032638530263538,
+              1.2394558067979085
+            ],
+            "held_grasp_finger_gap": 0.026593909060897352,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024684878693711165,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.059077264377747546,
+              -0.9982313199368282,
+              -0.006641440417527011
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034613170687311044,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03695286025427493,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3056195634044162,
+              -0.3347029097200975,
+              0.8515395905852519
+            ],
+            "target_position": [
+              0.29943700714906685,
+              -0.33615242793904065,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0063502051083101,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1830599210142736,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395905852519,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07567613173823237,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.086795007223319,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15095831961620731,
+            "release_required_pad_clearance": 0.0533975036116595,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8100759869766996,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00797414779663086,
+            "max_z_decrease": 0.00797414779663086,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03525043361491163,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00797414779663086,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021200326535845294,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00797414779663086,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007974171670096727,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1551369279623032,
+              -0.3924138844013214,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1551369279623032,
+              -0.3924138844013214,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1574360049092932,
+              -0.3939877741887174,
+              0.8079186530634269
+            ],
+            "closest_button": [
+              0.15512439608573914,
+              -0.39242008328437805,
+              0.7727790474891663
+            ],
+            "closest_ee_minus_button": [
+              0.002311608823554051,
+              -0.0015676909043393361,
+              0.03513960557426066
+            ],
+            "button_min_z_position": [
+              0.15511743724346164,
+              -0.39241480827331543,
+              0.7688347101211548
+            ],
+            "min_active_finger_to_button": 0.1437610060664695,
+            "closest_active_finger": [
+              0.01607915759086609,
+              -0.3796989917755127,
+              0.8107976913452148
+            ],
+            "closest_active_finger_button": [
+              0.15513792634010318,
+              -0.39241495728492737,
+              0.7766188979148865
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1390587687492371,
+              0.012715965509414673,
+              0.03417879343032837
+            ],
+            "min_contact_pad_to_button": 0.021200326535845294,
+            "closest_contact_pad": [
+              0.15511743724346164,
+              -0.3949265844446527,
+              0.7898857154579925
+            ],
+            "closest_contact_pad_button": [
+              0.15511743724346164,
+              -0.39241480827331543,
+              0.7688347101211548
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0025117761713372433,
+              0.02105100533683768
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 36,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a47eb61165f645f71d5fc4a9f3da69ad58482f4567aa74884ed0568abc2cdf6d",
+    "visual_seed": 4737876535802510524,
+    "episode_index": 36,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_38_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6504dca332489917b8be2aa7f4a576fec7e8d39
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_38_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 38,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31747437644007204,
+              -0.07066034081602474,
+              1.0525111432166878
+            ],
+            "current_z": 1.0525111432166878,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.19140463520192186,
+            "gripper_z": 1.0559236927399953,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3131560320380972,
+              -0.07507809565110328,
+              1.0559236927399953
+            ],
+            "object_minus_gripper": [
+              0.004318344401974816,
+              0.004417754835078544,
+              -0.0034125495233074954
+            ],
+            "object_to_gripper_xy": 0.006177754944713094,
+            "object_to_gripper_z": -0.0034125495233074954,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31747437644007204,
+              -0.09462295540141216,
+              1.0525111432166878
+            ],
+            "finger_b": [
+              0.30639454446799663,
+              -0.07066034081602474,
+              1.0525111432166878
+            ],
+            "finger_midpoint": [
+              0.31193446045403433,
+              -0.08264164810871845,
+              1.0525111432166878
+            ],
+            "object_minus_finger_midpoint": [
+              0.005539915986037702,
+              0.011981307292693713,
+              0.0
+            ],
+            "finger_gap": 0.0264001813307645,
+            "fingertip_max_gap": 0.09733348215326801,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01320009066538225,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0525111432166878,
+            "object_top_z": 1.1048126503443547,
+            "finger_top_clearance": 0.0523015071276669,
+            "fingertip_min_top_clearance": 0.015690452138300105,
+            "object_projection_between_fingers": 0.8238622157169403,
+            "object_to_finger_line_xy": 0.010056815136656024,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051166741076634006,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.1084933933176337,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31795729586093446,
+              -0.07425134741032438,
+              1.247313713159175
+            ],
+            "held_position": [
+              0.3225466418398921,
+              -0.07014504576138186,
+              1.2438161546650748
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007082141283985732,
+            "max_held_gripper_dist": 0.0070911217768061235,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034975584941001614,
+            "max_held_gripper_z_dist": 0.0035102540713725094,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08668359582374968,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3225466418398921,
+              -0.09521765189768823,
+              1.2438161546650748
+            ],
+            "held_grasp_finger_b": [
+              0.3136828564713674,
+              -0.07014504576138186,
+              1.2438161546650748
+            ],
+            "held_grasp_midpoint": [
+              0.31811474915562976,
+              -0.08268134882953504,
+              1.2438161546650748
+            ],
+            "held_grasp_object_position": [
+              0.3225466418398921,
+              -0.07014504576138186,
+              1.2438161546650748
+            ],
+            "held_grasp_finger_gap": 0.026593274892829966,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02478280976336216,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03117318663749003,
+              -0.9994622043969731,
+              0.01017518632789438
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004040978266542365,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0370525327528063,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3005940450819653,
+              -0.33559674945222817,
+              0.8515395695458972
+            ],
+            "target_position": [
+              0.2963212681864876,
+              -0.33647060872540085,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004361221437606461,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18328319646827318,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395695458972,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07568299256415058,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0880336823243351,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15098723339629863,
+            "release_required_pad_clearance": 0.05401684116216755,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.045285276344144,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007536113262176514,
+            "max_z_decrease": 0.007536113262176514,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513751305781586,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007536113262176514,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021055374132384973,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007536113262176514,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007536135008105552,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.152021199464798,
+              -0.39273205399513245,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.152021199464798,
+              -0.39273205399513245,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15154593150429765,
+              -0.39264433323126524,
+              0.8082267693137825
+            ],
+            "closest_button": [
+              0.15201044082641602,
+              -0.39273691177368164,
+              0.7730924487113953
+            ],
+            "closest_ee_minus_button": [
+              -0.0004645093221183616,
+              9.25785424163994e-05,
+              0.03513432060238719
+            ],
+            "button_min_z_position": [
+              0.15200310945510864,
+              -0.39273133873939514,
+              0.7692727446556091
+            ],
+            "min_active_finger_to_button": 0.14649453159241246,
+            "closest_active_finger": [
+              0.025059737265110016,
+              -0.4573599696159363,
+              0.8104968070983887
+            ],
+            "closest_active_finger_button": [
+              0.15202088654041293,
+              -0.3927333652973175,
+              0.7763659358024597
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12696114927530291,
+              -0.06462660431861877,
+              0.034130871295928955
+            ],
+            "min_contact_pad_to_button": 0.021055374132384973,
+            "closest_contact_pad": [
+              0.15200310945510864,
+              -0.39361474228799354,
+              0.7903095784959243
+            ],
+            "closest_contact_pad_button": [
+              0.15200310945510864,
+              -0.39273133873939514,
+              0.7692727446556091
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0008834035485983938,
+              0.021036833840315183
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 38,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c0801e9a700f45bac342eb9973b37ac1259147def8d0539d68520c03f1a97c59",
+    "visual_seed": 7299820952267185013,
+    "episode_index": 38,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_39_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..db614b411106aba8f942df16fdb9314c5b48a177
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_39_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 39,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3107607931197322,
+              -0.07812649555013783,
+              1.0498330094319512
+            ],
+            "current_z": 1.0498330094319512,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.18872656102183016,
+            "gripper_z": 1.0534844307069011,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30634352183397245,
+              -0.08258641119605444,
+              1.0534844307069011
+            ],
+            "object_minus_gripper": [
+              0.00441727128575975,
+              0.004459915645916607,
+              -0.0036514212749498842
+            ],
+            "object_to_gripper_xy": 0.006277191504222995,
+            "object_to_gripper_z": -0.0036514212749498842,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3107607931197322,
+              -0.10224475383987877,
+              1.0498330094319512
+            ],
+            "finger_b": [
+              0.2997431347994078,
+              -0.07812649555013783,
+              1.0498330094319512
+            ],
+            "finger_midpoint": [
+              0.30525196395957,
+              -0.09018562469500829,
+              1.0498330094319512
+            ],
+            "object_minus_finger_midpoint": [
+              0.00550882916016221,
+              0.012059129144870465,
+              0.0
+            ],
+            "finger_gap": 0.026515640248616884,
+            "fingertip_max_gap": 0.09506593279620981,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013257820124308435,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498330094319512,
+            "object_top_z": 1.1011368969706101,
+            "finger_top_clearance": 0.05130388753865889,
+            "fingertip_min_top_clearance": 0.015391166261597632,
+            "object_projection_between_fingers": 0.8273469067249661,
+            "object_to_finger_line_xy": 0.010021509065071857,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05003296639810491,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2305784157921305,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31100220458250305,
+              -0.08190088112648455,
+              1.2453964091335312
+            ],
+            "held_position": [
+              0.3156726652593144,
+              -0.07773087042692602,
+              1.2416708906488156
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007285717545172303,
+            "max_held_gripper_dist": 0.00729505327888604,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037255184847155842,
+            "max_held_gripper_z_dist": 0.0037358520858117306,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663456532389716,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3156726652593144,
+              -0.10285753006161699,
+              1.2416708906488156
+            ],
+            "held_grasp_finger_b": [
+              0.3067815426165601,
+              -0.07773087042692602,
+              1.2416708906488156
+            ],
+            "held_grasp_midpoint": [
+              0.3112271039379373,
+              -0.09029420024427151,
+              1.2416708906488156
+            ],
+            "held_grasp_object_position": [
+              0.3156726652593144,
+              -0.07773087042692602,
+              1.2416708906488156
+            ],
+            "held_grasp_finger_gap": 0.026653350375630217,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024752723326449746,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03979756423552714,
+              -0.9992003997334956,
+              -0.00383602050852927
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003942348189760417,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699004338236922,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30690119445859493,
+              -0.3295225959959486,
+              0.8515395688442667
+            ],
+            "target_position": [
+              0.3008840343920644,
+              -0.33105912702295986,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006210244992205863,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1834269704570268,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395688442667,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523065611779636,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08666502320786128,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15251450270340738,
+            "release_required_pad_clearance": 0.05333251160393064,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.682328457190704,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007747828960418701,
+            "max_z_decrease": 0.007747828960418701,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03522384597793622,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007747828960418701,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02120103205216873,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007747828960418701,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007747849541927434,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1565839648246765,
+              -0.387320578098297,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1565839648246765,
+              -0.387320578098297,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15878441764106163,
+              -0.3884395884975936,
+              0.8080164394431771
+            ],
+            "closest_button": [
+              0.15657389163970944,
+              -0.3873299658298492,
+              0.7728795409202576
+            ],
+            "closest_ee_minus_button": [
+              0.0022105260013521866,
+              -0.0011096226677443921,
+              0.03513689852291957
+            ],
+            "button_min_z_position": [
+              0.15656626224517822,
+              -0.3873229324817657,
+              0.7690610289573669
+            ],
+            "min_active_finger_to_button": 0.14390281727597556,
+            "closest_active_finger": [
+              0.017658129334449768,
+              -0.3719406723976135,
+              0.810951292514801
+            ],
+            "closest_active_finger_button": [
+              0.1565883755683899,
+              -0.3873217999935149,
+              0.776748538017273
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13893024623394012,
+              0.015381127595901378,
+              0.034202754497528076
+            ],
+            "min_contact_pad_to_button": 0.02120103205216873,
+            "closest_contact_pad": [
+              0.15656626224517822,
+              -0.3896458100486114,
+              0.7901344245045143
+            ],
+            "closest_contact_pad_button": [
+              0.15656626224517822,
+              -0.3873229324817657,
+              0.7690610289573669
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0023228775668456825,
+              0.021073395547147378
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 39,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "456718c5c70016fd6e90b32e818ecc1e40679ede8a151d0eddbcb4f139459cc9",
+    "visual_seed": 6269996144408930099,
+    "episode_index": 39,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_3_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b53cee47b076da52a98d2ecadaa8c959c8f6b23
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_3_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 3,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3164340966558238,
+              -0.07426368680133905,
+              1.0498081271336281
+            ],
+            "current_z": 1.0498081271336281,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1887015595142174,
+            "gripper_z": 1.0529101664352871,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31225309834425286,
+              -0.07867523488821951,
+              1.0529101664352871
+            ],
+            "object_minus_gripper": [
+              0.004180998311570927,
+              0.004411548086880462,
+              -0.0031020393016589765
+            ],
+            "object_to_gripper_xy": 0.006078034501729783,
+            "object_to_gripper_z": -0.0031020393016589765,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3164340966558238,
+              -0.09799699296220696,
+              1.0498081271336281
+            ],
+            "finger_b": [
+              0.3052007458888403,
+              -0.07426368680133905,
+              1.0498081271336281
+            ],
+            "finger_midpoint": [
+              0.31081742127233203,
+              -0.086130339881773,
+              1.0498081271336281
+            ],
+            "object_minus_finger_midpoint": [
+              0.005616675383491754,
+              0.011866653080433956,
+              0.0
+            ],
+            "finger_gap": 0.026257532077093228,
+            "fingertip_max_gap": 0.09304018837716341,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013128766038546614,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498081271336281,
+            "object_top_z": 1.100270867820216,
+            "finger_top_clearance": 0.05046274068658785,
+            "fingertip_min_top_clearance": 0.015138822205976336,
+            "object_projection_between_fingers": 0.8169748249470483,
+            "object_to_finger_line_xy": 0.010153450529260644,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049020094188581706,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6889872097147103,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31712473319441015,
+              -0.07817669734468786,
+              1.244493544615154
+            ],
+            "held_position": [
+              0.32163238375296044,
+              -0.07413384915070458,
+              1.2412963723405128
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0068472947673754,
+            "max_held_gripper_dist": 0.006856646516986723,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031971722746411135,
+            "max_held_gripper_z_dist": 0.0032118231141073927,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08681424395917695,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32163238375296044,
+              -0.09919769026473285,
+              1.2412963723405128
+            ],
+            "held_grasp_finger_b": [
+              0.3130101617947565,
+              -0.07413384915070458,
+              1.2412963723405128
+            ],
+            "held_grasp_midpoint": [
+              0.31732127277385846,
+              -0.08666576970771872,
+              1.2412963723405128
+            ],
+            "held_grasp_object_position": [
+              0.32163238375296044,
+              -0.07413384915070458,
+              1.2412963723405128
+            ],
+            "held_grasp_finger_gap": 0.02650544930548789,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024434817422735053,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06642771717388386,
+              -0.9977549662325418,
+              -0.00850798150951082
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003470797486776381,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03693008683707751,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2999233660642853,
+              -0.32908849248447947,
+              0.8515395928965246
+            ],
+            "target_position": [
+              0.2926382247836466,
+              -0.3310780459632069,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007551927338341048,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18242457178646293,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395928965246,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07518724491377944,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08537405417010267,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15168874114992553,
+            "release_required_pad_clearance": 0.05268702708505134,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.4297827012297729,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007582545280456543,
+            "max_z_decrease": 0.007582545280456543,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518710726168286,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007582545280456543,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021055285462943107,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007582545280456543,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007582566168177389,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1483381539583206,
+              -0.3873395025730133,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1483381539583206,
+              -0.3873395025730133,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14957121151415936,
+              -0.38609356767135244,
+              0.8080754180491978
+            ],
+            "closest_button": [
+              0.14832676947116846,
+              -0.38734474778175354,
+              0.7729325890541077
+            ],
+            "closest_ee_minus_button": [
+              0.0012444420429909009,
+              0.0012511801104010956,
+              0.035142828995090136
+            ],
+            "button_min_z_position": [
+              0.14832040667533872,
+              -0.38734084367752075,
+              0.7692263126373291
+            ],
+            "min_active_finger_to_button": 0.14449322997434097,
+            "closest_active_finger": [
+              0.022403843700885773,
+              -0.4494265615940094,
+              0.8108606934547424
+            ],
+            "closest_active_finger_button": [
+              0.14834199845790857,
+              -0.387339323759079,
+              0.7767571806907654
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1259381547570228,
+              -0.06208723783493042,
+              0.03410351276397705
+            ],
+            "min_contact_pad_to_button": 0.021055285462943107,
+            "closest_contact_pad": [
+              0.14832040667533872,
+              -0.38734084367752075,
+              0.7902815981002722
+            ],
+            "closest_contact_pad_button": [
+              0.14832040667533872,
+              -0.38734084367752075,
+              0.7692263126373291
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021055285462943107
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 3,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ea4f1c7e8f9fe73510328ab2b440ca346b5ef131d80da83c4d296bf700e88198",
+    "visual_seed": 824385490003188011,
+    "episode_index": 3,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_40_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..39f3df78fd0be6be336a770e705b99c9c248f9da
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_40_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 40,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3125840976215148,
+              -0.07019205269528836,
+              1.0500015627242996
+            ],
+            "current_z": 1.0500015627242996,
+            "required_z": 0.8611065676194111,
+            "initial_z": 0.7611065676194111,
+            "lift_margin": 0.1888949951048885,
+            "gripper_z": 1.0535324134282276,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3082969290947414,
+              -0.07466296230643127,
+              1.0535324134282276
+            ],
+            "object_minus_gripper": [
+              0.0042871685267734105,
+              0.004470909611142909,
+              -0.0035308507039280013
+            ],
+            "object_to_gripper_xy": 0.0061942591750722325,
+            "object_to_gripper_z": -0.0035308507039280013,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3125840976215148,
+              -0.09396232970289672,
+              1.0500015627242996
+            ],
+            "finger_b": [
+              0.30121413738186215,
+              -0.07019205269528836,
+              1.0500015627242996
+            ],
+            "finger_midpoint": [
+              0.30689911750168847,
+              -0.08207719119909254,
+              1.0500015627242996
+            ],
+            "object_minus_finger_midpoint": [
+              0.005684980119826322,
+              0.011885138503804182,
+              0.0
+            ],
+            "finger_gap": 0.026349612233763836,
+            "fingertip_max_gap": 0.09625605094689346,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013174806116881918,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0500015627242996,
+            "object_top_z": 1.1021305778809807,
+            "finger_top_clearance": 0.05212901515668111,
+            "fingertip_min_top_clearance": 0.015638704547004334,
+            "object_projection_between_fingers": 0.8138043909237975,
+            "object_to_finger_line_xy": 0.010256967050001684,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05062802547344673,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5183777112764933,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3132034544488719,
+              -0.0741809062450063,
+              1.2455050106551087
+            ],
+            "held_position": [
+              0.3178317568492266,
+              -0.07010331094367077,
+              1.2418832819261878
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007152963409419453,
+            "max_held_gripper_dist": 0.007162269605110948,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003621728728920859,
+            "max_held_gripper_z_dist": 0.003634940377258422,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08653696863944095,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3178317568492266,
+              -0.09527281698676439,
+              1.2418832819261878
+            ],
+            "held_grasp_finger_b": [
+              0.30912029357786375,
+              -0.07010331094367077,
+              1.2418832819261878
+            ],
+            "held_grasp_midpoint": [
+              0.3134760252135452,
+              -0.08268806396521758,
+              1.2418832819261878
+            ],
+            "held_grasp_object_position": [
+              0.3178317568492266,
+              -0.07010331094367077,
+              1.2418832819261878
+            ],
+            "held_grasp_finger_gap": 0.026634444367803697,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024589004022937937,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.061074365505561876,
+              -0.998074855813649,
+              0.01079370514036071
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003581625998575175,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0368937009667026,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2982712429498572,
+              -0.33009253347867107,
+              0.8515395611414377
+            ],
+            "target_position": [
+              0.2937318992304835,
+              -0.3309700635106493,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004623386243830505,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1820372618977941,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395611414377,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07582216258709618,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0869493720925346,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14943312392915156,
+            "release_required_pad_clearance": 0.0534746860462673,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.9623683837891996,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076087117195129395,
+            "max_z_decrease": 0.0076087117195129395,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351782194017377,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076087117195129395,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021052785872101576,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0076087117195129395,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007608733510152253,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14943182468414304,
+              -0.3872315287590027,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14943182468414304,
+              -0.3872315287590027,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1486440815910306,
+              -0.38566234792899695,
+              0.8080313597461319
+            ],
+            "closest_button": [
+              0.14941917359828946,
+              -0.38723692297935486,
+              0.772896945476532
+            ],
+            "closest_ee_minus_button": [
+              -0.0007750920072588652,
+              0.001574575050357907,
+              0.035134414269599956
+            ],
+            "button_min_z_position": [
+              0.14941361546516416,
+              -0.3872316777706146,
+              0.7692001461982727
+            ],
+            "min_active_finger_to_button": 0.14611751580696508,
+            "closest_active_finger": [
+              0.02170737087726593,
+              -0.44946014881134033,
+              0.8108102679252625
+            ],
+            "closest_active_finger_button": [
+              0.14943398535251615,
+              -0.3872322738170624,
+              0.7766938209533691
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12772661447525022,
+              -0.062227874994277954,
+              0.03411644697189331
+            ],
+            "min_contact_pad_to_button": 0.021052785872101576,
+            "closest_contact_pad": [
+              0.14941361546516416,
+              -0.3872316777706146,
+              0.7902529320703743
+            ],
+            "closest_contact_pad_button": [
+              0.14941361546516416,
+              -0.3872316777706146,
+              0.7692001461982727
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021052785872101576
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 40,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ff47a0230ce14c73a54dbc3cdd6cc30ba09a67c07008e15dfd10cbb93b04cdce",
+    "visual_seed": 7048745922223709572,
+    "episode_index": 40,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_41_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..288a99401bdad9260b3715f99d3c2614b8704bd6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_41_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 41,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.312268550607628,
+              -0.07596315473662121,
+              1.0511156042147562
+            ],
+            "current_z": 1.0511156042147562,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19000915580463507,
+            "gripper_z": 1.0545969954610341,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3081286912095769,
+              -0.08034750516840375,
+              1.0545969954610341
+            ],
+            "object_minus_gripper": [
+              0.00413985939805106,
+              0.0043843504317825355,
+              -0.0034813912462778873
+            ],
+            "object_to_gripper_xy": 0.006030005351929912,
+            "object_to_gripper_z": -0.0034813912462778873,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.312268550607628,
+              -0.0996500001894565,
+              1.0511156042147562
+            ],
+            "finger_b": [
+              0.30105840357371605,
+              -0.07596315473662121,
+              1.0511156042147562
+            ],
+            "finger_midpoint": [
+              0.306663477090672,
+              -0.08780657746303885,
+              1.0511156042147562
+            ],
+            "object_minus_finger_midpoint": [
+              0.005605073516955994,
+              0.01184342272641764,
+              0.0
+            ],
+            "finger_gap": 0.026205610926449092,
+            "fingertip_max_gap": 0.09664549206568526,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013102805463224556,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0511156042147562,
+            "object_top_z": 1.1032384160332356,
+            "finger_top_clearance": 0.05212281181847933,
+            "fingertip_min_top_clearance": 0.015636843545543764,
+            "object_projection_between_fingers": 0.8170071840551967,
+            "object_to_finger_line_xy": 0.01013267811390086,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05082274603284263,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8125380515629903,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31299862999019257,
+              -0.07968609890455476,
+              1.246520265323994
+            ],
+            "held_position": [
+              0.31745322892147165,
+              -0.07567847288965081,
+              1.24293885470024
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006980760701372404,
+            "max_held_gripper_dist": 0.00698973263833107,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035814106237539445,
+            "max_held_gripper_z_dist": 0.0035926576157447876,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0867091856052628,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31745322892147165,
+              -0.10074011762541132,
+              1.24293885470024
+            ],
+            "held_grasp_finger_b": [
+              0.3088962802754125,
+              -0.07567847288965081,
+              1.24293885470024
+            ],
+            "held_grasp_midpoint": [
+              0.3131747545984421,
+              -0.08820929525753107,
+              1.24293885470024
+            ],
+            "held_grasp_object_position": [
+              0.31745322892147165,
+              -0.07567847288965081,
+              1.24293885470024
+            ],
+            "held_grasp_finger_gap": 0.02648220925437994,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02459436205759825,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.050641432352323816,
+              -0.998645478278921,
+              0.011943786768447984
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003641536003515939,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036989732905294226,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2966488556697776,
+              -0.33708756987796706,
+              0.8515395901182106
+            ],
+            "target_position": [
+              0.2924123523907362,
+              -0.3375088013939506,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0042573931018155195,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1797718645194573,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395901182106,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07536045896144603,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08629448692805745,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14832540679512632,
+            "release_required_pad_clearance": 0.05314724346402873,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3193574211769754,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007835090160369873,
+            "max_z_decrease": 0.007835090160369873,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03513751636352411,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007835090160369873,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021058880750548275,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007835090160369873,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007835110621666828,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14811228215694427,
+              -0.39377024769783014,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14811228215694427,
+              -0.39377024769783014,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14832414426037305,
+              -0.3931465142778513,
+              0.8078124271047915
+            ],
+            "closest_button": [
+              0.14810062944889069,
+              -0.3937746286392212,
+              0.7726812362670898
+            ],
+            "closest_ee_minus_button": [
+              0.00022351481148236152,
+              0.0006281143613698914,
+              0.035131190837701665
+            ],
+            "button_min_z_position": [
+              0.14809438586235046,
+              -0.39377084374427795,
+              0.7689737677574158
+            ],
+            "min_active_finger_to_button": 0.14565457477808577,
+            "closest_active_finger": [
+              0.021477580070495605,
+              -0.4571249783039093,
+              0.810588538646698
+            ],
+            "closest_active_finger_button": [
+              0.14811179041862488,
+              -0.3937715590000152,
+              0.7764509320259094
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12663421034812927,
+              -0.0633534193038941,
+              0.034137606620788574
+            ],
+            "min_contact_pad_to_button": 0.021058880750548275,
+            "closest_contact_pad": [
+              0.14809438586235046,
+              -0.3941345185430935,
+              0.7900295080461475
+            ],
+            "closest_contact_pad_button": [
+              0.14809438586235046,
+              -0.39377084374427795,
+              0.7689737677574158
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00036367479881554976,
+              0.021055740288731695
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 41,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "9951744a9578cd0fd90cccb723bd16c1747effc1dc832f93ae3f72f5c4803924",
+    "visual_seed": 1576085052750168785,
+    "episode_index": 41,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_42_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54682187f0565d968efb8b084e65176cb00100d6
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_42_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 42,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31355690227391353,
+              -0.07893938284445577,
+              1.050836097221532
+            ],
+            "current_z": 1.050836097221532,
+            "required_z": 0.8611065080147663,
+            "initial_z": 0.7611065080147663,
+            "lift_margin": 0.18972958920676575,
+            "gripper_z": 1.05415022722876,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3092746140147776,
+              -0.0833867504290368,
+              1.05415022722876
+            ],
+            "object_minus_gripper": [
+              0.004282288259135902,
+              0.00444736758458103,
+              -0.003314130007227911
+            ],
+            "object_to_gripper_xy": 0.006173902426076663,
+            "object_to_gripper_z": -0.003314130007227911,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31355690227391353,
+              -0.10274909765327501,
+              1.050836097221532
+            ],
+            "finger_b": [
+              0.3022709459361667,
+              -0.07893938284445577,
+              1.050836097221532
+            ],
+            "finger_midpoint": [
+              0.30791392410504015,
+              -0.0908442402488654,
+              1.050836097221532
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056429781688733804,
+              0.011904857404409622,
+              0.0
+            ],
+            "finger_gap": 0.026349104913352066,
+            "fingertip_max_gap": 0.09396943414295386,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01317455245667602,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.050836097221532,
+            "object_top_z": 1.1018439398911446,
+            "finger_top_clearance": 0.05100784266961256,
+            "fingertip_min_top_clearance": 0.015302352800883783,
+            "object_projection_between_fingers": 0.8165384754400314,
+            "object_to_finger_line_xy": 0.010198274386556837,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04948471707147693,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.959469613356283,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3143027042397699,
+              -0.08347591781285017,
+              1.2453373729412411
+            ],
+            "held_position": [
+              0.3189437295124139,
+              -0.07943298851349566,
+              1.2419291091489368
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007035670186899883,
+            "max_held_gripper_dist": 0.007045202024421685,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034082637923043,
+            "max_held_gripper_z_dist": 0.0034202092893769187,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08684915377844882,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3189437295124139,
+              -0.10466805378838268,
+              1.2419291091489368
+            ],
+            "held_grasp_finger_b": [
+              0.31045521843048735,
+              -0.07928188328205465,
+              1.2419291091489368
+            ],
+            "held_grasp_midpoint": [
+              0.3146994739714506,
+              -0.09197496853521867,
+              1.2419291091489368
+            ],
+            "held_grasp_object_position": [
+              0.3189437295124139,
+              -0.07943298851349566,
+              1.2419291091489368
+            ],
+            "held_grasp_finger_gap": 0.026767750622051688,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024715321513094995,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07138741851750466,
+              -0.997444431407215,
+              -0.0029056379926699623
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033382911761804528,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03690733549200892,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3039937053702647,
+              -0.3320448026919125,
+              0.8515395571965843
+            ],
+            "target_position": [
+              0.2977245201996036,
+              -0.333539227760222,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006444842045297073,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18471848983452832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395571965843,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575928885402111,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08631411599620196,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1522953711368643,
+            "release_required_pad_clearance": 0.053157057998100984,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.3387913297193497,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007505238056182861,
+            "max_z_decrease": 0.007505238056182861,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519288448615451,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007505238056182861,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021072357743900372,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007505238056182861,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007505257843564428,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1534244418144226,
+              -0.3898006975650786,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1534244418144226,
+              -0.3898006975650786,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15330477741370896,
+              -0.3879209033276204,
+              0.808146724276266
+            ],
+            "closest_button": [
+              0.15341433882713318,
+              -0.38980817794799794,
+              0.7730046510696411
+            ],
+            "closest_ee_minus_button": [
+              -0.00010956141342421954,
+              0.0018872746203775215,
+              0.03514207320662488
+            ],
+            "button_min_z_position": [
+              0.15340736508369446,
+              -0.38980302214622486,
+              0.7693036198616028
+            ],
+            "min_active_finger_to_button": 0.1454414158873488,
+            "closest_active_finger": [
+              0.02511957287788391,
+              -0.44919028878211975,
+              0.8103836178779602
+            ],
+            "closest_active_finger_button": [
+              0.1534249484539032,
+              -0.3898031413555144,
+              0.7762646675109863
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1283053755760193,
+              -0.059387147426605336,
+              0.03411895036697388
+            ],
+            "min_contact_pad_to_button": 0.021072357743900372,
+            "closest_contact_pad": [
+              0.15340736508369446,
+              -0.38980302214622486,
+              0.7903759776055032
+            ],
+            "closest_contact_pad_button": [
+              0.15340736508369446,
+              -0.38980302214622486,
+              0.7693036198616028
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021072357743900372
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 42,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "4c8bfd825b9c1d8d4a9606aeb7d067eaaa815b04a3c8a9b554c6b042cfb1cc82",
+    "visual_seed": 8434825454277381696,
+    "episode_index": 42,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_44_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6dea3afaea7fcf722da954e04d726e8ba63ef7bf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_44_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 44,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3135281061330972,
+              -0.07071019367205739,
+              1.0518223167401466
+            ],
+            "current_z": 1.0518223167401466,
+            "required_z": 0.8611066272240554,
+            "initial_z": 0.7611066272240554,
+            "lift_margin": 0.1907156895160912,
+            "gripper_z": 1.0553080069121006,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3091596941185131,
+              -0.07513501334072055,
+              1.0553080069121006
+            ],
+            "object_minus_gripper": [
+              0.0043684120145841,
+              0.004424819668663163,
+              -0.0034856901719539923
+            ],
+            "object_to_gripper_xy": 0.006217881683447434,
+            "object_to_gripper_z": -0.0034856901719539923,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3135281061330972,
+              -0.09471288231066252,
+              1.0518223167401466
+            ],
+            "finger_b": [
+              0.3024407043058995,
+              -0.07071019367205739,
+              1.0518223167401466
+            ],
+            "finger_midpoint": [
+              0.3079844052194983,
+              -0.08271153799135995,
+              1.0518223167401466
+            ],
+            "object_minus_finger_midpoint": [
+              0.005543700913598848,
+              0.012001344319302568,
+              0.0
+            ],
+            "finger_gap": 0.026439734135568965,
+            "fingertip_max_gap": 0.09537998154757268,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013219867067784483,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0518223167401466,
+            "object_top_z": 1.1034593402013875,
+            "finger_top_clearance": 0.05163702346124088,
+            "fingertip_min_top_clearance": 0.015491107038372264,
+            "object_projection_between_fingers": 0.8241487712565445,
+            "object_to_finger_line_xy": 0.010065436078319343,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050189990773786344,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.270662678720619,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31413573138612183,
+              -0.07449490286793274,
+              1.247561350300377
+            ],
+            "held_position": [
+              0.31880148943208114,
+              -0.07041303608291388,
+              1.243989019789387
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007154892023910956,
+            "max_held_gripper_dist": 0.007164125503759228,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035723305109900405,
+            "max_held_gripper_z_dist": 0.0035860681873234324,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665061211725075,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31880148943208114,
+              -0.09561557823242214,
+              1.243989019789387
+            ],
+            "held_grasp_finger_b": [
+              0.31007801992650047,
+              -0.07041303608291388,
+              1.243989019789387
+            ],
+            "held_grasp_midpoint": [
+              0.3144397546792908,
+              -0.08301430715766801,
+              1.243989019789387
+            ],
+            "held_grasp_object_position": [
+              0.31880148943208114,
+              -0.07041303608291388,
+              1.243989019789387
+            ],
+            "held_grasp_finger_gap": 0.026669590379541572,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024724899347705734,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05096693821426483,
+              -0.9986892484773319,
+              0.004707035674976656
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037142997836515407,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036913191864937245,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.297658270049001,
+              -0.33268609583997244,
+              0.8515395843622772
+            ],
+            "target_position": [
+              0.2920830730338289,
+              -0.33378004118436133,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005681508441821907,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1809593405802785,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395843622772,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07515297824962412,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0855513470248848,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1501963570300824,
+            "release_required_pad_clearance": 0.0527756735124424,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6000287931337721,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075626373291015625,
+            "max_z_decrease": 0.0075626373291015625,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514928439108139,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075626373291015625,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021062901118216966,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075626373291015625,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007562658937765633,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14778299629688263,
+              -0.39004150032997126,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14778299629688263,
+              -0.39004150032997126,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14644482604439016,
+              -0.390095332095616,
+              0.8079470503127083
+            ],
+            "closest_button": [
+              0.14777179062366486,
+              -0.39004638791084284,
+              0.7728228569030762
+            ],
+            "closest_ee_minus_button": [
+              -0.0013269645792746976,
+              -4.8944184773136445e-05,
+              0.03512419340963213
+            ],
+            "button_min_z_position": [
+              0.1477649211883545,
+              -0.3900411427021026,
+              0.7692462205886841
+            ],
+            "min_active_finger_to_button": 0.14728978178375088,
+            "closest_active_finger": [
+              0.01898208260536194,
+              -0.4528258740901947,
+              0.8107135891914368
+            ],
+            "closest_active_finger_button": [
+              0.14778241515159607,
+              -0.39004391431808466,
+              0.7766081690788269
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12880033254623413,
+              -0.06278195977211004,
+              0.03410542011260986
+            ],
+            "min_contact_pad_to_button": 0.021062901118216966,
+            "closest_contact_pad": [
+              0.1477649211883545,
+              -0.3912962538520861,
+              0.79027169322349
+            ],
+            "closest_contact_pad_button": [
+              0.1477649211883545,
+              -0.3900411427021026,
+              0.7692462205886841
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.001255111149983501,
+              0.02102547263480592
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 44,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a0f2a04e90d408cf2cbacce36ac3fbad8f1160c326756112daa9f705c1606c6c",
+    "visual_seed": 1450930796982231611,
+    "episode_index": 44,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_45_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c8ff518121d9ec6b18d42a177320b4560d45072
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_45_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 45,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3151059491257974,
+              -0.0692671653442254,
+              1.0508362333051537
+            ],
+            "current_z": 1.0508362333051537,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18972978489503256,
+            "gripper_z": 1.0541329752900757,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3107224368583314,
+              -0.07374079401900249,
+              1.0541329752900757
+            ],
+            "object_minus_gripper": [
+              0.004383512267466028,
+              0.004473628674777089,
+              -0.0032967419849219137
+            ],
+            "object_to_gripper_xy": 0.006263268581085515,
+            "object_to_gripper_z": -0.0032967419849219137,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3151059491257974,
+              -0.09320384512696464,
+              1.0508362333051537
+            ],
+            "finger_b": [
+              0.30384783190387354,
+              -0.0692671653442254,
+              1.0508362333051537
+            ],
+            "finger_midpoint": [
+              0.3094768905148355,
+              -0.08123550523559503,
+              1.0508362333051537
+            ],
+            "object_minus_finger_midpoint": [
+              0.005629058610961912,
+              0.011968339891369625,
+              0.0
+            ],
+            "finger_gap": 0.026452029079145827,
+            "fingertip_max_gap": 0.09413274935955737,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013226014539572907,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0508362333051537,
+            "object_top_z": 1.1017589938338799,
+            "finger_top_clearance": 0.05092276052872613,
+            "fingertip_min_top_clearance": 0.015276828158617821,
+            "object_projection_between_fingers": 0.8188603393842173,
+            "object_to_finger_line_xy": 0.010187571852859737,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04956637467977869,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.098808499813506,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3157789228899692,
+              -0.07328474412800286,
+              1.2469502137743615
+            ],
+            "held_position": [
+              0.32050281925739776,
+              -0.06920489996584016,
+              1.2435616059089902
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0071023227568869285,
+            "max_held_gripper_dist": 0.007111198923360784,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003388607865371318,
+            "max_held_gripper_z_dist": 0.0034025487013571443,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651671763278376,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32050281925739776,
+              -0.09448525732235585,
+              1.2435616059089902
+            ],
+            "held_grasp_finger_b": [
+              0.3117878492341322,
+              -0.06920489996584016,
+              1.2435616059089902
+            ],
+            "held_grasp_midpoint": [
+              0.31614533424576496,
+              -0.08184507864409801,
+              1.2435616059089902
+            ],
+            "held_grasp_object_position": [
+              0.32050281925739776,
+              -0.06920489996584016,
+              1.2435616059089902
+            ],
+            "held_grasp_finger_gap": 0.02674036593952211,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024714566215335406,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05974065207248833,
+              -0.9982139038399875,
+              -0.00023805563660750373
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003594571016975974,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03684232897044529,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30333223554733524,
+              -0.33402600006356487,
+              0.8515395523267708
+            ],
+            "target_position": [
+              0.2973638014839649,
+              -0.3354478860761794,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006135467789962573,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18340563216766048,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395523267708,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07585914949274744,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08718491410790562,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15093597405363185,
+            "release_required_pad_clearance": 0.05359245705395281,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.195427823656286,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007524728775024414,
+            "max_z_decrease": 0.007524728775024414,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035182011361085515,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007524728775024414,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021054444134153805,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007524728775024414,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007524753232714707,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15306372940540308,
+              -0.3917093575000763,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15306372940540308,
+              -0.3917093575000763,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15408004842743545,
+              -0.3904477779658088,
+              0.8082562657462231
+            ],
+            "closest_button": [
+              0.15305247902870173,
+              -0.3917137682437897,
+              0.7731120586395264
+            ],
+            "closest_ee_minus_button": [
+              0.0010275693987337187,
+              0.0012659902779808552,
+              0.035144207106696745
+            ],
+            "button_min_z_position": [
+              0.1530445516109466,
+              -0.3917098939418793,
+              0.7692841291427612
+            ],
+            "min_active_finger_to_button": 0.14467484219934015,
+            "closest_active_finger": [
+              0.027597591280937195,
+              -0.4551592171192169,
+              0.8105061650276184
+            ],
+            "closest_active_finger_button": [
+              0.1530630737543106,
+              -0.3917106091976166,
+              0.7763960957527161
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1254654824733734,
+              -0.06344860792160034,
+              0.034110069274902344
+            ],
+            "min_contact_pad_to_button": 0.021054444134153805,
+            "closest_contact_pad": [
+              0.1530445516109466,
+              -0.3917098939418793,
+              0.790338573276915
+            ],
+            "closest_contact_pad_button": [
+              0.1530445516109466,
+              -0.3917098939418793,
+              0.7692841291427612
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021054444134153805
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 45,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "932843b555d750195207da4da8143eb51dd2ce08ac9d915851e524beadf3bae5",
+    "visual_seed": 7792856545226903516,
+    "episode_index": 45,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_46_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..267b45f32f4abb3477c106e7f00b2e621cba9f21
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_46_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 46,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31969177744786964,
+              -0.07466314014396765,
+              1.049860150130792
+            ],
+            "current_z": 1.049860150130792,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.18875370172067096,
+            "gripper_z": 1.0530776417542407,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3153373903974711,
+              -0.0790523778814317,
+              1.0530776417542407
+            ],
+            "object_minus_gripper": [
+              0.004354387050398534,
+              0.004389237737464052,
+              -0.003217491623448643
+            ],
+            "object_to_gripper_xy": 0.0061827254912907945,
+            "object_to_gripper_z": -0.003217491623448643,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31969177744786964,
+              -0.09871232958594606,
+              1.049860150130792
+            ],
+            "finger_b": [
+              0.3087241179100634,
+              -0.07466314014396765,
+              1.049860150130792
+            ],
+            "finger_midpoint": [
+              0.31420794767896654,
+              -0.08668773486495684,
+              1.049860150130792
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054838297689031035,
+              0.012024594720989198,
+              0.0
+            ],
+            "finger_gap": 0.026432046242268088,
+            "fingertip_max_gap": 0.09364759301572054,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013216023121134025,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049860150130792,
+            "object_top_z": 1.100430785322816,
+            "finger_top_clearance": 0.05057063519202387,
+            "fingertip_min_top_clearance": 0.015171190557607194,
+            "object_projection_between_fingers": 0.8278264833412968,
+            "object_to_finger_line_xy": 0.009978921780865907,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04932379650786027,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1494046685090717,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32021811205556816,
+              -0.07826415201864166,
+              1.2437360263049133
+            ],
+            "held_position": [
+              0.3248259088296241,
+              -0.07416628642687251,
+              1.2404255668433226
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006998816711847878,
+            "max_held_gripper_dist": 0.007007470588045802,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003310459461590698,
+            "max_held_gripper_z_dist": 0.003323751807071007,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08691731732573386,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3248259088296241,
+              -0.09924003263742893,
+              1.2404255668433226
+            ],
+            "held_grasp_finger_b": [
+              0.31606527769799786,
+              -0.07416628642687251,
+              1.2404255668433226
+            ],
+            "held_grasp_midpoint": [
+              0.32044559326381095,
+              -0.08670315953215071,
+              1.2404255668433226
+            ],
+            "held_grasp_object_position": [
+              0.3248259088296241,
+              -0.07416628642687251,
+              1.2404255668433226
+            ],
+            "held_grasp_finger_gap": 0.026560146966005505,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024693401480916675,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04089144018564253,
+              -0.9991182049324934,
+              -0.009523796092760772
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038658717023807585,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037015314505729355,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30195226789429724,
+              -0.33019484346536576,
+              0.8515395743566707
+            ],
+            "target_position": [
+              0.29570751123882427,
+              -0.3319182263616972,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006478196839664703,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18415522544100274,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395743566707,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07579714601683034,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08761968337941488,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1517599937657128,
+            "release_required_pad_clearance": 0.05380984168970744,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.6289513915340197,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007743656635284424,
+            "max_z_decrease": 0.007743656635284424,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351554111659397,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007743656635284424,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021133978363819767,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007743656635284424,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007743679861001028,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15140743553638458,
+              -0.3881796896457672,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15140743553638458,
+              -0.3881796896457672,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15216050645383652,
+              -0.38885506910539713,
+              0.8078693938041016
+            ],
+            "closest_button": [
+              0.15139581263065335,
+              -0.3881853520870208,
+              0.772728681564331
+            ],
+            "closest_ee_minus_button": [
+              0.0007646938231831713,
+              -0.0006697170183763146,
+              0.035140712239770555
+            ],
+            "button_min_z_position": [
+              0.1513885259628296,
+              -0.3881811499595642,
+              0.7690652012825012
+            ],
+            "min_active_finger_to_button": 0.14532178256611777,
+            "closest_active_finger": [
+              0.010996654629707336,
+              -0.3728184700012207,
+              0.8106797933578491
+            ],
+            "closest_active_finger_button": [
+              0.15140734612941742,
+              -0.3881813287734985,
+              0.7765148878097534
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14041069149971008,
+              0.015362858772277777,
+              0.0341649055480957
+            ],
+            "min_contact_pad_to_button": 0.021133978363819767,
+            "closest_contact_pad": [
+              0.1513885259628296,
+              -0.3899810125804633,
+              0.7901223980576727
+            ],
+            "closest_contact_pad_button": [
+              0.1513885259628296,
+              -0.3881811499595642,
+              0.7690652012825012
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0017998626208990953,
+              0.021057196775171483
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 46,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2f60976352fa73f21f9c3d567a3e3c5be14810a527a462fdc6d97bdb80e8b305",
+    "visual_seed": 3432301327917639377,
+    "episode_index": 46,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_47_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..75ae3b223c45d514f0065803e60ea990918848e1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_47_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 47,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3116545668891513,
+              -0.07486192663945221,
+              1.0492394377170555
+            ],
+            "current_z": 1.0492394377170555,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.18813298930693456,
+            "gripper_z": 1.0526724879180482,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30706190709056647,
+              -0.07939005820515614,
+              1.0526724879180482
+            ],
+            "object_minus_gripper": [
+              0.004592659798584808,
+              0.004528131565703933,
+              -0.0034330502009927155
+            ],
+            "object_to_gripper_xy": 0.006449534828331529,
+            "object_to_gripper_z": -0.0034330502009927155,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3116545668891513,
+              -0.09904819365663393,
+              1.0492394377170555
+            ],
+            "finger_b": [
+              0.3004519894938187,
+              -0.07486192663945221,
+              1.0492394377170555
+            ],
+            "finger_midpoint": [
+              0.306053278191485,
+              -0.08695506014804308,
+              1.0492394377170555
+            ],
+            "object_minus_finger_midpoint": [
+              0.005601288697666296,
+              0.01209313350859087,
+              0.0
+            ],
+            "finger_gap": 0.026654704135008315,
+            "fingertip_max_gap": 0.09285878647646653,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013327352067504164,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492394377170555,
+            "object_top_z": 1.0997508298977579,
+            "finger_top_clearance": 0.05051139218070233,
+            "fingertip_min_top_clearance": 0.015153417654210716,
+            "object_projection_between_fingers": 0.8233603589544971,
+            "object_to_finger_line_xy": 0.010165129831934398,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04892939323823327,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.4575877549719995,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31193843375574093,
+              -0.07920331466937167,
+              1.241956245728426
+            ],
+            "held_position": [
+              0.31681126469366105,
+              -0.0750039716484241,
+              1.2384288589171613
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007336308395468137,
+            "max_held_gripper_dist": 0.007345593000638395,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035273868112646323,
+            "max_held_gripper_z_dist": 0.0035402706168057296,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865954741472924,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31681126469366105,
+              -0.10026501735490567,
+              1.2384288589171613
+            ],
+            "held_grasp_finger_b": [
+              0.3079504815126453,
+              -0.0750039716484241,
+              1.2384288589171613
+            ],
+            "held_grasp_midpoint": [
+              0.3123808731031532,
+              -0.08763449450166488,
+              1.2384288589171613
+            ],
+            "held_grasp_object_position": [
+              0.31681126469366105,
+              -0.0750039716484241,
+              1.2384288589171613
+            ],
+            "held_grasp_finger_gap": 0.02677001884134419,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0246932773840558,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05893259222344379,
+              -0.9981956645434147,
+              -0.011504992853371034
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003681270573082671,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036851422456080016,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30193636849768335,
+              -0.33086154051785976,
+              0.8515395909542544
+            ],
+            "target_position": [
+              0.294625072423956,
+              -0.3330624673058519,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007635386630931131,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1861190289952932,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395909542544,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07546479565333264,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08589210543413277,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15453653841609888,
+            "release_required_pad_clearance": 0.052946052717066386,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.9287197153504891,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007682979106903076,
+            "max_z_decrease": 0.007682979106903076,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514253563824713,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007682979106903076,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02114047914087513,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007682979106903076,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007683003330398948,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1503250002861023,
+              -0.3893239200115203,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1503250002861023,
+              -0.3893239200115203,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.150121778089382,
+              -0.3897844895664835,
+              0.8078728949067862
+            ],
+            "closest_button": [
+              0.15031366050243378,
+              -0.38933113217353815,
+              0.7727338075637817
+            ],
+            "closest_ee_minus_button": [
+              -0.0001918824130517638,
+              -0.0004533573929453305,
+              0.035139087343004416
+            ],
+            "button_min_z_position": [
+              0.15030574798583984,
+              -0.38932517170906056,
+              0.7691258788108826
+            ],
+            "min_active_finger_to_button": 0.14626724265273996,
+            "closest_active_finger": [
+              0.009229116141796112,
+              -0.371486634016037,
+              0.8106921315193176
+            ],
+            "closest_active_finger_button": [
+              0.15032564103603363,
+              -0.38932594656944264,
+              0.7765214443206787
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14109652489423752,
+              0.01783931255340565,
+              0.034170687198638916
+            ],
+            "min_contact_pad_to_button": 0.02114047914087513,
+            "closest_contact_pad": [
+              0.15030574798583984,
+              -0.39119584214854686,
+              0.7901834297229096
+            ],
+            "closest_contact_pad_button": [
+              0.15030574798583984,
+              -0.38932517170906056,
+              0.7691258788108826
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018706704394862994,
+              0.02105755091202699
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 47,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0ee14e33efaac17ea9befc20502fc525b6e4284367ec37c2383c45fcf6f98728",
+    "visual_seed": 7160209589501190690,
+    "episode_index": 47,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_48_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..abd12a10f3d29ebbf36c2e195cde33d48d477890
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_48_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 48,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3144711196785086,
+              -0.07048468322501569,
+              1.0495131152662196
+            ],
+            "current_z": 1.0495131152662196,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18840660725145353,
+            "gripper_z": 1.0528174130175745,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3101134999192189,
+              -0.07497227585605389,
+              1.0528174130175745
+            ],
+            "object_minus_gripper": [
+              0.0043576197592897215,
+              0.0044875926310381925,
+              -0.003304297751354879
+            ],
+            "object_to_gripper_xy": 0.006255184856477105,
+            "object_to_gripper_z": -0.003304297751354879,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3144711196785086,
+              -0.09435313992043512,
+              1.0495131152662196
+            ],
+            "finger_b": [
+              0.30313268019394446,
+              -0.07048468322501569,
+              1.0495131152662196
+            ],
+            "finger_midpoint": [
+              0.30880189993622653,
+              -0.0824189115727254,
+              1.0495131152662196
+            ],
+            "object_minus_finger_midpoint": [
+              0.005669219742282072,
+              0.011934228347709713,
+              0.0
+            ],
+            "finger_gap": 0.02642467473718902,
+            "fingertip_max_gap": 0.09282725924187421,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01321233736859451,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495131152662196,
+            "object_top_z": 1.0998910066445244,
+            "finger_top_clearance": 0.05037789137830484,
+            "fingertip_min_top_clearance": 0.015113367413491452,
+            "object_projection_between_fingers": 0.8158858054033151,
+            "object_to_finger_line_xy": 0.010241603899482542,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04891362962093711,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6173362734454897,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31517304963514653,
+              -0.07450161390696308,
+              1.242067820144103
+            ],
+            "held_position": [
+              0.3198634771873966,
+              -0.07039858584169265,
+              1.2386553531102165
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007104919505854138,
+            "max_held_gripper_dist": 0.007114133116000743,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003412467033886646,
+            "max_held_gripper_z_dist": 0.0034243193382668125,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08635814926059118,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3198634771873966,
+              -0.09560036833117816,
+              1.2386553531102165
+            ],
+            "held_grasp_finger_b": [
+              0.3112456671929711,
+              -0.07039858584169265,
+              1.2386553531102165
+            ],
+            "held_grasp_midpoint": [
+              0.31555457219018385,
+              -0.0829994770864354,
+              1.2386553531102165
+            ],
+            "held_grasp_object_position": [
+              0.3198634771873966,
+              -0.07039858584169265,
+              1.2386553531102165
+            ],
+            "held_grasp_finger_gap": 0.026634498113299584,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024531213904437642,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07036605529195411,
+              -0.9974538590470201,
+              -0.011593849009582158
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003414751254720143,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03684824182331294,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3014000949813854,
+              -0.32798492224049824,
+              0.8515396572540137
+            ],
+            "target_position": [
+              0.29451858559106064,
+              -0.32975234087974287,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007104853280362477,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18352754661239254,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396572540137,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07534866250298668,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08507933755891538,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15227945109263744,
+            "release_required_pad_clearance": 0.05253966877945769,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.14803747382344293,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007616162300109863,
+            "max_z_decrease": 0.007616162300109863,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035153075142046075,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007616162300109863,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021176307594644908,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007616162300109863,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007616189544260278,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15021851658821106,
+              -0.38601380586624146,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15021851658821106,
+              -0.38601380586624146,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15066073581444286,
+              -0.3868135217741109,
+              0.8079669985351999
+            ],
+            "closest_button": [
+              0.15020751953125,
+              -0.38602113723754883,
+              0.7728257775306702
+            ],
+            "closest_ee_minus_button": [
+              0.00045321628319286433,
+              -0.0007923845365620519,
+              0.035141221004529766
+            ],
+            "button_min_z_position": [
+              0.15019819140434265,
+              -0.3860151767730713,
+              0.7691926956176758
+            ],
+            "min_active_finger_to_button": 0.14560489399714313,
+            "closest_active_finger": [
+              0.00973084568977356,
+              -0.3688102960586548,
+              0.8108006119728088
+            ],
+            "closest_active_finger_button": [
+              0.1502194702625275,
+              -0.3860158324241638,
+              0.7766289710998535
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14048862457275393,
+              0.017205536365509033,
+              0.03417164087295532
+            ],
+            "min_contact_pad_to_button": 0.021176307594644908,
+            "closest_contact_pad": [
+              0.15019819140434265,
+              -0.38819741660701157,
+              0.7902562620927573
+            ],
+            "closest_contact_pad_button": [
+              0.15019819140434265,
+              -0.3860151767730713,
+              0.7691926956176758
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0021822398339402804,
+              0.021063566475081563
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 48,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6e9127dcd32ca0a34dd6dcd296b531731352850c5eb18157b76d9b033b3f9e82",
+    "visual_seed": 4415840196053459004,
+    "episode_index": 48,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_4_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5046a83831c368b57fbac77684508b014fe0ca
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_4_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 4,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31028652659779354,
+              -0.0710645932929329,
+              1.0519427875465426
+            ],
+            "current_z": 1.0519427875465426,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19083633913642128,
+            "gripper_z": 1.05547790890111,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3056981997496362,
+              -0.07562157488063802,
+              1.05547790890111
+            ],
+            "object_minus_gripper": [
+              0.004588326848157354,
+              0.004556981587705122,
+              -0.00353512135456735
+            ],
+            "object_to_gripper_xy": 0.006466747594904652,
+            "object_to_gripper_z": -0.00353512135456735,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31028652659779354,
+              -0.09518958501035875,
+              1.0519427875465426
+            ],
+            "finger_b": [
+              0.29896869562084355,
+              -0.0710645932929329,
+              1.0519427875465426
+            ],
+            "finger_midpoint": [
+              0.3046276111093186,
+              -0.08312708915164582,
+              1.0519427875465426
+            ],
+            "object_minus_finger_midpoint": [
+              0.005658915488474969,
+              0.012062495858712927,
+              0.0
+            ],
+            "finger_gap": 0.02664786151623944,
+            "fingertip_max_gap": 0.09315305566911339,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013323930758119707,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0519427875465426,
+            "object_top_z": 1.102464768274725,
+            "finger_top_clearance": 0.05052198072818248,
+            "fingertip_min_top_clearance": 0.01515659421845471,
+            "object_projection_between_fingers": 0.8196144760922726,
+            "object_to_finger_line_xy": 0.010246322332910273,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049076527834556696,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7230725250463275,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3106069066220917,
+              -0.07526864564359287,
+              1.2456076911853666
+            ],
+            "held_position": [
+              0.315492246568726,
+              -0.07106019499203539,
+              1.2419738800710771
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007401498935695995,
+            "max_held_gripper_dist": 0.007410169528319892,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003633811114289509,
+            "max_held_gripper_z_dist": 0.003645720127166907,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08650138453914927,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.315492246568726,
+              -0.09633221305212172,
+              1.2419738800710771
+            ],
+            "held_grasp_finger_b": [
+              0.30661500241214346,
+              -0.07106019499203539,
+              1.2419738800710771
+            ],
+            "held_grasp_midpoint": [
+              0.3110536244904347,
+              -0.08369620402207856,
+              1.2419738800710771
+            ],
+            "held_grasp_object_position": [
+              0.315492246568726,
+              -0.07106019499203539,
+              1.2419738800710771
+            ],
+            "held_grasp_finger_gap": 0.026785823874671252,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024710162605422692,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05828092814670615,
+              -0.9982398941894023,
+              -0.010974837724977206
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003697294132022186,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036847794738553166,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2996555689844841,
+              -0.32973878447188865,
+              0.8515395270183321
+            ],
+            "target_position": [
+              0.2928066999077966,
+              -0.3318800108761428,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007175782754785774,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1823916919423648,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395270183321,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07572679302872394,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08661703038201328,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1503260074012537,
+            "release_required_pad_clearance": 0.05330851519100664,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.635141328069061,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007594704627990723,
+            "max_z_decrease": 0.007594704627990723,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520559537101629,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007594704627990723,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021061902583620062,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007594704627990723,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00759472485502591,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14850662648677823,
+              -0.3881414830684662,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14850662648677823,
+              -0.3881414830684662,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14981082331299744,
+              -0.3865292546883665,
+              0.8080181126273343
+            ],
+            "closest_button": [
+              0.14849503338336945,
+              -0.3881462812423706,
+              0.7728742957115173
+            ],
+            "closest_ee_minus_button": [
+              0.0013157899296279973,
+              0.0016170265540040862,
+              0.03514381691581692
+            ],
+            "button_min_z_position": [
+              0.14848914742469788,
+              -0.38814279437065125,
+              0.7692141532897949
+            ],
+            "min_active_finger_to_button": 0.14427050619920465,
+            "closest_active_finger": [
+              0.022717759013175964,
+              -0.45000895857810974,
+              0.8107873797416687
+            ],
+            "closest_active_finger_button": [
+              0.14850814640522003,
+              -0.3881422281265259,
+              0.7766807079315186
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12579038739204407,
+              -0.06186673045158386,
+              0.034106671810150146
+            ],
+            "min_contact_pad_to_button": 0.021061902583620062,
+            "closest_contact_pad": [
+              0.14848914742469788,
+              -0.38814279437065125,
+              0.790276055873415
+            ],
+            "closest_contact_pad_button": [
+              0.14848914742469788,
+              -0.38814279437065125,
+              0.7692141532897949
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021061902583620062
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 4,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a6259c5891ed2a027343e46378acec1f6237c67b988e3e50384d9b3184ccc145",
+    "visual_seed": 8680576923686014532,
+    "episode_index": 4,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_50_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5828f24bda8765deb3b2dc417b08e4558a31a67
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_50_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 50,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3128534593102623,
+              -0.07410052219121886,
+              1.0511001932874398
+            ],
+            "current_z": 1.0511001932874398,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18999368527267368,
+            "gripper_z": 1.0546113246313458,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3085001584098304,
+              -0.07853657930758985,
+              1.0546113246313458
+            ],
+            "object_minus_gripper": [
+              0.0043533009004319,
+              0.004436057116370989,
+              -0.0035111313439060154
+            ],
+            "object_to_gripper_xy": 0.006215290135577493,
+            "object_to_gripper_z": -0.0035111313439060154,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3128534593102623,
+              -0.09805580797772054,
+              1.0511001932874398
+            ],
+            "finger_b": [
+              0.3017140370099196,
+              -0.07410052219121886,
+              1.0511001932874398
+            ],
+            "finger_midpoint": [
+              0.30728374816009096,
+              -0.0860781650844697,
+              1.0511001932874398
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055697111501713525,
+              0.011977642893250831,
+              0.0
+            ],
+            "finger_gap": 0.026418600384924665,
+            "fingertip_max_gap": 0.09637283667509347,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013209300192462326,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0511001932874398,
+            "object_top_z": 1.1029754375906655,
+            "finger_top_clearance": 0.051875244303225765,
+            "fingertip_min_top_clearance": 0.015562573290967711,
+            "object_projection_between_fingers": 0.8222106567045925,
+            "object_to_finger_line_xy": 0.010100763886549879,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05068641833754674,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.8014865443723265,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31327722462243235,
+              -0.07774362428457592,
+              1.2475007374003781
+            ],
+            "held_position": [
+              0.3179180466743662,
+              -0.07362613701807215,
+              1.2439138339767717
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007166366365028777,
+            "max_held_gripper_dist": 0.007175652314756754,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003586903423606458,
+            "max_held_gripper_z_dist": 0.0035999596916700405,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08659447622092972,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3179180466743662,
+              -0.09875530109865326,
+              1.2439138339767717
+            ],
+            "held_grasp_finger_b": [
+              0.30904275743169796,
+              -0.07362613701807215,
+              1.2439138339767717
+            ],
+            "held_grasp_midpoint": [
+              0.31348040205303207,
+              -0.0861907190583627,
+              1.2439138339767717
+            ],
+            "held_grasp_object_position": [
+              0.3179180466743662,
+              -0.07362613701807215,
+              1.2439138339767717
+            ],
+            "held_grasp_finger_gap": 0.02665043426531339,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024766286486573474,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.038712597343505795,
+              -0.9992322826502623,
+              0.00601499097805358
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003948643711307157,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03699352132804976,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30243482187247067,
+              -0.329576904029803,
+              0.8515395937333226
+            ],
+            "target_position": [
+              0.29763576032477435,
+              -0.3306190812242695,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0049109189611765604,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18293202503630832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395937333226,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576216229156668,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08777181862357585,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15042567292816209,
+            "release_required_pad_clearance": 0.053885909311787925,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7814400874650236,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007811844348907471,
+            "max_z_decrease": 0.007811844348907471,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035255388858208156,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007811844348907471,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021073122993587323,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007811844348907471,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007811864822315607,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.153335690498352,
+              -0.38688054680824274,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.153335690498352,
+              -0.38688054680824274,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15566747984012388,
+              -0.38542330958803,
+              0.8078062019248637
+            ],
+            "closest_button": [
+              0.1533240675926208,
+              -0.3868868947029114,
+              0.7726592421531677
+            ],
+            "closest_ee_minus_button": [
+              0.0023434122475030905,
+              0.0014635851148813717,
+              0.03514695977169602
+            ],
+            "button_min_z_position": [
+              0.15331788361072535,
+              -0.3868822157382965,
+              0.7689970135688782
+            ],
+            "min_active_finger_to_button": 0.14344442934994064,
+            "closest_active_finger": [
+              0.028538957238197327,
+              -0.4488430917263031,
+              0.8105446696281433
+            ],
+            "closest_active_finger_button": [
+              0.1533354520797729,
+              -0.3868829011917114,
+              0.7764407992362976
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12479649484157557,
+              -0.061960190534591675,
+              0.0341038703918457
+            ],
+            "min_contact_pad_to_button": 0.021073122993587323,
+            "closest_contact_pad": [
+              0.15331788361072535,
+              -0.3868822157382965,
+              0.7900701365624655
+            ],
+            "closest_contact_pad_button": [
+              0.15331788361072535,
+              -0.3868822157382965,
+              0.7689970135688782
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021073122993587323
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 50,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "a7aff06a15f8df856fafde39f3324d00c51ab78d21af30a6530c85965a2f6bab",
+    "visual_seed": 849291700405256051,
+    "episode_index": 50,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_51_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..48767b8ed2a66ab42977e8490c2d8a181d48b12b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_51_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 51,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.32003594981854605,
+              -0.07166408862836002,
+              1.0496592003925995
+            ],
+            "current_z": 1.0496592003925995,
+            "required_z": 0.8611065080147662,
+            "initial_z": 0.7611065080147662,
+            "lift_margin": 0.18855269237783334,
+            "gripper_z": 1.0530134821966266,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31526949283926275,
+              -0.07627273025477535,
+              1.0530134821966266
+            ],
+            "object_minus_gripper": [
+              0.004766456979283296,
+              0.004608641626415333,
+              -0.0033542818040270816
+            ],
+            "object_to_gripper_xy": 0.006630134974198234,
+            "object_to_gripper_z": -0.0033542818040270816,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.32003594981854605,
+              -0.09602403495579513,
+              1.0496592003925995
+            ],
+            "finger_b": [
+              0.3087761575936291,
+              -0.07166408862836002,
+              1.0496592003925995
+            ],
+            "finger_midpoint": [
+              0.31440605370608754,
+              -0.08384406179207757,
+              1.0496592003925995
+            ],
+            "object_minus_finger_midpoint": [
+              0.00562989611245851,
+              0.01217997316371755,
+              0.0
+            ],
+            "finger_gap": 0.026836354186510137,
+            "fingertip_max_gap": 0.0946306441951453,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013418177093255074,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0496592003925995,
+            "object_top_z": 1.1007312242351905,
+            "finger_top_clearance": 0.05107202384259102,
+            "fingertip_min_top_clearance": 0.015321607152777306,
+            "object_projection_between_fingers": 0.8239590420695132,
+            "object_to_finger_line_xy": 0.010220759956839656,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049815322097572654,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.318445420306144,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3200620059627284,
+              -0.07535468414134053,
+              1.2422934814628506
+            ],
+            "held_position": [
+              0.32505919473568184,
+              -0.07103049220734188,
+              1.2388383588182807
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007457104263962671,
+            "max_held_gripper_dist": 0.0074661643319806036,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003455122644569819,
+            "max_held_gripper_z_dist": 0.0034700825783711142,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08672346496404353,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32505919473568184,
+              -0.09626467821747343,
+              1.2388383588182807
+            ],
+            "held_grasp_finger_b": [
+              0.3158370125851644,
+              -0.07103049220734188,
+              1.2388383588182807
+            ],
+            "held_grasp_midpoint": [
+              0.3204481036604231,
+              -0.08364758521240766,
+              1.2388383588182807
+            ],
+            "held_grasp_object_position": [
+              0.32505919473568184,
+              -0.07103049220734188,
+              1.2388383588182807
+            ],
+            "held_grasp_finger_gap": 0.026866573789957694,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024930228811750707,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03155767577219493,
+              -0.99948773603565,
+              -0.005327158171848811
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004211170920172714,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036964105030001554,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30378312388821355,
+              -0.33438298034479763,
+              0.8515395772724562
+            ],
+            "target_position": [
+              0.29726755695006707,
+              -0.33618979991977005,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006761450251386234,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1841487765673321,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395772724562,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756544859217769,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08773563632049412,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15202598999533262,
+            "release_required_pad_clearance": 0.053867818160247063,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.745181768915606,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007566392421722412,
+            "max_z_decrease": 0.007566392421722412,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035154002323895345,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007566392421722412,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02109214692248087,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007566392421722412,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007566412700908101,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1529674828052521,
+              -0.3924512565135955,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1529674828052521,
+              -0.3924512565135955,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15181122281011986,
+              -0.39283202440475135,
+              0.8081419137514161
+            ],
+            "closest_button": [
+              0.15295696258544922,
+              -0.39245736598968495,
+              0.7730085849761963
+            ],
+            "closest_ee_minus_button": [
+              -0.001145739775329363,
+              -0.00037465841506639785,
+              0.035133328775219796
+            ],
+            "button_min_z_position": [
+              0.15294997394084933,
+              -0.3924518227577209,
+              0.7692424654960632
+            ],
+            "min_active_finger_to_button": 0.1472026842177544,
+            "closest_active_finger": [
+              0.010775431990623474,
+              -0.37562063336372375,
+              0.8104292154312134
+            ],
+            "closest_active_finger_button": [
+              0.15296734869480133,
+              -0.39245349168777455,
+              0.7762715816497803
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14219191670417786,
+              0.016832858324050792,
+              0.034157633781433105
+            ],
+            "min_contact_pad_to_button": 0.02109214692248087,
+            "closest_contact_pad": [
+              0.15294997394084933,
+              -0.3941332486590019,
+              0.7902674855611671
+            ],
+            "closest_contact_pad_button": [
+              0.15294997394084933,
+              -0.3924518227577209,
+              0.7692424654960632
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016814259012810084,
+              0.021025020065103872
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 51,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "661aefd448478fe9e99bf9296f51d6cabcbc3f6f3b8b12e2c9151cda1de4997a",
+    "visual_seed": 2609481820319430039,
+    "episode_index": 51,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_52_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f54bab37280c19a47b719755a96301436cb5cc1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_52_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 52,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3146505897833208,
+              -0.07727197830712308,
+              1.0490563938144977
+            ],
+            "current_z": 1.0490563938144977,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.1879499454043766,
+            "gripper_z": 1.0523397528425449,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3104384803635291,
+              -0.08160481291594035,
+              1.0523397528425449
+            ],
+            "object_minus_gripper": [
+              0.004212109419791665,
+              0.004332834608817268,
+              -0.003283359028047217
+            ],
+            "object_to_gripper_xy": 0.006042790871084516,
+            "object_to_gripper_z": -0.003283359028047217,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3146505897833208,
+              -0.1011923091258091,
+              1.0490563938144977
+            ],
+            "finger_b": [
+              0.30372912950241227,
+              -0.07727197830712308,
+              1.0490563938144977
+            ],
+            "finger_midpoint": [
+              0.3091898596428665,
+              -0.0892321437164661,
+              1.0490563938144977
+            ],
+            "object_minus_finger_midpoint": [
+              0.005460730140454284,
+              0.011960165409343013,
+              0.0
+            ],
+            "finger_gap": 0.02629563692217479,
+            "fingertip_max_gap": 0.09394390698634211,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013147818461087413,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490563938144977,
+            "object_top_z": 1.1000535601737078,
+            "finger_top_clearance": 0.050997166359210144,
+            "fingertip_min_top_clearance": 0.015299149907763026,
+            "object_projection_between_fingers": 0.8274980407119703,
+            "object_to_finger_line_xy": 0.009934915960227855,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04947195349317106,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8584450340907535,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3154469572674542,
+              -0.08142668235036161,
+              1.2452194871270472
+            ],
+            "held_position": [
+              0.31997336499100526,
+              -0.07745012182098901,
+              1.241852424628981
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006902065661051804,
+            "max_held_gripper_dist": 0.00691118509135851,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0033670624980661756,
+            "max_held_gripper_z_dist": 0.00337911768876209,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08687334069188088,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31997336499100526,
+              -0.10265361713380722,
+              1.241852424628981
+            ],
+            "held_grasp_finger_b": [
+              0.31154082068887845,
+              -0.07723131328330712,
+              1.241852424628981
+            ],
+            "held_grasp_midpoint": [
+              0.31575709283994186,
+              -0.08994246520855717,
+              1.241852424628981
+            ],
+            "held_grasp_object_position": [
+              0.31997336499100526,
+              -0.07745012182098901,
+              1.241852424628981
+            ],
+            "held_grasp_finger_gap": 0.026784348722238577,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024855462304063044,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06151058353602255,
+              -0.9981059613635717,
+              -0.000968505838129019
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034398987383349295,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0369922223032039,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2990209837717175,
+              -0.33372055402357453,
+              0.8515395229257364
+            ],
+            "target_position": [
+              0.29329554176608463,
+              -0.335126612579046,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0058955650128956864,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18421242767201215,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395229257364,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577479632964185,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0870090361649861,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15180331147502912,
+            "release_required_pad_clearance": 0.053504518082493055,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.0213129662072338,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007903337478637695,
+            "max_z_decrease": 0.007903337478637695,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035202445665663114,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007903337478637695,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021139136478029653,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007903337478637695,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0079033607467072,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14899547398090363,
+              -0.39138805866241455,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14899547398090363,
+              -0.39138805866241455,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15103526515985768,
+              -0.3923623767805834,
+              0.8077945724119814
+            ],
+            "closest_button": [
+              0.1489831656217575,
+              -0.39139232039451605,
+              0.7726653814315796
+            ],
+            "closest_ee_minus_button": [
+              0.002052099538100177,
+              -0.0009700563860673417,
+              0.03512919098040179
+            ],
+            "button_min_z_position": [
+              0.14897629618644714,
+              -0.3913881182670593,
+              0.768905520439148
+            ],
+            "min_active_finger_to_button": 0.1440810441477408,
+            "closest_active_finger": [
+              0.00960494577884674,
+              -0.378783643245697,
+              0.8106603622436523
+            ],
+            "closest_active_finger_button": [
+              0.14899471402168274,
+              -0.39138928055763245,
+              0.7764413952827454
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.139389768242836,
+              0.012605637311935425,
+              0.03421896696090698
+            ],
+            "min_contact_pad_to_button": 0.021139136478029653,
+            "closest_contact_pad": [
+              0.14897629618644714,
+              -0.3932332647511764,
+              0.7899639754035777
+            ],
+            "closest_contact_pad_button": [
+              0.14897629618644714,
+              -0.3913881182670593,
+              0.768905520439148
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0018451464841170995,
+              0.021058454964429707
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 52,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "7a591e93c82e24c44d1841cd79c33005dc7914f5a986046151b0c32fcf737763",
+    "visual_seed": 2786363525546320732,
+    "episode_index": 52,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_53_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3bb822907255281c41f919d66dd93c23c2eec76
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_53_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 53,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31014847040820404,
+              -0.07683270134790023,
+              1.0521250491721117
+            ],
+            "current_z": 1.0521250491721117,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.19101848155270085,
+            "gripper_z": 1.0556899758573113,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30558646655064947,
+              -0.08136226276209908,
+              1.0556899758573113
+            ],
+            "object_minus_gripper": [
+              0.004562003857554564,
+              0.004529561414198857,
+              -0.0035649266851995876
+            ],
+            "object_to_gripper_xy": 0.006428748385287907,
+            "object_to_gripper_z": -0.0035649266851995876,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31014847040820404,
+              -0.1009614342684155,
+              1.0521250491721117
+            ],
+            "finger_b": [
+              0.298903103160053,
+              -0.07683270134790023,
+              1.0521250491721117
+            ],
+            "finger_midpoint": [
+              0.3045257867841285,
+              -0.08889706780815787,
+              1.0521250491721117
+            ],
+            "object_minus_finger_midpoint": [
+              0.005622683624075531,
+              0.012064366460257644,
+              0.0
+            ],
+            "finger_gap": 0.0266205566601329,
+            "fingertip_max_gap": 0.09336208829620804,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013310278330066457,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0521250491721117,
+            "object_top_z": 1.1027155897406986,
+            "finger_top_clearance": 0.05059054056858692,
+            "fingertip_min_top_clearance": 0.015177162170576075,
+            "object_projection_between_fingers": 0.8215514511145531,
+            "object_to_finger_line_xy": 0.010192741886953158,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04918104414810402,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8270722016852199,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31048425272988345,
+              -0.08092506972139815,
+              1.246979960043451
+            ],
+            "held_position": [
+              0.3153421531043346,
+              -0.07673818039733496,
+              1.243328184201645
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007380020667914479,
+            "max_held_gripper_dist": 0.007389477319529671,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003651775841805982,
+            "max_held_gripper_z_dist": 0.003664105080885216,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08653298521119791,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3153421531043346,
+              -0.10200385377902127,
+              1.243328184201645
+            ],
+            "held_grasp_finger_b": [
+              0.306485097498828,
+              -0.07673818039733496,
+              1.243328184201645
+            ],
+            "held_grasp_midpoint": [
+              0.3109136253015813,
+              -0.08937101708817811,
+              1.243328184201645
+            ],
+            "held_grasp_object_position": [
+              0.3153421531043346,
+              -0.07673818039733496,
+              1.243328184201645
+            ],
+            "held_grasp_finger_gap": 0.026773152325213555,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024732677589671608,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05561667041893066,
+              -0.9984011568221103,
+              -0.010095346838218557
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037213056723253953,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036861311332765656,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3072400335337884,
+              -0.33555323448360674,
+              0.851539510981277
+            ],
+            "target_position": [
+              0.30097687193607575,
+              -0.33709241760542574,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0064495176472008555,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18214197817700367,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539510981277,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07580071032301937,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08718042851875894,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14976983866777296,
+            "release_required_pad_clearance": 0.05359021425937947,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.1911453230376527,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007775068283081055,
+            "max_z_decrease": 0.007775068283081055,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035199288676626396,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007775068283081055,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021072098774562176,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007775068283081055,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007775092938487007,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15667679905891418,
+              -0.3933538794517517,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15667679905891418,
+              -0.3933538794517517,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1558181521148033,
+              -0.39138907758057934,
+              0.8078995268160077
+            ],
+            "closest_button": [
+              0.15666593611240387,
+              -0.3933612108230591,
+              0.7727657556533813
+            ],
+            "closest_ee_minus_button": [
+              -0.0008477839976005763,
+              0.0019721332424797455,
+              0.03513377116262639
+            ],
+            "button_min_z_position": [
+              0.1566573679447174,
+              -0.3933562934398651,
+              0.7690337896347046
+            ],
+            "min_active_finger_to_button": 0.14605756075011345,
+            "closest_active_finger": [
+              0.027614496648311615,
+              -0.4525989294052124,
+              0.8107406497001648
+            ],
+            "closest_active_finger_button": [
+              0.15667758882045746,
+              -0.3933560252189636,
+              0.77659672498703
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12906309217214584,
+              -0.05924290418624878,
+              0.034143924713134766
+            ],
+            "min_contact_pad_to_button": 0.021072098774562176,
+            "closest_contact_pad": [
+              0.1566573679447174,
+              -0.3933562934398651,
+              0.7901058884092668
+            ],
+            "closest_contact_pad_button": [
+              0.1566573679447174,
+              -0.3933562934398651,
+              0.7690337896347046
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021072098774562176
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 53,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3cdf26870c0e0b1b14607c88599fa1995447751b5d78042695860abbd23bfa89",
+    "visual_seed": 3674350557730959116,
+    "episode_index": 53,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_54_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..84bd6399b399e9f5ad6865471614bdd6dd32d028
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_54_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 54,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31060303205868983,
+              -0.07539771602590095,
+              1.0521875696032839
+            ],
+            "current_z": 1.0521875696032839,
+            "required_z": 0.861106508014766,
+            "initial_z": 0.761106508014766,
+            "lift_margin": 0.1910810615885179,
+            "gripper_z": 1.055809446405996,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3061498090907838,
+              -0.0798684161498141,
+              1.055809446405996
+            ],
+            "object_minus_gripper": [
+              0.004453222967906012,
+              0.004470700123913152,
+              -0.0036218768027120873
+            ],
+            "object_to_gripper_xy": 0.006310178634542979,
+            "object_to_gripper_z": -0.0036218768027120873,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31060303205868983,
+              -0.09947079031826686,
+              1.0521875696032839
+            ],
+            "finger_b": [
+              0.29947339796612843,
+              -0.07539771602590095,
+              1.0521875696032839
+            ],
+            "finger_midpoint": [
+              0.30503821501240913,
+              -0.0874342531720839,
+              1.0521875696032839
+            ],
+            "object_minus_finger_midpoint": [
+              0.005564817046280701,
+              0.012036537146182955,
+              0.0
+            ],
+            "finger_gap": 0.02652134349764494,
+            "fingertip_max_gap": 0.09605452161051711,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01326067174882247,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0521875696032839,
+            "object_top_z": 1.1040562408200878,
+            "finger_top_clearance": 0.05186867121680394,
+            "fingertip_min_top_clearance": 0.015560601365041182,
+            "object_projection_between_fingers": 0.8238953872179781,
+            "object_to_finger_line_xy": 0.010102222324478815,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05052726080525856,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.5472429716172527,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31087449811458906,
+              -0.0791728383403654,
+              1.2476354576720265
+            ],
+            "held_position": [
+              0.3155928659974765,
+              -0.07500666238434894,
+              1.2439345553502212
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007301828234784572,
+            "max_held_gripper_dist": 0.007310778621863001,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037009023218053105,
+            "max_held_gripper_z_dist": 0.003711438649086407,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663617944011726,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3155928659974765,
+              -0.10013702431502522,
+              1.2439345553502212
+            ],
+            "held_grasp_finger_b": [
+              0.30665620755175554,
+              -0.07500666238434894,
+              1.2439345553502212
+            ],
+            "held_grasp_midpoint": [
+              0.31112453677461605,
+              -0.08757184334968708,
+              1.2439345553502212
+            ],
+            "held_grasp_object_position": [
+              0.3155928659974765,
+              -0.07500666238434894,
+              1.2439345553502212
+            ],
+            "held_grasp_finger_gap": 0.02667206319245399,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024758818329205772,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03937531661566636,
+              -0.9992176855336025,
+              0.0036880019369655015
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003970380247635257,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03698895714970585,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3000736679544565,
+              -0.3340337227632649,
+              0.8515395611439265
+            ],
+            "target_position": [
+              0.2947813951385224,
+              -0.3352454825752834,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005429227698328566,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1804157587837894,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395611439265,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07514662758854496,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08626028016055902,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1497021833078635,
+            "release_required_pad_clearance": 0.05313014008027951,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.286315348263949,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007483959197998047,
+            "max_z_decrease": 0.007483959197998047,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035159329224001355,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007483959197998047,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021195998353424856,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007483959197998047,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007483980977103496,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15048132836818692,
+              -0.39150694012641907,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15048132836818692,
+              -0.39150694012641907,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15053904560676967,
+              -0.39268490687436863,
+              0.808219932851673
+            ],
+            "closest_button": [
+              0.15046995878219604,
+              -0.3915141224861145,
+              0.7730801701545715
+            ],
+            "closest_ee_minus_button": [
+              6.908682457362758e-05,
+              -0.0011707843882541313,
+              0.035139762697101506
+            ],
+            "button_min_z_position": [
+              0.15046328306198117,
+              -0.3915075361728668,
+              0.7693248987197876
+            ],
+            "min_active_finger_to_button": 0.14594235266996902,
+            "closest_active_finger": [
+              0.009537734091281891,
+              -0.37518933415412903,
+              0.8105249404907227
+            ],
+            "closest_active_finger_button": [
+              0.15048137307167053,
+              -0.3915089964866638,
+              0.7763528823852539
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14094363898038864,
+              0.01631966233253479,
+              0.03417205810546875
+            ],
+            "min_contact_pad_to_button": 0.021195998353424856,
+            "closest_contact_pad": [
+              0.15046328306198117,
+              -0.3939982375909805,
+              0.7903740495968229
+            ],
+            "closest_contact_pad_button": [
+              0.15046328306198117,
+              -0.3915075361728668,
+              0.7693248987197876
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0024907014181136944,
+              0.021049150877035294
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 54,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "747bda31a1c619144caeaa06d0466b8dbe26f43e79d33b8d4eef13fe618ca746",
+    "visual_seed": 4957131237033144612,
+    "episode_index": 54,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_57_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e50af34be293d683f4b6af3e514a209f9525755
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_57_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 57,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31149534570621873,
+              -0.07072559059444301,
+              1.0525613028939829
+            ],
+            "current_z": 1.0525613028939829,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19145473527457213,
+            "gripper_z": 1.05604865179591,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30690867854996307,
+              -0.07525490022422104,
+              1.05604865179591
+            ],
+            "object_minus_gripper": [
+              0.004586667156255664,
+              0.0045293096297780305,
+              -0.0034873489019271453
+            ],
+            "object_to_gripper_xy": 0.006446096595977633,
+            "object_to_gripper_z": -0.0034873489019271453,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31149534570621873,
+              -0.0948988175762403,
+              1.0525613028939829
+            ],
+            "finger_b": [
+              0.30027704921373743,
+              -0.07072559059444301,
+              1.0525613028939829
+            ],
+            "finger_midpoint": [
+              0.3058861974599781,
+              -0.08281220408534165,
+              1.0525613028939829
+            ],
+            "object_minus_finger_midpoint": [
+              0.005609148246240647,
+              0.012086613490898637,
+              0.0
+            ],
+            "finger_gap": 0.026649485527993042,
+            "fingertip_max_gap": 0.09313027019273193,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013324742763996514,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0525613028939829,
+            "object_top_z": 1.1030990874242332,
+            "finger_top_clearance": 0.050537784530250374,
+            "fingertip_min_top_clearance": 0.015161335359075111,
+            "object_projection_between_fingers": 0.8227949194086863,
+            "object_to_finger_line_xy": 0.010175897286159497,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04906513509636597,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6787358989580476,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 213,
+            "max_stable_success_frames": 213,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3118621779425377,
+              -0.07497212361379883,
+              1.2466437877663221
+            ],
+            "held_position": [
+              0.31673905194365315,
+              -0.07078606448578004,
+              1.2430659082957765
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073558284748747125,
+            "max_held_gripper_dist": 0.007365202332804723,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003577879470545664,
+            "max_held_gripper_z_dist": 0.003591271955945219,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08657096454303687,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31673905194365315,
+              -0.09607918205787673,
+              1.2430659082957765
+            ],
+            "held_grasp_finger_b": [
+              0.3078412363355799,
+              -0.07078606448578004,
+              1.2430659082957765
+            ],
+            "held_grasp_midpoint": [
+              0.31229014413961653,
+              -0.08343262327182838,
+              1.2430659082957765
+            ],
+            "held_grasp_object_position": [
+              0.31673905194365315,
+              -0.07078606448578004,
+              1.2430659082957765
+            ],
+            "held_grasp_finger_gap": 0.026812551521837272,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02475828625335488,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05561344077391439,
+              -0.9984188118648868,
+              -0.00818665496976778
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037401652488377054,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03684626880208083,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3003701411938463,
+              -0.3293511915979195,
+              0.8515395752347299
+            ],
+            "target_position": [
+              0.2939638340402757,
+              -0.3309892614869541,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006612415920618713,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18367828599683286,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395752347299,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0755047005380923,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08635132819023782,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15197749333711064,
+            "release_required_pad_clearance": 0.05317566409511891,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.375129981370977,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007657110691070557,
+            "max_z_decrease": 0.007657110691070557,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03519239226035206,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007657110691070557,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02130348855315556,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007657110691070557,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076571317518868524,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14966376125812525,
+              -0.38725072145462036,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14966376125812525,
+              -0.38725072145462036,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1502633943023936,
+              -0.38908208584297305,
+              0.8078876192808797
+            ],
+            "closest_button": [
+              0.14965334534645075,
+              -0.38725823163986206,
+              0.772747814655304
+            ],
+            "closest_ee_minus_button": [
+              0.0006100489559428546,
+              -0.0018238542031109861,
+              0.035139804625575755
+            ],
+            "button_min_z_position": [
+              0.14964585006237024,
+              -0.38725203275680536,
+              0.7691517472267151
+            ],
+            "min_active_finger_to_button": 0.1453328597443195,
+            "closest_active_finger": [
+              0.009380526840686798,
+              -0.37069571018218994,
+              0.8107150793075562
+            ],
+            "closest_active_finger_button": [
+              0.14966432750225062,
+              -0.3872535526752472,
+              0.7765400409698486
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14028380066156382,
+              0.01655784249305725,
+              0.03417503833770752
+            ],
+            "min_contact_pad_to_button": 0.02130348855315556,
+            "closest_contact_pad": [
+              0.14965334534645075,
+              -0.38725823163986206,
+              0.7940513032084595
+            ],
+            "closest_contact_pad_button": [
+              0.14965334534645075,
+              -0.38725823163986206,
+              0.772747814655304
+            ],
+            "closest_contact_pad_index": 1,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02130348855315556
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 57,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6c63577d5e49045929c91838298b1feb13e739ff75448b4cba8eaf79aa631682",
+    "visual_seed": 1936460306526735621,
+    "episode_index": 57,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_59_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7296c35908d46c86bc0dcd91c1c39aaa0ecfff75
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_59_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 59,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31582807694935106,
+              -0.07242848543885513,
+              1.0522610902925815
+            ],
+            "current_z": 1.0522610902925815,
+            "required_z": 0.8611065676194106,
+            "initial_z": 0.7611065676194106,
+            "lift_margin": 0.1911545226731709,
+            "gripper_z": 1.0556038242540078,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31127616415338166,
+              -0.07693199219510385,
+              1.0556038242540078
+            ],
+            "object_minus_gripper": [
+              0.004551912795969393,
+              0.004503506756248721,
+              -0.0033427339614262586
+            ],
+            "object_to_gripper_xy": 0.006403240055291365,
+            "object_to_gripper_z": -0.0033427339614262586,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31582807694935106,
+              -0.09659415438254326,
+              1.0522610902925815
+            ],
+            "finger_b": [
+              0.3046639429478766,
+              -0.07242848543885513,
+              1.0522610902925815
+            ],
+            "finger_midpoint": [
+              0.31024600994861384,
+              -0.0845113199106992,
+              1.0522610902925815
+            ],
+            "object_minus_finger_midpoint": [
+              0.005582067000737212,
+              0.012082834471844064,
+              0.0
+            ],
+            "finger_gap": 0.026619869336621686,
+            "fingertip_max_gap": 0.09374347811631664,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013309934668310833,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0522610902925815,
+            "object_top_z": 1.103138461201509,
+            "finger_top_clearance": 0.05087737090892741,
+            "fingertip_min_top_clearance": 0.015263211272678255,
+            "object_projection_between_fingers": 0.8241111771289784,
+            "object_to_finger_line_xy": 0.010134864409399952,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04937173905815832,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.8244926874142626,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31619442693890454,
+              -0.07650960529957099,
+              1.2447160558801285
+            ],
+            "held_position": [
+              0.3210109662427299,
+              -0.07231879522199382,
+              1.2412734924614806
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007253494527676272,
+            "max_held_gripper_dist": 0.007262405358698816,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034425634186479037,
+            "max_held_gripper_z_dist": 0.003455717842722139,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08642392980798075,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3210109662427299,
+              -0.09751482383387404,
+              1.2412734924614806
+            ],
+            "held_grasp_finger_b": [
+              0.31213015699023583,
+              -0.07231879522199382,
+              1.2412734924614806
+            ],
+            "held_grasp_midpoint": [
+              0.3165705616164829,
+              -0.08491680952793393,
+              1.2412734924614806
+            ],
+            "held_grasp_object_position": [
+              0.3210109662427299,
+              -0.07231879522199382,
+              1.2412734924614806
+            ],
+            "held_grasp_finger_gap": 0.026715325766119177,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024718876944468858,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05009300425362472,
+              -0.9987186372801892,
+              -0.007195448147857331
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003804856637941801,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036915945182199816,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30100424177657237,
+              -0.3298974976887999,
+              0.8515395888502187
+            ],
+            "target_position": [
+              0.2945836282919357,
+              -0.3315493171478962,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006629689664271448,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18355902719166206,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395888502187,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07551816458254383,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08651790319091761,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15191985599363256,
+            "release_required_pad_clearance": 0.053258951595458806,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.5379533746050336,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0076885223388671875,
+            "max_z_decrease": 0.0076885223388671875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518613496038864,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0076885223388671875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021252860500401698,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0076885223388671875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076885413976432535,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15028356015682215,
+              -0.38781076669692993,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15028356015682215,
+              -0.38781076669692993,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14975313584671338,
+              -0.3897968170637026,
+              0.8078858643087158
+            ],
+            "closest_button": [
+              0.15027239918708796,
+              -0.3878158032894134,
+              0.7727593779563904
+            ],
+            "closest_ee_minus_button": [
+              -0.0005192633403745817,
+              -0.0019810137742892198,
+              0.0351264863523254
+            ],
+            "button_min_z_position": [
+              0.15026649832725522,
+              -0.38780936598777765,
+              0.7691203355789185
+            ],
+            "min_active_finger_to_button": 0.14644519605447445,
+            "closest_active_finger": [
+              0.00848405808210373,
+              -0.37473025918006897,
+              0.8107197880744934
+            ],
+            "closest_active_finger_button": [
+              0.15028262138366694,
+              -0.3878135681152344,
+              0.776540994644165
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1417985633015632,
+              0.013083308935165405,
+              0.03417879343032837
+            ],
+            "min_contact_pad_to_button": 0.021252860500401698,
+            "closest_contact_pad": [
+              0.15026649832725522,
+              -0.3909142630161474,
+              0.7901451707481357
+            ],
+            "closest_contact_pad_button": [
+              0.15026649832725522,
+              -0.38780936598777765,
+              0.7691203355789185
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0031048970283697463,
+              0.02102483516921727
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 59,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "8403ec26a687cd1f88964e2743b09e034501f9f3f5a09e704a72a8bae7f6678b",
+    "visual_seed": 4245257250163806926,
+    "episode_index": 59,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_5_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a977455f3deb2be2fe154fa94379b2b64713c2cb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_5_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 5,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3178327895765224,
+              -0.07981846197081297,
+              1.0510043257742727
+            ],
+            "current_z": 1.0510043257742727,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18989781775950687,
+            "gripper_z": 1.0548922947120458,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31344019875622586,
+              -0.084198482100057,
+              1.0548922947120458
+            ],
+            "object_minus_gripper": [
+              0.004392590820296527,
+              0.0043800201292440305,
+              -0.003887968937773101
+            ],
+            "object_to_gripper_xy": 0.006203179059735114,
+            "object_to_gripper_z": -0.003887968937773101,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3178327895765224,
+              -0.1040317365450855,
+              1.0510043257742727
+            ],
+            "finger_b": [
+              0.30707219813960257,
+              -0.07981846197081297,
+              1.0510043257742727
+            ],
+            "finger_midpoint": [
+              0.3124524938580625,
+              -0.09192509925794923,
+              1.0510043257742727
+            ],
+            "object_minus_finger_midpoint": [
+              0.005380295718459882,
+              0.012106637287136263,
+              0.0
+            ],
+            "finger_gap": 0.026496660047663084,
+            "fingertip_max_gap": 0.10004254161646822,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013248330023831524,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0510043257742727,
+            "object_top_z": 1.1047947003797747,
+            "finger_top_clearance": 0.053790374605501956,
+            "fingertip_min_top_clearance": 0.016137112381650585,
+            "object_projection_between_fingers": 0.8350736616927136,
+            "object_to_finger_line_xy": 0.009833282933585645,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05252127080823411,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.5673873455990908,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31797302560857604,
+              -0.08305524895000102,
+              1.2442280364039533
+            ],
+            "held_position": [
+              0.32253269462869494,
+              -0.07887329937141038,
+              1.2402691526830991
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007345205522390142,
+            "max_held_gripper_dist": 0.00735745689116676,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003958883720854178,
+            "max_held_gripper_z_dist": 0.0039734268208466705,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08600946292083764,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32253269462869494,
+              -0.1038166029652832,
+              1.2402691526830991
+            ],
+            "held_grasp_finger_b": [
+              0.3135168175028382,
+              -0.07887329937141038,
+              1.2402691526830991
+            ],
+            "held_grasp_midpoint": [
+              0.3180247560657666,
+              -0.09134495116834679,
+              1.2402691526830991
+            ],
+            "held_grasp_object_position": [
+              0.32253269462869494,
+              -0.07887329937141038,
+              1.2402691526830991
+            ],
+            "held_grasp_finger_gap": 0.02652271544402373,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024853680766621342,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.00927782034049121,
+              -0.9997604511750683,
+              0.019823277124475402
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.00439901089383877,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037209761998598746,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2981461215260275,
+              -0.3329010405669421,
+              0.8515395183711033
+            ],
+            "target_position": [
+              0.29746600864498146,
+              -0.33168726387890185,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0013913329505889837,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17833744212136668,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395183711033,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586562109932934,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08957650935884774,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14541635277559975,
+            "release_required_pad_clearance": 0.05478825467942387,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.629889899686475,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007479429244995117,
+            "max_z_decrease": 0.007479429244995117,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517571351828507,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007479429244995117,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02126572756459789,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007479429244995117,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007479451554146788,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1531659364700317,
+              -0.3879487216472626,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1531659364700317,
+              -0.3879487216472626,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15365028732703914,
+              -0.38949068517442903,
+              0.8082006920071909
+            ],
+            "closest_button": [
+              0.15315555036067957,
+              -0.38795655965805054,
+              0.7730619311332703
+            ],
+            "closest_ee_minus_button": [
+              0.0004947369663595713,
+              -0.0015341255163784928,
+              0.03513876087392065
+            ],
+            "button_min_z_position": [
+              0.153147742152214,
+              -0.38795036077499384,
+              0.7693294286727905
+            ],
+            "min_active_finger_to_button": 0.14549368221199438,
+            "closest_active_finger": [
+              0.012703508138656616,
+              -0.37152761220932007,
+              0.8105261921882629
+            ],
+            "closest_active_finger_button": [
+              0.15316650271415705,
+              -0.38795116543769836,
+              0.7763381004333496
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14046299457550043,
+              0.016423553228378296,
+              0.03418809175491333
+            ],
+            "min_contact_pad_to_button": 0.02126572756459789,
+            "closest_contact_pad": [
+              0.153147742152214,
+              -0.3908745922810123,
+              0.7903931424704784
+            ],
+            "closest_contact_pad_button": [
+              0.153147742152214,
+              -0.38795036077499384,
+              0.7693294286727905
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0029242315060184487,
+              0.0210637137976879
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 5,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "1831237a1181115318218dc6f96a100c2121d0c0ad18b6013d17f09c5d5fe1d6",
+    "visual_seed": 8374729724729717711,
+    "episode_index": 5,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_60_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1345c0a75f2af960cd6bfe2d8b7bf05c09fc33c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_60_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 60,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.318356996337084,
+              -0.08009750326583424,
+              1.0513043479330815
+            ],
+            "current_z": 1.0513043479330815,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.19019778031367074,
+            "gripper_z": 1.0547915948351454,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3136698353130368,
+              -0.08463421707373141,
+              1.0547915948351454
+            ],
+            "object_minus_gripper": [
+              0.004687161024047148,
+              0.004536713807897164,
+              -0.003487246902063923
+            ],
+            "object_to_gripper_xy": 0.006523131965560063,
+            "object_to_gripper_z": -0.003487246902063923,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.318356996337084,
+              -0.10445416097447766,
+              1.0513043479330815
+            ],
+            "finger_b": [
+              0.30727486251974545,
+              -0.08009750326583424,
+              1.0513043479330815
+            ],
+            "finger_midpoint": [
+              0.31281592942841474,
+              -0.09227583212015594,
+              1.0513043479330815
+            ],
+            "object_minus_finger_midpoint": [
+              0.005541066908669234,
+              0.012178328854321699,
+              0.0
+            ],
+            "finger_gap": 0.026759306132286328,
+            "fingertip_max_gap": 0.09435607529453152,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013379653066143147,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0513043479330815,
+            "object_top_z": 1.1022593265795302,
+            "finger_top_clearance": 0.05095497864644871,
+            "fingertip_min_top_clearance": 0.015286493593934646,
+            "object_projection_between_fingers": 0.8284869839866955,
+            "object_to_finger_line_xy": 0.0100870978767503,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04967803764726576,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.245574380518447,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3184249156726948,
+              -0.08402964388752819,
+              1.243754617069175
+            ],
+            "held_position": [
+              0.323324452413323,
+              -0.0797490148876978,
+              1.2401769377940792
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0074248928546076474,
+            "max_held_gripper_dist": 0.007434357991960726,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035776792750956687,
+            "max_held_gripper_z_dist": 0.003592177011574993,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0864510923664807,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.323324452413323,
+              -0.10492557222510444,
+              1.2401769377940792
+            ],
+            "held_grasp_finger_b": [
+              0.31422866594238963,
+              -0.0797490148876978,
+              1.2401769377940792
+            ],
+            "held_grasp_midpoint": [
+              0.3187765591778563,
+              -0.09233729355640112,
+              1.2401769377940792
+            ],
+            "held_grasp_object_position": [
+              0.323324452413323,
+              -0.0797490148876978,
+              1.2401769377940792
+            ],
+            "held_grasp_finger_gap": 0.026769243001783585,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02488833050762095,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.030309711279086653,
+              -0.9995020698093278,
+              -0.008771194277177983
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004165736214463543,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03700039415449437,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30133173886777215,
+              -0.32875820212398865,
+              0.8515395622069735
+            ],
+            "target_position": [
+              0.29476788378806024,
+              -0.3305064890418358,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0067926946534181435,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18319616993688348,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395622069735,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756647287762809,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0878487804079681,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15116474926006412,
+            "release_required_pad_clearance": 0.053924390203984054,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.8588790867855414,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007627248764038086,
+            "max_z_decrease": 0.007627248764038086,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515484726454881,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007627248764038086,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02106679638461893,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007627248764038086,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0076272694254498905,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15046781301498413,
+              -0.38676795363426203,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15046781301498413,
+              -0.38676795363426203,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15127346780291978,
+              -0.386251867770771,
+              0.808000750780149
+            ],
+            "closest_button": [
+              0.1504560112953186,
+              -0.3867731690406799,
+              0.7728592753410339
+            ],
+            "closest_ee_minus_button": [
+              0.0008174565076011775,
+              0.0005213012699089026,
+              0.035141475439115055
+            ],
+            "button_min_z_position": [
+              0.15045011043548584,
+              -0.38676929473876953,
+              0.7691816091537476
+            ],
+            "min_active_finger_to_button": 0.14517412294608564,
+            "closest_active_finger": [
+              0.024189189076423645,
+              -0.44974538683891296,
+              0.8107670545578003
+            ],
+            "closest_active_finger_button": [
+              0.1504686921834945,
+              -0.38676887750625605,
+              0.776664674282074
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12627950310707087,
+              -0.06297650933265692,
+              0.03410238027572632
+            ],
+            "min_contact_pad_to_button": 0.02106679638461893,
+            "closest_contact_pad": [
+              0.15045011043548584,
+              -0.3873448777828541,
+              0.7902405410846494
+            ],
+            "closest_contact_pad_button": [
+              0.15045011043548584,
+              -0.38676929473876953,
+              0.7691816091537476
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00057558304408456,
+              0.021058931930901803
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 60,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3e49cba7d4b406e3c6a3e1eee20960291b96c636af67e6c650e373e6d2b21456",
+    "visual_seed": 2884963717022627582,
+    "episode_index": 60,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_63_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..9e0f33ea5db1ff44a7ecfac0b0922fb21000fad1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_63_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 63,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.314720677392998,
+              -0.0724065177414932,
+              1.0495846073341015
+            ],
+            "current_z": 1.0495846073341015,
+            "required_z": 0.8611065676194107,
+            "initial_z": 0.7611065676194108,
+            "lift_margin": 0.1884780397146908,
+            "gripper_z": 1.0547098694461392,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3098002962300912,
+              -0.07699890692507462,
+              1.0547098694461392
+            ],
+            "object_minus_gripper": [
+              0.004920381162906828,
+              0.004592389183581416,
+              -0.005125262112037676
+            ],
+            "object_to_gripper_xy": 0.0067305415236638974,
+            "object_to_gripper_z": -0.005125262112037676,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.314720677392998,
+              -0.09697286914312415,
+              1.0495846073341015
+            ],
+            "finger_b": [
+              0.30362058854983753,
+              -0.0724065177414932,
+              1.0495846073341015
+            ],
+            "finger_midpoint": [
+              0.3091706329714178,
+              -0.08468969344230867,
+              1.0495846073341015
+            ],
+            "object_minus_finger_midpoint": [
+              0.005550044421580247,
+              0.012283175700815469,
+              0.0
+            ],
+            "finger_gap": 0.0269577000783537,
+            "fingertip_max_gap": 0.09490160023367925,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013478850039176845,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495846073341015,
+            "object_top_z": 1.10041086894793,
+            "finger_top_clearance": 0.050826261613828416,
+            "fingertip_min_top_clearance": 0.015247878484148507,
+            "object_projection_between_fingers": 0.8304541221711834,
+            "object_to_finger_line_xy": 0.01011542833097119,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049950800116839625,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0174296423568787,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31420997904870335,
+              -0.07554126315319129,
+              1.2463828070668799
+            ],
+            "held_position": [
+              0.3192702236406392,
+              -0.07113501370280317,
+              1.2411964415315697
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.008480536363645541,
+            "max_held_gripper_dist": 0.00849774544996384,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.005186365535310156,
+            "max_held_gripper_z_dist": 0.0052078066894643005,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0869244496923243,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3192702236406392,
+              -0.09634176997252025,
+              1.2411964415315697
+            ],
+            "held_grasp_finger_b": [
+              0.30961159101081626,
+              -0.07113501370280317,
+              1.2411964415315697
+            ],
+            "held_grasp_midpoint": [
+              0.3144409073257277,
+              -0.08373839183766171,
+              1.2411964415315697
+            ],
+            "held_grasp_object_position": [
+              0.3192702236406392,
+              -0.07113501370280317,
+              1.2411964415315697
+            ],
+            "held_grasp_finger_gap": 0.026993883490872544,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.025223493002808465,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0017467350309627561,
+              -0.9999946705211537,
+              -0.0027582324087906955
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0048514481751973934,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037125374640656544,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29219655433444225,
+              -0.3370226400654005,
+              0.8515395726248214
+            ],
+            "target_position": [
+              0.29262565781651456,
+              -0.3353496746925209,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0017271198386854104,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17687300804233455,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395726248214,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07523908338613954,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08949837993330477,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1453696978092034,
+            "release_required_pad_clearance": 0.05474918996665239,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 4.548344358913946,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 142,
+            "max_placed_release_frames": 142
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007718861103057861,
+            "max_z_decrease": 0.007718861103057861,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035211470304877666,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007718861103057861,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021071556683728954,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007718861103057861,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007718881685229833,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14832557737827298,
+              -0.39161112904548645,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14832557737827298,
+              -0.39161112904548645,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14913677011071788,
+              -0.3895968983433372,
+              0.8078332051372433
+            ],
+            "closest_button": [
+              0.14831401407718658,
+              -0.3916177451610565,
+              0.7726894021034241
+            ],
+            "closest_ee_minus_button": [
+              0.0008227560335312967,
+              0.0020208468177193017,
+              0.035143803033819254
+            ],
+            "button_min_z_position": [
+              0.1483078449964523,
+              -0.3916129469871521,
+              0.7690899968147278
+            ],
+            "min_active_finger_to_button": 0.1445560271049776,
+            "closest_active_finger": [
+              0.020857475697994232,
+              -0.450647234916687,
+              0.8105716705322266
+            ],
+            "closest_active_finger_button": [
+              0.14832571148872373,
+              -0.39161327481269836,
+              0.7764647006988525
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1274682357907295,
+              -0.05903396010398865,
+              0.03410696983337402
+            ],
+            "min_contact_pad_to_button": 0.021071556683728954,
+            "closest_contact_pad": [
+              0.1483078449964523,
+              -0.3916129469871521,
+              0.7901615534984567
+            ],
+            "closest_contact_pad_button": [
+              0.1483078449964523,
+              -0.3916129469871521,
+              0.7690899968147278
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021071556683728954
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 63,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "3d47316bc0710d7dffb3692468506a6172679df49346a7c818b14c18444add13",
+    "visual_seed": 4913098540619725320,
+    "episode_index": 63,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_65_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bf125f6dde6d4dd063d362e57c6710a4ed718fb
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_65_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 65,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31912931579811654,
+              -0.06807472555406494,
+              1.0512661197130182
+            ],
+            "current_z": 1.0512661197130182,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.19015961169825213,
+            "gripper_z": 1.0542707515387495,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3146705915252689,
+              -0.07259107677241196,
+              1.0542707515387495
+            ],
+            "object_minus_gripper": [
+              0.004458724272847658,
+              0.004516351218347023,
+              -0.0030046318257312965
+            ],
+            "object_to_gripper_xy": 0.00634646755831506,
+            "object_to_gripper_z": -0.0030046318257312965,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31912931579811654,
+              -0.09207375741601409,
+              1.0512661197130182
+            ],
+            "finger_b": [
+              0.3078173383922084,
+              -0.06807472555406494,
+              1.0512661197130182
+            ],
+            "finger_midpoint": [
+              0.31347332709516246,
+              -0.08007424148503951,
+              1.0512661197130182
+            ],
+            "object_minus_finger_midpoint": [
+              0.0056559887029540845,
+              0.011999515930974577,
+              0.0
+            ],
+            "finger_gap": 0.026531384493513107,
+            "fingertip_max_gap": 0.09278736847771399,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013265692246756553,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0512661197130182,
+            "object_top_z": 1.1017971644439517,
+            "finger_top_clearance": 0.050531044730933505,
+            "fingertip_min_top_clearance": 0.015159313419280084,
+            "object_projection_between_fingers": 0.8182153404847495,
+            "object_to_finger_line_xy": 0.010232278162958856,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.048893684238856996,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.3380921989598231,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31980872800976146,
+              -0.0720792638177419,
+              1.2450115611808927
+            ],
+            "held_position": [
+              0.32459010415757306,
+              -0.06795251034283031,
+              1.2418902473918023
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007045158045035086,
+            "max_held_gripper_dist": 0.007053707355077199,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031213137890904186,
+            "max_held_gripper_z_dist": 0.003134026081749175,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08647632834418245,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32459010415757306,
+              -0.09321988195117423,
+              1.2418902473918023
+            ],
+            "held_grasp_finger_b": [
+              0.3158698212634706,
+              -0.06795251034283031,
+              1.2418902473918023
+            ],
+            "held_grasp_midpoint": [
+              0.32022996271052184,
+              -0.08058619614700227,
+              1.2418902473918023
+            ],
+            "held_grasp_object_position": [
+              0.32459010415757306,
+              -0.06795251034283031,
+              1.2418902473918023
+            ],
+            "held_grasp_finger_gap": 0.026729822329138675,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024586282436310582,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07077538372357976,
+              -0.99747073795345,
+              -0.006555302081540093
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034560701899737424,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0368099274839315,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3025143215119856,
+              -0.32823946688762157,
+              0.85153958517197
+            ],
+            "target_position": [
+              0.2950620322806525,
+              -0.3305715636447424,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007808667624634629,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18438945933029943,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153958517197,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07548167211238811,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08530614918595968,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15280753630978602,
+            "release_required_pad_clearance": 0.05265307459297984,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.36476849454134985,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007643222808837891,
+            "max_z_decrease": 0.007643222808837891,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516242224916275,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007643222808837891,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021101441830757968,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007643222808837891,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007643243308496195,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15076196193695068,
+              -0.38683301210403437,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15076196193695068,
+              -0.38683301210403437,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15194551097306971,
+              -0.38701526554749033,
+              0.8079434310161627
+            ],
+            "closest_button": [
+              0.1507507562637329,
+              -0.3868385255336761,
+              0.7728017568588257
+            ],
+            "closest_ee_minus_button": [
+              0.0011947547093368038,
+              -0.0001767400138142361,
+              0.035141674157337044
+            ],
+            "button_min_z_position": [
+              0.15074430406093597,
+              -0.3868342638015746,
+              0.7691656351089478
+            ],
+            "min_active_finger_to_button": 0.14496363802537998,
+            "closest_active_finger": [
+              0.010723434388637543,
+              -0.3714755177497864,
+              0.810771644115448
+            ],
+            "closest_active_finger_button": [
+              0.150762066245079,
+              -0.38683456182479853,
+              0.7765994668006897
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14003863185644147,
+              0.015359044075012152,
+              0.0341721773147583
+            ],
+            "min_contact_pad_to_button": 0.021101441830757968,
+            "closest_contact_pad": [
+              0.15074430406093597,
+              -0.3881043902871429,
+              0.7902288168735226
+            ],
+            "closest_contact_pad_button": [
+              0.15074430406093597,
+              -0.3868342638015746,
+              0.7691656351089478
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0012701264855682903,
+              0.02106318176457489
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 65,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "b596b533df66898a4e1906e18a1aee0bdd7af846f71972570ca0fcd46be3d9f3",
+    "visual_seed": 1579331540083898802,
+    "episode_index": 65,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_68_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8a601eb45bb221fff5013a86ac9afc608ad3c07
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_68_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 68,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3103932977479785,
+              -0.069124250676673,
+              1.0486479288042654
+            ],
+            "current_z": 1.0486479288042654,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18754153999878898,
+            "gripper_z": 1.0521013968428221,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30583638591556006,
+              -0.07364966537312352,
+              1.0521013968428221
+            ],
+            "object_minus_gripper": [
+              0.004556911832418464,
+              0.004525414696450528,
+              -0.0034534680385567285
+            ],
+            "object_to_gripper_xy": 0.006422213296308822,
+            "object_to_gripper_z": -0.0034534680385567285,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3103932977479785,
+              -0.09326398994926383,
+              1.0486479288042654
+            ],
+            "finger_b": [
+              0.2991609374093128,
+              -0.069124250676673,
+              1.0486479288042654
+            ],
+            "finger_midpoint": [
+              0.3047771175786457,
+              -0.08119412031296841,
+              1.0486479288042654
+            ],
+            "object_minus_finger_midpoint": [
+              0.005616180169332852,
+              0.012069869636295416,
+              0.0
+            ],
+            "finger_gap": 0.02662504330374496,
+            "fingertip_max_gap": 0.09301127282577795,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01331252165187248,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0486479288042654,
+            "object_top_z": 1.0994868644063582,
+            "finger_top_clearance": 0.05083893560209285,
+            "fingertip_min_top_clearance": 0.015251680680627822,
+            "object_projection_between_fingers": 0.8220240133968156,
+            "object_to_finger_line_xy": 0.010183880149897908,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04900563641288898,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.2327507716663129,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3108126549989186,
+              -0.07346683914108935,
+              1.2451728438725365
+            ],
+            "held_position": [
+              0.3156891605231984,
+              -0.06932927145401249,
+              1.2416239597242038
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007313983264388902,
+            "max_held_gripper_dist": 0.007323288386033159,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003548884148332654,
+            "max_held_gripper_z_dist": 0.0035599588695893747,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655785151569229,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3156891605231984,
+              -0.09471928364495727,
+              1.2416239597242038
+            ],
+            "held_grasp_finger_b": [
+              0.30692548206325954,
+              -0.06922124377583845,
+              1.2416239597242038
+            ],
+            "held_grasp_midpoint": [
+              0.31130732129322897,
+              -0.08197026371039787,
+              1.2416239597242038
+            ],
+            "held_grasp_object_position": [
+              0.3156891605231984,
+              -0.06932927145401249,
+              1.2416239597242038
+            ],
+            "held_grasp_finger_gap": 0.026962049204694534,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02479990201196807,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07209143273887399,
+              -0.9973977717012159,
+              -0.0007143746255631189
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034591426446248874,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03679625949336407,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3072078317644285,
+              -0.33482720893669904,
+              0.85153959715851
+            ],
+            "target_position": [
+              0.3002662047620836,
+              -0.33662498989832984,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007170648633539794,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18345156132387178,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.85153959715851,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0756336214683182,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08601169676184338,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15146836664558921,
+            "release_required_pad_clearance": 0.05300584838092169,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0445411866326273,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00788867473602295,
+            "max_z_decrease": 0.00788867473602295,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03514065956298649,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00788867473602295,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021124774220936164,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00788867473602295,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007888696485228514,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1559661328792572,
+              -0.3928864598274231,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1559661328792572,
+              -0.3928864598274231,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15630059949278627,
+              -0.3932891630783561,
+              0.8079148329797687
+            ],
+            "closest_button": [
+              0.15595518052577972,
+              -0.3928939402103424,
+              0.7727780938148499
+            ],
+            "closest_ee_minus_button": [
+              0.0003454189670065444,
+              -0.00039522286801368933,
+              0.035136739164918884
+            ],
+            "button_min_z_position": [
+              0.15594772994518277,
+              -0.3928885757923126,
+              0.7689201831817627
+            ],
+            "min_active_finger_to_button": 0.14576810421284578,
+            "closest_active_finger": [
+              0.015259124338626862,
+              -0.3761431574821472,
+              0.8108112812042236
+            ],
+            "closest_active_finger_button": [
+              0.15596695244312286,
+              -0.392888605594635,
+              0.776617169380188
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.140707828104496,
+              0.016745448112487793,
+              0.034194111824035645
+            ],
+            "min_contact_pad_to_button": 0.021124774220936164,
+            "closest_contact_pad": [
+              0.15594772994518277,
+              -0.394538406980621,
+              0.7899804334873886
+            ],
+            "closest_contact_pad_button": [
+              0.15594772994518277,
+              -0.3928885757923126,
+              0.7689201831817627
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0016498311883083594,
+              0.02106025030562586
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 68,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "960a32ef9112e74ff7b81435a1e8f9721cf0e79e85e10244ecd871cab492e042",
+    "visual_seed": 4185623799677637252,
+    "episode_index": 68,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_69_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab11d722440427fac183f9c2725268a2bda48c6c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_69_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 69,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3172946836077173,
+              -0.06906218079943587,
+              1.0513848016692133
+            ],
+            "current_z": 1.0513848016692133,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.19027835325909215,
+            "gripper_z": 1.054695734778944,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3128698761422727,
+              -0.0735819414045009,
+              1.054695734778944
+            ],
+            "object_minus_gripper": [
+              0.004424807465444602,
+              0.004519760605065037,
+              -0.0033109331097307404
+            ],
+            "object_to_gripper_xy": 0.00632512110819644,
+            "object_to_gripper_z": -0.0033109331097307404,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3172946836077173,
+              -0.09300607327414469,
+              1.0513848016692133
+            ],
+            "finger_b": [
+              0.30594342524504553,
+              -0.06906218079943587,
+              1.0513848016692133
+            ],
+            "finger_midpoint": [
+              0.3116190544263814,
+              -0.08103412703679028,
+              1.0513848016692133
+            ],
+            "object_minus_finger_midpoint": [
+              0.005675629181335906,
+              0.011971946237354411,
+              0.0
+            ],
+            "finger_gap": 0.026498321706412715,
+            "fingertip_max_gap": 0.09290070859249469,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01324916085320637,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0513848016692133,
+            "object_top_z": 1.1019556205743783,
+            "finger_top_clearance": 0.050570818905165016,
+            "fingertip_min_top_clearance": 0.01517124567154947,
+            "object_projection_between_fingers": 0.8164935724951864,
+            "object_to_finger_line_xy": 0.010257000903671442,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895035429624735,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.406574564032724,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3179395163775184,
+              -0.07296738465152543,
+              1.2482698477156968
+            ],
+            "held_position": [
+              0.3227010616869316,
+              -0.06884578779858061,
+              1.2448629154478494
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007160102082337873,
+            "max_held_gripper_dist": 0.0071688745782672045,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034069322678473846,
+            "max_held_gripper_z_dist": 0.0034242412850953308,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08653011030823449,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3227010616869316,
+              -0.09412916274123655,
+              1.2448629154478494
+            ],
+            "held_grasp_finger_b": [
+              0.31389010867317546,
+              -0.06884578779858061,
+              1.2448629154478494
+            ],
+            "held_grasp_midpoint": [
+              0.3182955851800535,
+              -0.08148747526990857,
+              1.2448629154478494
+            ],
+            "held_grasp_object_position": [
+              0.3227010616869316,
+              -0.06884578779858061,
+              1.2448629154478494
+            ],
+            "held_grasp_finger_gap": 0.026774651099529572,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024596070261094984,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07079383045718159,
+              -0.9974867450297664,
+              -0.002902939737851717
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0034996667261872794,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036798453825725524,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3051485857697216,
+              -0.3298389826997771,
+              0.851539612605054
+            ],
+            "target_position": [
+              0.29903054356932934,
+              -0.3315668105196913,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006357344519612722,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18231697894747131,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539612605054,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07577980042115219,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08600543094884587,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1499361357817944,
+            "release_required_pad_clearance": 0.05300271547442294,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.038529350237797,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007613658905029297,
+            "max_z_decrease": 0.007613658905029297,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516103517508441,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007613658905029297,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02112312092699819,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007613658905029297,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007613683855940862,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15473046898841858,
+              -0.3878282606601715,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15473046898841858,
+              -0.3878282606601715,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15580069357748136,
+              -0.3882073392873528,
+              0.8081067537165539
+            ],
+            "closest_button": [
+              0.15471997857093805,
+              -0.38783544301986694,
+              0.7729642987251282
+            ],
+            "closest_ee_minus_button": [
+              0.0010807150065433035,
+              -0.0003718962674858495,
+              0.035142454991425764
+            ],
+            "button_min_z_position": [
+              0.1547110676765442,
+              -0.38783013820648193,
+              0.7691951990127563
+            ],
+            "min_active_finger_to_button": 0.14506355158816342,
+            "closest_active_finger": [
+              0.014673374593257904,
+              -0.371734082698822,
+              0.810401976108551
+            ],
+            "closest_active_finger_button": [
+              0.1547309011220932,
+              -0.3878304362297058,
+              0.7762225866317749
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1400575265288353,
+              0.01609635353088379,
+              0.03417938947677612
+            ],
+            "min_contact_pad_to_button": 0.02112312092699819,
+            "closest_contact_pad": [
+              0.1547110676765442,
+              -0.3894108671768845,
+              0.7902590907144035
+            ],
+            "closest_contact_pad_button": [
+              0.1547110676765442,
+              -0.38783013820648193,
+              0.7691951990127563
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0015807289704025673,
+              0.02106389170164713
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 69,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20e0817217572d51a26c1d1b4ec62ced5dfe7463bd6c10add086b404d7f2ab55",
+    "visual_seed": 6967882837090680633,
+    "episode_index": 69,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_6_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..8666c8d9255289d4f6c20ae3ec578b2d977a8788
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_6_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 6,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3180330756793333,
+              -0.07398516469463769,
+              1.0488139399258807
+            ],
+            "current_z": 1.0488139399258807,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18770755112040427,
+            "gripper_z": 1.0524753081351577,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31363802280229114,
+              -0.07840427813832473,
+              1.0524753081351577
+            ],
+            "object_minus_gripper": [
+              0.0043950528770421715,
+              0.004419113443687048,
+              -0.003661368209276983
+            ],
+            "object_to_gripper_xy": 0.006232579997093681,
+            "object_to_gripper_z": -0.003661368209276983,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3180330756793333,
+              -0.09811211666121872,
+              1.0488139399258807
+            ],
+            "finger_b": [
+              0.30710889257165735,
+              -0.07398516469463769,
+              1.0488139399258807
+            ],
+            "finger_midpoint": [
+              0.31257098412549533,
+              -0.0860486406779282,
+              1.0488139399258807
+            ],
+            "object_minus_finger_midpoint": [
+              0.005462091553837978,
+              0.012063475983290509,
+              0.0
+            ],
+            "finger_gap": 0.02648485581927417,
+            "fingertip_max_gap": 0.09709504721839277,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01324242790963708,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0488139399258807,
+            "object_top_z": 1.1007429475438713,
+            "finger_top_clearance": 0.051929007617990575,
+            "fingertip_min_top_clearance": 0.015578702285397138,
+            "object_projection_between_fingers": 0.8298692893793983,
+            "object_to_finger_line_xy": 0.009951620764392608,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.051047523609196385,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.180153243755037,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3179346554181881,
+              -0.0768603387452153,
+              1.2434627863809267
+            ],
+            "held_position": [
+              0.3224626987995798,
+              -0.07264082076424166,
+              1.2395809231857093
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0073059134077750835,
+            "max_held_gripper_dist": 0.007321552577923143,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0038818631952173277,
+            "max_held_gripper_z_dist": 0.003898621049100104,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08560356111941356,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3224626987995798,
+              -0.09750283905344227,
+              1.2395809231857093
+            ],
+            "held_grasp_finger_b": [
+              0.31318025318831894,
+              -0.07264082076424166,
+              1.2395809231857093
+            ],
+            "held_grasp_midpoint": [
+              0.3178214759939494,
+              -0.08507182990884196,
+              1.2395809231857093
+            ],
+            "held_grasp_object_position": [
+              0.3224626987995798,
+              -0.07264082076424166,
+              1.2395809231857093
+            ],
+            "held_grasp_finger_gap": 0.026538344898251687,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024876079022890157,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              0.0019832018420957234,
+              -0.999825105528631,
+              0.018596377741799452
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004671585868911913,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03730061952188539,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29446896646319803,
+              -0.33407231746114385,
+              0.8515395789876403
+            ],
+            "target_position": [
+              0.2932532559210544,
+              -0.3326259007331653,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.001889463805754276,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17952130420086534,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395789876403,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07583651544024174,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09273474629080851,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1466915569333211,
+            "release_required_pad_clearance": 0.056367373145404256,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 8.06276674006087,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 144,
+            "max_placed_release_frames": 144
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075484514236450195,
+            "max_z_decrease": 0.0075484514236450195,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03515601035446085,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075484514236450195,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021018598174971117,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075484514236450195,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007548469037359551,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14895318448543543,
+              -0.38888734579086304,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14895318448543543,
+              -0.38888734579086304,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14789631336408224,
+              -0.3882296297695501,
+              0.8080946410770826
+            ],
+            "closest_button": [
+              0.1489419490098953,
+              -0.3888918459415436,
+              0.7729604244232178
+            ],
+            "closest_ee_minus_button": [
+              -0.001045635645813059,
+              0.0006622161719934683,
+              0.03513421665386485
+            ],
+            "button_min_z_position": [
+              0.14893689751625055,
+              -0.3888881504535675,
+              0.7692604064941406
+            ],
+            "min_active_finger_to_button": 0.1467367432028193,
+            "closest_active_finger": [
+              0.020845405757427216,
+              -0.45178815722465515,
+              0.8108904361724854
+            ],
+            "closest_active_finger_button": [
+              0.1489554345607757,
+              -0.38888809084892273,
+              0.7767865657806396
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12811002880334849,
+              -0.06290006637573242,
+              0.0341038703918457
+            ],
+            "min_contact_pad_to_button": 0.021018598174971117,
+            "closest_contact_pad": [
+              0.14893689751625055,
+              -0.38927652165264687,
+              0.7902754162979124
+            ],
+            "closest_contact_pad_button": [
+              0.14893689751625055,
+              -0.3888881504535675,
+              0.7692604064941406
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00038837119907936257,
+              0.0210150098037718
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 6,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f55b9cc239cd8dbf19d8d593be2f5a067c26c8224bee8d282bcd6b0764b1d4d8",
+    "visual_seed": 1660352582735679469,
+    "episode_index": 6,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_70_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..7be65cac9874934968afa8568a0de11fd27f2b10
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_70_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 70,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31246254086749636,
+              -0.07295264541851015,
+              1.0490718104295347
+            ],
+            "current_z": 1.0490718104295347,
+            "required_z": 0.8611065080147658,
+            "initial_z": 0.7611065080147659,
+            "lift_margin": 0.18796530241476883,
+            "gripper_z": 1.0523986773237426,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30813577192036756,
+              -0.07744689396148523,
+              1.0523986773237426
+            ],
+            "object_minus_gripper": [
+              0.004326768947128801,
+              0.004494248542975074,
+              -0.003326866894207914
+            ],
+            "object_to_gripper_xy": 0.006238525425761415,
+            "object_to_gripper_z": -0.003326866894207914,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31246254086749636,
+              -0.09675305437474553,
+              1.0490718104295347
+            ],
+            "finger_b": [
+              0.3010622792899022,
+              -0.07295264541851015,
+              1.0490718104295347
+            ],
+            "finger_midpoint": [
+              0.3067624100786993,
+              -0.08485284989662784,
+              1.0490718104295347
+            ],
+            "object_minus_finger_midpoint": [
+              0.005700130788797053,
+              0.011900204478117682,
+              0.0
+            ],
+            "finger_gap": 0.026389873635953978,
+            "fingertip_max_gap": 0.09325503561742812,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013194936817976972,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0490718104295347,
+            "object_top_z": 1.09970438550389,
+            "finger_top_clearance": 0.05063257507435526,
+            "fingertip_min_top_clearance": 0.01518977252230656,
+            "object_projection_between_fingers": 0.813381363830689,
+            "object_to_finger_line_xy": 0.010281628911823671,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049127517808714063,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6909094056881182,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31317119007809013,
+              -0.07703910478043985,
+              1.244878577782458
+            ],
+            "held_position": [
+              0.3178705111021306,
+              -0.07296897539723045,
+              1.2414578612434743
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00709583489965274,
+            "max_held_gripper_dist": 0.007104714586769868,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034207165389836813,
+            "max_held_gripper_z_dist": 0.0034337717364893994,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08660359224723649,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3178705111021306,
+              -0.09823760103633401,
+              1.2414578612434743
+            ],
+            "held_grasp_finger_b": [
+              0.30923960492420605,
+              -0.07291944051107326,
+              1.2414578612434743
+            ],
+            "held_grasp_midpoint": [
+              0.3135550580131683,
+              -0.08557852077370363,
+              1.2414578612434743
+            ],
+            "held_grasp_object_position": [
+              0.3178705111021306,
+              -0.07296897539723045,
+              1.2414578612434743
+            ],
+            "held_grasp_finger_gap": 0.02674886528126022,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02459615297844081,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07529516931409469,
+              -0.9971505826915398,
+              -0.004620921540627875
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0033542841201599184,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03682170177946896,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2987585289066552,
+              -0.33691202703009115,
+              0.8515395625069383
+            ],
+            "target_position": [
+              0.29282984180293875,
+              -0.3383010446185167,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006089228246233624,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18524778983294182,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395625069383,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578188907190939,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08612938190039869,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15279262340160374,
+            "release_required_pad_clearance": 0.05306469095019935,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.1589192392813499,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 150,
+            "max_placed_release_frames": 150
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075057148933410645,
+            "max_z_decrease": 0.0075057148933410645,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521348876104112,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075057148933410645,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021060889567938987,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.0075057148933410645,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007505740131079101,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1485297679901123,
+              -0.39456251263618464,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1485297679901123,
+              -0.39456251263618464,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15057214489058685,
+              -0.3938246790722388,
+              0.8082653374074255
+            ],
+            "closest_button": [
+              0.14851851761341092,
+              -0.3945673406124115,
+              0.7731196284294128
+            ],
+            "closest_ee_minus_button": [
+              0.0020536272771759234,
+              0.0007426615401727177,
+              0.03514570897801261
+            ],
+            "button_min_z_position": [
+              0.14851030707359314,
+              -0.39456287026405334,
+              0.7693031430244446
+            ],
+            "min_active_finger_to_button": 0.14401915525276837,
+            "closest_active_finger": [
+              0.023409850895404816,
+              -0.45719969272613525,
+              0.8105155825614929
+            ],
+            "closest_active_finger_button": [
+              0.1485290825366974,
+              -0.3945640921592712,
+              0.7764058113098145
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12511923164129257,
+              -0.06263560056686407,
+              0.03410977125167847
+            ],
+            "min_contact_pad_to_button": 0.021060889567938987,
+            "closest_contact_pad": [
+              0.14851030707359314,
+              -0.39490524613847433,
+              0.7903612494956717
+            ],
+            "closest_contact_pad_button": [
+              0.14851030707359314,
+              -0.39456287026405334,
+              0.7693031430244446
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.00034237587442098594,
+              0.021058106471227078
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 70,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "cf818d9ccb30b3e0959030ab625437b67e18ed00466cb6c32f76173cac8fbcf4",
+    "visual_seed": 8245394051096244549,
+    "episode_index": 70,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_75_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c16983823f2103eaa012765fdecb3778d1328215
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_75_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 75,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31912426827796636,
+              -0.0776784310682449,
+              1.051680915293285
+            ],
+            "current_z": 1.051680915293285,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.1905744668831636,
+            "gripper_z": 1.0547614897935564,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31478394257555037,
+              -0.08214118107848292,
+              1.0547614897935564
+            ],
+            "object_minus_gripper": [
+              0.0043403257024159925,
+              0.00446275001023802,
+              -0.003080574500271549
+            ],
+            "object_to_gripper_xy": 0.006225316446328839,
+            "object_to_gripper_z": -0.003080574500271549,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31912426827796636,
+              -0.10156297297709004,
+              1.051680915293285
+            ],
+            "finger_b": [
+              0.30785549409247526,
+              -0.0776784310682449,
+              1.051680915293285
+            ],
+            "finger_midpoint": [
+              0.3134898811852208,
+              -0.08962070202266748,
+              1.051680915293285
+            ],
+            "object_minus_finger_midpoint": [
+              0.005634387092745552,
+              0.011942270954422574,
+              0.0
+            ],
+            "finger_gap": 0.026409403890261706,
+            "fingertip_max_gap": 0.09404361082702442,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01320470194513086,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051680915293285,
+            "object_top_z": 1.1028356443389062,
+            "finger_top_clearance": 0.05115472904562135,
+            "fingertip_min_top_clearance": 0.015346418713686404,
+            "object_projection_between_fingers": 0.8179309377473203,
+            "object_to_finger_line_xy": 0.010191426902820828,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04952180541351221,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7263022587834846,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31990144265524995,
+              -0.08189344153819193,
+              1.2450083388376492
+            ],
+            "held_position": [
+              0.3245737800993178,
+              -0.07781485916803484,
+              1.2418202675523018
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006973476167726635,
+            "max_held_gripper_dist": 0.006982087169624354,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0031880712853473714,
+            "max_held_gripper_z_dist": 0.0031995410691836312,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0871305336056741,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3245737800993178,
+              -0.10301324014497928,
+              1.2418202675523018
+            ],
+            "held_grasp_finger_b": [
+              0.316010349825634,
+              -0.07781485916803484,
+              1.2418202675523018
+            ],
+            "held_grasp_midpoint": [
+              0.32029206496247586,
+              -0.09041404965650707,
+              1.2418202675523018
+            ],
+            "held_grasp_object_position": [
+              0.3245737800993178,
+              -0.07781485916803484,
+              1.2418202675523018
+            ],
+            "held_grasp_finger_gap": 0.026613732205601693,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024534338656457804,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07025707950802551,
+              -0.9975236218968154,
+              -0.0032506209963756296
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003386205949170203,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03685143914026652,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3077965839999225,
+              -0.33701971022316984,
+              0.8515395642078547
+            ],
+            "target_position": [
+              0.30127331106836064,
+              -0.3385167891118922,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006692857008685135,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18347726343021992,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395642078547,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07532204491942247,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08506159425864272,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15207624817692258,
+            "release_required_pad_clearance": 0.05253079712932136,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.1312212111486231,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007764875888824463,
+            "max_z_decrease": 0.007764875888824463,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521825973288309,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007764875888824463,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021260797110343944,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007764875888824463,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00776489632655004,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15697324275970453,
+              -0.3947782516479492,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15697324275970453,
+              -0.3947782516479492,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.158613935897994,
+              -0.39610745236067446,
+              0.804409174985214
+            ],
+            "closest_button": [
+              0.15695390105247492,
+              -0.3947803378105163,
+              0.7692551016807556
+            ],
+            "closest_ee_minus_button": [
+              0.001660034845519076,
+              -0.0013271145501581594,
+              0.03515407330445841
+            ],
+            "button_min_z_position": [
+              0.15695559978485102,
+              -0.39478072524070734,
+              0.7690439820289612
+            ],
+            "min_active_finger_to_button": 0.14399718009914197,
+            "closest_active_finger": [
+              0.01815350353717804,
+              -0.3778127431869507,
+              0.8105844855308533
+            ],
+            "closest_active_finger_button": [
+              0.15697522461414332,
+              -0.3947806060314178,
+              0.7762944102287292
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13882172107696528,
+              0.016967862844467108,
+              0.03429007530212402
+            ],
+            "min_contact_pad_to_button": 0.021260797110343944,
+            "closest_contact_pad": [
+              0.15695559978485102,
+              -0.397477431466012,
+              0.7901330614138374
+            ],
+            "closest_contact_pad_button": [
+              0.15695559978485102,
+              -0.39478072524070734,
+              0.7690439820289612
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002696706225304657,
+              0.021089079384876253
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 75,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "dbcda5d34c2faa7020d1f9a06bbbbc192bf48ba95e9122f461c3664912ff5efe",
+    "visual_seed": 839544263309946193,
+    "episode_index": 75,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_77_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..471ad55d2ccdcf0f7586bf5208edc146480876fe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_77_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 77,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3137413450854672,
+              -0.07522693672301076,
+              1.0494427132141888
+            ],
+            "current_z": 1.0494427132141888,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18833626480406762,
+            "gripper_z": 1.0528709228912294,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3093836661538986,
+              -0.07963637510731394,
+              1.0528709228912294
+            ],
+            "object_minus_gripper": [
+              0.004357678931568576,
+              0.004409438384303188,
+              -0.0034282096770406056
+            ],
+            "object_to_gripper_xy": 0.006199396142819311,
+            "object_to_gripper_z": -0.0034282096770406056,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3137413450854672,
+              -0.0992504145284404,
+              1.0494427132141888
+            ],
+            "finger_b": [
+              0.3027165715959327,
+              -0.07522693672301076,
+              1.0494427132141888
+            ],
+            "finger_midpoint": [
+              0.30822895834069997,
+              -0.08723867562572557,
+              1.0494427132141888
+            ],
+            "object_minus_finger_midpoint": [
+              0.005512386744767228,
+              0.012011738902714814,
+              0.0
+            ],
+            "finger_gap": 0.02643242547258033,
+            "fingertip_max_gap": 0.09393827579543049,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013216212736290147,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0494427132141888,
+            "object_top_z": 1.100205954380699,
+            "finger_top_clearance": 0.05076324116651021,
+            "fingertip_min_top_clearance": 0.015228972349953079,
+            "object_projection_between_fingers": 0.8260336233800301,
+            "object_to_finger_line_xy": 0.01002001884051342,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049469137897715246,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1277528799286847,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3141254091665662,
+              -0.07893392466515016,
+              1.2436148515223042
+            ],
+            "held_position": [
+              0.3187441886052457,
+              -0.07481881113893157,
+              1.2401034584885147
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007113168342910316,
+            "max_held_gripper_dist": 0.007122199595042879,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003511393033789556,
+            "max_held_gripper_z_dist": 0.0035243731519691845,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08663023367185299,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3187441886052457,
+              -0.09989353450888118,
+              1.2401034584885147
+            ],
+            "held_grasp_finger_b": [
+              0.3099349118412982,
+              -0.07481881113893157,
+              1.2401034584885147
+            ],
+            "held_grasp_midpoint": [
+              0.314339550223272,
+              -0.08735617282390637,
+              1.2401034584885147
+            ],
+            "held_grasp_object_position": [
+              0.3187441886052457,
+              -0.07481881113893157,
+              1.2401034584885147
+            ],
+            "held_grasp_finger_gap": 0.026577153895466745,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024670183691495342,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04317573644920252,
+              -0.9990351771292132,
+              -0.008035585882222527
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038605559125676494,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0370048112124791,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2992685705813854,
+              -0.3355536967106333,
+              0.8515395787662788
+            ],
+            "target_position": [
+              0.2928273511328039,
+              -0.3372597972220427,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006663339023328772,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18284488709262856,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395787662788,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0752677337712245,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08605771852888992,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1517375213599265,
+            "release_required_pad_clearance": 0.053028859264444964,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.0892910009413432,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007479369640350342,
+            "max_z_decrease": 0.007479369640350342,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035202851779465645,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007479369640350342,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02106125652183255,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007479369640350342,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.0074793898636561626,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14852727949619293,
+              -0.393521249294281,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14852727949619293,
+              -0.393521249294281,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15016626262217317,
+              -0.3924019724686011,
+              0.8082496645265318
+            ],
+            "closest_button": [
+              0.1485166698694229,
+              -0.39352670311927795,
+              0.7731034755706787
+            ],
+            "closest_ee_minus_button": [
+              0.0016495927527502563,
+              0.001124730650676864,
+              0.035146188955853086
+            ],
+            "button_min_z_position": [
+              0.1485099196434021,
+              -0.39352232217788696,
+              0.7693294882774353
+            ],
+            "min_active_finger_to_button": 0.14420484577226045,
+            "closest_active_finger": [
+              0.02281378209590912,
+              -0.4553917348384857,
+              0.8104931116104126
+            ],
+            "closest_active_finger_button": [
+              0.14852678775787354,
+              -0.3935233950614929,
+              0.7763817310333252
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12571300566196442,
+              -0.0618683397769928,
+              0.0341113805770874
+            ],
+            "min_contact_pad_to_button": 0.02106125652183255,
+            "closest_contact_pad": [
+              0.1485099196434021,
+              -0.39352232217788696,
+              0.7903907447992679
+            ],
+            "closest_contact_pad_button": [
+              0.1485099196434021,
+              -0.39352232217788696,
+              0.7693294882774353
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02106125652183255
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 77,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "db66de32be16eed85466375a9b22fdd8c8a79a2b851e992bbf37738c66bc3701",
+    "visual_seed": 6627953538131092390,
+    "episode_index": 77,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_79_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8843d2d1948d220314e851fc91e382b6e088e2c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_79_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 79,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3115362632981371,
+              -0.07366801763851623,
+              1.0505812823186749
+            ],
+            "current_z": 1.0505812823186749,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18947483390855369,
+            "gripper_z": 1.0540880445728191,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3070975976960184,
+              -0.07809727078557122,
+              1.0540880445728191
+            ],
+            "object_minus_gripper": [
+              0.0044386656021186965,
+              0.004429253147054987,
+              -0.003506762254144258
+            ],
+            "object_to_gripper_xy": 0.0062705690147009975,
+            "object_to_gripper_z": -0.003506762254144258,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3115362632981371,
+              -0.09782429837093722,
+              1.0505812823186749
+            ],
+            "finger_b": [
+              0.30058154363165457,
+              -0.07366801763851623,
+              1.0505812823186749
+            ],
+            "finger_midpoint": [
+              0.30605890346489584,
+              -0.08574615800472672,
+              1.0505812823186749
+            ],
+            "object_minus_finger_midpoint": [
+              0.005477359833241269,
+              0.012078140366210494,
+              0.0
+            ],
+            "finger_gap": 0.026524173536507274,
+            "fingertip_max_gap": 0.0956918768408688,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013262086768253637,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0505812823186749,
+            "object_top_z": 1.1024898196506572,
+            "finger_top_clearance": 0.05190853733198231,
+            "fingertip_min_top_clearance": 0.015572561199594707,
+            "object_projection_between_fingers": 0.8294236506770498,
+            "object_to_finger_line_xy": 0.009976758870330156,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.0503459384204344,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.1396335355284313,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31184663775699617,
+              -0.07732180686010771,
+              1.24673160788963
+            ],
+            "held_position": [
+              0.3165362862744844,
+              -0.07318187794513954,
+              1.2431479220371249
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007209342475428275,
+            "max_held_gripper_dist": 0.0072183079300977985,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003583685852505125,
+            "max_held_gripper_z_dist": 0.0035955327909764634,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08659417418164353,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3165362862744844,
+              -0.09833987060988397,
+              1.2431479220371249
+            ],
+            "held_grasp_finger_b": [
+              0.30764595195918876,
+              -0.07318187794513954,
+              1.2431479220371249
+            ],
+            "held_grasp_midpoint": [
+              0.31209111911683657,
+              -0.08576087427751175,
+              1.2431479220371249
+            ],
+            "held_grasp_object_position": [
+              0.3165362862744844,
+              -0.07318187794513954,
+              1.2431479220371249
+            ],
+            "held_grasp_finger_gap": 0.026682628040675782,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024753097953173164,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04289269482201369,
+              -0.9990633467767627,
+              0.005713655407878604
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0039022011336125187,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03696237069685683,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3036833673535593,
+              -0.33646531355661163,
+              0.8515395756644355
+            ],
+            "target_position": [
+              0.2989866045012988,
+              -0.3374450584558605,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.004797862165379269,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1833044538299832,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395756644355,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07586042787833956,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08799243535666616,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15057920856025006,
+            "release_required_pad_clearance": 0.05399621767833308,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.0036160769562072,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007815778255462646,
+            "max_z_decrease": 0.007815778255462646,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521049588372208,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007815778255462646,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021068178293653372,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007815778255462646,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007815798506501642,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15468652546405787,
+              -0.3937065303325653,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15468652546405787,
+              -0.3937065303325653,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15554943008018024,
+              -0.3917328610206259,
+              0.8079588776113787
+            ],
+            "closest_button": [
+              0.1546760350465774,
+              -0.39371359348297114,
+              0.7728149890899658
+            ],
+            "closest_ee_minus_button": [
+              0.0008733950336028418,
+              0.0019807324623452582,
+              0.035143888521412925
+            ],
+            "button_min_z_position": [
+              0.15466885268688196,
+              -0.39370858669281,
+              0.768993079662323
+            ],
+            "min_active_finger_to_button": 0.14452487681017367,
+            "closest_active_finger": [
+              0.027783922851085663,
+              -0.45386433601379395,
+              0.8107770085334778
+            ],
+            "closest_active_finger_button": [
+              0.15468819439411158,
+              -0.39370846748352045,
+              0.7766593098640442
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12690427154302591,
+              -0.06015586853027349,
+              0.034117698669433594
+            ],
+            "min_contact_pad_to_button": 0.021068178293653372,
+            "closest_contact_pad": [
+              0.15466885268688196,
+              -0.39370858669281,
+              0.7900612579559764
+            ],
+            "closest_contact_pad_button": [
+              0.15466885268688196,
+              -0.39370858669281,
+              0.768993079662323
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021068178293653372
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 79,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "df5a3a3f66522d500aec4961ea2533c3c44c38f1186ccc63fb53f6cb413284bd",
+    "visual_seed": 262115365750180751,
+    "episode_index": 79,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_80_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6cb1c2178d63dc25e3b0f5aa711cc13d1e727aa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_80_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 80,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3164196521876804,
+              -0.0780570043287732,
+              1.049614392900129
+            ],
+            "current_z": 1.049614392900129,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18850794449000774,
+            "gripper_z": 1.0530216170365116,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31219497012615305,
+              -0.08247679983054683,
+              1.0530216170365116
+            ],
+            "object_minus_gripper": [
+              0.004224682061527374,
+              0.004419795501773627,
+              -0.003407224136382725
+            ],
+            "object_to_gripper_xy": 0.0061141255137991376,
+            "object_to_gripper_z": -0.003407224136382725,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3164196521876804,
+              -0.10187908035908763,
+              1.049614392900129
+            ],
+            "finger_b": [
+              0.30525629794571274,
+              -0.0780570043287732,
+              1.049614392900129
+            ],
+            "finger_midpoint": [
+              0.3108379750666966,
+              -0.08996804234393041,
+              1.049614392900129
+            ],
+            "object_minus_finger_midpoint": [
+              0.005581677120983841,
+              0.011911038015157208,
+              0.0
+            ],
+            "finger_gap": 0.026308017491360674,
+            "fingertip_max_gap": 0.09860682733980977,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01315400874568033,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.049614392900129,
+            "object_top_z": 1.102649190925761,
+            "finger_top_clearance": 0.053034798025632046,
+            "fingertip_min_top_clearance": 0.01591043940768958,
+            "object_projection_between_fingers": 0.8199416904119554,
+            "object_to_finger_line_xy": 0.010108487786767581,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.05180341366990489,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.246837996260638,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3169773177476488,
+              -0.08189468452615964,
+              1.2436800172436508
+            ],
+            "held_position": [
+              0.3215012984743807,
+              -0.07780990031776595,
+              1.2401874212789727
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007024961937083339,
+            "max_held_gripper_dist": 0.007034843798616722,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034925959646781024,
+            "max_held_gripper_z_dist": 0.0035025618482180665,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08655718065167681,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3215012984743807,
+              -0.10285319124270648,
+              1.2401874212789727
+            ],
+            "held_grasp_finger_b": [
+              0.31278520970019,
+              -0.07780990031776595,
+              1.2401874212789727
+            ],
+            "held_grasp_midpoint": [
+              0.3171432540872854,
+              -0.09033154578023622,
+              1.2401874212789727
+            ],
+            "held_grasp_object_position": [
+              0.3215012984743807,
+              -0.07780990031776595,
+              1.2401874212789727
+            ],
+            "held_grasp_finger_gap": 0.026516723475399084,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024664250683339578,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04079464464060759,
+              -0.9990628029889446,
+              0.014467641567304958
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038479279327598825,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.037032554984226175,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3043195761615707,
+              -0.3348678166250279,
+              0.8515395532469381
+            ],
+            "target_position": [
+              0.300949315507617,
+              -0.3350191088350086,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.0033736547257224112,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1814408347274128,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395532469381,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07571260494498046,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08801690051835041,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1491042434962213,
+            "release_required_pad_clearance": 0.05400845025917521,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.028272823097199,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007651269435882568,
+            "max_z_decrease": 0.007651269435882568,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520321126470425,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007651269435882568,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021052365496921355,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007651269435882568,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007651287772497638,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1566492468118667,
+              -0.39128056168556213,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1566492468118667,
+              -0.39128056168556213,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15585533367604834,
+              -0.3893711321827482,
+              0.8081184082101922
+            ],
+            "closest_button": [
+              0.1566381901502609,
+              -0.39128613471984863,
+              0.7729760408401489
+            ],
+            "closest_ee_minus_button": [
+              -0.0007828564742125566,
+              0.0019150025371004187,
+              0.03514236737004328
+            ],
+            "button_min_z_position": [
+              0.15663254261016843,
+              -0.3912818133831024,
+              0.7691575884819031
+            ],
+            "min_active_finger_to_button": 0.1459699109670894,
+            "closest_active_finger": [
+              0.029037505388259888,
+              -0.45339250564575195,
+              0.8109373450279236
+            ],
+            "closest_active_finger_button": [
+              0.15664865076541898,
+              -0.3912815451622009,
+              0.7768076062202454
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1276111453771591,
+              -0.062110960483551025,
+              0.03412973880767822
+            ],
+            "min_contact_pad_to_button": 0.021052365496921355,
+            "closest_contact_pad": [
+              0.15663254261016843,
+              -0.3912818133831024,
+              0.7902099539788244
+            ],
+            "closest_contact_pad_button": [
+              0.15663254261016843,
+              -0.3912818133831024,
+              0.7691575884819031
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021052365496921355
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 80,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "6f79c5e9452c211841119553adc0626b144d43d356f73efc885543843570ec67",
+    "visual_seed": 3618076382357351255,
+    "episode_index": 80,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_81_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b1e7238b569acf107a06b3f8081337317becb0a5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_81_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 81,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3112078115057201,
+              -0.0746939560252657,
+              1.0492533873054333
+            ],
+            "current_z": 1.0492533873054333,
+            "required_z": 0.861106448410121,
+            "initial_z": 0.761106448410121,
+            "lift_margin": 0.1881469388953123,
+            "gripper_z": 1.0526587491095978,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.306678546026485,
+              -0.07917707601185497,
+              1.0526587491095978
+            ],
+            "object_minus_gripper": [
+              0.004529265479235101,
+              0.004483119986589276,
+              -0.0034053618041645084
+            ],
+            "object_to_gripper_xy": 0.00637280241303204,
+            "object_to_gripper_z": -0.0034053618041645084,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3112078115057201,
+              -0.09885876397031099,
+              1.0492533873054333
+            ],
+            "finger_b": [
+              0.30010079899445896,
+              -0.0746939560252657,
+              1.0492533873054333
+            ],
+            "finger_midpoint": [
+              0.3056543052500895,
+              -0.08677635999778835,
+              1.0492533873054333
+            ],
+            "object_minus_finger_midpoint": [
+              0.005553506255630558,
+              0.012082403972522651,
+              0.0
+            ],
+            "finger_gap": 0.026595181329448287,
+            "fingertip_max_gap": 0.09291838791983889,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01329759066472415,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0492533873054333,
+            "object_top_z": 1.09972683954918,
+            "finger_top_clearance": 0.050473452243746664,
+            "fingertip_min_top_clearance": 0.015142035673124015,
+            "object_projection_between_fingers": 0.8255830809775263,
+            "object_to_finger_line_xy": 0.01009200955816187,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04895919395991945,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.5647261519112619,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3115437311118087,
+              -0.07861847305846903,
+              1.2455878408481769
+            ],
+            "held_position": [
+              0.31636044928641693,
+              -0.07447071291215698,
+              1.242101059512898
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007249988433437961,
+            "max_held_gripper_dist": 0.007259011894877944,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003486781335278799,
+            "max_held_gripper_z_dist": 0.0034991520125167153,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665814466803114,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31636044928641693,
+              -0.09974482924532092,
+              1.242101059512898
+            ],
+            "held_grasp_finger_b": [
+              0.30750238116004686,
+              -0.07447071291215698,
+              1.242101059512898
+            ],
+            "held_grasp_midpoint": [
+              0.31193141522323187,
+              -0.08710777107873896,
+              1.242101059512898
+            ],
+            "held_grasp_object_position": [
+              0.31636044928641693,
+              -0.07447071291215698,
+              1.242101059512898
+            ],
+            "held_grasp_finger_gap": 0.026781454914804718,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024738661371395014,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05589811847678149,
+              -0.9984052609541564,
+              -0.00789526755839809
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0037170869596512973,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03685577004279432,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30685072187886925,
+              -0.33746899366093863,
+              0.8515395600013885
+            ],
+            "target_position": [
+              0.3006650402749755,
+              -0.3390506603353444,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006384694696982436,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18089908381264996,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395600013885,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758410094971958,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08726896407898098,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14843540621477005,
+            "release_required_pad_clearance": 0.05363448203949049,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.279045661341462,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007944285869598389,
+            "max_z_decrease": 0.007944285869598389,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035165357127670265,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007944285869598389,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021165759878796302,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007944285869598389,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007944308413605763,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15636496245861053,
+              -0.3953121304512024,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15636496245861053,
+              -0.3953121304512024,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15499212233461135,
+              -0.39650712125404053,
+              0.8077959377918251
+            ],
+            "closest_button": [
+              0.15635369718074799,
+              -0.39531835913658137,
+              0.7726770639419556
+            ],
+            "closest_ee_minus_button": [
+              -0.0013615748461366373,
+              -0.0011887621174591634,
+              0.03511887384986956
+            ],
+            "button_min_z_position": [
+              0.15634603798389435,
+              -0.39531236886978144,
+              0.7688645720481873
+            ],
+            "min_active_finger_to_button": 0.14731299502722012,
+            "closest_active_finger": [
+              0.013964951038360596,
+              -0.37930479645729065,
+              0.8106560707092285
+            ],
+            "closest_active_finger_button": [
+              0.156364306807518,
+              -0.3953148424625396,
+              0.7764914631843567
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.1423993557691574,
+              0.016010046005248968,
+              0.034164607524871826
+            ],
+            "min_contact_pad_to_button": 0.021165759878796302,
+            "closest_contact_pad": [
+              0.15634603798389435,
+              -0.3978272854997865,
+              0.7898803895576487
+            ],
+            "closest_contact_pad_button": [
+              0.15634603798389435,
+              -0.39531236886978144,
+              0.7688645720481873
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002514916630005082,
+              0.021015817509461465
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 81,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "e657ade21ccbb7679123281d0dc6f597ce8734b0c90431933356ef7e82ec15ad",
+    "visual_seed": 6153509525131044208,
+    "episode_index": 81,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_82_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1f2e2885de21c02d90e9b6c46a7173b394cd283f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_82_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 82,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31597902749990314,
+              -0.07342434860602094,
+              1.052045363641666
+            ],
+            "current_z": 1.052045363641666,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.19093885562689994,
+            "gripper_z": 1.0555751997931138,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31130592298885174,
+              -0.07796349565893097,
+              1.0555751997931138
+            ],
+            "object_minus_gripper": [
+              0.004673104511051407,
+              0.004539147052910031,
+              -0.0035298361514477516
+            ],
+            "object_to_gripper_xy": 0.006514734203261928,
+            "object_to_gripper_z": -0.0035298361514477516,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31597902749990314,
+              -0.09775003657697819,
+              1.052045363641666
+            ],
+            "finger_b": [
+              0.30486137352816267,
+              -0.07342434860602094,
+              1.052045363641666
+            ],
+            "finger_midpoint": [
+              0.3104202005140329,
+              -0.08558719259149956,
+              1.052045363641666
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055588269858702355,
+              0.012162843985478622,
+              0.0
+            ],
+            "finger_gap": 0.026745865570134957,
+            "fingertip_max_gap": 0.09401410126645773,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013372932785067479,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.052045363641666,
+            "object_top_z": 1.1028153246060994,
+            "finger_top_clearance": 0.050769960964433425,
+            "fingertip_min_top_clearance": 0.015230988289330026,
+            "object_projection_between_fingers": 0.827212233518292,
+            "object_to_finger_line_xy": 0.010111640648774387,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04950705063322887,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.183641149325597,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3162384358813406,
+              -0.07734628034789334,
+              1.2482340241525245
+            ],
+            "held_position": [
+              0.32116955917984374,
+              -0.07312788298335161,
+              1.2446205301607376
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007427529342849693,
+            "max_held_gripper_dist": 0.007438473608299873,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003613493991786898,
+            "max_held_gripper_z_dist": 0.003632581920348432,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08659516986714708,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32116955917984374,
+              -0.09846155673761332,
+              1.2446205301607376
+            ],
+            "held_grasp_finger_b": [
+              0.312145046371997,
+              -0.07312788298335161,
+              1.2446205301607376
+            ],
+            "held_grasp_midpoint": [
+              0.3166573027759204,
+              -0.08579471986048247,
+              1.2446205301607376
+            ],
+            "held_grasp_object_position": [
+              0.32116955917984374,
+              -0.07312788298335161,
+              1.2446205301607376
+            ],
+            "held_grasp_finger_gap": 0.026893063367834428,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.0249659813376967,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.03862826655925611,
+              -0.9992464128795029,
+              -0.0038030737664851424
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004019883359369112,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036888658114937786,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29919671607225073,
+              -0.3276872367763325,
+              0.8515395723177916
+            ],
+            "target_position": [
+              0.29253606915736197,
+              -0.32960899467815524,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006932342371668861,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18337799324546006,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395723177916,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07578887743194379,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08826615939018338,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15110746031835717,
+            "release_required_pad_clearance": 0.05413307969509169,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 3.280642152666295,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007642209529876709,
+            "max_z_decrease": 0.007642209529876709,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03523971725368074,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007642209529876709,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021063416377885003,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007642209529876709,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007642229089594223,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14823599159717554,
+              -0.38587045669555664,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14823599159717554,
+              -0.38587045669555664,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1504004958147727,
+              -0.384510702276681,
+              0.8080105677234074
+            ],
+            "closest_button": [
+              0.1482247561216354,
+              -0.38587576150894165,
+              0.772864580154419
+            ],
+            "closest_ee_minus_button": [
+              0.0021757396931372797,
+              0.001365059232260657,
+              0.03514598756898846
+            ],
+            "button_min_z_position": [
+              0.14821875095367426,
+              -0.3858717679977417,
+              0.7691666483879089
+            ],
+            "min_active_finger_to_button": 0.14363223475095468,
+            "closest_active_finger": [
+              0.023372091352939606,
+              -0.4481251835823059,
+              0.8107735514640808
+            ],
+            "closest_active_finger_button": [
+              0.14823769032955167,
+              -0.3858713805675506,
+              0.7766668796539307
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12486559897661206,
+              -0.062253803014755305,
+              0.034106671810150146
+            ],
+            "min_contact_pad_to_button": 0.021063416377885003,
+            "closest_contact_pad": [
+              0.14821875095367426,
+              -0.3858717679977417,
+              0.7902300647657939
+            ],
+            "closest_contact_pad_button": [
+              0.14821875095367426,
+              -0.3858717679977417,
+              0.7691666483879089
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021063416377885003
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 82,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "c4079012835466e206a4c18e48cd59253e9ea5518d4923efada95dae585b53b8",
+    "visual_seed": 7475028012197229176,
+    "episode_index": 82,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_83_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..54ff915419736c080de40f916551df0ff888bc03
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_83_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 83,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31022151769018236,
+              -0.07096055719600405,
+              1.048549051697852
+            ],
+            "current_z": 1.048549051697852,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.18744260328773066,
+            "gripper_z": 1.0520997313655749,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30570686349049747,
+              -0.07544849169415,
+              1.0520997313655749
+            ],
+            "object_minus_gripper": [
+              0.004514654199684887,
+              0.00448793449814594,
+              -0.0035506796677229335
+            ],
+            "object_to_gripper_xy": 0.006365819554651297,
+            "object_to_gripper_z": -0.0035506796677229335,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31022151769018236,
+              -0.09510003273442261,
+              1.048549051697852
+            ],
+            "finger_b": [
+              0.2990814047569418,
+              -0.07096055719600405,
+              1.048549051697852
+            ],
+            "finger_midpoint": [
+              0.30465146122356207,
+              -0.08303029496521333,
+              1.048549051697852
+            ],
+            "object_minus_finger_midpoint": [
+              0.005570056466620288,
+              0.012069737769209277,
+              0.0
+            ],
+            "finger_gap": 0.02658601879626323,
+            "fingertip_max_gap": 0.09416669288436305,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013293009398131614,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048549051697852,
+            "object_top_z": 1.0999046502560978,
+            "finger_top_clearance": 0.051355598558245896,
+            "fingertip_min_top_clearance": 0.015406679567473784,
+            "object_projection_between_fingers": 0.8244209996162707,
+            "object_to_finger_line_xy": 0.010114958757381831,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04958334644218153,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.6324565966552318,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 208,
+            "max_stable_success_frames": 208,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3107201339222013,
+              -0.07509002635565942,
+              1.2447819096643553
+            ],
+            "held_position": [
+              0.31554859921042966,
+              -0.07096779860636829,
+              1.2411405454227489
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007318905122810503,
+            "max_held_gripper_dist": 0.007328540858356255,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036413642416064373,
+            "max_held_gripper_z_dist": 0.003654509770293357,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08665830408180603,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.31554859921042966,
+              -0.09632487443848232,
+              1.2411405454227489
+            ],
+            "held_grasp_finger_b": [
+              0.3068408498065277,
+              -0.07086356968295568,
+              1.2411405454227489
+            ],
+            "held_grasp_midpoint": [
+              0.3111947245084787,
+              -0.08359422206071901,
+              1.2411405454227489
+            ],
+            "held_grasp_object_position": [
+              0.31554859921042966,
+              -0.07096779860636829,
+              1.2411405454227489
+            ],
+            "held_grasp_finger_gap": 0.026909160885002687,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024838785646330235,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.06524841892846994,
+              -0.997865300749967,
+              0.002735943441125377
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035209159457421854,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036836696791907986,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3002357441341815,
+              -0.33227832594075957,
+              0.851539580082234
+            ],
+            "target_position": [
+              0.29469906162707504,
+              -0.33335944054018696,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005641246490058201,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1822759616159549,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.851539580082234,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07575850875188624,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08678925210397818,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1498321120306198,
+            "release_required_pad_clearance": 0.053394626051989094,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.8044457609761464,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075609683990478516,
+            "max_z_decrease": 0.0075609683990478516,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035257492955327624,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075609683990478516,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021273620985113456,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075609683990478516,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007560989920856124,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15039898455142975,
+              -0.3896209001541137,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15039898455142975,
+              -0.3896209001541137,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15277927474581451,
+              -0.39115251914341753,
+              0.8081431037882892
+            ],
+            "closest_button": [
+              0.15038998425006866,
+              -0.3896282017230987,
+              0.7729997038841248
+            ],
+            "closest_ee_minus_button": [
+              0.0023892904957458494,
+              -0.0015243174203188325,
+              0.035143399904164485
+            ],
+            "button_min_z_position": [
+              0.15038105845451355,
+              -0.38962292671203613,
+              0.7692478895187378
+            ],
+            "min_active_finger_to_button": 0.14366841400305075,
+            "closest_active_finger": [
+              0.011866219341754913,
+              -0.37289202213287354,
+              0.8104634284973145
+            ],
+            "closest_active_finger_button": [
+              0.15039967000484467,
+              -0.3896229565143585,
+              0.7762702703475952
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13853345066308975,
+              0.016730934381484985,
+              0.03419315814971924
+            ],
+            "min_contact_pad_to_button": 0.021273620985113456,
+            "closest_contact_pad": [
+              0.15038105845451355,
+              -0.39252948178451685,
+              0.790322017909466
+            ],
+            "closest_contact_pad_button": [
+              0.15038105845451355,
+              -0.38962292671203613,
+              0.7692478895187378
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002906555072480721,
+              0.021074128390728197
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 83,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "0d92b3b24cec886956feb3c2ba3dc2f2ac5e8c09fec6d28566a5fb124ef4911d",
+    "visual_seed": 7001434366349428215,
+    "episode_index": 83,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_84_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..c59cc2d34d36c3f940c84765c0e8496a0ae227b3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_84_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 84,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3128533567410169,
+              -0.07695996688249701,
+              1.0498919870614858
+            ],
+            "current_z": 1.0498919870614858,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.1887855386513646,
+            "gripper_z": 1.053264559371406,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3084567069875025,
+              -0.08138909736721636,
+              1.053264559371406
+            ],
+            "object_minus_gripper": [
+              0.004396649753514392,
+              0.004429130484719351,
+              -0.0033725723099202742
+            ],
+            "object_to_gripper_xy": 0.006240811317909591,
+            "object_to_gripper_z": -0.0033725723099202742,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3128533567410169,
+              -0.10100272267247276,
+              1.0498919870614858
+            ],
+            "finger_b": [
+              0.3017881421362485,
+              -0.07695996688249701,
+              1.0498919870614858
+            ],
+            "finger_midpoint": [
+              0.3073207494386327,
+              -0.08898134477748489,
+              1.0498919870614858
+            ],
+            "object_minus_finger_midpoint": [
+              0.005532607302384196,
+              0.012021377894987875,
+              0.0
+            ],
+            "finger_gap": 0.026466829810651522,
+            "fingertip_max_gap": 0.09490869578923636,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013233414905325761,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0498919870614858,
+            "object_top_z": 1.1013064711807647,
+            "finger_top_clearance": 0.05141448411927896,
+            "fingertip_min_top_clearance": 0.015424345235783704,
+            "object_projection_between_fingers": 0.8252103015634664,
+            "object_to_finger_line_xy": 0.010051761182181804,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04995434789461818,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.2166240031397986,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31326644299859974,
+              -0.08076203087198504,
+              1.2446337813031771
+            ],
+            "held_position": [
+              0.3179412563221457,
+              -0.07664825871595898,
+              1.2411793338941743
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.00712111001623092,
+            "max_held_gripper_dist": 0.007130159530199519,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034544474090028032,
+            "max_held_gripper_z_dist": 0.00346721033133246,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08706307590129501,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3179412563221457,
+              -0.10178324081335927,
+              1.2411793338941743
+            ],
+            "held_grasp_finger_b": [
+              0.30914976839217406,
+              -0.07664825871595898,
+              1.2411793338941743
+            ],
+            "held_grasp_midpoint": [
+              0.3135455123571599,
+              -0.08921574976465912,
+              1.2411793338941743
+            ],
+            "held_grasp_object_position": [
+              0.3179412563221457,
+              -0.07664825871595898,
+              1.2411793338941743
+            ],
+            "held_grasp_finger_gap": 0.026628135215584846,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024694305890409062,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.04696982936791457,
+              -0.998896298436861,
+              -0.00014176842578605966
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0038005999340640136,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036960162436929685,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2978049279378041,
+              -0.3293212998576649,
+              0.8515395918528157
+            ],
+            "target_position": [
+              0.29253499559933904,
+              -0.33045807947775274,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.005391145959501278,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.1828052168141412,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395918528157,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.0758495842428354,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08745300890195461,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15031722335937553,
+            "release_required_pad_clearance": 0.053726504450977305,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.462293288600511,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007494986057281494,
+            "max_z_decrease": 0.007494986057281494,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035145738777137316,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007494986057281494,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02103585990440189,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007494986057281494,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007495004090351901,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.14823491871356959,
+              -0.386719524860382,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.14823491871356959,
+              -0.386719524860382,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14684007418259157,
+              -0.38685273017539423,
+              0.8080953173945582
+            ],
+            "closest_button": [
+              0.1482234746217727,
+              -0.38672333955764765,
+              0.7729770541191101
+            ],
+            "closest_ee_minus_button": [
+              -0.0013834004391811427,
+              -0.00012939061774658311,
+              0.03511826327544809
+            ],
+            "button_min_z_position": [
+              0.1482184827327728,
+              -0.3867191076278686,
+              0.7693138718605042
+            ],
+            "min_active_finger_to_button": 0.1473750450178088,
+            "closest_active_finger": [
+              0.020086929202079773,
+              -0.45101019740104675,
+              0.8109124898910522
+            ],
+            "closest_active_finger_button": [
+              0.14823547005653376,
+              -0.38672089576721186,
+              0.776791512966156
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12814854085445399,
+              -0.0642893016338349,
+              0.03412097692489624
+            ],
+            "min_contact_pad_to_button": 0.02103585990440189,
+            "closest_contact_pad": [
+              0.1482184827327728,
+              -0.3878955975185885,
+              0.7903168067376745
+            ],
+            "closest_contact_pad_button": [
+              0.1482184827327728,
+              -0.3867191076278686,
+              0.7693138718605042
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0011764898907198895,
+              0.02100293487717031
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 84,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "ba7d8a2dde04cc5552501e6767541c0316677f88c36996084962aaaeb8b7f8b9",
+    "visual_seed": 2474292633242345361,
+    "episode_index": 84,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_85_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b472d065e7e186485700316a6f4db82ff1264648
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_85_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 85,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31911772360514623,
+              -0.07494057613504311,
+              1.04956417108369
+            ],
+            "current_z": 1.04956417108369,
+            "required_z": 0.861106567619411,
+            "initial_z": 0.761106567619411,
+            "lift_margin": 0.1884576034642791,
+            "gripper_z": 1.0532158107948197,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.314563792030353,
+              -0.07940056685008863,
+              1.0532158107948197
+            ],
+            "object_minus_gripper": [
+              0.004553931574793224,
+              0.00445999071504552,
+              -0.003651639711129695
+            ],
+            "object_to_gripper_xy": 0.006374151705614711,
+            "object_to_gripper_z": -0.003651639711129695,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31911772360514623,
+              -0.09918476351694325,
+              1.04956417108369
+            ],
+            "finger_b": [
+              0.30812558223241937,
+              -0.07494057613504311,
+              1.04956417108369
+            ],
+            "finger_midpoint": [
+              0.3136216529187828,
+              -0.08706266982599317,
+              1.04956417108369
+            ],
+            "object_minus_finger_midpoint": [
+              0.00549607068636343,
+              0.012122093690950062,
+              0.0
+            ],
+            "finger_gap": 0.02661968808545095,
+            "fingertip_max_gap": 0.09548315828034579,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01330984404272547,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.04956417108369,
+            "object_top_z": 1.1006978803642655,
+            "finger_top_clearance": 0.05113370928057548,
+            "fingertip_min_top_clearance": 0.015340112784172626,
+            "object_projection_between_fingers": 0.829486532577153,
+            "object_to_finger_line_xy": 0.01001121930179118,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.050241579140172896,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 3.0866925168610737,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3190999936663165,
+              -0.07828499275432427,
+              1.2450890588858667
+            ],
+            "held_position": [
+              0.3238551795851888,
+              -0.0740625841214316,
+              1.241364440084531
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007369756644654694,
+            "max_held_gripper_dist": 0.007379288106297237,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0037246188013357884,
+            "max_held_gripper_z_dist": 0.003745142896875775,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08719600302257882,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3238551795851888,
+              -0.09912217770290226,
+              1.241364440084531
+            ],
+            "held_grasp_finger_b": [
+              0.31464457004163815,
+              -0.0740625841214316,
+              1.241364440084531
+            ],
+            "held_grasp_midpoint": [
+              0.3192498748134135,
+              -0.08659238091216692,
+              1.241364440084531
+            ],
+            "held_grasp_object_position": [
+              0.3238551795851888,
+              -0.0740625841214316,
+              1.241364440084531
+            ],
+            "held_grasp_finger_gap": 0.026698662113151497,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024963433186162783,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.010288606162737706,
+              -0.9999442903496824,
+              -0.002358130678763892
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.004476244759392624,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03714376914290132,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.29089653654774994,
+              -0.3397829552710694,
+              0.8515395616086302
+            ],
+            "target_position": [
+              0.2998699861350274,
+              -0.3326852627828435,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.011441155367917547,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.17307016373400175,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395616086302,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07544296477473063,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.09163384202592599,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14013602651877233,
+            "release_required_pad_clearance": 0.055816921012963,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 6.834143757359425,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 139,
+            "max_placed_release_frames": 139
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007612943649291992,
+            "max_z_decrease": 0.007612943649291992,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.035173389196760566,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007612943649291992,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021191365995351038,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.007612943649291992,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00761296941403615,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1555699110031128,
+              -0.3889467120170594,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1555699110031128,
+              -0.3889467120170594,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15544265003499838,
+              -0.39061303201993913,
+              0.8081737990632887
+            ],
+            "closest_button": [
+              0.15555959939956665,
+              -0.3889526128768921,
+              0.7730398178100586
+            ],
+            "closest_ee_minus_button": [
+              -0.00011694936456826954,
+              -0.0016604191430470427,
+              0.035133981253230084
+            ],
+            "button_min_z_position": [
+              0.15555010735988617,
+              -0.3889463841915131,
+              0.7691959142684937
+            ],
+            "min_active_finger_to_button": 0.1461187915980255,
+            "closest_active_finger": [
+              0.014010705053806305,
+              -0.3769996166229248,
+              0.8104992508888245
+            ],
+            "closest_active_finger_button": [
+              0.155569925904274,
+              -0.3889483809471131,
+              0.7763098478317261
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14155922085046768,
+              0.011948764324188288,
+              0.03418940305709839
+            ],
+            "min_contact_pad_to_button": 0.021191365995351038,
+            "closest_contact_pad": [
+              0.15555010735988617,
+              -0.3915481840301564,
+              0.7902269539562636
+            ],
+            "closest_contact_pad_button": [
+              0.15555010735988617,
+              -0.3889463841915131,
+              0.7691959142684937
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0026017998386432817,
+              0.02103103968776998
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 85,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "618b7e3401ffa832b1365fc3da52dc5ab0f4a15bf156e096acccbaddfbc6570c",
+    "visual_seed": 4321223825189922239,
+    "episode_index": 85,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_86_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f9a79739c9c72b2ae2a368c20edd6a1a80d86ae
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_86_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 86,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3193510686915054,
+              -0.07299595490701316,
+              1.051480633225336
+            ],
+            "current_z": 1.051480633225336,
+            "required_z": 0.8611064484101211,
+            "initial_z": 0.7611064484101211,
+            "lift_margin": 0.19037418481521484,
+            "gripper_z": 1.0546796094990205,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.315025453478863,
+              -0.07738119908741045,
+              1.0546796094990205
+            ],
+            "object_minus_gripper": [
+              0.0043256152126424086,
+              0.004385244180397291,
+              -0.003198976273684595
+            ],
+            "object_to_gripper_xy": 0.006159652059130592,
+            "object_to_gripper_z": -0.003198976273684595,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3193510686915054,
+              -0.09700097775306321,
+              1.051480633225336
+            ],
+            "finger_b": [
+              0.308357243773745,
+              -0.07299595490701316,
+              1.051480633225336
+            ],
+            "finger_midpoint": [
+              0.31385415623262525,
+              -0.08499846633003819,
+              1.051480633225336
+            ],
+            "object_minus_finger_midpoint": [
+              0.0054969124588801765,
+              0.012002511423025025,
+              0.0
+            ],
+            "finger_gap": 0.026402751905090397,
+            "fingertip_max_gap": 0.09387700989833883,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013201375952545186,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.051480633225336,
+            "object_top_z": 1.1022644914313706,
+            "finger_top_clearance": 0.050783858206034704,
+            "fingertip_min_top_clearance": 0.015235157461810443,
+            "object_projection_between_fingers": 0.8266199024633956,
+            "object_to_finger_line_xy": 0.009995436053975576,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04943850494916942,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.045127203042776,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.32001475686186676,
+              -0.0770907141268807,
+              1.2454788572335904
+            ],
+            "held_position": [
+              0.3246212415498275,
+              -0.07303109013053764,
+              1.2421804194725672
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006969931121284152,
+            "max_held_gripper_dist": 0.006978923810615542,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003298437761023232,
+            "max_held_gripper_z_dist": 0.0033114437844381506,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08640852154576492,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3246212415498275,
+              -0.09817589834574146,
+              1.2421804194725672
+            ],
+            "held_grasp_finger_b": [
+              0.31601263075200736,
+              -0.07303109013053764,
+              1.2421804194725672
+            ],
+            "held_grasp_midpoint": [
+              0.32031693615091744,
+              -0.08560349423813955,
+              1.2421804194725672
+            ],
+            "held_grasp_object_position": [
+              0.3246212415498275,
+              -0.07303109013053764,
+              1.2421804194725672
+            ],
+            "held_grasp_finger_gap": 0.026577613889281468,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024679236724496192,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05031920566432907,
+              -0.9987117406817857,
+              -0.00654496490965717
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003667158494055821,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03694745325062729,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3034866835191933,
+              -0.33073255999647466,
+              0.8515396075611134
+            ],
+            "target_position": [
+              0.2975391645325063,
+              -0.3322660156506233,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006142024775287277,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18267796463442348,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396075611134,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.075896628602619,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08760333354853493,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.14999021709683483,
+            "release_required_pad_clearance": 0.05380166677426747,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.612524236747565,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007757902145385742,
+            "max_z_decrease": 0.007757902145385742,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351672543809144,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007757902145385742,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021068793021066252,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007757902145385742,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007757927723155397,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15323908627033228,
+              -0.38852748274803156,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15323908627033228,
+              -0.38852748274803156,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.15271253732152487,
+              -0.38719472484337397,
+              0.8077893336005916
+            ],
+            "closest_button": [
+              0.15322782099246973,
+              -0.38853415846824646,
+              0.7726513743400574
+            ],
+            "closest_ee_minus_button": [
+              -0.0005152836709448605,
+              0.001339433624872488,
+              0.0351379592605342
+            ],
+            "button_min_z_position": [
+              0.15321929752826685,
+              -0.3885297775268554,
+              0.7690509557723999
+            ],
+            "min_active_finger_to_button": 0.1460129233586989,
+            "closest_active_finger": [
+              0.024474680423736572,
+              -0.44832488894462585,
+              0.8105402588844299
+            ],
+            "closest_active_finger_button": [
+              0.15323932468891138,
+              -0.38852977752685547,
+              0.7764230370521545
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.1287646442651748,
+              -0.059795111417770386,
+              0.03411722183227539
+            ],
+            "min_contact_pad_to_button": 0.021068793021066252,
+            "closest_contact_pad": [
+              0.15321929752826685,
+              -0.38856180909946203,
+              0.7901197244441303
+            ],
+            "closest_contact_pad_button": [
+              0.15321929752826685,
+              -0.3885297775268554,
+              0.7690509557723999
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -3.203157260661671e-05,
+              0.021068768671730354
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 86,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "2737be783437d35b28e89a75c019db07ebe2b579b026dde80a93bb07482b6c73",
+    "visual_seed": 665366401931490760,
+    "episode_index": 86,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_87_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..539eb16e0b291fea533eacbba7601cdc6743978f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_87_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 87,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3144028904306388,
+              -0.07093757489931199,
+              1.0519482483577276
+            ],
+            "current_z": 1.0519482483577276,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.19084168073831675,
+            "gripper_z": 1.0553782295476113,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.30999119258991603,
+              -0.0754693695349584,
+              1.0553782295476113
+            ],
+            "object_minus_gripper": [
+              0.004411697840722761,
+              0.004531794635646416,
+              -0.0034299811898836907
+            ],
+            "object_to_gripper_xy": 0.006324574330143612,
+            "object_to_gripper_z": -0.0034299811898836907,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3144028904306388,
+              -0.09483093081925684,
+              1.0519482483577276
+            ],
+            "finger_b": [
+              0.30298804932587975,
+              -0.07093757489931199,
+              1.0519482483577276
+            ],
+            "finger_midpoint": [
+              0.30869546987825924,
+              -0.08288425285928441,
+              1.0519482483577276
+            ],
+            "object_minus_finger_midpoint": [
+              0.00570742055237955,
+              0.011946677959972424,
+              0.0
+            ],
+            "finger_gap": 0.026480012359590396,
+            "fingertip_max_gap": 0.09333604590325625,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01324000617979521,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0519482483577276,
+            "object_top_z": 1.1026991664396757,
+            "finger_top_clearance": 0.05075091808194809,
+            "fingertip_min_top_clearance": 0.015225275424584394,
+            "object_projection_between_fingers": 0.8141753283947625,
+            "object_to_finger_line_xy": 0.010299801132337645,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04916802295162813,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.568786372450561,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 212,
+            "max_stable_success_frames": 212,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31500849589696234,
+              -0.07492244628135554,
+              1.2463941372306189
+            ],
+            "held_position": [
+              0.3197527881415986,
+              -0.07078544115422036,
+              1.2428603736313732
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007218767588710116,
+            "max_held_gripper_dist": 0.007228992917112042,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0035337635992456207,
+            "max_held_gripper_z_dist": 0.00354579297155877,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0866763016660188,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3197527881415986,
+              -0.0960166182777306,
+              1.2428603736313732
+            ],
+            "held_grasp_finger_b": [
+              0.3109728475452575,
+              -0.07078544115422036,
+              1.2428603736313732
+            ],
+            "held_grasp_midpoint": [
+              0.315362817843428,
+              -0.08340102971597549,
+              1.2428603736313732
+            ],
+            "held_grasp_object_position": [
+              0.3197527881415986,
+              -0.07078544115422036,
+              1.2428603736313732
+            ],
+            "held_grasp_finger_gap": 0.026715157793156013,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02454961706916524,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07046094906819318,
+              -0.9975063744804112,
+              -0.004035780885427665
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003490533321102272,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.0368267985883319,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3093607337913552,
+              -0.32782348186210225,
+              0.8515395922895052
+            ],
+            "target_position": [
+              0.301836008081664,
+              -0.3301033310209826,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007862519265053361,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18588426563037574,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395922895052,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07554360267345789,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08561460593775065,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.154111046856055,
+            "release_required_pad_clearance": 0.05280730296887533,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.6608613898799288,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 151,
+            "max_placed_release_frames": 151
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.0075571537017822266,
+            "max_z_decrease": 0.0075571537017822266,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03521592950801928,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.0075571537017822266,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.02107050546408118,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.0075571537017822266,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00755717649464631,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15753594040870667,
+              -0.38636478781700134,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15753594040870667,
+              -0.38636478781700134,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1587137254029372,
+              -0.38450688073192707,
+              0.8081567389487385
+            ],
+            "closest_button": [
+              0.1575260013341904,
+              -0.38637229800224304,
+              0.7730103135108948
+            ],
+            "closest_ee_minus_button": [
+              0.001187724068746815,
+              0.0018654172703159722,
+              0.03514642543784374
+            ],
+            "button_min_z_position": [
+              0.15751750767230988,
+              -0.38636696338653564,
+              0.7692517042160034
+            ],
+            "min_active_finger_to_button": 0.14428959451037277,
+            "closest_active_finger": [
+              0.0315999910235405,
+              -0.4479754865169525,
+              0.8103967308998108
+            ],
+            "closest_active_finger_button": [
+              0.15753653645515442,
+              -0.38636732101440435,
+              0.7762806415557861
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12593654543161392,
+              -0.06160816550254816,
+              0.03411608934402466
+            ],
+            "min_contact_pad_to_button": 0.02107050546408118,
+            "closest_contact_pad": [
+              0.15751750767230988,
+              -0.38636696338653564,
+              0.7903222096800846
+            ],
+            "closest_contact_pad_button": [
+              0.15751750767230988,
+              -0.38636696338653564,
+              0.7692517042160034
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02107050546408118
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 87,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "eb9075129ad0728ef447e3a78236fbf8fcb70144d9364a402ca0a5db58472455",
+    "visual_seed": 3742914847800990011,
+    "episode_index": 87,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_88_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0bd016bc2a1afedc0431b7268c8eb5b19aef93bd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_88_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 88,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3173080589051937,
+              -0.07166920403026712,
+              1.048948421467639
+            ],
+            "current_z": 1.048948421467639,
+            "required_z": 0.8611064484101212,
+            "initial_z": 0.7611064484101212,
+            "lift_margin": 0.18784197305751782,
+            "gripper_z": 1.0522836960992712,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3129593748153916,
+              -0.07608634377687101,
+              1.0522836960992712
+            ],
+            "object_minus_gripper": [
+              0.004348684089802102,
+              0.00441713974660389,
+              -0.00333527463163219
+            ],
+            "object_to_gripper_xy": 0.006198562482860507,
+            "object_to_gripper_z": -0.00333527463163219,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3173080589051937,
+              -0.09565999958929329,
+              1.048948421467639
+            ],
+            "finger_b": [
+              0.3062299192588493,
+              -0.07166920403026712,
+              1.048948421467639
+            ],
+            "finger_midpoint": [
+              0.3117689890820215,
+              -0.0836646018097802,
+              1.048948421467639
+            ],
+            "object_minus_finger_midpoint": [
+              0.005539069823172205,
+              0.011995397779513084,
+              0.0
+            ],
+            "finger_gap": 0.02642505344514742,
+            "fingertip_max_gap": 0.09413335080799848,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.01321252672257371,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.048948421467639,
+            "object_top_z": 1.0997232325042716,
+            "finger_top_clearance": 0.05077481103663262,
+            "fingertip_min_top_clearance": 0.015232443310989802,
+            "object_projection_between_fingers": 0.824247333804177,
+            "object_to_finger_line_xy": 0.010057628983853472,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04956667540399924,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.346575935251912,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3178245513350627,
+              -0.07537454974909784,
+              1.2450238667347067
+            ],
+            "held_position": [
+              0.32246620802015896,
+              -0.07129199148433164,
+              1.2416064146123138
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.0070633729744617735,
+            "max_held_gripper_dist": 0.007072185790647694,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003417452122392861,
+            "max_held_gripper_z_dist": 0.0034315594491372003,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08651723000155939,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32246620802015896,
+              -0.09645780989410971,
+              1.2416064146123138
+            ],
+            "held_grasp_finger_b": [
+              0.3136559813276315,
+              -0.07129199148433164,
+              1.2416064146123138
+            ],
+            "held_grasp_midpoint": [
+              0.3180610946738952,
+              -0.08387490068922068,
+              1.2416064146123138
+            ],
+            "held_grasp_object_position": [
+              0.32246620802015896,
+              -0.07129199148433164,
+              1.2416064146123138
+            ],
+            "held_grasp_finger_gap": 0.02666343021082711,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02475592654499386,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.043779128389999936,
+              -0.9990388622029617,
+              -0.0021770910921699027
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003850120030203066,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03695658275208097,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30768881037340484,
+              -0.328838310156917,
+              0.8515396014497917
+            ],
+            "target_position": [
+              0.3012086416610926,
+              -0.33060103676472025,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006715637842668983,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18383222948988734,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515396014497917,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07588308730318592,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08771291107146988,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15124931118341317,
+            "release_required_pad_clearance": 0.05385645553573494,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.7222751392168627,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 149,
+            "max_placed_release_frames": 149
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.00768280029296875,
+            "max_z_decrease": 0.00768280029296875,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03520346629647045,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.00768280029296875,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021174678797583432,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 121,
+            "max_z_decrease_with_contact_point": 0.00768280029296875,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007682821462565862,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1569085717201233,
+              -0.38686248660087585,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1569085717201233,
+              -0.38686248660087585,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1585514575697791,
+              -0.388117698002145,
+              0.8081167022315241
+            ],
+            "closest_button": [
+              0.15689721703529358,
+              -0.3868687152862549,
+              0.7729743123054504
+            ],
+            "closest_ee_minus_button": [
+              0.0016542405344855127,
+              -0.0012489827158901345,
+              0.03514238992607366
+            ],
+            "button_min_z_position": [
+              0.15689058601856232,
+              -0.3868638277053833,
+              0.7691260576248169
+            ],
+            "min_active_finger_to_button": 0.1444279421085708,
+            "closest_active_finger": [
+              0.017187535762786865,
+              -0.3738318383693695,
+              0.8104107975959778
+            ],
+            "closest_active_finger_button": [
+              0.15690821409225464,
+              -0.3868643045425415,
+              0.7762389183044434
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.13972067832946777,
+              0.013032466173171997,
+              0.034171879291534424
+            ],
+            "min_contact_pad_to_button": 0.021174678797583432,
+            "closest_contact_pad": [
+              0.15689058601856232,
+              -0.3890943799416575,
+              0.790182924887116
+            ],
+            "closest_contact_pad_button": [
+              0.15689058601856232,
+              -0.3868638277053833,
+              0.7691260576248169
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002230552236274219,
+              0.02105686726229905
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 88,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "114742e4c4dc96ecece8e6fed177cbd8dcf6824c9f21760da82498e204d45860",
+    "visual_seed": 2869804810283475331,
+    "episode_index": 88,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_92_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..1abb29a5f55b4e8f2117fda7a485469b0b333e84
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_92_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 92,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.31064420332737014,
+              -0.07532377171041568,
+              1.0501053493836001
+            ],
+            "current_z": 1.0501053493836001,
+            "required_z": 0.8611065676194108,
+            "initial_z": 0.7611065676194109,
+            "lift_margin": 0.18899878176418927,
+            "gripper_z": 1.05365267038318,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3060816518178743,
+              -0.07984366071145739,
+              1.05365267038318
+            ],
+            "object_minus_gripper": [
+              0.00456255150949586,
+              0.0045198890010417075,
+              -0.0035473209995797728
+            ],
+            "object_to_gripper_xy": 0.0064223261252089,
+            "object_to_gripper_z": -0.0035473209995797728,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.31064420332737014,
+              -0.09947098352010174,
+              1.0501053493836001
+            ],
+            "finger_b": [
+              0.2994348429727059,
+              -0.07532377171041568,
+              1.0501053493836001
+            ],
+            "finger_midpoint": [
+              0.305039523150038,
+              -0.0873973776152587,
+              1.0501053493836001
+            ],
+            "object_minus_finger_midpoint": [
+              0.005604680177332122,
+              0.012073605904843021,
+              0.0
+            ],
+            "finger_gap": 0.02662212609358164,
+            "fingertip_max_gap": 0.093274199774212,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013311063046790812,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0501053493836001,
+            "object_top_z": 1.100687104818779,
+            "finger_top_clearance": 0.05058175543517884,
+            "fingertip_min_top_clearance": 0.015174526630553652,
+            "object_projection_between_fingers": 0.8227132863263744,
+            "object_to_finger_line_xy": 0.0101672870823203,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.049137099887106,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.7497407485890455,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31091771820312586,
+              -0.07953178564742219,
+              1.2453016146160916
+            ],
+            "held_position": [
+              0.3157706609213613,
+              -0.07534944347516666,
+              1.2416677341346305
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007365332743728915,
+            "max_held_gripper_dist": 0.007374693943364743,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0036338804814610715,
+            "max_held_gripper_z_dist": 0.0036463705622820086,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08652040478246982,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3157706609213613,
+              -0.10061636929115848,
+              1.2416677341346305
+            ],
+            "held_grasp_finger_b": [
+              0.30689405375702977,
+              -0.07534944347516666,
+              1.2416677341346305
+            ],
+            "held_grasp_midpoint": [
+              0.3113323573391955,
+              -0.08798290638316257,
+              1.2416677341346305
+            ],
+            "held_grasp_object_position": [
+              0.3157706609213613,
+              -0.07534944347516666,
+              1.2416677341346305
+            ],
+            "held_grasp_finger_gap": 0.02678080833247376,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024738671095087005,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05507155937552945,
+              -0.9984404069300689,
+              -0.009158447317431317
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003737649555738674,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036862065924047824,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30508097138190515,
+              -0.32884379568078925,
+              0.8515395746264629
+            ],
+            "target_position": [
+              0.29873737986300236,
+              -0.3306217236454543,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.006588033181931717,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18192358127863767,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395746264629,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07576125883717018,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08703352107177346,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1497872134765974,
+            "release_required_pad_clearance": 0.053516760535886734,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 2.045563301281597,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 146,
+            "max_placed_release_frames": 146
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007502377033233643,
+            "max_z_decrease": 0.007502377033233643,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03518278030847391,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007502377033233643,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02114484697005588,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007502377033233643,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007502397251287277,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.15443730354309082,
+              -0.38688316941261286,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.15443730354309082,
+              -0.38688316941261286,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1557973570141829,
+              -0.3878879916476057,
+              0.8082562784280237
+            ],
+            "closest_button": [
+              0.15442617237567902,
+              -0.3868883550167083,
+              0.7731144428253174
+            ],
+            "closest_ee_minus_button": [
+              0.0013711846385038862,
+              -0.0009996366308973603,
+              0.03514183560270634
+            ],
+            "button_min_z_position": [
+              0.1544199138879776,
+              -0.38688415288925165,
+              0.769306480884552
+            ],
+            "min_active_finger_to_button": 0.1447228359352638,
+            "closest_active_finger": [
+              0.014407142996788025,
+              -0.3739057183265686,
+              0.8105713725090027
+            ],
+            "closest_active_finger_button": [
+              0.15443667769432068,
+              -0.3868845701217651,
+              0.7763956785202026
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14002953469753265,
+              0.012978851795196478,
+              0.03417569398880005
+            ],
+            "min_contact_pad_to_button": 0.02114484697005588,
+            "closest_contact_pad": [
+              0.1544199138879776,
+              -0.3888250470308205,
+              0.7903620616962586
+            ],
+            "closest_contact_pad_button": [
+              0.1544199138879776,
+              -0.38688415288925165,
+              0.769306480884552
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.0019408941415688385,
+              0.021055580811706553
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 92,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "20f2536c8b6a87f14862953a4785bc3da8840a0ebeefee1348311d025e1a46e2",
+    "visual_seed": 7944385142090250068,
+    "episode_index": 92,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_95_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..0551a7bf7cff4ffd7888f8448cbf2cdc315da55f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_95_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 95,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3190508023727153,
+              -0.07941423237601897,
+              1.0495117597785055
+            ],
+            "current_z": 1.0495117597785055,
+            "required_z": 0.8611063888054764,
+            "initial_z": 0.7611063888054764,
+            "lift_margin": 0.18840537097302912,
+            "gripper_z": 1.0526627611189747,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31481159187730345,
+              -0.08378189246749534,
+              1.0526627611189747
+            ],
+            "object_minus_gripper": [
+              0.0042392104954118714,
+              0.0043676600914763775,
+              -0.003151001340469195
+            ],
+            "object_to_gripper_xy": 0.006086654277933453,
+            "object_to_gripper_z": -0.003151001340469195,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3190508023727153,
+              -0.10331161818125624,
+              1.0495117597785055
+            ],
+            "finger_b": [
+              0.30803118415091063,
+              -0.07941423237601897,
+              1.0495117597785055
+            ],
+            "finger_midpoint": [
+              0.31354099326181295,
+              -0.0913629252786376,
+              1.0495117597785055
+            ],
+            "object_minus_finger_midpoint": [
+              0.005509809110902375,
+              0.01194869290261863,
+              0.0
+            ],
+            "finger_gap": 0.02631571838424112,
+            "fingertip_max_gap": 0.09389830545563696,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013157859192120563,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0495117597785055,
+            "object_top_z": 1.1001146712701886,
+            "finger_top_clearance": 0.050602911491683056,
+            "fingertip_min_top_clearance": 0.015180873447504899,
+            "object_projection_between_fingers": 0.8246512651982904,
+            "object_to_finger_line_xy": 0.010006949619531885,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04944915272781848,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.341976274458617,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 209,
+            "max_stable_success_frames": 209,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31964634527093916,
+              -0.08308902410090516,
+              1.2434310631184629
+            ],
+            "held_position": [
+              0.32416183176295243,
+              -0.07902790004798477,
+              1.2401930432966268
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006882377438019939,
+            "max_held_gripper_dist": 0.006891571755203543,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0032380198218360245,
+            "max_held_gripper_z_dist": 0.0032514907685068373,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08706280936704723,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32416183176295243,
+              -0.10404221310481004,
+              1.2401930432966268
+            ],
+            "held_grasp_finger_b": [
+              0.3154825657027543,
+              -0.07902790004798477,
+              1.2401930432966268
+            ],
+            "held_grasp_midpoint": [
+              0.31982219873285334,
+              -0.0915350565763974,
+              1.2401930432966268
+            ],
+            "held_grasp_object_position": [
+              0.32416183176295243,
+              -0.07902790004798477,
+              1.2401930432966268
+            ],
+            "held_grasp_finger_gap": 0.02647726415339332,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.02461281109197692,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.043392089472613526,
+              -0.9990049506715984,
+              -0.010307041517224612
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.003795057066916718,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03703723303466586,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.30589586666978363,
+              -0.3314625722950466,
+              0.8515395980998322
+            ],
+            "target_position": [
+              0.29894234886686805,
+              -0.3334632667346064,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007235619398223592,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18205491014146646,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395980998322,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07538820209367265,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08630998447189607,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.15080314064333214,
+            "release_required_pad_clearance": 0.05315499223594804,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.334692632260433,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 147,
+            "max_placed_release_frames": 147
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007502436637878418,
+            "max_z_decrease": 0.007502436637878418,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.0351649698396777,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007502436637878418,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.021137251439298666,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007502436637878418,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007502459322958995,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1546422690153122,
+              -0.3897247314453125,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1546422690153122,
+              -0.3897247314453125,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.1533710292062882,
+              -0.39087195183776646,
+              0.8082125621124471
+            ],
+            "closest_button": [
+              0.1546306163072586,
+              -0.3897307217121124,
+              0.7730886936187744
+            ],
+            "closest_ee_minus_button": [
+              -0.0012595871009704052,
+              -0.0011412301256540358,
+              0.03512386849367266
+            ],
+            "button_min_z_position": [
+              0.1546238213777542,
+              -0.389724463224411,
+              0.7693064212799072
+            ],
+            "min_active_finger_to_button": 0.14723774851946966,
+            "closest_active_finger": [
+              0.012131057679653168,
+              -0.3754715025424957,
+              0.8105154037475586
+            ],
+            "closest_active_finger_button": [
+              0.15464143455028534,
+              -0.389726847410202,
+              0.7763608694076538
+            ],
+            "closest_active_finger_index": 0,
+            "closest_active_finger_minus_button": [
+              -0.14251037687063217,
+              0.014255344867706299,
+              0.034154534339904785
+            ],
+            "min_contact_pad_to_button": 0.021137251439298666,
+            "closest_contact_pad": [
+              0.1546238213777542,
+              -0.3920184890830231,
+              0.790318818662599
+            ],
+            "closest_contact_pad_button": [
+              0.1546238213777542,
+              -0.389724463224411,
+              0.7693064212799072
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              -0.002294025858612103,
+              0.021012397382691783
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 95,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "22264c0137c5228be97c7d5deb004e6d8f817f3778e2217dc2cfeaf3e9287c06",
+    "visual_seed": 7975508220442037100,
+    "episode_index": 95,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_97_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..341ff22236ea92e963f5e70c8b293b69a71b1408
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_97_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 97,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3176851147065973,
+              -0.0781302149680912,
+              1.0497923446158088
+            ],
+            "current_z": 1.0497923446158088,
+            "required_z": 0.8611065080147661,
+            "initial_z": 0.7611065080147661,
+            "lift_margin": 0.18868583660104277,
+            "gripper_z": 1.0528866365686713,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3135023576003705,
+              -0.08250960179871152,
+              1.0528866365686713
+            ],
+            "object_minus_gripper": [
+              0.004182757106226842,
+              0.0043793868306203215,
+              -0.0030942919528624824
+            ],
+            "object_to_gripper_xy": 0.006055946335784512,
+            "object_to_gripper_z": -0.0030942919528624824,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3176851147065973,
+              -0.10189468311458534,
+              1.0497923446158088
+            ],
+            "finger_b": [
+              0.30653149415446473,
+              -0.0781302149680912,
+              1.0497923446158088
+            ],
+            "finger_midpoint": [
+              0.31210830443053106,
+              -0.09001244904133826,
+              1.0497923446158088
+            ],
+            "object_minus_finger_midpoint": [
+              0.0055768102760662686,
+              0.011882234073247067,
+              0.0
+            ],
+            "finger_gap": 0.02625172751852132,
+            "fingertip_max_gap": 0.09471587490298658,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013125863759260642,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0497923446158088,
+            "object_top_z": 1.100844561417434,
+            "finger_top_clearance": 0.051052216801625194,
+            "fingertip_min_top_clearance": 0.015315665040487574,
+            "object_projection_between_fingers": 0.819483894386714,
+            "object_to_finger_line_xy": 0.010096854012454243,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04985793745149329,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 2.47213934612237,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 210,
+            "max_stable_success_frames": 210,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.31850254889417334,
+              -0.08220575054278179,
+              1.2432705134168118
+            ],
+            "held_position": [
+              0.32300993847219267,
+              -0.07818773676832916,
+              1.2400786440403575
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.006830009195899756,
+            "max_held_gripper_dist": 0.006838933872610046,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.003191869376454326,
+            "max_held_gripper_z_dist": 0.003204746435242267,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.0865380733543037,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.32300993847219267,
+              -0.1032663230414118,
+              1.2400786440403575
+            ],
+            "held_grasp_finger_b": [
+              0.31452789442596824,
+              -0.07818773676832916,
+              1.2400786440403575
+            ],
+            "held_grasp_midpoint": [
+              0.31876891644908045,
+              -0.09072702990487047,
+              1.2400786440403575
+            ],
+            "held_grasp_object_position": [
+              0.32300993847219267,
+              -0.07818773676832916,
+              1.2400786440403575
+            ],
+            "held_grasp_finger_gap": 0.026474148912827025,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024574471387473505,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.05492123605775683,
+              -0.9984739752920112,
+              -0.005777412436073215
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0035467012466780506,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.036967170033043326,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.2977627660789173,
+              -0.3346581685230179,
+              0.8515395791594196
+            ],
+            "target_position": [
+              0.29188373439763304,
+              -0.33607055128603813,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.00604630784684508,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18106881092650579,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395791594196,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07550421195397614,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.08633196453498058,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1493906570222697,
+            "release_required_pad_clearance": 0.053165982267490294,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 1.356216881194403,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 145,
+            "max_placed_release_frames": 145
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007672607898712158,
+            "max_z_decrease": 0.007672607898712158,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03516837641400599,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007672607898712158,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 77,
+            "contact_point_distance": 0.02105754983158281,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007672607898712158,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 77,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.00767263314956947,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.1475836634635925,
+              -0.3923320174217224,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.1475836634635925,
+              -0.3923320174217224,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14757172070730135,
+              -0.390624415037625,
+              0.8079289014528718
+            ],
+            "closest_button": [
+              0.1475718319416046,
+              -0.3923354744911194,
+              0.7728021740913391
+            ],
+            "closest_ee_minus_button": [
+              -1.1123430324055938e-07,
+              0.001711059453494368,
+              0.03512672736153266
+            ],
+            "button_min_z_position": [
+              0.14756397902965543,
+              -0.39233195781707764,
+              0.7691362500190735
+            ],
+            "min_active_finger_to_button": 0.14538345761469007,
+            "closest_active_finger": [
+              0.021132707595825195,
+              -0.45541515946388245,
+              0.8107520341873169
+            ],
+            "closest_active_finger_button": [
+              0.14758363366127014,
+              -0.392332524061203,
+              0.7765892744064331
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12645092606544495,
+              -0.06308263540267944,
+              0.03416275978088379
+            ],
+            "min_contact_pad_to_button": 0.02105754983158281,
+            "closest_contact_pad": [
+              0.14756397902965543,
+              -0.39233195781707764,
+              0.7901937998506563
+            ],
+            "closest_contact_pad_button": [
+              0.14756397902965543,
+              -0.39233195781707764,
+              0.7691362500190735
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.02105754983158281
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 97,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "38a2cfaabccf7c243805402741d2693db1e575a9d4ac014f1d4678d364bcb46e",
+    "visual_seed": 557930661536470237,
+    "episode_index": 97,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_9_success.json
new file mode 100644
index 0000000000000000000000000000000000000000..b980bc452dde319167d65bb71f87e3a5370f7c17
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/episode_9_success.json
@@ -0,0 +1,926 @@
+{
+  "episode": 9,
+  "success": true,
+  "passed_steps": 4,
+  "total_steps": 4,
+  "step_accuracy": "4/4",
+  "step_details": [
+    {
+      "step_index": 0,
+      "skill": "pick",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PickSuccessChecker",
+          "skill": "pick",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "target": "beaker_a",
+            "active_arm": null,
+            "object_position": [
+              0.3107595697116398,
+              -0.07498732078420411,
+              1.0514028516897764
+            ],
+            "current_z": 1.0514028516897764,
+            "required_z": 0.8611064484101213,
+            "initial_z": 0.7611064484101213,
+            "lift_margin": 0.19029640327965514,
+            "gripper_z": 1.054789261092022,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3063713664284433,
+              -0.07947245937808427,
+              1.054789261092022
+            ],
+            "object_minus_gripper": [
+              0.004388203283196501,
+              0.004485138593880153,
+              -0.0033864094022455493
+            ],
+            "object_to_gripper_xy": 0.006274774598419435,
+            "object_to_gripper_z": -0.0033864094022455493,
+            "fingertip_source": "active_contact_pad_positions",
+            "finger_a": [
+              0.3107595697116398,
+              -0.09891505027107322,
+              1.0514028516897764
+            ],
+            "finger_b": [
+              0.2994741656650327,
+              -0.07498732078420411,
+              1.0514028516897764
+            ],
+            "finger_midpoint": [
+              0.30511686768833624,
+              -0.08695118552763867,
+              1.0514028516897764
+            ],
+            "object_minus_finger_midpoint": [
+              0.005642702023303581,
+              0.011963864743434555,
+              0.0
+            ],
+            "finger_gap": 0.02645555863881845,
+            "fingertip_max_gap": 0.09315451247714543,
+            "finger_z_skew": 0.0,
+            "fingertip_z_skew_max": 0.035,
+            "object_to_finger_midpoint_xy": 0.013227779319409237,
+            "object_to_finger_midpoint_z": 0.0,
+            "finger_midpoint_minus_object_z": 0.0,
+            "object_position_origin": "center",
+            "object_center_z_for_grasp": 1.0514028516897764,
+            "object_top_z": 1.1021939184167644,
+            "finger_top_clearance": 0.050791066726987966,
+            "fingertip_min_top_clearance": 0.01523732001809639,
+            "object_projection_between_fingers": 0.8180297666707771,
+            "object_to_finger_line_xy": 0.010207083466421652,
+            "fingertip_xy_max_dist": 0.055,
+            "fingertip_z_max_dist": 0.1,
+            "fingertip_line_xy_max_dist": 0.04907725623857272,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "object_tilt_deg": 1.449297171652844,
+            "object_max_tilt_deg": 15.0,
+            "object_upright_axis_local": [
+              0.0,
+              0.0,
+              1.0
+            ],
+            "stable_success_frames": 211,
+            "max_stable_success_frames": 211,
+            "required_stable_lift_frames": 5
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "pick",
+              "target_object": "beaker_a",
+              "held_object": null,
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "pick",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 1,
+      "skill": "shake",
+      "target": "beaker_a",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "ShakeSuccessChecker",
+          "skill": "shake",
+          "target": "beaker_a",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "gripper_position": [
+              0.3114548419583734,
+              -0.0793736403944806,
+              1.2452655714752114
+            ],
+            "held_position": [
+              0.3161793007577336,
+              -0.07528760773618813,
+              1.2417734609410633
+            ],
+            "object_initial_z": 0.7774145980897915,
+            "required_gripper_z": 0.8974145980897915,
+            "shake_count": 5,
+            "held_shake_count": 5,
+            "effective_shake_count": 5,
+            "min_shake_count": 3,
+            "held_gripper_dist": 0.007156186820800067,
+            "max_held_gripper_dist": 0.007166043953969053,
+            "held_gripper_max_dist": 0.15,
+            "held_gripper_z_dist": 0.0034921105341481073,
+            "max_held_gripper_z_dist": 0.003502613635740781,
+            "held_gripper_z_max_dist": 0.15,
+            "held_object_xy_range": 0.08718580157281368,
+            "held_object_min_xy_range": 0.04,
+            "held_motion_ok": true,
+            "held_grasp_geometry_checked": true,
+            "held_grasp_geometry_required": true,
+            "held_grasp_source": "active_contact_pad_positions",
+            "held_grasp_finger_a": [
+              0.3161793007577336,
+              -0.10055883203352971,
+              1.2417734609410633
+            ],
+            "held_grasp_finger_b": [
+              0.3076416372578863,
+              -0.07517115509528598,
+              1.2417734609410633
+            ],
+            "held_grasp_midpoint": [
+              0.31191046900780994,
+              -0.08786499356440784,
+              1.2417734609410633
+            ],
+            "held_grasp_object_position": [
+              0.3161793007577336,
+              -0.07528760773618813,
+              1.2417734609410633
+            ],
+            "held_grasp_finger_gap": 0.02678480611013,
+            "held_grasp_max_gap": 0.1249237185716629,
+            "held_grasp_geometry_frame": "object_local",
+            "held_grasp_size_source": "beaker_a_local_size",
+            "held_grasp_z_skew": 0.024660287714746383,
+            "held_grasp_world_z_skew": 0.0,
+            "held_grasp_z_skew_max": 0.08,
+            "held_grasp_z_skew_frame": "object_local_up",
+            "held_grasp_local_up_axis": [
+              -0.07644894812154561,
+              -0.9970578706472434,
+              -0.005582195938366618
+            ],
+            "held_grasp_object_projection_between_fingers": 0.5,
+            "held_grasp_object_to_finger_line_xy": 0.0032955785112699183,
+            "held_grasp_line_xy_max_dist": 0.04746185928583145,
+            "held_grasp_object_top_z": 0.04972025007009506,
+            "held_grasp_top_clearance": 0.03685352084091198,
+            "held_grasp_min_top_clearance": 0.014916075021028518
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "shake",
+              "target_object": "beaker_a",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                },
+                {
+                  "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep",
+                  "b": "/World/beaker_2/mesh"
+                }
+              ],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "shake",
+        "target": "beaker_a",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 2,
+      "skill": "place",
+      "target": "heater_platform",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PlaceSuccessChecker",
+          "skill": "place",
+          "target": "heater_platform",
+          "passed": true,
+          "metrics": {
+            "held": "beaker_a",
+            "target": "heater_platform",
+            "object_position": [
+              0.3013642407866394,
+              -0.3317719339738137,
+              0.8515395780756148
+            ],
+            "target_position": [
+              0.2941549091738081,
+              -0.3337983656327114,
+              0.8084375599031817
+            ],
+            "target_position_source": "target_object:_xform_position",
+            "xy_dist": 0.007488717351586456,
+            "xy_threshold": 0.08,
+            "gripper_dist": 0.18415804116408152,
+            "gripper_away_threshold": 0.04,
+            "gripper_away_ok": true,
+            "object_z": 0.8515395780756148,
+            "min_z": 0.5774145980897916,
+            "min_z_margin": 0.2,
+            "require_object_upright": true,
+            "object_upright_reference_source": "scene_initial",
+            "release_fingertip_source": "active_contact_pad_positions",
+            "release_finger_gap": 0.07547283370771153,
+            "release_finger_gap_metric": "3d_contact_pad_distance",
+            "release_fingertip_min_gap": 0.0852806026072057,
+            "release_gap_margin": 0.02,
+            "release_gap_missing_size": false,
+            "release_min_pad_clearance": 0.1524881386030903,
+            "release_required_pad_clearance": 0.05264030130360285,
+            "release_pad_clearance_ok": true,
+            "release_gap_ok": false,
+            "force_virtual_attach": false,
+            "virtual_attach_allowed": false,
+            "max_z": 0.9084375599031816,
+            "max_z_margin": 0.1,
+            "object_tilt_deg": 0.34034838668079237,
+            "object_max_tilt_deg": 12.0,
+            "object_axis_flip_tolerance_deg": 3.0,
+            "object_upright_axis_local": null,
+            "required_placed_release_frames": 2,
+            "placed_release_frames": 148,
+            "max_placed_release_frames": 148
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "place",
+              "target_object": "heater_platform",
+              "held_object": "beaker_a",
+              "allowed_objects": [
+                "beaker_a",
+                "heater_platform"
+              ],
+              "allowed_object_paths": [
+                "/World/beaker_2",
+                "/World/heat_device/heat_device/heat_device/plat"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "place",
+        "target": "heater_platform",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    },
+    {
+      "step_index": 3,
+      "skill": "press",
+      "target": "heat_button",
+      "success": true,
+      "reason": "executed",
+      "debug": {
+        "arm": null,
+        "checker": {
+          "checker": "PressSuccessChecker",
+          "skill": "press",
+          "target": "heat_button",
+          "passed": true,
+          "metrics": {
+            "target": "heat_button",
+            "z_decrease": 0.007682502269744873,
+            "max_z_decrease": 0.007682502269744873,
+            "final_z_decrease": 0.0,
+            "z_decrease_threshold": 0.0003,
+            "min_ee_to_button": 0.03517649420015226,
+            "contact_distance_threshold": 0.08,
+            "ee_contact_ok": true,
+            "max_z_decrease_with_ee_contact": 0.007682502269744873,
+            "ee_contacted_z_ok": true,
+            "physical_press_ok": true,
+            "required_contacted_press_frames": 2,
+            "contacted_z_stable_frames": 0,
+            "max_contacted_z_stable_frames": 78,
+            "contact_point_distance": 0.021054818143921183,
+            "contact_point_source": "active_contact_pad_positions",
+            "contact_point_distance_threshold": 0.04,
+            "contact_point_seen_ok": true,
+            "contact_point_ok": true,
+            "contact_point_stable_frames": 0,
+            "max_contact_point_stable_frames": 120,
+            "max_z_decrease_with_contact_point": 0.007682502269744873,
+            "contact_point_contacted_z_ok": true,
+            "contact_point_contacted_z_stable_frames": 0,
+            "max_contact_point_contacted_z_stable_frames": 78,
+            "contact_ok": true,
+            "button_final_displacement": 0.0,
+            "button_max_displacement": 0.007682531134078983,
+            "max_button_displacement": 0.12,
+            "button_start": [
+              0.149854838848114,
+              -0.3900598287582397,
+              0.7768088579177856
+            ],
+            "button_final": [
+              0.149854838848114,
+              -0.3900598287582397,
+              0.7768088579177856
+            ],
+            "closest_ee": [
+              0.14912220573488963,
+              -0.388572159256514,
+              0.8078666572109704
+            ],
+            "closest_button": [
+              0.14984232187271118,
+              -0.3900660574436187,
+              0.7727292776107788
+            ],
+            "closest_ee_minus_button": [
+              -0.0007201161378215526,
+              0.0014938981871047141,
+              0.03513737960019159
+            ],
+            "button_min_z_position": [
+              0.1498337835073471,
+              -0.3900602459907531,
+              0.7691263556480408
+            ],
+            "min_active_finger_to_button": 0.1461119240416839,
+            "closest_active_finger": [
+              0.021621882915496826,
+              -0.45123228430747986,
+              0.8106032013893127
+            ],
+            "closest_active_finger_button": [
+              0.14985491335391998,
+              -0.3900615274906158,
+              0.7764986157417297
+            ],
+            "closest_active_finger_index": 1,
+            "closest_active_finger_minus_button": [
+              -0.12823303043842316,
+              -0.06117075681686407,
+              0.03410458564758301
+            ],
+            "min_contact_pad_to_button": 0.021054818143921183,
+            "closest_contact_pad": [
+              0.1498337835073471,
+              -0.3900602459907531,
+              0.790181173791962
+            ],
+            "closest_contact_pad_button": [
+              0.1498337835073471,
+              -0.3900602459907531,
+              0.7691263556480408
+            ],
+            "closest_contact_pad_index": 0,
+            "closest_contact_pad_minus_button": [
+              0.0,
+              0.0,
+              0.021054818143921183
+            ]
+          },
+          "failed_keys": [],
+          "failure_code": null,
+          "failure_messages": {},
+          "safety": {
+            "policy": {
+              "skill": "press",
+              "target_object": "heat_button",
+              "held_object": null,
+              "allowed_objects": [
+                "heat_button"
+              ],
+              "allowed_object_paths": [
+                "/World/heat_device/button"
+              ],
+              "allowed_prim_substrings": [],
+              "robot_prim_substrings": [
+                "Robotiq2F85",
+                "Robotiq_2F_85",
+                "contact_sensor",
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "elbow_joint",
+                "festo",
+                "finger",
+                "fr3",
+                "fr3_duo_mobile",
+                "fr3_joint1",
+                "fr3_joint2",
+                "fr3_joint3",
+                "fr3_joint4",
+                "fr3_joint5",
+                "fr3_joint6",
+                "fr3_joint7",
+                "fr3_leftfinger",
+                "fr3_rightfinger",
+                "franka",
+                "geometry",
+                "gripper",
+                "gripper_center",
+                "joint1",
+                "joint2",
+                "joint3",
+                "joint4",
+                "joint5",
+                "joint6",
+                "joint7",
+                "left_inner_finger",
+                "lift2",
+                "mobile_rotate",
+                "mobile_translate_x",
+                "mobile_translate_y",
+                "panda_joint1",
+                "panda_joint2",
+                "panda_joint3",
+                "panda_joint4",
+                "panda_joint5",
+                "panda_joint6",
+                "panda_joint7",
+                "panda_leftfinger",
+                "panda_leftfingertip",
+                "panda_rightfinger",
+                "panda_rightfingertip",
+                "ridgebase",
+                "ridgebase_festo",
+                "ridgebase_fr3",
+                "ridgebase_rizon4",
+                "ridgebase_ur16e",
+                "ridgebase_ur5e",
+                "right_inner_finger",
+                "rizon4",
+                "robot",
+                "robotiq_2f85",
+                "shoulder_lift_joint",
+                "shoulder_pan_joint",
+                "split_aloha",
+                "tool_center",
+                "ur16e",
+                "ur5e",
+                "visuals",
+                "wrist",
+                "wrist_1_joint",
+                "wrist_2_joint",
+                "wrist_3_joint"
+              ],
+              "ignored_prim_substrings": [
+                "base_link",
+                "caster",
+                "defaultgroundplane",
+                "desk",
+                "floor",
+                "ground",
+                "groundplane",
+                "link0",
+                "table",
+                "wheel",
+                "workbench"
+              ],
+              "enabled": true
+            },
+            "status": "active",
+            "passed": true,
+            "source_missing": false,
+            "forbidden": [],
+            "disturbances": [],
+            "last_frame": {
+              "passed": true,
+              "source_missing": false,
+              "forbidden": [],
+              "allowed": [],
+              "ignored": [],
+              "failed_keys": []
+            },
+            "failed_keys": []
+          }
+        },
+        "gripper": null,
+        "post_done_wait_frames": 0,
+        "post_done_wait_exhausted": false
+      },
+      "physical_semantics": {
+        "skill": "press",
+        "target": "heat_button",
+        "attach_used": false,
+        "attach_object": null,
+        "attach_object_path": null,
+        "attach_allowed": false,
+        "ordinary_object_physical_only": true
+      }
+    }
+  ],
+  "physical_semantics": {
+    "attach_records": [],
+    "ordinary_attach_violations": [],
+    "forbidden_shortcuts_absent": true
+  },
+  "h5_episode_index": 9,
+  "reproducibility": {
+    "enabled": true,
+    "action_seed": 6136293983304232058,
+    "physical_seed": 1319739820293695609,
+    "layout_id": "layout_00007",
+    "step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "workflow_spec_digest": "89c1176019bf84ab44f063d998702c081550a1ce7bb06dd7109220e679011cd3",
+    "strict_task_state": false,
+    "allow_physical_randomization": true,
+    "seed_source": "workflow.reproducibility",
+    "task_island_state_digest": "f7c77fa3a8717d8ce97c9d2e77f482a4106ce7625b711b36ca74f20e1e322e6a",
+    "visual_seed": 7956578488003395117,
+    "episode_index": 9,
+    "physical_randomization_enabled": true,
+    "motion_controller_type": "ik_servo",
+    "runtime_step_seeds": [
+      6016277329034288049,
+      1223355012610134023,
+      916088432641120656,
+      6535585947749071529
+    ],
+    "runtime_workflow_digest": "70eaf5004ffe406528dc1fcfb74008f7a91df84fe7879809887575b6ff60127a"
+  }
+}
\ No newline at end of file
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/summary.json
new file mode 100644
index 0000000000000000000000000000000000000000..321768212924cbe8210f2bf8c94a3c3d3a7b837b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00007/results/summary.json
@@ -0,0 +1,9 @@
+{
+  "scope": "published_success_subset",
+  "case": "lab3_heat_2beaker_s04_pslr_htb_00007",
+  "family": "lab3_v1",
+  "published_episodes": 100,
+  "published_successes": 100,
+  "published_failures": 0,
+  "matched_success_results": 100
+}
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0000.h5
new file mode 100644
index 0000000000000000000000000000000000000000..af388b169964bc0dbc13a33bd17801b300576ac1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0000.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30e4d7f5d649089eb1e6d5a7d2ac39d1e4f128c7004beed849ce6981a0b25cb6
+size 7579036
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0002.h5
new file mode 100644
index 0000000000000000000000000000000000000000..920b6fcd3a3423293b50b09c23194987da68c2f3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0002.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:678c821ce215a67145a12a69efbc49e7c4a8e3ecfb6929a2c3def74fde450fcc
+size 6166577
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0003.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5ce5692c408fd5e61d0461813c3497a7ec23ee15
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0003.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7369c1eddccb84b4562904a8c7d947902bfdbe460fa6900d0840d310b1c4046
+size 6802320
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0004.h5
new file mode 100644
index 0000000000000000000000000000000000000000..55c9deb348d301978cbf93351ba376511633bfcd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0004.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1df6210b45e3d073c85dd12e834e43e7a56032de0ac28cca2024f944f4d05ac1
+size 6698678
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0006.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ece0249c69f1a43e5d21a4ae9408c3272a31ac28
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0006.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcfb6fc167d482e411584ac207b9a2c278d34d3c4eb56e808a13cd9c4295687d
+size 5705213
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0007.h5
new file mode 100644
index 0000000000000000000000000000000000000000..560fdafda6ba8108256e619fe112e888cb77f9d1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0007.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9550e68e8bba064d9bec47eed3a9c944ee658fae29ea1979dc0ca4e2677fd32d
+size 5971980
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0009.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b2d78cfb71e2a98401fc6a22dfb0b7c12e61a7e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0009.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a66ce784fddf3830a8d6e544a5ba8235abf024b53591fbdb98834742e7093217
+size 8071317
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0010.h5
new file mode 100644
index 0000000000000000000000000000000000000000..29945d7e7441fbea5c49b390b87a10798d79040c
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0010.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cda3b4848fbca81c686ba77c353358c340612356e2c028113a59f2779432f22
+size 7159005
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0011.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0ad40a4a323d984a34b51c7597492f94db8f66c1
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0011.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:464b36ad920ca7105518b956f73001f951aa73d9091b82aaa7722bd182a5dcf4
+size 7523359
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0012.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a62da3935c71b4865a05d04bf7cfbfa4dd7dc2cf
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0012.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c795549783311d0bfdf4d05a221b32b4d2b5f01278c2c899410f310a4f82795
+size 6509101
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0013.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5c45c17a2d4c04e7217eb2bf9132a5927cc6f5fa
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0013.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11212d34db277912056e6d78768aeaf71af25c6cb13400cc96ea33b64a6fde84
+size 7210646
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0016.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4da783b04406d6430c0fef1f7c24abdedb6b20db
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0016.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3f423ad4cda699b4e25b8ea4c2027fd30c1dffe6456b6aa106ea07c55c9180d
+size 7548281
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0017.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0af512d83c3f8a5993cdff04bdd338cfa1c2de93
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0017.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2421898fcf076a51e16d9251ecd7024b1c3e020f9225d425b9240bf82bae4468
+size 5643172
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0018.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ed0ddbd18b9f1684aa7cb504a5918a7303354a4d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0018.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c169cefb795b41b4e97ca11687595d21a09a0492d914f5b80415108fda0710e
+size 7481754
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0019.h5
new file mode 100644
index 0000000000000000000000000000000000000000..03e38152868f64cbce18cbfa6ad6063c2359c7e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0019.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8deb8f7af2a8fc4f8bc5d68fe43899b5719d7cbee682d14558e2d696cb946fd
+size 8849856
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0020.h5
new file mode 100644
index 0000000000000000000000000000000000000000..558aa07f36494ce04dba57cfa64c0983f3397932
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0020.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e6c1663c26bd97b71f51dfaf3f5163f62013ac68bceae7c2b9d1927035ef29
+size 6682109
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0021.h5
new file mode 100644
index 0000000000000000000000000000000000000000..354d3894b29d24b676a2440e3f54bd8c660d4da0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0021.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc23f5d59440bf3ee72cc3a4b24e08dfe26cdbdd33f2ec8e54aa5770acb26e1e
+size 7629696
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0022.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c3ac7becfa9c9c4a498c445791e69214acf8f2bd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0022.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a2eb266f1f03617e356171aa9319e6b58ec8a6b1a89610e78b7fa48fedbe598
+size 6109808
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0023.h5
new file mode 100644
index 0000000000000000000000000000000000000000..09f5f6baeb6840060af345fe882dbbc445ba1616
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0023.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bea649610d71069bf343e34eff6ab02356d91b98eb2169464c206666f77a1437
+size 7421596
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0024.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c2321cb6e2bf944ef61ee8b701dc54dab96f9f1f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0024.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28574d5e5a528dbb2c7f5af23bd03b37523ba5b7079438e144323763845431cc
+size 6178084
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0025.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c33f252e01a8cb2f9d53e7fcfd7c9018dbce6d86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0025.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b33c66091606d10e8fdacb93056b1c8d310a6682222b9b53f5d51a44598a0f06
+size 6309029
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0026.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aa44667b3ade8f7f9360e20fbe9c9a8bfb19cdb3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0026.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6add57b339b7a5d45b9eaf7a341adbffb675d424d4012948be8d0888100cb1e9
+size 6570084
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0027.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d9a855759dbc8b8cdc924fb8606850f0ccecb202
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0027.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c54f66e217eb1bb3c387fb7d358c6ac77b2b58cfad99eb12100bee7f4367530
+size 5523681
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0028.h5
new file mode 100644
index 0000000000000000000000000000000000000000..faecc6957cb57ea6e62722216427701aae93b67f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0028.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68a81514715cc57ccd37a43ab79669495564662de88b18a5b1bea2a8c7b77d0d
+size 5399145
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0029.h5
new file mode 100644
index 0000000000000000000000000000000000000000..88c2deca883bb655e43b410189d832d1f03fe81f
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0029.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78046f4fa476aa5408bd26906c3e02bff9100659a7ff5af02cada4ed8df13e81
+size 5682977
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0030.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dff3f2038f8f8d585a703adb3809b58af933c0d5
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0030.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7869e2e26fb13e7db680d595e9b3e236c3d7068c27ba64b0e2b664cc1597e74f
+size 7992338
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0031.h5
new file mode 100644
index 0000000000000000000000000000000000000000..32ad78441344146ca2a2f2180a7f7568658a03cc
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0031.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88d33927f9d360e80d92ac8d5048c3017c2858f22f006a26ce35197ba7811fab
+size 7245079
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0032.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1a43c29fed223ecb326366193faf744021837c2b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0032.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e88831faf0ce90b65b9788c8547407b9d9bd23b8b27538e7c0e789cb15a53dd
+size 7077308
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0034.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1931b14fce9c7fabdd1e1d4c5f454c7099aceede
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0034.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e79cbbb986be510123271d0125c6ac93962c5522931d6448a0fdebfcfbf2bd1b
+size 6755323
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0035.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c7660e27cd345b25f6601afeeae4244b3ff0696e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0035.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:103eaf099e2cfe0d0a11bb7b55aa407bce9d05de642ea2f669dcd1e1ba0b4966
+size 9303621
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0036.h5
new file mode 100644
index 0000000000000000000000000000000000000000..55dc694bd04446759126e39d8000b0e632793c74
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0036.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afca8fda2e21de1dd82bc3eb1e6842d7a0844caaca652bb2a4cb9087cca6a24c
+size 8137036
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0038.h5
new file mode 100644
index 0000000000000000000000000000000000000000..edfa53a216db27c3a901bdbd4c997f36cf922002
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0038.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3417bb20fc95f6e5d4bb9a437fef08b6a0f929e66ccba1a0eaf458a21b4ae21
+size 8755989
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0039.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aec38a78a0fa1f96ada7962fd77858d35185c0e2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0039.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:937da60a2cf3e328ea74351daac479a08c9e307723305fe7d700808d5f305209
+size 6365537
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0040.h5
new file mode 100644
index 0000000000000000000000000000000000000000..dda9a92a4cad2955e8310384dd7b0588333926d9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0040.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0ac14fcc6eec9461d76cc1793e6301ef1647391a5c71e748241f45bbc6dfb5a
+size 8593298
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0041.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a0ce7d916c32b3c666d767e730ee27636feb4dc2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0041.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f3e51a27653e1064bfc1522e20da0c7b73fd8b7e6c0af796b64f6c37faa664b
+size 6245087
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0042.h5
new file mode 100644
index 0000000000000000000000000000000000000000..3bc5e156f3aaedac1c63260b3bf69a72030e2c16
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0042.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79c24485c0406123a1c1a414beb4514b39f9e4c58c454bf9a4fa2e08b10b46c6
+size 6346488
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0043.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ba7a8555f0954185adf680c6aeeca3175c555ab4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0043.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e743c290b11a59c0108a762628955b71ec83cf4b99cd75be4953c69884dcad52
+size 5840210
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0044.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2e5077251d7f1c3fe8deee0561f683893cd5afc2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0044.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7950b0cebe920f85d462d2716176a2d3fb911d5eeab9726c7031c41d04f71765
+size 5968793
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0045.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c9cac278f9ede407faac09efccdcc0a173775052
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0045.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb03acc35580e34ac34fb2a5275fe1fc3f85c0e8a7f74d55ffb7f533cade2b38
+size 5759829
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0046.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9b4aa4a558e8fb50f0cb306a3c72db8bb56163e0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0046.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aba1b4a8622409a3a7a3321e55f0fa57084f9532f88848f37d35f602975d24e4
+size 6352975
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0047.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c4688b905c15a36c1406552f52a0f3aef7e5e0b9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0047.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade17b0d1583e37098d9bea841c120f2095e87c19c0935d80025278b131ea20a
+size 5772391
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0048.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ac5670ee76a8b33901e5e4ae83e8ecc0db44c300
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0048.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7246c6839d9211ecd5b281cc0cf9da68e534c8c6e9295fb43e9924f7276c52f0
+size 5698511
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0049.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4915a87cbc280bd04b513fc045824e3f79d7b56d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0049.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e4b8fff0a73b47ed8a6f3cbf35d5e1f9ea0edaf4b4a97b33feedc97575c1a8
+size 5253874
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0050.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b045eeb58fe66a3eefa5cacd22864c1e655626ef
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0050.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd4540d01eea005b5f743890ec24f64ad4bb2b85b31dd16f7beb50795fa10b0d
+size 8502586
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0051.h5
new file mode 100644
index 0000000000000000000000000000000000000000..60423f5c3cabd5ada24824f0c8adb6b354ea4228
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0051.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dd820b78fe59f410e7a16b7e7d6fe5dddd844187c3859b51a691a8b3a5c6cb9
+size 5846505
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0052.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d3d4fed179e563788212895e720ccb780d33a2ce
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0052.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8c890f251a417d8dcef18119243928553b5e2535089eea464f17798249ea4e9
+size 6683916
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0053.h5
new file mode 100644
index 0000000000000000000000000000000000000000..57551a4ad1eff36960401d5a5bf961365b190657
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0053.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d68ab805f840fc6b489cc640e02df98d7bccac8176ab8c0a942304f5bd4e52a9
+size 7648237
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0054.h5
new file mode 100644
index 0000000000000000000000000000000000000000..5b9e05f36315760de423da37cfa93daf7fdda0d4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0054.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:913b7acc1336d01e30e816e7cc33582d4473ea8ae82a53cf084aab0469eea8f9
+size 8256426
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0055.h5
new file mode 100644
index 0000000000000000000000000000000000000000..36a1a3401ee90d2599de8fa954938bd692981540
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0055.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7da336a786245c791e353f5584fe6ae5385e502a3c7e4d860ca9a5d49af6d05a
+size 6027925
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0056.h5
new file mode 100644
index 0000000000000000000000000000000000000000..06c1f94c654fa31f6b077831c9bcb0ae6adf0c64
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0056.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a7d5f6b5334c52baa686fc17ae4e23b8edb433988f1f13733155cebcbcbe046
+size 5412773
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0057.h5
new file mode 100644
index 0000000000000000000000000000000000000000..83270d2d5bbe53e7bb6a76a6ddec10e48193d4c3
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0057.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:053616ca73339bf953871e426a3bd1dc4bed758b850ca7e30a13e41498209107
+size 6088216
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0058.h5
new file mode 100644
index 0000000000000000000000000000000000000000..0f16349c8b6021a2202cbab5e32257be22b56348
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0058.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ea8fe0fbbefd03b7e354183f3be43ed3c7bb40dcf0d542e31e934689b31df8c
+size 6558309
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0060.h5
new file mode 100644
index 0000000000000000000000000000000000000000..31d5fb959caec3bee8c8e43105bbc54c7f918946
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0060.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02409ccb6fb0ca01b38a1c3b57fec612a5d058082a774a6c77adfe5bad799066
+size 8796600
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0061.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c0207663e04c138e3a44c18da776be9ba8d578e9
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0061.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5f893d010ebe05c70b048182e699cb75a19681593fd65721ab1642833ffc00c
+size 7528592
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0062.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6e3938243a4007c8cc2079c1e5f19383d2c33ffe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0062.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7ac1c16df742c9caebce1c99b68f4c4125d876245632b8a3f27c4c288f59814
+size 7765365
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0063.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a67de9c50bc2d61a57f614bbccddd5ca69bb4016
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0063.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f26735964b79b4c1dfc2575bf69906df80c6d5c41561ec52906e9896e9fe592
+size 6255777
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0064.h5
new file mode 100644
index 0000000000000000000000000000000000000000..9ddc39293944a11c4ff05408d91dd369cc78ff93
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0064.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80f74689b0091dd8765b7014bf8ec7846439e060aa2c80d3173c5ffae2f55479
+size 7322606
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0065.h5
new file mode 100644
index 0000000000000000000000000000000000000000..a93a6f330c72404a34e9a761bc9a382fb828119d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0065.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eba5feade979bd4b32deeb509c1b4a5aa9afdf69ce55b3654c311750ec1fcb66
+size 8849464
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0066.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4ab08478ff1dd45e3795491ce4059b3716e216fd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0066.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48e2c8f6dc74abc99973f58978631831b77164507a19212dc293a40679965ce8
+size 6219870
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0067.h5
new file mode 100644
index 0000000000000000000000000000000000000000..2f7c82dc762e17108c188afe27cac3146b3c875d
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0067.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb11d595095024ad6e0209da581cfefd7fbe3612fb313e9c9ec0effe62f2fdda
+size 6440107
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0068.h5
new file mode 100644
index 0000000000000000000000000000000000000000..b016a6108b0445d07757c8705d72991e5857b4b2
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0068.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b06e6a0a8fcf3c610cc07960ea9acdb7094222d29ed0fb656e2800bff8b7633
+size 6478040
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0071.h5
new file mode 100644
index 0000000000000000000000000000000000000000..aab74ba4486f56bdfb7d244a155aa0a3b3cc64cd
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0071.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d06a70e62c46841e20b863fa7a5d59b1aee7aecf3bc04b31fd1e9a882246a901
+size 5580455
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0072.h5
new file mode 100644
index 0000000000000000000000000000000000000000..cd7f459d9cf43b8df563bf8e6d9782dd09371fc4
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0072.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88294f39fa4e6865b02a63defa23f381b22ae5362c9325d73ba5db6cef3756b2
+size 6847466
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0073.h5
new file mode 100644
index 0000000000000000000000000000000000000000..d576a9d998bd0c2a97336033c9875b0ae0225da7
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0073.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c539c8c998b4461601090790b9a533dd78b914e532fc3444b74d7d0f8f7ede6c
+size 7011984
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0074.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4941bfa43a3fde0de2cb626cde6f245ffe07e976
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0074.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7b5b2fe02274e06e5d367f7a6bc656119853622c92ab0ce05c094505ec67d12
+size 6633876
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0076.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e88c0fbf764e9bc78b341e346d4adeb4f494494e
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0076.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a498cc0c7dc430c6a34cef0c51b3555e00611cc1f225c43e6d32ac1bddf167c5
+size 6029398
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0077.h5
new file mode 100644
index 0000000000000000000000000000000000000000..4ae485c333136f079a78ddb2c50a074e9cde2186
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0077.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3ac203ade97a54636212530a5bcc1e50281d2337c5c6ea5ad8f419bf2a957fe
+size 9372959
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0078.h5
new file mode 100644
index 0000000000000000000000000000000000000000..c82ccdd0bca5ab75d424ecac3906da2499f1b269
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0078.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb4de32231b52b37797df31c7b13eda93b9a1020ff65c516c1e87986a4b3aa35
+size 6601288
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0079.h5
new file mode 100644
index 0000000000000000000000000000000000000000..566ddc2d63a92cab27c6177f6f19b62ce20bb120
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0079.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88905e20945ff956eaf002f8dc3c7f4a0c4d4cc2018d82758ae5baf1f8280f8b
+size 9282151
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0080.h5
new file mode 100644
index 0000000000000000000000000000000000000000..6aedd36e21c47ac387fe94661040fa485863263b
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0080.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35f8fb4e8b34afbe3978b91e2ecc026cb7034ba2552d160fab60994a0a379be7
+size 7228456
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0081.h5
new file mode 100644
index 0000000000000000000000000000000000000000..e5519727b719dc88e380975dd91e3b58ebeb1ffe
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0081.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b668f45c0edf2c2a3247daf3eba64c0b7432f0175213811ed9cdc4abf680296
+size 8089532
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0082.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1c8e517b70a829fea4b8848ac10f01da7fe89ede
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0082.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b24da97908ec48306a54776bc4fd018466271851069b5ddc028d85ed51175d28
+size 5186781
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0083.h5
new file mode 100644
index 0000000000000000000000000000000000000000..65763123b3fa2271fa093aa153c1fb08ab35f3f0
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0083.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1e2395c82550aaea6c878900eb59da8133e901fd7dfc58d6d411934fe70d319
+size 5108007
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0084.h5
new file mode 100644
index 0000000000000000000000000000000000000000..ffc2d289b8d1bd07c11bf587b5daa2695959af08
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0084.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efb56f5b1a57c7a14007507e77f8507978e0a4f27219ba6a53573d14063a303a
+size 6683174
diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0085.h5
new file mode 100644
index 0000000000000000000000000000000000000000..1af3325eade0f1ce6f4d2229b608fc0b51ee1d86
--- /dev/null
+++ b/ur5e/lab3_v1/lab3_heat_2beaker_s04_pslr_htb_00008/dataset/episode_0085.h5
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06d27863dc74e5ebabb7db2ac0038b6b4a4985441d21a635836341fe7fd48e95
+size 6855677